CN101690993A - Multi-axis linkage numerical control laser processing system - Google Patents

Abstract

The multi-axis linkage CNC laser processing system provided by the present invention has the following structure: a linear guide rail is installed on the workbench, the two ends of the guide rail are respectively installed with a workbench tailstock and a bedside box, and two open center brackets are movably installed on the On the guide rail, it is located between the tailstock of the workbench and the bedside box; the guide rail platform is installed next to the workbench, and there is a guide rail parallel to the other on the guide rail platform, and the mobile slide table is movably installed on the guide rail; the robot is fixed on the mobile On the sliding table, the laser processing head is installed on the end of the last joint of the robot; the laser processing head is connected to the laser through an optical fiber; the cooling machine is connected to the laser and the laser processing head through a cooling tube; the controller is connected to the robot and the mobile through a control line. The sliding table is connected to control the robot and control the mobile sliding table to drive the robot to move on the guide rail table. This system solves the problem of the small processing range of the joint robot laser processing system, and can meet the CNC laser processing requirements of large and super-sized parts.

Description

Multi-axis linkage CNC laser processing system

technical field

The invention relates to a numerically controlled laser processing system in the field of laser processing, which is used for laser processing of different types of workpieces, including welding, cutting and surface heat treatment, etc., and can especially satisfy the laser processing of large workpieces.

Background technique

In recent years, high-power laser processing technology is being more and more widely used in the industrial field because of its advantages such as high processing efficiency, no mechanical contact, and easy automation. In particular, the "tool" of the laser processing system is a laser, and its processing characteristics are closely related to the output mode, energy level, optical system and focusing mode of the laser beam. When we change the parameters such as laser output power, output pulse frequency or duty cycle, or change the structure of the laser processing head (such as cutting head, welding head, etc.), the corresponding laser processing technology will also change, such as changing from laser cutting to Laser welding or laser surface strengthening treatment, etc., and the corresponding mechanical structure, control system, etc. hardly need to be changed. In this way, we can use the method of changing laser processing parameters (including process parameters and processing heads) to turn a single-function laser processing equipment into a multi-functional laser processing system to achieve intelligent and flexible processing.

The current robot laser processing system often has two forms: one is laser processing equipment based on conventional CNC machine tools (hereinafter referred to as CNC laser processing machine tools), which has good versatility and can not only meet the laser processing requirements of solid-state lasers transmitted by optical fibers , and meet the laser processing requirements of CO ₂ lasers that rely on optical lens reflection and transmission; the other is a laser processing system based on multi-axis industrial robots, which has a high degree of flexibility and is compatible with the fiber output of solid-state lasers. Meet the laser processing requirements of various complex three-dimensional shapes. _CO2 lasers rarely use robots as processing systems because they cannot transmit the laser beam with optical fibers.

CNC laser processing machine tools can have two to five degrees of freedom according to the performance requirements of the processed object. A processing machine tool with five degrees of freedom is usually used, called a five-axis linkage laser processing system, which includes three translational axes and two rotary axes, and can process complex parts with a large size range. However, in actual processing, it has its own technical difficulties:

1. Programming is complex and difficult. Because in addition to three linear translations, five-axis machining also has two rotational motion axes involved, and the spatial trajectory of the resulting motion is quite complex and abstract. In order to process the required free-form surface in space, multiple coordinate transformations and complex space set operations are often required. At the same time, the coordination of the movement of each axis must be considered to avoid interference and collision, and the programming is quite difficult.

2. High requirements for CNC and servo systems. Since the five-axis machining needs to coordinate and control the five axes, the CNC system must have the control function of five-axis linkage; in addition, the synthetic motion has the addition of rotary motion, which increases the workload of interpolation calculations; the small error of the rotary motion may be enlarged, In order to avoid affecting the machining accuracy, the CNC system is required to have extremely high computing speed.

