Motion decoupling laser cutting device based on alternating movable platform

Abstract

The invention relates to the technical field of parallel machine mechanisms, in particular to a laser cutting device based on motion decoupling of a movable platform for rotation. According to a conventional laser cutting device on the market, under the condition that the topological structure of the conventional laser cutting device is not changed, the same host cannot be adopted to alternately achieve two modes of output movement of 2T1R and 3T. In order to solve the problems, the laser cutting device based on motion decoupling of the alternating movable platform comprises a static platform, a grabbing control table and a cutting control table, the grabbing control table achieves 2T1R output motion according to a preset working path, and the cutting control table achieves 3T output motion according to the preset working path. When only the grabbing control table is used for working, the cutting control table is idle, when only the cutting control table is used for working, the grabbing control table is idle, the grabbing control table picks up and grabs a workpiece according to 2T1R operation and adjusts the posture position, and the cutting control table can cut the workpiece according to 3T operation. According to the three-degree-of-freedom parallel mechanism capable of alternately using the movable platform, posture adjustment and cutting of workpieces can be alternately achieved.

Description

Technical Field

[0001] The invention relates to the technical field of parallel machine mechanisms, and in particular to a laser cutting device based on motion decoupling of a rotating moving platform. Background Art

[0002] The laser cutting device performs laser cutting on the workpiece through the laser cutting head installed under the laser cutting controller. Conventional laser cutting controllers can only achieve one mode of output motion. For example, Chinese invention patent CN110773877A discloses a laser cutting device, which can only achieve 2T mode output motion. Another example is Chinese invention patent CN114769854A discloses a multi-degree-of-freedom intelligent cutting system and method, whose laser cutting head can also only achieve 3T2R mode output motion.

[0003] At present, a production line has different working stages during the working process, so multiple stations are required to generate different output motion types. When laser cutting, the workpiece needs to be corrected before cutting. Two hosts and two sets of topological structures are required to alternately realize two modes of output motion (such as 2T1R and 3T). The equipment cost is high and the output motion is not flexible enough.

[0004] However, at present, there are few reports on laser cutting devices that can enable the same main mechanism to simultaneously achieve two translation and one rotation (2T1R) and three translation (3T) mode output motions without changing its topological structure (such as without the need to release or lock the kinematic pairs in the middle). Summary of the invention

[0005] The problem in the prior art is that conventional laser cutting devices on the market cannot use the same host to alternately realize 2T1R and 3T output motion without changing their topological structure. In view of the above problem, the present invention provides a laser cutting device based on motion decoupling of a rotating dynamic platform, characterized in that it includes a hybrid branch chain 1 and a hybrid branch chain 2, a grabbing console, a cutting console and a static platform;

[0006] The hybrid branch chain 1 includes branch chain 1 and branch chain 2, wherein the branch chain 1 includes a moving pair 1 and a rotating pair with three axes parallel to each other, the moving pair 1 is located on the static platform, the branch chain 2 includes a moving pair 2 and a rotating pair with two axes parallel to each other, the moving pair 2 is located on the static platform, the moving pair 1 and the moving pair 2 are coaxial, the rotating pair at one end of the branch chain 1 away from the static platform is connected with the rotating pair at one end of the branch chain 2 away from the static platform to form a spatial sub-parallel mechanism,

[0007] One end of the spatial sub-parallel mechanism away from the static platform is connected to one end of the grabbing console through a rotating joint four, and the other end of the cutting console is connected to one end of the grabbing console through a rotating joint five.

[0008] The hybrid branch chain 2 includes a moving pair 3 and six rotating pairs with axes parallel to each other. The moving pair 3 is located on a static platform.

[0009] The end of the second mixing branch chain away from the static platform is connected to the other end of the cutting console.

[0010] Mobile pair 1, mobile pair 2 and mobile pair 3 are all driving pairs. Driven by mobile pair 1, mobile pair 2 and mobile pair 3, the grabbing console realizes 2T1R mode output movement, and the cutting console realizes 3T mode output movement. The grabbing console is connected to a grabbing device, and the cutting console is connected to a laser cutting head.

[0011] Preferably, the rotation in the 2T1R output motion is a rotation about the z-axis.

[0012] Preferably, the branch chain 1 comprises a moving pair 1, a rotating pair 1, a rotating pair 2 and a rotating pair 3 connected in series in sequence, and the axes of the moving pair 1 and the rotating pair 1, the rotating pair 2 and the rotating pair 3 are parallel to each other.

