WO2023035376A1 - 一种具有自洁功能的自定位式切割机器人及其定位方法 - Google Patents

一种具有自洁功能的自定位式切割机器人及其定位方法 Download PDF

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Publication number
WO2023035376A1
WO2023035376A1 PCT/CN2021/126357 CN2021126357W WO2023035376A1 WO 2023035376 A1 WO2023035376 A1 WO 2023035376A1 CN 2021126357 W CN2021126357 W CN 2021126357W WO 2023035376 A1 WO2023035376 A1 WO 2023035376A1
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WO
WIPO (PCT)
Prior art keywords
self
positioning
plate
workpiece
cleaning function
Prior art date
Application number
PCT/CN2021/126357
Other languages
English (en)
French (fr)
Inventor
李辉
袁荣小
陆宜东
Original Assignee
南京蹑波物联网科技有限公司
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Publication of WO2023035376A1 publication Critical patent/WO2023035376A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/08—Protective coverings for parts of machine tools; Splash guards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting

Definitions

  • the invention belongs to the technical field of industrial robots, in particular to a self-positioning cutting robot with self-cleaning function and a positioning method thereof.
  • An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans or run according to pre-programmed programs. Modern industrial robots can also act according to the principles and programs formulated by artificial intelligence technology. Industrial robots are composed of three basic parts: main body, drive system and control system.
  • the patent No. CN110315218B discloses an industrial robot with positioning, turning and cutting functions, including a workbench, a position adjustment mechanism, a cutting robot, a workpiece positioning device, a workpiece clamping mechanism, a waste collection mechanism, a dust collection mechanism, a production line conveyor belt and A cutting robot, wherein the cutting robot is fixedly installed in the middle of the workbench through a position adjustment mechanism. It can realize continuous processing of industrial robots, positioning and loading, automatic clamping, automatic unloading and workpiece transfer, meet the cutting needs of high-efficiency production lines, and can realize the centralized collection of cutting materials and waste chips generated during the cutting process. However, when cutting During the process, sparks and debris will be generated at the cutting site, and these sparks and debris will be splashed around, and when the staff is nearby, it will cause damage to the skin and body of the staff.
  • a self-positioning cutting robot with self-cleaning function and its positioning method are provided to overcome the above-mentioned technical problems existing in the related art.
  • a self-positioning cutting robot with self-cleaning function including a circular plate, a power mechanism is arranged in the middle of the bottom end of the circular plate, a receiving box is arranged on both sides of the power mechanism, and a lower hopper is arranged on the top of the receiving box.
  • One side of the receiving box is provided with a fixed plate, and the middle part of the top of the fixed plate is provided with a column located outside the circumference of the circular plate.
  • the top of the column is provided with a mechanical arm, and the bottom of one end of the mechanical arm is provided with a protective mechanism; the top of the circular plate is eccentric
  • a number of through holes are provided, and the through holes are arranged in a cross shape on the top of the circular plate.
  • Positioning mechanisms are arranged above the through holes, and the lower hopper is located directly below the through holes.
  • the outer circumference of the circular plate is The side is provided with a console; wherein, the lower hopper is set as an inverted conical structure, the inner diameter length of the inlet at the top of the lower hopper is greater than the inner diameter length of the outlet at the bottom of the lower hopper, and the length of the inlet at the top of the lower hopper The length of the inner diameter is greater than the length of the inner diameter of the through hole one.
  • the circular plate in order to realize the rotation of the circular plate, when the worker puts the workpiece to be processed into the positioning mechanism, the circular plate can be rotated by 100 degrees through the power mechanism, so that the workpiece to be processed is moved to the position of the mechanical arm.
  • the cutting process can be carried out below, so that the staff can stay away from the cutting area, and will not cause damage due to sparks and debris generated during the cutting process.
  • the power mechanism includes a bottom plate.
  • the top end is fixedly connected with the middle part of the bottom end of the circular plate
  • the bottom end of the rotating shaft is connected with the bottom plate through the rotating shaft
  • the middle part of the rotating shaft is provided with a rotating disk
  • one side of the rotating disk is provided with a driving disk
  • the bottom of the driving disk is provided with a servo motor.
  • the bottom end of the servo motor is fixedly connected with the circular plate;
  • the middle part of the top of the rotating disc is provided with a through hole 2 matching the outer side of the rotating shaft;
  • one side of the chute is provided with an arc-shaped groove matching the outer circumferential side wall of the rotating disk;
  • the top of the driving disk is provided with a V-shaped groove, and the middle part of the bottom end of the driving disk is provided with a groove fixed to the output end of the servo motor.
  • a connecting block is arranged on the top of the rotating rod and the bottom end of the driving disc, and a driving block matched with the chute is arranged on the top of one end of the connecting block.
  • the protective mechanism includes The fixed block, the middle part of the side wall of the fixed block is provided with several mounting seats, the middle part of the side wall of the mounting seat is provided with a hydraulic telescopic rod, one end of the hydraulic telescopic rod is provided with a connecting rod, and one end of the connecting rod is provided with a protective plate, and the protective plate It is movably connected with the mounting base by bolts, and the middle part of the bottom end of the fixed block is provided with a laser cutting head; wherein, both sides of one end of the connecting rod are provided with bump 1, and both sides of the other end of the connecting rod are provided with bump 2
  • the side wall of the mounting seat is provided with a sleeve located inside the side wall of the fixed block, the middle part of the other side wall of the mounting seat is provided with a hole that matches the hydraulic telescopic rod, and the side walls at both ends of the mounting seat are provided with The hole two matched with the bolt; the two ends of the top of the protective plate are provided with the third protrusion, the
  • the positioning mechanism It includes bottom plate 2 located at the top of the circular plate, a block is set on one side of the top of the bottom plate 2, a cylinder is set on one side of the block, a piston rod that penetrates the block is set at one end of the cylinder, and a positioning block is set at one end of the piston rod ;
  • the top of the bottom plate two is provided with a through hole six matched with the through hole one, and the other side of the top of the bottom plate two is provided with two rotating shafts, and the outer circumference of the rotating shaft is provided with an L-shaped positioning rod, and the L-shaped positioning rod symmetrical to each other.
