Working equipment

Abstract

The present invention relates to the technical field of machining, and particularly relates to a working device, which includes a frame, a vertical lifting part, a lateral moving part, a working head, and a connecting arm device. The connecting arm device includes a working arm and a connecting arm assembly. The connecting arm assembly includes N sequentially arranged connecting arms. A first wheel is rotatably provided on each connecting arm, and a second wheel is provided on the first N - 1 connecting arms, where N is a positive integer greater than 1. Among two adjacent connecting arms, the one located upstream in the power transmission direction is the front connecting arm, and the other is the rear connecting arm. The first wheel in the front connecting arm is in transmission connection with the rear connecting arm to drive the rear connecting arm to rotate. The first wheel in the rear connecting arm is in transmission connection with the second wheel in the front connecting arm. Only one driving device is needed to achieve the linkage of multiple connecting arms, with a simple structure, low electrical control difficulty, and a simple control program, achieving the effects of economy, practicality, and simplicity.

Description

Technical Field

[0001] The present invention relates to the technical field of machining, and particularly to an operating device. Background Art

[0002] When using machines for machining, such as blowing, shot peening, high-end spraying, laser cladding, cutting, and welding operations, a structure with multiple robotic arms rotating relative to each other is often adopted, and the rotation of the robotic arms is controlled to achieve the operation.

[0003] For example, a wired-controlled explosive disposal cutting robot disclosed in Application No. 201520254085.6 includes a first arm, a second arm, a third arm, a straight arm, and a cutting grinding wheel. The first arm is driven by a first arm motor, and a second arm is connected to the end of the first arm, and the second arm is driven by a second arm motor; a third arm is connected to the end of the second arm, and the third arm is driven by a third arm motor; a straight arm is connected to the end of the third arm, and the straight arm is driven by a straight arm motor, and a cutting grinding wheel is connected to the end of the straight arm, and the cutting grinding wheel is driven by a grinding wheel motor.

[0004] As can be seen from the above, a motor is provided at each connection of the above-mentioned multiple robotic arms to drive the rotation of the robotic arm, with a complex structure, high difficulty in electrical control, and a complex control program. Summary of the Invention

[0005] The purpose of the present invention is to provide an operating device to solve the technical problems in the prior art that a motor is provided at each connection of multiple robotic arms to drive the rotation of the robotic arm, with a complex structure, high difficulty in electrical control, and a complex control program.

[0006] The present invention provides an operating device, including a frame 12, a vertical lifting part 14 and a lateral moving part 13 arranged on the frame 12, an operating head 11, and a connecting arm device;

[0007] The operating head 11 is arranged on the operating arm 9;

[0008] The vertical lifting part 14 is connected to the frame 12 through the lateral moving part 13; the vertical lifting part 14 is fixed to the connecting arm 1 device to drive the connecting arm 1 device to move vertically; the lateral moving part 13 is used to drive the vertical lifting part 14 to move laterally;

[0009] The connecting arm device includes an operating arm 9 for fixing the operating head 11 and a connecting arm assembly;

[0010] The connecting arm assembly includes N connecting arms 1 arranged in sequence. A first wheel 2 is rotatably provided on each connecting arm 1, and a second wheel 3 is provided on the first N - 1 connecting arms. N is a positive integer greater than 1. Among two adjacent connecting arms, the one located upstream in the power transmission direction is the front connecting arm, and the other is the rear connecting arm. The first wheel 2 in the front connecting arm is in transmission connection with the rear connecting arm to drive the rear connecting arm to rotate. The first wheel 2 in the rear connecting arm is in transmission connection with the second wheel 3 in the front connecting arm.

[0011] During the power transmission process, among two adjacent connecting arms, the first wheel in the front connecting arm is driven, and the first wheel in the front connecting arm drives the rear connecting arm to move relative to the front connecting arm. The second wheel in the front connecting arm remains stationary relative to the front connecting arm, so the rear connecting arm moves relative to the second wheel in the front connecting arm. Furthermore, the first wheel in the rear connecting arm moves relative to the second wheel in the front connecting arm, and the two are in transmission connection, and the first wheel in the rear connecting arm is driven.

[0012] The connecting arm located at the most downstream in the power transmission direction is the tail connecting arm 102. The first wheel on the tail connecting arm 102 is in transmission connection with the working arm to drive the working arm 9 to rotate.

[0013] The connecting arm device further includes a slewing mechanism 8. The slewing mechanism 8 is connected to the first connecting arm 1 and is used to drive the connecting arm 1 to rotate, and the working end point of the working head is located on the rotation center line of the slewing structure.

