CN210306306U

CN210306306U - End effector for laser cutting precision compensation of robot

Info

Publication number: CN210306306U
Application number: CN201921250337.2U
Authority: CN
Inventors: 孙鹏程; 金波; 周珂; 林俊杰
Original assignee: Nanjing Institute of Technology
Current assignee: Nanjing Institute of Technology
Priority date: 2019-08-05
Filing date: 2019-08-05
Publication date: 2020-04-14
Anticipated expiration: 2029-08-05

Abstract

The utility model discloses an end effector for compensation of robot laser cutting precision, including sharp axle assembly A, the cab apron is crossed to the sharp axle, sharp axle assembly B, anti-collision module, laser cutting head module, sharp axle assembly A passes through L type connecting plate and robot arm is connected, sharp axle assembly B crosses the cab apron through the sharp axle and is connected with sharp axle assembly A, the laser cutting head module passes through anti-collision module and is connected with sharp axle assembly B, through sharp axle assembly A, the translation of sharp axle assembly B realization laser cutting head module in X direction and Y direction, monitor the laser cutting head module through anti-collision module and bump with the object in the laser cutting process. The utility model discloses can compensate the positioning accuracy of robot to ensure laser cutting's position accuracy, improve processingquality.

Description

End effector for laser cutting precision compensation of robot

Technical Field

The utility model relates to a positioning accuracy compensation arrangement of robot laser cutting.

Background

Most of industrial robots in the current industrial factory are six-degree-of-freedom robots, and the end of each robot arm reaches the expected position by adjusting the coordinates of each joint arm. But most industrial robots are grabbing the product that needs high accuracy direction location at present, or carry out some when needing the operation of high accuracy direction location such as laser cutting part, only rely on the position direction of robot self to adjust and hardly guarantee positioning accuracy, and the part size change that the processing was come out is great, and processingquality is lower.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: the utility model aims at the above-mentioned technical problem, provide a simple structure, carry out the robot laser cutting end effector that compensates to robot laser cutting positioning accuracy.

In order to achieve the above purpose, the utility model adopts the following technical scheme: the end effector comprises a linear shaft assembly A, a linear shaft transition plate, a linear shaft assembly B, an anti-collision module and a laser cutting head module, wherein the linear shaft assembly A is connected with a robot arm through an L-shaped connecting plate, the linear shaft assembly B is connected with the linear shaft assembly A through the linear shaft transition plate, the laser cutting head module is connected with the linear shaft assembly B through the anti-collision module, the linear shaft assembly A and the linear shaft assembly B are used for realizing the translation of the laser cutting head module in the X direction and the Y direction, and the collision of the laser cutting head module with an object in the laser cutting process is monitored through the anti-collision module.

Further, linear shaft assembly A, linear shaft assembly B all include afterbody fixing base, slip table, dustproof shrouding, shaft coupling, motor, screw nut, guide rail, and motor, guide rail, screw nut install on the afterbody fixing base, and the motor passes through the shaft coupling to be connected with screw nut, and the slip table is installed on the guide rail and with screw nut screw-thread fit, and the motor passes through the shaft coupling drive screw nut and rotates for the slip table slides on the guide rail.

Furthermore, a dustproof sealing plate is arranged between the sliding table of the linear shaft assembly A and the linear shaft assembly B.

Further, the anticollision module includes that the cutting head crosses cab apron, anticollision board and cutting head keysets, and the cutting head keysets passes through the screw connection with sharp axle assembly B, and anticollision board and cutting head cross to be connected through spring and spring mounting between the cab apron, pass through screw fastening connection between anticollision board and the cutting head keysets, and the laser cutting head module crosses the cab apron through the cutting head and is connected with the anticollision board, and the anticollision board is equipped with limit switch, and limit switch is used for detecting anticollision board self position, and limit switch detection distance is 0.5 mm.

Furthermore, a dustproof sealing plate is arranged between the sliding table of the linear shaft assembly B and the transition plate of the linear shaft.

