A high-speed precision machining multi-joint robot and its usage method

Abstract

The present invention belongs to the technical field of processing robots, and particularly relates to a high-speed precision machining multi-joint robot and a usage method thereof. The multi-joint robot includes a robotic arm, a fork seat, and a housing. The fork seat includes two fork arms. The two sides of the housing are detachably connected between the two fork arms. One end of the fork seat away from the fork arms is rotatably connected to the robotic arm. Motors I are arranged in both of the two fork arms. A connecting part is fixedly arranged at the output end of the motor I. Sliding grooves are formed in the two sides of the housing. The connecting part is slidably connected in the sliding grooves. An electromagnet is arranged on the inner surface of the housing. By adopting the above structure provided by the present invention, the relative position adjustment between the housing and the fork seat and the relative fixation between the housing and the fork seat are realized. On the other hand, by disconnecting the power supply of the electromagnet, the connecting part can be restored to slide in the sliding groove, and the whole connecting part can be moved out of the sliding groove to complete the disassembly. The whole process is simple and fast, greatly improving the work efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of processing robots, and particularly relates to a high-speed precision machining multi-joint robot and a usage method thereof. Background Art

[0002] A robotic arm refers to a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operation flexibility, it has been widely used in industrial assembly, safety explosion protection and other fields. A processing robot is equipped with a processing shaft and a movable arm.

[0003] However, the outer casing of the processing end of the current processing multi-joint robot is not easy to disassemble. Generally, it is fixedly connected by a lot of bolts and screws, and the disassembly is very complicated. Moreover, the relative position of the outer casing with respect to the robotic arm cannot be adjusted, and thus the relative position of the processing head installed inside the outer casing and the robotic arm cannot be adjusted. Summary of the Invention

[0004] The purpose of the present invention is to overcome the problem that the outer casing of the processing end of the existing processing multi-joint robot is not easy to disassemble, and to provide a high-speed precision machining multi-joint robot and a usage method thereof.

[0005] In order to achieve the above-mentioned invention purpose, the present invention provides the following technical solutions:

[0006] A high-speed precision machining multi-joint robot, comprising a robotic arm, a fork seat and an outer casing. The fork seat includes two fork arms. The two sides of the outer casing are detachably connected between the two fork arms, and one end of the fork seat away from the fork arms is rotatably connected to the robotic arm;

[0007] A motor I is provided in each of the two fork arms. A connecting portion is fixedly provided at the output end of the motor I. Sliding grooves are provided on both sides of the outer casing. The connecting portion is slidably connected in the sliding grooves. An electromagnet is provided on the inner surface of the outer casing, and the connecting portion is a magnetically attractive metal.

[0008] With the above structure provided by the present invention, the outer casing is arranged between the two fork arms of the fork seat. A connecting portion is provided at one end of each of the two fork arms close to the outer casing. Sliding grooves are provided on both sides of the outer casing. By the sliding connection between the sliding grooves and the connecting portion, the relative position adjustment of the outer casing and the fork seat is realized. The electromagnet is energized to adsorb and fix the connecting portion, thereby realizing the relative fixation of the outer casing and the fork seat. On the other hand, when the power supply of the electromagnet is disconnected, the connecting portion can be restored to slide in the sliding grooves, and the whole connecting portion is moved out of the sliding grooves, and thus the disassembly can be completed. The whole process is simple and fast, greatly improving the work efficiency.

[0009] Preferably, the connecting portion includes a first limiting piece, a second limiting piece and a connecting column. The connecting column is connected between the first limiting piece and the second limiting piece, and one side of the first limiting piece away from the second limiting piece is connected to the output end of the first motor.

[0010] With the above structure, the first limiting piece and the second limiting piece are adopted. A clamping space is formed between the first limiting piece and the second limiting piece, which can clamp the sliding groove, and the connecting column plays a role of sliding guidance.

[0011] Preferably, the sliding groove includes a sliding slot and a guiding slot. The second limiting piece slides in the sliding slot, the connecting column slides in the guiding slot, and the first limiting piece slides on the outer surface of the outer housing.