[0014] The working head 11 is a plasma cutting gun or a laser cutting gun or a welding gun. The connecting arm 1 can drive the working head 11 to perform cutting on the top surface and side surface of the profile according to a predetermined program, and the cutting trajectory includes an intersection line, a three-dimensional curve, and a side edge.

[0015] The working arm 9 includes a first arm 91 and a second arm 92 for fixing the working head 11. The first arm 91 is in transmission connection with the first wheel 2 on the tail connecting arm to drive the first arm 91 to rotate.

[0016] Furthermore, the first wheel 2 and the second wheel 3 in the same connecting arm are coaxially arranged.

[0017] Furthermore, the first wheel 2 in the front connecting arm is fixedly connected to the rear connecting arm through a transmission sleeve 4. The second wheel 3 is fixed to the connecting arm 1 through a fixed shaft 5. The fixed shaft 5 is arranged inside the transmission sleeve 4.

[0018] Further, the first wheel 2 in the front connecting arm is drivingly connected to the rear connecting arm through a transmission reduction gear; the transmission reduction gear includes a reduction gear body 15, a hollow input shaft 16 and an output flange 17; the reduction gear body 15 is fixedly connected to the front connecting arm, the hollow input shaft 16 is drivingly connected to the first wheel 2 in this connecting arm, the output flange 17 is coaxially and synchronously rotatably arranged with the hollow input shaft, and the output flange 17 is fixedly connected to the rear connecting arm; the connecting shaft of the first wheel 2 and the second wheel 3 is arranged inside the hollow input shaft 16, and the first wheel 2 and the second wheel 3 rotate synchronously.

[0019] Further, the first wheel 2 on the connecting arm 1 is located inside the connecting arm 1, and the second wheel 3 in the front connecting arm 1 is located inside the rear connecting arm 1.

[0020] Further, the first wheel 2 in the rear connecting arm 1 and the second wheel 3 in the front connecting arm 1 are belt drivingly connected.

[0021] Further, the connecting arm located at the most upstream in the power transmission direction is the head connecting arm, and a driving device 7 is provided on the head connecting arm;

[0022] The driving device 7 includes a driving motor 71 and a driving reduction gear 72; the input shaft of the reduction gear 72 is drivingly connected to the driving motor 71, and the output shaft of the reduction gear 72 is drivingly connected to the first wheel 2 on the head connecting arm.

[0023] Further, a transmission mechanism 6 is also provided on the head connecting arm;

[0024] The transmission mechanism 6 includes a driving wheel 61 rotatably arranged on the head connecting arm 101; the driving wheel 61 is drivingly connected to the first wheel 2 on the head connecting arm;

[0025] Preferably, the transmission mechanism 6 includes a first transmission wheel 62 and a second transmission wheel 63 both rotatably arranged on the head connecting arm 101;

[0026] The first transmission wheel 62 and the second transmission wheel 63 are coaxially and fixedly connected at the center; the first transmission wheel 62 is belt drivingly connected to the driving wheel 61; the second transmission wheel 63 is drivingly connected to the first wheel 2 on the head connecting arm 101.

[0027] The multiple connecting arms 1 of the present invention are driven in the above manner. Only by inputting power to the head connecting arm, the linkage of multiple connecting arms can be achieved. The structure is simple, the electrical control difficulty is low, the control program is simple, and the effects of economy, practicality and simplicity are achieved. At the same time, it can ensure stable and reliable achievement of various processing accuracy requirements, shorten the processing time, improve the production efficiency; reduce the production cost; reduce the labor intensity of the front line, and can be processed by workers with a lower technical level. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0029] Figure 1 Structural schematic diagram of the connecting arm assembly in an embodiment of the present invention;

[0030] Figure 2 Structural schematic diagram of the connecting arm assembly in another embodiment of the present invention;

[0031] Figure 3 For Figure 2 Structural schematic diagram of the transmission reduction gear in the connecting arm assembly shown;

[0032] Figure 4 Structural schematic diagram of the connecting arm device in an embodiment of the present invention;

[0033] Figure 5 For Figure 4 Cross-sectional view of the connecting arm device shown;

[0034] Figure 6 Structural schematic diagram of the connecting arm device when the working direction of the working head is perpendicular in an embodiment of the present invention;

[0035] Figure 7 Structural schematic diagram of the connecting arm device when the working direction of the working head turns left 90° in an embodiment of the present invention;

[0036] Figure 8 Structural schematic diagram of the connecting arm device when the working direction of the working head turns right 90° in an embodiment of the present invention;

[0037] Figure 9 Structural schematic diagram of the working equipment in an embodiment of the present invention;

[0038] Figure 10 Another structural schematic diagram of the working equipment in an embodiment of the present invention.

