CN113894361A

CN113894361A - Self-positioning type cutting robot with self-cleaning function and positioning method thereof

Info

Publication number: CN113894361A
Application number: CN202111055489.9A
Authority: CN
Inventors: 李辉; 袁荣小; 陆宜东
Original assignee: Nanjing Niebo IOT Technology Co Ltd
Current assignee: Nanjing Niebo IOT Technology Co Ltd
Priority date: 2021-09-09
Filing date: 2021-09-09
Publication date: 2022-01-07
Also published as: WO2023035376A1

Abstract

The invention discloses a self-positioning type cutting robot with a self-cleaning function and a positioning method thereof, wherein the self-positioning type cutting robot comprises a circular plate, a power mechanism is arranged in the middle of the bottom end of the circular plate, material receiving boxes are arranged on two sides of the power mechanism, a discharging hopper is arranged at the top end of each material receiving box, a fixing plate is arranged on one side of each material receiving box, an upright post which is arranged on the outer side of the circumference of the circular plate is arranged in the middle of the top end of the fixing plate, a mechanical arm is arranged at the top of each upright post, and a protection mechanism is arranged at the bottom of one end of each mechanical arm; the top end of the circular plate is eccentrically provided with a plurality of first through holes, positioning mechanisms are arranged above the first through holes, the blanking hopper is located under the first through holes, and one side of the outer circumference of the circular plate is provided with a control console. The invention not only realizes the continuous feeding and cutting of the workpiece and the positioning and clamping of the workpiece, but also avoids the damage of workers due to sparks or scraps, thereby improving the working efficiency and ensuring the normal work of the workers.

Description

Self-positioning type cutting robot with self-cleaning function and positioning method thereof

Technical Field

The invention belongs to the technical field of industrial robots, and particularly relates to a self-positioning type cutting robot with a self-cleaning function and a positioning method thereof.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology. An industrial robot is composed of three basic parts, namely a main body, a driving system and a control system.

Wherein, patent number CN110315218B discloses an industrial robot with location turns to cutting function, including workstation, position control mechanism, cutting robot, work piece positioner, work piece clamping mechanism, garbage collection mechanism, dust collection mechanism, production line conveyer belt and unloading robot, wherein, cutting robot passes through position control mechanism fixed mounting in the middle part position of workstation. Can realize industrial robot's continuous processing, location material loading and self-holding and automatic unloading and work piece move and carry, satisfy high-efficient production line cutting demand, can realize the concentrated collection of blank and sweeps that produces in cutting process, however, in cutting process, the position of cutting can produce spark and piece, these spark and piece can be toward sputtering all around, when the staff is on the next door, can produce the harm to staff's skin and health.

An effective solution to the problems in the related art has not been proposed yet.

Disclosure of Invention

The purpose of the invention is as follows: the self-positioning type cutting robot with the self-cleaning function and the positioning method thereof are provided to overcome the technical problems in the prior related art.

The technical scheme is as follows: a self-positioning type cutting robot with a self-cleaning function comprises a circular plate, wherein a power mechanism is arranged in the middle of the bottom end of the circular plate, material receiving boxes are arranged on two sides of the power mechanism, a discharging hopper is arranged at the top end of each material receiving box, a fixing plate is arranged on one side of each material receiving box, an upright post which is located on the outer side of the circumference of the circular plate is arranged in the middle of the top end of each fixing plate, a mechanical arm is arranged at the top of each upright post, and a protection mechanism is arranged at the bottom of one end of each mechanical arm; the top end of the circular plate is eccentrically provided with a plurality of first through holes which are distributed on the top end of the circular plate in a cross shape, positioning mechanisms are arranged above the first through holes, the blanking hopper is positioned right below the first through holes, and one side of the outer circumference of the circular plate is provided with a console; the discharging hopper is of an inverted cone structure, the inner diameter length of a feeding hole in the top end of the discharging hopper is larger than that of a discharging hole in the bottom end of the discharging hopper, and the inner diameter length of the feeding hole in the top end of the discharging hopper is larger than that of the first through hole.