Laser robot processing systems generally use articulated robots, which are suitable for work at almost any angle and trajectory, can be programmed freely, have controllable error rates, and have high production efficiency. However, at present, most robots are fixed at a fixed position during application. Due to the limitation of the robot's own working space, its working range is relatively small in actual processing. The processing of large and complex parts is powerless.

Contents of the invention

In view of the above problems, the present invention provides a multi-axis linkage CNC laser processing system, which solves the problem of the small processing range of the joint robot laser processing system, and can meet the CNC laser processing requirements of large and super-sized parts.

The multi-axis linkage numerical control laser processing system provided by the present invention is characterized in that:

The first linear guide rail is installed on the workbench, and the two ends of the first linear guide rail are respectively installed with the workbench tailstock and the bedside box. The first and second open center brackets are movably installed on the first linear guide rail. , and located between the workbench tailstock and the bedside box;

The guide rail table is installed next to the workbench, and the second linear guide rail parallel to the first linear guide rail is arranged on the guide rail table, and the mobile sliding table is movably installed on the second linear guide rail; On the moving slide, the laser processing head is installed on the end of the last joint of the robot;

The laser processing head is connected to the laser through an optical fiber; the cooling machine is connected to the laser and the laser processing head through a cooling tube;

The controller is respectively connected with the robot and the mobile sliding table through the control line, controls the robot and controls the mobile sliding table to drive the robot to move on the guide rail platform.

The above technical solution can be improved in one or more ways: (1) a drag chain is installed outside the guide rail platform, and the optical fiber and cooling pipe are installed in the drag chain; (2) the first and second open center brackets The same structure, they all include a bracket base and a pair of support frames installed on the bracket base, the bracket base is installed on the first linear guide rail of the workbench, and a pair of support frames are symmetrically installed on the bracket base In the V-shaped groove on the top of the seat, rollers are installed on the top of each support frame; (3) The guide rail table includes a rail seat, a second linear guide rail and a rack-type linear guide installed on the rail seat; the mobile slide table includes a feed Sliding seat, servo motor, limit switch and feed gear, the bottom of the feed slide seat is provided with a chute to cooperate with the second linear guide rail, the feed gear cooperates with the rack on the rack-type linear guide rail, and the feed gear Installed at the bottom of the feed slide, the servo motor is connected with the feed gear, and the feed gear is controlled to drive the feed slide to move along the second linear guide rail; (4) The guide rail table includes a rail seat and a screw installed on the rail seat Screw and the second linear guide; the mobile slide includes a feed slide, a servo motor, a limit switch and a screw ball nut. The bottom of the feed slide is provided with a chute that matches the second linear guide. The screw ball nut Cooperate with the lead screw on the rail seat, the lead screw ball nut is installed at the bottom of the feed slide, the servo motor is connected with the lead screw, and the control lead screw drives the feed slide to move along the second linear guide rail.

The system of the present invention integrates laser processing CNC machine tools and joint robots, which not only overcomes the defects of complex programming, difficult control and high cost of existing laser processing CNC machine tool processing systems, but also reduces the difficulty of CNC programming and improves the laser processing system. Flexible and automatic control capabilities, and greatly improve the laser processing efficiency and the size range of the processed parts, solve the problem of the small processing range of the joint robot laser processing system, and can meet the CNC laser processing requirements of large and super-sized parts. Specifically, the present invention has the following technical effects:

1. Adopting a mobile structure, the robot is no longer fixed in one position. It can move along the linear guide rail, which greatly extends the working space of the robot, so that it can process large workpieces and super large workpieces, and greatly increases the size range of processed parts.

2. The advanced multi-axis joint robot is adopted to improve the flexibility and automatic control ability of the system. Generally speaking, modern commercial robots have developed a powerful software control system, which can be used for teaching or offline programming, which greatly reduces the programming difficulty of complex surface processing and improves production efficiency; in addition, the robot itself generally has its own development The advanced control system simplifies the design of the control system of the entire processing equipment; and with the gradual popularization of industrial robots in the fields of industry and logistics, the price is getting lower and lower, and the manufacturing cost of complete sets of equipment will also be reduced.

