CN116372400A - Manipulator assembly suitable for three-dimensional five-axis laser cutting equipment - Google Patents
Manipulator assembly suitable for three-dimensional five-axis laser cutting equipment Download PDFInfo
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- CN116372400A CN116372400A CN202310227302.1A CN202310227302A CN116372400A CN 116372400 A CN116372400 A CN 116372400A CN 202310227302 A CN202310227302 A CN 202310227302A CN 116372400 A CN116372400 A CN 116372400A
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- 238000003698 laser cutting Methods 0.000 title claims abstract description 24
- 238000012937 correction Methods 0.000 claims abstract description 14
- 238000013519 translation Methods 0.000 claims description 44
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 16
- 238000005520 cutting process Methods 0.000 abstract description 13
- 230000000694 effects Effects 0.000 abstract description 6
- 238000007599 discharging Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
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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
- B23K26/702—Auxiliary equipment
-
- 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
- B23K26/38—Removing material by boring or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Laser Beam Processing (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a manipulator assembly suitable for three-dimensional five-axis laser cutting equipment, which comprises a mechanical positioning component, a free adjusting frame, a corner limiting structure and an inward shrinkage correcting device, wherein the inward shrinkage correcting device is used for driving the corner limiting structure to adjust the limiting range so as to drive the mechanical positioning component to adjust the transverse offset angle and the vertical offset angle, so that a clamping surface is matched with a workpiece to be cut. According to the invention, the position of the clamping end is adjusted and the workpiece to be cut is driven to be fed, the processes of carrying, feeding, fixing, clamping and discharging are integrated, so that the cutting efficiency is effectively improved, in addition, the inward shrinkage correction device drives the corner limiting structure to adjust the limiting range, so that the mechanical positioning component is driven to adjust the transverse offset angle and the vertical offset angle, the clamping surface is matched with the workpiece to be cut, the offset adjustment is carried out on the clamping surface, the clamping surface is tightly attached to the workpiece to be cut during fixing, and the problem of poor fixing effect caused by offset of the clamping surface is avoided.
Description
Technical Field
The invention relates to the technical field of laser cutting, in particular to a manipulator assembly suitable for three-dimensional five-axis laser cutting equipment.
Background
When the three-dimensional five-axis laser cutting equipment is used for processing workpieces, the workpieces are taken and all need to be manually placed on the cutting tool or the tray, if the workpieces are smaller, the workpieces can be taken by one to two persons, if the workpieces are larger, three to four persons are needed, even more people can carry the workpieces, the labor cost is increased, when the workpieces are oversized, potential safety hazards exist during manual carrying, and in addition, the manual production efficiency is greatly reduced relative to an automatic manipulator.
To above-mentioned problem, normally through one kind with the stainless steel as main part material preparation frame, place cylinder linear guide slip table optical axis slide rail on the frame, the slider, aluminum plate, supporting shoe and cylinder clamping device, through the connecting motion of modes such as mounting bolt and pneumatics, drive the clamp and treat the work piece of cutting, play the effect of clamping fixedly in cutting process, but current fixed technology function singleness, only can play the effect of fixed work piece, still need the manual work before pressing from both sides tightly or the machine carries the material loading to the work piece, be difficult to realize one step and put in place, cutting efficiency has been reduced, in addition, cylinder clamping device works for a long time and causes the clamp end skew to the work piece is fixed easily, cause the work piece to be fixed unstable, cutting accuracy has been reduced.
Therefore, the laser cutting equipment in the prior art has the following technical problems that the fixing technology has a single function, the workpiece is required to be transported and fed manually or by a machine in the early stage, the cutting efficiency is difficult to realize by one step, the clamping end is used for a long time, the phenomenon of deflection occurs, and the workpiece is unstable in fixation and the cutting precision is influenced.
Disclosure of Invention
Therefore, the invention provides the manipulator assembly suitable for the three-dimensional five-axis laser cutting equipment, which effectively solves the problems that in the prior art, the fixing technology has single function, the workpiece is transported and fed manually or by a machine in the earlier stage, the cutting efficiency is difficult to realize in-place due to one-step effect, and the cutting precision is difficult to be influenced due to unstable workpiece fixing caused by loosening phenomenon caused by long-time use of the clamping end.