In a further embodiment, in order to realize rotation of the circular plate, when a worker puts a workpiece to be processed into the positioning mechanism, the circular plate can rotate in a proper degree through the power mechanism, so that the workpiece to be processed is moved to the position below the mechanical arm and is cut and processed, the worker can be far away from a cutting area and cannot be damaged due to sparks and chips generated in the cutting process; a second through hole matched with the outer side of the rotating shaft is formed in the middle of the top end of the rotating disc, a plurality of sliding grooves are uniformly formed in the side wall of the outer circumference of the rotating disc, the sliding grooves are distributed on the top end of the rotating disc in a cross-shaped arrangement mode, and arc-shaped grooves matched with the side wall of the outer circumference of the rotating disc are formed in one side of each sliding groove; the V-arrangement groove has been seted up on the top of driving-disc, and the bottom middle part of driving-disc is provided with the bull stick with servo motor output fixed connection, and the top of bull stick and driving-disc bottom are provided with the connecting block, and the one end top of connecting block is provided with the drive block with spout matched with.

In a further embodiment, in order to enable sparks and debris generated in the process of cutting and machining a workpiece to be machined to play a certain blocking role, so that the sparks and the debris cannot sputter all around, further guarantee that workers cannot be damaged due to sputtering of the sparks and the debris, further improve the working efficiency of the workers, and reduce pollution to the working environment, so that the workers have a good working environment, the protection mechanism comprises a fixed block positioned at the bottom of one end of the mechanical arm, a plurality of mounting seats are arranged in the middle of the side wall of the fixed block, hydraulic telescopic rods are arranged in the middle of the side wall of each mounting seat, a connecting rod is arranged at one end of each hydraulic telescopic rod, a protection plate is arranged at one end of each connecting rod, the protection plate is movably connected with the mounting seats through bolts, and a laser cutting head is arranged in the middle of the bottom end of the fixed block; wherein, both sides of one end of the connecting rod are provided with a first projection, and both sides of the other end of the connecting rod are provided with a second projection; a sleeve which is arranged on one side wall of the mounting seat and is positioned inside the side wall of the fixed block, a first hole matched with the hydraulic telescopic rod is formed in the middle of the other side wall of the mounting seat, and second holes matched with the bolts are formed in the side walls of two ends of the mounting seat; the two ends of the top of the protection plate are provided with third convex blocks, the side wall of the top of each third convex block is provided with a third through hole matched with the bolt, the middle of the top end of the protection plate is provided with a fourth convex block, the top end of the fourth convex block is provided with a groove, the two side walls inside the groove are provided with fourth through holes matched with the first convex blocks, and the side wall of the protection plate is of an arc-shaped structure; the top end of the hydraulic telescopic rod is provided with a symmetrical lug five, and the side wall of the lug five is provided with a through hole five matched with the lug.

In a further embodiment, in order to realize the positioning of the workpiece to be processed, so that the stability of the workpiece to be processed in the cutting process is ensured, the processing quality of the workpiece to be processed is further ensured, and the working efficiency of the workpiece processing is further improved, the positioning mechanism comprises a second bottom plate positioned at the top end of a circular plate, a stop block is arranged on one side of the top end of the second bottom plate, an air cylinder is arranged on one side of the stop block, a piston rod penetrating through the stop block is arranged at one end of the air cylinder, and a positioning block is arranged at one end of the piston rod; the top end of the second bottom plate is provided with a sixth through hole matched with the first through hole, the other side of the top end of the second bottom plate is provided with two rotating shafts, L-shaped positioning rods are sleeved on the outer side of the circumference of each rotating shaft, and the L-shaped positioning rods are symmetrical to each other.

According to another aspect of the present invention, there is provided a positioning method of a self-positioning type cutting robot having a self-cleaning function,

the positioning method of the self-positioning type cutting robot with the self-cleaning function comprises the following steps:

s1: firstly, placing a workpiece to be processed on a second bottom plate;

s2: then, one end of the workpiece to be processed is abutted against the side wall of the cross bar of the L-shaped positioning rod;

s3: a worker starts the air cylinder through the control console and extends the piston rod, so that the piston rod pushes the positioning block to move, the positioning block pushes the workpiece to be machined to move, the cross rod of the L-shaped positioning rod moves, and the vertical rod of the L-shaped positioning rod generates thrust on the workpiece to be machined;

s4: and the worker closes the air cylinder through the control console to complete positioning.

