CN209830570U

CN209830570U - Laser locating robot

Info

Publication number: CN209830570U
Application number: CN201821523299.9U
Authority: CN
Inventors: 李伟; 晏明亮; 黎韶毅; 兰海鹏; 吴文静
Original assignee: Guangdong Institute Of Ocean Engineering Equipment & Technology
Current assignee: Guangdong Institute Of Ocean Engineering Equipment & Technology
Priority date: 2018-09-18
Filing date: 2018-09-18
Publication date: 2019-12-24
Anticipated expiration: 2028-09-18

Abstract

The utility model discloses a laser locating robot, which comprises a robot body, a fine plasma cutting machine body, a cutting gun fixing frame and a cutting gun; the fine plasma cutting machine body transmits a control signal to the robot body, the cutting gun fixing frame is arranged on the robot body, and the cutting gun is fixed on the cutting gun fixing frame. The laser locating robot further comprises a high-precision 2D laser displacement sensor, the high-precision 2D laser displacement sensor can read position information and shape information of current angle steel, and then the robot body adjusts the motion track according to the information read by the laser displacement sensor, so that cutting is better achieved. The laser locating robot can adapt to angle steel with large size error, realizes automatic groove cutting, and can better meet the requirements of larger capacity, higher production quality and larger flexible intelligent cutting.

Description

Laser locating robot

Technical Field

The utility model belongs to the automatic cutout field mainly relates to a laser robot of seeking a position for meticulous plasma cutting angle steel groove.

Background

In the field of automatic cutting, a large size error of some workpieces or a low precision of a clamp for fixing the workpieces can cause a large change of a cutting position, thereby causing poor cutting quality and an increase of the number of defective workpieces. This is particularly true in the cutting of certain non-standard workpieces. Therefore, for the cutting of some nonstandard workpieces, manual cutting is still often used, and in the field of groove cutting of welding of the nonstandard workpieces, the popularization of the fine plasma cutting robot is greatly limited, so that the fine plasma cutting robot can be used for programming automatic position finding cutting and remote control cutting, the labor intensity can be greatly reduced, the working efficiency can be improved, the operation risk can be reduced, and the safety performance is high.

Disclosure of Invention

The utility model aims at providing a laser robot of seeking a position for meticulous plasma cutting angle steel groove.

For the purpose of the utility model, the laser positioning robot for fine plasma cutting of angle steel grooves provided by the utility model comprises a robot body, a fine plasma cutting machine body, a cutting gun fixing frame and a cutting gun; the fine plasma cutting machine body transmits a control signal to the robot body, the cutting gun fixing frame is arranged on the robot body, and the cutting gun is fixed on the cutting gun fixing frame.

In the scheme, the fine plasma cutting machine body transmits a control signal to the robot body after receiving the position signal, and the robot body controls the cutting gun to execute cutting action at a corresponding position after receiving the control signal transmitted by the fine plasma cutting machine body.

One preferred scheme is that the cutting gun fixing frame is fixedly connected with the robot body through a first inner hexagon screw; the cutting torch fixing frame is fixedly connected with the cutting torch through a second socket head cap screw.

The laser locating robot further comprises an inductor fixing plate, and the inductor fixing plate is fixedly connected with the cutting gun fixing frame through a third inner hexagon screw.

According to a further scheme, the laser locating robot further comprises a laser displacement sensor, and the laser displacement sensor is fixedly connected with the sensor fixing plate through a fourth hexagon socket head cap screw.

According to a further scheme, the cutting gun fixing frame and the sensor fixing plate are arranged between the robot body and the laser displacement sensor.

In a further scheme, the laser displacement sensor transmits a position signal to the fine plasma cutting machine body.

In the scheme, the laser displacement sensors detect two sides and three sidelines in the length direction of the angle steel, the angles of the two sides and the position of an original point of the coarse positioning angle steel are planned, and compared with a standard angle and the position of the original point, the robot body controls the cutting gun to accurately cut the groove according to the current position and angle of the angle steel by adopting a data compensation method, a high-precision clamp is not needed for accurate positioning, and the robot can find the position of the angle steel and accurately cut the groove.

Drawings

Fig. 1 is an exploded view of an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of an embodiment of the present invention.

Detailed Description

Referring to fig. 1, the utility model provides a laser seeks a robot for meticulous plasma cutting angle steel groove includes robot 1, meticulous plasma cutting machine body 2, cutting torch mount 3, cutting torch 4, laser displacement sensor 5, inductor fixed plate 6, first hexagon socket head cap nut 7, second hexagon socket head cap nut 8, third hexagon socket head cap nut 9, fourth hexagon socket head cap nut 10. Wherein, first hexagon socket head cap nut 7 is with cutting torch mount 3 fixed connection on robot 1, and 8 hexagon socket head cap nuts are with cutting torch 4 fastening connection on cutting torch mount 3 in the second, and the third hexagon socket head cap nut 9 is with inductor fixed plate 6 and 3 fastening connection of cutting torch mount, and the fourth hexagon socket head cap nut 10 is with 5 fastening connection of laser displacement sensor on inductor fixed plate 6. Cutting torch mount 3 and inductor fixed plate 6 set up between robot 1 and laser displacement sensor 5.