In order to solve the technical problems, the invention specifically provides the following technical scheme: a manipulator assembly suitable for a three-dimensional five-axis laser cutting device is provided with:
the mechanical positioning component is arranged on the side edge of the laser cutting equipment, at least two clamping ends are formed at the upper end part of the mechanical positioning component, and two clamping surfaces are formed on the workpiece to be cut by clamping the clamping ends and are used for clamping the workpiece to be cut so as to position the workpiece to be cut;
the free adjusting frame is arranged on the mechanical positioning component, the mechanical positioning component is movably arranged on the free adjusting frame, and the free adjusting frame is used for driving the mechanical positioning component to adjust the horizontal position and the vertical height so that the position of the clamping end is flush with the position of the workpiece to be cut, driving the mechanical positioning component to adjust the transverse offset angle and the vertical offset angle so that the distance between the clamping surface and the workpiece to be cut is equal and parallel, and enabling the edge of the clamping surface to be parallel to the edge of the workpiece to be cut;
the corner limiting structure is arranged on the side edge of the free adjusting frame and is used for limiting the free adjusting frame part so as to limit the transverse offset angle and the vertical offset angle of the mechanical positioning component;
the inward shrinkage correcting device is arranged on the corner limiting structure and is used for driving the corner limiting structure to adjust the limiting range so as to drive the mechanical positioning component to adjust the transverse offset angle and the vertical offset angle, so that the clamping surface is matched with the workpiece to be cut.
Further, the free adjustment frame comprises a main installation frame, a first linear sliding rail arranged on the main installation frame, a first sliding table arranged on the first linear sliding rail and a first transverse steel plate arranged on the first sliding table;
the first linear sliding rails are arranged to be two, the first sliding tables correspond to the first linear sliding rails, the first sliding tables are connected through the first transverse steel plates, a first driving cylinder is arranged on the first linear sliding rails, and the first sliding tables are arranged at the output ends of the first driving cylinders.
Further, a second linear sliding rail is arranged on the first transverse steel plate, a second sliding table is arranged on the second linear sliding rail in a sliding mode, a second driving cylinder is arranged on the second linear sliding rail, and the second sliding table is connected to the output end of the second driving cylinder;
the second sliding table is fixedly provided with a third linear sliding rail, the third linear sliding rail is provided with a third sliding table in a sliding mode, the third linear sliding rail is provided with a third driving cylinder, and the third sliding table is connected with the output end of the third driving cylinder.
Further, a connection silo is arranged on the third sliding table, a double-shaft telescopic cylinder is arranged in the connection silo, the output end of the double-shaft telescopic cylinder is connected with a Z-axis steering device, the output end of the Z-axis steering device is connected with a first steering shaft seat, a lifting cylinder is arranged on the first steering shaft seat, the output end of the lifting cylinder is connected with an X-axis steering device, the end part of the X-axis steering device is provided with a second steering shaft seat, and a translation cylinder is arranged on the second steering shaft seat;
the mechanical positioning component is arranged at the end part of the translation cylinder.
Further, the mechanical positioning component comprises a mechanical driving platform arranged at the output end of the translation cylinder, a manipulator arranged on the mechanical driving platform and a clamping piece arranged in the manipulator;
the clamping piece is abutted with the workpiece to be cut.
Further, the corner limiting structure is arranged on the side edges of the first steering shaft seat and the second steering shaft seat, and comprises a linear limiting frame and an arc limiting frame connected to the end part of the linear limiting frame;
the straight limiting frame and the arc limiting frame are internally provided with clamping groove plates.
Further, the side edges of the first steering shaft seat and the second steering shaft seat are provided with clamping protruding blocks, and the clamping protruding blocks are matched with the clamping groove plates.
Further, the retraction correcting device comprises a mounting sliding rail, a first translation table and a second translation table which are arranged on the mounting sliding rail, and a through groove which is arranged in the first translation table and the second translation table;
the bottom of the linear limiting frame is arranged on the penetrating groove in a penetrating mode.
Further, adjusting cavities are arranged in the first translation table and the second translation table, gears are arranged in the adjusting cavities, driving motors are connected to the gears, and the gears are arranged at the output ends of the driving motors;
the side of the linear limiting frame is provided with a rack, and the gear is meshed with the rack.