[0012] With the above structure, the second limiting piece slides in the sliding slot to limit the sliding direction. The connecting column passes through the guiding slot to fixedly connect the second limiting piece and the first limiting piece. In addition, the guiding slot also determines the movement track of the entire connecting portion. The first limiting piece is arranged outside the sliding groove, that is, on the outer surface of the outer housing, so that the first limiting piece and the second limiting piece form a clamping space to prevent the connecting portion from swaying during sliding. Under the clamping of the first limiting piece and the second limiting piece, the situation of swaying can be avoided as much as possible, reducing the pressure at the connection between the connecting column and the second limiting piece and lowering the probability of fracture.

[0013] Preferably, a screw rod and a threaded sleeve are provided on one side of the first limiting piece close to the fork arm. The screw rod is vertically arranged on the first limiting piece, and the threaded sleeve is sleeved on the screw rod.

[0014] A screw rod and a threaded sleeve are arranged between the first limiting piece and the fork arm. The screw rod is fixed on the first limiting piece, and the threaded sleeve is sleeved on the screw rod. The threaded sleeve can move up and down along the screw rod through threaded connection, so that the total length of the screw rod and the threaded sleeve can be changed. When the threaded sleeve rises, the upper surface of the threaded sleeve abuts against the fork arm, and the threaded sleeve can assist in fixing the first limiting piece, thereby secondarily fixing the connecting portion to prevent the connecting portion from loosening. Specifically, the total length of the screw rod and the threaded sleeve needs to be greater than the shortest distance between the first limiting piece and the fork arm.

[0015] Preferably, the robotic arm includes a base, a first rotating head, a large arm and a second rotating head. The first rotating head is rotatably connected to the base, one end of the large arm is rotatably connected to the first rotating head, and the other end of the large arm is connected to one end of the second rotating head.

[0016] Preferably, one end of the fork seat away from the fork arm rotates on one end of the second rotating head away from the large arm through a second motor.

[0017] The second motor can drive the fork seat to rotate, enabling the processing tool to have more processing angles in different directions.

[0018] Preferably, a third motor and a processing cutter head are further provided inside the housing. The processing cutter head is fixedly connected to the output end of the third motor, and the third motor is fixed inside the housing.

[0019] The third motor serves as the rotational power source for the processing cutter head, causing the processing cutter head to start rotating for normal processing.

[0020] Preferably, a fixing bracket is further provided. Both ends of the fixing bracket are fixed to the inner surface of the housing, and the third motor is fixed inside the fixing bracket.

[0021] Preferably, a rolling bearing is provided between the output end of the third motor and the housing.

[0022] A usage method of a high-speed precision machining multi-joint robot includes the above-mentioned high-speed precision machining multi-joint robot and further includes the following steps:

[0023] It includes a teaching programming mode and a drawing file programming mode. The programmed program is imported into the system of the multi-joint robot through the teaching programming mode or the drawing file programming mode;

[0024] The system of the multi-joint robot processes the workpiece to be machined according to the imported program;

[0025] Select to use the teaching programming mode, and pre-mark the surface of the workpiece to be machined to mark the origin starting position of the machined workpiece;

[0026] Start teaching programming according to the origin mark;

[0027] Import the programmed program into the system of the multi-joint robot;

[0028] Or, select to use the drawing file programming mode to draw the two-dimensional plan view of the workpiece to be machined;

[0029] Mark the origin starting position on the drawn two-dimensional plan view;

[0030] Import the drawn two-dimensional plan view with the origin starting position into the system of the multi-joint robot.

[0031] Compared with the prior art, the beneficial effects of the present invention:

[0032] 1. With the above structure provided by the present invention, the outer housing is arranged between the two fork arms of the fork socket. A connecting portion is provided at one end of each of the two fork arms close to the outer housing. Sliding grooves are provided on both sides of the outer housing. Through the sliding connection between the sliding grooves and the connecting portions, the relative position of the outer housing and the fork socket can be adjusted. When the electromagnet is energized, the connecting portions will be adsorbed and fixed, thereby realizing the relative fixation of the outer housing and the fork socket. On the other hand, when the power supply of the electromagnet is disconnected, the connecting portions can be restored to slide with the sliding grooves, and the entire connecting portions can be moved out of the sliding grooves to complete the disassembly. The whole process is simple and fast, greatly improving the work efficiency.