Referring to fig. 2, a connecting plate 11 is further arranged on the robot body 1, the cutting gun fixing frame 3 is connected with the connecting plate 11 into a whole, the cutting gun fixing frame 3 is composed of a square flat plate 31 and two baffle plates 32, and a through hole is formed in each of the two baffle plates 32. The square flat plate 31 is disposed perpendicular to the connection plate 11. The cutting torch 4 sequentially passes through the through holes on the two baffle plates 32 to be fixed on the cutting torch fixing frame 3. An inductor fixing plate 6 is further arranged at the edge of one side of the square flat plate 11 parallel to the cutting gun 4, the inductor fixing plate 6 is L-shaped, the horizontal part of the L-shaped inductor fixing plate 6 is connected with the square flat plate 31, and the vertical part of the L-shaped inductor fixing plate 6 is perpendicular to the square flat plate 31. And a laser displacement sensor 5 is arranged on one side of the vertical part of the L-shaped sensor fixing plate 6, which is far away from the cutting gun 4.

In the present embodiment, the laser displacement sensor 5 is a high-precision 2D displacement sensor. Before the position searching and cutting, firstly, the position of the reference angle steel is measured through the high-precision 2D laser displacement sensor 5, the fine plasma cutting machine body 2, the robot body 1 and the cutting gun 4, a standard right angle is set according to the reference angle steel, and then other angle steel is measured. In the measurement process at every time, the robot body 1 controls the cutting gun 4 to measure the shape and the position of the current angle steel, the high-precision 2D displacement sensor 5 reads specific position information and shape information of the current angle steel, and the high-precision 2D displacement sensor 5 transmits the read information to the fine plasma cutting machine body 2. The fine plasma cutting machine body 2 transmits a control signal to the robot body 1 after calculating the relative position information and the shape information of the current angle steel and the reference angle steel through an algorithm. The robot body 1 adjusts the motion track according to the received control signal, so that the current position finding of the end face of the angle steel is completed. Compared with the original manual operation, the application is simple to operate, and after the fine plasma cutting robot is adopted, the requirements on the precision of the clamp and the precision of the angle steel are not high, so that the adaptability of a robot cutting system is improved, and the design cost of the clamp is reduced; the measurement precision is high, and the time for processing poor cutting is reduced; the contact with the angle steel is not needed, and the reliability and the safety are enhanced.

In the embodiment, the laser locating robot adopts a three-coordinate locating method, and the locating precision is 0.2mm, so that the locating result is more accurate, and the cutting quality is better. The laser positioning robot improves the fine plasma cutting machine body 2, so that the laser positioning robot can calibrate the scale of a simple position signal sent by a high-precision 2D laser displacement sensor 5, combines the scale with position and posture data of the robot at a detection point, and calculates a new operation base coordinate, thereby realizing the correction of the current track by comparing the data collected by the laser displacement sensor 5 with the existing track. Thereby ensuring the accuracy of the angle steel bevel.

In this embodiment, the laser position-finding robot can also be used in the field of non-standard part processing and the fields with higher requirements on the processing initial position and the shape of supplied materials of workpieces, such as the furniture industry, the nailing of wood and the like. Under the condition of increasing labor cost, the requirements of higher capacity, higher production quality and larger flexible intelligent cutting can be better met.

While the invention has been shown and described with reference to the present embodiments and preferred versions thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A laser locating robot is characterized in that:

the laser locating robot comprises a robot body, a fine plasma cutting machine body, a cutting gun fixing frame and a cutting gun; the fine plasma cutting machine body transmits a control signal to the robot body, the cutting gun fixing frame is arranged on the robot body, and the cutting gun is fixed on the cutting gun fixing frame;

the cutting gun fixing frame is fixedly connected with the robot body through a first inner hexagon screw; the cutting gun fixing frame is fixedly connected with the cutting gun through a second inner hexagon screw;

the laser positioning robot further comprises an inductor fixing plate, and the inductor fixing plate is fixedly connected with the cutting gun fixing frame through a third inner hexagon screw;

the laser locating robot further comprises a laser displacement sensor, and the laser displacement sensor is fixed on the inductor fixing plate through a fourth inner hexagon screw.

2. The laser positioning robot as claimed in claim 1, wherein:

the cutting torch fixing frame and the sensor fixing plate are arranged between the robot body and the laser displacement sensor.

3. The laser positioning robot as claimed in claim 1, wherein:

and the laser displacement sensor transmits a position signal to the fine plasma cutting machine body.