Plate cutting machine arm with visual positioning function

Abstract

The invention discloses a plate cutting machine arm with a visual positioning function. The plate cutting machine arm comprises a mechanical arm body and a protection mechanism. A laser cutting head and a visual positioning camera are mounted at the end of the mechanical arm; the protection mechanism comprises a cylinder, a separation pipe and an air inlet pipe, the cylinder is arranged at the end of the mechanical arm, the lower end of the cylinder is of an opening structure, the air inlet pipe is arranged at an air inlet in the outer arc face of the cylinder, the separation pipe is arranged on the top wall of the cylinder, and a visual positioning camera is installed at the lower end of the separation pipe. A rotatable air curtain is formed on the outer edge of the visual positioning camera, the influence of chippings in the plate cutting process on the visual positioning camera is effectively prevented, the accuracy of visual positioning is guaranteed, the work of the plate cutting machine arm is more accurate, dust on the surface of the visual positioning camera is automatically cleaned through compressed air, and the working efficiency is improved. And the manual cleaning frequency of the visual positioning component of the plate cutting machine arm is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of plate cutting, and in particular to a plate cutting machine arm with visual positioning. Background Art

[0002] The plate cutting robot arm plays an important role in the metal processing industry, especially in the cutting, bending and welding of metal plates, and can realize efficient and stable automated production. The application of this robot arm not only improves production efficiency and product quality, but also can complete some tasks that are difficult to complete by manpower, especially when processing large metal components, its advantages are more obvious; in the prior art, when the plate cutting robot arm is used, in order to make the adjustment of the plate cutting robot arm more accurate, some plate cutting robot arms will be provided with a visual positioning camera on the surface of the plate cutting robot arm, and the accuracy of the adjustment of the plate cutting robot arm is ensured by visual positioning, thereby improving the working effect of the plate cutting robot arm. However, debris will be generated during the plate cutting process, and some debris will easily splash onto the surface of the visual positioning camera, which may easily cause damage to the camera lens, and may be easily adsorbed on the lens surface, affecting the accuracy of the visual positioning. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a plate cutting machine arm with visual positioning, forming a rotatable air curtain at the outer edge of the visual positioning camera, effectively blocking the influence of debris in the plate cutting process on the visual positioning camera, ensuring the accuracy of visual positioning, and making the plate cutting machine arm work more accurately, which can effectively solve the problems in the background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a plate cutting robot arm with visual positioning, comprising a robot arm and a protection mechanism; Robotic arm: Its ends are equipped with a laser cutting head and a visual positioning camera; Protection mechanism: It includes a cylinder, a partition tube and an air inlet pipe. The cylinder is arranged at the end of the robot arm. The lower end of the cylinder is an open structure. The air inlet of the outer arc surface of the cylinder is provided with an air inlet pipe. The top wall of the cylinder is provided with a partition tube. A visual positioning camera is installed at the lower end of the partition tube. A rotatable air curtain is formed on the outer edge of the visual positioning camera to effectively block the influence of debris in the plate cutting process on the visual positioning camera, ensure the accuracy of visual positioning, and make the plate cutting robot arm work more accurately. The visual positioning camera is regularly retracted into the partition tube, and compressed air is used to automatically clean the dust on the surface of the visual positioning camera, thereby reducing the frequency of manual cleaning of the visual positioning components of the plate cutting robot arm.

[0005] Furthermore, a PLC controller is provided on the surface of the mounting seat at the lower end of the robotic arm, the input end of the PLC controller is electrically connected to the external power supply, the input end of the robotic arm is electrically connected to the output end of the PLC controller, and the output end of the visual positioning camera is electrically connected to the input end of the PLC controller to control the start and stop of the entire device.

[0006] Furthermore, the protection mechanism also includes a rotating plate, which is rotatably connected between the outer arc surface of the separation tube and the inner arc surface of the cylinder to guide the compressed gas to rotate horizontally.

[0007] Furthermore, the protection mechanism also includes an outer gear ring, a gear and a motor. The outer gear ring and the gear are both rotatably connected to the rotating groove in the middle of the cylinder. The outer gear ring and the gear are meshingly connected. The upper ends of the rotating plates are fixedly connected to the outer gear ring. The motor is arranged on the outer arc surface of the cylinder. The output shaft of the motor is fixedly connected to the middle of the gear. The input end of the motor is electrically connected to the output end of the PLC controller to provide power for the rotation of the rotating plate.

