CN112548351A - Movable laser engraving machine - Google Patents
Movable laser engraving machine Download PDFInfo
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- CN112548351A CN112548351A CN202011431687.6A CN202011431687A CN112548351A CN 112548351 A CN112548351 A CN 112548351A CN 202011431687 A CN202011431687 A CN 202011431687A CN 112548351 A CN112548351 A CN 112548351A
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- wheel
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- laser engraving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/362—Laser etching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least three axial directions, e.g. manipulators, robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
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- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
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Abstract
本申请提供了一种移动式激光雕刻机，其包括机体以及设置在所述机体底部的三轴全向移动框架，所述三轴全向移动框架包括沿着所述机体的周向方向均匀分布的三个全向轮组件，所述全向轮组件构造成能够沿着轮轴线方向和垂直于所述轮轴线方向滚动，三个所述全向轮组件之间相互独立并且能够相互配合以实现所述机体的全方位移动。通过该移动式激光雕刻机，能够突破传统雕刻机框架限制，实现大幅面雕刻绘图功能，并且机身小巧，易于携带。
The present application provides a mobile laser engraving machine, which includes a body and a three-axis omnidirectional moving frame disposed at the bottom of the body, wherein the three-axis omnidirectional moving frame includes uniform distribution along the circumferential direction of the body The three omnidirectional wheel assemblies are configured to be able to roll along the direction of the wheel axis and perpendicular to the direction of the wheel axis, and the three omnidirectional wheel assemblies are independent of each other and can cooperate with each other to achieve Omnidirectional movement of the body. The mobile laser engraving machine can break through the limitations of the traditional engraving machine frame, realize the large-format engraving and drawing function, and the body is small and easy to carry.
Description
Technical Field
The present invention relates to the technical field of laser engraving devices, and more particularly, to a mobile laser engraving machine.
Background
Laser engraving is an important technical means for improving processing efficiency, can be applied to the handicraft gift industry, the decoration industry, the packaging and printing industry and the like, and is more intelligent and accurate compared with the traditional manual engraving process. At present, most of carving machines on the market are mainly desktop, have fixed carving area and high-precision system control. However, there are variations in the choice of the corresponding engravers for varying engraving requirements. The larger the engraving area, the larger the engraving machine volume which needs to be selected, which generally corresponds to the use of industrial engraving machines. However, in the face of selection of common users, a large-area engraving machine used for the common users is lacked in the market at present, and the selection of the industrial-grade engraving machine is neither portable nor practical.
Meanwhile, in the design development of the engraving machine, similar to the design of an ACSYS engraving machine, the large-breadth engraving of 2900mm multiplied by 1000mm can be realized. In other laser processing industries, the Epilog laser engraver is affiliated with the CO2The laser machine series can realize large-area carving of 1016mm x 771mm, and another universal laser carving machine can realize high-precision carving skill, and CO is developed and controlled2Laser engraving systems are also experienced. In domestic research, changes to a control system are proposed many times, and various control schemes for a laser engraving machine system are proposed on the aspect of control system performance in order to realize a stable and reliable laser engraving machine with a single-machine control system. Meanwhile, in the aspect of large-area engraving, energy transmission optical fibers are used as a new optical path, and a software and hardware design capable of constructing large-format engraving is provided.
It can be seen that the development of the laser engraving machine is rapid, and the system iteration upgrade is rapid. However, the design of the existing laser engraving machine is totally technically upgraded, the engraving area and the portability are not deeply changed, and the operation and the use of a user are inconvenient due to the large size of the machine and the complexity of a system.
Disclosure of Invention
To the problem among the above-mentioned prior art, this application has provided a portable laser engraving machine, utilizes omnidirectional movement's design to solve the limited problem of sculpture area to the fuselage is small and exquisite portable can accomplish anytime and anywhere and carve.
The application provides a portable laser engraving machine, it includes the organism and sets up the triaxial omnidirectional movement frame of organism bottom, triaxial omnidirectional movement frame includes along the three omnidirectional wheel subassembly of the circumference direction evenly distributed of organism, omnidirectional wheel subassembly constructs to be can along wheel axis direction and perpendicular to the wheel axis direction rolls, and is three mutually independent and can mutually support in order to realize between the omnidirectional wheel subassembly the omnidirectional movement of organism. Through this portable laser engraving machine, can break through traditional engraver frame restriction, realize big breadth sculpture drawing function to the fuselage is small and exquisite easily to carry.
