CN1275732C - A cascade mechanism in laser processing process - Google Patents

Abstract

The present invention relates to a series connection mechanism in laser processing technology, which can conveniently realize the ultimately relative pose of a laser head and a workpiece and the regulating function of the position. The series connection mechanism has the advantages that equal light travel process can be realized, the times of reflecting laser beams are fewer, the energy loss is little and the control is convenient. The series connection mechanism is connected with a plurality of laser transmitting arms in series through rotary joints. The last laser transmitting arm is connected with the laser head, every two laser transmitting arms are connected with one rotary joint, and one reflection mirror is only arranged in one rotary joint. A control system controls the rotary joints to rotate automatically so as to make two laser transmitting arms connected by the rotary joint rotate correspondingly and regulate the space position among the laser transmitting arms for ultimately regulating the ultimate pose of the relative workpiece of the laser head. A robot arm control system is adopted to control the control system for the space move of the whole three-dimensional series connection mechanism. One reflection device is arranged in every rotary joint of the series connection mechanism, a mirror surface regulating mechanism of the reflection device and a function rotation mechanism of the rotary joint are coupled together to rotate with the rotary joints according to certain function relation so as to automatically regulate the space position of the mirror surface of the reflection mirror and guarantee that laser beams after the reflection of the reflection mirror absolutely move in the axial direction of the laser transmitting arms.

Description

Serial mechanism in a kind of laser processing technology

Affiliated technical field

The present invention relates to the three-dimensional serial mechanism in a kind of laser processing technology, this serial mechanism can be realized easily in the laser processing procedure the final relative attitude of laser optical head and workpiece and the adjusting of position, and can guarantee it is high accuracy, aplanatism processing.

Background technology

At present, in the Solid State Laser medical application fields, general many light-conducting arms serial connection technology that adopts, every adjacent two light-conducting arms relation of meeting at right angles is constant, adopt revolute joint that the two is linked to each other, light-conducting arm can rotate around the axis of oneself, by the motion of one or more this revolute joints, thereby realize the adjusting of laser optical head and the final relative pose of workpiece, remember that this mechanism is a mechanism one; In high power laser processing gas laser processing such as (especially) CO2 industrial application, also do not adopt the light-conducting arm serial connection technology at present, but adopt the adjusting that comes the position, implementation space along the parallel skating technique of space guide rail, the space guide rail is parallel to space coordinates X, Y, Z axle respectively, laser optical head slides along each guide rail parallel direction in this technology, the length of light-conducting arm changes, and remembers that this mechanism is a mechanism two.The technology that these two kinds of mechanisms commonly used at present adopt exists following problem: 1, mechanism one has adopted many light-conducting arms serial connection technology, every adjacent two light-conducting arms relation of meeting at right angles is constant, light-conducting arm only can rotate around the axis of oneself, this has just determined that angle can not change between any two adjacent light-conducting arms, have only that angle just can change between the two non-adjacent light-conducting arms, thereby want the flexible variation of implementation space pose, certainly will cause the revolute joint number to increase and be installed in the eyeglass number that the revolute joint place is used to reflect and increase, the laser energy loss is more; 2, the adjusting that mechanism two adopts laser optical head to come the position, implementation space along the space parallel skating technique of guide rail direction, because X, the light-conducting arm length of Y and Z axle three directions along with laser optical head along X, Y and Z axle three parts change to the guide rail parallel sliding, will become a bigger variable quantity together so the variable quantity of light-conducting arm brachium is accumulated on each direction, make the traveled distance of laser beam in light-conducting arm that a bigger variable quantity be arranged, in Laser Processing, just can not guarantee that whole process is aplanatism processing, the two will exist than mistake through the laser spot diameter of coming out behind the shortest optical path with through the laser spot diameter of coming out behind the longest light path, and very difficult assurance meets the requirement of accurate processing; 3, adopt mechanism two to process, be merely able to the locus of laser optical head is regulated, can not regulate the spatial attitude of laser optical head, and to make laser optical head that a bigger locus adjustable range is arranged, inevitable requirement is made corresponding large-sized guide rail, and big and waste material take up room.