Has the advantages that:

1. by arranging the power mechanism, the circular plate can rotate in a proper degree, so that a workpiece to be machined can move to one side of the mechanical arm from the worker through the rotation degree of the circular plate after the workpiece is machined by the worker, then the workpiece to be machined is cut, the worker is far away from a cutting area, and meanwhile, when the workpiece is cut, the worker can continue to perform feeding work, so that the worker can complete feeding while cutting, and the working efficiency of feeding the worker and cutting the workpiece to be machined is improved;

2. by arranging the protection mechanism, the cutting area can be isolated when a workpiece to be machined is cut and machined, sparks and scraps generated in machining can not be sputtered all around, so that the phenomenon that workers do not damage skin or clothes due to sputtering of the sparks and the scraps is avoided, meanwhile, the sparks and the scraps generated in cutting can not be sputtered onto the circular plate 1, the workload of the workers for cleaning the working environment is reduced, the clean and healthy body and the cleanness of the working environment of the workers are guaranteed, and the working efficiency of the workers is improved;

3. by arranging the positioning mechanism, the workpiece to be processed can be positioned and clamped, so that the workpiece to be processed cannot deviate due to vibration during cutting, the stability of the workpiece to be processed during cutting is improved, the accuracy of the workpiece to be processed during cutting is ensured, and the quality of the workpiece after processing is ensured;

4. receive the workbin, hopper and through-hole one down through the setting to make the waste material that the work piece of treating produced when cutting processing fall into receiving the workbin through-hole one and hopper down, and the internal diameter length of pan feeding mouth through the top of hopper down is greater than the internal diameter length of through-hole one, thereby guaranteed that the waste material that the work piece of treating produced when cutting processing can not drop outside hopper down, and then realized collecting the concentration of waste material, and then guaranteed that the plectane operational environment's is clean and tidy.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a self-positioning type cutting robot with a self-cleaning function according to an embodiment of the invention;

FIG. 2 is a side view of a self-positioning cutting robot having a self-cleaning function in accordance with an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a power mechanism in a self-positioning type cutting robot with a self-cleaning function according to an embodiment of the invention;

FIG. 4 is a schematic structural diagram of a driving disk in a self-positioning cutting robot with a self-cleaning function according to an embodiment of the invention;

FIG. 5 is a schematic structural diagram of a rotating disk in a self-positioning type cutting robot with a self-cleaning function according to an embodiment of the invention;

FIG. 6 is a schematic structural diagram of a protection mechanism in a self-positioning type cutting robot with a self-cleaning function according to an embodiment of the invention;

fig. 7 is a schematic structural view of another state of a protection mechanism in a self-positioning type cutting robot with a self-cleaning function according to an embodiment of the invention;

FIG. 8 is a schematic structural diagram of a protection plate in a self-positioning type cutting robot with a self-cleaning function according to an embodiment of the invention;

fig. 9 is a schematic structural view of a mounting seat in a self-positioning type cutting robot having a self-cleaning function according to an embodiment of the present invention;

fig. 10 is a schematic structural view of a connecting rod in a self-positioning type cutting robot having a self-cleaning function according to an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of a hydraulic telescopic rod in a self-positioning type cutting robot with a self-cleaning function according to an embodiment of the invention;

fig. 12 is a schematic structural diagram of a positioning mechanism in a self-positioning type cutting robot with a self-cleaning function according to an embodiment of the invention.

In the figure:

1. a circular plate; 2. a power mechanism; 201. a first bottom plate; 202. a rotating shaft; 203. rotating the disc; 2031. a second through hole; 2032. a chute; 2033. an arc-shaped slot; 204. a drive disc; 2041. a V-shaped groove; 2042. a rotating rod; 2043. connecting blocks; 2044. a drive block; 205. a servo motor; 3. a material receiving box; 4. feeding a hopper; 5. a fixing plate; 6. a column; 7. a mechanical arm; 8. a protection mechanism; 801. a fixed block; 802. a mounting seat; 8021. a sleeve; 8022. a first hole; 8023. a second hole; 803. a hydraulic telescopic rod; 8031. a fifth bump; 8032. a fifth through hole; 804. a connecting rod; 8041. a first bump; 8042. a second bump; 805. a protection plate; 8051. a third bump; 8052. a third through hole; 8053. fourthly, forming a bump; 8054. a groove; 8055. a fourth through hole; 806. a bolt; 807. a laser cutting head; 9. a first through hole; 10. a positioning mechanism; 1001. a second bottom plate; 1002. a stopper; 1003. a cylinder; 1004. a piston rod; 1005. positioning blocks; 1006. a sixth through hole; 1007. a rotating shaft; 1008. an L-shaped positioning rod; 11. a console.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

According to the embodiment of the invention, the self-positioning type cutting robot with the self-cleaning function and the positioning method thereof are provided.

