CN205798721U - The aperture cutting robot end effector apparatus that a kind of grand micro-system combines - Google Patents
The aperture cutting robot end effector apparatus that a kind of grand micro-system combines Download PDFInfo
- Publication number
- CN205798721U CN205798721U CN201620726026.9U CN201620726026U CN205798721U CN 205798721 U CN205798721 U CN 205798721U CN 201620726026 U CN201620726026 U CN 201620726026U CN 205798721 U CN205798721 U CN 205798721U
- Authority
- CN
- China
- Prior art keywords
- robot
- laser head
- connecting plate
- slid platform
- end effector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses the aperture cutting robot end effector apparatus that a kind of grand micro-system combines, specifically include: package casing, flange connecting plate, servomotor, cross slid platform and laser head clamping device；Package casing top outer is connected with the ring flange of robot body end, and package casing top interior is connected with flange connecting plate；Described flange connecting plate vertically connects cross slid platform；Described cross slid platform is to be formed by mutually perpendicular two line slideways, slides respectively along two cross limits or links in two limits simultaneously；Two line slideways connect that end distribution is each fixes a servomotor；Cross slid platform passes bottom package casing, connects laser head by laser head clamping device, and advantage is, drives laser head to perform aperture cutting action by cross slid platform；There is higher positioning precision and the speed of service, can be to solve the task that conventional machines people's cut mode precision cannot meet.
Description
Technical field
This utility model belongs to laser cutting technique field, and relate to aperture laser cutting system and industrial robot should
With, it is specifically related to the aperture cutting robot end effector apparatus that a kind of grand micro-system combines.
Background technology
Cut is widely used in the fields such as automobile, electronic apparatus, aviation, machine-building as advanced machining technology,
The most important effect is played in raising product quality, lifting labor productivity, reduction cost, minimizing material consumption.By light
The motility of fine Laser Processing advantage and industrial robot operation combines, and forms flexible laser processing platform efficient, multi-functional
It it is a focus in current robot application field.
Laser cutting system mainly has two kinds of application forms at present: one is gantry-type laser cutting off machine system, uses height
Precision five-axis machine tool, machining accuracy is high, and scope is wide, but equipment manufacturing cost is high；Two is articulated type cut machine people, can be to not
The sheet metal of stack pile carries out multi-faceted, the cutting of multi-angle, but precision is relatively low.
Utility model content
This utility model is for the problems referred to above, it is proposed that the aperture cutting machine robot end that a kind of grand micro-system combines performs
Device device；
Described end effector of robot device is positioned at the end of robot body, specifically includes: package casing, flange are even
Fishplate bar, servomotor, cross slid platform and laser head clamping device；
Package casing top is connected with the ring flange of robot body end, package casing inside top surface and flange connecting plate
It is connected；Described flange connecting plate vertically connects cross slid platform；Cross slid platform passes bottom package casing, by laser head clamping dress
Put connection laser head；
Laser head clamping device includes connecting plate, connecting rod and grip block；Connecting plate is separately fixed at grip block and is connected
The two ends of bar, and it is respectively perpendicular connecting rod；Described connecting plate one end is fixed with cross slid platform, and the other end is connected with connecting rod.
Grip block is L-type structure, and the longest limit vertically connects connecting rod, and minor face is connected laser head by bolt；
Robot body is fixed on work platforms, places robot control cabinet on work platforms simultaneously, and laser occurs
Device, electrical control cabinet, water tank and Working rack.
The utility model has the advantage of:
(1) a kind of grand micro-system combine aperture cutting robot end effector apparatus, high-precision motion controller and
The Numerical control cutting micromotion system of cross slid platform composition has higher positioning precision and the speed of service, can solve conventional machines
The task that people's cut mode precision cannot meet.
(2) the aperture cutting robot end effector apparatus that a kind of grand micro-system combines, uses G code programming, operation
Simplicity, the programming time used is few.
(3) the aperture cutting robot end effector apparatus that a kind of grand micro-system combines, simple in construction, flexible, account for
Few with space.
(4) the aperture cutting robot end effector apparatus that a kind of grand micro-system combines, compares traditional robot and swashs
Light cutting mode, improves the geometric accuracy of cut aperture, reduces residual chipping allowance error (residual error), the aperture of cutting
Less.
