Six-degree-of-freedom three-dimensional scanning head and fixed-focus fiber laser

Abstract

The invention provides a six-degree-of-freedom three-dimensional scanning head and a fixed-focus fiber laser. The six-degree-of-freedom three-dimensional scanning head comprises a fiber laser head, a stator, a rotor, a shell and a connecting rod, a stator is installed on the shell, a rotor is installed in the stator, and an optical fiber laser head is installed on the rotor. The stator comprises a servo motor, a gear set, a sliding block, an annular guide rail and a gear ring assembly. The annular guide rail is installed on the shell, the gear ring assembly is installed on the annular guide rail, the sliding block is installed on the annular guide rail in a sliding mode, the servo motor is installed on the sliding block, the output end of the servo motor is connected with the gear set, the gear set is meshed with the gear ring assembly, and the sliding block is connected with the rotor through the connecting rod. The device has the high-flexibility space six-degree-of-freedom movement capacity within a small space range, can achieve multi-circle rotation, and can be suitable for small container inner cavity surface laser machining under different scenes by selecting the proper optical fiber laser and cooperating with the additional laser beam right-angle reflection lens.

Description

Technical Field

[0001] The present invention relates to the field of laser processing technology, and in particular to a six-degree-of-freedom three-dimensional scanning head and a fixed-focus fiber laser. Background Art

[0002] Laser processing is a non-contact advanced manufacturing technology based on the interaction between laser and workpiece materials. As the laser processing technology of planar workpieces becomes more and more mature, the demand for laser processing of curved workpieces is also gradually increasing and the working scenarios are wide-ranging. For example, the surface texture of automotive interiors and 3C electronic products, the surface microstructure of complex surface molds, and the surface microstructure of container cavities can all be processed and prepared by laser. Traditional planar laser processing usually uses a combination of a two-dimensional scanning galvanometer and a three-dimensional linear motion platform to achieve uniform, stable and efficient laser processing of large-format planar workpiece surfaces. The combination of a three-dimensional scanning galvanometer and a multi-axis motion platform developed on this basis provides a high-speed and high-precision laser processing method for the surface of curved workpieces, but is limited to the basic structure of the scanning galvanometer. In most cases, traditional laser processing equipment is used for processing the outer surface of the workpiece and cannot be used for processing the inner surface of the container. For example, the three-dimensional scanning head of a laser three-dimensional scanning detector disclosed in patent CN205619881U fails to scan the inner surface of the container. Summary of the invention

[0003] In view of the defects in the prior art, the object of the present invention is to provide a six-degree-of-freedom three-dimensional scanning head and a fixed-focus fiber laser.

[0004] A six-degree-of-freedom three-dimensional scanning head provided by the present invention includes: a fiber laser head, a stator, a mover, a housing and a connecting rod;

[0005] The stator is mounted on the housing, a mover is mounted inside the stator, and the optical fiber laser head is mounted on the mover;

[0006] The stator comprises: a servo motor, a gear set, a slider, an annular guide rail and a gear ring assembly;

[0007] The annular guide rail is installed on the shell, the gear ring assembly is installed on the annular guide rail, the slider is slidably installed on the annular guide rail, the servo motor is installed on the slider, the output end of the servo motor is connected to the gear set, the gear set is meshed with the gear ring assembly, and the slider is connected to the mover through a connecting rod.

[0008] Preferably, the two annular guide rails are coaxially installed on the housing at intervals, and the gear ring assembly is coaxially installed between the two annular guide rails.

[0009] Preferably, the gear ring assembly comprises: a first gear ring and a second gear ring;

[0010] The first gear ring and the second gear ring are coaxially connected to one of the annular guide rails respectively, and teeth are arranged on the inner ring sides of the first gear ring and the second gear ring.

[0011] Preferably, the sliding blocks installed on the two annular guide rails both protrude in a direction away from the middle gear ring assembly and are installed with a servo motor.

[0012] Preferably, the mover comprises: a column;

[0013] The column is installed on the inner ring side of the annular guide rail and has a coaxial center line with the annular guide rail, and the optical fiber laser head is installed on the column.

[0014] Preferably, spherical hinge bases corresponding to the number of sliders on the annular guide rails on both sides are respectively arranged on the circumferential sides of the two ends of the column, and a spherical hinge base is arranged on the slider, and the spherical hinge base of the slider is connected to the spherical hinge base on the column through a connecting rod.