[0013] The branch chain 2 includes a mobile pair 2, a rotating pair 7 and a rotating pair 8 which are connected in series in sequence. The axes of the rotating pair 7 and the rotating pair 8 are parallel to each other, and the axes of the rotating pair 7 and the mobile pair 2 are perpendicular to each other.

[0014] The revolving pair 3 is connected to the revolving pair 8 through the horizontal rod of the output rod, and the revolving pair 4 is connected in series on the vertical rod of the output rod.

[0015] The axis of the revolving pair 4, the axis of the revolving pair 3 and the axis of the revolving pair 8 are perpendicular to each other;

[0016] The hybrid branch chain 2 includes a parallelogram structure formed by rotating pair 12, rotating pair 13, rotating pair 14, and rotating pair 15 connected in series in sequence, and the axes of rotating pair 12, rotating pair 13, rotating pair 14, and rotating pair 15 are parallel to each other.

[0017] A rotating pair 10 is connected in series between the rotating pair 12 and the rotating pair 13, and a rotating pair 11 is connected in series between the rotating pair 14 and the rotating pair 15.

[0018] The axes of the rotating pair 10 and the rotating pair 11 are both perpendicular to the axis of the rotating pair 12, and the axes of the moving pair 3, the rotating pair 10 and the rotating pair 11 are parallel to each other.

[0019] The rotating pair 10 is connected in series with the moving pair 3, the other end of the cutting console is connected with the rotating pair 11, and the axes of the rotating pair 5 and the rotating pair 11 are perpendicular to each other.

[0020] Preferably, the axes of the first movable pair and the second movable pair coincide with each other.

[0021] Preferably, the gripping structure is connected to the gripping console via a cylinder.

[0022] Preferably, the gripping structure is a magnet or a suction cup mechanism.

[0023] Preferably, the magnet is a double magnet.

[0024] Preferably, the suction cup mechanism is a vacuum gripper comprising a plurality of suction cups.

[0025] Preferably, the laser cutting device based on the motion decoupling of the rotating movable platform further comprises a conveyor line,

[0026] The conveying includes area A, area B and area C, which are arranged in sequence along the conveying direction of the conveying line.

[0027] The gripping structure is located above area A, picks up and grasps the workpiece, and adjusts the posture of the workpiece;

[0028] The laser cutting head is located above area B and performs laser cutting.

[0029] The transmission belt is driven by a motor to rotate the conveying roller.

[0030] The present invention has the following beneficial effects:

[0031] (1) The present invention designs a three-degree-of-freedom parallel mechanism with a movable platform that can be used in rotation. The grabbing console realizes 2T1R output motion according to a preset working path, and the cutting console realizes 3T output motion according to a preset working path. When only the grabbing console is used for work, the cutting console is idle. When only the cutting console is used for work, the grabbing console is idle. The grabbing console picks up and grasps the workpiece and adjusts the posture position according to the 2T1R operation, and the cutting console can cut the workpiece according to the 3T operation. The three-degree-of-freedom parallel mechanism with a movable platform that can be used in rotation designed by the present invention can alternately realize the posture adjustment and cutting of the workpiece;

[0032] (2) During the grabbing and cutting process, the laser cutting device designed by the present invention uses the same main mechanism from beginning to end without changing its topological structure. Only different components are used as the dynamic platform output in sequence, that is, the two motion modes / functions always share the same main mechanism (hardware equipment) but their outputs (software) are different, which greatly saves the design, manufacturing, and operation costs of the main equipment and the installation space of the whole machine. Obviously, this is different from the existing mechanism that needs to achieve multi-mode by "reconstructing" the topological structure of the kinematic pair and the branch chain;

[0033] (3) The laser cutting device designed by the present invention with motion decoupling based on a rotating moving platform cannot achieve the gripping of the workpiece and the precise laser cutting of the workpiece if the positions of the gripping device on the gripping console and the laser cutting head on the cutting console are swapped. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 : It is a schematic diagram of the topological structure of a laser cutting device with motion decoupling based on a rotating moving platform provided by the invention.

[0035] Figure 2 : It is a schematic diagram of the use status of a laser cutting device with motion decoupling based on a rotating moving platform provided by the invention.

