WO2021017084A1 - 一种具有定位转向切割的工业机器人 - Google Patents

一种具有定位转向切割的工业机器人 Download PDF

Info

Publication number
WO2021017084A1
WO2021017084A1 PCT/CN2019/103556 CN2019103556W WO2021017084A1 WO 2021017084 A1 WO2021017084 A1 WO 2021017084A1 CN 2019103556 W CN2019103556 W CN 2019103556W WO 2021017084 A1 WO2021017084 A1 WO 2021017084A1
Authority
WO
WIPO (PCT)
Prior art keywords
cutting
workpiece
robot
dust
positioning
Prior art date
Application number
PCT/CN2019/103556
Other languages
English (en)
French (fr)
Inventor
李辉
谢海
孔芳
Original Assignee
南京蹑波物联网科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京蹑波物联网科技有限公司 filed Critical 南京蹑波物联网科技有限公司
Publication of WO2021017084A1 publication Critical patent/WO2021017084A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/38—Removing material by boring or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
    • B23K26/142—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor for the removal of by-products
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment

Definitions

  • the invention relates to the technical field of industrial robots, in particular to an industrial robot with positioning, turning and cutting.
  • An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field. It can automatically perform work and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans, and it can also be run in accordance with pre-arranged programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology. Industrial robots are composed of three basic parts: main body, drive system and control system. The main body is the base and actuator, including arms, wrists and hands. Some robots also have walking mechanisms.
  • the drive system includes a power device and a transmission mechanism to make the actuator produce corresponding actions;
  • the control system is based on the input
  • the program sends command signals to the drive system and actuators and controls them.
  • Chips and waste generated in the process of cutting the workpiece are scattered on the ground directly, polluting the cutting table, and cannot guarantee clean processing;
  • the present invention provides an industrial robot with positioning and steering cutting, which solves the problem that the existing industrial robots cannot achieve continuous cutting processing when cutting workpieces and cannot meet the requirements of high-efficiency production line cutting. Chips and waste generated in the process of cutting the workpiece are scattered on the ground directly, contaminating the cutting table, cleaning processing cannot be guaranteed, and without matching dust collection mechanism, a large amount of dust will be generated around the cutting station during cutting, which will cause the problem of pollution of the working environment .
  • an industrial robot with positioning and turning cutting including a worktable, a position adjustment mechanism, a cutting robot, a workpiece positioning device, a workpiece clamping mechanism, a waste collection mechanism, a dust collection mechanism,
  • the production line conveyor belt and the unloading robot wherein the cutting robot is fixedly installed at the middle position of the worktable through a position adjustment mechanism, the end of the robot arm of the cutting robot is provided with a laser cutting head, and the workpiece positioning device is provided with four ,
  • the four workpiece positioning devices are distributed on the top front, back, left and right of the worktable with the installation position of the cutting robot as the center.
  • the four workpiece positioning devices are arranged equidistantly, and each workpiece positioning device is integrated and installed There is a workpiece clamping mechanism, a waste collection mechanism and a dust collection mechanism.
  • the production line conveyor belt is arranged on the periphery of the worktable corresponding to the side of the workpiece positioning device, and the unloading robot is arranged by the production line conveyor belt and the workpiece positioning device.
  • the workpiece is manually positioned and installed on the workpiece positioning device and clamped by the workpiece clamping mechanism.
  • the laser cutting head on the cutting robot sequentially cuts the workpiece on each workpiece positioning device. After the cutting is completed
  • the workpiece is unloaded by the unloading robot and transferred to the conveyor belt of the production line.
  • the waste collection mechanism is used to collect cutting materials and waste generated during the cutting process
  • the dust collection mechanism is used to collect dust generated during the cutting process.
  • the workpiece positioning device includes a frame, a servo drive motor, a movable positioning plate and a limit block.
  • the servo drive motor is installed on the top of the side wall of the frame, and the middle of the side wall of the movable positioning plate is movably installed on the side wall through a movable rod.
  • the output end of the servo drive motor is connected to the movable rod through a coupling, and the limit block is set up and down corresponding to the top and bottom ends of the end surface of the movable positioning plate, and the limit block is used to align the workpiece
  • a blanking groove is provided between the upper and lower limit blocks on the movable positioning plate, and the workpiece clamping mechanism is arranged on the movable positioning plate at a position corresponding to the upper and lower ends of the blanking groove.
  • the workpiece clamping mechanism includes a mounting seat, a clamping block, and a clamping cylinder.
  • the clamping block is rotatably connected to the mounting seat.
  • the clamping cylinder is mounted on the inner side wall of the mounting seat.
  • the clamping block is close to the mounting seat.
  • the bottom of one end is movably connected with the end of the piston rod of the clamping cylinder.
  • the end of the clamping block away from the mounting seat extends to the workpiece pre-placed between the limit blocks.
  • the waste collection mechanism is composed of a collecting bucket and a lower part.
  • the collecting bucket is installed on the base of the frame
  • the lower hopper is fixedly installed on the top of the collecting bucket
  • the lower hopper is arranged up and down corresponding to the movable positioning plate
  • the dust collection mechanism includes a dust suction cover
  • the frame is provided with a slot between the corresponding movable positioning plate and the lower hopper
  • the dust hood is fixedly installed in the slot by a mounting rod
  • the fan is fixed
  • the base is fixedly installed on the side wall of the frame
  • the dust suction hood is connected to the air inlet of the fan through a dust suction pipe
  • the air outlet of the fan is connected to the collecting bucket through a dust pipe.
  • the position adjustment mechanism is composed of a longitudinal linear guide rail and a transverse linear guide rail, the transverse linear guide rail is connected to the sliding table of the longitudinal linear guide rail, and the motor base of the cutting robot is fixedly installed on the transverse linear guide rail.
  • the sliding table of the guide rail can realize the horizontal position and height adjustment of the cutting robot.
  • the movable positioning plate is inclined, the inclination angle of the movable positioning plate is 45°, the positive and negative angle of the servo drive motor driving the movable positioning plate is 90°, and the movable positioning
