CN207997068U - A kind of industrial robot for dimension laser cutting - Google Patents

Abstract

The utility model discloses an industrial robot used for three-dimensional laser cutting, which relates to the technical field of industrial robots. Existing auto parts generally use imported five-axis linkage machine tools for cutting, which is expensive to use and difficult to popularize. The utility model provides an industrial robot, including a gantry, a mechanical arm arranged on the gantry, and a mechanical arm walking mechanism. A laser cutting device is installed on the mechanical arm, and a workbench is arranged under the gantry. The workbench includes a base and a rotating seat above the base, and a rotating drive device for driving the rotating seat is arranged between the base and the rotating seat. An operating table and a screw nut driving mechanism for driving the operating table to move linearly are arranged above the rotating seat, and a detachable clamp is also arranged on the top surface of the operating table. The utility model can carry out cutting operations in various directions in the spatial position, and has relatively low manufacturing and maintenance costs, and has the characteristics of stable performance and strong practicability.

Description

An industrial robot for 3D laser cutting

technical field

The utility model relates to the technical field of industrial robots, in particular to an industrial robot used for three-dimensional laser cutting.

Background technique

In the field of auto parts production and processing, auto parts including machine cover, rear cover box, water tank frame, bumper, fender, door and window, etc. generally use five-axis linkage machine tools to complete three-dimensional cutting processing. The five-axis linkage machine tool has high control precision and relatively mature technology. However, compared with foreign countries, the overall level of five-axis linkage machine tools produced in China is still relatively low, which is specifically reflected in the fact that key functions cannot be independently developed, and compared with similar foreign products, there is a big difference in stability and accuracy. Therefore, large-scale domestic manufacturers generally use a complete set of imported five-axis linkage machine tools in actual production. Not only the price of the machine tool itself is high, but the price of supporting services and maintenance costs are also high. For the majority of small and medium-sized manufacturers, the use threshold is relatively high, and it is difficult to popularize. Similar to the five-axis linkage machine tool, industrial robots can also achieve three-dimensional cutting by describing the spatial trajectory. Moreover, the overall cost of industrial robots is much lower than that of five-axis linkage machine tools, and the maintenance cost and power consumption are also lower. It is an ideal replacement technology for five-axis linkage machine tools.

Utility model content

The purpose of the utility model is to provide an industrial robot for three-dimensional laser cutting in view of the problems that the imported five-axis linkage machine tool is generally used for cutting the existing auto parts, which is expensive and difficult to popularize.

In order to achieve the above purpose, the utility model specifically adopts the following technical solutions: an industrial robot for three-dimensional laser cutting, including a gantry, a mechanical arm arranged on the gantry and a walking mechanism of the mechanical arm, a laser cutting device is arranged on the mechanical arm, a gantry A workbench is arranged below, and the workbench includes a base and a rotating seat arranged above the base. A rotating drive device for driving the rotating seat is arranged between the base and the rotating seat. An operating table and a rotating seat are arranged above the rotating seat The screw nut drive mechanism drives the linear movement of the console, and the top surface of the console is also equipped with a detachable clamp.

Further, the robot arm includes a first robot arm assembly, a second robot arm assembly, a third robot arm assembly, a fourth robot arm assembly and a clamping part assembly which are movably connected in sequence, and the first robot arm assembly includes connecting arm A and connecting arm A. Arm B, connected arm A is fixedly connected with the walking mechanism of the mechanical arm, and a rotary joint A for driving the connected arm B to rotate around its own axis is arranged between the connected arm A and the connected arm B; the second mechanical arm assembly includes a rotating shaft A, through which the rotating shaft A connecting arm C that is movably connected with connecting arm B, and a drive motor A for driving the rotating shaft A to rotate, and rotating shaft A is fixedly connected with connecting arm C; the third mechanical arm assembly includes rotating shaft B, through which rotating shaft B and connecting arm C move The connecting arm D and the drive motor B used to drive the rotating shaft B to rotate, the rotating shaft B is fixedly connected to the connecting arm D; the fourth mechanical arm assembly includes the rotating shaft C, the connecting arm E that is movably connected to the connecting arm D through the rotating shaft C, And a drive motor C for driving the rotating shaft C to rotate, the rotating shaft C is fixedly connected to the connecting arm E; the clamping part assembly includes a clamping part, and a device for driving the clamping part to rotate around its own axis is arranged between the clamping part and the connecting arm E The rotary joint B is fixedly connected with the laser cutting device.

Further, the rotary joint A and the rotary joint B are direct drive servo motors, and the driving motor A, the driving motor B, and the driving motor C are servo motors or stepping motors.

Further, the screw nut driving mechanism includes a screw rod, two guide rods parallel to the screw rod, several fixing pieces and a driving motor D for driving the screw rod to rotate, the screw rod and the two guiding rods are operated through the fixing piece and The table is connected, and the operation table is provided with a threaded hole matched with the screw rod and two guide holes matched with the corresponding guide rod.

