CN214518270U

CN214518270U - Eight-axis linkage industrial robot for three-dimensional laser cutting

Info

Publication number: CN214518270U
Application number: CN202120462016.XU
Authority: CN
Inventors: 王林; 王钦若; 储银根
Original assignee: Guogongxin Cangzhou Robot Co ltd
Current assignee: Guogongxin Cangzhou Robot Co ltd
Priority date: 2021-03-04
Filing date: 2021-03-04
Publication date: 2021-10-29
Anticipated expiration: 2031-03-04

Abstract

The utility model provides an eight-axis linkage industrial robot for three-dimensional laser cutting, which belongs to the technical field of laser cutting equipment and comprises a base, wherein the upper end of the base is fixedly connected with a fixed frame, the lower end of the fixed frame is fixedly connected with a first fixed plate, the lower end of the first fixed plate is fixedly connected with two axial fixed blocks, two X axial lead screws are arranged between the two axial fixed blocks, the circumferential surfaces of the two X axial lead screws are sleeved with a second fixed plate, the right ends of the two X axial lead screws are fixedly connected with a first transmission gear, the upper end of the first fixed plate is provided with a moving groove, the upper end of the second fixed plate is provided with a jack, the jack corresponds to the moving groove, a telescopic cylinder is arranged between the front inner wall and the rear inner wall of the moving groove, the problem that the existing control system and the auxiliary joint axis software algorithm limit the rigidity and the cutting range of a six-axis industrial robot is solved, and the elastic deformation and the plastic deformation of the robot are overlarge, the movement speed is limited, the working beat is reduced, and the angle posture of the three-dimensional laser cutting is limited.

Description

Eight-axis linkage industrial robot for three-dimensional laser cutting

Technical Field

The utility model belongs to the technical field of laser cutting equipment, concretely relates to eight-axis linkage is used for three-dimensional laser cutting industrial robot.

Background

The laser cutting is to focus a CO2 laser beam on the surface of a material by using a focusing lens to melt the material, blow away the melted material by using compressed gas coaxial with the laser beam, and make the laser beam and the material move relatively along a certain track, thereby forming a cut with a certain shape. The laser cutting technology is widely applied to the processing of metal and nonmetal materials, can greatly reduce the processing time, reduce the processing cost and improve the quality of workpieces.

In the field of laser cutting, particularly for three-dimensional cutting of special-shaped parts and sheet metal special-shaped bodies in the sheet metal industry, the precision requirement of a cutting head is particularly high in the processing breadth (length, width and height) in the general cutting range of 3400mm, 2500mm and 400mm (the specific cutting breadth is related to the shape and the height of a workpiece), a robot for laser cutting has extremely high precision and repeated positioning precision, a domestic robot cannot be used for three-dimensional cutting of sheet metal special-shaped bodies, only an industrial robot model RX160L produced by Staubli group of foreign Switzerland can meet the use requirement, therefore, an eight-axis linkage industrial robot for three-dimensional laser cutting is provided, the problem that the rigidity and the cutting range of a six-axis industrial robot are limited by an existing control system and an auxiliary joint axis software algorithm is solved, the elastic deformation and the plastic deformation of the robot are too large, the movement speed is limited, and the working beat is reduced, the angular pose of three-dimensional laser cutting is limited.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an eight-axis linkage is used for three-dimensional laser cutting industrial robot, aims at solving the rigidity and the cutting scope restriction of current control system and supplementary articulated axle software algorithm to six industrial robot, and the elastic deformation and the plastic deformation of robot are too big, and restriction rate of motion reduces the beat, and the angle gesture of three-dimensional laser cutting is restricted.

In order to achieve the above purpose, the utility model provides the following technical scheme:

an eight-axis linkage industrial robot for three-dimensional laser cutting comprises a base, wherein a fixing frame is fixedly connected to the upper end of the base, a first fixing plate is fixedly connected to the lower end of the fixing frame, two axial fixing blocks are fixedly connected to the lower end of the first fixing plate, two X-axis lead screws are arranged between the two axial fixing blocks, a second fixing plate is sleeved on the circumferential surface of the two X-axis lead screws, a first transmission gear is fixedly connected to the right ends of the two X-axis lead screws, a moving groove is formed in the upper end of the first fixing plate, an insertion hole is formed in the upper end of the second fixing plate and corresponds to the moving groove, a telescopic cylinder is arranged between the front inner wall and the rear inner wall of the moving groove and is fixedly connected to the upper end of the second fixing plate, an extension rod is fixedly connected to the lower end of the telescopic cylinder, and a motor is arranged on the right side of the axial fixing blocks, the output end of the motor is rotatably connected with a second transmission gear, and the second transmission gear is respectively sleeved with transmission gear belts on the circumferential surfaces of the two first transmission gears.