[0039] Reference numerals: 1 - connecting arm; 2 - first wheel; 3 - second wheel; 4 - transmission sleeve; 5 - fixed shaft; 6 - transmission mechanism; 7 - driving device; 8 - slewing mechanism; 9 - working arm; 10 - transmission wheel; 11 - working head; 12 - frame; 13 - lateral moving part; 14 - vertical lifting part; 15 - reducer body; 16 - hollow input shaft; 17 - output flange; 18 - third transmission wheel; 19 - fourth transmission wheel; 20 - fifth transmission wheel; 61 - driving wheel; 62 - first transmission wheel; 63 - second transmission wheel; 71 - driving motor; 72 - reducer; 91 - first arm; 92 - second arm; 101 - first connecting arm; 102 - tail connecting arm. Detailed implementation manners

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0041] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0042] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0043] Such as Figure 1 And Figure 2As shown in the figure, the connecting arm assembly in the embodiment of the present invention includes N connecting arms 1 arranged in sequence. A first wheel 2 is rotatably provided on each connecting arm 1, and a second wheel 3 is provided on the first N - 1 connecting arms. N is a positive integer greater than 1. Among two adjacent connecting arms, the one located upstream in the power transmission direction is the front connecting arm, and the other is the rear connecting arm. The first wheel 2 in the front connecting arm 1 is in transmission connection with the rear connecting arm 1 to drive the rear connecting arm 1 to rotate. The first wheel 2 in the rear connecting arm 1 is in transmission connection with the second wheel 3 in the front connecting arm 1.

[0044] The connecting arm assembly in the embodiment of the present invention includes N connecting arms 1 arranged in sequence. During use, power is applied to the connecting arm at the very front among the N connecting arms 1 (that is, the connecting arm located most upstream in the power transmission direction, the same as the first connecting arm 101 in the following text). The first wheel 2 on the first connecting arm 101 is driven to rotate. The first wheel 2 on the first connecting arm 101 drives the adjacent rear connecting arm 1 to rotate. The rear connecting arm 1 moves relative to the first connecting arm 101 as the first wheel 2 on the first connecting arm 101 rotates. At the same time, the second wheel on the first connecting arm 101 remains stationary relative to the first connecting arm 101, so that the relative positions of the second wheel 3 on the first connecting arm 101 and the first wheel 2 on the rear connecting arm 1 change, and the first wheel 2 on the rear connecting arm 1 and the second wheel 3 on the first connecting arm 101 start to transmit power, causing the first wheel 2 on the rear connecting arm 1 to rotate, and so on.

[0045] All in all, during the power transmission process, among two adjacent connecting arms 1, the first wheel in the front connecting arm is driven. The first wheel in the front connecting arm drives the rear connecting arm to move relative to the front connecting arm. The second wheel in the front connecting arm remains stationary relative to the front connecting arm, so the rear connecting arm moves relative to the second wheel in the front connecting arm. Furthermore, the first wheel in the rear connecting arm moves relative to the second wheel in the front connecting arm, and the two are in transmission connection, and the first wheel in the rear connecting arm is driven.

[0046] For the connecting arm assembly provided by the present invention, the multiple connecting arms 1 are transmitted in the above - mentioned manner. Only by inputting power to the first connecting arm 101, the linkage of the multiple connecting arms 1 can be achieved. The structure is simple, the difficulty of electrical control is low, and the control program is simple, achieving the effects of economy, practicality, and simplicity. At the same time, it can ensure that various processing accuracy requirements are stably and reliably met, shorten the processing time, improve production efficiency, reduce production costs, reduce the labor intensity of the front - line workers, and can be processed by workers with a lower technical level.

[0047] When different working devices are used for the working head on the working arm of the present invention, such as a laser head, a plasma cutting head, a nozzle, a spraying head, etc., it can be applied to technical fields such as air blowing, shot peening, high - end spraying, laser cladding, cutting, welding, etc.

[0048] Among them, N can be a positive integer greater than 1 such as 2, 3, 4, or 5, etc. In the attached drawings, N is taken as 3, that is, the number of connecting arms is three.

[0049] As Figure 1 shown, on the basis of the above embodiments, further, for the first wheel 2 and the second wheel 3 on the same connecting arm 1, the first wheel 2 is located inside the connecting arm 1, and the second wheel 3 is located in the next connecting arm adjacent to the connecting arm. It can be understood that the first wheel 2 in the front connecting arm is located inside the front connecting arm, and the second wheel 3 of the front connecting arm is located inside the rear connecting arm.