As shown in fig. 1 to 12, the self-positioning type cutting robot with a self-cleaning function according to the embodiment of the invention comprises a circular plate 1, wherein a power mechanism 2 is arranged in the middle of the bottom end of the circular plate 1, material receiving boxes 3 are arranged on both sides of the power mechanism 2, a discharging hopper 4 is arranged at the top end of each material receiving box 3, a fixing plate 5 is arranged on one side of each material receiving box 3, an upright post 6 which is arranged on the outer side of the circumference of the circular plate 1 is arranged in the middle of the top end of each fixing plate 5, a mechanical arm 7 is arranged at the top of each upright post 6, and a protection mechanism 8 is arranged at the bottom of one end of each mechanical arm 7; a plurality of first through holes 9 are eccentrically formed in the top end of the circular plate 1, the first through holes 9 are distributed on the top end of the circular plate 1 in a cross-shaped arrangement mode, positioning mechanisms 10 are arranged above the first through holes 9, the blanking hopper 4 is located right below the first through holes 9, and a control console 11 is arranged on one side of the outer circumference of the circular plate 1; wherein, lower hopper 4 sets up to the back taper structure, and the internal diameter length of the pan feeding mouth on the top of lower hopper 4 is greater than the internal diameter length of the discharge gate of lower hopper 4 bottom, and the internal diameter length of the pan feeding mouth on the top of lower hopper 4 is greater than the internal diameter length of through-hole 9, and wherein, servo motor 205, hydraulic telescoping rod 803 and cylinder 1003 are connected with control cabinet 11 (contain the PLC controller) electricity in proper order.

By means of the technical scheme, the power mechanism 2 is arranged, so that the circular plate 1 can rotate by 90 degrees, and after the workpiece is fed, a worker can rotate by 90 degrees through the circular plate 1, so that the workpiece to be machined can move to one side of the mechanical arm 7 from the worker, and then the workpiece to be machined is cut, so that the worker is far away from a cutting area; by arranging the protection mechanism 8, the cutting area can be isolated when a workpiece to be processed is cut and processed, sparks and scraps generated in processing can not be sputtered all around, so that the phenomenon that workers do not damage skin or clothes due to sputtering of the sparks and the scraps is avoided, meanwhile, sparks and the scraps generated in cutting can not be sputtered onto the circular plate 1, the workload of the workers for cleaning working environments is reduced, the health of the workers and the cleanness of the working environments are guaranteed, and the working efficiency of the workers is improved; by arranging the positioning mechanism 10, the workpiece to be processed can be positioned and clamped, so that the workpiece to be processed cannot deviate due to vibration during cutting, the stability of the workpiece to be processed during cutting is improved, the accuracy of the workpiece to be processed during cutting is ensured, and the quality of the workpiece after processing is ensured; receive workbin 3 through the setting, hopper 4 and through-hole 9 down, thereby make the waste material that the work piece of treating produced when cutting machining falls into receiving workbin 3 through-hole 9 and hopper 4 down, and the internal diameter length of pan feeding mouth through hopper 4's top down is greater than the internal diameter length of through-hole 9, thereby guaranteed that the waste material that the work piece of treating produced when cutting machining can not drop in the hopper 4 outside down, and then realized the concentrated collection to the waste material, and then guaranteed clean and tidy 1 operational environment of plectane.

In one embodiment, for the power mechanism 2, the power mechanism 2 includes a first bottom plate 201, a rotating shaft 202 is disposed at a top end of one side of the first bottom plate 201, a top end of the rotating shaft 202 is fixedly connected with a middle portion of a bottom end of the circular plate 1, a bottom end of the rotating shaft 202 is connected with the first bottom plate 201 through the rotating shaft, a rotating disc 203 is sleeved at a middle portion of the rotating shaft 202, a driving disc 204 is disposed at one side of the rotating disc 203, a servo motor 205 is disposed at a bottom portion of the driving disc 204, and a bottom end of the servo motor 205 is fixedly connected with the circular plate 1; a second through hole 2031 matched with the outer side of the rotating shaft 202 is formed in the middle of the top end of the rotating disc 203, a plurality of sliding grooves 2032 are uniformly formed in the outer circumferential side wall of the rotating disc 203, the sliding grooves 2032 are distributed on the top end of the rotating disc in a cross-shaped arrangement, and an arc-shaped groove 2033 matched with the outer circumferential side wall of the rotating disc 203 is formed in one side of each sliding groove 2032; v-arrangement groove 2041 has been seted up on the top of driving-disc 204, the bottom middle part of driving-disc 204 is provided with the bull stick 2042 with servo motor 205 output fixed connection, the top of bull stick 2042 and be provided with connecting block 2043 with driving-disc 204 bottom, the one end top of connecting block 2043 is provided with the drive block 2044 with spout 2032 matched with, thereby in order to realize the rotation to plectane 1, when the staff will treat that the work piece puts into positioning mechanism 10, make plectane 1 can carry out 90 degrees rotations through power unit 2, thereby make and treat that the work piece of processing removes the below to the arm and cut processing, and then can make the staff keep away from the cutting region, can not cause the harm because spark and the piece that produces among the cutting process.