Further, the driving motor D is a servo motor or a stepping motor.

Further, the gantry includes two vertically arranged pillars and a crossbeam fixed on the two pillars, the mechanical arm traveling mechanism is arranged on the crossbeam; the mechanical arm traveling mechanism includes a guide groove arranged on the bottom surface of the crossbeam, and one side wall of the guide groove A rack is provided, and a guide rail is provided on the other side wall of the guide groove. A drive shaft and a gear fitted on the drive shaft and matched with the rack are also arranged in the guide groove. A mechanical arm connector and a drive motor are arranged under the beam. E, the lower end of the drive shaft passes through the connecting piece of the mechanical arm and is connected with the output shaft of the drive motor E; a sliding piece and a connecting rod are also arranged in the guide groove to prevent the connecting piece of the mechanical arm from rotating with the driving shaft, and the upper end of the connecting rod is fixed on the sliding On the block, the lower end of the connecting rod is fixed on the connecting piece of the mechanical arm.

Further, the driving motor E is a servo motor or a stepping motor.

The beneficial effects of the utility model are as follows:

1. The industrial robot for three-dimensional laser cutting of the utility model is provided with a mechanical arm with multiple degrees of freedom and a mechanical arm walking mechanism that drives the mechanical arm to move linearly on the beam of the gantry. The mechanical arm is provided with a laser cutting device below the gantry There is also a workbench that can rotate and move linearly. This arrangement can organically combine the excellent space planning performance of industrial robots with the excellent cutting ability of laser cutting devices. The industrial robot for three-dimensional laser cutting of the utility model can Carrying out cutting operations in all directions in the spatial position can process workpieces of various complex shapes, and the manufacturing and maintenance costs are relatively low, and it has the characteristics of stable performance and strong practicability.

2. The mechanical arm provided by the utility model has a strong positioning ability, which can reduce the operating four corners of the industrial robot and realize accurate positioning of the workpiece.

3. The utility model The walking mechanism of the mechanical arm of the utility model can expand the operating range of the mechanical arm, and has a simple and practical structure and high precision.

Description of drawings

Fig. 1 is a front view of the utility model;

Fig. 2 is a top view of the utility model;

Fig. 3 is the right view of the mechanical arm of the present utility model;

Fig. 4 is a top view of the utility model screw nut driving mechanism;

Fig. 5 is the right side view of the walking mechanism of the mechanical arm of the utility model;

Reference signs: 1-gantry; 2-mechanical arm; 3-mechanical arm walking mechanism; 4-laser cutting device; 5-worktable; 1.1-pillar; 1.2-beam; Two mechanical arm components; 2.3-Third mechanical arm components; 2.4-Fourth mechanical arm components; 2.5-Clamping part components; 2.11-Arm A; C; 2.22-driving motor A; 2.23-rotating shaft A; 2.31-connecting arm D; 2.32-driving motor B; 2.33-rotating shaft B; 2.41-connecting arm E; 2.42-driving motor C; 2.43-rotating shaft C; Holder; 2.52-rotary joint B; 3.1-guide groove; 3.2-rack; 3.3-guide rail; 3.4-gear; 3.5-drive shaft; 3.6-mechanical arm connector; 3.7-drive motor E; 5.2-Swivel seat; 5.3-Rotary driving device; 5.4-Operating table; 5.5-Screw nut driving mechanism; 5.6-Detachable fixture; 5.51-Screw; 5.52-Guide rod; pieces.

Detailed ways

In order for those skilled in the art to better understand the utility model, the utility model will be further described in detail below in conjunction with the accompanying drawings and the following embodiments.

Example 1

An industrial robot for three-dimensional laser cutting as shown in Figure 1-5, includes a gantry 1, a mechanical arm 2 and a mechanical arm walking mechanism 3 arranged on the gantry 1, and a laser cutting device 4 is arranged on the mechanical arm 2, A workbench 5 is arranged below the gantry 1, and the workbench 5 includes a base 5.1 and a rotating seat 5.2 arranged above the base 5.1, and a rotating drive device 5.3 for driving the rotating seat 5.2 to rotate is arranged between the base 5.1 and the rotating seat 5.2 , above the swivel seat 5.2 is provided with an operating table 5.4 and a screw nut driving mechanism 5.5 for driving the operating table 5.4 to move linearly, and a detachable clamp 5.6 is also provided on the top surface of the operating table 5.4.

The working principle of this embodiment is: the workpiece is placed on the operating table 5.4, and the detachable fixture 5.6 clamps the workpiece. The operating table 5.4 can be adjusted by rotating and linearly moving under the drive of the rotating drive device 5.3 and the screw nut driving mechanism 5.5. For the cutting angle of the workpiece, the mechanical arm 2 arranged on the gantry 1 can move back and forth through the mechanical arm walking mechanism 3 to adjust the spatial cutting trajectory of the laser cutting device 4 .

