A kind of robot auxiliary transmission mechanism

Abstract

The present application discloses a robot-assisted transmission mechanism, which relates to the technical field of robot-assisted processing equipment, and includes a base plate and a panel, wherein the base plate is used to be fixed on the robot, and the panel is used to install a laser cutting head. A support seat is fixedly arranged on the base plate, and a left-handed arm and a right-handed arm are rotatably arranged on the support seat. Motors for driving the left-handed arm and the right-handed arm to rotate are respectively arranged on the base plate, and a left connecting rod is rotatably arranged on the left-handed arm, and a right connecting rod is rotatably arranged on the right-handed arm. A connecting block is fixedly arranged on the panel, and both the left connecting rod and the right connecting rod are rotatably connected to the connecting block. A guide mechanism is arranged on the base plate, and the guide mechanism is used to keep the control panel and the base plate always parallel. The robot-assisted transmission mechanism of the present application can improve the motion accuracy and flexibility of the laser cutting head without changing the original robot, and meet the production and processing needs of high-precision products.

Description

Technical Field

[0001] The present application relates to the technical field of robot-assisted processing equipment, and in particular to a robot-assisted transmission mechanism. Background Art

[0002] Laser cutting equipment is widely used in metal processing, automobile manufacturing and other fields, and achieves efficient material cutting through high-precision laser beams. The development of this technology has significantly improved production efficiency and product quality, reduced the need for manual operation, and promoted the automation process of the manufacturing industry. With the advancement of industrial technology, laser cutting equipment has gradually become an indispensable part of modern factories, not only increasing production speed, but also reducing production costs to a certain extent.

[0003] At present, most common laser cutting equipment on the market uses a robot to drive the laser cutting knife to operate. This design not only improves production efficiency, but also greatly reduces the need for manual operation. However, with the continuous improvement of the manufacturing industry's requirements for product quality and technical level, many traditional robots drive the movement of laser cutting knives. Although they can meet the processing of some large-sized parts, in the process of precision parts processing, especially for some small and complex circular holes and other special structures, traditional robots are difficult to accurately control the movement trajectory of the laser cutting knife, resulting in the inability to meet the current production and processing needs of high-precision products. If all these robots are eliminated and replaced, this will undoubtedly greatly increase the cost of the equipment. Therefore, how to make traditional robots meet the current production and processing needs of high-precision products without eliminating traditional robots has become a technical problem that needs to be solved urgently in the current industry. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present application provides a robot auxiliary transmission mechanism.

[0005] The present application provides a robot auxiliary transmission mechanism, which adopts the following technical solution:

[0006] A robot arm auxiliary transmission mechanism comprises a base plate and a panel, the base plate is used to be fixed on the robot arm, the panel is used to install a laser cutting head, a support seat is fixedly arranged on the base plate, a left rotary arm and a right rotary arm are rotatably arranged on the support seat, the rotation axes of the left rotary arm and the right rotary arm are parallel, motors for driving the left rotary arm and the right rotary arm to rotate are respectively arranged on the base plate, a left connecting rod is rotatably arranged on the left rotary arm, and a right connecting rod is rotatably arranged on the right rotary arm, a connecting block is fixedly arranged on the panel, the left connecting rod and the right connecting rod are both rotatably connected to the connecting block, and the rotation axes of the left connecting rod and the right connecting rod are parallel to the rotation axis of the left rotary arm, and a guide mechanism is arranged on the base plate, and the guide mechanism is used to control the panel and the base plate to always keep parallel.

[0007] Optionally, the guiding mechanism includes a mounting block, a guide rail and a slider, the mounting block is slidably set on the base plate, the guide rail is fixedly set on the panel, the slider is slidably set on the guide rail, and the slider is fixedly connected to the mounting block, and the length direction of the guide rail is parallel to the upper end surface of the base plate.

[0008] Optionally, a mounting column is fixedly provided on the base plate, a guide hole is opened at the end of the mounting column, a shaft rod is slidably inserted into the guide hole, and the shaft rod is fixedly connected to the mounting block.

[0009] Optionally, a clamping groove is provided on the mounting block, the clamping groove is adapted to the shaft rod, a clamping plate is integrally formed on the mounting block, and the shaft rod is clamped in the clamping groove, and a locking bolt is also provided on the mounting block for clamping the shaft rod with the clamping plate.

[0010] Optionally, each of the electric motors is provided with a corresponding reducer, the output shaft of the electric motor is fixedly connected to the input shaft of the corresponding reducer, and the output shaft of the reducer is connected to the corresponding left-hand arm or right-hand arm.