  • a positioning method of a self-positioning cutting robot with a self-cleaning function is provided,
  • the positioning method of the self-positioning cutting robot with self-cleaning function comprises the following steps:
  • S3 The staff starts the cylinder and extends the piston rod through the console, so that the piston rod pushes the positioning block to move, so that the positioning block pushes the workpiece to be processed to move, so that the horizontal rod of the L-shaped positioning rod moves, and the vertical rod of the L-shaped positioning rod Generate thrust to the workpiece to be processed;
  • the circular plate By setting the power mechanism, the circular plate can be rotated to a certain degree, so that the worker can move the workpiece from the worker to the side of the mechanical arm through the circular plate rotation degree after loading the material. Then realize the cutting of the workpiece to be processed, so that the staff is far away from the cutting area, and at the same time, the staff can continue to carry out the loading work when the workpiece is being cut, so that the staff can complete the loading while cutting, thereby improving Improve the work efficiency of the staff loading and cutting the workpiece to be processed;
  • the cutting area can be isolated when the workpiece to be processed is cut, so that the sparks and debris generated during processing will not be splashed around, thus preventing the staff from The spattering of sparks and debris can cause damage to the skin or clothing.
  • the sparks and debris generated by cutting can not be splashed on the circular plate 1 and reduce the workload of the staff to clean the working environment. Ensure the health of the staff and the cleanliness of the working environment, thereby improving the work efficiency of the staff;
  • the positioning and clamping of the workpiece to be processed can be realized, so that the workpiece to be processed will not be shifted due to vibration during cutting, thereby improving the stability of the workpiece to be processed during cutting and ensuring Ensure the accuracy of the workpiece to be processed during cutting and ensure the quality of the workpiece after processing;
  • the receiving box, the lower hopper and the through hole 1 By setting the receiving box, the lower hopper and the through hole 1, the waste generated during the cutting process of the workpiece to be processed will fall into the receiving box through the through hole 1 and the lower hopper, and the material will be fed through the top of the lower hopper
  • the length of the inner diameter of the opening is greater than the length of the inner diameter of the through hole 1, thus ensuring that the waste generated during the cutting process of the workpiece to be processed will not fall outside the lower hopper, thereby realizing the centralized collection of the waste and ensuring the working environment of the circular plate. Clean and tidy.
  • Fig. 1 is a schematic structural view of a self-positioning cutting robot with self-cleaning function according to an embodiment of the present invention
  • Fig. 2 is a side view of a self-positioning cutting robot with self-cleaning function according to an embodiment of the present invention
  • FIG. 3 is a schematic structural view of a power mechanism in a self-positioning cutting robot with a self-cleaning function according to an embodiment of the present invention
  • Fig. 4 is a schematic structural view of a drive plate in a self-positioning cutting robot with a self-cleaning function according to an embodiment of the present invention
  • FIG. 5 is a schematic structural view of a rotating disc in a self-positioning cutting robot with self-cleaning function according to an embodiment of the present invention
  • Fig. 6 is a schematic structural view of a protective mechanism in a self-positioning cutting robot with a self-cleaning function according to an embodiment of the present invention
  • Fig. 7 is a schematic structural diagram of another state of the protection mechanism in a self-positioning cutting robot with self-cleaning function according to an embodiment of the present invention.
  • Fig. 8 is a schematic structural view of a protective plate in a self-positioning cutting robot with a self-cleaning function according to an embodiment of the present invention
  • Fig. 9 is a schematic structural view of a mounting seat in a self-positioning cutting robot with a self-cleaning function according to an embodiment of the present invention.
  • Fig. 10 is a structural schematic diagram of a connecting rod in a self-positioning cutting robot with a self-cleaning function according to an embodiment of the present invention
  • Fig. 11 is a schematic structural view of a hydraulic telescopic rod in a self-positioning cutting robot with self-cleaning function according to an embodiment of the present invention
  • Fig. 12 is a schematic structural diagram of a positioning mechanism in a self-positioning cutting robot with self-cleaning function according to an embodiment of the present invention.
  • a self-positioning cutting robot with a self-cleaning function and a positioning method thereof are provided.
  • a self-positioning cutting robot with a self-cleaning function includes a circular plate 1, a power mechanism 2 is provided at the middle of the bottom end of the circular plate 1, and the two ends of the power mechanism 2 Both sides are provided with material receiving box 3, and the top of material receiving box 3 is provided with lower hopper 4, and one side of material receiving box 3 is provided with fixed plate 5, and the top middle part of fixed plate 5 is provided with and is positioned at circular plate 1 circumference outsides.
  • a positioning mechanism 10 is arranged above the through hole 9, and the lower hopper 4 is located directly below the through hole 9, and a console 11 is arranged on the outer circumference side of the circular plate 1; wherein, the lower hopper 4 is set as an inverted tapered structure, the inner diameter length of the feed port at the top of the lower hopper 4 is greater than the inner diameter length of the discharge port at the bottom end of the lower hopper 4, and the inner diameter length of the feed port at the top of the lower hopper 4 is greater than that of the through hole 1 9, wherein the servo motor 205, the hydraulic telescopic rod 803 and the cylinder 1003 are electrically connected to the console 11 (containing a PLC controller) in sequence.
  • the circular plate 1 can be rotated by 90 degrees, and the worker can rotate the circular plate 1 by 90 degrees after loading the material, so that the workpiece to be processed can be rotated by the worker Move out to one side of the mechanical arm 7, and then realize the cutting of the workpiece to be processed, so that the staff can stay away from the cutting area, and at the same time, when the workpiece is being cut, the staff can continue to carry out the feeding work, so that the cutting At the same time, the staff can complete the loading, thereby improving the efficiency of the staff's loading and cutting the workpiece to be processed; by setting the protective mechanism 8, the cutting area can be isolated when the workpiece to be processed is cut, which can make the The sparks and debris generated during processing will not splash around, thus avoiding the damage to the skin or clothing of the staff due to the splashing of sparks and debris, and at the same time, the sparks and debris generated by cutting It will not splash on the circular plate 1 and reduce the workload of the staff to clean the working environment,
  • the hopper 4 falls into the receiving box 3, and the length of the inner diameter of the feed opening at the top of the lower hopper 4 is greater than the length of the inner diameter of the through hole 9, thereby ensuring that the waste produced during the cutting process of the workpiece to be processed will not fall On the outer side of the lower hopper 4, the centralized collection of waste materials is further realized, thereby ensuring a clean and tidy working environment of the circular plate 1 .
