Search

CN-122008145-A - Multi-mode steel cutting robot and working method

CN122008145ACN 122008145 ACN122008145 ACN 122008145ACN-122008145-A

Abstract

The invention discloses a multi-mode steel cutting robot and a working method, which belong to the technical field of steel cutting, and comprise a truss, wherein a traveling mechanism is arranged at the bottom of the truss, a driving mechanism is arranged on the truss, a cutting head is arranged at the bottom of the driving mechanism, the cutting head can move and swing under the driving of the driving mechanism, the traveling mechanism drives the driving mechanism to approach a material rack, and when the material rack is vertical to the truss and the section bar is parallel to the truss, the cutting is cooperatively completed according to cutting tasks on a single section bar and distributed to each driving mechanism according to areas; when the material rack is parallel to the truss and the section bars are perpendicular to the truss, the section bars are distributed to each driving mechanism according to the cutting tasks of the section bars in regions to cooperatively complete cutting. The invention solves the problems of large fixed occupation area, low cutting efficiency and dependence on a special material rack of the existing equipment, and realizes flexible movement, multi-mode efficient cutting and self-adaptive processing operation of a common flat material rack.

Inventors

  • XU ZONGYAO

Assignees

  • 山东健坤机器人有限公司

Dates

Publication Date
20260512
Application Date
20260327

Claims (10)

  1. 1. The multi-mode steel cutting robot is characterized by comprising a truss, wherein a traveling mechanism is arranged at the bottom of the truss, a driving mechanism is arranged on the truss, a cutting head is arranged at the bottom of the driving mechanism, the cutting head can move and swing under the driving of the driving mechanism, the traveling mechanism drives the driving mechanism to be close to a material frame, when the material frame is perpendicular to the truss and the section bars are parallel to the truss, the cutting head is driven by the driving mechanism according to the cutting tasks on a single section bar to cooperatively complete cutting according to the area, and when the material frame is parallel to the truss and the section bars are perpendicular to the truss, the cutting head is driven by the driving mechanism according to the cutting tasks of a plurality of section bars to cooperatively complete cutting according to the area.
  2. 2. The multi-mode steel cutting robot of claim 1, wherein two travelling mechanisms are arranged, the travelling mechanisms are respectively arranged at two ends of the truss along the length direction of the truss, each travelling mechanism comprises a supporting frame, a first wheel set and a second wheel set are respectively arranged at two ends of the supporting frame along the width direction of the truss, a hanging assembly is arranged at the top of each supporting frame, and the hanging assembly is connected with the truss.
  3. 3. The multi-mode steel cutting robot of claim 2, wherein one end of the supporting frame is provided with a driving unit, the output end of the driving unit is in transmission connection with a speed reducer, the speed reducer is in transmission connection with a first wheel set, and the first wheel set is in transmission connection with a second wheel set through a synchronous belt.
  4. 4. The multi-mode steel cutting robot of claim 2, wherein the first wheel set and the second wheel set are two rubber wheels, a set distance is set between the two rubber wheels along the axial direction, and the synchronous belt is sleeved between the two rubber wheels of the first wheel set and the second wheel set in a circumferential direction.
  5. 5. The multi-mode steel cutting robot according to claim 2, wherein the suspension assembly comprises a suspension beam, one end of the suspension beam is provided with a pin shaft connecting structure and a support frame close to the first wheel group, a gap eliminating backing plate is arranged between the pin shaft connecting structure and the support frame, the other end of the suspension beam is provided with a spring connecting structure and is connected with the support frame close to the second wheel group, and the gap eliminating backing plate is arranged between the spring connecting structure and the support frame.
  6. 6. The multi-mode steel cutting robot as claimed in claim 1, wherein the driving mechanism comprises an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail, the X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail are arranged as straight guide rails perpendicular to each other, the Y-axis guide rail is arranged on the truss along the length direction of the truss, the X-axis guide rail is arranged on the Y-axis guide rail in a sliding manner along the width direction of the truss, the Z-axis guide rail is arranged on the X-axis guide rail in a vertically sliding manner, a rotating motor is arranged at the tail end of the Z-axis guide rail, a swinging motor is arranged at the output end of the rotating motor, and a cutting head is arranged at the output end of the swinging motor.
  7. 7. The multi-mode steel cutting robot of claim 1, further comprising an industrial camera disposed on the truss and/or the drive mechanism; the driving mechanism is provided with a touch locating sensor, and the driving mechanism obtains the actual position of the material in a progressive twice touch mode through the touch locating sensor.
  8. 8. A method of operating a multi-mode steel cutting robot according to claim 6 or 7, comprising: the method comprises the steps that a cutting robot is moved to a designated position, a material frame layout mode and a profile placing mode are obtained, when the material frame is perpendicular to a truss and the profiles are arranged in parallel with the truss, one driving mechanism is arranged to drive a cutting head to cut a current single profile, the next profile is sequentially cut according to the cutting sequence, and when the driving mechanisms are arranged to be more than two, the cutting head is driven to cooperatively complete cutting according to cutting tasks on the single profile according to regions and distributed to each driving mechanism; When the driving mechanisms are arranged to be more than two, the driving mechanisms are distributed to each driving mechanism according to the cutting tasks of a plurality of sections according to the region to drive the cutting heads to cooperatively complete the cutting.
  9. 9. The working method of the multi-mode steel cutting robot according to claim 8, wherein when an industrial camera is arranged on a truss only, a material taking frame and a profile placing image are obtained through the industrial camera, the placing positions and the postures of the material taking frame and the profile are determined through analysis, and according to the placing positions and the postures of the material taking frame and the profile, a driving mechanism obtains the actual cutting positions of the profile in a mode of progressively touching the profile twice through touching a locating sensor; when an industrial camera is arranged on the driving mechanism, acquiring a material taking frame and a profile placing image through the industrial camera, analyzing and determining the placing positions and the postures of the material taking frame and the profile, primarily determining the cutting positions of the profile, and acquiring the actual cutting positions of the profile by the driving mechanism in a progressive two-time profile touching mode through a touch locating sensor; When all set up industrial camera on truss and actuating mechanism, through the image is put to industrial camera obtains getting material frame and section bar, and the analysis confirms the position and the gesture of putting of work or material frame and section bar, tentatively confirms the section bar cutting position, and actuating mechanism is through touching the mode of locating the sensor with progressive twice touching section bar and is obtained the actual cutting position of section bar.
  10. 10. The method of claim 8, wherein the driving mechanism obtains the position and the size of the material rack during the cutting process, calculates the interference area with the profile according to the size of the cutting head and the position and the size of the material rack, and adjusts the inclination angle of the cutting head to perform beveling to avoid the material rack when the cutting head reaches the interference area by a set distance.