In one possible embodiment, the omni-wheel assembly includes a plurality of omni-wheels stacked in parallel, the omni-wheels including an omni-wheel body and a plurality of rolling members that are independent from each other in a circumferential direction and freely fitted over the omni-wheel body.
In one possible embodiment, the three-axis omni-directional movement frame further comprises a stepping motor in one-to-one correspondence with each of the omni-directional wheel assemblies. By the embodiment, because the controllable angular displacement of the stepping motor can not be achieved by the direct current motor, the stepping motor can calculate the displacement of a single wheel by using the pulse number and the diameter of the wheel.
In one possible embodiment, the angle between the wheel faces of two adjacent omni-wheel assemblies is 60 °.
In one possible embodiment, the roll linear velocity of each omni-wheel assembly in a direction perpendicular to the wheel axis is determined by the following equation:
va, Vb and Vc are rolling linear speeds of the three omnidirectional wheel assemblies along a direction perpendicular to an axle line, psi is an included angle between wheel faces, omega is a spinning angular speed of the machine body, R is a distance from the center of the omnidirectional wheel assemblies to the center of a chassis of the machine body, and Vx and Vy are moving linear speeds of the machine body in an x-axis direction and a y-axis direction respectively.
In a possible embodiment, a control system is further arranged inside the machine body and used for receiving engraving instructions sent by an upper computer and controlling the movement of the three omnidirectional wheel assemblies and the engraving action of the machine body according to the engraving instructions.
In one possible embodiment, the mobile laser engraving machine further comprises two stay-supported positioning sensors, which cooperate to position the machine body. Through this embodiment, can utilize stay-supported positioning sensor to realize the triangulation location, return distance information to the host computer for drawing shows, audio-visual reaction sculpture process.
In a possible embodiment, the stay wire type positioning sensor includes grating encoders, two of the grating encoders are respectively connected to the machine body through the stay wires to form a triangular layout with the machine body, and the positioning of the machine body is realized by calculating the distance between the machine body and the stay wires of the two grating encoders.
In one possible embodiment, the grating encoder comprises: the pull wire is wound on the synchronous belt wheel so as to be driven by the pull wire to rotate; the grating code disc is fixedly arranged at the top of the synchronous pulley and can rotate along with the rotation of the synchronous pulley; and photoelectric geminate transistors which are oppositely arranged on two sides of the grating code disc, and the initiative of the grating code disc can periodically cut off the light transmission of the photoelectric geminate transistors.
In one possible embodiment, the pull-line positioning sensor further comprises a pull-line box for storing the pull line.
The application provides a portable laser engraving machine for prior art, has following technological effect:
1) the three-axis omnidirectional moving frame is arranged at the bottom of the carving machine body, so that the three omnidirectional wheel assemblies can be controlled to move independently according to the received carving instruction, the omnidirectional movement of the machine body is realized, the carving area is increased, and the machine body is small and exquisite, is convenient to carry and can be used for carving anytime and anywhere;
2) the novel stay wire positioning sensor is designed, communication equipment is not used for positioning, the distance measurement effect is realized by using stay wires instead, and the engraving track is drawn by combining self-made software with a triangulation positioning technology for observing the engraving effect.
The features mentioned above can be combined in various suitable ways or replaced by equivalent features as long as the object of the invention is achieved.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings, in which:
fig. 1 and 2 show a schematic top view and a schematic side view, respectively, of a mobile laser engraving machine according to an embodiment of the present invention;
figure 3 shows a schematic structural diagram of an omni-wheel assembly according to an embodiment of the invention;
figure 4 shows a schematic structural view of an omni wheel according to an embodiment of the invention;
FIG. 5 shows a schematic diagram of a three-axis omni-directional movement according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a grating encoder according to an embodiment of the present invention;
FIG. 7 shows waveforms of the A-phase and B-phase pulses output by a grating encoder according to an embodiment of the present invention;
FIG. 8 shows a schematic diagram of triangulation according to an embodiment of the invention;
fig. 9 shows a schematic flow chart of the steps of engraving by a mobile laser engraving machine according to an embodiment of the present invention.