As an optimal scheme of the utility model, the lower extreme of extension rod rotates and is connected with the axis of rotation, the lower extreme of axis of rotation rotates and is connected with the secondary shaft arm, first rotating groove has been seted up to the lower extreme of transmission gear area, rotate between the inner wall around the first rotating groove and connect the third shaft arm, the second rotating groove has been seted up to the lower extreme of third shaft arm, it is connected with the fourth shaft arm to rotate between the inner wall around the second rotating groove, the lower extreme of fourth shaft arm rotates and is connected with the fifth rotor arm, the lower extreme fixedly connected with cutting nozzle of fifth rotor arm.

As this practical preferred scheme, the upper end fixedly connected with fixed fixture block of base, the work piece groove has been seted up to the upper end of fixed fixture block, insert between the inner wall around the work piece groove and be equipped with the slip fixture block, insert between the inner wall around the work piece groove and be equipped with the work piece, it is connected with movable lead screw to rotate between fixed fixture block and the slip fixture block.

As the utility model relates to a preferred scheme, the right-hand member fixedly connected with motor fixed block of mount, the circumference fixed surface of motor is connected with the strengthening rib, the upper end fixed connection of strengthening rib is in the motor fixed block.

As the utility model relates to a preferred scheme, the circumference surface cover of axis of rotation is equipped with fixed cover, two flexible pull rods of the upper end fixedly connected with of fixed cover, two flexible pull rod fixed connection is in the lower extreme of second fixed plate.

As the preferred scheme of this utility model, the left end of mount is rotated and is connected with the rotation support, the upper end fixedly connected with digital display panel of rotation support.

As a preferred scheme of this utility model, the upper end of base is opened chisel and is had a plurality of bolt holes, and is a plurality of the bolt hole is the shoulder hole.

As the preferred scheme of this utility model, three-phase asynchronous machine is chooseed for use to the motor.

Compared with the prior art, this practical beneficial effect is:

in the scheme, the base and the fixing frame are necessary supporting structures to provide mechanical support for the device, the first fixing plate is convenient to fix the two axial fixing blocks, the two X axial lead screws are arranged to provide power for the movement of the second fixing plate, the second fixing plate is moved leftwards and rightwards through the rotation of the two X axial lead screws, thereby releasing the limitation of the six-axis manipulator in the X-axis direction, providing a moving space for the left and right movement of the telescopic cylinder by the arrangement of the moving groove, providing a support for the telescopic cylinder by the arrangement of the second fixing plate, facilitating the insertion of the extension rod by the arrangement of the jack, providing power for the up-and-down movement of the extension rod by the arrangement of the telescopic cylinder, providing air pressure type for the telescopic cylinder, the six-axis industrial robot can move up and down in the Y-axis direction for adjusting the six-axis manipulator, and finally, the limitation of the existing control system and the auxiliary joint axis software algorithm on the rigidity and cutting range of the six-axis industrial robot is solved by removing the limitation of the X-axis and the Y-axis.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a schematic top perspective view of the present invention;

FIG. 2 is a schematic bottom perspective view of the present invention;

FIG. 3 is a sectional view of the main structure of the present invention;

fig. 4 is a cross-sectional view of a horizontal structure of the present invention.

In the figure: 1. a base; 2. a fixed mount; 3. a first fixing plate; 4. a moving groove; 5. an axial fixing block; 6. an X-axis lead screw; 7. a first drive gear; 8. a motor fixing block; 9. reinforcing ribs; 10. a motor; 11. a second transmission gear; 12. a transmission gear belt; 13. a second fixing plate; 14. a telescopic cylinder; 15. a jack; 16. an extension rod; 17. a telescopic pull rod; 18. fixing a sleeve; 19. a rotating shaft; 20. bolt holes; 21. a second shaft arm; 22. a first rotating groove; 23. a second shaft arm; 24. a second rotating groove; 25. A third shaft arm; 26. a fourth rotating arm; 27. cutting the spray head; 28. fixing the fixture block; 29. a workpiece groove; 30. sliding the clamping block; 31. a movable screw rod; 32. a workpiece; 33. rotating the bracket; 34. and a digital display panel.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by persons skilled in the art based on the embodiments in the present application without any creative work belong to the protection scope of the present application.