[0015] Preferably, the opening direction of the spherical hinge base on the slider is along the tangent direction of the annular guide rail, and the opening direction of the spherical hinge base on the slider does not point to the servo motor on the same slider.

[0016] Preferably, the multiple spherical hinge bases on both ends of the column are evenly distributed.

[0017] Preferably, a laser beam right-angle reflection lens is installed on the head of the optical fiber laser head.

[0018] The present application starts from the known Stewart configuration parallel platform and makes a modified design, changing the linear motion pairs in each of the six branches into rotational motion pairs, that is, changing from a 6-SPS configuration to a 6-PSS configuration, and setting the rotational motion pairs on the annular guide rail to realize multiple rotations of the Z-axis that cannot be achieved by the traditional Stewart configuration parallel platform. Furthermore, the rotational motion pairs are evenly divided into two groups and the position of the spherical hinge on the mover is modified to improve the size of the motion space, the local motion flexibility and the symmetry of the motion space, so that the device has a high-flexibility spatial six-degree-of-freedom motion capability in a small space.

[0019] Stewart configuration: also known as Stewart platform or parallel robot, is a mechanical system with six adjustable length actuators (usually electric push rods or hydraulic cylinders); these actuators are connected to a fixed base and a mobile platform. By changing the length of the actuators, the position and direction of the mobile platform can be precisely controlled.

[0020] 6-SPS configuration: a specific type of six-DOF parallel robot. "6" means there are six driven legs, and "SPS" represents the connection method of each leg, specifically: S: ball joint, which means that one end of the leg is connected to the base through a spherical joint, allowing full rotation of this point. P: prismatic joint. S: another ball joint, used to connect the other end of the leg to the moving platform, also allowing full rotation. Therefore, 6-SPS means that the entire mechanism consists of six identical legs, each leg is connected to the base and the moving platform through a ball joint at both ends, and the legs themselves have prismatic joints to achieve length adjustment. This configuration ensures that the moving platform can achieve six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom) in space.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. This application has high flexibility in six-degree-of-freedom motion within a small space, and can achieve multiple turns. By selecting a suitable fiber laser and combining it with an additional laser beam right-angle reflection lens, it can be applied to laser processing of the inner cavity surface of small containers in different scenarios;

[0023] 2. The present application is based on the 6-PSS parallel structure of the modified Stewart configuration. In the stator, the annular guide rail is fixed to the gear ring, and the slider cooperates with the annular guide rail to provide the slider with axial and radial bearing capacity and torque. The servo motor installed on the slider establishes a motion chain with the gear ring of the same group through the gear set to provide the slider with movement along the annular guide rail and the gear ring. Each slider is connected to the mover through a connecting rod to form a 6-PSS parallel structure. Therefore, it has certain similar characteristics to the Stewart configuration, has six degrees of freedom in space, has a strong bearing capacity, can carry a large load, and ensures stable positioning and pointing of the fiber laser head during processing;

[0024] 3. The overall structure of the present application is axially symmetrical, compact, and small in size. The outer shell is a cylinder, which is easy to design and install the base. The inside of the mover is also a cylinder. For fiber laser heads of different sizes, they can be installed by adding a cylindrical sleeve, which is easy to design and install. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0026] Figure 1 It is a schematic diagram of the overall structure of the 3D scanning head;

[0027] Figure 2 This is the main view of the 3D scanning head;

[0028] Figure 3A schematic diagram of a 3D scanning head with the fiber laser head and housing hidden;

[0029] Figure 4 Schematic diagram of the typical positions of the slider and the connecting rod;

[0030] Figure 5 This is a working schematic diagram of a 3D scanning head without a laser beam right-angle reflection lens installed;

[0031] Figure 6 Schematic diagram of installing a laser beam right-angle reflection lens for a 3D scanning head;

[0032] Figure 7 Schematic diagram of the structure of the laser beam right-angle reflector;

[0033] As shown in the figure:

[0034]

[0035] DETAILED DESCRIPTION

[0036] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0037] Example 1

[0038] like Figure 1-3 As shown, this embodiment includes: a fiber laser head 1, a stator, a mover, a shell 5 and a connecting rod 7, the stator is installed on the shell 5, the mover is installed in the stator, and the fiber laser head 1 is installed on the mover; the stator includes: a servo motor 3, a gear set 6, a spherical hinge base 8, a slider 9, an annular guide rail 11 and a gear ring assembly; the mover includes: a column 2 and a spherical hinge base 8.