[0011] Optionally, a protective cover is fixedly installed on the base plate, the motor and the reducer are both arranged in the protective cover, a shell cover is fixedly installed on the panel, the mounting block, guide rail and slider are all arranged in the shell cover, and the shell cover is provided with a mounting opening for the mounting column to pass through.

[0012] Optionally, a placement groove for placing the shell cover is provided on the shield, and the placement groove is adapted to the shell cover.

[0013] Optionally, a guard plate is fixedly disposed on the bottom plate, and a fixing piece for fixing the panel is disposed on the guard plate.

[0014] Optionally, the connecting end of the left connecting rod, the left swing arm and the connecting block, and the connecting end of the right connecting rod, the right swing arm and the connecting block are all provided with bearings.

[0015] In summary, the present application includes at least one of the following beneficial technical effects:

[0016] 1. The robot arm auxiliary transmission mechanism of the present application can improve the movement accuracy and flexibility of the laser cutting head without changing the original robot arm, so as to meet the production and processing needs of high-precision products. Specifically: the auxiliary transmission mechanism is fixed on the robot arm, and the laser cutting head is installed on the panel of the auxiliary transmission mechanism. When the robot arm is working normally, it drives the auxiliary transmission mechanism and the laser cutting head to move together to cut the workpiece; when it is necessary to cut some precise and small graphics, the movement of the robot arm is stopped, and then the left and right arms are driven by the motor to rotate respectively, and the panel is driven to move forward, backward, left and right by the change of the angle of the left connecting rod and the right connecting rod. At the same time, the guide mechanism is used to ensure that the panel is always parallel to the bottom plate no matter how it moves, and then the laser cutting knife on the panel is used to achieve rapid cutting of precise and small graphics, so as to meet the production and processing needs of high-precision products.

[0017] 2. The present application controls the mounting block to slide in a direction perpendicular to the base plate, fixes the guide rail on the panel, and slides the slider on the guide rail and is fixedly connected to the mounting block, thereby preventing the panel from tilting during movement and ensuring that the panel always remains parallel to the base plate during movement, thereby ensuring the accuracy and stability of the laser cutting head during the processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0019] Figure 2 It is a schematic diagram of the structure of the left-handed arm and the right-handed arm in the embodiment of the present application;

[0020] Figure 3 is a schematic diagram of the structure of the motor used in the embodiment of the present application;

[0021] Figure 4 is an exploded diagram of the structure of the left connecting rod used in the embodiment of the present application;

[0022] Figure 5 is a cross-sectional view of the overall structure of an embodiment of the present application;

[0023] Figure 6 It is a structural schematic diagram used to express the guiding mechanism in an embodiment of the present application;

[0024] Figure 7 It is a structural schematic diagram used to express the connection relationship between the shaft rod and the mounting block in an embodiment of the present application.

[0025] Explanation of the accompanying drawings: 1. Base plate; 11. Support seat; 111. Connecting shaft; 12. Left-hand arm; 13. Right-hand arm; 14. Left connecting rod; 141. Connecting plate; 142. Side plate; 143. Mounting hole; 144. Press plate; 15. Right connecting rod; 16. Guard plate; 161. Fixing piece; 17. Connecting groove; 18. Mounting column; 181. Guide hole; 19. Shaft; 2. Panel; 21. Connecting block; 22. Shell cover; 221. Mounting port; 3. Guard cover; 31. Motor; 32. Reducer; 33. Placement groove; 4. Bearing; 41. Rotating shaft; 5. Mounting groove; 6. Guide mechanism; 61. Mounting block; 611. Clamping groove; 612. Clamping plate; 613. Locking bolt; 62. Guide rail; 63. Slider. DETAILED DESCRIPTION

[0026] The following will be combined with the attached Figure 1 -Attached Figure 7 , the technical solutions in the embodiments of the present invention are clearly and completely described. The described embodiments are only possible technical implementations of the present invention, not all possible implementations. Those skilled in the art can completely combine the embodiments of the present invention to obtain other embodiments without creative work, and these embodiments are also within the scope of protection of the present invention.