[0036] In the figure: 0. static platform, 1. grabbing console, 2. cutting console, 3. output rod, 7. grabbing structure, 8. laser cutting head, P 11 .Mobile vice one, P 21 .Mobile vice 2, P 31 .Move vice three, R 12 .Rotation pair 1, R 13 . Rotation pair 2, R 14 .Rotate the third pair, R 15 .Rotation pair 4, R 16 .Rotate pair five, R 22 .Rotate vice seven, R 23 .Rotate pair eight, R 32 .Rotate pair ten, R 33 .Rotate vice eleven, R a .Rotation pair twelve, R b .Rotation pair 13, R c .Rotation pair 14, R d .Rotating pair fifteen, A. Transmission belt A zone, B. Transmission belt B zone, C. Transmission belt C zone. DETAILED DESCRIPTION

[0037] The present invention is described in detail below with reference to the examples. However, it should be understood that the following examples are only illustrative of the embodiments of the present invention, and are not intended to limit the scope of the present invention.

[0038] like Figure 1-2 As shown, a laser cutting device based on motion decoupling of a rotating moving platform of the present invention is characterized in that it includes a mixing branch chain 1 and a mixing branch chain 2, a grabbing console 1, a cutting console 2 and a static platform 0;

[0039] The mixed branch chain 1 includes a branch chain 1 and a branch chain 2, and the branch chain 1 includes a moving pair 1 P 11 and three axes are parallel to each other, the moving pair is 11 Located on the static platform 0, the branch chain 2 includes a mobile pair 2 P 21 The rotation pair is parallel to the two axes, and the translation pair is P 21 Located on the static platform 0, the mobile pair P 11 With mobile vice II P 21 The coaxial line, the revolving pair at one end of the branch chain away from the static platform 0 is connected with the revolving pair at one end of the branch chain away from the static platform 0 to form a spatial sub-parallel mechanism,

[0040] The end of the space sub-parallel mechanism away from the static platform 0 is connected by a rotating joint R 15 Connected to one end of the grabbing console 1, the other end of the cutting console 2 is connected to the grabbing console 1 by rotating the five R 16 Connect to one end of the grabbing console 1,

[0041] The hybrid branch chain 2 includes a mobile pair 3P 31 and six axes of rotation parallel or perpendicular to each other, the three P pairs of the moving pair 31 Located on static platform 0,

[0042] The end of the mixing branch chain 2 away from the static platform 0 is connected to the other end of the cutting console 2.

[0043] Mobile Vice-P 11 、Mobile Vice II 21 And mobile vice three P 31 Both are driving pairs, in the moving pair P 11 、Mobile Vice II 21 And mobile vice three P 31 Driven by, the grabbing console 1 realizes 2T1R mode output movement (translation along the X-axis and Y-axis and rotation along the Z-axis), and the cutting console 2 realizes 3T mode output movement (translation along the X-axis, Y-axis and Z-axis). The grabbing console 1 is connected to a grabbing device 7, and the cutting console 2 is connected to a laser cutting head 8.

[0044] In one specific embodiment, the rotation in the 2T1R output motion is rotation about the z-axis.

[0045] In a specific embodiment,

[0046] The branch chain includes a movable pair P connected in series 11 , Rotary pair R 12 、Rotation pair 2 R 13 and rotary pair 3 R 14 , mobile vice-P 11 With the revolute pair R 12 、Rotation pair 2 R 13 And the rotation pair R 14 The axes of the moving pair are parallel to each other. 11 The direction of movement is consistent with its axis.

[0047] The branch chain 2 includes a mobile pair P connected in series 21 、Rotation pair seven R 22 and rotary pair R 23 , rotating vice seven R 22 With the revolute pair R 23 The axes of the rotating pair are parallel to each other. 22 With mobile vice II P 21 The axes of the moving pair are perpendicular to each other. 21 The direction of movement is consistent with its axis.

[0048] The rotating pair R 14 With the revolute pair R 23 The output rod 3 is connected to the horizontal rod of the output rod 3, and the vertical rod of the output rod 3 is connected in series with the revolving joint 4 R 15 ,

[0049] The rotating pair R 15 The axis of the rotary pair R 14 The axis and the rotation pair R 23 The axes are perpendicular to each other;

[0050] The hybrid branch chain 2 includes a rotating pair 12 R a 、Rotation pair 13 R b 、Rotation pair 14R c 、Rotation pair 15 R d The parallelogram structure formed by serial connection, the rotation pair twelve R a 、Rotation pair 13 R b 、Rotation pair 14R c 、Rotation pair 15 R d The axes are parallel to each other.