[0050] In this embodiment, such an arrangement makes the first wheel 2 and the second wheel 3 located in different connecting arms 1, fully utilizing the internal space of the connecting arm 1, and at the same time can protect the first wheel 2 and the second wheel 3 from external bumps, improving stability and the safety of users.

[0051] Among them, there are many ways to achieve the transmission connection between the first wheel 2 in the front connecting arm and the rear connecting arm, and the second wheel 3 of the front connecting arm is located inside the rear connecting arm. For example: two connecting shafts arranged in parallel are adopted. One end of a connecting shaft is fixedly connected to the first wheel 2 of the front connecting arm, and the other end is fixedly connected to the rear connecting arm; one end of the other connecting arm is fixedly connected to the front connecting arm, and the other end extends into the rear connecting arm. The second wheel of the front connecting arm is rotatably connected to the other end of the connecting shaft, and the second wheel of the front connecting arm does not contact the inner wall of the rear connecting arm. At this time, the first wheel 2 and the second wheel 3 on the same connecting arm are not coaxially arranged.

[0052] As an alternative solution, as Figure 1 shown, the first wheel 2 in the front connecting arm is fixedly connected to the rear connecting arm through a transmission sleeve 4. Specifically, one end of the transmission sleeve 4 is coaxially fixedly connected to the first wheel on the front connecting arm (connected by means such as welding, clamping, or threaded connection, etc.), and the other end of the transmission sleeve 4 is fixedly connected to the rear connecting arm (connected by means such as welding, clamping, or threaded connection, etc.). The second wheel 3 is fixedly connected to the connecting arm 1 through a fixed shaft 5; the fixed shaft 5 is arranged inside the transmission sleeve 4. Specifically, one end of the fixed shaft 5 is fixedly connected to the front connecting arm (connected by means such as welding, clamping, or threaded connection, etc.), and the other end extends into the rear connecting arm. The second wheel of the front connecting arm is rotatably connected to the other end of the fixed shaft and does not contact the inner wall of the rear connecting arm.

[0053] In this embodiment, the sleeved manner of the transmission sleeve 4 and the fixed shaft 5 facilitates the connection of the second wheel 3 to the connecting arm 1 and the fixation of the second wheel 3, and the structure is more compact. At the same time, the coaxial arrangement of the first wheel 2 and the second wheel 3 can be achieved. The coaxial arrangement of the first wheel 2 and the second wheel 3 makes the layout compact and saves space.

[0054] AsFigure 1 As shown, preferably, a bearing chamber can be provided in the connecting arm 1. A transmission sleeve 4 is inserted through the bearing hole of the bearing chamber. The transmission sleeve 4 can rotate in the bearing chamber. One end of the transmission sleeve 4 is fixedly connected to the first wheel 2, and the other end is fixedly connected to the outer shell of the rear connecting arm 1 by screws. One end of the fixed shaft 5 is fixed to the front connecting arm 1 by screws, is coaxial with the transmission sleeve 4 and does not contact it. The intermediate distance is preferably greater than or equal to 1 mm. The other end of the fixed shaft 5 extends into the rear connecting arm 1 and is fixedly connected to the second wheel 3. Preferably, the fixed shaft 5 is connected to the second wheel 3 through a expansion sleeve. The fixed shaft 5 is sleeved in the inner hole of the expansion sleeve, and the inner hole of the second wheel 3 is sleeved on the outer circle of the expansion sleeve. The expansion sleeve is tightened by fastening screws. The expansion sleeve includes: an inner conical sleeve, an outer conical sleeve, locking screws and disassembly screws. The connection method of the expansion sleeve can generate a huge clamping force between the inner ring and the shaft and between the outer ring and the hub through the action of high-strength tension bolts, so as to achieve a keyless connection between the pulley and the shaft. It has high centering accuracy, is convenient for installation, debugging and disassembly, has high strength, and the connection is stable and reliable.

[0055] As another alternative, as Figure 2 and Figure 3 shown, the first wheel 2 in the front connecting arm is drivingly connected to the rear connecting arm through a transmission reducer; the transmission reducer includes a reducer body 15, a hollow input shaft 16 and an output flange 17; the reducer body 15 is fixedly connected to the front connecting arm, the hollow input shaft 16 is drivingly connected to the first wheel 2 in this connecting arm, the output flange 17 is coaxially and synchronously rotatably arranged with the hollow input shaft, and the output flange 17 is fixedly connected to the rear connecting arm; the connecting shaft of the first wheel 2 and the second wheel 3 is inserted through the hollow input shaft 16, and the first wheel 2 and the second wheel 3 rotate synchronously.