[0027] The inventor of this application found that although the traditional robot arm drives the movement of the laser cutting knife, it can meet the processing needs of some large-sized parts. However, in the process of precision parts processing, especially for some small and complex round holes and other special structures, the traditional robot arm is difficult to accurately control the movement trajectory of the laser cutting knife, resulting in the inability to meet the current production and processing needs of high-precision products. If all these robots are eliminated and replaced, this will undoubtedly greatly increase the equipment cost. For this reason, this application adopts and discloses a robot arm auxiliary transmission mechanism, which can improve the movement accuracy and flexibility of the laser cutting head without changing the original robot arm, so as to meet the production and processing needs of high-precision products. The following schemes are mainly adopted:

[0028] The present application embodiment discloses a robot hand auxiliary transmission mechanism. Figure 1 , 2, including a base plate 1 and a panel 2, the base plate 1 is used to be fixed on the robot arm, the panel 2 is used to install the laser cutting head, a shield 3 is fixedly arranged on the base plate 1, a support seat 11 is fixedly arranged on the base plate 1 by bolts, a left-hand swing arm 12 and a right-hand swing arm 13 are rotatably arranged on both sides of the support seat 11, the left-hand swing arm 12 has the same structure as the right-hand swing arm 13, a left connecting rod 14 is rotatably arranged on the left-hand swing arm 12, and a right connecting rod 15 is rotatably arranged on the right-hand swing arm 13, the left connecting rod 14 has the same structure as the right connecting rod 15, a connecting block 21 is fixedly arranged on the panel 2 by bolts, the left connecting rod 14 and the right connecting rod 15 are both rotatably connected to the connecting block 21, and the rotation axes of the left connecting rod 14 and the right connecting rod 15 are parallel to the rotation axis of the left swing arm 12.

[0029] Reference Figure 1 A guard plate 16 is fixed to the base plate 1 by bolts, and a fixing member 161 for fixing the panel 2 is arranged on the guard plate 16. The fixing member 161 adopts a fixing bolt. A first through hole for the fixing bolt to pass through is opened on the guard plate 16, and a threaded hole compatible with the fixing bolt is opened on the panel 2. When the auxiliary transmission mechanism is not needed, the panel 2 is fixed to the guard plate 16 by the fixing bolt to ensure the stability of the laser cutting head.

[0030] Reference Figure 1 , 3 Two motors 31 are fixedly arranged in the shield 3, and each motor 31 is respectively provided with a reducer 32. The output shaft of the motor 31 is fixedly connected to the input shaft of the corresponding reducer 32, and the output shaft of one reducer 32 is fixedly connected to the rotating shaft of the left-handed arm 12, which is used to drive the left-handed arm 12 to rotate, and the output shaft of the other reducer 32 is fixedly connected to the right-handed arm 13, which is used to drive the right-handed arm 13 to rotate. When in use, both motors 31 are connected to the control system of the robot arm to accurately control the operation of the two motors 31. The motor 31 is a servo motor with fast response speed and high control accuracy. The reducer 32 is a planetary gear reducer 32 with a small size and high transmission efficiency. The function of the reducer 32 is to reduce the rotation speed and increase the torque, so that the movement of the left-handed arm 12 and the right-handed arm 13 is smoother and more precise. The reducer 32 has sufficient lubricating oil inside, and runs smoothly without noise.

[0031] Reference Figure 2The connecting end of the left connecting rod 14, the left swing arm 12 and the connecting block 21, and the connecting end of the right connecting rod 15, the right swing arm 13 and the connecting block 21 are all provided with bearings 4. Bearing 4 is a ball bearing with low friction coefficient and long service life. The inner ring and outer ring of bearing 4 are made of high-quality steel, and the surface is heat-treated with high hardness. The inside of bearing 4 is filled with a proper amount of grease, and it is replaced regularly to maintain the best performance. The setting of bearing 4 can significantly reduce the friction of the rotating parts of each component, making the movement of each component smoother, improving the smoothness and stability of the movement, and extending the service life.

[0032] Reference Figure 2 , 4 The left connecting rod 14 includes a connecting plate 141 and side plates 142 arranged on both sides of the connecting plate 141. The left swing arm 12 and the connecting block 21 are arranged between the two side plates 142. The two side plates 142 are provided with the first two mounting holes 143, the mounting holes 143 are adapted to the bearing 4, and a bearing 4 is installed in each mounting hole 143. A rotating shaft 41 is passed through each bearing 4, and a mounting groove 5 for inserting the rotating shaft 41 is provided on the left swing arm 12 and the connecting block 21. The mounting groove 5 is adapted to the rotating shaft 41. The two ends of the left connecting rod 14 are also fixed with pressure plates 144 by bolts, and the pressure plates 144 prevent the bearing 4 from falling off from the mounting holes 143. The right connecting rod 15 has the same structure as the left connecting rod 14, and also includes a connecting plate 141 and side plates 142 arranged on both sides of the connecting plate 141. The right swing arm 13 and the connecting block 21 are arranged between the two side plates 142 of the right connecting rod 15, and the right swing arm 13 and the connecting block 21 are also provided with a mounting groove 5 for inserting the rotating shaft 41 on the right connecting rod 15.

