JPH08257757A - Torch support device for cutting robot - Google Patents

Abstract

(57) [Summary] [Structure] The horizontal beam 3 is provided on the carriage that can move in the X-axis direction along the cutting surface plate, and the main carriage 5 that can traverse in the Y-axis direction along the horizontal beam 3 is provided. A torch support device for a cutting robot to be arranged, which is rotatable about a first rotating shaft along the X-axis direction by a first rotating device 8 on an elevator body 7 that can be raised and lowered by an elevator drive device 6. A supporting arm 10 is provided, and a second rotating device is attached to the supporting arm 10.
A torch holder 14 is provided which is rotatably supported by 12 around a second rotation axis along the Y-axis and holds a cutting plasma torch 13. [Effect] It is possible to achieve continuous cutting of varying groove angles, prevention of damage to the torch due to molten metal blowing at startup, and miniaturization.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a torch support device for a cutting robot for cutting a material into a complicated three-dimensional shape by using, for example, an arc or a plasma jet.

[0002]

2. Description of the Related Art A conventional cutting robot for cutting a steel plate or the like using, for example, a plasma jet is shown in FIGS.
As shown in FIG. 1, a horizontal beam 51 is spanned between carriages that are movable in the X-axis direction on traveling rails laid along both sides of the cutting surface plate.
2 to the carriage 53 which can traverse in the Y-axis direction,
A swivel device 55 is provided via an elevating device 54 that is vertically movable.
The swinging arm 55 is provided with a swinging arm 58 on a supporting member 56 that is swingable around the Z axis (vertical axis) via a slide device 57 that is horizontally movable. This turning arm 58 has a special triangular link mechanism 5
A torch holder 60 is provided via 9 to tilt the cutting plasma torch 61 in a vertical plane along the sliding direction of the slide device 57 so that a groove angle β ′ can be obtained. 62 is a touch sensor supported by a sensor holder 63, and 64 is a marking torch block.

[0003]

However, according to the above-mentioned conventional configuration, the cutting plasma torch 61 has the turning device 55.
Rotation around the Z axis (vertical axis) by the triangular link mechanism 59
Since the direction of the plasma torch 61 is controlled by the swinging of the plasma torch 61, the plasma torch 61 cannot have an advancing angle or a receding angle, and there is a problem that the plasma torch 61 can be prevented from being damaged by the blowing of molten metal at the start of cutting. Further, when the groove angle β'changes gradually, in the conventional configuration, the
Axial movement, Y-axis movement by carriage 53, Z-axis movement by elevating device 54, plasma torch 61 swing by triangular link mechanism 59, and plasma torch 61 by plasma torch 61 swing. Lateral shift amount δ by the slide device 57 for correcting the deviation of the tip.
Since it is difficult to simultaneously control and, the one cutting path must be divided into a plurality of parts, and the lateral shift amount δ by the slide device 57 must be changed stepwise in steps of the groove angle β ′ of 1 to 2 °. However, it was not possible to efficiently cut the groove angle β'which changes continuously. Further, there is a problem that the turning device 55 becomes large and the entire device becomes large.

The present invention solves the above problems and provides a torch support device for a cutting robot, which is capable of continuous three-dimensional cutting, can prevent damage due to blown metal at the start of cutting, and can be downsized as a whole. The purpose is to

[0005]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a carriage which is movable in the X-axis direction along a work surface plate with a transverse beam, and along this transverse beam Y A torch support device for a cutting robot disposed on a transverse body that is movable in the axial direction, which is an elevator body that is vertically movable in a Z-axis direction along a vertical direction via an elevator drive device.
A supporting arm is provided which is rotatable about a first rotating shaft along the X-axis direction by a rotating device, and the supporting arm is rotated about a second rotating shaft along the Y-axis by a second rotating device. A torch holder that is freely supported and holds a cutting torch is provided.

Further, the first rotating device and the second rotating device having the above-mentioned structure.
The rotating device is fixed to a first rotating shaft and a second rotating shaft, and a screw mechanism having a screw shaft rotated by a drive motor and a female screw body screwed into the screw shaft and driven. A gear / rack mechanism having a gear and a rack engaged with the gear and attached to the female screw body.

[0007]

According to the above construction, the lifting drive device sets the distance between the cutting torch and the work, and the carriage and the traverse body move the cutting torch in the X and Y axis directions.
Furthermore, since the groove angle and the advancing angle or the receding angle of the cutting torch can be set by the first rotating device and the second rotating device, the cutting torch can be easily tilted in any direction and moved. It is possible to perform three-dimensional cutting in three dimensions easily. Further, even if the groove angle changes gradually during cutting, it can be easily followed by a series of continuous operations. Further, by providing the cutting torch with an advance angle or a receding angle, it is possible to avoid damage to the cutting torch due to blowing of molten metal at the start of cutting. Further, it is not necessary to use a large-sized turning device as in the conventional case, and the miniaturization can be promoted.