  • the inclined plate is set up, supplemented by a servo drive motor to drive the movable positioning plate to adjust the position, which is convenient for cutting the workpiece and the staff feeding, and the inclined movable positioning plate is conducive to dropping the cut waste into the lower hopper.
  • the blanking trough has a vertical elliptical structure
  • the inner diameter of the inlet of the lower hopper is longer than the short diameter length of the blanking trough
  • the short diameter length of the blanking trough is greater than that of the workpiece.
  • the bottom of the end of the clamping block away from the mounting seat is provided with a rubber protective pad that abuts against the surface of the workpiece.
  • the rubber protective pad can prevent the clamping block and the surface of the workpiece from being caused by equipment vibration. Friction, scratches and wears the surface of the workpiece, and affects the cutting quality and appearance of the workpiece.
  • the collection bucket has an upper and lower double-layer structure, the top layer of the collection bucket is connected up and down with the lower hopper, and the bottom layer of the collection bucket is provided with a dust collection connected with a dust conveying pipeline.
  • the device can finely classify waste and dust collection, has a more compact structure and saves space.
  • the collection barrel is provided with a discharge port that is compatible with the top layer and an overhaul port that is compatible with the bottom layer.
  • the discharge port is provided with a valve. Through the setting of the discharge port, the After using for a period of time or at regular intervals, the cutting materials and wastes are cleaned up, and the setting of the inspection port is convenient for the maintenance of the dust collector in the bottom layer and the regular dust treatment.
  • connection between the collection bucket and the lower hopper is a flange connection, which can make the connection structure between the collection bucket and the lower hopper more stable and facilitate assembly and disassembly.
  • the present invention provides an industrial robot with positioning, turning and cutting, which has the following beneficial effects:
  • the industrial robot with positioning and turning cutting can realize continuous processing of industrial robots by setting the cutting positions in four directions: front, rear, left and right. Positioning can be realized by setting the workpiece positioning device and workpiece clamping mechanism. Loading and automatic clamping, in conjunction with the production line conveyor belt and the setting of the unloading robot, can realize automatic unloading and workpiece transfer to meet the high-efficiency production line cutting requirements.
  • the industrial robot with positioning, turning and cutting can realize the centralized collection of cutting and waste generated during the cutting process by setting up a waste collection mechanism, preventing the cutting and waste from contaminating the table surface and ensuring clean processing.
  • the industrial robot with positioning, turning and cutting can automatically collect the dust generated in the cutting process by setting up a dust collection mechanism to prevent pollution of the working environment.
  • the industrial robot with positioning, turning and cutting can realize the lateral adjustment and height adjustment of the cutting robot's position through the setting of the position adjustment mechanism, the structure is stable, and the application range is wide.
  • Figure 1 is a schematic view of the structure of the present invention (top view);
  • FIG. 2 is a schematic diagram of the connection structure between the position adjustment mechanism and the cutting robot in the present invention
  • FIG. 3 is a schematic diagram of the connection structure of the workpiece positioning device, workpiece clamping mechanism, waste collection mechanism and dust collection mechanism in the present invention
  • Figure 4 is a cross-sectional view of the workpiece clamping mechanism of the present invention.
  • an industrial robot with positioning and turning cutting including a worktable 1, a position adjustment mechanism 2, a cutting robot 3, a workpiece positioning device 4, a workpiece clamping mechanism 5, and waste
  • the cutting robot 3 is fixedly installed in the middle of the worktable 1 through the position adjustment mechanism 2, and the end of the cutting robot 3 is equipped with laser cutting
  • the workpiece positioning device 4 is provided with four, the four workpiece positioning devices 4 are distributed on the top front, back, left and right of the worktable 1 with the installation position of the cutting robot 3 as the center, four workpiece positioning devices 4 are arranged equidistantly, each workpiece positioning device 4 is integrated with a workpiece clamping mechanism 5, a waste collection mechanism 6 and a dust collection mechanism 7.
  • the production line conveyor belt 8 is set on the periphery of the worktable 1 to correspond to the workpiece positioning device On the side of 4, the unloading robot 9 is set in the included angle area formed by the production line conveyor 8 and the workpiece positioning device 4.
  • the workpiece is manually positioned and installed on the workpiece positioning device 4 and clamped by the workpiece clamping mechanism 5.
  • the laser cutting head 10 on the cutting robot 3 sequentially cuts the workpieces on the workpiece positioning device 4, and the finished workpieces are unloaded by the cutting robot 9 and transferred to the production line conveyor belt 8, and the waste collection mechanism 6 is used for collection
  • the dust collection mechanism 7 is used to collect the cutting materials and waste generated during the cutting process.
  • the workpiece positioning device 4 includes a frame 401, a servo drive motor 402, a movable positioning plate 403 and a limit block 404.
  • the servo drive motor 402 is installed on the top of the side wall of the frame 401, and the middle of the side wall of the movable positioning plate 403 is movable through a movable rod Installed on the top of the frame 401, the output end of the servo drive motor 402 is connected with the movable rod through a coupling, the limit block 404 is arranged up and down corresponding to the top and bottom of the end surface of the movable positioning plate 403, and the limit block 404 is used for alignment The workpiece is restricted.
  • the movable positioning plate 403 is provided with a blanking groove 11 between the upper and lower limit blocks 404, and the workpiece clamping mechanism 5 is set on the movable positioning plate 403 at one side of the upper and lower ends of the blanking groove 11 ,
  • the workpiece clamping mechanism 5 includes a mounting seat 501, a clamping block 502 and a clamping cylinder 503.
  • the clamping block 502 is rotatably connected with the mounting seat 501.
  • the clamping cylinder 503 is mounted on the inner side wall of the mounting seat 501.
  • the clamping block 502 The bottom of one end close to the mounting seat 501 is movably connected to the end of the piston rod of the clamping cylinder 503, and the end of the clamping block 502 away from the mounting seat 501 extends to the workpiece pre-placed between the limit blocks 404.
  • the waste collection mechanism 6 is It is composed of a collecting bucket 601 and a lower hopper 602.
  • the collecting bucket 601 is installed on the base of the frame 401.
  • the lower hopper 602 is fixedly installed on the top of the collecting bucket 601.