Further, the laser cutting head module comprises a linear shaft assembly C and a laser cutting head, the linear shaft assembly C has the same structure as the linear shaft assembly A and the linear shaft assembly B, and the linear shaft assembly C is used for realizing the movement of the laser cutting head in the vertical direction.

Has the advantages that: the utility model discloses can realize when carrying out the laser cutting part with the robot, through the sharp interpolation of two sharp axles, compensate the positioning accuracy of robot to ensure laser cutting's position precision, improve processingquality, the commonality is strong, simple structure.

Drawings

Fig. 1 is a schematic view of the assembly of the present invention.

Fig. 2 is a schematic structural view of the linear shaft assembly a (hiding the side of the tail mount and the motor housing).

Fig. 3 is a schematic structural view of a crash module.

In the figure: the device comprises a 1-linear shaft assembly A, a 2-linear shaft transition plate, a 3-linear shaft assembly B, a 4-collision avoidance module, a 5-laser cutting head module, a 6-sliding table, a 7-dustproof sealing plate, an 8-coupler, a 9-motor, a 10-lead screw nut, a 11-guide rail, a 12-tail fixing seat, a 13-cutting head adapter plate, a 14-collision avoidance plate, a 15-cutting head transition plate, a 16-spring and a 17-spring fixing member.

The specific implementation mode is as follows:

the present invention will be further explained with reference to the accompanying drawings.

As shown in fig. 1, the utility model discloses an end effector for robot laser cutting accuracy compensation, including sharp axle assembly A1, the cab apron 2 is crossed to the sharp axle, sharp axle assembly B3, collision avoidance module 4, laser cutting head module 5, sharp axle assembly A1 is connected with the robot arm (not shown in the figure) through L type connecting plate, sharp axle assembly B3 crosses cab apron 2 through the sharp axle and is connected with sharp axle assembly A1, laser cutting head module 5 is connected with sharp axle assembly B3 through collision avoidance module 4, through sharp axle assembly A1, the translation of laser cutting head module 5 in X direction and Y direction is realized to sharp axle assembly B3, monitor laser cutting head module 5 through collision avoidance module 4 and collide with the object in the laser cutting process.

As shown in fig. 1 and 2, each of the linear shaft assemblies a1 and B3 includes a tail fixing seat 12, a sliding table 6, a coupler 8, a motor 9, a lead screw nut 10 and a guide rail 11, the motor 9, the guide rail 11 and the lead screw nut 10 are installed on the tail fixing seat 12, the motor 9 is connected with the lead screw nut 10 through the coupler 8, the sliding table 6 is installed on the guide rail 11 and is in threaded fit with the lead screw nut 10, and the motor 9 drives the lead screw nut 10 to rotate through the coupler 8, so that the sliding table 6 slides on the guide rail 11.

In order to prevent impurities from entering the linear shaft assembly A1 in the laser cutting process, the lead screw nut 10 is damaged, and the position precision of the laser cutting head module 5 is affected. And a dustproof sealing plate 7 is arranged between the sliding table 6 of the linear shaft assembly A1 and the linear shaft assembly B3.

As shown in fig. 1 and 3, the anti-collision module 4 includes a cutting head transition plate 15, an anti-collision plate 14, a cutting head transition plate 13, a spring 16 and a spring fixing member 17, the cutting head transition plate 13 is connected with a linear shaft assembly B3 through a screw, the anti-collision plate 14 is connected with the cutting head transition plate 15 through the spring 16 and the spring fixing member 17, the laser cutting head module 5 is connected with the anti-collision plate 14 through the cutting head transition plate 15, and the anti-collision plate 14 is provided with a limit switch for detecting the position of the anti-collision plate 14 itself.

In order to prevent impurities from entering the linear shaft assembly B3 during laser cutting, the lead screw nut 10 is damaged, and the position precision of the laser cutting head module 5 is affected. And a dustproof sealing plate 7 is arranged between the sliding table 6 of the linear shaft assembly B3 and the linear shaft transition plate 2.