3. The "tool" of the processing system is a laser, and the laser can be a mature solid-state laser (including lamp-pumped laser, diode-pumped all-solid-state laser, diode laser or fiber laser), and its common feature is that the laser beam can pass through Optical fiber transmission, therefore, can be combined with the flexible movement process of the robot to improve the accuracy and efficiency of laser processing.

4. The workbench can be realized by general-purpose machine tools, and the clamping and processing of workpieces are very convenient. Therefore, the processing system has great versatility and can meet the laser processing requirements of large parts of various shapes and sizes.

5. The laser processing head can be replaced according to the processing needs, such as laser welding processing head, laser cutting processing head, laser cladding processing head, etc., which greatly improves the versatility and practicability of laser processing equipment.

6. The movement of each axis of the robot, the movement of the main shaft of the worktable, and the movement of the moving slide are all integrated into the robot controller for centralized control, and up to eight-axis linkage control of the system can be realized.

Description of drawings

Fig. 1 is the perspective view of the system of the present invention;

Fig. 2 is the front view of the system of the present invention;

Fig. 3 is the top view of the system of the present invention;

Fig. 4 is the left side view of the system of the present invention;

Fig. 5 is the front view of mobile slide table;

Figure 6 is a top view of the mobile slide;

Fig. 7 is a schematic structural view of the bedside box;

Fig. 8 is a schematic structural diagram of an open center bracket.

Figure 9 is a left side view of the track rail platform.

Detailed ways

The present invention is described in more detail below by means of examples, but the following examples are only illustrative, and the protection scope of the present invention is not limited by these examples.

As shown in Figures 1 to 4, the system of the present invention includes a robot 1, a laser processing head 2, a workbench tailstock 3, first and second open center brackets 4, 4', a workbench 5, and a bedside box 6 , Rail platform 7, laser 8, cooling machine 9, controller 10, towline 11, mobile slide 12, optical fiber 20.

The mobile slide 12 includes a feed slide 21, a servo motor 22, a limit switch 23 and a feed component. The bottom of feed slide seat 21 is provided with the chute 25 that cooperates with first linear guide rail 28 and 28 ', can move along guide rail platform 7. The feed component is installed on the bottom of the feed slide 21, which can be selected according to different situations. If the guide rail table 7 is short, a ball screw device can be used. If the guide rail table 7 is long, a rack and pinion device can be used. . Fig. 5-6 is the structure of the sliding seat when the guide rail platform 7 is longer, the feed gear 24 is connected with the servo motor 22, and meshes with the rack on the rack type linear guide rail 27. When the servo motor 22 rotates, the feed slide 21 can be dragged to move along the guide rail platform 7 by the feed gear 24 . Limit switch 23 is contained in feed slide seat 21 both sides, when slide seat moved to two ends of guide rail platform 7, limit switch 23 will report to the police and can make servomotor 22 emergency stop.

Bedside box 6 can adopt existing structure, but not limited to this. As shown in FIG. 7 , the general structure of the headstock 6 includes a chuck 16 , a main shaft 17 , a gearbox 18 and a drive motor 19 . The chuck 16 is used to clamp the workpiece, and plays a role of fixing and centering the workpiece. One end of the main shaft 17 is connected with the chuck 16, and the other end is connected with the gearbox 18, and is mainly used to transmit power so that the chuck 16 can perform rotary motion. The gearbox 18 plays the function of adjusting the rotating speed of the chuck 16 by shifting gears. The drive motor 19 is connected with the gearbox 18 to provide the power for the chuck 16 to rotate.

The tailstock 3 can also adopt a general structure, which includes a tailstock base and a top, the top is used to center and clamp the workpiece, and the base can move on the linear guide rail of the workbench to adjust the top and the bed. The distance between the chucks 16 of the head box 6, so that the processing system can process workpieces of different size ranges.