Further, since the screw mechanism and the rack gear mechanism are combined in the first and second rotating devices, the uniform fine movement by the screw shaft is transmitted to the gear through the rack, so that the rotating shaft is extremely accurate. The cutting torch can be tilted.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the cutting robot according to the present invention will be described below with reference to FIGS.

As shown in FIG. 1, a lateral beam 3 is stretched over a self-propelled carriage 2A, 2B which is movable in the X-axis direction along both sides of a work surface plate 1 on which a work W is arranged.
A main carriage 5, which is an example of a traverse body, is movably disposed in the Y-axis direction on a guide rail 4 disposed on the transverse beam 3, and a pinion that meshes with a rack disposed on the transverse beam 3 is traversed. The main carriage 5 is transversely driven by a traverse driving device (not shown) equipped with a motor.

As shown in FIGS. 2 to 4, the main carriage 5 has a Z-direction along a vertical direction via an elevating and lowering drive device 6.
An elevating body 7 that is vertically movable is provided, and the elevating body 7 is provided with a support arm 10 that is rotatable by a first rotating device 8 about a first rotating shaft 9 along the X-axis direction. There is.
The support arm 10 is provided with a torch holder 14 which is rotatably supported by a second turning device 11 about a second turning shaft 12 along the Y axis and holds a cutting plasma torch 13. ing.

The lifting drive device 6 includes a lifting motor 21.
Timing gears 22, 23 and timing belt 2
An elevating screw shaft 25 that is rotatably driven via 4 hangs down, and an elevating female screw body 2 that is screwed onto the elevating screw shaft 25
6 is connected to the lifting body 7. 27 is a balance cylinder, and 28 is a torch balance spring device.

As shown in FIGS. 5 and 6, the first rotating device 8 is built in the lifting body 7, and the first rotating motor 31 is provided with timing gears 32, 33 and a timing belt 34. A first screw shaft 35a that is driven to rotate is rotatably supported via a bearing, and the first screw shaft 35a
The first female screw body 3 guided by the first guide member 35b.
A first screw mechanism 35 in which 5c is screwed through a female screw hole is provided. A first rack 36a is attached to the first female screw body 35c along the axial direction of the first screw shaft 35a, and an example of a gear fixed to the first rotating shaft 9 is attached to the first rack 36a. The first fan-shaped gear 36b
A first rack / gear mechanism 36 in which is engaged is provided.

Therefore, the timing gears 32, 33 and the timing belt 34 are driven by the first rotation motor 31.
The first screw shaft 35a is rotatably driven via the first screw shaft 35a, and thereby the first rack 36a and the first sector gear 36b are driven via the first female screw body 35c to rotate the first rotating shaft 9 to support the first screw shaft 35a. The cutting torch 13 can be tilted about the first rotating shaft 9 with extremely high accuracy via the arm 10.

As shown in FIGS. 7 to 9, the first rotary shaft 9 has left and right frames 10a and 10b and a base frame 1 which are adjacent to each other.
A support frame 10 having a U-shape in a plan view is connected and fixed to 0c, and a torch holder 14 is supported between the left and right frames 10a and 10b via a second rotating shaft 12.
The second turning device 11 built in the support frame 10.
Is a second rotation motor 4 built in the left frame 10a.
1 and a second screw shaft 45a rotatably supported in the right frame 10b via bearings are interlockingly connected via timing gears 42 and 43 and a timing belt 44 provided on the base frame 10c. Second screw shaft 45
A second screw mechanism 45 in which a second female screw body 45c guided by the second guide member 45b is screwed into a via a female screw hole.
Is provided. The second female screw body 45c is provided with a second rack 46a along the axial direction of the second screw shaft 45a.
A second fan-shaped gear 4 which is an example of a gear fixed to the second rotating shaft 12 on the second rack 46a.
A second second rack gear mechanism 46 in which 6b is meshed is provided.

Therefore, the timing gears 42, 43 and the timing belt 44 are driven by the second rotation motor 41.
The second screw shaft 45a is rotationally driven via the second arm shaft 46a and the second rotating shaft 12 is rotated by the second rack 46a and the second fan gear 46b.
The cutting torch 13 can be tilted about the second rotating shaft 12 with high precision via the.

In the above structure, when the steel plate which is the work W is to be cut, the cutting plasma torch 13 is moved in the X-axis direction by the traveling drive of the carriages 2A and 2B, and the main carriage 5 is traversed by the traverse driving device. By doing so, the cutting plasma torch 13 is moved in the Y-axis direction, and the lifting drive device 6 further moves the cutting plasma torch 13 in the Z-axis direction to set the distance from the work W. For example, when cutting in the X-axis direction, the first turning device 8 that turns the first turning shaft 9 via the first screw mechanism 35 and the first rack gear mechanism 36 is used for the first turning motor 31. , The cutting plasma torch 13 is inclined to set the groove angle β on the cutting surface, and the second rotating motor 41
In addition, the cutting plasma torch 13 is tilted by the second turning device 11 that turns the second turning shaft 12 via the second screw mechanism 45 and the second rack gear mechanism 46, and the advance angle α
f and the receding angle αb can be set. Therefore, at the start of cutting, the advancing angle αf or the receding angle αb is set by the second rotating device 11 and the cutting plasma torch 13 is tilted, so that the cutting plasma torch 13 is damaged by the blowing of the molten metal. Can be prevented.