Accompanying drawing explanation
Fig. 1 is the perspective view of this utility model aperture Cutting Robot System；
Fig. 2 is this utility model aperture cutting robot end effector perspective view；
Fig. 3 is this utility model aperture cutting robot end effector internal structure front view；
Fig. 4 is this utility model aperture cutting robot end effector internal structure top view；
Fig. 5 is the structural representation of laser head clamping device in this utility model aperture cutting robot end effector.
1-work platforms, 2-robot control cabinet, 3-robot body, 4-electrical control cabinet, 5-laser generator, 6-water
Case, 7-package casing, 8-laser head, 9-work support, 10-laser head clamping device, 11-flange connecting plate, 12-servo electricity
Machine, 13-cross slid platform；101-connecting plate, 102-connecting rod, 103-grip block；
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is described in further detail.
Script planning robot's body movement locus is controlled the cutting mode of laser head by this utility model, is improved to end
The macro/micromotion system that the micromotion of end actuator apparatus combines with the grand motion of joint of robot drives laser head cutting side
Formula.Wherein micromotion system is a high precision numerical control diced system being made up of motion controller and cross slid platform, cuts little
The minimum diameter in hole is 3mm.
As it is shown in figure 1, robot body 3 is fixed on work platforms 1, on work platforms, places robot simultaneously control
Cabinet 2, laser generator 5, electrical control cabinet 4, water tank 6 and Working rack 9；And all with work platforms without fixed relationship.
Robot control cabinet controls the movement locus of end effector of robot device, moves to treating above work support
Working position, starts laser after receiving the signal that puts in place of robot and performs cutting.
Laser generator 5, water tank 6 and laser head 8 constitute laser system；Laser generator 5 is placed on the upper of water tank 6
Side, is cooled to laser generator by water tank 6；Laser system provides cutting energy for aperture incision tip actuator apparatus
Source, can be according to the thickness adjusted own power of cutting object.
Working rack 9 is used for placing object to be processed.
As in figure 2 it is shown, described end effector of robot device is positioned at the end of robot body 3, and by high-precision
Motor control card control；Package casing 7 connects laser head 8 by laser head clamping device 10.
As shown in Figure 3 and Figure 4, end effector of robot device specifically includes: package casing 7, flange connecting plate 11, watch
Take motor 12, cross slid platform 13 and laser head clamping device 10；
Package casing 7 top outer is connected with the ring flange of robot body 3 end, package casing 7 top interior and method
Blue connecting plate 11 is connected；Described flange connecting plate 11 vertically connects cross slid platform 13；Described cross slid platform 13 is by hanging down mutually
Two straight ball-screws are formed, and the accuracy class of ball-screw is P3 level, slides respectively or two limits along two cross limits
Link simultaneously；Two ball-screws connect that end distribution is each fixes a servomotor 12, and each servomotor 12 is all with coding
Device and electric source line interface, connect servo-driver respectively by electric wire and encoder line；
Cross slid platform 13 passes bottom package casing 7, connects laser head 8 by laser head clamping device 10；
As it is shown in figure 5, laser head clamping device 10 includes connecting plate 101, connecting rod 102 and grip block 103；Connecting plate
101 are separately fixed at the two ends of connecting rod 102 with grip block 103, and are respectively perpendicular connecting rod 102；Described connecting plate 101 one end
Fixing with cross slid platform 13, the other end is connected with connecting rod 102；
Grip block 103 is L-type structure, and wherein the long limit of L vertically connects connecting rod 102, and L minor face is connected laser head by bolt
8；
The work process of above-mentioned aperture cutting robot end effector apparatus is as follows:
Step one, first with PC debugging programming software SMC6480motion carry out parameter setting and aperture cutting programming.
Step 2, closedown laser trail run the most once, check the errorless rear power supply connecting end effector of robot device；
End effector apparatus is moved to above work support by step 3, robot body according to prior motion planning
Position to be processed；
After step 4, end effector of robot device put in place, send I/O signal；
Step 5, aperture cutting process start execution, and cross slid platform drives laser head to perform aperture cutting action；
Step 6, action return robot motion after completing and complete I/O signal, according to predetermined grand motion planning moving machine
Device robot end actuator apparatus arrives next Working position；
Step 7, repetition said process, until all apertures cuttings processed by planning are complete on workpiece；
After step 8, program complete, robot body returns to initial position, and the course of processing terminates.