Further, an adjusting motor is arranged in the mounting sliding rail, a first threaded rod is arranged at the output end of the adjusting motor, and a second threaded rod is arranged at the end part of the first threaded rod;
the first threaded rod is in threaded connection with the first translation table, and the second threaded rod is in threaded connection with the second translation table;
the thread directions of the first threaded rod and the second threaded rod are opposite.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the free adjusting frame is arranged to drive the mechanical positioning component to adjust the horizontal position and the vertical height, so that the position of the clamping end is adjusted, the workpiece to be cut is driven to be fed, the processes of carrying feeding, fixing clamping and discharging are integrated, the cutting efficiency is effectively improved, in addition, the free adjusting frame drives the mechanical positioning component to adjust the horizontal offset angle and the vertical offset angle, and the corner limiting structure is driven by the inward shrinking correcting device to adjust the limiting range, so that the mechanical positioning component is driven to adjust the horizontal offset angle and the vertical offset angle, the clamping surface is matched with the workpiece to be cut, the offset adjustment is carried out on the clamping surface, the clamping surface is tightly attached to the workpiece to be cut when the workpiece to be cut is fixed, and the problem of poor fixing effect caused by offset of the clamping surface is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
Fig. 1 is a schematic structural diagram of a manipulator assembly applicable to a three-dimensional five-axis laser cutting device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of the retraction correction device in the embodiment of the present invention in the correction process;
FIG. 3 is a schematic top view of a free adjusting frame according to an embodiment of the present invention;
FIG. 4 is a schematic view of a part of the internal structure of the free adjusting frame according to the embodiment of the invention;
FIG. 5 is a schematic structural view of a corner limiting structure located at a side of a second steering shaft seat according to an embodiment of the present invention;
FIG. 6 is a schematic diagram showing an internal structure of an apparatus for correcting shrinkage in an embodiment of the present invention;
fig. 7 is a schematic diagram of a connection structure of a driving motor and a gear in an embodiment of the present invention.
Reference numerals in the drawings are respectively as follows:
1-a mechanical positioning component; 2-freely adjusting the frame; 3-corner limiting structures; 4-retraction correcting device; 5-clamping ends; 6-a workpiece to be cut; 7-clamping surface;
11-a mechanical drive platform; 12-a manipulator; 13-clamping pieces;
21-a main mounting frame; 22-a first linear slide; 23-a first sliding table; 24-a first transverse steel plate; 25-a first drive cylinder; 26-a second linear slide; 27-a second slipway; 28-a second drive cylinder; 29-a third linear slide; 210-a third sliding table; 211-a third driving cylinder; 212-connecting a silo; 213-double-shaft telescopic cylinder; 214-Z axial diverter; 215-a first steering shaft seat; 216-lifting air cylinders; 217-X axial diverter; 218-a second steering shaft seat; 219—a translation cylinder;
31-a linear limiting frame; 32-an arc-shaped limiting frame; 33-clamping the groove plate; 34-clamping the convex blocks;
41-mounting a sliding rail; 42-a first translation stage; 43-a second translation stage; 44-a through slot; 45-adjusting the cavity; 46-gear; 47-driving motor; 48-racks; 49-adjusting the motor; 410-a first threaded rod; 411-second threaded rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the invention provides a manipulator assembly suitable for three-dimensional five-axis laser cutting equipment, which comprises a mechanical positioning component 1, a free adjusting frame 2, a corner limiting structure 3 and an inward shrinkage correcting device 4.
Wherein, mechanical positioning part 1 sets up the side at laser cutting equipment, and mechanical positioning part 1 upper end forms two at least clamping ends 5, and clamping end 5 forms two clamping faces 7 on the centre gripping is to be cut work piece 6 for centre gripping is to be cut work piece 6 in order to be cut work piece 6 location.
The free adjusting frame 2 is arranged on the mechanical positioning component 1, the mechanical positioning component 1 is movably arranged on the free adjusting frame 2, the free adjusting frame 2 is used for driving the mechanical positioning component 1 to adjust the horizontal position and the vertical height so that the position of the clamping end 5 is flush with the position of the workpiece 6 to be cut, and driving the mechanical positioning component 1 to adjust the transverse offset angle and the vertical offset angle so that the distance between the clamping surface 7 and the workpiece 6 to be cut is equal and parallel, and the edge of the clamping surface 7 is parallel to the edge of the workpiece 6 to be cut.