Summary of the invention

In order to overcome the above deficiency that governor motion exists in the existing laser processing technology, the invention provides a kind of Three-Dimensional Series uniting and adjustment and save mechanism, this mechanism not only can regulate the final relative position and the attitude of laser optical head and workpiece significantly, can guarantee aplanatism processing simultaneously, and mechanism is simple.

The technical solution adopted for the present invention to solve the technical problems is: 1, mechanism design.Directly enter light-conducting arm behind the guiding device of the laser that laser generator comes out through the steady job platform, one end of light-conducting arm is fixedlyed connected with the steady job platform, the other end is connected with next light-conducting arm by cradle head, realize relatively rotating of two light-conducting arms by the function rotating mechanism in the cradle head, so series connection is gone down, to the last a light-conducting arm connects laser optical head, the mechanism form that finally is together in series is: the steady job platform-＞light-conducting arm-＞cradle head-＞light-conducting arm-＞cradle head ... light-conducting arm-＞laser optical head, needs according to reality processing and control are determined the progression of series connection and the order of series connection, the space control principle of whole serial mechanism is the same with the robot arm control principle, the required control system of using has been very ripe, the control system of robot arm is applied to this serial mechanism, can realize adjusting and the control of laser optical head to final relative position of workpiece and attitude, also be spatial pose control.2, reflection unit design.A reflection unit all is housed in any cradle head, this reflection unit is by a metal-coated membrane speculum, the minute surface governor motion is formed, the metal-coated membrane speculum pastes and is welded on the plane of governor motion, guarantee during installing mechanism that the minute surface center just in time is the intersection point of two light-conducting arm axis, be coupled together by gear mechanism or other speed change gears function rotating mechanism governor motion and cradle head, make the velocity of rotation of governor motion equal cradle head around half of minute surface center velocity of rotation around the minute surface center, after reflection unit will reflect from the laser beam of previous light-conducting arm, make light beam enter next light-conducting arm, and advance along the axis of light-conducting arm.In whole design, position and attitude regardless of final laser optical head, no matter how cradle head rotates, the length of each light-conducting arm does not change, so, the light path that laser beam is advanced is constant, guaranteed that the processing overall process is aplanatism processing, improved machining accuracy, on the other hand, the speculum of cradle head internal reflection device adopts the metal-coated membrane speculum, and incidence angle does not fix, reflected light path is observed reflection theorem, the mirror mirror locus that is used for reflect beams of laser light is self-regulating, and structure and operation are all simple, in same spatial position change scope, can simplify cradle head number and speculum number, reduce laser energy.

The invention has the beneficial effects as follows that guaranteeing that process is aplanatism processing and conveniently realizes in the process that in the Pose Control, its space structure is simple, the position that takes up room is little.

Description of drawings

The present invention is further described below in conjunction with drawings and Examples.

Fig. 1 is a principle schematic of the present invention.

Fig. 2 is the vertical section structural map of arbitrary cradle head among Fig. 1.

Fig. 3 is the interior light path principle of reflection schematic diagram of cradle head among Fig. 2.

1. fixed platform framves among the figure, 2. light-conducting arm one, and 3. cradle head one, and 4. light-conducting arm two, and 5. cradle head two, 6. light-conducting arm three, and 7. cradle head three, and 8. light-conducting arm four, 9. laser optical head, 10. workpiece, 11. light-conducting arm, 12. cradle heads, 13. minute surface governor motions, 14. plating Mo speculums.