The working principle of the power mechanism 2 is as follows: firstly, the servo motor 205 is started by the console 11, the rotating rod 2042 is driven to rotate by the output shaft of the servo motor 205, and the driving disk 204 and the driving block 2044 are further driven to rotate, when the driving block 2044 rotates into the sliding groove 2032, the rotating disc 203 is driven to rotate by the driving block 2044, thereby driving the rotation shaft 202 to rotate, and further driving the circular plate 1 to rotate, when the driving block 2044 comes out from the chute 2032, at this time, the circular plate 1 rotates 90 degrees, and at the same time, the worker carries out the feeding on the other two positioning mechanisms 10 again, after the workpiece to be processed is cut, the servo motor 205 is started through the console 11, so that the servo motor 205 rotates in the opposite direction, further, the circular plate 1 rotates 90 degrees in the opposite direction, and the rotating worker takes out the processed workpiece for taking out, and meanwhile, the workpiece which is fed is rotated to one side of the mechanical arm 7 to continue cutting.

In one embodiment, for the protection mechanism 8, the protection mechanism 8 comprises a fixed block 801 located at the bottom of one end of the mechanical arm 7, a plurality of mounting seats 802 are arranged in the middle of the side wall of the fixed block 801, a hydraulic telescopic rod 803 is arranged in the middle of the side wall of each mounting seat 802, a connecting rod 804 is arranged at one end of each hydraulic telescopic rod 803, a protection plate 805 is arranged at one end of each connecting rod 804, the protection plate 805 is movably connected with the mounting seats 802 through bolts 806, and a laser cutting head 807 is arranged in the middle of the bottom end of the fixed block 801; wherein, both sides of one end of the connecting rod 804 are provided with a first bump 8041, and both sides of the other end of the connecting rod 804 are provided with a second bump 8042; a sleeve 8021 which is positioned inside the side wall of the fixing block 801 is arranged on one side wall of the mounting base 802, a first hole 8022 which is matched with the hydraulic telescopic rod 803 is arranged in the middle of the other side wall of the mounting base 802, and second holes 8023 which are matched with the bolts 806 are arranged on the side walls of the two ends of the mounting base 802; the two ends of the top of the protection plate 805 are respectively provided with a third bump 8051, the side wall of the top of the third bump 8051 is provided with a third through hole 8052 matched with the bolt 806, the middle part of the top of the protection plate 805 is provided with a fourth bump 8053, the top of the fourth bump 8053 is provided with a groove 8054, the two side walls inside the groove 8054 are provided with a fourth through hole 8055 matched with the first bump 8041, and the side wall of the protection plate 805 is of an arc structure; the top of hydraulic telescoping rod 803 is provided with symmetrical five 8031 of lug, five 8031 of through-hole five 8032 with two 8042 matched with lugs has all been seted up to the lateral wall of lug five 8031, thereby play certain effect of blockking in order to make the spark that treats the processing work piece and produce in carrying out the cutting process and piece, thereby make spark and piece can toward sputtering all around, and then further assurance the staff can not receive spark and clastic sputtering and cause the harm, and then staff's work efficiency has been improved, the pollution to operational environment has been reduced, make the staff have a good operational environment.

The working principle of the protection mechanism 8 is as follows: when a workpiece to be machined rotates to one side of the mechanical arm 7, the hydraulic telescopic rod 803 is started through the control console 11, so that the output end of the hydraulic telescopic rod 803 is shortened, the connecting rod 804 drives the four 8053 of the bump to move, the protection plate 805 rotates by taking the bolt 806 as the center under the matching among the three 8052 of the through hole, the two 8023 of the hole and the bolt 806, when the side wall of the 8041 of the bump is attached to the fixing block 801, the hydraulic telescopic rod 803 is closed through the control console 11, so that a conical body is formed between the protection plate 805, the isolation of a cutting area is realized, and then the laser cutting head 807 is started through the control console 11 to cut and machine the workpiece to be machined.