[0033] 2. The second limiting piece slides in the sliding groove to limit the sliding direction. The connecting column passes through the guiding groove to fixedly connect the second limiting piece and the first limiting piece. In addition, the guiding groove also determines the movement track of the entire connecting portion. The first limiting piece is arranged outside the sliding groove, that is, on the outer surface of the outer housing, so that the first limiting piece and the second limiting piece form a clamping space to prevent the connecting portion from swaying during sliding. With the clamping of the first limiting piece and the second limiting piece, the swaying situation can be avoided as much as possible, reducing the pressure at the connection between the connecting column and the second limiting piece and lowering the probability of fracture.

[0034] 3. A screw and a threaded sleeve are provided between the first limiting piece and the fork arm. The screw is fixed on the first limiting piece, and the threaded sleeve is sleeved on the screw. The threaded sleeve can move up and down along the screw through threaded connection, so that the total length of the screw and the threaded sleeve can be changed. When the threaded sleeve rises, the upper surface of the threaded sleeve abuts against the fork arm, and the threaded sleeve can assist in fixing the first limiting piece, thereby secondarily fixing the connecting portion to prevent the connecting portion from loosening. Specifically, the total length of the screw and the threaded sleeve needs to be greater than the shortest distance between the first limiting piece and the fork arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of the multi-joint robot of the present invention;

[0036] Figure 2 It is a top view of the multi-joint robot of the present invention;

[0037] Figure 3 It is a schematic diagram of the connection structure between the fork socket and the outer housing of the present invention;

[0038] Figure 4 It is a right view of the outer housing of the present invention;

[0039] Figure 5 It is a top view of the outer housing of the present invention;

[0040] Figure 6 It is a schematic diagram of the structure of the connecting portion, the screw and the threaded sleeve of the present invention;

[0041] Markings in the figure: 1 - upper arm, 2 - second swivel head, 3 - robotic arm, 4 - fork arm, 5 - second motor, 6 - fork socket, 7 - first swivel head, 8 - base, 9 - sliding groove, 10 - outer housing, 11 - first motor, 12 - processing cutter head, 13 - connecting part, 14 - guiding groove, 15 - sliding slot, 16 - electromagnet, 17 - second limiting piece, 18 - first limiting piece, 19 - connecting column, 20 - threaded sleeve, 21 - screw rod, 22 - third motor. Detailed implementation mode

[0042] The present invention will be further described in detail below in combination with test examples and specific implementation modes. However, this should not be understood as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments. All technologies implemented based on the content of the present invention belong to the scope of the present invention.

[0043] Embodiment 1

[0044] Reference Figure 1-6 As shown, a high-speed precision machining multi-joint robot provided by the present invention includes a robotic arm 3, a fork socket 6 and an outer housing 10. The robotic arm 3 is used to drive the fork socket 6 and the outer housing 10 to change positions at various angles in a three-dimensional space.

[0045] The fork socket 6 includes two fork arms 4. The outer housing 10 is installed between the two fork arms 4. Sliding grooves 9 are respectively opened on both sides of the outer housing 10. A first motor 11 is installed inside the fork arm 4. A connecting part 13 is fixedly installed at the output end of the first motor 11. The connecting part 13 is adapted to the sliding groove 9 and can slide in the sliding groove 9 only in one direction. The connecting part 13 is preferably a slightly arc-shaped cuboid or cube.

[0046] An electromagnet 16 is fixedly arranged on the inner surface of the outer housing 10. The connecting part 13 is preferably a magnetically attractive metal. By energizing and de-energizing the electromagnet 16, detachable connection of the connecting part 13 is achieved.

[0047] With the above structure provided by the present invention, the outer housing 10 is arranged between the two fork arms 4 of the fork socket 6. A connecting part 13 is arranged at one end of each of the two fork arms 4 close to the outer housing 10. Sliding grooves 9 are arranged on both sides of the outer housing 10. Through the sliding connection between the sliding groove 9 and the connecting part 13, the relative position of the outer housing 10 and the fork socket 6 is adjusted. When the electromagnet 16 is energized, the connecting part 13 will be adsorbed and fixed, so as to realize the relative fixation of the outer housing 10 and the fork socket 6. On the other hand, when the power supply of the electromagnet 16 is disconnected, the connecting part 13 can slide with the sliding groove 9 restored. Moving the entire connecting part 13 out of the sliding groove 9 can complete the disassembly. The whole process is simple and fast, greatly improving the work efficiency.