[0039] The housing 5 is configured as a cylindrical housing structure, two annular guide rails 11 are provided and are coaxially spaced and installed on the inner side of the housing 5, and the gear ring assembly is installed between the two annular guide rails 11. The gear ring assembly includes: a first gear ring 4 and a second gear ring 10; the first gear ring 4 and the second gear ring 10 are coaxially connected to an annular guide rail 11 respectively, and the inner ring sides of the first gear ring 4 and the second gear ring 10 are provided with teeth. Three sliders 9 are installed on the two annular guide rails 11, and the servo motor 3 and the spherical hinge base 8 are installed on the sliders 9. The output end of the servo motor 3 is connected to the gear set 6, and the gear set 6 is meshed with the first gear ring 4 or the second gear ring 10.

[0040] Combination Figure 4As shown, the fiber laser head 1 is mounted on a column 2, which is a cylindrical structure, and three evenly distributed spherical hinge bases 8 are respectively arranged on the circumference of both ends of the column 2. The spherical hinge base 8 of the slider 9 is connected to the spherical hinge base 8 on the column 2 through a connecting rod 7.

[0041] In one embodiment, the sliders 9 mounted on the two annular guide rails 11 are protruding in a direction away from the middle gear ring assembly and are mounted with the servo motor 3. That is, except for the portion of the slider 9 that is slidably connected to the annular guide rail 11, the other surfaces for mounting the ball hinge base 8 and the servo motor 3 are located outside the annular guide rail 11, thereby avoiding interference.

[0042] In one embodiment, the opening direction of the spherical hinge base 8 on the slider 9 is along the tangent direction of the annular guide rail 11, and the connecting rod 7 is designed with bends at both ends, so that the spherical hinge base 8 with the opening direction pointing inward can expand the available movement angle of the hinge; the opening direction of the spherical hinge base 8 on the slider 9 does not point to the servo motor 3 on the same slider 9, which is convenient for installation, avoids collision between the connecting rod 7 and other components during operation, and avoids the parallel configuration of this embodiment from being strange.

[0043] The head of the fiber laser head 1 is equipped with a laser beam right-angle reflection lens, such as Figure 5 As shown, it is the case that the laser beam right-angle reflection lens is not installed, and the laser of the fiber laser head 1 is directly emitted along the axial direction, so that the fiber laser head 1 is located at one end of the axial direction of the device to obtain a nearly spherical processing space; Figure 6-7 As shown, the laser beam right-angle reflection lens is installed. The laser beam right-angle reflection lens consists of a base and a reflection lens that matches the wavelength of the fiber laser head 1, wherein the axis of the reflection lens is 45° to the axis of the fiber laser head 1, so that the laser of the fiber laser head 1 is refracted by the laser beam right-angle reflection lens and then emitted toward the side, thereby obtaining an annular processing space of the fiber laser head 1 around the axis of the device; further, according to actual processing needs, different processing spaces can be obtained by replacing reflection lenses of different angles to meet different processing needs.

[0044] Example 2

[0045] Example 2 is a preferred example of Example 1.

[0046] like Figure 1-4 As shown, this embodiment includes:

[0047] The housing 5 is used to fix the entire device and to install and fix the internal stator.

[0048] The stator includes: an annular guide rail 11, a slider 9, a first gear ring 4, a second gear ring 10, a gear set 6, a servo motor 3, a spherical hinge base 8 and required fixing screws, wherein the first gear ring 4 and the second gear ring 10 are respectively installed on an annular guide rail 11 by screws, and the teeth are on the inner sides of the first gear ring 4 and the second gear ring 10; two annular guide rails 11 are provided and fixed on the housing 5 by screws; there is a certain distance between the two annular guide rails 11, and the first gear ring 4 and the second gear ring 10 are located between the two annular guide rails 11; the sliders 9 are divided into two groups, and three sliders are installed on each annular guide rail 11 9, and the two groups of sliders 9 are installed in opposite directions and are located on the opposite side of the first gear ring 4 or the second gear ring 10 of the annular guide rail 11; a gear set 6, a servo motor 3 and a spherical hinge base 8 are installed on each slider 9, wherein the opening direction of the spherical hinge base 8 should be along the tangent direction of the annular guide rail 11 and not point to the servo motor 3 on the same slider 9; the gear set 6 is used to transmit the rotation of the servo motor 3, one end of the gear set 6 is connected to the motor shaft of the servo motor 3 through a flat key, and the gear on the other side of the gear set 6 cooperates with the first gear ring 4 or the second gear ring 10, so that the slider 9 can move along the annular guide rail 11.