  • the power mechanism 2 includes a bottom plate 201, a rotating shaft 202 is arranged on one side top of the bottom plate 201, and the top of the rotating shaft 202 is fixedly connected with the middle part of the bottom end of the circular plate 1, and the rotating shaft
  • the bottom end of 202 is connected with bottom plate one 201 by rotating shaft, and the middle part of rotating shaft 202 is covered with rotating disk 203, and one side of rotating disk 203 is provided with driving disk 204, and the bottom of driving disk 204 is provided with servo motor 205, and servo motor 205
  • the bottom end of the rotating disk 203 is fixedly connected with the circular plate 1; the middle part of the top of the rotating disk 203 is provided with a through hole 2031 matched with the outside of the rotating shaft 202, and the outer circumference side wall of the rotating disk 203 is evenly provided with a number of chute 2032, and the chute 2032 is in the The top of the rotating disk is arranged in a cross shape, and one side of the chute 2032
  • the working principle of the power mechanism 2 is as follows: firstly, the servo motor 205 is started through the console 11, the output shaft of the servo motor 205 drives the rotating rod 2042 to rotate, and then drives the drive plate 204 and the drive block 2044 to rotate, and the drive block 2044 rotates to the slide
  • the driving block 2044 drives the rotating disk 203 to rotate, and then drives the rotating shaft 202 to rotate, and then drives the circular plate 1 to rotate.
  • the staff performs another feeding on the other two positioning mechanisms 10.
  • the servo motor 205 is started through the console 11, so that the servo motor 205 rotates in the opposite direction, and then The circular plate 1 is rotated by 90 degrees in the opposite direction, and the processed workpiece is rotated by the staff to take it out, and at the same time, the workpiece that has been loaded is rotated to the side of the mechanical arm 7 to continue cutting.
  • the protection mechanism 8 includes a fixed block 801 located at the bottom of one end of the mechanical arm 7, a number of mounting seats 802 are arranged in the middle of the side wall of the fixed block 801, and a plurality of mounting seats 802 are arranged in the middle of the side wall of the mounting seat 802.
  • a hydraulic telescopic rod 803 one end of the hydraulic telescopic rod 803 is provided with a connecting rod 804, and one end of the connecting rod 804 is provided with a protective plate 805, and the protective plate 805 and the mounting seat 802 are movably connected by bolts 806, and the bottom of the fixed block 801
  • the middle part of the end is provided with a laser cutting head 807; wherein, both sides of one end of the connecting rod 804 are provided with a bump 1 8041, and both sides of the other end of the connecting rod 804 are provided with a bump 2 8042;
  • both ends of the top of the protective plate 805 are provided with bumps 3 8051, and the top side wall of the bump 8051 is provided with a through hole 3 8052 matched with the bolt 806, and the top middle of the protective plate 805
  • Protrusion 4 8053 is provided, the top of protrusion 4 8053 is provided with groove 8054, and the inner side walls of groove 8054 are provided with through hole 4 8055 matching with protrusion 1 8041, and the side wall of protective plate 805 It is arranged as an arc structure; the top of the hydraulic telescopic rod 803 is provided with a symmetrical bump 5 8031, and the side walls of the bump 5 8031 are provided with a through hole 5 8032 matched with the bump 2 8042, so that the to-be-processed
  • the sparks and debris generated during the cutting process of the workpiece play a certain blocking role, so that the sparks and debris will not splash around, thereby further ensuring that the staff will not be splashed by sparks and debris
  • the working principle of the protection mechanism 8 is as follows: when the workpiece to be processed is rotated to the side of the mechanical arm 7, the hydraulic telescopic rod 803 is activated through the console 11, so that the output end of the hydraulic telescopic rod 803 is shortened, and then the connecting rod 804 is used to drive the bump Four 8053 moves, under the cooperation between through hole 3 8052, hole 2 8023 and bolt 806, so that the protective plate 805 rotates around the bolt 806, when the side wall of the bump 1 8041 fits the fixed block 801, through The console 11 closes the hydraulic telescopic rod 803, so that a cone is formed between the protective plates 805, thereby realizing the isolation of the cutting area, and then the laser cutting head 807 is activated through the console 11 to cut the workpiece to be processed.
  • the positioning mechanism 10 includes a second bottom plate 1001 located at the top of the circular plate 1, a stopper 1002 is provided on one side of the top end of the second bottom plate 1001, and a cylinder 1003 is provided on one side of the stopper 1002.
  • One end of the cylinder 1003 is provided with a piston rod 1004 that runs through the block 1002, and one end of the piston rod 1004 is provided with a positioning block 1005;
  • the other side of the top of 1001 is provided with two rotating shafts 1007, and the outer circumference of the rotating shaft 1007 is provided with L-shaped positioning rods 1008, and the L-shaped positioning rods 1008 are symmetrical to each other, so as to realize the positioning of the workpiece to be processed, thereby
  • the stability of the workpiece to be processed in the cutting process is guaranteed, thereby ensuring the quality of the workpiece to be processed, and thereby improving the work efficiency of the workpiece processing.
  • the working principle of the positioning mechanism 10 is as follows: first, the workpiece to be processed is placed on the base plate 2 1001, so that one side of the workpiece to be processed contacts the side wall of the cross bar of the L-shaped positioning rod 1008, and the cylinder 1003 is activated through the console 11, so that the piston
  • the rod 1004 is extended, and then drives the positioning block 1005 to move, and then the positioning block 1005 pushes the workpiece to be processed to move, so that the workpiece to be processed generates a thrust on the cross bar of the L-shaped positioning rod 1008, and then the L-shaped positioning rod 1008 is rotated
  • the shaft 1007 rotates at the center, thereby shortening the distance between the top ends of the vertical bars of the two L-shaped positioning rods 1008, and then generating thrust on the side walls of the other two sides of the workpiece to be processed, thereby realizing the clamping of the workpiece to be processed Positioning, thereby making the workpiece to be processed stable during processing, and ensuring the quality of the workpiece after processing.
  • a positioning method of a self-positioning cutting robot with a self-cleaning function comprising the following steps:
  • S3 The staff starts the cylinder 1003 and extends the piston rod 1004 through the console 11, so that the piston rod 1004 pushes the positioning block 1005 to move, so that the positioning block 1005 pushes the workpiece to be processed to move, so that the cross bar of the L-shaped positioning rod 1008 moves, so that The vertical rod of the L-shaped positioning rod 1008 generates a thrust to the workpiece to be processed;
  • the workpiece to be processed is put on the base plate 2 1001, so that one side of the workpiece to be processed contacts the cross bar side wall of the L-shaped positioning rod 1008, and the cylinder 1003 is activated through the console 11, so that the piston rod 1004 moves forward.