In one embodiment, for the positioning mechanism 10, the positioning mechanism 10 includes a second bottom plate 1001 located at the top end of the circular plate 1, a stopper 1002 is disposed on one side of the top end of the second bottom plate 1001, an air cylinder 1003 is disposed on one side of the stopper 1002, a piston rod 1004 penetrating through the stopper 1002 is disposed at one end of the air cylinder 1003, and a positioning block 1005 is disposed at one end of the piston rod 1004; six 1006 of through-hole with through-hole 9 matched with are seted up on the top of bottom plate two 1001, and the top opposite side of bottom plate two 1001 is provided with two rotation axis 1007, and the circumference outside cover of rotation axis 1007 is equipped with L shape locating lever 1008, and mutual symmetry between the L shape locating lever 1008, thereby treat the location of processing work piece in order to realize, thereby guaranteed to treat the stability of processing work piece in cutting process, and then guaranteed to treat the quality of processing work piece processing, and then improved the work efficiency of work piece processing.

The working principle of the positioning mechanism 10 is as follows: firstly, put into bottom plate two 1001 with the work piece of treating processing, make one side contact L shape locating lever 1008's horizontal pole lateral wall of the work piece of treating processing, start cylinder 1003 through control cabinet 11, make piston rod 1004 extend, and then drive locating piece 1005 and remove, and then promote the work piece of treating processing and remove through locating piece 1005, make the work piece of treating processing produce thrust to the horizontal pole of L shape locating lever 1008, and then make L shape locating lever 1008 rotate with rotation axis 1007 position center, and then make the distance between the montant top of two L shape locating levers 1008 shorten, and then can treat the lateral wall of the other both sides of processing work piece and produce thrust, and then realized treating the tight location of clamp of processing work piece, and then make the work piece of treating processing stability when processing, the quality after the work piece processing has been accomplished has been guaranteed.

According to an embodiment of the present invention, there is also provided a positioning method of a self-positioning type cutting robot having a self-cleaning function, the positioning method including the steps of:

s1: firstly, a workpiece to be processed is placed on a second bottom plate 1001;

s2: then, one end of the workpiece to be processed is abutted against the side wall of the cross bar of the L-shaped positioning rod 1008;

s3: a worker starts the air cylinder 1003 and extends the piston rod 1004 through the console 11, so that the piston rod 1004 pushes the positioning block 1005 to move, the positioning block 1005 pushes the workpiece to be processed to move, the cross rod of the L-shaped positioning rod 1008 moves, and the vertical rod of the L-shaped positioning rod 1008 generates thrust on the workpiece to be processed;

s4: the worker closes the cylinder 1003 through the console 11 to complete the positioning.

For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.

In practical application, firstly, a workpiece to be processed is placed on the second bottom plate 1001, one side of the workpiece to be processed is in contact with the side wall of the cross rod of the L-shaped positioning rod 1008, the cylinder 1003 is started through the console 11, the piston rod 1004 is extended, the positioning block 1005 is driven to move, the workpiece to be processed is pushed by the positioning block 1005 to move, the workpiece to be processed generates thrust on the cross rod of the L-shaped positioning rod 1008, the L-shaped positioning rod 1008 rotates around the 1007-position center of the rotating shaft, the distance between the top ends of the vertical rods of the two L-shaped positioning rods 1008 is shortened, thrust is generated on the side walls on the other two sides of the workpiece to be processed, clamping and positioning of the workpiece to be processed are realized, the stability of the workpiece to be processed during processing is further realized, the quality of the workpiece after processing is ensured, and then the servo motor 205 is started through the console 11, the output shaft of the servo motor 205 drives the rotating rod 2042 to rotate, and further drives the driving disk 204 and the driving block 2044 to rotate, when the driving block 2044 rotates into the chute 2032, the driving block 2044 drives the rotating disk 203 to rotate, and further drives the rotating shaft 202 to rotate, and further drives the circular plate 1 to rotate, when the driving block 2044 comes out from the chute 2032, at this time, the circular plate 1 rotates 90 degrees, when the workpiece to be processed rotates to one side of the mechanical arm 7, the hydraulic telescopic rod 803 is started through the console 11, so that the output end of the hydraulic telescopic rod 803 is shortened, and further the connecting rod 804 drives the projection four 8053 to move, under the cooperation among the through hole three 8052, the hole two 8023 and the bolt 806, so that the protection plate 805 rotates around the bolt 806, when the side wall of the projection one 8041 is attached to the fixing block 801, the hydraulic telescopic rod 803 is closed through the console 11, so that a cone is formed between the protection plates 805, therefore, the isolation of the cutting area is realized, then the laser cutting head 807 is started through the control console 11 to cut and process the workpiece to be processed, meanwhile, the worker carries out the feeding again on the other two positioning mechanisms 10, after the workpiece to be processed is cut, the servo motor 205 is started through the control console 11, so that the servo motor 205 rotates in the opposite direction, further, the circular plate 1 rotates in the opposite direction by 90 degrees, the workpiece rotating worker who finishes the processing is taken out, and meanwhile, the workpiece which finishes the feeding rotates to one side of the mechanical arm 7 to continue the cutting and processing.