[0049] The mover is located on the inner side of the stator and connected to the stator through a connecting rod 7. It is used to install and fix the fiber laser head 1, and includes a column 2, a spherical hinge base 8, and required fixing screws. The column 2 is used to install the fiber laser head 1. The axial position of the fiber laser head 1 can be fine-tuned and the fiber laser head 1 can be fixed by tightening the screws; the six spherical hinge bases 8 are divided into two groups, which are respectively installed on the front and rear sides of the column 2, and three spherical hinge bases 8 are evenly distributed in each group.

[0050] The fiber laser head 1 is installed on the mover, and an additional laser beam right-angle reflection lens can be installed on the head of the fiber laser head 1, which can convert the laser axial emission into radial emission for different processing scenarios.

[0051] The connecting rod 7 connects the mover and the stator through a spherical hinge.

[0052] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0053] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A six-degree-of-freedom three-dimensional scanning head, characterized in that: include: Fiber laser head (1), stator, mover, housing (5) and connecting rod (7); The housing (5) has a stator mounted on it, a mover mounted inside the stator, and the optical fiber laser head (1) mounted on the mover; The stator comprises: a servo motor (3), a gear set (6), a slider (9), an annular guide rail (11) and a gear ring assembly; The annular guide rail (11) is mounted on a housing (5), a gear ring assembly is mounted on the annular guide rail (11), the slider (9) is slidably mounted on the annular guide rail (11), the servo motor (3) is mounted on the slider (9), an output end of the servo motor (3) is connected to a gear set (6), the gear set (6) is meshed with the gear ring assembly, and the slider (9) is connected to the mover via a connecting rod (7).

2. The six-degree-of-freedom three-dimensional scanning head according to claim 1, characterized in that: The two annular guide rails (11) are coaxially installed on the housing (5) at intervals, and the gear ring assembly is coaxially installed between the two annular guide rails (11).

3. The six-degree-of-freedom three-dimensional scanning head according to claim 2, characterized in that: The gear ring assembly comprises: a first gear ring (4) and a second gear ring (10); The first gear ring (4) and the second gear ring (10) are respectively coaxially connected to one of the annular guide rails (11), and teeth are arranged on the inner ring sides of the first gear ring (4) and the second gear ring (10).

4. The six-degree-of-freedom three-dimensional scanning head according to claim 1, characterized in that: The slide blocks (9) installed on the two annular guide rails (11) both protrude in a direction away from the middle gear ring assembly and are equipped with a servo motor (3).

5. The six-degree-of-freedom three-dimensional scanning head according to claim 1, characterized in that: The mover comprises: a column (2); The optical fiber laser head (1) is mounted on the column (2), and spherical hinge bases (8) corresponding to the number of sliders (9) on the annular guide rails (11) on both sides are respectively arranged on the circumferential sides of the two ends of the column (2), and the slider (9) is provided with a spherical hinge base (8), and the spherical hinge base (8) of the slider (9) is connected to the spherical hinge base (8) on the column (2) through a connecting rod (7).

6. The six-degree-of-freedom three-dimensional scanning head according to claim 5, characterized in that: The opening direction of the spherical hinge base (8) on the slider (9) is along the tangent direction of the annular guide rail (11), and the opening direction of the spherical hinge base (8) on the slider (9) does not point to the servo motor (3) on the same slider (9).

7. The six-degree-of-freedom three-dimensional scanning head according to claim 5, characterized in that: A plurality of spherical hinge bases (8) are evenly distributed around the two ends of the column (2).

8. The six-degree-of-freedom three-dimensional scanning head according to claim 5, characterized in that: The column (2) and the shell (5) are both provided with cylindrical structures.

9. The six-degree-of-freedom three-dimensional scanning head according to claim 1, characterized in that: The head of the optical fiber laser head (1) is provided with a laser beam right-angle reflection lens.

10. A fixed-focus fiber laser, characterized in that: A six-degree-of-freedom three-dimensional scanning head as described in claims 1-9 is used.

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