Example 2

This embodiment has been further optimized on the basis of the above embodiments, specifically:

The mechanical arm 2 includes a first mechanical arm assembly 2.1, a second mechanical arm assembly 2.2, a third mechanical arm assembly 2.3, a fourth mechanical arm assembly 2.4 and a clamping part assembly 2.5 which are movably connected in sequence. The first mechanical arm assembly 2.1 includes a connecting The arm A2.11 and the connecting arm B2.12, the connecting arm A2.11 is fixedly connected with the mechanical arm walking mechanism 3, and there is a device between the connecting arm A2.11 and the connecting arm B2.12 for driving the connecting arm B2.12 around its own axis. The rotating rotary joint A2.13; the second mechanical arm assembly 2.2 includes a rotating shaft A2.23, a connecting arm C2.21 that is movably connected to the connecting arm B2.12 through the rotating shaft A2.23, and a motor for driving the rotating shaft A2.23 to rotate The drive motor A2.22, the rotating shaft A2.23 is fixedly connected with the connecting arm C2.21; the third mechanical arm assembly 2.3 includes the rotating shaft B2.33, the connecting arm D2.31 which is movably connected with the connecting arm C2.21 through the rotating shaft B2.33 , and a drive motor B2.32 for driving the rotating shaft B2.33 to rotate, the rotating shaft B2.33 is fixedly connected to the connecting arm D2.31; The connecting arm E2.41 movably connected with D2.31, and the drive motor C2.42 used to drive the rotation of the rotating shaft C2.43, the rotating shaft C2.43 is fixedly connected with the connecting arm E2.41; the clamping part assembly 2.5 includes a clamping part 2.51, a rotating joint B2.52 for driving the clamping component 2.51 to rotate around its own axis is provided between the clamping component 2.51 and the connecting arm E2.41, and the clamping component 2.51 is fixedly connected with the laser cutting device 4 . Preferably, the rotary joint A2.13 and the rotary joint B2.52 can use direct drive servo motors, and the drive motor A2.22, drive motor B2.32 and drive motor C2.42 can use servo motors or stepper motors.

Example 3

This embodiment has been further optimized on the basis of the above embodiments, specifically:

The screw nut driving mechanism 5.5 includes a screw mandrel 5.51, two guide rods 5.52 parallel to the screw mandrel 5.51, several fixing parts 5.54 and a drive motor D5.53 for driving the screw mandrel 5.51 to rotate, the screw mandrel 5.51 and two guide rods 5.52 are all connected with the console 5.4 through the fixing piece 5.54, and the console 5.4 is provided with a threaded hole cooperating with the screw mandrel 5.51 and two guide holes cooperating with the corresponding guide rod 5.52. Preferably, the driving motor D5.53 can use a servo motor or a stepping motor.

Example 4

This embodiment has been further optimized on the basis of the above embodiments, specifically:

The gantry 1 includes two vertically arranged pillars 1.1 and a crossbeam 1.2 fixed on the two pillars 1.1, the mechanical arm traveling mechanism 3 is arranged on the crossbeam 1.2; the mechanical arm traveling mechanism 3 includes a guide groove 3.1 arranged on the bottom surface of the crossbeam 1.2, A rack 3.2 is arranged on one side wall of the guide groove 3.1, a guide rail 3.3 is arranged on the other side wall of the guide groove 3.1, and a drive shaft 3.5 and a gear rack 3.2 sleeved on the drive shaft 3.5 are arranged in the guide groove 3.1 The gear 3.4, below the beam 1.2 are provided with a mechanical arm connector 3.6 and a drive motor E3.7, and the lower end of the drive shaft 3.5 passes through the mechanical arm connector 3.6 and is connected with the output shaft of the drive motor E3.7; There are slides and connecting rods for preventing the mechanical arm connector 3.6 from rotating with the drive shaft 3.5, the upper end of the connecting rod is fixed on the slide block, and the lower end of the connecting rod is fixed on the mechanical arm connector 3.6. Preferably, the driving motor E3.7 can use a servo motor or a stepping motor.

The above is only a preferred embodiment of the utility model, and is not intended to limit the utility model. The scope of patent protection of the utility model is subject to the claims. Equivalent structural changes should be included in the protection scope of the present utility model in the same way.