In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.
List of reference numerals:
100-body; 200-a three-axis omni-directional mobile frame; 211-a first omni wheel assembly; 212-a second omni-wheel assembly; 213-a third omni wheel assembly; 221-a first stepper motor; 222-a second stepper motor; 214-omni wheel; 215-rolling elements; 216-omni wheel body; 217-notch; 300-pull wire type positioning sensor; 310-a grating encoder; 311-synchronous pulley; 312-grating code disc; 313-photoelectric pair tube.
Detailed Description
The invention will be further explained with reference to the drawings.
Fig. 1 and 2 are schematic structural views of a mobile laser engraving machine provided by the present application. As shown in fig. 1 and 2, the mobile laser engraving machine includes a machine body 100, a three-axis omni-directional mobile frame 200 disposed at the bottom of the machine body 100, and a laser engraving head (not shown) disposed at the bottom of the machine body 100; the three-axis omni-directional moving frame 200 carries the machine body 100 and drives the machine body 100 to move on the carving surface in an omni-directional manner, so that the area of the carving surface is increased. Specifically, the three-axis omni-directional movement frame 200 includes three omni-directional wheel assemblies, i.e., a first omni-directional wheel assembly 211, a second omni-directional wheel assembly 212, and a third omni-directional wheel assembly 213, which are uniformly distributed around the body in a circumferential direction, and a stepping motor (only a first stepping motor 221 and a second stepping motor 222 are shown in fig. 2) in one-to-one correspondence with each omni-directional wheel assembly, each omni-directional wheel assembly being fixedly disposed on an output shaft of the corresponding stepping motor so as to roll in a direction perpendicular to the output shaft (i.e., wheel axis), i.e., in Va, Vb, and Vc directions, under the driving of the stepping motor (described in detail later).
In addition, to achieve omni-directional movement of the body 100, the omni-wheel assembly provided in the present application may roll in the direction of the output shaft in addition to the above-described ability to roll in the direction perpendicular to the wheel axis. Specifically, as shown in fig. 3, taking the first omni wheel assembly 211 as an example, the first omni wheel assembly 211 includes a plurality of omni wheels 214 stacked in parallel on the output shaft of the stepping motor, the plurality of omni wheels 214 are preferably fixedly connected to each other, and each omni wheel 214 has the same diameter to realize synchronous rolling in a direction perpendicular to the wheel axis under the driving of the stepping motor. Meanwhile, a plurality of rolling members 215 (fig. 4) are freely fitted over each omni wheel 214 in the circumferential direction, and the rolling members 215 are substantially shuttle-shaped and can roll in the direction of the wheel axis.
Specifically, (a) in fig. 4 is a structural perspective view of the omni wheel 214, and (b) is a front view of the omni wheel 214 showing the notch 217. As shown in fig. 4, the omni wheel 214 includes a circular omni wheel main body 216 and a plurality of rolling members 215, the omni wheel main body 216 may be formed by stacking a plurality of sheets and fastening them by screws, a plurality of notches 217 are formed on the sheets, an elongated rolling shaft (the curvature of which is substantially the same as that of the sheets) is provided in each notch 217, and the rolling members 215 are freely fitted over the rolling shaft and accommodated in the notch area, so that the plurality of rolling members 215 are independent from each other without interfering with each other. With the above-described construction of the omni-wheel assembly, the stepping motor is able to control the rolling motion of the omni-wheel in a direction perpendicular to the wheel axis, while the rolling motion in the form of its rolling elements along the wheel axis is free and not controlled by the stepping motor.