The aperture cutting robot end effector that this utility model provides is at the trajectory planning of the grand motor system of robot
The precalculated position, top of lower arrival workpiece aperture to be cut waits, carries out precise flange by micro-system motion controller,
Cross slid platform is driven to perform the motion of aperture cut by servomotor；
The grand motor system of robot refers to the control system of robot body and aperture incision tip executor, is by continuing
The EtherCAT module that electrical equipment and robot carry communicates, and controls the position of end effector, the start and stop etc. of cutting process.
Numerical control cutting micromotion system is made up of motion control card and cross slid platform, performs cutting process by programming；Should
System realizes micromotion, with the cut that the grand motion of robot system has coordinated one group of precise hole.
This utility model compares conventional machines people's cut mode, have that cut aperture geometric accuracy is high, residual error is little,
The advantage that cutting aperture is little.In addition SMC6480motion uses G code to program, simpler than robot tradition circular hole cutting process,
Easily realize.
Claims (3)
1. the aperture cutting robot end effector apparatus that grand micro-system combines, described end effector of robot device
It is positioned at the end of robot body, it is characterised in that specifically include: package casing, flange connecting plate, servomotor, cross are sliding
Platform and laser head clamping device；
Package casing top is connected with the ring flange of robot body end, package casing inside top surface and flange connecting plate phase
Even；Described flange connecting plate vertically connects cross slid platform；Cross slid platform passes bottom package casing, by laser head clamping device
Connect laser head；
Laser head clamping device includes connecting plate, connecting rod and grip block；Connecting plate and grip block are separately fixed at connecting rod
Two ends, and it is respectively perpendicular connecting rod；Described connecting plate one end is fixed with cross slid platform, and the other end is connected with connecting rod.
The aperture cutting robot end effector apparatus that a kind of grand micro-system the most as claimed in claim 1 combines, its feature
Being, described robot body is fixed on work platforms, places robot control cabinet on work platforms simultaneously, and laser occurs
Device, electrical control cabinet, water tank and Working rack.
The aperture cutting robot end effector apparatus that a kind of grand micro-system the most as claimed in claim 1 combines, its feature
Being, described grip block is L-type structure, and the longest limit vertically connects connecting rod, and minor face is connected laser head by bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620726026.9U CN205798721U (en) | 2016-07-11 | 2016-07-11 | The aperture cutting robot end effector apparatus that a kind of grand micro-system combines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620726026.9U CN205798721U (en) | 2016-07-11 | 2016-07-11 | The aperture cutting robot end effector apparatus that a kind of grand micro-system combines |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205798721U true CN205798721U (en) | 2016-12-14 |
Family
ID=57509837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620726026.9U Expired - Fee Related CN205798721U (en) | 2016-07-11 | 2016-07-11 | The aperture cutting robot end effector apparatus that a kind of grand micro-system combines |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205798721U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088713A (en) * | 2017-06-29 | 2017-08-25 | 李大德 | Small sircle hole cutting auxiliary device |
| CN108723613A (en) * | 2018-06-27 | 2018-11-02 | 深圳市光大激光科技股份有限公司 | A kind of method for punching and device for laser cutting |
| CN109239068A (en) * | 2018-09-13 | 2019-01-18 | 山东大学 | A kind of vision inspection apparatus and method for macro/micromotion platform |
| CN112496536A (en) * | 2020-11-18 | 2021-03-16 | 上海发那科机器人有限公司 | Laser cutting follow-up device |
-
2016
- 2016-07-11 CN CN201620726026.9U patent/CN205798721U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088713A (en) * | 2017-06-29 | 2017-08-25 | 李大德 | Small sircle hole cutting auxiliary device |
| CN108723613A (en) * | 2018-06-27 | 2018-11-02 | 深圳市光大激光科技股份有限公司 | A kind of method for punching and device for laser cutting |
| CN109239068A (en) * | 2018-09-13 | 2019-01-18 | 山东大学 | A kind of vision inspection apparatus and method for macro/micromotion platform |
| CN109239068B (en) * | 2018-09-13 | 2021-04-16 | 山东大学 | Visual detection device and method for macro-micro motion platform |
| CN112496536A (en) * | 2020-11-18 | 2021-03-16 | 上海发那科机器人有限公司 | Laser cutting follow-up device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161214 Termination date: 20170711 |