The corner limit structure 3 is arranged on the side edge of the free adjustment frame 2, and the corner limit structure 3 is used for limiting the free adjustment frame 2 to limit the transverse offset angle and the vertical offset angle of the mechanical positioning component 1.
The inward shrinkage correcting device 4 is arranged on the corner limiting structure 3, and the inward shrinkage correcting device 4 is used for driving the corner limiting structure 3 to adjust the limiting range so as to drive the mechanical positioning component 1 to adjust the transverse offset angle and the vertical offset angle of the mechanical positioning component 1, so that the clamping surface 7 is matched with the workpiece 6 to be cut.
In the embodiment of the invention, the free adjusting frame 2 is arranged to drive the mechanical positioning component 1 to adjust the horizontal position and the vertical height, so that the position of the clamping end 5 is adjusted and the workpiece 6 to be cut is driven to be fed, the processes of carrying, feeding, fixing, clamping and discharging are integrated, the cutting efficiency is effectively improved, in addition, the free adjusting frame 2 drives the mechanical positioning component 1 to adjust the horizontal offset angle and the vertical offset angle, and the corner limiting structure 3 is driven by the inward shrinking correcting device 4 to adjust the limiting range, so that the mechanical positioning component 1 is driven to adjust the horizontal offset angle and the vertical offset angle of the mechanical positioning component 1, the clamping surface 7 is matched with the workpiece 6 to be cut, the offset adjustment is carried out on the clamping surface 7, the clamping surface 7 is clung to the workpiece 6 to be cut during fixing, and the problem of poor fixing effect caused by the offset of the clamping surface is avoided.
Wherein the free adjustment frame 2 drives the mechanical positioning component 1 to adjust the horizontal position and the vertical height so that the position of the clamping end 5 is level with the position of the workpiece 6 to be cut, and drives the mechanical positioning component 1 to adjust the horizontal offset angle and the vertical offset angle so that the distance between the clamping surface 7 and the workpiece 6 to be cut is equal and parallel, and the edge of the clamping surface 7 is parallel to the edge of the workpiece 6 to be cut, the free adjustment frame 2 of the invention adopts the following preferred embodiment, as shown in fig. 3, the free adjustment frame 2 comprises a main installation frame 21, a first linear slide rail 22 installed on the main installation frame 21, a first slide table 23 arranged on the first linear slide rail 22 and a first transverse steel plate 24 arranged on the first slide table 23; the first linear slide rails 22 are arranged in two, the first slide tables 23 correspond to the first linear slide rails 22, the first slide tables 23 are connected through a first transverse steel plate 24, a first driving cylinder 25 is arranged on the first linear slide rails 22, and the first slide tables 23 are arranged at the output end of the first driving cylinder 25.
In the above embodiment, the main purpose is to drive the mechanical positioning component 1 to translate along the Y axis to realize the position adjustment in the Y direction, where the first driving cylinder 25 drives the first sliding table 23 to move along the Y direction on the first linear sliding rail 22, and drives the first transverse steel plate 24 to move along the Y direction, and because the mechanical positioning component 1 moves along with the first transverse steel plate 24, the mechanical positioning component 1 is driven to move along the Y direction.
In order to realize the position adjustment in the horizontal direction in all directions, that is to say, in addition to the movement in the Y direction, the invention also provides that a second linear slide rail 26 is arranged on the first transverse steel plate 24, a second slide table 27 is arranged on the second linear slide rail 26 in a sliding manner, a second driving cylinder 28 is arranged on the second linear slide rail 26, and the second slide table 27 is connected with the output end of the second driving cylinder 28.
In the above embodiment, the second driving cylinder 28 drives the second sliding table 27 to move on the second linear sliding rail 26, so as to realize the movement of the second sliding table 27 along the X direction, and the mechanical positioning component 1 moves along with the second sliding table 27, so that the above design can drive the mechanical positioning component 1 to adjust the position along the X direction.