The first and second open center brackets 4, 4' have the same structure, as shown in Figure 8, they all include a bracket base 13 and a pair of support frames 14 installed on the bracket base. The bracket base 13 is installed on the linear guide rail of the workbench 5, and can drive the whole bracket to move laterally along the workbench. A pair of support brackets are symmetrically installed in the V-shaped grooves on the top of the bracket base. Roller 15 is all installed on the top of each support frame, and when the workpiece is processed by the bracket, the roller can rotate with the workpiece, which can reduce the friction between the workpiece and the bracket.

When the workpiece is very long, the middle part of the workpiece will sag and deform due to its own weight or thermal stress during processing. The bracket can support the workpiece symmetrically from both sides to avoid the above phenomenon and ensure the processing accuracy of the workpiece.

The workbench 5 is mainly used to support the workpiece, and is mainly composed of a workbench top and a second linear guide rail.

Guide rail platform 7 is positioned at a side of workbench 5, and is parallel with workbench 5, and mobile slide table 12 is installed on guide rail platform 7. Fig. 9 is that the structure of guide rail platform 7 is shorter, and it is made up of first linear guide rail 28 and 28 ', rack type linear guide rail 27 and rail seat 26. If the guide rail table is short, the ball screw structure can be adopted. It is only necessary to change the feed part 12 of the mobile slide table from a feed gear to a ball screw nut, and change the rack and pinion of the guide rail table 7 into a ball screw. The table 12 moves on the rail table 7 driven by the ball screw pair.

The robot 1 is the movement center of the processing system. The present invention adopts a three- to six-axis multi-axis industrial robot, which can use existing commercially available products but is not limited thereto. The robot 1 is fixedly installed on the mobile sliding platform 12 . Controller 10 comprises two parts, and a part is the control part to robot 1 main body, realizes the control to robot motion by being connected with each motor on the robot 1, and another part is the control part of moving slide table 12 and main shaft 17. The controller 10 is the brain of the robot and also the core part of the entire processing system. It can not only control the internal axis of the robot 1 to move according to a predetermined program through offline or teaching programming, but also has extended functions. After offline or teaching programming, a motion code recognizable by the robot is generated, so that the robot drives the laser processing head 2 to move according to the path set by the program.

Under the control of the controller 10 , the robot 1 can move on the guide rail platform 7 along with the moving slide 12 .

The controller 10 can control the moving speed and moving distance of the robot on the rail platform 7 by controlling the rotation speed and the number of turns of the servo motor 22 .

The bedside box 6 is installed on the linear guide rail of the workbench 5, the tailstock 3 is installed on the linear guide rail of the workbench 5, the open center bracket 4, 4' is installed on the linear guide rail of the workbench 5, and is located at the head of the bed Between box 6 and tailstock 3.

The laser processing head 2 is fixed at the end of the last joint of the robot 1 through a flange. It is the execution device of the processing system and is equivalent to a tool in machining. The laser processing head 2 can be replaced according to different processing needs, such as a welding processing head used during laser welding, and a cutting processing head used during laser cutting.

The laser 8 is mainly used to provide a light source for processing, and it is connected to the laser processing head 2 through an optical fiber 20 . The laser 8 can be a lamp-pumped laser, a diode-pumped all-solid-state laser, a fiber laser or other lasers that can be easily transmitted through optical fibers. control and optimization.

The cooling machine 9 is respectively connected with the laser 8 and the laser processing head 2 through cooling pipes, and is used for cooling the laser 8, the optical fiber 20 and the lenses in the laser processing head 2 .

Drag chain 11 is positioned at the outside of guide rail platform 7, and optical fiber and cooling pipe are installed in drag chain 11, can make it be not damaged in the reciprocating motion of robot, and can make processing system overall more beautiful.

The workflow of the multi-axis laser processing equipment of the present invention:

(1) Test whether each part of the processing system is operating normally, including robot 1, laser 8, cooling machine 9, laser processing head 2, workbench, etc.

(2) Adjust the positions of the chuck 16, the tailstock 3 and the center bracket 4, and clamp the parts to be processed on the workbench.