  • the positioning block 1005 to move, and then push the workpiece to be processed to move through the positioning block 1005, so that the workpiece to be processed generates a thrust on the cross bar of the L-shaped positioning rod 1008, and then the L-shaped positioning rod 1008 is positioned with the rotation axis 1007
  • the center is rotated, and then the distance between the vertical bar tops of the two L-shaped positioning rods 1008 is shortened, and then the side walls on the other two sides of the workpiece to be processed will generate thrust, thereby realizing the clamping and positioning of the workpiece to be processed, and then Make the stability of the workpiece to be processed during processing and ensure the quality of the workpiece after processing, then start the servo motor 205 through the console 11, drive the rotating rod 2042 to rotate through the output shaft of the servo motor 205, and then drive the drive plate 204 and drive The block 2044 rotates.
  • the drive block 2044 When the drive block 2044 rotates into the chute 2032, the drive block 2044 drives the rotating disk 203 to rotate, and then drives the rotating shaft 202 to rotate, and then drives the circular plate 1 to rotate.
  • the drive block 2044 comes out of the chute 2032 At this time, the circular plate 1 has rotated 90 degrees at this time.
  • the hydraulic telescopic rod 803 When the workpiece to be processed is rotated to the side of the mechanical arm 7, the hydraulic telescopic rod 803 is activated through the console 11, so that the output end of the hydraulic telescopic rod 803 is shortened.
  • Rod 804 drives bump four 8053 to move, and under the cooperation between through hole three 8052, hole two 8023 and bolt 806, protective plate 805 rotates around bolt 806 and fits on the side wall of bump one 8041
  • block 801 close the hydraulic telescopic rod 803 through the console 11, so that a cone is formed between the protective plates 805, thereby realizing the isolation of the cutting area, and then start the laser cutting head 807 through the console 11 Cutting process, at the same time, the staff performs material loading again on the other two positioning mechanisms 10.
  • the servo motor 205 is started through the console 11, so that the servo motor 205 rotates in the opposite direction, and then The circular plate 1 is rotated by 90 degrees in the opposite direction, and the processed workpiece is rotated by the staff to take it out, and at the same time, the workpiece that has been loaded is rotated to the side of the mechanical arm 7 to continue cutting.
  • the circular plate 1 can be rotated by 90 degrees, and the staff can rotate the circular plate 1 by 90 degrees after loading the material.
  • the workpiece to be processed can be moved from the staff to the side of the mechanical arm 7, and then the workpiece to be processed can be cut, so that the staff can stay away from the cutting area, and at the same time, when the workpiece is being cut, the staff can continue to go up material work, so that the staff can complete the material loading while cutting, thereby improving the work efficiency of the staff feeding and cutting the workpiece to be processed;