In addition, the invention can also adjust the corresponding position in the Z direction, namely, adjust the position in the vertical direction, therefore, the invention is designed in such a way that a third linear sliding rail 29 is fixedly arranged on the second sliding table 27, a third sliding table 210 is arranged on the third linear sliding rail 29 in a sliding way, a third driving cylinder 211 is arranged on the third linear sliding rail 29, and the third sliding table 210 is connected with the output end of the third driving cylinder 211.
In the above embodiment, the third driving cylinder 211 drives the third sliding table 210 to move up or down, and the mechanical positioning component 1 moves along with the third sliding table 210, so the above design can drive the mechanical positioning component 1 to adjust the position along the vertical direction.
In addition to the position adjustment in different directions, the free adjustment frame 2 of the present invention can also be adjusted in angle, specifically designed in such a way that, as shown in fig. 1 and 4, a connection silo 212 is provided on the third sliding table 210, a dual-shaft telescopic cylinder 213 is provided in the connection silo 212, an output end of the dual-shaft telescopic cylinder 213 is connected with a Z-axis steering device 214, an output end of the Z-axis steering device 241 is connected with a first steering shaft seat 215, a lifting cylinder 216 is provided on the first steering shaft seat 215, an output end of the lifting cylinder 216 is connected with an X-axis steering device 217, a second steering shaft seat 218 is provided at an end of the X-axis steering device 217, and a translation cylinder 219 is provided on the second steering shaft seat 218; the mechanical positioning means 1 are arranged at the end of the translation cylinder 219.
In the above embodiment, the dual-shaft telescopic cylinder 213, the lifting cylinder 216 and the translation cylinder 219 are used for fine adjustment of the horizontal and vertical positions of the mechanical positioning component 1, and the above structure is adopted to fine adjust the horizontal and vertical positions after the above general position adjustment in different directions.
In the present invention, the mechanical positioning component 1 is used for fixing the workpiece 6 to be cut, and the mechanical positioning component 1 of the present invention adopts the following preferred embodiment, as shown in fig. 1, the mechanical positioning component 1 comprises a mechanical driving platform 11 arranged at the output end of a translation cylinder 219, a manipulator 12 arranged on the mechanical driving platform 11, and a clamping piece 13 arranged in the manipulator 12.
The clamping piece 13 is abutted against the workpiece 6 to be cut, and the part of the clamping piece 13 abutted against the workpiece 6 to be cut forms the clamping surface 7, so that the clamping piece 13 is fixed in a mode of being completely attached and corresponding to the edge part, and the angle of the clamping piece 13 is mainly corrected.
The corner limiting structure 3 limits the free adjusting frame 2 to limit the horizontal offset angle and the vertical offset angle of the mechanical positioning component 1, and the corner limiting structure 3 adopts the following preferred embodiments, as shown in fig. 1 and 5, the corner limiting structure 3 is arranged at the side edges of the first steering shaft seat 215 and the second steering shaft seat 218, and the corner limiting structure 3 comprises a linear limiting frame 31 and an arc limiting frame 32 connected at the end part of the linear limiting frame 31; the straight limiting frame 31 and the arc limiting frame 32 are respectively provided with a clamping groove plate 33.
The sides of the first steering shaft seat 215 and the second steering shaft seat 218 are provided with a clamping protruding block 34, and the clamping protruding block 34 is matched with the clamping groove plate 33.
In the above embodiment, in the initial state, the straight limiting frame 31 and the arc limiting frame 32 do not interfere, and before the workpiece to be cut is cut, the offset angles of the first steering shaft seat 215 and the second steering shaft seat 218 on the free adjustment frame 2 need to be corrected, that is, the angular offsets in the X direction and the Z direction need to be corrected.
That is, when the workpiece to be cut needs to be corrected before being cut, the clamping protruding block 34 gradually enters between the linear limiting frame 31 and the arc limiting frame 32, and the clamping protruding block 34 is gradually clamped into the clamping groove plate 34, and under the action of the arc limiting frame 32, the first steering shaft seat 215 and the second steering shaft seat 218 are gradually folded between the linear limiting frames 31, as shown in fig. 2, so that the angle correction of the first steering shaft seat 215 and the second steering shaft seat 218 is realized.
The process of moving the linear limiting frame 31 towards one side of the first steering shaft seat 215 and the second steering shaft seat 218 can drive the angle of the first steering shaft seat 215 and the second steering shaft seat 218 to correct, and the distance between the linear limiting frames 31 determines the final result of correction, so that the correction process is a gradual process, and the distance between the linear limiting frames 31 is gradually reduced in the process of moving the linear limiting frames 31 upwards, thereby realizing the corresponding inner convergence process.