[0008] Furthermore, an electric push rod is provided on the top wall of the cylinder, an adjustment plate is provided at the lower end of the telescopic end of the electric push rod, a visual positioning camera is installed at the lower end of the adjustment plate, and the input end of the electric push rod is electrically connected to the output end of the PLC controller to facilitate the folding and retracting of the visual positioning camera.

[0009] Furthermore, sliding holes on the surface of the adjustment plate are vertically slidably connected with sliding columns, a mounting plate is provided between the lower ends of the four sliding columns, and a visual positioning camera is provided on the lower surface of the mounting plate. Springs are provided between the limit plate at the upper end of the sliding column and the adjustment plate, and the springs are movably mounted on the outer arc surface of the sliding column to reduce the shaking of the visual positioning camera.

[0010] Furthermore, a retaining ring is provided on the outer edge of the adjustment plate, and the retaining ring is in contact with the inner arc surface of the separation tube. Blowing holes are provided at the lower end of the inner arc surface of the separation tube, and compressed air is used to automatically clean dust on the surface of the visual positioning camera.

[0011] Furthermore, a fixing plate is provided on the upper surface of the cylinder, and the fixing plate and the laser cutting head are both arranged on the surface of the adjustment arm at the end of the robotic arm, so that the visual positioning camera and the laser cutting head move synchronously.

[0012] Compared with the prior art, the beneficial effects of the present invention are: the plate cutting robot arm with visual positioning has the following advantages: 1. A rotatable air curtain is formed on the outer edge of the visual positioning camera to effectively block the impact of debris in the plate cutting process on the visual positioning camera, ensure the accuracy of visual positioning, and make the plate cutting robot arm work more accurately.

[0013] 2. Regularly retract the visual positioning camera into the separation tube, and use compressed air to automatically clean the dust on the surface of the visual positioning camera to reduce the frequency of manual cleaning of the visual positioning parts of the plate cutting robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic structural diagram of a side cross-section of the protection mechanism of the present invention; Figure 3 It is a schematic structural diagram of a front cross-section of the protection mechanism of the present invention; Figure 4 It is a schematic diagram of the structure of the protective mechanism of the present invention when viewed from above.