[0056] In this embodiment, the reducer body 15 is fixedly connected to the front connecting arm. The hollow input shaft 16 is inserted through the reducer body. One end of the hollow input shaft 16 is drivingly connected to the first wheel 2 of the front connecting arm (it can be directly coaxially fixedly connected to make the hollow input shaft follow the first wheel to rotate), and the other end of the hollow input shaft 16 is coaxially and synchronously rotatably connected to the output flange 17 (the output flange and the hollow input shaft can be coaxially fixed through interference connection or clamping, etc., so as to achieve synchronous rotation of the two). The connecting shaft between the first wheel and the second wheel of the front connecting arm passes through the input hollow shaft. One end of this connecting shaft is fixedly connected to the first wheel, and the other end can extend into the rear connecting arm. The second wheel of the front connecting arm is fixed to the other end of the connecting shaft, and the coaxial synchronous rotation of the first wheel and the second wheel is achieved through the connecting shaft.

[0057] During power transmission, the first wheel of the front connecting arm is driven to rotate, thereby driving the input hollow shaft and the connecting shaft to rotate. The input hollow shaft in turn drives the rear connecting arm, which in turn drives the second wheel of the front connecting arm, and so on. Using a speed reducer for transmission simplifies the structure, making it more compact, with greater load-bearing capacity, more precise rotation angles, and minimal return error. Furthermore, the synchronous rotation of the second wheel in the front connecting arm facilitates the second wheel in the front connecting arm to drive the first wheel in the rear connecting arm, further facilitating power transmission.

[0058] Alternatively, as Figure 2 As shown, in the tail connecting arm 102, the first wheel in the tail connecting arm is connected to the working arm in a transmission manner, which can be achieved by setting a transmission shaft. The first wheel 2 is set at one end of the transmission shaft for coaxial and synchronous rotation, and the other end of the transmission shaft is fixedly connected to the working arm; intermediate transmission parts can also be set: a third transmission wheel 18, a fourth transmission wheel 19 and a fifth transmission wheel 20. The first wheel 2 in the tail connecting arm 102 is connected to the third transmission wheel 18 through a transmission belt, the third transmission wheel 18 and the fourth transmission wheel 19 are set to rotate coaxially and synchronously, the fourth transmission wheel 19 and the fifth transmission wheel 20 are driven by a belt, and the fifth transmission wheel 20 is connected to the working arm in a transmission manner.

[0059] On the basis of the above embodiments, further, the transmission mode between the first wheel 2 on the rear connecting arm and the second wheel 3 on the front connecting arm can be multiple. For example, the first wheel 2 is connected to the second wheel 3 of the front connecting arm through gear transmission or chain transmission.

[0060] As an alternative, Figure 1 As shown, the first wheel 2 in the rear connecting arm and the second wheel 3 in the front connecting arm are connected by belt transmission.

[0061] In this embodiment, the first wheel 2 and the second wheel 3 are driven by belt transmission, which can reduce the weight of the connecting arm assembly.

[0062] like Figure 1 As shown, on the basis of the above embodiment, further, the connecting arm located most upstream in the power transmission direction is the first connecting arm 101, and the first connecting arm 101 is provided with a driving device 7; the driving device 7 includes a driving motor 71 and a reducer 72; the input end of the reducer 72 is connected to the driving motor 71, and the output end of the reducer 72 is connected to the first wheel 2 on the first connecting arm 101.

[0063] In this embodiment, a driving device 7 is provided on the first connecting arm 101, and the driving motor 71 on the first connecting arm 101 can simultaneously drive multiple connecting arms 1 behind to rotate simultaneously, with low electrical control difficulty and simple control program.

[0064] like Figure 1As shown, on the basis of the above embodiments, further, a transmission mechanism 6 is provided on the first connecting arm 101; the transmission mechanism 6 includes a driving wheel 61 rotatably provided on the connecting arm 1; the driving wheel 61 is in transmission connection with the first wheel 2 on the connecting arm 1.

[0065] Preferably, the transmission mechanism 6 includes a first transmission wheel 62 and a second transmission wheel 63 both rotatably provided on the first connecting arm 101; the first transmission wheel 62 and the second transmission wheel 63 are coaxial and fixedly connected at the center; the first transmission wheel 62 is in belt transmission connection with the driving wheel 61; the second transmission wheel 63 is in transmission connection with the first wheel 2 on the first connecting arm 101. Both ends of the connecting shaft of the first transmission wheel 62 and the second transmission wheel 63 are rotatably connected inside the first connecting arm 1.