Therefore, the retraction correcting device 4 of the present invention adopts the following preferred embodiment, as shown in fig. 6, the retraction correcting device 4 is used for driving the corner limiting structure 3 to adjust the limiting range so as to drive the mechanical positioning component 1 to adjust the lateral offset angle and the vertical offset angle of the mechanical positioning component 1, so that the clamping surface 7 is matched with the workpiece 6 to be cut, and the retraction correcting device 4 comprises a mounting sliding rail 41, a first translation table 42 and a second translation table 43 arranged on the mounting sliding rail 41, and a through groove 44 arranged in the first translation table 42 and the second translation table 43; the bottom of the linear limiting frame 31 is arranged on the through groove 44 in a penetrating way.
Taking the first steering shaft seat 215 as an example, in order to realize the upward movement of the linear limiting frame 31, the invention is designed in such a way that as shown in fig. 6 and 7, an adjusting cavity 45 is arranged in the first translation stage 42 and the second translation stage 43, a gear 46 is arranged in the adjusting cavity 45, a driving motor 47 is connected to the gear 46, and the gear 46 is arranged at the output end of the driving motor 47; a rack 48 is provided on the side of the linear retainer 31, and the gear 46 is engaged with the rack 48.
In the above embodiment, the driving motor 47 drives the gear 46 to rotate, and the rack 48 gradually moves up or down under the rotation of the gear 46, so as to drive the corresponding linear limiting frame 31 to move up or down, and the correction process is on the horizontal plane, assuming that the second steering shaft seat 218 is the second steering shaft seat, and the adjustment motion drives the linear limiting frame 31 to move left or right.
In addition, in order to gradually decrease the distance between the linear limiting frames 31 in the up-down moving process, thereby realizing the corresponding inward converging process, the invention also designs that an adjusting motor 49 is arranged in the mounting sliding rail 41, the output end of the adjusting motor 49 is provided with a first threaded rod 410, and the end part of the first threaded rod 410 is provided with a second threaded rod 411; the first threaded rod 410 is in threaded connection with the first translation stage 42, and the second threaded rod 411 is in threaded connection with the second translation stage 43; the first threaded rod 410 and the second threaded rod 411 have opposite thread directions.
Because the screw thread directions of the first threaded rod 410 and the second threaded rod 411 are opposite, the adjusting motor 49 drives the first threaded rod 410 and the second threaded rod 411 to rotate, under the left movement of the rotation of the first threaded rod 410 and the second threaded rod 411, the first translation table 42 and the second translation table 43 translate towards one side close to each other, the movement directions of the first translation table 42 and the second translation table 43 are opposite, the movement distances are the same, and in the process of approaching movement, the clamping convex block 34 drives the first steering shaft seat 215 to gradually rotate to a vertical state, so that the angle correction of the first steering shaft seat 215 is realized.
In summary, the main implementation process of the invention is as follows:
the first driving cylinder 25 drives the first sliding table 23 to move on the first linear sliding rail 22 along the Y direction, the first transverse steel plate 24 is driven to move along the Y direction, the mechanical positioning component 1 is driven to move along the Y direction together, the second driving cylinder 28 drives the second sliding table 27 to move on the second linear sliding rail 26, the second sliding table 27 is driven to move along the X direction, the mechanical positioning component 1 is driven to adjust the position along the X direction, the mechanical positioning component 1 is driven to move to the same horizontal position as the workpiece 6 to be cut, the third driving cylinder 211 drives the third sliding table 210 to move upwards or downwards, the mechanical positioning component 1 is driven to move downwards, and the mechanical arm 12 clamps the workpiece 6 to be cut through adjustment of the double-shaft telescopic cylinder 213, the lifting cylinder 216 and the translation cylinder 219 and angle adjustment of the X axial diverter 217 and the Z axial diverter 241;
driving the first driving cylinder 25, the second driving cylinder 28 and the third driving cylinder 211 to drive the workpiece 6 to be cut to the cutting station;
taking the first steering shaft seat 215 as an example, the driving motor 47 drives the gear 46 to rotate, under the rotation action of the gear 46, the rack 48 gradually moves up or moves down, so as to drive the corresponding linear limiting frame 31 to move up, the clamping convex block 34 gradually enters between the linear limiting frame 31 and the arc limiting frame 32, the first steering shaft seat 215 and the second steering shaft seat 218 gradually retract between the linear limiting frame 31 under the action of the arc limiting frame 32, meanwhile, the adjusting motor 49 drives the first threaded rod 410 and the second threaded rod 411 to rotate, under the rotation left movement of the first threaded rod 410 and the second threaded rod 411, the first translation table 42 and the second translation table 43 translate towards one side close to each other, in the process of approaching movement, the clamping convex block 34 is gradually clamped into the clamping groove plate 34, and the clamping convex block 34 drives the first steering shaft seat 215 to gradually rotate to a vertical state, so that the angle correction of the first steering shaft seat 215 is realized.