Claims (7)

1. an industrial robot for three-dimensional laser cutting, comprising a gantry (1), a mechanical arm (2) and a mechanical arm walking mechanism (3) arranged on the gantry (1), it is characterized in that the mechanical arm ( 2) A laser cutting device (4) is arranged on it, and a workbench (5) is arranged under the gantry (1). The workbench (5) includes a base (5.1) and a rotating seat (5.2) arranged above the base (5.1). ), between the base (5.1) and the swivel seat (5.2) is provided with a rotary drive device (5.3) for driving the swivel seat (5.2) The screw nut driving mechanism (5.5) for linear motion of the console (5.4), and the top surface of the console (5.4) is also provided with a detachable clamp (5.6). 2. The industrial robot for three-dimensional laser cutting according to claim 1, characterized in that, the mechanical arm (2) comprises a first mechanical arm assembly (2.1), a second mechanical arm assembly (2.2) which are movably connected in sequence ), the third mechanical arm assembly (2.3), the fourth mechanical arm assembly (2.4) and the clamping part assembly (2.5), the first mechanical arm assembly (2.1) includes connecting arm A (2.11) and connecting arm B (2.12) , the connecting arm A (2.11) is fixedly connected with the mechanical arm walking mechanism (3), and there is a rotary joint between the connecting arm A (2.11) and the connecting arm B (2.12) to drive the connecting arm B (2.12) to rotate around its own axis A (2.13); the second mechanical arm assembly (2.2) includes a rotating shaft A (2.23), a connecting arm C (2.21) that is movably connected to the connecting arm B (2.12) through the rotating shaft A (2.23), and is used to drive the rotating shaft A ( 2.23) The rotating drive motor A (2.22), the rotating shaft A (2.23) is fixedly connected with the connecting arm C (2.21); the third mechanical arm assembly (2.3) includes the rotating shaft B (2.33), through which the rotating shaft B (2.33) and the connecting arm The connecting arm D (2.31) movably connected with C (2.21) and the drive motor B (2.32) used to drive the rotating shaft B (2.33) to rotate, and the rotating shaft B (2.33) is fixedly connected with the connecting arm D (2.31); the fourth mechanical The arm assembly (2.4) includes a rotating shaft C (2.43), a connecting arm E (2.41) movably connected to the connecting arm D (2.31) through the rotating shaft C (2.43), and a driving motor C ( 2.42), the rotating shaft C (2.43) is fixedly connected with the connecting arm E (2.41); the clamping part assembly (2.5) includes a clamping piece (2.51), and a useful The clamping piece (2.51) is fixedly connected with the laser cutting device (4) because of the rotary joint B (2.52) that drives the clamping piece (2.51) to rotate around its own axis. 3. The industrial robot for three-dimensional laser cutting according to claim 2, characterized in that, the rotary joint A (2.13) and the rotary joint B (2.52) are direct drive servo motors, and the drive motor A (2.22 ), drive motor B (2.32), and drive motor C (2.42) are servo motors or stepper motors. 4. The industrial robot for three-dimensional laser cutting according to any one of claims 1-3, characterized in that, the screw nut driving mechanism (5.5) includes a screw mandrel (5.51), and a screw mandrel (5.51) Two parallel guide rods (5.52), several fixing parts (5.54) and the driving motor D (5.53) for driving the screw mandrel (5.51) to rotate, the screw mandrel (5.51) and the two guide rods (5.52) are all fixed by The piece (5.54) is connected with the console (5.4), and the console (5.4) is provided with a threaded hole cooperating with the screw mandrel (5.51) and two guide holes cooperating with the corresponding guide rod (5.52). 5. The industrial robot for three-dimensional laser cutting according to claim 4, characterized in that, the driving motor D (5.53) is a servo motor or a stepping motor. 6. The industrial robot for three-dimensional laser cutting according to any one of claims 1-3, characterized in that, the gantry (1) comprises two vertically arranged pillars (1.1) and is fixed on two pillars (1.1) on the crossbeam (1.2), the mechanical arm running mechanism (3) is arranged on the crossbeam (1.2); the mechanical arm running mechanism (3) includes a guide groove (3.1) arranged on the bottom surface of the crossbeam (1.2) A rack (3.2) is arranged on one side wall of the guide groove (3.1), a guide rail (3.3) is arranged on the other side wall of the guide groove (3.1), and a drive shaft (3.5) and The gear (3.4) fitted on the driving shaft (3.5) and matched with the rack (3.2), the mechanical arm connector (3.6) and the driving motor E (3.7) are arranged under the beam (1.2), and the driving shaft (3.5) The lower end passes through the mechanical arm connecting piece (3.6) and is connected with the output shaft of the drive motor E (3.7); there is also a slide in the guide groove (3.1) to prevent the mechanical arm connecting piece (3.6) from rotating with the drive shaft (3.5) Part and connecting rod, the upper end of the connecting rod is fixed on the slide block, and the lower end of the connecting rod is fixed on the mechanical arm connector (3.6). 7. The industrial robot for three-dimensional laser cutting according to claim 6, characterized in that, the driving motor E (3.7) is a servo motor or a stepping motor.