In the description of the present application, it is to be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those skilled in the art.

Example 1

Referring to fig. 1-4, the technical solution provided in this embodiment is as follows:

an eight-axis linkage industrial robot for three-dimensional laser cutting comprises a base 1, wherein the upper end of the base 1 is fixedly connected with a fixed frame 2, the lower end of the fixed frame 2 is fixedly connected with a first fixed plate 3, the lower end of the first fixed plate 3 is fixedly connected with two axial fixed blocks 5, two X axial lead screws 6 are arranged between the two axial fixed blocks 5, the circumferential surfaces of the two X axial lead screws 6 are sleeved with a second fixed plate 13, the right ends of the two X axial lead screws 6 are fixedly connected with a first transmission gear 7, the upper end of the first fixed plate 3 is provided with a moving groove 4, the upper end of the second fixed plate 13 is provided with an insertion hole 15, the insertion hole 15 corresponds to the moving groove 4, a telescopic cylinder 14 is arranged between the front inner wall and the rear inner wall of the moving groove 4, the telescopic cylinder 14 is fixedly connected with the upper end of the second fixed plate 13, and the lower end of the telescopic cylinder 14 is fixedly connected with an extension rod 16, the right side of the axial fixing block 5 positioned on the right side is provided with a motor 10, the output end of the motor 10 is rotatably connected with a second transmission gear 11, and the second transmission gear 11 is respectively sleeved with a transmission gear belt 12 with the circumferential surfaces of the two first transmission gears 7.

In the embodiment of the present invention, the base 1 and the fixing frame 2 are necessary supporting structures to provide mechanical support for the apparatus, the first fixing plate 3 is disposed to facilitate fixing of the two axial fixing blocks 5, the two X axial screws 6 are disposed to facilitate moving the second fixing plate 13, the second fixing plate 13 is moved left and right by rotation of the two X axial screws 6, so as to remove the restriction of the six-axis manipulator in the X axial direction, the moving groove 4 is formed to provide a moving space for left and right movement of the telescopic cylinder 14, the second fixing plate 13 is disposed to provide support for the telescopic cylinder 14, the insertion hole 15 is formed to facilitate insertion of the extension rod 16, the telescopic cylinder 14 is disposed to facilitate up and down movement of the extension rod 16, the telescopic cylinder 14 is of an air pressure type, so as to adjust up and down movement of the six-axis manipulator in the Y axial direction, and finally by removing the restriction of the two axial directions of the X axis and the Y axis, the method solves the problem that the existing control system and the auxiliary joint axis software algorithm limit the rigidity and cutting range of the six-axis industrial robot.

Specifically, referring to fig. 1 to 4, the lower end of the extension rod 16 is rotatably connected with a rotating shaft 19, the lower end of the rotating shaft 19 is rotatably connected with a second shaft arm 21, the lower end of the transmission gear belt 12 is provided with a first rotating groove 22, a third shaft arm 23 is rotatably connected between the front inner wall and the rear inner wall of the first rotating groove 22, the lower end of the third shaft arm 23 is provided with a second rotating groove 24, a fourth shaft arm 25 is rotatably connected between the front inner wall and the rear inner wall of the second rotating groove 24, the lower end of the fourth shaft arm 25 is rotatably connected with a fifth rotating arm 26, and the lower end of the fifth rotating arm 26 is fixedly connected with a cutting nozzle 27.

In the embodiment of the present invention, the rotation axis 19 is arranged to rotate the manipulator in 360 pairs of horizontal omni-directional directions, the second axis arm 21 is arranged to move up and down in the vertical direction of the manipulator, the first rotation groove 22 is formed to connect the third axis arm 23 in a rotatable manner, the third axis arm 23 is arranged to cooperate with the first rotation groove 22 to move the horizontal plane of the manipulator back and forth and left and right, the cooperation motion among the rotation axis 19, the second axis arm 21 and the third axis arm 23 can realize the forward cutting of the workpiece 32X-axis, the Y-axis and the Z-axis, the second rotation groove 24 is formed to facilitate the rotation connection of the fourth axis arm 25, the fourth axis arm 25 is arranged to cooperate with the second rotation groove 24 and the first rotation groove 22 to realize the cutting of the lower end of the workpiece 32 by the manipulator, the fifth rotation arm 26 is arranged to cooperate with the fourth axis arm 25 and the third axis arm 23 to perform the horizontal fine adjustment of the cutting nozzle 27, the rapid movement, fine adjustment and all-dimensional three-dimensional cutting of the manipulator can be simultaneously realized through the limiting motors in the rotating shaft 19, the second shaft arm 21, the first rotating groove 22, the third shaft arm 23, the fourth shaft arm 25 and the fifth rotating arm 26, and finally the problems that the elastic deformation and the plastic deformation of the robot are overlarge, the movement speed is limited, the working beat is reduced, and the angle posture of three-dimensional laser cutting is limited are solved.