[0048] On the basis of the above, in a further preferred manner, the connecting portion 13 includes a limiting plate 18, a limiting plate 17 and a connecting column 19, both ends of the connecting column 19 are respectively connected to the limiting plate 18 and the limiting plate 17, and the limiting plate 18 and the limiting plate 17 are fixed by the connecting column 19.

[0049] A surface of the limiting piece 1 18 away from the limiting piece 2 17 is connected to the output end of the motor 1 11 .

[0050] With the above structure, a clamping space is formed between the limiting piece 18 and the limiting piece 2 17 , so as to clamp the slide groove 9 , and the connecting column 19 plays a role of sliding guide.

[0051] On the basis of the above, in a further preferred manner, the slide groove 9 includes a slide groove 15 and a guide groove 14 , and the slide groove 15 and the guide groove 14 are connected to each other.

[0052] The shape of the second limiting piece 17 is adapted to the shape of the sliding groove 15, so that the second limiting piece 17 can slide in the sliding groove 15, and the shape of the connecting column 19 is adapted to the shape of the guide groove 14, so that the connecting column 19 can slide in the guide groove 14, and the limiting piece 18 is located on the outer surface of the outer shell 10 and slides.

[0053] With the above structure, the limiting piece 17 slides in the sliding groove to limit the sliding direction. The connecting column 19 passes through the guide groove 14, so that the limiting piece 17 is fixedly connected to the limiting piece 1 18. In addition, the guide groove 14 also determines the movement trajectory of the entire connecting part 13. The limiting piece 1 18 is arranged outside the sliding groove 9, that is, the outer surface of the outer shell 10, so that the limiting piece 1 18 and the limiting piece 2 17 form a clamping space to prevent the connecting part 13 from swinging when sliding. With the support of the limiting piece 1 18 and the limiting piece 2 17, the swinging situation can be avoided as much as possible, the pressure at the connection between the connecting column 19 and the limiting piece 2 17 is reduced, and the probability of breakage is reduced.

[0054] On the basis of the above, a further preferred embodiment is that a screw rod 21 is fixedly provided on one side of the limit plate 18 close to the fork arm 4, and a threaded sleeve 20 is threadedly connected to the screw rod 21. The threaded sleeve 20 can be threadedly connected and move up and down relative to the screw rod 21.

[0055] A screw 21 and a threaded sleeve 20 are provided between the first limiting piece 18 and the fork arm 4. The screw 21 is fixed to the first limiting piece 18, and the threaded sleeve 20 is sleeved on the screw 21. The threaded sleeve 20 can move up and down along the screw 21 through threaded connection, so that the total length of the screw 21 and the threaded sleeve 20 can be changed. When the threaded sleeve 20 rises, the upper surface of the threaded sleeve 20 abuts against the fork arm 4, and the threaded sleeve 20 can assist in fixing the first limiting piece 18, thereby secondarily fixing the connecting portion 13 and preventing the connecting portion 13 from loosening. Specifically, the total length of the screw 21 and the threaded sleeve 20 needs to be greater than the shortest distance between the first limiting piece 18 and the fork arm 4.

[0056] On the basis of the above, in a further preferred manner, the robotic arm 3 includes a base 8, a first rotating head 7, a large arm 1, and a second rotating head 2. The first rotating head 7 is rotatably connected to the base 8, one end of the large arm 1 is rotatably connected to the first rotating head 7, and the other end of the large arm 1 is connected to one end of the second rotating head 2.

[0057] On the basis of the above, in a further preferred manner, one end of the fork socket 6 away from the fork arm 4 rotates on one end of the second rotating head 2 away from the large arm 1 through a second motor 5. The second motor 5 can drive the fork socket 6 to rotate, so that the processing tool head 12 can have more processing angles in different directions.

