CN206445358U - A kind of five axle laser robots - Google Patents
A kind of five axle laser robots Download PDFInfo
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- CN206445358U CN206445358U CN201720138312.8U CN201720138312U CN206445358U CN 206445358 U CN206445358 U CN 206445358U CN 201720138312 U CN201720138312 U CN 201720138312U CN 206445358 U CN206445358 U CN 206445358U
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- 210000000245 forearm Anatomy 0.000 claims abstract description 16
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- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 8
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- 239000011521 glass Substances 0.000 abstract description 4
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000007613 environmental effect Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- 229910052594 sapphire Inorganic materials 0.000 description 1
- 239000010980 sapphire Substances 0.000 description 1
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- Laser Beam Processing (AREA)
Abstract
The utility model discloses a kind of five axles laser robot, including the first shaft assembly, the second shaft assembly, robot upper arm, the 3rd shaft assembly, the 4th shaft assembly, robot forearm, the 5th shaft assembly and CO2Laser head, the first shaft assembly, the second shaft assembly, the 3rd shaft assembly, the 4th shaft assembly are robot rotary shaft, and the 5th shaft assembly is fixed on robot forearm front end, CO2Laser head is fixed on the 5th shaft assembly, robot forearm is arranged on the 4th shaft assembly, 4th shaft assembly lower end sets the 3rd shaft assembly, 3rd shaft assembly lower end connects robot upper arm, robot upper arm is fixed on the second shaft assembly, second shaft assembly is fixed on the first shaft assembly, the utility model novel in structural design, automaticity is high, can be by the movement locus and laser switch of programming Control wu-zhi-shan pig, it is adaptable to the Three-dimension process of the nonmetallic materials such as engineering plastics, rubber, glass, cloth, leather, paper, timber.
Description
Technical field
The utility model is related to laser precision machining technical field, specially a kind of five axles laser robot.
Background technology
CO2Laser in the form of long-wave infrared when to export, and wavelength is usually 10.6 μm.Many organic materials are to this kind of
The absorbability of long wavelength is all very strong, including paper, timber, plastics, rubber, yarn fabric and leather, or even to permeable material
Even it can also absorb this kind of long wavelength, such as glass and sapphire.
CO2Laser is used for processing flat work pieces, using highly developed, it is only necessary to build reflected light on Digit Control Machine Tool
Plane machining is realized in road, plane motion of the laser head along XY directions.
Use CO2Laser typically uses light-conducting arm with many lens reflectings to process the scheme of 3 D complex curve surface work pieces
The flexible manufacturing system (FMS) of composition, is to dispose laser on the ground, by long light-conducting arm by laser conduction to laser head, swashs
Shaven head is arranged on industrial robot, because light-conducting arm is to suspend in midair in the air, can be occurred unavoidably in motion to industrial robot
Movement interference, is thus greatly reduced the scope of activities of industrial robot, the range of work of whole system is limited, and is moved through
Rocking for journey light-conducting arm can also influence light path precision；, can also be by CO except light-conducting arm scheme2Laser optical path is motionless and robot
The scheme of grabbing workpiece three-dimensional motion.These existing CO2Laser Processing scheme, for complicated 3 D workpiece, such as automotive meter
The big workpiece of the bumps fluctuations such as dial plate, because scheme itself is cumbersome, very flexible, it is difficult to obtain good processing effect.
Utility model content
The purpose of this utility model is to provide a kind of five axles laser robot, to solve what is proposed in above-mentioned background technology
Problem.
To achieve the above object, the utility model provides following technical scheme：A kind of five axle laser robots, including first
Shaft assembly, the second shaft assembly, robot upper arm, the 3rd shaft assembly, the 4th shaft assembly, robot forearm, the 5th shaft assembly and CO2
Laser head, first shaft assembly, the second shaft assembly, the 3rd shaft assembly, the 4th shaft assembly are robot rotary shaft, and described
Five shaft assemblies are fixed on robot forearm front end, the CO2Laser head is fixed on the 5th shaft assembly, the robot forearm
It is arranged on the 4th shaft assembly, the 4th shaft assembly lower end sets the 3rd shaft assembly, the 3rd shaft assembly lower end connects machine
Device people's upper arm, the robot upper arm is fixed on the second shaft assembly, and second shaft assembly is fixed on the first shaft assembly.