Specifically, referring to fig. 1-4, a fixed fixture block 28 is fixedly connected to an upper end of the base 1, a workpiece groove 29 is formed in the upper end of the fixed fixture block 28, a sliding fixture block 30 is inserted between front and rear inner walls of the workpiece groove 29, a workpiece 32 is inserted between the front and rear inner walls of the workpiece groove 29, and a movable screw rod 31 is rotatably connected between the fixed fixture block 28 and the sliding fixture block 30.

In the embodiment of this utility model, fixed fixture block 28 sets up to slide fixture block 30 and work piece 32 and provides the support, and the excavation of work piece groove 29 is convenient for hold slide fixture block 30 and work piece 32, and the setting up of activity lead screw 31 is realized rotating through activity lead screw 31, promotes slide fixture block 30 and removes for the cooperation presss from both sides tight work piece 32 between slide fixture block 30 and the fixed fixture block 28, realizes that this device increases the practicality of this device to the centre gripping of work piece.

Specifically, referring to fig. 1 to 4, a motor fixing block 8 is fixedly connected to the right end of the fixing frame 2, a reinforcing rib 9 is fixedly connected to the circumferential surface of the motor 10, and the upper end of the reinforcing rib 9 is fixedly connected to the motor fixing block 8.

In the embodiment of the present application, the setting of the reinforcing rib 9 realizes fixing the motor 10, and the setting of the motor fixing block 8 provides a fixing support for the motor 10, and finally realizes strengthening and fixing the motor 10.

Specifically, referring to fig. 1-4, a fixing sleeve 18 is sleeved on the circumferential surface of the rotating shaft 19, two telescopic pull rods 17 are fixedly connected to the upper end of the fixing sleeve 18, and the two telescopic pull rods 17 are fixedly connected to the lower end of the second fixing plate 13.

In the embodiment of the present application, the fixing of the rotating shaft 19 is realized by the setting of the fixing sleeve 18, the setting of the two telescopic pull rods 17 is matched with the fixing sleeve 18 to realize the stretching support of the rotating shaft 19, and finally, the fixing support of the rotating shaft 19 is realized by the fixing sleeve 18 and the two telescopic pull rods 17.

Specifically, referring to fig. 1-4, the left end of the fixing frame 2 is rotatably connected with a rotating bracket 33, and the upper end of the rotating bracket 33 is fixedly connected with a digital display panel 34.

In the embodiment of the present application, the rotating bracket 33 is configured to provide a support for the digital display panel 34, the digital display panel 34 is electrically connected to the motor 10, the telescopic cylinder 14, the rotating shaft 19, the second shaft arm 21, the third shaft arm 23, the fourth shaft arm 25, the fifth rotating arm 26 and the cutting nozzle 27, and the digital display panel 34 is configured to simplify the operation of the device.

Specifically, referring to fig. 1-4, a plurality of bolt holes 20 are drilled in the upper end of the base 1, and each of the bolt holes 20 is a stepped hole.

In the embodiment of the utility model, the setting of a plurality of bolt holes 20 is realized being fixed in this device ground, and a plurality of bolt holes 20 select for use the shoulder hole, increases fixed security, prevents not hard up of this device.

Specifically, referring to fig. 1-4, the motor 10 is a three-phase asynchronous motor.

In the embodiment of the utility model, three-phase asynchronous motor is chooseed for use to motor 10, can realize two X axial lead screws 6's quick positive and negative rotations, improves the work efficiency of this device.