  • the lower hopper 602 and the movable positioning plate 403 are set up and down correspondingly.
  • the collection mechanism 7 includes a dust suction hood 701, a fan 702, a dust suction pipe 703 and a dust conveying pipe 704.
  • a slot 12 is provided between the corresponding movable positioning plate 403 and the lower hopper 602 on the frame 401, and the dust suction hood 701 passes through a mounting rod 13 is fixedly installed in the slot 12, the fan 702 is fixedly installed on the side wall of the frame 401 through a fixed seat, the dust suction hood 701 is connected to the air inlet of the fan 702 through the dust suction pipe 703, and the air outlet of the fan 702 is through the dust
  • the pipe 704 is connected to the collecting bucket 601.
  • an automatic feeding mechanism can be provided on one side of the unloading robot 9, and the unloading robot 9 is used for automatic feeding and unloading without manual feeding.
  • the position adjustment mechanism 2 is composed of a longitudinal linear guide 201 and a transverse linear guide 202.
  • the transverse linear guide 202 is connected to the sliding table of the longitudinal linear guide 201, and the motor base of the cutting robot 3 is fixedly installed on the sliding table of the transverse linear guide 202. On stage.
  • both the longitudinal linear guide 201 and the horizontal linear guide 202 adopt the prior art THK linear guide.
  • the model can be HSR15 linear guide.
  • the longitudinal linear guide 201 works, and the horizontal linear guide is driven by the sliding table on the longitudinal linear guide 201. 202 rises or falls to realize the height adjustment of the cutting robot 3.
  • the sliding table on the horizontal linear guide 202 drives the cutting robot 3 to make a horizontal linear movement to realize the horizontal position adjustment of the cutting robot 3.
  • the movable positioning plate 403 is configured to be inclined, the inclination angle of the movable positioning plate 403 is 45°, and the forward and reverse rotation angle of the servo drive motor 402 driving the movable positioning plate 403 is 90°.
  • the end surface with the limit block 404 on the movable positioning plate 403 is set away from the cutting robot 3 (initial feeding position).
  • the movable positioning is driven by the servo drive motor 402
  • the plate 403 rotates 90° in the forward direction, so that the end face with the limit block 404 on the movable positioning plate 403 is inclined to correspond to the cutting robot 3.
  • the laser cutting head 10 on the cutting robot 3 performs laser cutting. After the cutting is completed, the cutting robot 3
  • the mechanical arm drives the laser cutting head 10 to reset and turn to 90° for cutting at the next station.
  • the servo drive motor 402 drives the movable positioning plate 403 to rotate 90° in reverse, and the piston rod of the clamping cylinder 503 of the workpiece clamping mechanism 5 contracts. , The clamping block 502 is driven to reset, and the blanking robot 9 can be used for blanking.
  • the blanking trough 11 has a vertical elliptical structure, the inner diameter length of the inlet of the lower hopper 602 is greater than the short diameter length of the blanking trough 11, and the short diameter length of the blanking trough 11 is greater than the width of the workpiece.
  • the above-mentioned structural design can greatly facilitate the collection of cut materials and wastes cut by the cutting robot 3.
  • the bottom of one end of the clamping block 502 away from the mounting seat 501 is provided with a rubber protective pad 14 abutting against the surface of the workpiece.
  • the provision of the rubber protective pad 14 can prevent friction between the clamping block 502 and the surface of the workpiece due to equipment vibration, causing abrasion and abrasion on the surface of the workpiece, and affecting the cutting quality and appearance of the workpiece.
  • the collection bucket 601 has an upper and lower double-layer structure, the top layer of the collection bucket 601 communicates with the lower hopper 602 up and down, and the bottom layer of the collection bucket 601 is provided with a dust collector connected to the dust conveying pipe 704.
  • the cutting materials and waste are collected through the top layer of the collection bucket 601, and the dust generated by cutting is transported to the dust collector in the bottom layer of the collection bucket 601 through the dust collection mechanism 7, so as to realize the fine dust collection.
  • Classification more compact structure, saving space.
  • the collecting bucket 601 is provided with a discharge port adapted to the top layer and an inspection port adapted to the bottom layer, and a valve is provided on the discharge port.
  • the discharging opening can be used to clean the cut material and waste after a period of time or at regular intervals.
  • the overhaul opening is convenient for maintenance of the dust collector in the bottom layer and regular dust treatment.
  • connection between the collecting bucket 601 and the lower hopper 602 is flange connection.
  • the above-mentioned structural design can make the connection structure between the collection bucket 601 and the lower hopper 602 more stable, and at the same time facilitate assembly and disassembly.
  • the working principle and use process of the present invention when working, first place the workpiece between the upper and lower limit blocks 404 on the movable positioning plate 403 in each workpiece positioning device 4, and clamp the cylinder 503 in the workpiece clamping mechanism 5
  • the piston rod extends to drive the clamping block 502 to clamp the workpiece.
  • the movable positioning plate 403 is driven by the servo drive motor 402 to rotate forward 90°, and then the cutting robot 3 passes the mechanical arm under the control program
  • the laser cutting head 10 is driven to move to the cutting station, and the workpiece is laser cut by the laser cutting head 10.
  • the mechanical arm of the cutting robot 3 drives the laser cutting head 10 to reset and turn 90° to proceed to the next station Cutting process, cutting in this cycle, while the servo drive motor 402 drives the movable positioning plate 403 to rotate 90° in reverse, the piston rod of the clamping cylinder 503 of the workpiece clamping mechanism 5 contracts, drives the clamping block 502 to reset, and then passes through the blanking
  • the robot 9 transfers the cut workpiece to the corresponding production line conveyor belt 8, which completes the cutting of the workpiece on a station.
  • the workpiece is loaded immediately after being unloaded, and the movable positioning plate 403 is driven by the servo drive motor 402.
  • the chips and waste generated in the cutting process fall into the lower hopper 602 under the action of gravity, and then enter the top layer of the collecting bucket 601 from the lower hopper 602 to complete the cutting and waste Centralized collection; when the cutting work is in progress, the fan 702 works at the same time, and the vacuum hood 701 is sucked under negative pressure through the vacuum pipe 703, so that the hood 701 generates a certain suction force, and the dust generated by the cutting process is sucked into the hood 701, and then The dust is transported to the dust collector at the bottom of the collecting bucket 601 through the dust suction pipe 703, the fan 702 and the dust conveying pipe 704, and the dust collection can be completed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Laser Beam Processing (AREA)