[0051] The revolving pair R a With the rotary pair 13R b There is also a rotating pair R in series between 32 , rotating pair 14R c With the rotating pair 15R d There is a rotating pair R in series between33 ,

[0052] The revolving pair R 32 With rotating pair 11 R 33 The axis of the revolute pair R a The axis of the mobile vice is vertical. 31 The axis of the revolute pair R 32 The axis and the rotation pair 11R 33 The axes of the moving pair are parallel to each other. 31 The direction of movement is consistent with its axis.

[0053] The revolving pair R 32 With mobile vice three P 31 In series, the other end of the cutting console 2 is connected to the rotating pair R 33 Connection, the revolving pair R 16 With rotating pair 11 R 33 The axes are perpendicular to each other.

[0054] In a specific embodiment, the mobile pair 11 With mobile vice II P 21 The axes coincide.

[0055] In a specific embodiment, the gripping structure 7 is connected to the gripping console 1 via a cylinder.

[0056] In a specific embodiment, the grabbing structure 7 is a magnet or a suction cup mechanism.

[0057] In a specific embodiment, the magnet is a double magnet.

[0058] In a specific embodiment, the suction cup mechanism is a vacuum gripper comprising a plurality of suction cups.

[0059] In a specific embodiment, the laser cutting device based on the motion decoupling of the rotating moving platform further includes a conveyor line,

[0060] The conveyor includes area A, area B and area C, which are arranged in sequence along the conveying direction of the conveyor line. Area A, area B and area C can be independently configured with a belt conveyor mechanism, or can share a belt conveyor mechanism.

[0061] The gripping structure 7 is located above the A area, picks up and grips the workpiece, and adjusts the posture of the workpiece;

[0062] The laser cutting head 8 is located above the B area and performs laser cutting.

[0063] The transmission belt is driven by a motor to rotate the conveying roller.

[0064] The working principle of the laser cutting device based on motion decoupling of the rotating moving platform is as follows:

[0065] The motor of the feeding device drives the conveying roller to rotate, and through the chain transmission, drives the feeding grabbing area on the conveyor belt, and then sends the workpiece to be cut to the cutting table in the laser cutting area at a speed of v1;

[0066] When the workpiece is about to be transmitted to the conveyor belt B area, only the output mode of the 2T1R mechanism is activated (at this time, the 3T output mode does not work), and the double vacuum suction cup gripper installed on the gripping console makes a 2T movement on the yoz plane to the appropriate position, picks up and grasps the workpiece and adjusts the posture around the z axis (1R) to facilitate the next stage of accurate and material-saving cutting;

[0067] When the workpiece is uniformly transported to the conveyor belt B area at a speed of v2, the output mode of the 3T mechanism is started (at this time, the output mode of 2T1R no longer works). The laser cutter installed on the cutting console performs 3T motion in the o-xyz space to achieve three-dimensional mobile cutting.

[0068] The molten waste generated during the cutting process is blown away by a high-speed airflow coaxial with the light beam; the cut workpiece is then conveyed out by the conveyor belt C at a speed of v1, completing a cycle.

[0069] When the three moving sliders P 11 , P 21 , P 31 For the driving pair, the differential motion continuously completes the combined orderly operation of the above two motion modes, thereby completing the precise cutting of the expected workpiece; and when the three moving pairs move at the same speed and in the same direction, a wide range of operations can be carried out to complete the processing of large-scale workpieces. The entire cutting process realizes continuous operation, greatly improving production efficiency.

[0070] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A laser cutting device based on motion decoupling of a rotating moving platform, characterized in that: It comprises a mixing branch chain 1 and a mixing branch chain 2, a grabbing console (1), a cutting console (2) and a static platform (0); The mixed branch chain 1 includes a branch chain 1 and a branch chain 2, and the branch chain 1 includes a mobile pair 1 (P 11 ) and three mutually parallel axes of the rotation pair, the translation pair (P 11 ) is located on the static platform (0), the branch chain 2 includes a moving pair 2 (P 21 ) and two parallel axis rotation pairs, the translation pair (P 21 ) is located on the static platform (0), the mobile pair (P 11 ) and mobile pair 2 (P 21 ), the rotating pair at one end of the branch chain away from the static platform (0) is connected with the rotating pair at one end of the branch chain away from the static platform (0) to form a spatial sub-parallel mechanism, The end of the spatial sub-parallel mechanism away from the static platform (0) is connected by a rotating joint (R 15 ) is connected to one end of the grabbing console (1), and the other end of the cutting console (2) is connected to the grabbing console (1) by rotating the fifth (R 16 ) is connected to one end of the grabbing console (1), The hybrid branch chain 2 includes a mobile branch chain 3 (P 31 ) and six axes are parallel or perpendicular to each other, the moving pair (P 31 ) is located on the static platform (0), One end of the mixing branch chain 2 away from the static platform (0) is connected to the other end of the cutting console (2). Mobile Vice One (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ) are both driving pairs, in the moving pair (P 11 )、Mobile Vice II (P 21 ) and mobile vice three (P 31 ), the grabbing console (1) realizes 2T1R mode output movement, and the cutting console (2) realizes 3T mode output movement; The grabbing console (1) is connected to a grabbing device (7), and the cutting console (2) is connected to a laser cutting head (8).