The utility model provides a pair of eight shaft linkage is used for three-dimensional laser cutting industrial robot's working process does:

the device is arranged on a horizontal ground, the device is started through a digital display panel 34 to be in a standby state, a workpiece 32 is placed between the front inner wall and the rear inner wall of a workpiece groove 29, a sliding fixture block 30 is pushed through rotating a movable screw rod 31, the sliding fixture block 30 and a fixed fixture block 28 are close to clamp the workpiece 32, cutting data of the corresponding workpiece are written through the digital display panel 34, the device realizes the axial regulation and control of the X axis and the Y axis of a manipulator through the work of a motor 10 and a telescopic cylinder 14, an electric axial shaft among a rotating shaft 19, a second shaft arm 21, a third shaft arm 23, a fourth shaft arm 25 and a fifth rotating arm 26 is started, the workpiece is processed through corresponding workpiece cutting data, and finally the problems that the rigidity and the cutting range of a six-axis industrial robot are limited by an existing control system and an auxiliary joint shaft software algorithm, the elastic deformation and the plastic deformation of the robot are overlarge, the movement speed is limited, the working beat is reduced, and the angle posture of the three-dimensional laser cutting is limited.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an eight-axis linkage is used for three-dimensional laser cutting industrial robot, includes base (1), its characterized in that, the upper end fixedly connected with mount (2) of base (1), the lower extreme fixedly connected with first fixed plate (3) of mount (2), the lower extreme fixedly connected with two axial fixed block (5) of first fixed plate (3), two be provided with two X axial lead screw (6) between axial fixed block (5), two the circumference surface cover of X axial lead screw (6) is equipped with second fixed plate (13), two the right-hand member of X axial lead screw (6) all fixedly connected with first transmission gear (7), the upper end of first fixed plate (3) is opened and is chiseled movable groove (4), jack (15) have been seted up to the upper end of second fixed plate (13), jack (15) are corresponding with movable groove (4), be provided with telescoping cylinder (14) between the front and back inner wall of shifting chute (4), telescoping cylinder (14) fixed connection is in the upper end of second fixed plate (13), lower extreme fixedly connected with extension rod (16) of telescoping cylinder (14), be located the right side of axial fixed block (5) is provided with motor (10), the output of motor (10) rotates and is connected with second drive gear (11), second drive gear (11) are equipped with drive gear area (12) with the circumference surface cover of two first drive gear (7) respectively.

2. The eight-axis linkage industrial robot for three-dimensional laser cutting as defined in claim 1, wherein a rotating shaft (19) is rotatably connected to the lower end of the extension rod (16), a second shaft arm (21) is rotatably connected to the lower end of the rotating shaft (19), a first rotating groove (22) is formed in the lower end of the transmission gear belt (12), a third shaft arm (23) is rotatably connected between the front inner wall and the rear inner wall of the first rotating groove (22), a second rotating groove (24) is formed in the lower end of the third shaft arm (23), a fourth shaft arm (25) is rotatably connected between the front inner wall and the rear inner wall of the second rotating groove (24), a fifth rotating arm (26) is rotatably connected to the lower end of the fourth shaft arm (25), and a cutting nozzle (27) is fixedly connected to the lower end of the fifth rotating arm (26).

3. The eight-axis linkage industrial robot for three-dimensional laser cutting as claimed in claim 2, wherein a fixed clamping block (28) is fixedly connected to the upper end of the base (1), a workpiece groove (29) is formed in the upper end of the fixed clamping block (28), a sliding clamping block (30) is inserted between the front inner wall and the rear inner wall of the workpiece groove (29), a workpiece (32) is inserted between the front inner wall and the rear inner wall of the workpiece groove (29), and a movable screw rod (31) is rotatably connected between the fixed clamping block (28) and the sliding clamping block (30).

4. The eight-axis linkage industrial robot for three-dimensional laser cutting as claimed in claim 3, wherein a motor fixing block (8) is fixedly connected to the right end of the fixing frame (2), a reinforcing rib (9) is fixedly connected to the circumferential surface of the motor (10), and the upper end of the reinforcing rib (9) is fixedly connected to the motor fixing block (8).

5. The eight-axis linkage industrial robot for three-dimensional laser cutting as claimed in claim 4, characterized in that the circumference surface of the rotating shaft (19) is sleeved with a fixed sleeve (18), the upper end of the fixed sleeve (18) is fixedly connected with two telescopic pull rods (17), and the two telescopic pull rods (17) are fixedly connected with the lower end of the second fixed plate (13).

6. The eight-axis linkage industrial robot for three-dimensional laser cutting as claimed in claim 5, characterized in that a rotating bracket (33) is rotatably connected to the left end of the fixed frame (2), and a digital display panel (34) is fixedly connected to the upper end of the rotating bracket (33).

7. An eight-axis linkage industrial robot for three-dimensional laser cutting according to claim 6, characterized in that the upper end of the base (1) is chiseled with a plurality of bolt holes (20), and each of the plurality of bolt holes (20) is a stepped hole.

8. An eight-axis linkage industrial robot for three-dimensional laser cutting according to claim 7, characterized in that the motor (10) is a three-phase asynchronous motor.