[0066] In this embodiment, the first wheel 2 on the first connecting arm 101 is connected to the driving device 7 through the transmission mechanism 6, so that there can be a gap between the first wheel 2 and the driving device 7, which is convenient for the installation of the driving device 7. The first transmission wheel 62 and the second transmission wheel 63 play a transitional role, and at the same time play a role in shortening the length of the synchronous belt, preventing tremors when driving the subsequent connecting arms 1, two, three, and four, playing a role in increasing rigidity, and at the same time reducing the weight of the transmission mechanism 6.

[0067] As Figures 2 to 8 shown, on the basis of the above embodiments, further, the present invention also provides a connecting arm device, which includes a working arm 9 for fixing the working head 11 and the connecting arm assembly of the present invention; the connecting arm located at the most downstream in the power transmission direction is the tail connecting arm 102, and the first wheel on the tail connecting arm 102 is in transmission connection with the working arm to drive the working arm 9 to rotate; preferably, the working head 11 is a plasma cutting gun or a laser cutting gun or a welding gun.

[0068] The working principle of the connecting arm 1 of the connecting arm device in this embodiment is the same as above. The first wheel 2 on the last connecting arm 1 drives the working arm 9 to rotate, the working arm 9 drives the working head 11 thereon to rotate, and the working head 11 performs operations.

[0069] As Figure 5 shown, on the basis of the above embodiments, further, the working arm 9 includes a first arm 91 and a second arm 92 for fixing the working head 11; a transmission wheel 10 is rotatably provided on the first arm 91; the first arm 91 is in transmission connection with the first wheel 2 on the tail connecting arm 102 to drive the first arm 91 to rotate; the transmission wheel 10 is in transmission connection with the second wheel 3 of the tail connecting arm 102, and at the same time the transmission wheel 10 is in transmission connection with the second arm 92.

[0070] In this embodiment, the first wheel 2 on the last connecting arm 1 drives the first arm 91 to rotate. At the same time, due to the cooperation between the transmission wheel 10 and the second wheel 3 on the last connecting arm 1, the transmission wheel 10 rotates, and the transmission wheel 10 drives the second arm 92 to rotate. The second arm 92 drives the working head 11 to rotate for operation.

[0071] In this embodiment, the arrangement of the first arm 91 and the second arm 92 enables the connecting arm device to drive the rotations of the first arm 91 and the second arm 92 simultaneously. While increasing the rotation amplitude of the working head 11, it is realized that the connecting arm device is driven by one driving motor 71, with a simple structure and convenient control.

[0072] Furthermore, the connecting arm device further includes a slewing mechanism 8; the slewing mechanism 8 is connected to the first connecting arm 1 and is used to drive the rotation of this connecting arm 1. The slewing mechanism 8 can realize the overall rotation of the connecting arm device, expanding the working range of the working head 11 and enabling the working head 11 to perform operations at multiple angles.

[0073] Among them, the number of synchronous belts in each connecting arm 1 can be greater than or equal to 1, and the number of belt pulleys is correspondingly increased by 1. For example, the number of transmission belts in the first connecting arm 1 can be 1, and at this time the number of synchronous belts is 2. Or the number of synchronous belts in the second connecting arm 1, the first arm 91 and the second arm 92 is 2.

[0074] Furthermore, the first wheel 2 and the second wheel 3 are gear structures with equal number of teeth and modulus. This can make the rotation angles of multiple connecting arms 1 the same, and two spaced connecting arms 1 are parallel. After the connecting arms 1 are retracted, they can form a straight line, occupying less space.

[0075] Furthermore, the first wheel 2, the second wheel 3 and the transmission wheel 10 are gear structures with equal number of teeth and modulus (such as Figure 2 ), preferably, the second connecting arm 1 and the second arm 92 are parallel, so that the second connecting arm 1 is parallel to the working head 11 and turns through the same degree.

[0076] Taking two connecting arms 1 as an example, preferably, the length requirement of the second connecting arm 1 is that when in the 0° schematic diagram (such as Figure 6 ), it does not interfere with the upper end of the workpiece to be processed or operated (such as the profile to be cut). When in the 90° right turn (such as Figure 7 ) or 90° left turn (such as Figure 8 ), the working head 11 (such as the cutting torch) does not interfere with the right end or the left end of the workpiece to be processed or operated (such as the profile to be cut).

[0077] The length requirement of the first arm 91 is that when in the 0° schematic diagram (such as Figure 5When in operation, it does not interfere with the upper end of the workpiece to be processed or operated (such as the profile to be cut). When turning 90° to the right or 90° to the left, the working head 11 (such as a cutting torch) does not interfere with the right or left end of the workpiece to be processed or operated (such as the profile to be cut).