2. The laser cutting device based on motion decoupling of a rotating moving platform according to claim 1 is characterized in that: The rotation in the 2T1R output motion is around the z-axis.

3. The laser cutting device based on motion decoupling of a rotating moving platform according to claim 1 is characterized in that: The branch chain includes a movable pair (P 11 ), rotation pair 1 (R 12 )、Rotation pair 2 (R 13 ) and the rotation pair 3 (R 14 ), mobile vice one (P 11 ) and the revolute pair (R 12 )、Rotation pair 2 (R 13 ) and the rotation pair 3 (R 14 ) are parallel to each other, The branch chain 2 includes a mobile pair 2 (P 21 ), Rotation pair seven (R 22 ) and the rotation pair eight (R 23 ), rotating vice seven (R 22 ) and the revolute pair eight (R 23 ) are parallel to each other, and the axes of the rotating pair (R 22 ) and mobile pair 2 (P 21 ) are perpendicular to each other, The rotation pair (R 14 ) and the revolute pair eight (R 23 ) is connected through the horizontal rod of the output rod (3), and the vertical rod of the output rod (3) is connected in series with a revolving pair (R 15 ), The revolving pair (R 15 ) axis, revolute pair 3 (R 14 ) axis and revolute pair eight (R 23 ) are perpendicular to each other; The hybrid branch chain 2 includes a rotating pair 12 (R a )、Rotation pair 13 (R b )、Rotation pair 14 (R c )、Rotation pair 15 (R d ) are connected in series to form a parallelogram structure, and the rotation pair twelve (R a )、Rotation pair 13 (R b )、Rotation pair 14 (R c )、Rotation pair 15 (R d ) are parallel to each other, The revolving pair twelve (R a ) and the revolving pair 13 (R b ) is also connected in series with a revolving pair (R 32 ), rotating pair 14 (R c ) and the revolute pair 15 (R d ) are connected in series with a rotating pair 11 (R 33 ), The revolving pair (R 32 ) and the rotation pair eleven (R 33 ) are all aligned with the axis of the revolute pair XII (R a ) is perpendicular to the axis of the moving pair (P 31 ) axis, revolute pair ten (R 32 ) axis and the rotation pair 11 (R 33 ) are parallel to each other, The revolving pair (R 32 ) and mobile vice three (P 31 ) in series, the other end of the cutting console (2) is connected to the rotating pair eleven (R 33 ) connection, the revolute pair 5 (R 16 ) and the rotation pair eleven (R 33 ) axes are perpendicular to each other.

4. The laser cutting device based on motion decoupling of a rotating moving platform according to claim 3 is characterized in that: The mobile pair (P 11 ) and mobile pair 2 (P 21 )’s axes coincide with each other.

5. The laser cutting device based on motion decoupling of a rotating moving platform according to claim 1, characterized in that: The grabbing structure (7) is connected to the grabbing console (1) via a cylinder.

6. The laser cutting device based on motion decoupling of a rotating moving platform according to claim 5 is characterized in that: The grabbing structure (7) is a magnet or a suction cup mechanism.

7. The laser cutting device based on motion decoupling of a rotating moving platform according to claim 6 is characterized in that: The magnet is a double magnet.

8. The laser cutting device based on motion decoupling of a rotating moving platform according to claim 6, characterized in that: The suction cup mechanism is a vacuum gripper containing a plurality of suction cups.

9. The laser cutting device based on motion decoupling of a rotating moving platform according to claim 1, characterized in that: Also includes conveyor lines, The conveying includes area A, area B and area C, which are arranged in sequence along the conveying direction of the conveying line. The gripping structure (7) is located above the A area, picks up and grips the workpiece, and adjusts the posture of the workpiece; The laser cutting head (8) is located above the B area and performs laser cutting. The transmission belt is driven by a motor to rotate the conveying roller.

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