[0033] Reference Figure 3 The connection ends of the support seat 11 and the left-handed arm 12 and the right-handed arm 13 are also equipped with bearings 4. Specifically, two connecting shafts 111 are rotatably penetrated on the support seat 11, and the two connecting shafts 111 correspond to the left-handed arm 12 and the right-handed arm 13 one by one. The two connecting shafts 111 are sleeved with bearings 4, and the left-handed arm 12 and the right-handed arm 13 are provided with connecting grooves 17 for placing the bearings 4 on the support seat 11, and the connecting grooves 17 are adapted to the bearings 4 on the support seat 11.

[0034] Reference Figure 5 , 6, a guide mechanism 6 is provided on the bottom plate 1, and the guide mechanism 6 is used to keep the panel 2 parallel to the bottom plate 1. Specifically, the guide mechanism 6 includes a mounting block 61, a guide rail 62 and a slider 63. A mounting column 18 is fixed on the bottom plate 1 by bolts, and the length direction of the mounting column 18 is perpendicular to the upper end surface of the bottom plate 1. A guide hole 181 is provided at the end of the mounting column 18 away from the bottom plate 1 along the length direction of the mounting column 18, and a shaft rod 19 is slidably penetrated in the guide hole 181, and the length direction of the shaft rod 19 is perpendicular to the upper end surface of the bottom plate 1. The mounting block 61 is fixed on the shaft rod 19, and the slider 63 is fixed on the mounting block 61 by bolts. The guide rail 62 is fixed at the bottom end of the panel 2 by bolts, and the slider 63 is slidably set on the guide rail 62 along the length direction of the guide rail 62, and the length direction of the guide rail 62 is parallel to the upper end surface of the bottom plate 1, and the length direction of the guide rail 62 is perpendicular to the rotation axis of the left swing arm 12.

[0035] The sliding direction of the mounting block 61 is controlled by the shaft 19 and the mounting column 18, and the panel 2 can be moved in a direction parallel to the base plate 1 through the setting of the slider 63 and the guide rail 62, thereby meeting the requirements of precision machining of the workpiece; and through the mutual cooperation of the shaft 19, the guide rail 62 and the slider 63, the panel 2 is effectively prevented from tilting during the movement, ensuring that the panel 2 always remains parallel to the base plate 1 during the movement, and the position and angle of the laser cutting head on the panel 2 can be accurately located, thereby ensuring the accuracy and stability of the laser cutting head during the processing.

[0036] Reference Figure 7 In order to facilitate the assembly and disassembly and maintenance of the equipment, the shaft rod 19 is detachably connected to the mounting block 61. Specifically, the mounting block 61 is made of metal material and has certain elastic properties. A clamping groove 611 is provided on the mounting block 61, and the clamping groove 611 is adapted to the shaft rod 19. A clamping plate 612 is integrally formed on the mounting block 61. A locking bolt 613 is also provided on the mounting block 61. A second through hole for the locking bolt 613 to pass through is provided on the clamping plate 612, and a threaded hole adapted to the locking bolt 613 is provided on the mounting block 61. The shaft rod 19 is inserted into the clamping groove 611 of the mounting block 61, and the locking bolt 613 is tightened so that the clamping plate 612 clamps the shaft rod 19, thereby completing the fixation of the shaft rod 19 and the mounting block 61.

[0037] Reference Figure 5The bottom end of the panel 2 is fixed with a shell cover 22 by bolts. The mounting block 61, the guide rail 62 and the slider 63 are all arranged in the shell cover 22. The shell cover 22 is provided with a mounting opening 221 for the mounting column 18 to pass through. The design of the shell cover 22 is mainly to protect the internal parts from the influence of the external environment, to prevent the entry of external dust and debris, and to extend the service life of the equipment. The protective cover 3 is provided with a placement groove 33 for placing the shell cover 22. The placement groove 33 is adapted to the shell cover 22. When the auxiliary transmission mechanism is in the standby state, by placing the shell cover 22 in the placement groove 33 of the protective cover 3, it is convenient to locate the initial position of the panel 2.