(3) In multi-axis industry 1, the robot is adjusted to the initial position of processing, and the base coordinate system is established.

(4) According to the three-dimensional geometric dimensions of the workpiece to be processed and its coordinate system, use robot language for off-line programming.

(5) Input the programming program into the controller 10, and teach and test.

(6) After the test results are correct, proceed to formal processing.

(7) After processing, determine whether to process another part according to the need;

(8) Close all components of the processing system.

The controller 10 can realize the linkage of five to eight axes of the system by controlling the three to six axes of the robot 1, the feed axis of the moving slide 12 and the main shaft of the head box 6, forming a multi-axis linkage system.

The above description is only a preferred embodiment of the present invention, but the present invention should not be limited to the content disclosed in this embodiment and the accompanying drawings. Therefore, all equivalents or modifications that do not deviate from the spirit disclosed in the present invention fall within the protection scope of the present invention.

Claims (5)

1. multi-axis linkage numerical control laser processing system is characterized in that:

Workbench is equipped with first line slideway on (5), the two ends of first line slideway are separately installed with workbench tailstock (3) and headstock (6), first, second open type center rest (4,4 ') is movably arranged on first line slideway, and is positioned between workbench tailstock (3) and the headstock (6);

It is other that guide rail platform (7) is installed in workbench (5), and guide rail platform (7) is provided with second line slideway parallel with first line slideway, and Mobile Slide (12) is movably arranged on second line slideway;

Robot (1) is the industrial robot more than three, and robot (1) is fixed on the Mobile Slide (12), and laser Machining head (2) is installed on last joint end of robot (1);

Laser Machining head (2) links to each other with laser instrument (8) by optical fiber; Cooler (9) links to each other with laser instrument (8) and laser Machining head (2) respectively by cooling tube;

Controller (10) is connected with robot (1) and Mobile Slide (12) by control line respectively, and control robot (1) and control Mobile Slide (12) drive robot (1) and go up mobile at guide rail platform (7).

2. multi-axis linkage numerical control laser processing system according to claim 1 is characterized in that: the outside of guide rail platform (7) is equipped with drag chain (11), and optical fiber and cooling tube are installed in the drag chain (11).

3. multi-axis linkage numerical control laser processing system according to claim 1 and 2 is characterized in that:

First, second open type center rest (4,4 ') structure is identical, they include pallet base (13) and are installed in pair of supporting (14) on the pallet base, pallet base (13) is installed on first line slideway of workbench (5), pair of supporting (14) symmetry is installed in the V-type groove at pallet base top, and each bracing frame top all is equipped with roller (15).

4. multi-axis linkage numerical control laser processing system according to claim 1 and 2 is characterized in that: guide rail platform (7) comprises rail chair (26) and is installed in second line slideway and rack type line slideway (27) on the rail chair (26);

Mobile Slide (12) comprises feeding slide (21), servomotor (22), limit switch (23) and feed gear wheel (24), the bottom of feeding slide (21) is provided with the chute (25) that cooperates with second line slideway, feed gear wheel (24) cooperates with tooth bar on the rack type line slideway (27), feed gear wheel (24) is installed in the bottom of feeding slide (21), servomotor (22) is connected with feed gear wheel (24), and control feed gear wheel (24) drives feeding slide (21) and moves along second line slideway.

5. multi-axis linkage numerical control laser processing system according to claim 1 and 2 is characterized in that:

Guide rail platform (7) comprises rail chair (26) and is installed in the leading screw screw rod and second line slideway on the rail chair (26);

Mobile Slide (12) comprises feeding slide (21), servomotor (22), limit switch (23) and leading screw ball nut, the bottom of feeding slide (21) is provided with the chute (25) that cooperates with second line slideway, the leading screw ball nut cooperates with leading screw screw rod on the rail chair (26), the leading screw ball nut is installed in the bottom of feeding slide (21), servomotor (22) is connected with the leading screw screw rod, and control leading screw screw rod drives feeding slide (21) and moves along second line slideway.

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