CN2677078Y - Three-dimention series mechanism in laser processing technology - Google Patents

Abstract

The utility model provides a three-dimension series mechanism in laser processing technology, which can conveniently realize the ultimately relative pose of a laser light head and a workpiece, and the regulating function of the position. The three-dimension series mechanism in laser processing technology is characterized in that equal light travel process can be realized, the times that laser beams are reflected is little, the energy loss is little, and the control is convenient. The three-dimension series mechanism in laser processing technology is connected with a plurality of cradle heads in series. The last leaded light arm is connected with the laser light head, every two leaded light arms are connected with one cradle head, and only one reflecting mirror is arranged in one cradle head. A control system controls the cradle heads to rotate automatically. Two leaded light arms connected by the cradle head rotate correspondingly, the space position of each leaded light arm can be regulated, and ultimately the regulation of the ultimate pose of the relative workpiece of the laser light head is realized.

Description

Three-dimensional serial mechanism in a kind of laser processing technology

Affiliated technical field

The utility model relates to the three-dimensional serial mechanism in a kind of laser processing technology, and this three-dimensional serial mechanism can be realized laser optical head and the final relative attitude of workpiece and the adjusting of position in the laser processing procedure easily, and can guarantee it is aplanatism processing.

Background technology

At present, in the Solid State Laser medical application fields, general many light-conducting arms serial connection technology that adopts, every adjacent two light-conducting arms relation of meeting at right angles is constant, adopt revolute joint that the two is linked to each other, light-conducting arm can rotate around the axis of oneself, by the motion of one or more this revolute joints, thereby realize the adjusting of laser optical head and the final relative pose of workpiece, claim that this mechanism is a mechanism one; In high power laser processing gas laser processing such as (especially) CO2 industrial application, also do not adopt the light-conducting arm serial connection technology at present, but adopt the adjusting that comes the position, implementation space along the parallel skating technique of space guide rail, the space guide rail is parallel to space coordinates X, Y, Z axle respectively, laser optical head slides along each guide rail parallel direction in this technology, the length of light-conducting arm changes, and claims that this mechanism is a mechanism two.The technology technology that these two kinds of mechanisms commonly used at present adopt exists following problem: 1, mechanism one has adopted many light-conducting arms serial connection technology, every adjacent two light-conducting arms relation of meeting at right angles is constant, light-conducting arm only can rotate around the axis of oneself, this has just determined that angle can not change between any two adjacent light-conducting arms, have only that angle just can change between the two non-adjacent light-conducting arms, thereby want the flexible variation of implementation space pose, certainly will cause the revolute joint number to increase and be installed in the eyeglass number that the revolute joint place is used to reflect and increase, the laser energy loss is more; 2, the adjusting that mechanism two adopts laser optical head to come the position, implementation space along the space parallel skating technique of guide rail direction, because X, the light-conducting arm length of Y and Z axle three directions along with laser optical head along X, Y and Z axle three parts change to the guide rail parallel sliding, will become a bigger variable quantity together so the variable quantity of light-conducting arm brachium is accumulated on each direction, make the traveled distance of laser beam in light-conducting arm that a bigger variable quantity be arranged, in Laser Processing, just can not guarantee that whole process is aplanatism processing, the two will exist than mistake through the laser spot diameter of coming out behind the shortest optical path with through the laser spot diameter of coming out behind the longest light path, and very difficult assurance meets the requirement of accurate processing; 3, adopt mechanism two to process, be merely able to the locus of laser optical head is regulated, can not regulate the spatial attitude of laser optical head, and to make laser optical head that a bigger locus adjustable range is arranged, inevitable requirement is made corresponding large-sized guide rail, and big and waste material take up room.

Summary of the invention

In order to overcome the above deficiency that governor motion exists in the existing laser processing technology, the utility model provides a kind of Three-Dimensional Series uniting and adjustment to save mechanism, this mechanism not only can regulate the final relative position and the attitude of laser optical head and workpiece significantly, can guarantee aplanatism processing simultaneously, and mechanism is simple.