Next, in the case of cutting in the Y-axis direction, the first turning device 8 sets a forward angle or a backward angle in the cutting direction, and the groove is formed in a direction perpendicular to the cutting line close to the second turning device 11. The corner can be set. Further, when cutting in an oblique direction forming an angle with respect to the X-axis and the Y-axis, the first turning device 8 sets the groove angle β and the forward / backward advance angle of the X-axis direction component to the second turning device 11. The groove angle β and the forward / backward advance angle of the Y-axis direction component are shared and set.

Further, the cutting plasma torch 13 is moved in the Y-axis, X-axis, and Z-axis directions described above, and is rotated about the first rotating shaft 9 and the second rotating shaft 12 so as to cut into a three-dimensional shape. Even if the groove angle β gradually changes at the start point and the end point in a hull structural member, for example, by entering data, multiple steps can be performed for each certain segment as in the past. It is possible to disconnect in a series of continuous motions rather than combining motions.

[0020]

As described above, according to the present invention, the lifting drive device sets the distance between the cutting torch and the workpiece, and the carriage and the traverse body move the cutting torch in the X and Y axis directions. Further, since the groove angle and the advancing angle or the receding angle of the cutting torch can be set by the first rotating device and the second rotating device, the cutting torch can be easily tilted and moved in any direction. It is possible to perform three-dimensional three-dimensional cutting easily. Further, even if the groove angle changes gradually during cutting, it can be easily followed by a series of continuous operations. Further, by giving the cutting torch an advance angle or a receding angle, it is possible to avoid damage to the cutting torch due to blowing of molten metal at the start of cutting. Further, it is not necessary to use a large-sized turning device as in the conventional case, and the miniaturization can be promoted.

Further, since the screw mechanism and the rack gear mechanism are combined in the first and second rotating devices, the uniform fine movement by the screw shaft is transmitted to the gear through the rack, so that the rotating shaft can be extremely accurately operated. The cutting torch can be tilted.

[Brief description of drawings]

FIG. 1 is an overall perspective view showing an embodiment of a cutting robot according to the present invention.

FIG. 2 is a partially cutaway plan view showing a torch support portion of the cutting robot.

FIG. 3 is a side view showing a torch support portion of the cutting robot.

FIG. 4 is a front view showing a torch support portion of the cutting robot.

FIG. 5 is a front sectional view showing a first rotation device of the cutting robot.

FIG. 6 is a side sectional view showing a first turning device of the cutting robot.

FIG. 7 is a plan view showing a second rotation device of the cutting robot.

FIG. 8 is a side sectional view showing a second turning device of the cutting robot.

FIG. 9 is a front sectional view of an essential part showing a second turning device of the cutting robot.

FIG. 10 is a front view showing a torch support portion of a conventional cutting robot.

FIG. 11 is a side view showing a torch support portion of a conventional cutting robot.

[Explanation of symbols]

 1 Work surface plate 2A, 2B trolley 3 Horizontal beam 4 Guide rail 5 Main carriage (horizontal body) 6 Elevating drive device 7 Elevating body 8 First rotating device 9 First rotating shaft 10 Support arm 11 Second rotating device 12 Second Rotation Shaft 13 Plasma Torch for Cutting 14 Torch Holder 21 Elevating Motor 22 Elevating Screw Shaft 23 Elevating Female Threaded Body 31 First Rotating Motor 35 First Screw Mechanism 35a First Screw Shaft 35c First Female Threaded Body 36 1st rack gear mechanism 36a 1st rack 36b 1st fan-shaped gear 41 2nd rotation motor 45 2nd screw mechanism 45a 2nd screw shaft 45c 2nd internal thread body 46 2nd rack gear mechanism 46a 2nd rack 46b 2nd Fan gear

Claims (2)

[Claims] 1. A cutting robot provided with a transverse beam on a carriage movable in the X-axis direction along a work surface plate and arranged in a traverse body movable in the Y-axis direction along the transverse beam. Of the torch supporting device, which is rotatable about a first rotating shaft along the X-axis by a first rotating device on a lifting body that is vertically movable in a Z-axis direction along a vertical direction via a lifting drive device. A free support arm is provided, and a torch holder that holds the cutting torch while being rotatably supported by the second rotation device about the second rotation axis along the Y axis is provided on the support arm. Characteristic cutting robot torch support device. 2. A screw mechanism comprising: a first rotating device and a second rotating device; and a screw shaft rotated by a drive motor and a female screw body screwed to the screw shaft to be driven.
2. A gear / rack mechanism having a gear fixed to each of the rotation shaft and the second rotation shaft and a rack engaged with the gear and attached to the female screw body. Support device for cutting robot.