It is preferred that, the 5th shaft assembly includes laser inlet flange, rotary flange, mirror unit, servomotor, deceleration
Device, the laser inlet flange and laser light-emitting window are coaxial, and the laser light-emitting window passes laser beam, the laser beam from
After robot forearm is projected, into mirror unit, through hollow decelerator, the decelerator is a kind of single gear reductions
Device, its pinion end is connected with servomotor, and its gear wheel is hollow structure, and centre is by laser, the reducer output shaft
It is connected with rotary flange.
It is preferred that, the CO2Laser head is provided with mirror unit, bumper assembly, focus pack, and the mirror unit is set
In CO2Laser head upper end, the CO2Laser head is directly by screw lock to rotary flange, the mirror unit and anticollision group
Part is connected, and the bumper assembly lower end connects focus pack.
It is preferred that, the bumper assembly include upper lid, lower cover, alignment pin, adhesive magnet, probe assembly, it is described it is upper lid and
Mirror unit is connected, and the lower cover is connected with focus pack, the adhesive magnet attraction that the upper lid and lower cover pass through a pair of annulars
Together, the alignment pin passes through upper lid and lower cover, and the probe assembly is arranged on lower lid.
It is preferred that, the decelerator of the 4th shaft assembly is hollow structure, and the hollow decelerator center passes through laser
Related power line, signal wire, gas circuit and water route.
Compared with prior art, the beneficial effects of the utility model are：
(1) the utility model novel in structural design, automaticity is high, can be by the motion of programming Control wu-zhi-shan pig
Track and laser switch, without outside guide-lighting light path, number of lenses is few in light path, and energy loss is lower, and overall structure is simple, tight
Gather, be especially suitable for the Laser Processing of complex-curved 3 D workpiece, it is adaptable to engineering plastics, rubber, glass, cloth, leather,
The Three-dimension process of the nonmetallic materials such as paper, timber.
(2) in the utility model, the 4th rotary shaft is placed in before robot forearm, laser is after laser injection, only
Only only one of which rotary shaft, light path is influenceed smaller, more stable by rotating shaft, and the regulation of light path precision is simpler；5th shaft assembly structure
It is lighter, reduce laser mechanical load.
(3) in the utility model, laser only passes through two panels after laser emitting and redressed mirror and a piece of focus lamp, and many
Joint light-conducting arm scheme is compared, and laser loss is low, more energy efficient environmental protection.
(4) in the utility model, laser related power line, signal wire, gas circuit and water route are from the hollow deceleration of the 4th axle
Device center is passed through, and can so avoid circuit from winding, the stress of rational release circuit.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the 5th shaft assembly of the present utility model and CO2Laser head assembling figure；
Fig. 3 is the 5th shaft assembly and CO of the present utility model for removing shell2Laser head assembling figure；
Fig. 4 is bumper assembly structure chart of the present utility model；
Fig. 5 is bumper assembly cut-away view of the present utility model.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
Fig. 1-5 are referred to, the utility model provides a kind of technical scheme：A kind of five axle laser robots, including first axle
Component 1, the second shaft assembly 2, robot upper arm 3, the 3rd shaft assembly 4, the 4th shaft assembly 5, robot forearm 6, the 5th shaft assembly 7
And CO2Laser head 8, first shaft assembly 1, the second shaft assembly 2, the 3rd shaft assembly 4, the 4th shaft assembly 5 are robot rotation
Rotating shaft, the 5th shaft assembly 7 is fixed on the front end of robot forearm 6, the CO2Laser head 8 is fixed on the 5th shaft assembly 7,
The robot forearm 6 is arranged on the 4th shaft assembly 5, and the lower end of the 4th shaft assembly 5 sets the 3rd shaft assembly 4, and described the
The lower end of three shaft assembly 4 connects robot upper arm 3, and the robot upper arm 3 is fixed on the second shaft assembly 2, the second axle group
Part 2 is fixed on the first shaft assembly 1；The rotation of 4th shaft assembly 5 drives laser to follow rotation, the decelerator of the 4th shaft assembly 5
For hollow structure, the hollow decelerator center is through laser related power line, signal wire, gas circuit and water route, using this
Structure can avoid circuit from winding, the stress of rational release circuit.