  • the function of isolating the area can prevent the sparks and debris generated during processing from splashing around, thus preventing the workers from causing damage to the skin or clothing due to the splashing of sparks and debris.
  • the sparks and debris generated by the cutting will not be splashed on the circular plate 1 and the workload of the staff to clean the working environment will be reduced, thereby ensuring the health of the staff and the cleanliness of the working environment, thereby improving the health of the staff.

Abstract

本发明公开了一种具有自洁功能的自定位式切割机器人及其定位方法，包括圆板，圆板的底端中部设置有动力机构，动力机构的两侧均设置有收料箱，收料箱的顶端设置有下料斗，收料箱的一侧设置有固定板，固定板的顶端中部设置有且位于圆板圆周外侧的立柱，立柱的顶部设置有机械臂，机械臂的一端底部设置有防护机构；圆板的顶端偏心设置有若干通孔一，通孔一的上方均设置有定位机构，且下料斗位于通孔一的正下方，圆板的外圆周一侧设置有控制台。本发明不仅实现了对工件的连续上料切割以及对工件的定位夹紧，还避免了工作人员因火花或者碎屑而造成损害，进而提高了工作效率，保证了工作人员的正常工作。

Description

一种具有自洁功能的自定位式切割机器人及其定位方法 技术领域
本发明属于工业机器人技术领域，尤其是一种具有自洁功能的自定位式切割机器人及其定位方法。
 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。
其中，专利号为CN110315218B公开了一种具有定位转向切割功能的工业机器人，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，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。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，满足高效生产线切割需求，能够实现在切割过程中产生的切料及废屑的集中收集，但是，在切割过程中，切割的部位会产生火花和碎屑，这些火花和碎屑会往四周溅射，当工作人员在旁边时，会对工作人员的皮肤和身体产生损害。
针对相关技术中的问题，目前尚未提出有效的解决方案。
 技术问题
提供一种具有自洁功能的自定位式切割机器人及其定位方法，以克服现有相关技术所存在的上述技术问题。
 技术解决方案
一种具有自洁功能的自定位式切割机器人，包括圆板，圆板的底端中部设置有动力机构，动力机构的两侧均设置有收料箱，收料箱的顶端设置有下料斗，收料箱的一侧设置有固定板，固定板的顶端中部设置有且位于圆板圆周外侧的立柱，立柱的顶部设置有机械臂，机械臂的一端底部设置有防护机构；圆板的顶端偏心设置有若干通孔一，且通孔一在圆板的顶端呈十字形排列分布，通孔一的上方均设置有定位机构，且下料斗位于通孔一的正下方，圆板的外圆周一侧设置有控制台；其中，下料斗设置为倒锥形结构，下料斗的顶端的入料口的内径长度大于下料斗底端出料口的内径长度，且下料斗的顶端的入料口的内径长度大于通孔一的内径长度。
在进一步的实施例中，为了实现对圆板的旋转，在工作人员将待加工工件放入定位机构时，通过动力机构使得圆板可以进行度的旋转，从而使得待加工工件移动至机械臂的下方并进行切割加工，进而可以使得工作人员远离切割区域，不会因为切割过程中产生的火花和碎屑而造成损害，动力机构包括底板一，底板一的一侧顶端设置有转轴，且转轴的顶端与圆板的底端中部固定连接，转轴的底端通过转轴与底板一连接，转轴的中部套设有转动盘，转动盘的一侧设置有驱动盘，驱动盘的底部设置有伺服电机，且伺服电机的底端与圆板固定连接；转动盘的顶端中部开设有与转轴外侧相配合的通孔二，转动盘外圆周侧壁均匀开设有若干滑槽，且滑槽在转动盘顶端呈十字形排列分布，滑槽的一侧开设有与转动盘外圆周侧壁相配合的弧形槽；驱动盘的顶端开设有V形槽，驱动盘的底端中部设置有与伺服电机输出端固定连接的转杆，转杆的顶部且与驱动盘底端设置有连接块，连接块的一端顶部设置有与滑槽相配合的驱动块。
在进一步的实施例中，为了使得待加工工件在进行切割加工过程中产生的火花和碎屑起到一定的阻挡作用，从而使得火花和碎屑不会往四周溅射，进而进一步的保证了工作人员不会受到火花和碎屑的溅射而造成损害，进而提高了工作人员的工作效率，减少了对工作环境的污染，使得工作人员有一个良好的工作环境，防护机构包括位于机械臂一端底部的固定块，固定块的侧壁中部设置有若干安装座，安装座的侧壁中部设置有液压伸缩杆，液压伸缩杆的一端设置有连杆，连杆的一端设置有防护板，且防护板与安装座之间通过螺栓活动连接，固定块的底端中部设置有激光切割头；其中，连杆一端的两侧均设置有凸块一，连杆另一端的两侧均设置有凸块二；安装座的一侧壁设置有且位于固定块侧壁内部的套筒，安装座的另一侧壁中部开设有与液压伸缩杆相配合的孔洞一，安装座的两端侧壁均开设有与螺栓相配合的孔洞二；防护板的顶部两端均设置有凸块三，凸块三的顶部侧壁开设有与螺栓相配合的通孔三，防护板的顶端中部设置有凸块四，凸块四的顶端开设有凹槽，凹槽的内部的两侧壁开设有与凸块一相配合的通孔四，且防护板的侧壁设置为弧形结构；液压伸缩杆的顶端设置有相对称的凸块五，凸块五的侧壁均开设有与凸块二相配合的通孔五。
在进一步的实施例中，为了实现对待加工工件的定位，从而保证了待加工工件在切割过程中的稳定性，进而保证了待加工工件加工的质量，进而提高了工件加工的工作效率，定位机构包括位于圆板顶端的底板二，底板二的顶端一侧设置有挡块，挡块的一侧设置有气缸，气缸的一端设置有贯穿于挡块的活塞杆，活塞杆的一端设置有定位块；底板二的顶端开设有与通孔一相配合的通孔六，底板二的顶端另一侧设置有两个旋转轴，旋转轴的圆周外侧套设有L形定位杆，且L形定位杆之间相互对称。
根据本发明的另一方面，提供了一种具有自洁功能的自定位式切割机器人的定位方法，
该一种具有自洁功能的自定位式切割机器人的定位方法包括以下步骤：
S1：首先，将待加工工件放置在底板二上；
S2：再将待加工工件的一端抵触L形定位杆的横杆侧壁；
S3：工作人员通过控制台启动气缸并伸长活塞杆，使得活塞杆推动定位块移动，使得定位块推动待加工工件移动，使得L形定位杆的横杆移动，使得L形定位杆的竖杆对待加工工件产生推力；
S4：工作人员通过控制台关闭气缸，完成定位。
 有益效果
1、通过设置动力机构，可以使得圆板可以进行度的旋转，可以使得工作人员在上完料之后，通过圆板旋转度，使得待加工工件可以从工作人员出移动至机械臂的一侧，然后实现对待加工工件的切割，从而使得工作人员远离切割区域，同时，还使得工件在被切割时，工作人员可以继续进行上料工作，进而使得在切割的同时工作人员可以完成上料，进而提高了工作人员上料以及对待加工工件切割的工作效率；