Abstract

一种具有定位转向切割的工业机器人，包括工作台（1）、位置调节机构（2）、切割机器人（3）、工件定位装置（4）、工件夹紧机构（5）、废料收集机构（6）、灰尘收集机构（7）、生产线传送带（8）和下料机器人（9），其中，切割机器人（3）通过位置调节机构（2）固定安装于工作台（1）的中部位置。具有定位转向切割的工业机器人能够实现工业机器人的连续加工、定位上料与自动夹紧以及自动下料与工件移载，能够实现在切割过程中产生的切料及废屑的集中收集，能够自动收集在切割过程中产生的粉尘，同时能够实现对切割机器人（3）位置的横向调节以及高度调节。

Description

一种具有定位转向切割的工业机器人 技术领域
本发明涉及工业机器人技术领域，具体为一种具有定位转向切割的工业机器人。
背景技术
工业机器人是面向工业领域的多关节机械手或多自由度的机器装置，它能自动执行工作，是靠自身动力和控制能力来实现各种功能的一种机器。它可以接受人类指挥，也可以按照预先编排的程序运行，现代的工业机器人还可以根据人工智能技术制定的原则纲领行动。工业机器人由主体、驱动系统和控制系统三个基本部分组成。主体即机座和执行机构，包括臂部、腕部和手部，有的机器人还有行走机构。大多数工业机器人有3～6个运动自由度，其中腕部通常有1～3个运动自由度；驱动系统包括动力装置和传动机构，用以使执行机构产生相应的动作；控制系统是按照输入的程序对驱动系统和执行机构发出指令信号，并进行控制。
但现有的工业机器人功能单一，存在以下缺陷：
1、现有的工业机器人在对工件进行切割加工时，一次切割完成后需要对完成切割后的工件进行下料，再重新上料后才能继续进行切割操作，不能实现连续切割加工，不能满足高效生产线切割需求；
2、在切割工件过程中产生的切屑、废料直接散落在地，污染切割台面，不能保证清洁加工；
无配套吸尘机构，切割加工时会在切割工位周围产生大量粉尘，造成工作环境的污染。
发明概述
技术问题
针对现有技术的不足，本发明提供了一种具有定位转向切割的工业机器人，解决了现有的工业机器人在对工件进行切割加工时，不能实现连续切割加工，不 能满足高效生产线切割需求，在切割工件过程中产生的切屑、废料直接散落在地，污染切割台面，不能保证清洁加工，以及无配套吸尘机构，切割加工时会在切割工位周围产生大量粉尘，造成工作环境的污染的问题。
问题的解决方案
技术解决方案
为实现上述目的，本发明提供如下技术方案：一种具有定位转向切割的工业机器人，包括工作台、位置调节机构、切割机器人、工件定位装置、工件夹紧机构、废料收集机构、灰尘收集机构、生产线传送带和下料机器人，其中，所述切割机器人通过位置调节机构固定安装于工作台的中部位置，所述切割机器人的机械臂端部设有激光切割头，所述工件定位装置设置有四个，四个工件定位装置以切割机器人的安装位为中心分布于工作台的顶部前、后、左、右四个方位，四个工件定位装置之间等距设置，各工件定位装置上均集成安装有一个工件夹紧机构、一个废料收集机构和一个灰尘收集机构，所述生产线传送带设置于工作台的外围对应工件定位装置的一侧，所述下料机器人设置于由生产线传送带和工件定位装置构成的夹角区域内，人工将工件定位安装在工件定位装置上并通过工件夹紧机构进行夹紧，后经切割机器人上激光切割头依次对各工件定位装置上的工件进行切割，切割完成后的工件经下料机器人下料并移载至生产线传送带上，所述废料收集机构用于收集在切割过程中产生的切料及废屑，所述灰尘收集机构用于收集在切割过程中产生的粉尘。
所述工件定位装置包括机架、伺服驱动电机、活动定位板和限位块，所述伺服驱动电机安装于机架的侧壁顶端，所述活动定位板的侧壁中部通过活动杆活动安装于机架的顶端，所述伺服驱动电机的输出端通过联轴器与活动杆连接，所述限位块上下对应设置于活动定位板的端面顶端和底端，所述限位块用于对工件进行限位，所述活动定位板上位于上下对应设置的限位块之间设有落料槽，所述工件夹紧机构设置于活动定位板上对应落料槽上下端的一侧位置，所述工件夹紧机构包括安装座、夹紧块和夹紧气缸，所述夹紧块与安装座转动连接，所述夹紧气缸安装于安装座的内侧壁上，所述夹紧块靠近安装座的一端底部与夹紧气缸的活塞杆端部活动连接，所述夹紧块远离安装座的一端延伸至预置于 限位块之间的工件上，所述废料收集机构是由集料桶和下料斗组成，所述集料桶安装于机架的底座上，所述下料斗固定安装于集料桶的顶部，所述下料斗与活动定位板上下对应设置，所述灰尘收集机构包括吸尘罩、风机、吸尘管道和输尘管道，所述机架上对应活动定位板和下料斗之间设有开槽，所述吸尘罩通过安装杆固定安装于开槽内，所述风机通过固定座固定安装于机架的侧壁上，所述吸尘罩通过吸尘管道与风机的进风口连接，所述风机的出风口通过输尘管道与集料桶连接。
在进一步的实施例中，所述位置调节机构是由纵向直线导轨和横向直线导轨组成，所述横向直线导轨连接于纵向直线导轨的滑台上，所述切割机器人的电机底座固定安装于横向直线导轨的滑台上，能够实现切割机器人的横向位置及高度调节。
在进一步的实施例中，所述活动定位板为倾斜设置，所述活动定位板的倾斜角度为45°，所述伺服驱动电机驱动活动定位板正反转的角度为90°，通过将活动定位板倾斜设置，辅以伺服驱动电机驱动活动定位板进行位置调整，便于对工件进行切割以及工作人员上料，且倾斜设置的活动定位板利于将切割下的废料掉落于下料斗内。