The technical scheme that its technical problem that solves the utility model adopts is: 1, mechanism design.Directly enter light-conducting arm behind the guiding device of the laser that laser generator comes out through the steady job platform, one end of light-conducting arm is fixedlyed connected with the steady job platform, the other end is connected with next light-conducting arm by cradle head, realize relatively rotating of two light-conducting arms by the function rotating mechanism in the cradle head, so series connection is gone down, to the last a light-conducting arm connects laser optical head, the mechanism form that finally is together in series is: the steady job platform-＞light-conducting arm-＞cradle head-＞light-conducting arm-＞cradle head ... light-conducting arm-＞laser optical head, needs according to reality processing and control are determined the progression of series connection and the order of series connection, the space control principle of whole serial mechanism is the same with the robot arm control principle, the required control system of using has been very ripe, the control system of robot arm is applied to this serial mechanism, can realize adjusting and the control of laser optical head to final relative position of workpiece and attitude, also be spatial pose control.2, reflection unit design.A reflection unit all is housed in any cradle head, this reflection unit is by a plating Mo speculum, the minute surface governor motion is formed, plating town speculum pastes and is welded on the plane of governor motion, guarantee during installing mechanism that the minute surface center just in time is the intersection point of two light-conducting arm axis, be coupled together by gear mechanism or other speed change gears function rotating mechanism governor motion and cradle head, make the velocity of rotation of governor motion equal cradle head around half of minute surface center velocity of rotation around the minute surface center, after reflection unit will reflect from the laser beam of previous light-conducting arm, make light beam enter next light-conducting arm, and advance along the axis of light-conducting arm.In whole design, position and attitude regardless of final laser optical head, no matter how cradle head rotates, the length of each light-conducting arm does not change, so, the light path that laser beam is advanced is constant, guaranteed that the processing overall process is aplanatism processing, improved machining accuracy, on the other hand, the speculum of cradle head internal reflection device adopts plating Mo speculum, and incidence angle does not fix, reflected light path is observed reflection theorem, the mirror mirror locus that is used for reflect beams of laser light is self-regulating, and structure and operation are all simple, in same spatial position change scope, can simplify cradle head number and speculum number, reduce the laser energy loss.

The beneficial effects of the utility model are, are guaranteeing that process is aplanatism processing and conveniently realizes in the process that in the Pose Control, its space structure is simple, and the position that takes up room is little.

Description of drawings

Below in conjunction with drawings and Examples the utility model is further specified.

Fig. 1 is a principle schematic of the present utility model.

Fig. 2 is the vertical section structural map of arbitrary cradle head among Fig. 1.

Fig. 3 is the interior light path principle of reflection schematic diagram of cradle head among Fig. 2.

1. fixed platform framves among the figure, 2. light-conducting arm one, and 3. cradle head one, and 4. light-conducting arm two, and 5. cradle head two, and 6. light-conducting arm three, and 7. cradle head three, and 8. light-conducting arm four, 9. laser optical head, 10. workpiece.

The specific embodiment

In Fig. 1, for the relativeness between each structural elements of clear and definite embodiment, set up 4 spatial coordinate system that are parallel to each other, respectively as figure OXYZ, O ₁X ₁Y ₁Z ₁, O ₂X ₂Y ₂Z ₂, O ₃X ₃Y ₃Z ₃Fixed platform frame (1) is fixedlyed connected with light-conducting arm one (2), and the laser beam that laser generator comes out directly enters first light-conducting arm through the guiding device of fixed platform frame (1)---light-conducting arm one (2); Light-conducting arm one (2) is connected with light-conducting arm two (4) through cradle head one (3), and cradle head one (3) is rotated and drives light-conducting arm two (4) at O ₁X ₁Y ₁Rotate around the Z1 axle in the plane; Light-conducting arm two (4) is connected with light-conducting arm three (6) through cradle head two (5), and cradle head two (5) is rotated and drives light-conducting arm three (6) at O ₂X ₂Y ₂Rotate around the Z2 axle in the plane; Light-conducting arm three (6) is connected with light-conducting arm four (8) through cradle head three (7), and cradle head three (7) is rotated and drives light-conducting arm four (8) at O ₃X ₃Z ₃In the plane around Y ₃Axle rotates; Light-conducting arm four (8) directly is connected with laser optical head (9).The course of laser beam in whole serial mechanism is: light-conducting arm one (2) → cradle head one (3) → light-conducting arm two (4) → cradle heads two (5 → light-conducting arm, three (6) → cradle head three (7) → light-conducting arms, four (8) → laser optical heads (9).