[0015] In the figure: 1 robotic arm, 2 laser cutting head, 3 visual positioning camera, 4 protective mechanism, 41 cylinder, 42 partition tube, 43 air intake pipe, 44 rotating plate, 45 outer gear ring, 46 gear, 47 motor, 5 electric push rod, 6 adjustment plate, 7 slide column, 8 mounting plate, 9 spring, 10 retaining ring, 11 blowing hole, 12 fixing plate, 13 PLC controller. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] See also Figure 1-4 ,This embodiment provides a technical solution: a plate cutting robot arm with visual positioning, including a robot arm 1 and a protection mechanism 4; Robotic arm 1: Its ends are respectively equipped with a laser cutting head 2 and a visual positioning camera 3. The laser emitted by the laser cutting head 2 is used to cut the plate. During the cutting process, the robot arm 1 is started to adjust the position of the laser cutting head 2. During the adjustment process, the visual positioning camera 3 is used to collect image information of the cutting position. The visual positioning method makes the adjustment of the cutting position more accurate. A PLC controller 13 is provided on the surface of the mounting seat at the lower end of the robot arm 1. The input end of the PLC controller 13 is electrically connected to an external power supply to control the start and stop of the entire device. The input end of the robot arm 1 is electrically connected to the output end of the PLC controller 13, and the output end of the visual positioning camera 3 is electrically connected to the input end of the PLC controller 13. The protective mechanism 4 includes a cylinder 41, a partition tube 42 and an air inlet pipe 43. The cylinder 41 is arranged at the end of the robot arm 1. The lower end of the cylinder 41 is an open structure. The air inlet pipe 43 is arranged at the air inlet of the outer arc surface of the cylinder 41. The top wall of the cylinder 41 is provided with a partition tube 42. The lower end of the partition tube 42 is provided with a visual positioning camera 3. The protective mechanism 4 also includes a rotating plate 44. The rotating plate 44 is rotatably connected between the outer arc surface of the partition tube 42 and the inner arc surface of the cylinder 41. The external compressed gas enters the cylinder 41 through the air inlet pipe 43. The compressed gas flows and blows out between the partition tube 42 and the cylinder 41, so that an air curtain is formed on the outer edge of the visual positioning camera 3 to prevent the debris from splashing onto the surface of the visual positioning camera 3 during the cutting process. The protective mechanism 4 The outer gear ring 45 and the gear 46 are both rotatably connected in the rotating groove in the middle of the cylinder 41. The outer gear ring 45 and the gear 46 are meshingly connected. The upper end of the rotating plate 44 is fixedly connected to the outer gear ring 45. The motor 47 is arranged on the outer arc surface of the cylinder 41. The output shaft of the motor 47 is fixedly connected to the middle of the gear 46. The input end of the motor 47 is electrically connected to the output end of the PLC controller 13. The motor 47 is started, and the output shaft of the motor 47 drives the gear 46 to rotate. Through the meshing connection between the gear 46 and the outer gear ring 45, the outer gear ring 45 drives the rotating plate 44 to rotate. The rotating plate 44 is used to push the air to rotate horizontally during the flow of compressed air, so that the air curtain rotates horizontally, which can more effectively block debris. , to reduce the influence of debris on the accuracy of visual positioning, an electric push rod 5 is provided on the top wall of the cylinder 41, an adjusting plate 6 is provided at the lower end of the telescopic end of the electric push rod 5, a visual positioning camera 3 is installed at the lower end of the adjusting plate 6, the input end of the electric push rod 5 is electrically connected to the output end of the PLC controller 13, a sliding column 7 is vertically slidably connected in the sliding hole on the surface of the adjusting plate 6, a mounting plate 8 is provided between the lower ends of the four sliding columns 7, a visual positioning camera 3 is provided on the lower surface of the mounting plate 8, a spring 9 is provided between the limit plate at the upper end of the sliding column 7 and the adjusting plate 6, the springs 9 are movably sleeved on the outer arc surface of the sliding column 7, a retaining ring 10 is provided on the outer edge of the adjusting plate 6, the retaining ring 10 is in contact with the inner arc surface of the partition tube 42, and the lower end of the inner arc surface of the partition tube 42 is respectively provided with an air hole 11, the outside The vibration will overcome the elastic force of the spring 9, pushing the sliding column 7 and the adjusting plate 6 to slide relative to each other. Under the action of the friction between the mounting plate 8 and the inner arc surface of the retaining ring 10, the shaking of the visual positioning camera 3 is reduced, and the accuracy of the visual positioning is improved. The electric push rod 5 is started regularly, and the telescopic end of the electric push rod 5 drives the adjusting plate 6 up and down. The retaining ring 10 is driven by the adjusting plate 6 to move to the upper side of the blowing hole 11. At this time, the visual positioning camera 3 corresponds to the blowing hole 11 horizontally. At this time, the compressed air will be blown out from the blowing hole 11 during the flow process, and the dust on the surface of the visual positioning camera 3 is automatically cleaned, reducing the frequency of manual cleaning. The upper surface of the cylinder 41 is provided with a fixing plate 12, and the fixing plate 12 and the laser cutting head 2 are both arranged on the surface of the adjusting arm at the end of the robot arm 1.Make the laser cutting head 2 and the visual positioning camera 3 move synchronously.

[0018] The working principle of a plate cutting robot arm with visual positioning provided by the present invention is as follows: when in use, the laser cutting head 2 is started through the PLC controller 13, and the laser emitted by the laser cutting head 2 is used to cut the plate. During the cutting process, the robot arm 1 is started to adjust the position of the laser cutting head 2. During the adjustment process, the image information of the cutting position is collected by the visual positioning camera 3, and the positioning of the laser cutting head 2 is controlled by the calculation of the PLC controller 13 to ensure the accuracy of the cutting position. At the same time, during use, external compressed gas enters the cylinder 41 through the air inlet pipe 43, and the compressed gas flows and blows out between the partition tube 42 and the cylinder 41, so that an air curtain is formed on the outer edge of the visual positioning camera 3 to prevent debris from splashing onto the surface of the visual positioning camera 3 during the cutting process. At the same time, the motor 47 is started, and the output shaft of the motor 47 drives the gear 46 to rotate, and the gear 46 and the external The meshing connection of the gear ring 45 causes the outer gear ring 45 to drive the rotating plate 44 to rotate. The rotating plate 44 is used to push the air to rotate horizontally during the flow of compressed air, so that the air curtain rotates horizontally, which can more effectively block debris and reduce the influence of debris on the accuracy of visual positioning. During operation, external vibrations will overcome the elastic force of the spring 9, pushing the sliding column 7 and the adjusting plate 6 to slide relative to each other. Under the action of the friction between the mounting plate 8 and the inner arc surface of the retaining ring 10, the shaking of the visual positioning camera 3 is reduced, and the accuracy of visual positioning is improved. The electric push rod 5 is started regularly, and the telescopic end of the electric push rod 5 drives the adjusting plate 6 up and down. The retaining ring 10 is driven by the adjusting plate 6 to move to the upper side of the blowing hole 11. At this time, the visual positioning camera 3 corresponds to the blowing hole 11 horizontally. At this time, the compressed air will be blown out from the blowing hole 11 during the flow process, and the dust on the surface of the visual positioning camera 3 is automatically cleaned, reducing the frequency of manual cleaning.