Description

Multi-mode steel cutting robot and working method Technical Field The invention relates to the technical field of section steel cutting, in particular to a multi-mode section steel cutting robot and a cutting method. Background In the fields of steel structure manufacturing, petrochemical engineering, ocean engineering and the like, the profile steel is used as a main structural bearing member, and the cutting processing quality and efficiency of the profile steel directly influence the progress and cost of the whole engineering project. The profile steel cutting equipment widely applied in the industry at present mainly comprises a fixed type gantry cutting machine, and the following technical problems exist in the actual production process: The fixed cutting equipment needs to lay a special track, build an installation foundation and configure a special cutting material rack, so that the fixed cutting equipment needs to occupy a whole fixed area in a workshop, and has long installation and debugging period, and for enterprises with tense fields or changeable production tasks, the equipment utilization rate is low, the equipment occupation area is large and the installation cost is high. In addition, current cutting equipment is when cutting, mainly adopts the fixed mode that single cutting head cut in proper order piece by piece, can't adjust the cutting procedure in a flexible way according to the work or material rest overall arrangement, and traditional cutting mode can only realize the once cutting of single section bar, and when need cutting the section bar both ends, still need accomplish every material both ends after cutting in proper order again the root by the root, lead to the frequent invalid round trip of cutting head in the work or material rest top, idle running time is long, cutting efficiency is low, is difficult to satisfy mass production to the demand of high efficiency. Disclosure of Invention Aiming at the problems existing in the prior art, the invention provides a multi-mode steel cutting robot and a working method thereof, which solve the problems of large fixed occupation area, low cutting efficiency and dependence on a special material rack of the existing equipment and realize flexible movement, multi-mode high-efficiency cutting and self-adaptive processing operation of a common flat material rack. The technical scheme of the invention is as follows: In a first aspect of the invention, a multi-mode profile steel cutting robot is provided, which comprises a truss, wherein a traveling mechanism is arranged at the bottom of the truss, a driving mechanism is arranged on the truss, a cutting head is arranged at the bottom of the driving mechanism, the cutting head can move and swing under the driving of the driving mechanism, the traveling mechanism drives the driving mechanism to be close to a material frame, when the material frame is perpendicular to the truss and the profile is parallel to the truss, the cutting head is driven to cooperatively complete cutting according to the cutting task on a single profile according to the area allocated to each driving mechanism, and when the material frame is parallel to the truss and the profile is perpendicular to the truss, the cutting head is driven to cooperatively complete cutting according to the cutting task of a plurality of profiles according to the area allocated to each driving mechanism. In some embodiments of the present invention, two running mechanisms are provided, and the running mechanisms are respectively arranged at two ends of the truss along the length direction of the truss, the running mechanisms comprise a support frame, two ends of the support frame along the width direction of the truss are respectively provided with a first wheel set and a second wheel set, the top of the support frame is provided with a suspension assembly, and the suspension assembly is connected with the truss. In some embodiments of the present invention, a driving unit is disposed at one end of the supporting frame, an output end of the driving unit is in transmission connection with a speed reducer, the speed reducer is in transmission connection with a first wheel set, and the first wheel set is in transmission connection with a second wheel set through a synchronous belt. In some embodiments of the present invention, the first wheel set and the second wheel set are two rubber wheels, a set distance is set between the two rubber wheels along an axial direction, and the synchronous belt is sleeved between the two rubber wheels of the first wheel set and the second wheel set in a circumferential direction. In some embodiments of the invention, the suspension assembly comprises a suspension beam, one end of the suspension beam is provided with a pin shaft connecting structure and is installed on a support frame close to the first wheel set, a gap eliminating backing plate is arranged between the pin shaft connecting structure and the support