In Fig. 2, two light-conducting arms are connected by cradle head, the reflection unit that is used for the laser beam reflection is installed within the cradle head, reflection unit is by a plating Mo speculum, governor motion with a plane is formed, plating Mo speculum pastes and is welded on the plane of governor motion, guarantee during installing mechanism that the minute surface center just in time is the intersection point of two light-conducting arm axis, be coupled together by gear mechanism or other speed change gears function rotating mechanism governor motion and cradle head, governor motion is rotated with cradle head around the minute surface center, and speed equals the cradle head velocity of rotation half, and laser beam is through can directly entering next light-conducting arm after this mirror reflects and advancing along axis direction.

Among Fig. 3, the light path principle of reflection of cradle head internal reflection device is described, be set in initial time t in conjunction with Fig. 2 ₀, laser beam advances along light arm axle line AO and arrives the O point, after plating Mo mirror reflects, enters light-conducting arm along next light-conducting arm axes O E; At moment t ₁Control system rotation cradle head, light-conducting arm is relatively rotated, its axis rotates in OE ' position, rotational angle is ∠ EOE ' for it, because the hemispherical governor motion of reflection unit and the function rotating mechanism of cradle head are coupled, and satisfy half that equals the cradle head velocity of rotation around the velocity of rotation of minute surface center O point, so, minute surface can forward B ' D ' to from original position BD, plating Mo speculum turns to OF ' position at the normal OF at minute surface center O point place, and satisfies relation: $\∠{\mathrm{FOF}}^{\′}=\frac{1}{2}\∠{\mathrm{EOE}}^{\′},$ Can know that according to reflection theorem the laser beam that comes along the AO direction is bound to advance along OF ' through after this reflection.

Specific embodiment of the utility model can be determined the order of concrete dimension scale, series connection and the number of cradle head according to the needs of concrete control spatial dimension.

Claims (8)

1, three-dimensional serial mechanism in a kind of laser processing technology, be connected in series through cradle head by a plurality of light-conducting arms, last light-conducting arm is terminal to be connected with laser optical head, it is characterized in that: connect by a cradle head between per two light-conducting arms, cradle head is rotated voluntarily in control system control, two light-conducting arms of its connection are relatively rotated, thereby regulate the locus of each light-conducting arm, the control system of robot arm control system as the online conformational space motion of the whole Three-Dimensional Series of control adopted in the final adjusting that realizes the final pose of the relative workpiece of laser optical head; A reflection unit is installed in each cradle head of this serial mechanism, reflection unit is made up of plating Mo speculum, a minute surface governor motion, the minute surface governor motion of reflection unit rotates together in company with cradle head, thereby the automatic locus of accommodation reflex mirror minute surface, guaranteeing that laser beam is reflected definitely advances along the light-conducting arm axis direction after the mirroring.

2, the three-dimensional serial mechanism in a kind of laser processing technology according to claim 1 is characterized in that: adopt cradle head to connect between per two adjacent light-conducting arms, the rotation of control system control cradle head realizes relatively rotating between two adjacent light-conducting arms.

3, the three-dimensional serial mechanism in a kind of laser processing technology according to claim 1, it is characterized in that: each cradle head is rotated under the control of control system voluntarily, thereby regulate the locus of each light-conducting arm, finally realize the adjusting of the final pose of the relative workpiece of laser optical head.

4, the three-dimensional serial mechanism in a kind of laser processing technology according to claim 1 is characterized in that: adopt the control system of robot arm control system as the online conformational space motion of the whole Three-Dimensional Series of control.

5, the three-dimensional serial mechanism in a kind of laser processing technology according to claim 1, it is characterized in that: a reflection unit all is housed in each cradle head, the minute surface governor motion of reflection unit and the function rotating mechanism of cradle head are coupled, and the velocity of rotation of minute surface governor motion around the minute surface center equals half of cradle head velocity of rotation.

6, according to the three-dimensional serial mechanism in claim 1 and the 4 described a kind of laser processing technologys, it is characterized in that: adopted the minute surface governor motion, adjusted the locus of mirror mirror according to the rotation of cradle head voluntarily.

7, according to the three-dimensional serial mechanism in claim 1 and the 4 described a kind of laser processing technologys, it is characterized in that: in the reflection unit, only adopted a plating Mo minute surface as mirror mirror, incidence angle and angle of reflection can change.

8, according to the three-dimensional serial mechanism in claim 1 and the 4 described a kind of laser processing technologys, it is characterized in that: in the reflection unit, the center of rotation of minute surface governor motion overlaps with adjacent two light-conducting arm crossing point of axes, cradle head center of rotation three.

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