In summary, according to the technical scheme of the invention, by arranging the power mechanism 2, the circular plate 1 can rotate by 90 degrees, so that after a worker finishes feeding, the workpiece to be machined can move to one side of the mechanical arm 7 from the worker by rotating the circular plate 1 by 90 degrees, and then the workpiece to be machined is cut, so that the worker is far away from a cutting area, and meanwhile, when the workpiece is cut, the worker can continue to feed, so that the worker can complete feeding while cutting, and further the working efficiency of feeding and cutting the workpiece to be machined is improved for the worker; by arranging the protection mechanism 8, the cutting area can be isolated when a workpiece to be processed is cut and processed, sparks and scraps generated in processing can not be sputtered all around, so that the phenomenon that workers do not damage skin or clothes due to sputtering of the sparks and the scraps is avoided, meanwhile, sparks and the scraps generated in cutting can not be sputtered onto the circular plate 1, the workload of the workers for cleaning working environments is reduced, the health of the workers and the cleanness of the working environments are guaranteed, and the working efficiency of the workers is improved; by arranging the positioning mechanism 10, the workpiece to be processed can be positioned and clamped, so that the workpiece to be processed cannot deviate due to vibration during cutting, the stability of the workpiece to be processed during cutting is improved, the accuracy of the workpiece to be processed during cutting is ensured, and the quality of the workpiece after processing is ensured; receive workbin 3 through the setting, hopper 4 and through-hole 9 down, thereby make the waste material that the work piece of treating produced when cutting machining falls into receiving workbin 3 through-hole 9 and hopper 4 down, and the internal diameter length of pan feeding mouth through hopper 4's top down is greater than the internal diameter length of through-hole 9, thereby guaranteed that the waste material that the work piece of treating produced when cutting machining can not drop in the hopper 4 outside down, and then realized the concentrated collection to the waste material, and then guaranteed clean and tidy 1 operational environment of plectane.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides a from locate mode cutting robot with self-cleaning function, includes plectane (1), its characterized in that:

a power mechanism (2) is arranged in the middle of the bottom end of the circular plate (1), material receiving boxes (3) are arranged on two sides of the power mechanism (2), a discharging hopper (4) is arranged at the top end of each material receiving box (3), a fixing plate (5) is arranged on one side of each material receiving box (3), an upright post (6) which is arranged on the outer side of the circumference of the circular plate (1) is arranged in the middle of the top end of each fixing plate (5), a mechanical arm (7) is arranged at the top of each upright post (6), and a protection mechanism (8) is arranged at the bottom of one end of each mechanical arm (7);

a plurality of first through holes (9) are eccentrically arranged at the top end of the circular plate (1), the first through holes (9) are distributed at the top end of the circular plate (1) in a cross shape, positioning mechanisms (10) are arranged above the first through holes (9), the blanking hopper (4) is positioned right below the first through holes (9), and a control console (11) is arranged on one side of the outer circumference of the circular plate (1);

the lower hopper (4) is of an inverted cone structure, the inner diameter length of a feeding hole in the top end of the lower hopper (4) is larger than that of a discharge hole in the bottom end of the lower hopper (4), and the inner diameter length of the feeding hole in the top end of the lower hopper (4) is larger than that of the first through hole (9).

2. The self-positioning type cutting robot with the self-cleaning function is characterized in that the power mechanism (2) comprises a first bottom plate (201), a rotating shaft (202) is arranged at the top end of one side of the first bottom plate (201), the top end of the rotating shaft (202) is fixedly connected with the middle of the bottom end of the circular plate (1), the bottom end of the rotating shaft (202) is connected with the first bottom plate (201) through the rotating shaft, a rotating disc (203) is sleeved at the middle of the rotating shaft (202), a driving disc (204) is arranged at one side of the rotating disc (203), a servo motor (205) is arranged at the bottom of the driving disc (204), and the bottom end of the servo motor (205) is fixedly connected with the circular plate (1).

3. The self-positioning type cutting robot with the self-cleaning function according to claim 2, wherein a second through hole (2031) matched with the outer side of the rotating shaft (202) is formed in the middle of the top end of the rotating disc (203), a plurality of sliding grooves (2032) are uniformly formed in the outer circumferential side wall of the rotating disc (203), the sliding grooves (2032) are distributed on the top end of the rotating disc in a cross shape, and an arc-shaped groove (2033) matched with the outer circumferential side wall of the rotating disc (203) is formed in one side of each sliding groove (2032).