2、通过设置防护机构，可以使得在待加工工件进行切割加工时对切割区域进行隔离的作用，可以使得加工时产生的火花和碎屑不会向四周溅射，从而避免了工作人员不会因为火花和碎屑的溅射而对皮肤或衣物而产生损害，同时，还使得切割产生的火花和碎屑不会溅射到圆板1上以及减少了工作人员对工作环境打扫了工作量，进而保证了工作人员的身体健康以及工作环境的干净整洁，进而提高了工作人员的工作效率；
3、通过设置定位机构，从而可以实现对待加工工件定位夹紧，从而使得待加工工件在切割加工时不会因为振动而产生偏移，进而提高了待加工工件在切割加工时的稳定性，保证了待加工工件在切割加工时的准确性，保证了工件加工后的质量；
4、通过设置收料箱、下料斗以及通孔一，从而使得待加工工件在切割加工时产生的废料通过通孔一和下料斗落入收料箱中，且通过下料斗的顶端的入料口的内径长度大于通孔一的内径长度，从而保证了待加工工件在切割加工时产生的废料不会掉落在下料斗外侧，进而实现了对废料的集中收集，进而保证了圆板工作环境的干净整洁。
 附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据本发明实施例的一种具有自洁功能的自定位式切割机器人的结构示意图；
图2是根据本发明实施例的一种具有自洁功能的自定位式切割机器人的侧视图；
图3是根据本发明实施例的一种具有自洁功能的自定位式切割机器人中动力机构的结构示意图；
图4是根据本发明实施例的一种具有自洁功能的自定位式切割机器人中驱动盘的结构示意图；
图5是根据本发明实施例的一种具有自洁功能的自定位式切割机器人中转动盘的结构示意图；
图6是根据本发明实施例的一种具有自洁功能的自定位式切割机器人中防护机构的结构示意图；
图7是根据本发明实施例的一种具有自洁功能的自定位式切割机器人中防护机构另一种状态的结构示意图；
图8是根据本发明实施例的一种具有自洁功能的自定位式切割机器人中防护板的结构示意图；
图9是根据本发明实施例的一种具有自洁功能的自定位式切割机器人中安装座的结构示意图；
图10是根据本发明实施例的一种具有自洁功能的自定位式切割机器人中连杆的结构示意图；
图11是根据本发明实施例的一种具有自洁功能的自定位式切割机器人中液压伸缩杆的结构示意图；
图12是根据本发明实施例的一种具有自洁功能的自定位式切割机器人中定位机构的结构示意图。
图中：
1、圆板；2、动力机构；201、底板一；202、转轴；203、转动盘；2031、通孔二；2032、滑槽；2033、弧形槽；204、驱动盘；2041、V形槽；2042、转杆；2043、连接块；2044、驱动块；205、伺服电机；3、收料箱；4、下料斗；5、固定板；6、立柱；7、机械臂；8、防护机构；801、固定块；802、安装座；8021、套筒；8022、孔洞一；8023、孔洞二；803、液压伸缩杆；8031、凸块五；8032、通孔五；804、连杆；8041、凸块一；8042、凸块二；805、防护板；8051、凸块三；8052、通孔三；8053、凸块四；8054、凹槽；8055、通孔四；806、螺栓；807、激光切割头；9、通孔一；10、定位机构；1001、底板二；1002、挡块；1003、气缸；1004、活塞杆；1005、定位块；1006、通孔六；1007、旋转轴；1008、L形定位杆；11、控制台。
 本发明的实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
根据本发明的实施例，提供了一种具有自洁功能的自定位式切割机器人及其定位方法。
如图1-12所示，根据本发明实施例的一种具有自洁功能的自定位式切割机器人，包括圆板1，圆板1的底端中部设置有动力机构2，动力机构2的两侧均设置有收料箱3，收料箱3的顶端设置有下料斗4，收料箱3的一侧设置有固定板5，固定板5的顶端中部设置有且位于圆板1圆周外侧的立柱6，立柱6的顶部设置有机械臂7，机械臂7的一端底部设置有防护机构8；圆板1的顶端偏心设置有若干通孔一9，且通孔一9在圆板1的顶端呈十字形排列分布，通孔一9的上方均设置有定位机构10，且下料斗4位于通孔一9的正下方，圆板1的外圆周一侧设置有控制台11；其中，下料斗4设置为倒锥形结构，下料斗4的顶端的入料口的内径长度大于下料斗4底端出料口的内径长度，且下料斗4的顶端的入料口的内径长度大于通孔一9的内径长度，其中，伺服电机205、液压伸缩杆803以及气缸1003依次与控制台11（内含有PLC控制器）电连接。
借助于上述技术方案，通过设置动力机构2，可以使得圆板1可以进行90度的旋转，可以使得工作人员在上完料之后，通过圆板1旋转90度，使得待加工工件可以从工作人员出移动至机械臂7的一侧，然后实现对待加工工件的切割，从而使得工作人员远离切割区域，同时，还使得工件在被切割时，工作人员可以继续进行上料工作，进而使得在切割的同时工作人员可以完成上料，进而提高了工作人员上料以及对待加工工件切割的工作效率；通过设置防护机构8，可以使得在待加工工件进行切割加工时对切割区域进行隔离的作用，可以使得加工时产生的火花和碎屑不会向四周溅射，从而避免了工作人员不会因为火花和碎屑的溅射而对皮肤或衣物而产生损害，同时，还使得切割产生的火花和碎屑不会溅射到圆板1上以及减少了工作人员对工作环境打扫了工作量，进而保证了工作人员的身体健康以及工作环境的干净整洁，进而提高了工作人员的工作效率；通过设置定位机构10，从而可以实现对待加工工件定位夹紧，从而使得待加工工件在切割加工时不会因为振动而产生偏移，进而提高了待加工工件在切割加工时的稳定性，保证了待加工工件在切割加工时的准确性，保证了工件加工后的质量；通过设置收料箱3、下料斗4以及通孔一9，从而使得待加工工件在切割加工时产生的废料通过通孔一9和下料斗4落入收料箱3中，且通过下料斗4的顶端的入料口的内径长度大于通孔一9的内径长度，从而保证了待加工工件在切割加工时产生的废料不会掉落在下料斗4外侧，进而实现了对废料的集中收集，进而保证了圆板1工作环境的干净整洁。
在一个实施例中，对于动力机构2来说，动力机构2包括底板一201，底板一201的一侧顶端设置有转轴202，且转轴202的顶端与圆板1的底端中部固定连接，转轴202的底端通过转轴与底板一201连接，转轴202的中部套设有转动盘203，转动盘203的一侧设置有驱动盘204，驱动盘204的底部设置有伺服电机205，且伺服电机205的底端与圆板1固定连接；转动盘203的顶端中部开设有与转轴202外侧相配合的通孔二2031，转动盘203外圆周侧壁均匀开设有若干滑槽2032，且滑槽2032在转动盘顶端呈十字形排列分布，滑槽2032的一侧开设有与转动盘203外圆周侧壁相配合的弧形槽2033；驱动盘204的顶端开设有V形槽2041，驱动盘204的底端中部设置有与伺服电机205输出端固定连接的转杆2042，转杆2042的顶部且与驱动盘204底端设置有连接块2043，连接块2043的一端顶部设置有与滑槽2032相配合的驱动块2044，从而为了实现对圆板1的旋转，在工作人员将待加工工件放入定位机构10时，通过动力机构2使得圆板1可以进行90度的旋转，从而使得待加工工件移动至机械臂的下方并进行切割加工，进而可以使得工作人员远离切割区域，不会因为切割过程中产生的火花和碎屑而造成损害。