[0058] On the basis of the above, in a further preferred manner, a third motor 22 and a processing tool head 12 are further provided inside the outer housing 10. The processing tool head 12 is fixedly connected to the output end of the third motor 22, and the third motor 22 is fixed inside the outer housing 10. The third motor 22 is the rotational power source for the processing tool head 12, causing the processing tool head 12 to start rotating for normal processing.

[0059] The third motor 22 is preferably an ultra-high-speed permanent magnet brushless DC motor, which is ultra-quiet and has low resonance. It is powered by the DC power supply of the robot system itself, with higher stability and controllability. It adopts digital stepless speed regulation to provide the ideal power required for processing cutting.

[0060] On the basis of the above, in a further preferred manner, a fixing bracket is further provided. Both ends of the fixing bracket are fixed to the inner surface of the outer housing 10, and the third motor 22 is fixed inside the fixing bracket.

[0061] On the basis of the above, in a further preferred manner, a rolling bearing is provided between the output end of the third motor 22 and the outer housing 10, making the sliding between the output end of the third motor 22 and the outer housing 10 smoother.

[0062] The working principle of this embodiment is as follows: Fix the first limiting piece 18 of the connecting part 13 on the output end of the first motor 11 inside the fork arm 4. Align the sliding groove 9 on the outer shell 10 with the connecting part 13, and insert the connecting part 13 into the sliding groove 9, so that the outer shell 10 has only one degree of freedom, that is, it can slide back and forth along the direction of the sliding groove 9. When the outer shell 10 is slid to the appropriate position, energize the electromagnet to firmly adsorb and fix the connecting part 13, realizing the convenient disassembly of the outer shell 10 and the free change of the relative position with the fork arm.

[0063] On the other hand, the first motor 11 can drive the entire outer shell 10 to rotate, enabling the machining cutter head 12 installed inside the outer shell 10 to perform multi-angle machining. The base 8, the first rotating head 7, the large arm 1, and the second rotating head 2 in the robotic arm 3 can all enable the outer shell 10 to rotate in three directions of the x, y, and z axes. Specifically, the first rotating head 7 rotates around the base 8 along the z axis, the large arm 1 rotates around the first rotating head 7 or the second rotating head 2 along the x axis, and the fork seat 6 rotates around the second rotating head 2 along the y axis through the second motor 5.

[0064] Embodiment 2

[0065] On the basis of Embodiment 1, a method for using a high-speed precision machining multi-joint robot is further provided, including a high-speed precision machining multi-joint robot mentioned in Embodiment 1, and further including the following steps:

[0066] It includes a teaching programming mode and a drawing programming mode. Import the programmed program into the system of the multi-joint robot through the teaching programming mode or the drawing programming mode;

[0067] The system of the multi-joint robot processes the workpiece to be machined according to the imported program;

[0068] Select to use the teaching programming mode, pre-mark the surface of the workpiece to be machined, and mark the starting position of the origin of the machined workpiece;

[0069] Start teaching programming according to the origin mark;

[0070] Import the programmed program into the system of the multi-joint robot;

[0071] Or, select to use the drawing programming mode, and draw the two-dimensional plan view of the workpiece to be machined;

[0072] Mark the starting position of the origin on the drawn two-dimensional plan view;

[0073] Import the drawn two-dimensional plan view with the starting position of the origin into the system of the multi-joint robot.

[0074] Specifically, the teaching programming mode means that the end effector of the robot (such as the gripper, tool, welding torch, spray gun, etc. installed at the end of the robot joint structure) is guided manually, or the mechanical simulation device is operated manually, or the teaching box (a handheld device connected to the control system used to program the robot or make it move) is used to complete the program compilation, so that the robot can complete the expected actions.

[0075] In the teaching programming mode, marks are made on the surface of the workpiece to be processed in advance, and the starting position of the workpiece origin is determined. The teaching programming starts according to the origin mark. The programming is divided into the empty movement, waiting, and processing modes. The speed can be set for both the empty movement and the processing, and the waiting time can be set by oneself.