[0078] such as Figure 9 and Figure 10 As shown in and, on the basis of the above embodiments, further, the present invention also provides an operating device, which includes a frame 12, a vertical lifting part 14 and a lateral moving part 13 arranged on the frame 12, a working head 11, and the connecting arm device provided by the present invention; the working head 11 is arranged on a working arm 9; the vertical lifting part 14 is connected to the frame 12 through the lateral moving part 13; the vertical lifting part 14 is fixed to the connecting arm device to drive the connecting arm device to move vertically; the lateral moving part 13 is used to drive the vertical lifting part 14 to move laterally.

[0079] The present invention provides an operating device. The lateral moving part 13 drives the vertical lifting part 14 to move laterally to realize the lateral movement of the working head 11. The vertical lifting part 14 drives the connecting arm device to move vertically to realize the vertical movement of the working head 11. Preferably, cooperating with the rotary mechanism 8 at the same time, the rotary mechanism 8 drives the connecting arm device to rotate, and the working head 11 can be moved along the X, Y, and Z directions. Coupled with the rotation of the connecting arm 1 itself, a multi-linkage effect can be achieved. When cutting, the working head 11 of a plasma cutting torch or a laser cutting device is clamped, and when welding, a welding torch is clamped to convert it into a welding device.

[0080] Further, the closed contour member on the frame 12 is rotated by the closed contour member rotary part. Preferably, there are two connecting arms 1, which cooperate with the first arm 91 and the second arm 92. Cooperating with the vertical lifting part 14, the lateral moving part 13, the rotary mechanism 8, and the closed contour member rotary part at the same time can achieve the effect of seven-axis six-linkage.

[0081] Further, the frame 12 includes a track and a gantry movably arranged on the track. The lateral moving part 13 and the vertical lifting part 14 are arranged on the gantry, and the gantry can move on the track. A workbench can be provided on the gantry, or the clamping of various workpieces to be processed or operated (such as profiles and pipe fittings to be cut) can be realized through the workbench, and auxiliary clamping can be carried out through a roller rack, a support frame, etc.

[0082] Further, a control system is provided to control the rotation of each connecting arm 1 and the working head 11.

[0083] Taking the cutting of profiles by two connecting arms 1 as an example, the specific cutting method of use is as follows:

[0084] 1. Clamping: Clamp the profile with a closed contour onto the closed contour member rotary part, which can drive the profile to rotate.

[0085] 2. Select the corresponding cutting shape model.

[0086] 3. Set the basic parameters of the workpiece and the cutting reference parameters.

[0087] 4. Perform tool setting.

[0088] 5. Click the "Start" button to perform cutting.

[0089] 6. The connecting arm 1 is driven by the driving motor 71 to drive the cutting torch to cut on the top surface and side surface of the profile according to a predetermined program, for example, the trajectories in the forms of intersection lines, three-dimensional curves, side edges, etc.

[0090] When performing cutting at a certain angle, the driving motor 71 drives the belt pulley to rotate a certain angle through the reduction gear 72, so as to make the second connecting arm rotate. The third connecting arm keeps in a vertical state, and at the same time makes the fourth connecting arm rotate a certain angle, so that the axis of the cutting torch or welding torch is adjusted to face the direction to be processed.

[0091] When performing three-dimensional curve cutting, the driving motor 71 drives the belt pulley to continuously rotate along with the cutting path through the reduction gear 72, so as to make the second connecting arm 1 rotate. The first arm 91 keeps in a vertical state, and at the same time makes the second arm 92 continuously rotate along with the cutting path, so that the axis of the cutting torch is continuously adjusted along with the direction to be processed.