The specific embodiment

In Fig. 1, for the relativeness between each structural elements of clear and definite embodiment, set up 4 spatial coordinate system that are parallel to each other, respectively as figure OXYZ, O ₁X ₁Y ₁Z ₁, O ₂X ₂Y ₂Z ₂, O ₃X ₃Y ₃Z ₃Fixed platform frame 1 is fixedlyed connected with light-conducting arm 1, and the laser beam that laser generator comes out directly enters first light-conducting arm through the guiding device of fixed platform frame 1---light-conducting arm 1; Light-conducting arm 1 is connected with light-conducting arm 24 through cradle head 1, and cradle head 1 is rotated and drives light-conducting arm 24 at O ₁X ₁Y ₁In the plane around Z ₁Axle rotates; Light-conducting arm 24 is connected with light-conducting arm 36 through cradle head 25, and cradle head 25 is rotated and drives light-conducting arm 36 at O ₂X ₂Y ₂In the plane around Z ₂Axle rotates; Light-conducting arm 36 is connected with light-conducting arm 48 through cradle head 37, and cradle head 37 is rotated and drives light-conducting arm 48 at O ₃X ₃Z ₃In the plane around Y ₃Axle rotates; Light-conducting arm 48 directly is connected with laser optical head 9.The course of laser beam in whole serial mechanism is: light-conducting arm one 2 → cradle head one 3 → light-conducting arm 24 → cradle head 25 → light-conducting arm 36 → cradle head 37 → light-conducting arm 48 → laser optical head 9.

In Fig. 2, two light-conducting arms are connected by cradle head, the reflection unit that is used for the laser beam reflection is installed within the cradle head, reflection unit is by a metal-coated membrane speculum, governor motion with a plane is formed, the metal-coated membrane speculum pastes and is welded on the plane of governor motion, guarantee during installing mechanism that the minute surface center just in time is the intersection point of two light-conducting arm axis, be coupled together by gear mechanism or other speed change gears function rotating mechanism governor motion and cradle head, governor motion is rotated with cradle head around the minute surface center, and speed equals the cradle head velocity of rotation half, and laser beam is through can directly entering next light-conducting arm after this mirror reflects and advancing along axis direction.

Among Fig. 3, the light path principle of reflection of cradle head internal reflection device is described, be set in initial time t in conjunction with Fig. 2 ₀, laser beam advances along light arm axle line AO and arrives the O point, after the metal-coated membrane mirror reflects, enters light-conducting arm along next light-conducting arm axes O E; At moment t ₁Control system rotation cradle head, light-conducting arm is relatively rotated, its axis rotates in OE ' position, rotational angle is ∠ EOE ', because the hemispherical governor motion of reflection unit and the function rotating mechanism of cradle head are coupled, and satisfy half that equals the cradle head velocity of rotation around the velocity of rotation of minute surface center O point, so, minute surface can forward B ' D ' to from original position BD, the metal-coated membrane speculum turns to OF ' position at the normal OF at minute surface center O point place, and satisfies relation: $\∠\mathrm{FO}{F}^{\′}=\frac{1}{2}\∠\mathrm{EO}{E}^{\′},$ Can know that according to reflection theorem the laser beam that comes along the AO direction is bound to advance along OF ' through after this reflection.

Specific embodiments of the invention can be determined the order of concrete dimension scale, series connection and the number of cradle head according to the needs of concrete control spatial dimension.

Claims (1)

1, the serial mechanism in a kind of laser processing technology, be connected in series through cradle head by a plurality of light-conducting arms, last light-conducting arm is terminal to be connected with laser optical head, it is characterized in that: connect by a cradle head between per two light-conducting arms, cradle head is rotated in control system control, two adjacent light-conducting arms relatively rotate in the plane that two light-conducting arms constitute, and the angle that two light-conducting arms constitute changes between the 0-180 degree; Adopt the control system of robot arm control system as the whole serial mechanism spatial movement of control; A reflection unit is installed in each cradle head of this serial mechanism, reflection unit is made up of plating Mo speculum, a minute surface governor motion, the minute surface governor motion of reflection unit rotates together in company with cradle head, thereby the automatic locus of accommodation reflex mirror minute surface, guaranteeing that laser beam is reflected definitely advances along the light-conducting arm axis direction after the mirroring.

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