4. The self-positioning type cutting robot with the self-cleaning function according to claim 3, wherein a V-shaped groove (2041) is formed in the top end of the driving disc (204), a rotating rod (2042) fixedly connected with the output end of the servo motor (205) is arranged in the middle of the bottom end of the driving disc (204), a connecting block (2043) is arranged on the top of the rotating rod (2042) and the bottom end of the driving disc (204), and a driving block (2044) matched with the sliding groove (2032) is arranged on the top of one end of the connecting block (2043).

5. The self-positioning type cutting robot with the self-cleaning function is characterized in that the protection mechanism (8) comprises a fixed block (801) positioned at the bottom of one end of the mechanical arm (7), a plurality of mounting seats (802) are arranged in the middle of the side wall of the fixed block (801), a hydraulic telescopic rod (803) is arranged in the middle of the side wall of each mounting seat (802), a connecting rod (804) is arranged at one end of each hydraulic telescopic rod (803), a protection plate (805) is arranged at one end of each connecting rod (804), the protection plate (805) is movably connected with the mounting seats (802) through bolts (806), and a laser cutting head (807) is arranged in the middle of the bottom end of the fixed block (801);

the two sides of one end of the connecting rod (804) are respectively provided with a first bump (8041), and the two sides of the other end of the connecting rod (804) are respectively provided with a second bump (8042).

6. The self-positioning type cutting robot with the self-cleaning function is characterized in that a sleeve (8021) is arranged on one side wall of the mounting seat (802) and located inside the side wall of the fixing block (801), a first hole (8022) matched with the hydraulic telescopic rod (803) is formed in the middle of the other side wall of the mounting seat (802), and second holes (8023) matched with the bolts (806) are formed in the side walls of the two ends of the mounting seat (802).

7. The self-positioning type cutting robot with the self-cleaning function according to claim 6, wherein two ends of the top of the protection plate (805) are provided with three protruding blocks (8051), the side wall of the top of each three protruding block (5081) is provided with a third through hole (8052) matched with the bolt (806), the middle of the top end of the protection plate (805) is provided with a fourth protruding block (8053), the top end of the fourth protruding block (8053) is provided with a groove (8054), two side walls of the inner part of the groove (8054) are provided with a fourth through hole (8055) matched with the first protruding block (8041), and the side wall of the protection plate (805) is provided with an arc-shaped structure.

8. The self-positioning type cutting robot with the self-cleaning function according to claim 6, wherein the top end of the hydraulic telescopic rod (803) is provided with a symmetrical fifth bump (8031), and the side wall of the fifth bump (8031) is provided with a fifth through hole (8032) matched with the second bump (8042).

9. The self-positioning type cutting robot with the self-cleaning function according to claim 1, wherein the positioning mechanism (10) comprises a second bottom plate (1001) positioned at the top end of the circular plate (1), a stopper (1002) is arranged on one side of the top end of the second bottom plate (1001), an air cylinder (1003) is arranged on one side of the stopper (1002), a piston rod (1004) penetrating through the stopper (1002) is arranged at one end of the air cylinder (1003), and a positioning block (1005) is arranged at one end of the piston rod (1004);

through-hole six (1006) matched with through-hole one (9) is seted up at the top of bottom plate two (1001), the top opposite side of bottom plate two (1001) is provided with two rotation axis (1007), the circumference outside cover of rotation axis (1007) is equipped with L shape locating lever (1008), just mutual symmetry between L shape locating lever (1008).

10. A positioning method of a self-positioning cutting robot with a self-cleaning function, which is used for positioning the self-positioning cutting robot with a self-cleaning function according to any one of claims 1 to 9, and is characterized by comprising the following steps:

s1: firstly, a workpiece to be processed is placed on the second bottom plate 1001;

s2: then, one end of a workpiece to be processed is abutted against the side wall of the cross bar of the L-shaped positioning rod (1008);

s3: a worker starts the air cylinder (1003) through the control console (11) and extends the piston rod (1004), so that the piston rod (1004) pushes the positioning block (1005) to move, the positioning block (1005) pushes a workpiece to be machined to move, a cross rod of the L-shaped positioning rod (1008) moves, and a vertical rod of the L-shaped positioning rod (1008) generates thrust on the workpiece to be machined;

s4: and the worker closes the air cylinder (1003) through the control console (11) to complete positioning.