[0038] The implementation principle of a robot auxiliary transmission mechanism in the embodiment of the present application is as follows: the bottom plate 1 of the auxiliary transmission mechanism is fixed on the robot, and the laser cutting head is installed on the panel 2 of the auxiliary transmission mechanism. When the robot is working normally, it drives the auxiliary transmission mechanism and the laser cutting head to move together to cut the workpiece; when it is necessary to cut some precise and small graphics, the movement of the robot is stopped, and then the left and right arms 12 and 13 are driven to rotate by the motor 31 respectively, and the front, back, left and right movement of the panel 2 is driven by the angle change of the left connecting rod 14 and the right connecting rod 15. At the same time, the panel 2 is prevented from tilting during the movement process through the mutual cooperation of the shaft rod 19, the guide rail 62 and the slider 63, ensuring that the panel 2 is always in a parallel state with the bottom plate 1 no matter how it moves, and the position and angle of the laser cutting head on the panel 2 are accurately positioned to ensure the accuracy and stability of the laser cutting head during the processing process, and to achieve rapid cutting of precise and small graphics. Thus, without changing the original robot, the movement accuracy and flexibility of the laser cutting head are improved to meet the production and processing needs of high-precision products.

[0039] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot auxiliary transmission mechanism, characterized in that: The invention comprises a bottom plate (1) and a panel (2), wherein the bottom plate (1) is used to be fixed on a robot arm, and the panel (2) is used to install a laser cutting head. A support seat (11) is fixedly arranged on the bottom plate (1), and a left-handed arm (12) and a right-handed arm (13) are rotatably arranged on the support seat (11). The rotation axes of the left-handed arm (12) and the right-handed arm (13) are parallel. The bottom plate (1) is respectively provided with motors (31) for driving the left-handed arm (12) and the right-handed arm (13) to rotate. The left-handed arm (12) and the right-handed arm (13) are respectively provided with motors (31) for driving the left-handed arm (12) and the right-handed arm (13) to rotate. A left connecting rod (14) is rotatably arranged on the right rotating arm (13), a right connecting rod (15) is rotatably arranged on the right rotating arm (13), a connecting block (21) is fixedly arranged on the panel (2), the left connecting rod (14) and the right connecting rod (15) are both rotatably connected to the connecting block (21), and the rotation axes of the left connecting rod (14) and the right connecting rod (15) are both parallel to the rotation axis of the left rotating arm (12), and a guiding mechanism (6) is arranged on the bottom plate (1), and the guiding mechanism (6) is used to control the panel (2) to always remain parallel to the bottom plate (1); The guide mechanism (6) comprises a mounting block (61), a guide rail (62) and a slider (63); the mounting block (61) is slidably arranged on the bottom plate (1); the guide rail (62) is fixedly arranged on the panel (2); the slider (63) is slidably arranged on the guide rail (62); the slider (63) is fixedly connected to the mounting block (61); and the length direction of the guide rail (62) is parallel to the upper end surface of the bottom plate (1); A mounting column (18) is fixedly arranged on the bottom plate (1), a guide hole (181) is opened at the end of the mounting column (18), a shaft rod (19) is slidably inserted into the guide hole (181), and the shaft rod (19) is fixedly connected to the mounting block (61).

2. The robot-assisted transmission mechanism according to claim 1, characterized in that: The mounting block (61) is provided with a clamping groove (611), the clamping groove (611) being adapted to the shaft rod (19), a clamping plate (612) being integrally formed on the mounting block (61), and the shaft rod (19) being clamped in the clamping groove (611), and a locking bolt (613) being provided on the mounting block (61) for enabling the clamping plate (612) to clamp the shaft rod (19).

3. The robot-assisted transmission mechanism according to claim 1, characterized in that: Each of the motors (31) is correspondingly provided with a reducer (32); the output shaft of the motor (31) is fixedly connected to the input shaft of the corresponding reducer (32); and the output shaft of the reducer (32) is connected to the corresponding left-handed arm (12) or right-handed arm (13).

4. The robot-assisted transmission mechanism according to claim 3, characterized in that: A shield (3) is fixedly arranged on the base plate (1), the motor (31) and the reducer (32) are both arranged in the shield (3), a shell cover (22) is fixedly arranged on the panel (2), the mounting block (61), the guide rail (62) and the slider (63) are all arranged in the shell cover (22), and the shell cover (22) is provided with a mounting opening (221) for allowing the mounting column (18) to pass through.

5. The robot-assisted transmission mechanism according to claim 4, characterized in that: The protective cover (3) is provided with a placement groove (33) for placing the shell cover (22), and the placement groove (33) is adapted to the shell cover (22).

6. The robot-assisted transmission mechanism according to claim 5, characterized in that: A guard plate (16) is fixedly arranged on the bottom plate (1), and a fixing member (161) for fixing the panel (2) is arranged on the guard plate (16).

7. The robot-assisted transmission mechanism according to claim 1, characterized in that: The connecting end of the left connecting rod (14) with the left swing arm (12) and the connecting block (21), and the connecting end of the right connecting rod (15) with the right swing arm (13) and the connecting block (21) are both provided with bearings (4).

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