[0076] In the drawing file programming mode, the required two-dimensional plane graph for processing is drawn, and the origin starting position of the graph is determined. The graph is imported into the system through USB interface communication and saved. The system will automatically identify the processing position and tolerance and automatically adjust the empty movement and processing speed. To avoid waste of workpieces caused by drawing errors, we can perform a simulation of the processing path and make modifications. Here, there is no need to return to the two-dimensional plane graph software for modification, and functions such as parameter modification, deletion, or change of the processing position can be directly performed on the teach pendant.

[0077] It perfectly replaces some traditional small machining centers, and is more efficient, easier to operate, and more convenient to maintain.

[0078] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A high-speed precision machining multi-joint robot, characterized in that, It includes a robotic arm (3), a fork seat (6) and an outer housing (10). The fork seat (6) includes two fork arms (4). The two sides of the outer housing (10) are detachably connected between the two fork arms (4). One end of the fork seat (6) away from the fork arms (4) is rotatably connected to the robotic arm (3); A first motor (11) is provided in each of the two fork arms (4). A connecting portion (13) is fixedly provided at the output end of the first motor (11). Sliding grooves (9) are provided on the two sides of the outer housing (10). The connecting portion (13) is slidably connected in the sliding grooves (9). An electromagnet (16) is provided on the inner surface of the outer housing (10). The connecting portion (13) is a magnetically attractive metal. The connecting portion (13) includes a first limiting piece (18), a second limiting piece (17) and a connecting column (19). The connecting column (19) is connected between the first limiting piece (18) and the second limiting piece (17). One side of the first limiting piece (18) away from the second limiting piece (17) is connected to the output end of the first motor (11). The sliding groove (9) includes a sliding slot (15) and a guiding slot (14). The second limiting piece (17) slides in the sliding slot (15). The connecting column (19) slides in the guiding slot (14). The first limiting piece (18) slides on the outer surface of the outer housing (10). A screw rod (21) and a threaded sleeve (20) are provided on one side of the first limiting piece (18) close to the fork arm (4). The screw rod (21) is vertically arranged on the first limiting piece (18). The threaded sleeve (20) is sleeved on the screw rod (21).

2. The high-speed precision machining multi-joint robot according to claim 1, wherein The robotic arm (3) includes a base (8), a first rotating head (7), a large arm (1) and a second rotating head (2). The first rotating head (7) is rotatably connected to the base (8). One end of the large arm (1) is rotatably connected to the first rotating head (7). The other end of the large arm (1) is connected to one end of the second rotating head (2).

3. The high-speed precision machining multi-joint robot according to claim 2, characterized in that, One end of the fork seat (6) away from the fork arms (4) rotates on one end of the second rotating head (2) away from the large arm (1) through a second motor (5).

4. A high-speed precision machining multi-joint robot according to claim 3, characterized in that A third motor (22) and a processing cutter head (12) are further provided in the outer housing (10). The processing cutter head (12) is fixedly connected to the output end of the third motor (22). The third motor (22) is fixed in the outer housing (10).

5. The high-speed precision machining multi-joint robot according to claim 4, characterized in that, A fixed bracket is further provided. Both ends of the fixed bracket are fixed to the inner surface of the outer housing (10). The third motor (22) is fixed in the fixed bracket.

6. The high-speed precision machining multi-joint robot according to claim 5, characterized in that, A rolling bearing is provided between the output end of the third motor (22) and the outer housing (10).

7. A method for using a high-speed precision machining multi-joint robot, characterized in that, It includes a high-speed precision machining multi-joint robot as described in claim 6, and further includes the following steps: It includes a teaching programming mode and a drawing programming mode. The programmed program is imported into the system of the multi-joint robot through the teaching programming mode or the drawing programming mode; The system of the multi-joint robot processes the workpiece to be processed according to the imported program; Select to use the teaching programming mode, and make marks on the surface of the workpiece to be processed in advance to mark the starting position of the workpiece origin for processing; Start teaching programming according to the origin mark; Import the programmed program into the system of the multi-joint robot; Or, select to use the drawing file programming mode to draw the two-dimensional plan view required for processing; Mark the starting position of the origin on the drawn two-dimensional plan view; Import the drawn two-dimensional plan view with the starting position of the origin into the system of the multi-joint robot.

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