Preferably, the laser cutting head module 5 comprises a linear shaft assembly C and a laser cutting head, the linear shaft assembly C has the same structure as the linear shaft assembly a1 and the linear shaft assembly B3, and the linear shaft assembly C is used for realizing the movement of the laser cutting head in the vertical direction. Because the utility model discloses a make an assembly body with sharp spool assembly C and laser cutting head, the explanation has not been drawn forth alone.

As shown in fig. 1, the utility model discloses an operating principle is, when using six degree of freedom industrial robot to carry out laser cutting, adjust robot joint coordinate earlier and arrive the relevant position after, realize the translation of laser cutting head module 5 in the X direction through sharp axle assembly A1, realize the translation of laser cutting head module 5 in the Y direction through sharp axle assembly B3, realize the vertical motion of laser cutting head in the Z direction through sharp axle assembly C, carry out the secondary control of laser cutting head position accuracy again through whole end effector, the realization is to the compensation of robot position accuracy.

When the laser cutting head collides with an object in the laser cutting process, the anti-collision plate 14 and the cutting head transition plate 15 generate relative displacement, the position of the anti-collision plate 14 changes, the limit switch can detect the change value of the position, and the detection precision is 0.5 mm.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. An end effector for robot laser cutting accuracy compensation, characterized in that: the robot comprises a linear shaft assembly A (1), a linear shaft transition plate (2), a linear shaft assembly B (3), an anti-collision module (4) and a laser cutting head module (5), wherein the linear shaft assembly A (1) is connected with a robot arm through an L-shaped connecting plate, the linear shaft assembly B (3) is connected with the linear shaft assembly A (1) through the linear shaft transition plate (2), the laser cutting head module (5) is connected with the linear shaft assembly B (3) through the anti-collision module (4), the linear shaft assembly A (1) and the linear shaft assembly B (3) are used for realizing the translation of the laser cutting head module (5) in the X direction and the Y direction, and the anti-collision module (4) is used for monitoring the collision of the laser cutting head module (5) with an object in the laser cutting process.

2. The end effector for robotic laser cutting accuracy compensation of claim 1, wherein: linear shaft assembly A (1), linear shaft assembly B (3) all include afterbody fixing base (12), slip table (6), dustproof shrouding (7), shaft coupling (8), motor (9), screw nut (10), guide rail (11), motor (9), guide rail (11), screw nut (10) are installed on afterbody fixing base (12), motor (9) are connected with screw nut (10) through shaft coupling (8), slip table (6) are installed on guide rail (11) and with screw nut (10) screw-thread fit, motor (9) are passed through shaft coupling (8) drive screw nut (10) and are rotated for slip table (6) slide on guide rail (11).

3. An end effector for robotic laser cutting accuracy compensation as defined in claim 2, wherein: and a dustproof sealing plate (7) is arranged between the sliding table (6) of the linear shaft assembly A (1) and the linear shaft assembly B (3).

4. An end effector for robotic laser cutting accuracy compensation as defined in claim 2, wherein: crashproof module (4) cross cab apron (15) including the cutting head, crashproof board (14) and cutting head keysets (13), cutting head keysets (13) pass through the screw connection with straight line axle assembly B (3), crashproof board (14) and cutting head cross and are connected through spring (16) and spring mounting (17) between cab apron (15), pass through screw fastening connection between crashproof board (14) and the cutting head keysets (13), cab apron (15) are crossed through the cutting head in laser cutting head module (5) and are connected with crashproof board (14), crashproof board (14) are equipped with limit switch, limit switch is used for detecting crashproof board (14) self position, limit switch detection distance is 0.5 mm.

5. An end effector for robotic laser cutting accuracy compensation as defined in claim 4, wherein: and a dustproof sealing plate (7) is arranged between the sliding table (6) of the linear shaft assembly B (3) and the linear shaft transition plate (2).

6. An end effector for robotic laser cutting accuracy compensation as defined in claim 4, wherein: the laser cutting head module (5) comprises a linear shaft assembly C and a laser cutting head, the linear shaft assembly C is the same as the linear shaft assembly A (1) and the linear shaft assembly B (3) in structure, and the linear shaft assembly C is used for achieving movement of the laser cutting head in the vertical direction.