在进一步的实施例中，所述落料槽为竖向椭圆形结构，所述下料斗的入料口内径长度大于落料槽的短径长度，所述落料槽的短径长度大于工件的板宽长度，上述结构设计能够在极大程度上便于对切割机器人切割下的切料和废屑的收集。
在进一步的实施例中，所述夹紧块远离安装座的一端底部设有与工件表面抵接的橡胶防护垫，通过橡胶防护垫的设置，能够防止因设备振动导致夹紧块与工件表面产生摩擦，使工件表面擦伤磨损，影响工件的切割质量以及外观。
在进一步的实施例中，所述集料桶为上下双层结构，所述集料桶的顶层与下料斗上下连通，所述集料桶的底层内设有与输尘管道连通设置的集尘器，能够对废料及灰尘收集进行细化分类，结构更为紧凑，节省空间。
在进一步的实施例中，所述集料桶上设有与顶层相适配的出料口以及与底层相适配的检修口，出料口上设有阀门，通过出料口的设置，能够在使用了一段时 间后或定时对切料及废屑进行清理，检修口的设置便于对底层内的集尘器进行维护以及灰尘定时处理。
在进一步的实施例中，所述集料桶和下料斗之间的连接方式为法兰连接，能够使集料桶和下料斗之间的连接结构更为稳定，同时便于组装和拆卸。
发明的有益效果
有益效果
与现有技术相比，本发明提供了一种具有定位转向切割的工业机器人，具备以下有益效果：
1、该具有定位转向切割的工业机器人，通过设置前、后、左、右四个方位的切割位，能够实现工业机器人的连续加工，通过工件定位装置和工件夹紧机构的设置，能够实现定位上料与自动夹紧，配合生产线传送带和下料机器人的设置，能够实现自动下料与工件移载，满足高效生产线切割需求。
2、该具有定位转向切割的工业机器人，通过设置废料收集机构，能够实现在切割过程中产生的切料及废屑的集中收集，防止切料及废屑污染台面，保证清洁加工。
3、该具有定位转向切割的工业机器人，通过设置灰尘收集机构，能够自动收集对在切割过程中产生的粉尘，防止造成工作环境的污染。
4、该具有定位转向切割的工业机器人，通过位置调节机构的设置，能够实现对切割机器人位置的横向调节以及高度调节，结构稳定，适用范围广。
对附图的简要说明
附图说明
图1为本发明的结构示意图(俯视图)；
图2为本发明中位置调节机构与切割机器人的连接结构示意图；
图3为本发明中工件定位装置、工件夹紧机构、废料收集机构和灰尘收集机构的连接结构示意图；
图4为本发明中工件夹紧机构的剖视图。
图中：1、工作台；2、位置调节机构；201、纵向直线导轨；202、横向直线导轨；3、切割机器人；4、工件定位装置；401、机架；402、伺服驱动电机；403 、活动定位板；404、限位块；5、工件夹紧机构；501、安装座；502、夹紧块；503、夹紧气缸；6、废料收集机构；601、集料桶；602、下料斗；7、灰尘收集机构；701、吸尘罩；702、风机；703、吸尘管道；704、输尘管道；8、生产线传送带；9、下料机器人；10、激光切割头；11、落料槽；12、开槽；13、安装杆；14、橡胶防护垫。
实施该发明的最佳实施例
本发明的最佳实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
发明实施例
实施例
请参阅图1-4，本发明提供以下技术方案：一种具有定位转向切割的工业机器人，包括工作台1、位置调节机构2、切割机器人3、工件定位装置4、工件夹紧机构5、废料收集机构6、灰尘收集机构7、生产线传送带8和下料机器人9，其中，切割机器人3通过位置调节机构2固定安装于工作台1的中部位置，切割机器人3的机械臂端部设有激光切割头10，工件定位装置4设置有四个，四个工件定位装置4以切割机器人3的安装位为中心分布于工作台1的顶部前、后、左、右四个方位，四个工件定位装置4之间等距设置，各工件定位装置4上均集成安装有一个工件夹紧机构5、一个废料收集机构6和一个灰尘收集机构7，生产线传送带8设置于工作台1的外围对应工件定位装置4的一侧，下料机器人9设置于由生产线传送带8和工件定位装置4构成的夹角区域内，人工将工件定位安装在工件定位装置4上并通过工件夹紧机构5进行夹紧，后经切割机器人3上激光切割头10依次对各工件定位装置4上的工件进行切割，切割完成后的工件经下料机器人9下料并移载至生产线传送带8上，废料收集机构6用于收集在切割过程中产生的切料及废屑，灰尘收集机构7用于收集在切割过程中产生的粉尘。
工件定位装置4包括机架401、伺服驱动电机402、活动定位板403和限位块404 ，伺服驱动电机402安装于机架401的侧壁顶端，活动定位板403的侧壁中部通过活动杆活动安装于机架401的顶端，伺服驱动电机402的输出端通过联轴器与活动杆连接，限位块404上下对应设置于活动定位板403的端面顶端和底端，限位块404用于对工件进行限位，活动定位板403上位于上下对应设置的限位块404之间设有落料槽11，工件夹紧机构5设置于活动定位板403上对应落料槽11上下端的一侧位置，工件夹紧机构5包括安装座501、夹紧块502和夹紧气缸503，夹紧块502与安装座501转动连接，夹紧气缸503安装于安装座501的内侧壁上，夹紧块502靠近安装座501的一端底部与夹紧气缸503的活塞杆端部活动连接，夹紧块502远离安装座501的一端延伸至预置于限位块404之间的工件上，废料收集机构6是由集料桶601和下料斗602组成，集料桶601安装于机架401的底座上，下料斗602固定安装于集料桶601的顶部，下料斗602与活动定位板403上下对应设置，灰尘收集机构7包括吸尘罩701、风机702、吸尘管道703和输尘管道704，机架401上对应活动定位板403和下料斗602之间设有开槽12，吸尘罩701通过安装杆13固定安装于开槽12内，风机702通过固定座固定安装于机架401的侧壁上，吸尘罩701通过吸尘管道703与风机702的进风口连接，风机702的出风口通过输尘管道704与集料桶601连接。