[0019] It is worth noting that the PLC controller 13 disclosed in the above embodiment can use the TPC8-8TD model PLC controller, and the robot arm 1, the visual positioning camera 3, the motor 47 and the electric push rod 5 can be freely configured according to the actual application scenario. The robot arm 1 can use the 0707A model electric robot arm, the visual positioning camera 3 can use the M3ST1201M-H model visual positioning camera, the motor 47 can use the D08LD40-48A-30S model motor, and the electric push rod 5 can use the ANT-52 model electric push rod. The PLC controller 13 controls the operation of the robot arm 1, the visual positioning camera 3, the motor 47 and the electric push rod 5 using methods commonly used in the prior art.

[0020] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A plate cutting robot arm with visual positioning, characterized in that: It comprises a mechanical arm (1) and a protective mechanism (4); Robotic arm (1): a laser cutting head (2) and a visual positioning camera (3) are respectively installed at the ends thereof; The protection mechanism (4) comprises a cylinder (41), a separation tube (42) and an air intake pipe (43), wherein the cylinder (41) is arranged at the end of the mechanical arm (1), the lower end of the cylinder (41) is an open structure, the air intake pipe (43) is arranged at the air intake of the outer arc surface of the cylinder (41), the top wall of the cylinder (41) is provided with a separation tube (42), and the lower end of the separation tube (42) is installed with a visual positioning camera (3).

2. A plate cutting robot arm with visual positioning according to claim 1, characterized in that: A PLC controller (13) is provided on the surface of the mounting seat at the lower end of the mechanical arm (1); an input end of the PLC controller (13) is electrically connected to an external power supply; an input end of the mechanical arm (1) is electrically connected to an output end of the PLC controller (13); and an output end of the visual positioning camera (3) is electrically connected to an input end of the PLC controller (13).

3. A plate cutting robot arm with visual positioning according to claim 2, characterized in that: The protection mechanism (4) further comprises a rotating plate (44), wherein the rotating plate (44) is rotatably connected between the outer arc surface of the separation tube (42) and the inner arc surface of the cylinder (41).

4. A plate cutting robot arm with visual positioning according to claim 3, characterized in that: The protection mechanism (4) further comprises an outer gear ring (45), a gear (46) and a motor (47); the outer gear ring (45) and the gear (46) are both rotatably connected to a rotating groove in the middle of the cylinder (41); the outer gear ring (45) and the gear (46) are meshingly connected; the upper end of the rotating plate (44) is fixedly connected to the outer gear ring (45); the motor (47) is arranged on the outer arc surface of the cylinder (41); the output shaft of the motor (47) is fixedly connected to the middle of the gear (46); and the input end of the motor (47) is electrically connected to the output end of the PLC controller (13).

5. The plate cutting robot arm with visual positioning according to claim 2, characterized in that: An electric push rod (5) is provided on the top wall of the cylinder (41); an adjustment plate (6) is provided at the lower end of the telescopic end of the electric push rod (5); a visual positioning camera (3) is installed at the lower end of the adjustment plate (6); and an input end of the electric push rod (5) is electrically connected to an output end of a PLC controller (13).

6. A plate cutting robot arm with visual positioning according to claim 5, characterized in that: Sliding holes on the surface of the adjustment plate (6) are vertically slidably connected to sliding columns (7); a mounting plate (8) is provided between the lower ends of the four sliding columns (7); a visual positioning camera (3) is provided on the lower surface of the mounting plate (8); and springs (9) are provided between the limit plates at the upper ends of the sliding columns (7) and the adjustment plate (6); the springs (9) are movably sleeved on the outer arc surfaces of the sliding columns (7).

7. The plate cutting robot arm with visual positioning according to claim 5, characterized in that: The outer edge of the adjustment plate (6) is provided with a retaining ring (10), the retaining ring (10) is in contact with the inner arc surface of the separation tube (42), and the lower end of the inner arc surface of the separation tube (42) is provided with air holes (11).

8. The plate cutting robot arm with visual positioning according to claim 1, characterized in that: A fixing plate (12) is provided on the upper surface of the cylinder (41), and the fixing plate (12) and the laser cutting head (2) are both arranged on the surface of an adjustment arm at the end of the mechanical arm (1).

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