动力机构2的工作原理如下：首先，通过控制台11启动伺服电机205，通过伺服电机205的输出轴带动转杆2042转动，进而带动驱动盘204以及驱动块2044转动，在驱动块2044转动至滑槽2032中时，通过驱动块2044带动转动盘203转动，进而带动转轴202转动，进而带动圆板1进行转动，当驱动块2044从滑槽2032中出来时，此时圆板1进行了90度的旋转，同时，工作人员在另外两个定位机构10上进行再一次的上料，在待加工工件切割完成后，通过控制台11启动伺服电机205，使得伺服电机205进行反方向的转动，进而使得圆板1进行反方向的90度的旋转，并将加工完成的工件旋转工作人员出进行取出，同时使得已完成上料的工件转动至机械臂7一侧继续进行切割加工。
在一个实施例中，对于防护机构8来说，防护机构8包括位于机械臂7一端底部的固定块801，固定块801的侧壁中部设置有若干安装座802，安装座802的侧壁中部设置有液压伸缩杆803，液压伸缩杆803的一端设置有连杆804，连杆804的一端设置有防护板805，且防护板805与安装座802之间通过螺栓806活动连接，固定块801的底端中部设置有激光切割头807；其中，连杆804一端的两侧均设置有凸块一8041，连杆804另一端的两侧均设置有凸块二8042；安装座802的一侧壁设置有且位于固定块801侧壁内部的套筒8021，安装座802的另一侧壁中部开设有与液压伸缩杆803相配合的孔洞一8022，安装座802的两端侧壁均开设有与螺栓806相配合的孔洞二8023；防护板805的顶部两端均设置有凸块三8051，凸块三8051的顶部侧壁开设有与螺栓806相配合的通孔三8052，防护板805的顶端中部设置有凸块四8053，凸块四8053的顶端开设有凹槽8054，凹槽8054的内部的两侧壁开设有与凸块一8041相配合的通孔四8055，且防护板805的侧壁设置为弧形结构；液压伸缩杆803的顶端设置有相对称的凸块五8031，凸块五8031的侧壁均开设有与凸块二8042相配合的通孔五8032，从而为了使得待加工工件在进行切割加工过程中产生的火花和碎屑起到一定的阻挡作用，从而使得火花和碎屑不会往四周溅射，进而进一步的保证了工作人员不会受到火花和碎屑的溅射而造成损害，进而提高了工作人员的工作效率，减少了对工作环境的污染，使得工作人员有一个良好的工作环境。
防护机构8的工作原理如下：在待加工工件旋转至机械臂7一侧时，通过控制台11启动液压伸缩杆803，使得液压伸缩杆803的输出端缩短，进而通过连杆804，带动凸块四8053移动，在通孔三8052、孔洞二8023以及螺栓806之间的配合下，使得防护板805以螺栓806为中心进行旋转，在凸块一8041的侧壁贴合固定块801时，通过控制台11关闭液压伸缩杆803，从而使得防护板805之间形成一个锥形体，从而实现了对切割区域的隔离，然后通过控制台11启动激光切割头807对待加工工件进行切割加工。
在一个实施例中，对于定位机构10来说，定位机构10包括位于圆板1顶端的底板二1001，底板二1001的顶端一侧设置有挡块1002，挡块1002的一侧设置有气缸1003，气缸1003的一端设置有贯穿于挡块1002的活塞杆1004，活塞杆1004的一端设置有定位块1005；底板二1001的顶端开设有与通孔一9相配合的通孔六1006，底板二1001的顶端另一侧设置有两个旋转轴1007，旋转轴1007的圆周外侧套设有L形定位杆1008，且L形定位杆1008之间相互对称，从而为了实现对待加工工件的定位，从而保证了待加工工件在切割过程中的稳定性，进而保证了待加工工件加工的质量，进而提高了工件加工的工作效率。
定位机构10的工作原理如下：首先，将待加工工件放入底板二1001上，使得待加工工件的一侧接触L形定位杆1008的横杆侧壁，通过控制台11启动气缸1003，使得活塞杆1004进行伸长，进而带动定位块1005进行移动，进而通过定位块1005推动待加工工件移动，使得待加工工件对L形定位杆1008的横杆产生推力，进而使得L形定位杆1008以旋转轴1007位中心进行转动，进而使得两个L形定位杆1008的竖杆顶端之间的距离缩短，进而会对待加工工件的另外两侧的侧壁产生推力，进而实现了对待加工工件的夹紧定位，进而使得待加工工件在加工时的稳定性，保证了工件加工完成后的质量。
根据本发明的实施例，还提供了一种具有自洁功能的自定位式切割机器人的定位方法，该定位方法包括以下步骤：
S1：首先，将待加工工件放置在底板二1001上；
S2：再将待加工工件的一端抵触L形定位杆1008的横杆侧壁；
S3：工作人员通过控制台11启动气缸1003并伸长活塞杆1004，使得活塞杆1004推动定位块1005移动，使得定位块1005推动待加工工件移动，使得L形定位杆1008的横杆移动，使得L形定位杆1008的竖杆对待加工工件产生推力；
S4：工作人员通过控制台11关闭气缸1003，完成定位。
为了方便理解本发明的上述技术方案，以下就本发明在实际过程中的工作原理或者操作方式进行详细说明。
在实际应用时，首先，将待加工工件放入底板二1001上，使得待加工工件的一侧接触L形定位杆1008的横杆侧壁，通过控制台11启动气缸1003，使得活塞杆1004进行伸长，进而带动定位块1005进行移动，进而通过定位块1005推动待加工工件移动，使得待加工工件对L形定位杆1008的横杆产生推力，进而使得L形定位杆1008以旋转轴1007位中心进行转动，进而使得两个L形定位杆1008的竖杆顶端之间的距离缩短，进而会对待加工工件的另外两侧的侧壁产生推力，进而实现了对待加工工件的夹紧定位，进而使得待加工工件在加工时的稳定性，保证了工件加工完成后的质量，然后通过控制台11启动伺服电机205，通过伺服电机205的输出轴带动转杆2042转动，进而带动驱动盘204以及驱动块2044转动，在驱动块2044转动至滑槽2032中时，通过驱动块2044带动转动盘203转动，进而带动转轴202转动，进而带动圆板1进行转动，当驱动块2044从滑槽2032中出来时，此时圆板1进行了90度的旋转，在待加工工件旋转至机械臂7一侧时，通过控制台11启动液压伸缩杆803，使得液压伸缩杆803的输出端缩短，进而通过连杆804，带动凸块四8053移动，在通孔三8052、孔洞二8023以及螺栓806之间的配合下，使得防护板805以螺栓806为中心进行旋转，在凸块一8041的侧壁贴合固定块801时，通过控制台11关闭液压伸缩杆803，从而使得防护板805之间形成一个锥形体，从而实现了对切割区域的隔离，然后通过控制台11启动激光切割头807对待加工工件进行切割加工，同时，工作人员在另外两个定位机构10上进行再一次的上料，在待加工工件切割完成后，通过控制台11启动伺服电机205，使得伺服电机205进行反方向的转动，进而使得圆板1进行反方向的90度的旋转，并将加工完成的工件旋转工作人员出进行取出，同时使得已完成上料的工件转动至机械臂7一侧继续进行切割加工。