In the present embodiment, the 5th shaft assembly 7 includes laser inlet flange 701, rotary flange 702, mirror unit 710, watched
Motor 720, decelerator 730 are taken, the laser inlet flange 701 and laser light-emitting window are coaxial, and the laser light-emitting window is worn
Go out laser beam 700, the laser beam 700 is after the injection of robot forearm 6, into mirror unit 710, through hollow decelerator
730, the decelerator 730 is a kind of single stage gear reducer, and its pinion end is connected with servomotor 720, and its gear wheel is
Hollow structure, centre is by laser, and the output shaft of decelerator 730 is connected with rotary flange 702, and knockout screw can be by CO2
Laser head 8 is removed, and can be needed to select the suitable CO for focusing on the parameters such as focal length, clear aperature according to technique2Laser head.
In the present embodiment, CO2Laser head 8 is provided with mirror unit 810, bumper assembly 820, focus pack 830, described anti-
Penetrate microscope base 810 and be arranged on CO2The upper end of laser head 8, the CO2Laser head 8 is directly by screw lock to rotary flange 702, institute
State mirror unit 810 to be connected with bumper assembly 820, the lower end of bumper assembly 820 connects focus pack 830；Laser beam passes through
CO2Mirror unit 810 on laser head 8 reflects, through bumper assembly 820, finally by focus pack 830 focus on after penetrated from nozzle
Go out.In whole laser optical path, laser is after laser injection, and only only one of which rotary shaft is moved, and light path is rotated by rotating shaft
Motion influence is smaller, more stable, and the regulation of light path precision is simpler；5th shaft assembly overall structure is light, reduces laser power
Learn load.
In the present embodiment, bumper assembly 820 includes upper lid 821, lower cover 822, alignment pin 823, adhesive magnet 824, probe
Component 825, the upper lid 821 is connected with mirror unit 810, and the lower cover 822 is connected with focus pack 830, the upper lid 821
It is pulled together with lower cover 822 by the adhesive magnet 824 of a pair of annulars, the alignment pin 823 passes through upper lid 821 and lower cover
822, the probe assembly 825 is arranged on lower cover 822；Wherein, the suction-combining force is determined according to the size for hitting tearaway load, passes through choosing
Select suitable a pair of adhesives magnet 824, you can the size of adjustment the suction-combining force, it is adaptable to the focus pack 830 of different weight.Hit
After percussion is raw, upper lid 821 and lower cover 822 are disengaged automatically, and probe assembly 825 is in off state, system it may determine that occurring
Hit, system-down.When system is recovered, it is only necessary to which upper lid 821 and lower cover 822 are fitted again along alignment pin 823, by inhaling
The absorption affinity for closing magnet 824 is connected as one.Afterwards, system reset, you can restart work.Because operational error causes hair
This raw whole knockout process, due to coming off immediately for focus pack 830, it is to avoid robot and workpiece or surrounding accessory
Hard collision, can effectively protect robot architecture's safety.
The utility model novel in structural design, automaticity is high, can be by the motion rail of programming Control wu-zhi-shan pig
Mark and laser switch, without outside guide-lighting light path, number of lenses is few in light path, and energy loss is lower, and overall structure is simple, tight
Gather, be especially suitable for the Laser Processing of complex-curved 3 D workpiece, it is adaptable to engineering plastics, rubber, glass, cloth, leather,
The Three-dimension process of the nonmetallic materials such as paper, timber.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out in the case where not departing from principle of the present utility model and spirit a variety of changes, repaiies
Change, replace and modification, scope of the present utility model is defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of five axles laser robot, including the first shaft assembly (1), the second shaft assembly (2), robot upper arm (3), the 3rd axle
Component (4), the 4th shaft assembly (5), robot forearm (6), the 5th shaft assembly (7) and CO2Laser head (8), it is characterised in that：Institute
It is robot rotary shaft to state the first shaft assembly (1), the second shaft assembly (2), the 3rd shaft assembly (4), the 4th shaft assembly (5), institute
State the 5th shaft assembly (7) and be fixed on robot forearm (6) front end, the CO2Laser head (8) is fixed on the 5th shaft assembly (7),
The robot forearm (6) is arranged on the 4th shaft assembly (5), and the 4th shaft assembly (5) lower end sets the 3rd shaft assembly
(4), the 3rd shaft assembly (4) the lower end connection robot upper arm (3), the robot upper arm (3) is fixed on the second shaft assembly
(2) on, second shaft assembly (2) is fixed on the first shaft assembly (1).