本实施方案中，可以在下料机器人9的一侧设置自动供料机构，通过下料机器人9进行自动上料和下料，无需人工上料。
具体的，位置调节机构2是由纵向直线导轨201和横向直线导轨202组成，横向直线导轨202连接于纵向直线导轨201的滑台上，切割机器人3的电机底座固定安装于横向直线导轨202的滑台上。
本实施例中，纵向直线导轨201和横向直线导轨202均采用现有技术中THK直线导轨，型号可选用HSR15直线导轨，纵向直线导轨201工作，通过纵向直线导轨201上的滑台带动横向直线导轨202上升或下降，从而实现切割机器人3的高度调节，横向直线导轨202工作时，通过横向直线导轨202上的滑台带动切割机器人3做横向直线运动，实现切割机器人3的横向位置调节。
具体的，活动定位板403为倾斜设置，活动定位板403的倾斜角度为45°，伺服驱动电机402驱动活动定位板403正反转的角度为90°。
本实施例中，在进行上料时，活动定位板403上带有限位块404的端面呈远离切割机器人3设置(为初始上料位)，上料完成后，通过伺服驱动电机402驱动活动定位板403正向转动90°，使活动定位板403上带有限位块404的端面与切割机器人3倾斜对应，通过切割机器人3上的激光切割头10进行激光切割，切割完成后，切割机器人3的机械臂带动激光切割头10复位并转向90°进行下一工位切割加工，同时伺服驱动电机402驱动活动定位板403反向转动90°，工件夹紧机构5的夹紧气缸503的活塞杆收缩，带动夹紧块502复位，即可通过下料机器人9进行下料。
具体的，落料槽11为竖向椭圆形结构，下料斗602的入料口内径长度大于落料槽11的短径长度，落料槽11的短径长度大于工件的板宽长度。
本实施例中，上述结构设计能够在极大程度上便于对切割机器人3切割下的切料和废屑的收集。
具体的，夹紧块502远离安装座501的一端底部设有与工件表面抵接的橡胶防护垫14。
本实施例中，通过橡胶防护垫14的设置，能够防止因设备振动导致夹紧块502与工件表面产生摩擦，使工件表面擦伤磨损，影响工件的切割质量以及外观。
具体的，集料桶601为上下双层结构，集料桶601的顶层与下料斗602上下连通，集料桶601的底层内设有与输尘管道704连通设置的集尘器。
本实施例中，通过集料桶601的顶层对切料及废屑进行集中收集，切割产生的灰尘通过灰尘收集机构7输送至集料桶601底层内的集尘器中，实现灰尘收集的细化分类，结构更为紧凑，节省了空间。
具体的，集料桶601上设有与顶层相适配的出料口以及与底层相适配的检修口，出料口上设有阀门。
本实施例中，通过出料口的设置，能够在使用了一段时间后或定时对切料及废屑进行清理，检修口的设置便于对底层内的集尘器进行维护以及灰尘定时处理。
具体的，集料桶601和下料斗602之间的连接方式为法兰连接。
本实施例中，上述结构设计能够使集料桶601和下料斗602之间的连接结构更为稳定，同时便于组装和拆卸。
本发明的工作原理及使用流程：工作时，首先将工件置于各工件定位装置4中活动定位板403上的上下限位块404之间，并通过工件夹紧机构5中夹紧气缸503的活塞杆延伸，从而带动夹紧块502对工件进行夹紧，工件完成定位和夹紧后通过伺服驱动电机402驱动活动定位板403正向转动90°，而后切割机器人3在控制程序下通过机械臂带动激光切割头10移载至切割工位上，通过激光切割头10对工件进行激光切割，切割完成后，切割机器人3的机械臂带动激光切割头10复位并转向90°，进行下一工位切割加工，以此循环切割，同时伺服驱动电机402驱动活动定位板403反向转动90°，工件夹紧机构5的夹紧气缸503的活塞杆收缩，带动夹紧块502复位，而后通过下料机器人9将切割完成后的工件移载至相应的生产线传送带8上，即完成一个工位上工件的切割，工件下料后立即进行上料操作，并通过伺服驱动电机402驱动活动定位板403正向转动90°，实现连续切割；切割过程中产生的切屑及废料在重力的作用下掉落至下料斗602内，而后从下料斗602进入集料桶601的顶层内，完成切料及废屑的集中收集；切割工作进行时，风机702同时工作，通过吸尘管道703将吸尘罩701抽负压，使吸尘罩701产生一定吸力，将切割加工产生的粉尘吸入吸尘罩701内，继而通过吸尘管道703、风机702和输尘管道704将粉尘输送至集料桶601底层的集尘器中，即可完成对粉尘的收集。