综上所述，借助于本发明的上述技术方案，通过设置动力机构2，可以使得圆板1可以进行90度的旋转，可以使得工作人员在上完料之后，通过圆板1旋转90度，使得待加工工件可以从工作人员出移动至机械臂7的一侧，然后实现对待加工工件的切割，从而使得工作人员远离切割区域，同时，还使得工件在被切割时，工作人员可以继续进行上料工作，进而使得在切割的同时工作人员可以完成上料，进而提高了工作人员上料以及对待加工工件切割的工作效率；通过设置防护机构8，可以使得在待加工工件进行切割加工时对切割区域进行隔离的作用，可以使得加工时产生的火花和碎屑不会向四周溅射，从而避免了工作人员不会因为火花和碎屑的溅射而对皮肤或衣物而产生损害，同时，还使得切割产生的火花和碎屑不会溅射到圆板1上以及减少了工作人员对工作环境打扫了工作量，进而保证了工作人员的身体健康以及工作环境的干净整洁，进而提高了工作人员的工作效率；通过设置定位机构10，从而可以实现对待加工工件定位夹紧，从而使得待加工工件在切割加工时不会因为振动而产生偏移，进而提高了待加工工件在切割加工时的稳定性，保证了待加工工件在切割加工时的准确性，保证了工件加工后的质量；通过设置收料箱3、下料斗4以及通孔一9，从而使得待加工工件在切割加工时产生的废料通过通孔一9和下料斗4落入收料箱3中，且通过下料斗4的顶端的入料口的内径长度大于通孔一9的内径长度，从而保证了待加工工件在切割加工时产生的废料不会掉落在下料斗4外侧，进而实现了对废料的集中收集，进而保证了圆板1工作环境的干净整洁。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，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 (10)

  1. 一种具有自洁功能的自定位式切割机器人，包括圆板（1），其特征在于：
    所述圆板（1）的底端中部设置有动力机构（2），所述动力机构（2）的两侧均设置有收料箱（3），所述收料箱（3）的顶端设置有下料斗（4），所述收料箱（3）的一侧设置有固定板（5），所述固定板（5）的顶端中部设置有且位于所述圆板（1）圆周外侧的立柱（6），所述立柱（6）的顶部设置有机械臂（7），所述机械臂（7）的一端底部设置有防护机构（8）；
    所述圆板（1）的顶端偏心设置有若干通孔一（9），且所述通孔一（9）在所述圆板（1）的顶端呈十字形排列分布，所述通孔一（9）的上方均设置有定位机构（10），且所述下料斗（4）位于所述通孔一（9）的正下方，所述圆板（1）的外圆周一侧设置有控制台（11）；
    其中，所述下料斗（4）设置为倒锥形结构，所述下料斗（4）的顶端的入料口的内径长度大于所述下料斗（4）底端出料口的内径长度，且所述下料斗（4）的顶端的入料口的内径长度大于所述通孔一（9）的内径长度。
  2. 根据权利要求1所述的一种具有自洁功能的自定位式切割机器人，其特征在于，所述动力机构（2）包括底板一（201），所述底板一（201）的一侧顶端设置有转轴（202），且所述转轴（202）的顶端与所述圆板（1）的底端中部固定连接，所述转轴（202）的底端通过转轴与所述底板一（201）连接，所述转轴（202）的中部套设有转动盘（203），所述转动盘（203）的一侧设置有驱动盘（204），所述驱动盘（204）的底部设置有伺服电机（205），且所述伺服电机（205）的底端与所述圆板（1）固定连接。
  3. 根据权利要求2所述的一种具有自洁功能的自定位式切割机器人，其特征在于，所述转动盘（203）的顶端中部开设有与所述转轴（202）外侧相配合的通孔二（2031），所述转动盘（203）外圆周侧壁均匀开设有若干滑槽（2032），且所述滑槽（2032）在所述转动盘顶端呈十字形排列分布，所述滑槽（2032）的一侧开设有与所述转动盘（203）外圆周侧壁相配合的弧形槽（2033）。
  4. 根据权利要求3所述的一种具有自洁功能的自定位式切割机器人，其特征在于，所述驱动盘（204）的顶端开设有V形槽（2041），所述驱动盘（204）的底端中部设置有与所述伺服电机（205）输出端固定连接的转杆（2042），所述转杆（2042）的顶部且与所述驱动盘（204）底端设置有连接块（2043），所述连接块（2043）的一端顶部设置有与所述滑槽（2032）相配合的驱动块（2044）。
  5. 根据权利要求1所述的一种具有自洁功能的自定位式切割机器人，其特征在于，所述防护机构（8）包括位于所述机械臂（7）一端底部的固定块（801），所述固定块（801）的侧壁中部设置有若干安装座（802），所述安装座（802）的侧壁中部设置有液压伸缩杆（803），所述液压伸缩杆（803）的一端设置有连杆（804），所述连杆（804）的一端设置有防护板（805），且所述防护板（805）与所述安装座（802）之间通过螺栓（806）活动连接，所述固定块（801）的底端中部设置有激光切割头（807）；
    其中，所述连杆（804）一端的两侧均设置有凸块一（8041），所述连杆（804）另一端的两侧均设置有凸块二（8042）。
  6. 根据权利要求5所述的一种具有自洁功能的自定位式切割机器人，其特征在于，所述安装座（802）的一侧壁设置有且位于所述固定块（801）侧壁内部的套筒（8021），所述安装座（802）的另一侧壁中部开设有与所述液压伸缩杆（803）相配合的孔洞一（8022），所述安装座（802）的两端侧壁均开设有与所述螺栓（806）相配合的孔洞二（8023）。
  7. 根据权利要求6所述的一种具有自洁功能的自定位式切割机器人，其特征在于，所述防护板（805）的顶部两端均设置有凸块三（8051），所述凸块三（5081）的顶部侧壁开设有与所述螺栓（806）相配合的通孔三（8052），所述防护板（805）的顶端中部设置有凸块四（8053），所述凸块四（8053）的顶端开设有凹槽（8054），所述凹槽（8054）的内部的两侧壁开设有与所述凸块一（8041）相配合的通孔四（8055），且所述防护板（805）的侧壁设置为弧形结构。
  8. 根据权利要求6所述的一种具有自洁功能的自定位式切割机器人，其特征在于，所述液压伸缩杆（803）的顶端设置有相对称的凸块五（8031），所述凸块五（8031）的侧壁均开设有与所述凸块二（8042）相配合的通孔五（8032）。
  9. 根据权利要求1所述的一种具有自洁功能的自定位式切割机器人，其特征在于，所述定位机构（10）包括位于所述圆板（1）顶端的底板二（1001），所述底板二（1001）的顶端一侧设置有挡块（1002），所述挡块（1002）的一侧设置有气缸（1003），所述气缸（1003）的一端设置有贯穿于所述挡块（1002）的活塞杆（1004），所述活塞杆（1004）的一端设置有定位块（1005）；
    所述底板二（1001）的顶端开设有与所述通孔一（9）相配合的通孔六（1006），所述底板二（1001）的顶端另一侧设置有两个旋转轴（1007），所述旋转轴（1007）的圆周外侧套设有L形定位杆（1008），且所述L形定位杆（1008）之间相互对称。
  10. 一种具有自洁功能的自定位式切割机器人的定位方法，用于权利要求1-9中任意一项所述的具有自洁功能的自定位式切割机器人的定位，其特征在于，该方法包括以下步骤：
    S1：首先，将待加工工件放置在所述底板二1001上；
    S2：再将待加工工件的一端抵触所述L形定位杆（1008）的横杆侧壁；
    S3：工作人员通过所述控制台（11）启动所述气缸（1003）并伸长所述活塞杆（1004），使得活塞杆（1004）推动所述定位块（1005）移动，使得所述定位块（1005）推动待加工工件移动，使得所述L形定位杆（1008）的横杆移动，使得L形定位杆（1008）的竖杆对待加工工件产生推力；
    S4：工作人员通过所述控制台（11）关闭所述气缸（1003），完成定位。
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