2. a kind of five axles laser robot according to claim 1, it is characterised in that：5th shaft assembly (7) includes
Laser inlet flange (701), rotary flange (702), mirror unit (710), servomotor (720), decelerator (730), it is described
Laser inlet flange (701) and laser light-emitting window are coaxial, and the laser light-emitting window passes laser beam (700), the laser
Beam (700) is described to slow down through hollow decelerator (730) into mirror unit (710) after robot forearm (6) injection
Device (730) is a kind of single stage gear reducer, and its pinion end is connected with servomotor (720), and its gear wheel is hollow structure,
Centre is by laser, and decelerator (730) output shaft is connected with rotary flange (702).
3. a kind of five axles laser robot according to claim 1, it is characterised in that：The CO2Laser head (8) is provided with
Mirror unit (810), bumper assembly (820), focus pack (830), the mirror unit (810) are arranged on CO2Laser head (8)
Upper end, the CO2Laser head (8) is directly by the way that in screw lock to rotary flange (702), the mirror unit (810) is with preventing
Hit component (820) connection, bumper assembly (820) the lower end connection focus pack (830).
4. a kind of five axles laser robot according to claim 3, it is characterised in that：The bumper assembly (820) includes
Upper lid (821), lower cover (822), alignment pin (823), adhesive magnet (824), probe assembly (825), the upper lid (821) with it is anti-
Microscope base (810) connection is penetrated, the lower cover (822) is connected with focus pack (830), the upper lid (821) and lower cover (822) pass through
The adhesive magnet (824) of a pair of annulars is pulled together, and the alignment pin (823) covers (821) and lower cover (822), institute through upper
Probe assembly (825) is stated to be arranged on lower cover (822).
5. a kind of five axles laser robot according to claim 1, it is characterised in that：4th shaft assembly (5) subtract
Fast device is hollow structure, and the hollow decelerator center passes through related power line, signal wire, gas circuit and the water route of laser.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720138312.8U CN206445358U (en) | 2017-02-16 | 2017-02-16 | A kind of five axle laser robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720138312.8U CN206445358U (en) | 2017-02-16 | 2017-02-16 | A kind of five axle laser robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206445358U true CN206445358U (en) | 2017-08-29 |
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ID=59665934
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720138312.8U Active CN206445358U (en) | 2017-02-16 | 2017-02-16 | A kind of five axle laser robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206445358U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106583922A (en) * | 2017-02-16 | 2017-04-26 | 上海嘉强自动化技术有限公司 | Five-shaft laser robot |
| CN109175676A (en) * | 2018-10-23 | 2019-01-11 | 上海拓璞数控科技股份有限公司 | Dual rotary main shaft and laser-processing system |
| CN112008233A (en) * | 2020-08-25 | 2020-12-01 | 上海建冶科技工程股份有限公司 | Laser rust removal intelligence focus control system |
-
2017
- 2017-02-16 CN CN201720138312.8U patent/CN206445358U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106583922A (en) * | 2017-02-16 | 2017-04-26 | 上海嘉强自动化技术有限公司 | Five-shaft laser robot |
| CN109175676A (en) * | 2018-10-23 | 2019-01-11 | 上海拓璞数控科技股份有限公司 | Dual rotary main shaft and laser-processing system |
| CN112008233A (en) * | 2020-08-25 | 2020-12-01 | 上海建冶科技工程股份有限公司 | Laser rust removal intelligence focus control system |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 8 Dongbao Road, Songjiang District, Shanghai, 2016 Patentee after: Jiaqiang (Shanghai) Intelligent Technology Co.,Ltd. Country or region after: China Address before: 201611 first floor, No. 56, Lane 1500, Xinfei Road, Songjiang District, Shanghai Patentee before: SHANGHAI EMPOWER AUTOMATION TECHNOLOGY Co.,Ltd. Country or region before: China |