Fig. 5 is a schematic diagram illustrating the principle that the three-axis omni-directional moving frame 200 drives the machine body 100 to move omni-directionally according to the present invention. As shown, for the convenience of kinematic analysis, an ideal case is taken as a basis. Under an xy two-dimensional coordinate plane, a point O is the center of a chassis of the machine body, three wheels are distributed according to the point O by theta being 120 degrees, Va, Vb and Vc are the speeds of three omnidirectional wheel assemblies, the arrow direction is the positive direction of the wheel movement, phi is the included angle between the wheel surface and an x axis, phi is pi/3, omega is the rotation angular speed of the machine body, and R is the distance between the center of the omnidirectional wheel assembly and the center of the machine body 100. When the mobile laser engraving machine works, the movement of the machine body needs three wheels to be matched together, and the following formula (1) is obtained by performing kinematic analysis according to the speed of the wheels and the self-rotating angular speed:
the control system of the engraving machine realizes the movement of the omnidirectional wheel assembly by analyzing the Gcode engraving instruction and programming according to a formula, a stepping motor is selected for driving the omnidirectional wheel assembly, because the controllable angular displacement of the stepping motor can not be achieved by a direct current motor, the stepping motor can calculate the displacement of a single omnidirectional wheel assembly by utilizing the pulse number and the wheel diameter, the movement speed and the direction of the whole laser engraving machine body can be obtained after the movement synthesis, and the engraving process is completed by combining the Gcode engraving instruction.
Specifically, the input engraving pattern is converted into a geocode engraving command (the command contains Vx and Vy expected for each engraving position engraving machine), Vx and Vy are input into the formula after the command is received, Va of the first omnidirectional wheel assembly 211, Vb of the second omnidirectional wheel assembly 212 and Vc of the third omnidirectional wheel assembly 213 are obtained, the Va, Vb and Vc are respectively converted into corresponding pulse numbers according to the obtained result, and the output of each stepping motor is controlled to actuate each omnidirectional wheel assembly, and the result of motion coordination of the three omnidirectional wheel assemblies is the actual moving speed and direction (namely the expected combined quantity of Vx and Vy) of the expected platform.
The laser engraving cutter head can perform pattern engraving on the engraving plate by ejecting laser, and the engraving machine can realize multifunctional operation of replacing the engraving cutter head and can complete large-format engraving, cutting and drawing processes.
In another embodiment of the present invention, since the laser engraving machine is configured to move in all directions, a novel positioning sensor, i.e. a pull-type positioning sensor, can be provided to position the mobile laser engraving machine in real time in order to more intuitively sense the engraving process. Fig. 6 (a) shows a schematic structural diagram of a pull-wire type position sensor 300 provided by the present invention, the pull-wire type position sensor 300 comprises a grating encoder 310, a pull wire 320 and a pull wire box 330 for storing the pull wire 320, wherein, as shown in fig. 6 (a) and (b) together, the grating encoder 310 comprises a synchronous pulley 311, a grating code wheel 312 and a photoelectric pair tube 313. The pulling wire 320 is wound on the synchronous pulley 311 so as to be driven by the pulling wire to rotate; the grating code disc 312 is fixedly arranged on the top of the synchronous pulley 311 and can rotate along with the rotation of the synchronous pulley 311, the photoelectric pair tube 313 comprises a light emitting tube and a light receiving tube which are oppositely arranged on two sides of the grating code disc 313, and the light transmission of the photoelectric pair tube 313 can be periodically cut off by the rotation of the grating code disc 313.
When the grating encoder 310 is in operation, the rotation of the grating code disc 312 cuts off the optical transmission of the photoelectric pair tube 313, and a pulse signal as shown in fig. 7 is generated at the receiving end, the phase difference between the pulse of the a-phase waveform and the pulse of the B-phase waveform is 90 °, and the rotation direction of the code disc is judged by detecting which phase waveform pulse is received first. Meanwhile, the synchronous belt wheel is pulled to drive the code wheel to rotate, and the encoder outputs pulses. The arc length of the rotation of the synchronous belt wheel 311 under one pulse is obtained by calculation and is approximately equal to the stretching length of the stay wire, then the number of pulses is counted, and the arc length after a plurality of pulses is calculated according to the arc length of one pulse so as to obtain the stretching length of the stay wire, and the distance from the sensor to the body of the engraving machine is measured by the method.
Before the laser engraving machine performs engraving, two stay-wire type position sensors 300 (S1 and S2 in fig. 8, respectively) as described above may be disposed at both side edge positions of the engraving plate, wherein the two grating encoders 310 are fixedly attached to the machine body 100 by respective stay wires. By using the above principle, each positioning sensor 30 can determine the distance from the sensor to the machine body 100, and then send the distance information to the upper computer software, and process data by using triangulation positioning to perform carving track drawing, so as to visually reflect the carving process, as shown in fig. 8.