The angle correction process of the second rotating shaft seat 218 and the first rotating shaft seat 215 is the same, and the correction directions are different, so that the corresponding corner limiting structure 3 and the corresponding retraction correction device 4 are horizontally arranged, and finally the second rotating shaft seat 218 is driven to rotate to be vertical to the edge of the workpiece 6 to be cut, and the angle correction of the second rotating shaft seat 218 is realized.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements may be made to the present application by those skilled in the art, which modifications and equivalents are also considered to be within the scope of the present application.
Claims (10)
1. A manipulator assembly suitable for use in a three-dimensional five-axis laser cutting apparatus, comprising:
the mechanical positioning component (1) is arranged on the side edge of the laser cutting equipment, at least two clamping ends (5) are formed at the upper end part of the mechanical positioning component (1), and the clamping ends (5) form two clamping surfaces (7) on a workpiece (6) to be cut in a clamping manner and are used for clamping the workpiece (6) to be cut so as to position the workpiece (6) to be cut;
the free adjusting frame (2) is arranged on the mechanical positioning component (1), the mechanical positioning component (1) is movably arranged on the free adjusting frame (2), the free adjusting frame (2) is used for driving the mechanical positioning component (1) to adjust the horizontal position and the vertical height so that the position of the clamping end (5) is flush with the position of the workpiece (6) to be cut, and driving the mechanical positioning component (1) to adjust the transverse offset angle and the vertical offset angle so that the distance between the clamping surface (7) and the workpiece (6) to be cut is equal and parallel, and the edge of the clamping surface (7) is parallel to the edge of the workpiece (6) to be cut;
the corner limiting structure (3) is arranged on the side edge of the free adjusting frame (2), and the corner limiting structure (3) is used for limiting the free adjusting frame (2) so as to limit the transverse offset angle and the vertical offset angle of the mechanical positioning component (1);
the device (4) is corrected in the shrink, is arranged on the corner limit structure (3), and the device (4) is used for driving the corner limit structure (3) to adjust the limit range so as to drive the mechanical positioning component (1) to adjust the transverse offset angle and the vertical offset angle, so that the clamping surface (7) is matched with the workpiece (6) to be cut.
2. A manipulator assembly for a three-dimensional five-axis laser cutting device according to claim 1, characterized in that the free adjustment frame (2) comprises a main mounting frame (21), a first linear slide (22) mounted on the main mounting frame (21), a first slide table (23) arranged on the first linear slide (22) and a first transverse steel plate (24) arranged on the first slide table (23);
the two first linear sliding rails (22) are arranged, the first sliding tables (23) correspond to the first linear sliding rails (22), the first sliding tables (23) are connected through the first transverse steel plates (24), a first driving cylinder (25) is arranged on the first linear sliding rails (22), and the first sliding tables (23) are arranged at the output ends of the first driving cylinders (25).
3. The manipulator assembly suitable for the three-dimensional five-axis laser cutting equipment according to claim 2, wherein a second linear slide rail (26) is mounted on the first transverse steel plate (24), a second slide table (27) is slidably arranged on the second linear slide rail (26), a second driving cylinder (28) is arranged on the second linear slide rail (26), and the second slide table (27) is connected to the output end of the second driving cylinder (28);
the novel sliding table is characterized in that a third linear sliding rail (29) is fixedly arranged on the second sliding table (27), a third sliding table (210) is arranged on the third linear sliding rail (29) in a sliding mode, a third driving cylinder (211) is arranged on the third linear sliding rail (29), and the third sliding table (210) is connected to the output end of the third driving cylinder (211).