最后应说明的是：以上所述仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种具有定位转向切割的工业机器人，其特征在于：包括工作台(1)、位置调节机构(2)、切割机器人(3)、工件定位装置(4)、工件夹紧机构(5)、废料收集机构(6)、灰尘收集机构(7)、生产线传送带(8)和下料机器人(9)，其中，所述切割机器人(3)通过位置调节机构(2)固定安装于工作台(1)的中部位置，所述切割机器人(3)的机械臂端部设有激光切割头(10)，所述工件定位装置(4)设置有四个，四个工件定位装置(4)以切割机器人(3)的安装位为中心分布于工作台(1)的顶部前、后、左、右四个方位，四个工件定位装置(4)之间等距设置，各工件定位装置(4)上均集成安装有一个工件夹紧机构(5)、一个废料收集机构(6)和一个灰尘收集机构(7)，所述生产线传送带(8)设置于工作台(1)的外围对应工件定位装置(4)的一侧，所述下料机器人(9)设置于由生产线传送带(8)和工件定位装置(4)构成的夹角区域内，人工将工件定位安装在工件定位装置(4)上并通过工件夹紧机构(5)进行夹紧，后经切割机器人(3)上激光切割头(10)依次对各工件定位装置(4)上的工件进行切割，切割完成后的工件经下料机器人(9)下料并移载至生产线传送带(8)上，所述废料收集机构(6)用于收集在切割过程中产生的切料及废屑，所述灰尘收集机构(7)用于收集在切割过程中产生的粉尘；
    所述工件定位装置(4)包括机架(401)、伺服驱动电机(402)、活动定位板(403)和限位块(404)，所述伺服驱动电机(402)安装于机架(401)的侧壁顶端，所述活动定位板(403)的侧壁中部通过活动杆活动安装于机架(401)的顶端，所述伺服驱动电机(402)的输出端通过联轴器与活动杆连接，所述限位块(404)上下对应设置于活动定位板(403)的端面顶端和底端，所述限位块(404)用于对工件进行限位，所述活动定位板(403)上 位于上下对应设置的限位块(404)之间设有落料槽(11)，所述工件夹紧机构(5)设置于活动定位板(403)上对应落料槽(11)上下端的一侧位置，所述工件夹紧机构(5)包括安装座(501)、夹紧块(502)和夹紧气缸(503)，所述夹紧块(502)与安装座(501)转动连接，所述夹紧气缸(503)安装于安装座(501)的内侧壁上，所述夹紧块(502)靠近安装座(501)的一端底部与夹紧气缸(503)的活塞杆端部活动连接，所述夹紧块(502)远离安装座(501)的一端延伸至预置于限位块(404)之间的工件上，所述废料收集机构(6)是由集料桶(601)和下料斗(602)组成，所述集料桶(601)安装于机架(401)的底座上，所述下料斗(602)固定安装于集料桶(601)的顶部，所述下料斗(602)与活动定位板(403)上下对应设置，所述灰尘收集机构(7)包括吸尘罩(701)、风机(702)、吸尘管道(703)和输尘管道(704)，所述机架(401)上对应活动定位板(403)和下料斗(602)之间设有开槽(12)，所述吸尘罩(701)通过安装杆(13)固定安装于开槽(12)内，所述风机(702)通过固定座固定安装于机架(401)的侧壁上，所述吸尘罩(701)通过吸尘管道(703)与风机(702)的进风口连接，所述风机(702)的出风口通过输尘管道(704)与集料桶(601)连接。
  2. 根据权利要求1所述的一种具有定位转向切割的工业机器人，其特征在于：所述位置调节机构(2)是由纵向直线导轨(201)和横向直线导轨(202)组成，所述横向直线导轨(202)连接于纵向直线导轨(201)的滑台上，所述切割机器人(3)的电机底座固定安装于横向直线导轨(202)的滑台上。
  3. 根据权利要求1所述的一种具有定位转向切割的工业机器人，其特征在于：所述活动定位板(403)为倾斜设置，所述活动定位板(403)的倾斜角度为45°，所述伺服驱动电机(402)驱动活动定位板(403)正反转的角度为90°。
  4. 根据权利要求1所述的一种具有定位转向切割的工业机器人，其特征在于：所述落料槽(11)为竖向椭圆形结构，所述下料斗(602)的入料口内径长度大于落料槽(11)的短径长度，所述落料槽(11)的短径长度大于工件的板宽长度。
  5. 根据权利要求1所述的一种具有定位转向切割的工业机器人，其特征在于：所述夹紧块(502)远离安装座(501)的一端底部设有与工件表面抵接的橡胶防护垫(14)。
  6. 根据权利要求1所述的一种具有定位转向切割的工业机器人，其特征在于：所述集料桶(601)为上下双层结构，所述集料桶(601)的顶层与下料斗(602)上下连通，所述集料桶(601)的底层内设有与输尘管道(704)连通设置的集尘器。
  7. 根据权利要求6所述的一种具有定位转向切割的工业机器人，其特征在于：所述集料桶(601)上设有与顶层相适配的出料口以及与底层相适配的检修口，出料口上设有阀门。
  8. 根据权利要求1所述的一种具有定位转向切割的工业机器人，其特征在于：所述集料桶(601)和下料斗(602)之间的连接方式为法兰连接。
PCT/CN2019/103556 2019-07-27 2019-08-30 一种具有定位转向切割的工业机器人 WO2021017084A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910685369.3A CN110315218B (zh) 2019-07-27 2019-07-27 一种具有定位转向切割功能的工业机器人
CN201910685369.3 2019-07-27