[0092] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An operating device, characterized in that: It comprises a frame (12), a vertical lifting portion (14) and a horizontal moving portion (13) arranged on the frame (12), an operating head (11), and a connecting arm device; The frame (12) includes a track and a gantry movably arranged on the track, the transverse moving part (13) and the vertical lifting part (14) are arranged on the gantry, and the gantry is movable on the track; The connecting arm device comprises a working arm (9) for fixing a working head (11) and a connecting arm assembly; The working head (11) is arranged on the working arm (9); The vertical lifting part (14) is connected to the frame (12) via the lateral moving part (13); the vertical lifting part (14) is fixed to the connecting arm (1) device to drive the connecting arm (1) device to move vertically; the lateral moving part (13) is used to drive the vertical lifting part (14) to move horizontally; The connecting arm assembly comprises N connecting arms (1) arranged in sequence, each connecting arm (1) being rotatably provided with a first wheel (2), and the first N-1 connecting arms being provided with a second wheel (3), where N is a positive integer greater than 2; Of the two adjacent connecting arms, the one located upstream in the power transmission direction is the front connecting arm, and the other is the rear connecting arm; The first wheel (2) in the front connecting arm is in transmission connection with the rear connecting arm, and is used to drive the rear connecting arm to rotate; The first wheel (2) in the rear connecting arm is in transmission connection with the second wheel (3) in the front connecting arm; The first wheel (2) in the front connecting arm is connected to the rear connecting arm via a transmission reducer; The transmission reducer comprises a reducer body (15), a hollow input shaft (16) and an output flange (17); The reducer body (15) is fixedly connected to the front connecting arm, the hollow input shaft (16) is transmission-connected to the first wheel (2) in the connecting arm, the output flange (17) is coaxial with the hollow input shaft and rotates synchronously, and the output flange (17) is fixedly connected to the rear connecting arm; The connecting shaft of the first wheel (2) and the second wheel (3) is passed through the hollow input shaft (16), and the first wheel (2) and the second wheel (3) rotate synchronously; During the power transmission process, the first wheel (2) of the front connecting arm is driven to rotate, driving the hollow input shaft (16) and the connecting shaft to rotate, the hollow input shaft (16) drives the rear connecting arm to move, and the connecting shaft drives the second wheel (3) of the front connecting arm to rotate; The connecting arm located most downstream in the power transmission direction is the tail connecting arm (102), and the first wheel on the tail connecting arm (102) is transmission-connected to the working arm to drive the working arm (9) to rotate; The connecting arm device further comprises a slewing mechanism (8); the slewing mechanism (8) is connected to the first connecting arm (1) and is used to drive the connecting arm (1) to rotate, and the operating end point of the operating head is located on the slewing center line of the slewing mechanism (8); The operating head (11) is a plasma cutting gun, a laser cutting gun, or a welding gun; the connecting arm (1) can drive the operating head (11) to cut on the top surface and the side surface of the profile according to a predetermined program, and the cutting trajectory includes an intersecting line, a three-dimensional curve, and a side edge; The working arm (9) comprises a first arm (91) and a second arm (92) for fixing the working head (11); the first arm (91) is connected to the first wheel (2) on the tail connecting arm in a transmission manner to drive the first arm (91) to rotate.

2. The operating equipment according to claim 1, characterized in that The first wheel (2) in the front connecting arm is fixedly connected to the rear connecting arm via a transmission sleeve (4); The second wheel (3) in the front connecting arm is fixed to the front connecting arm via a fixed shaft (5); One end of the fixed shaft (5) is fixedly connected to the front connecting arm, and the other end of the fixed shaft passes through the transmission sleeve (4) and is fixedly connected to the second wheel (3) of the front connecting arm.

3. The operating equipment according to claim 1, characterized in that: The first wheel (2) on the connecting arm (1) is located inside the connecting arm (1), and the second wheel (3) in the front connecting arm (1) is located inside the rear connecting arm (1).

4. The operating equipment according to claim 1, characterized in that The first wheel (2) in the rear connecting arm and the second wheel (3) in the front connecting arm are connected by a belt drive; The first wheel (2) and the second wheel (3) are synchronous wheels, and the second wheel (3) in the front connecting arm (1) and the first wheel (2) in the rear connecting arm are connected by a synchronous belt drive; The transmission ratio between the second wheel (3) in the front connecting arm and the first wheel (2) in the rear connecting arm is 1:

1.

5. The operating equipment according to claim 1, characterized in that: The connecting arm (1) located most upstream in the power transmission direction is the first connecting arm, and the first connecting arm is connected to the driving device (7); A driving device (7) is provided on the first connecting arm; The driving device (7) includes a driving motor (71) and a driving reducer (72); an input shaft of the reducer (72) is in transmission connection with the driving motor (71), and an output shaft of the reducer (72) is in transmission connection with the first wheel (2) on the first connecting arm.

6. The operating equipment according to claim 5, characterized in that: A transmission mechanism (6) is also provided on the first connecting arm; The transmission mechanism (6) comprises a driving wheel (61) rotatably arranged on the first connecting arm (101); the driving wheel (61) is in transmission connection with the first wheel (2) on the first connecting arm (101); The transmission mechanism (6) comprises a first transmission wheel (62) and a second transmission wheel (63) both rotatably arranged on the first connecting arm (101); The first transmission wheel (62) and the second transmission wheel (63) are coaxial and centrally fixedly connected; the first transmission wheel (62) is connected to the driving wheel (61) by a belt transmission; and the second transmission wheel (63) is connected to the first wheel (2) on the first connecting arm (101) by a belt transmission.

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