4. A manipulator assembly suitable for a three-dimensional five-axis laser cutting device according to claim 3, characterized in that a connection silo (212) is arranged on the third sliding table (210), a double-shaft telescopic cylinder (213) is arranged in the connection silo (212), the output end of the double-shaft telescopic cylinder (213) is connected with a Z-axis steering gear (214), the output end of the Z-axis steering gear (241) is connected with a first steering shaft seat (215), a lifting cylinder (216) is arranged on the first steering shaft seat (215), the output end of the lifting cylinder (216) is connected with an X-axis steering gear (217), the end part of the X-axis steering gear (217) is provided with a second steering shaft seat (218), and a translation cylinder (219) is arranged on the second steering shaft seat (218);
the mechanical positioning component (1) is arranged at the end of the translation cylinder (219).
5. A manipulator assembly for a three-dimensional five-axis laser cutting device according to claim 4, wherein the mechanical positioning means (1) comprises a mechanical driving platform (11) arranged at the output end of the translation cylinder (219), a manipulator (12) arranged on the mechanical driving platform (11) and a clamping piece (13) arranged in the manipulator (12);
the clamping piece (13) is abutted with the workpiece (6) to be cut.
6. The manipulator assembly suitable for three-dimensional five-axis laser cutting equipment according to claim 5, wherein the corner limit structure (3) is arranged at the side edges of the first steering shaft seat (215) and the second steering shaft seat (218), and the corner limit structure (3) comprises a linear limit frame (31) and an arc limit frame (32) connected to the end part of the linear limit frame (31);
the straight limiting frame (31) and the arc limiting frame (32) are internally provided with clamping groove plates (33).
7. The manipulator assembly for a three-dimensional five-axis laser cutting device according to claim 6, wherein the first steering shaft seat (215) and the second steering shaft seat (218) are provided with clamping protrusions (34) on sides thereof, and the clamping protrusions (34) are matched with the clamping groove plates (33).
8. The manipulator assembly for a three-dimensional five-axis laser cutting device according to claim 7, wherein the retraction correction means (4) comprises a mounting rail (41), a first translation stage (42) and a second translation stage (43) arranged on the mounting rail (41), and a through slot (44) arranged in the first translation stage (42) and the second translation stage (43);
the bottom of the linear limiting frame (31) is arranged on the penetrating groove (44) in a penetrating mode.
9. The manipulator assembly suitable for the three-dimensional five-axis laser cutting equipment according to claim 8, wherein an adjusting cavity (45) is arranged in the first translation stage (42) and the second translation stage (43), a gear (46) is arranged in the adjusting cavity (45), a driving motor (47) is connected to the gear (46), and the gear (46) is arranged at the output end of the driving motor (47);
the side of the linear limiting frame (31) is provided with a rack (48), and the gear (46) is meshed with the rack (48).
10. The manipulator assembly suitable for the three-dimensional five-axis laser cutting equipment according to claim 9, wherein an adjusting motor (49) is arranged in the mounting sliding rail (41), a first threaded rod (410) is arranged at the output end of the adjusting motor (49), and a second threaded rod (411) is arranged at the end part of the first threaded rod (410);
the first threaded rod (410) is in threaded connection with the first translation stage (42), and the second threaded rod (411) is in threaded connection with the second translation stage (43);
the first threaded rod (410) and the second threaded rod (411) have opposite thread directions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310227302.1A CN116372400B (en) | 2023-03-10 | 2023-03-10 | Manipulator assembly suitable for three-dimensional five-axis laser cutting equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310227302.1A CN116372400B (en) | 2023-03-10 | 2023-03-10 | Manipulator assembly suitable for three-dimensional five-axis laser cutting equipment |
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| CN116372400A true CN116372400A (en) | 2023-07-04 |
| CN116372400B CN116372400B (en) | 2024-04-02 |
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| CN202310227302.1A Active CN116372400B (en) | 2023-03-10 | 2023-03-10 | Manipulator assembly suitable for three-dimensional five-axis laser cutting equipment |
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