Publications (1)

Publication Number Publication Date
WO2021017084A1 true WO2021017084A1 (zh) 2021-02-04

Family

ID=68124638

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/103556 WO2021017084A1 (zh) 2019-07-27 2019-08-30 一种具有定位转向切割的工业机器人

Country Status (2)

Country Link
CN (2) CN111112855A (zh)
WO (1) WO2021017084A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115055848A (zh) * 2022-07-25 2022-09-16 昆山松田工业自动化设备有限公司 一种激光打标机自动上下料机械手设备
WO2023057807A1 (en) * 2021-10-07 2023-04-13 Anant Kumar Shukla A block cutting machine and a method to operate the same

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112222611A (zh) * 2020-09-22 2021-01-15 济南鑫捷瑞电气有限公司 一种内胆激光切割设备
CN112548334B (zh) * 2020-12-04 2021-06-15 中国科学院力学研究所 一种同轴热电偶瞬态热流传感器节点激光焊接导通装置
CN113894361A (zh) * 2021-09-09 2022-01-07 南京蹑波物联网科技有限公司 一种具有自洁功能的自定位式切割机器人及其定位方法
CN114988683B (zh) * 2022-06-08 2023-09-26 湖北瑞信养生用品科技有限公司 一种高硼硅玻璃容器同步环切装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000117368A (ja) * 1998-10-15 2000-04-25 Amada Co Ltd クランプ装置、位置決め機構
CN204545673U (zh) * 2015-01-20 2015-08-12 无锡铸华机械科技有限公司 车门防撞杆自动化焊接工作站
CN108971770A (zh) * 2018-08-20 2018-12-11 扬州市诚智自动化装备有限公司 一种激光切割机器人
CN209078006U (zh) * 2018-10-25 2019-07-09 苏州安唯科工业自动化有限公司 一种汽车钣金件全自动化焊接装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103273396B (zh) * 2013-04-22 2016-12-28 义乌琳多饰品有限公司 双工位水钻全自动磨抛加工机
CN204770648U (zh) * 2015-07-07 2015-11-18 山西中泰源工业自动化设备有限公司 用于方块磁性材料压铸成型的机器人工作站系统
CN205927504U (zh) * 2016-07-28 2017-02-08 诸城市晨正汽车配件有限公司 一种焊接机器人
CN208132090U (zh) * 2018-01-22 2018-11-23 深圳市恒宝通光电子股份有限公司 管芯的管耳剪切装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000117368A (ja) * 1998-10-15 2000-04-25 Amada Co Ltd クランプ装置、位置決め機構
CN204545673U (zh) * 2015-01-20 2015-08-12 无锡铸华机械科技有限公司 车门防撞杆自动化焊接工作站
CN108971770A (zh) * 2018-08-20 2018-12-11 扬州市诚智自动化装备有限公司 一种激光切割机器人
CN209078006U (zh) * 2018-10-25 2019-07-09 苏州安唯科工业自动化有限公司 一种汽车钣金件全自动化焊接装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023057807A1 (en) * 2021-10-07 2023-04-13 Anant Kumar Shukla A block cutting machine and a method to operate the same
CN115055848A (zh) * 2022-07-25 2022-09-16 昆山松田工业自动化设备有限公司 一种激光打标机自动上下料机械手设备

Also Published As

Publication number Publication date
CN110315218B (zh) 2020-02-21
CN110315218A (zh) 2019-10-11
CN111112855A (zh) 2020-05-08

Similar Documents

Publication Publication Date Title
WO2021017084A1 (zh) 一种具有定位转向切割的工业机器人
CN209256625U (zh) 一种可移动式抛光生产设备
CN106392338A (zh) 一种太阳能电池片废片切割装置
CN111940903A (zh) 一种高效的全自动激光焊接系统
CN109940400A (zh) 一种用于薄壁冲压件的自动化磨抛系统及自动化抛磨工艺
CN107953339B (zh) 一种具有柔顺结构的玻璃瓶分拣并联机器人
CN115464454B (zh) 一种电磁吸附式自动上下料的金属切削机床
CN110181367A (zh) 一种适用于组合柜拉手的自动打磨工作间
CN207309619U (zh) 一种玻璃倒角机
CN111360662A (zh) 一种打磨设备以及自动打磨生产线
CN219359060U (zh) 一种打磨装置
CN118204570A (zh) 一种液压缸筒体的倒角装置
CN105729082B (zh) 一种陶瓷坐便器水箱盖自动拆装系统
CN208341737U (zh) 切换清理设备
CN111347332A (zh) 一种全自动打磨加工线
CN113696052B (zh) 一种智能柔性自洁打磨抛光机器人装置
CN204935354U (zh) 一种落地自动送收料机构
CN210306653U (zh) 一种口罩装呼吸阀设备
CN217143447U (zh) 一种机器人夹取工件自动化打磨系统
CN112222611A (zh) 一种内胆激光切割设备
CN208467732U (zh) 大滚子连线系统
CN207757218U (zh) 一种机械手与工作台一体化设备
CN218342167U (zh) 一种机械制作的便捷式机械手
CN222471908U (zh) 一种全自动工件打磨装置
CN221791414U (zh) 一种塑料制品用激光切割装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19940022

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19940022

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 19940022

Country of ref document: EP

Kind code of ref document: A1