Generally, as shown in fig. 9, the engraving process of the mobile laser engraving machine provided by the present invention is performed by the following steps: s1, inputting a carving pattern in the upper computer; s2, generating a Gcode engraving instruction by using self-made plug-in processing; s3, the upper computer software transmits the generated Gcode instruction to a control system of the engraving machine; s4, the control system analyzes the Gcode instruction and controls the movement of each omnidirectional wheel component and the carving process of the machine body; and S5, positioning the engraving machine in real time by the stay wire sensor in the engraving process, and drawing a track map.
According to the mobile laser engraving machine, on one hand, the three-axis omnidirectional moving frame is arranged at the bottom of the engraving machine body, and the three omnidirectional wheel assemblies can be controlled to move independently according to received engraving instructions, so that the machine body can move in all directions, the engraving area is increased, and the machine body is small and exquisite, convenient to carry and capable of engraving at any time and any place; on the other hand, a novel stay wire positioning sensor is designed, communication equipment is not used for positioning, the distance measurement effect is realized by using stay wires instead, and the engraving track is drawn by combining self-made software with a triangulation positioning technology and is used for observing the engraving effect.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. A mobile laser engraving machine, comprising a machine body and a three-axis omnidirectional movement frame arranged at the bottom of the machine body, wherein the three-axis omnidirectional movement frame comprises three omnidirectional wheel assemblies which are uniformly distributed along the circumferential direction of the machine body, the omnidirectional wheel assemblies are configured to roll along the wheel axis direction and the direction perpendicular to the wheel axis direction, and the three omnidirectional wheel assemblies are mutually independent and can be mutually matched to realize the omnidirectional movement of the machine body.
2. The mobile laser engraving machine of claim 1, wherein the omni-wheel assembly comprises a plurality of omni-wheels stacked in parallel, the omni-wheels comprising an omni-wheel body and a plurality of rollers independent of each other in a circumferential direction and freely nested on the omni-wheel body.
3. The mobile laser engraving machine of claim 1 or 2, wherein the three-axis omnidirectional movement frame further comprises a stepper motor in one-to-one correspondence with each omnidirectional wheel assembly.
4. The mobile laser engraving machine according to claim 1 or 2, wherein the angle between the wheel faces of two adjacent omnidirectional wheel assemblies is 60 °.
5. The mobile laser engraving machine of claim 4, wherein the linear velocity of each omni-wheel assembly in a direction perpendicular to the wheel axis is determined by the following equation:
va, Vb and Vc are rolling linear speeds of the three omnidirectional wheel assemblies along a direction perpendicular to an axle line, psi is an included angle between wheel faces, omega is a spinning angular speed of the machine body, R is a distance from the center of the omnidirectional wheel assemblies to the center of a chassis of the machine body, and Vx and Vy are moving linear speeds of the machine body in an x-axis direction and a y-axis direction respectively.
6. The mobile laser engraving machine according to claim 1 or 2, wherein a control system is further arranged inside the machine body and used for receiving engraving instructions sent by the upper computer and controlling the movement of the three omnidirectional wheel assemblies and the engraving action of the machine body according to the engraving instructions.
7. The mobile laser engraving machine of claim 1 or 2, further comprising two stay-supported positioning sensors cooperating to position the machine body.
8. The mobile laser engraving machine of claim 7, wherein the stay wire type positioning sensor comprises grating encoders, two of the grating encoders are respectively connected to the machine body through the stay wires to form a triangular layout with the machine body, and the positioning of the machine body is realized by calculating the distance between the stay wires of the machine body and the two grating encoders.
9. The mobile laser engraving machine of claim 8, wherein the grating encoder comprises:
the pull wire is wound on the synchronous belt wheel so as to be driven by the pull wire to rotate;
the grating code disc is fixedly arranged at the top of the synchronous pulley and can rotate along with the rotation of the synchronous pulley; and
photoelectric geminate transistors are oppositely arranged on two sides of the grating code disc, and the rotation of the grating code disc can periodically cut off the light transmission of the photoelectric geminate transistors.
10. The mobile laser engraving machine of claim 9, wherein the pull line positioning sensor further comprises a pull line box for storing a pull line.
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