Self-positioning multi-joint type carbon dioxide cutting vehicle based on polar coordinate tail end laser head

Abstract

The invention discloses a self-positioning multi-joint type carbon dioxide cutting vehicle based on a polar coordinate tail end laser head, which relates to the technical field of laser cutting, and is characterized by comprising a mechanical arm module, a tail end polar coordinate laser head, a reflection and heat dissipation system, a Mecanum wheel moving chassis and a self-positioning deviation compensation system, the tail end polar coordinate laser head is mounted at the tail end of the mechanical arm module; the reflection and heat dissipation system is distributed in the mechanical arm module, and the reflection and heat dissipation system is installed above the Mecanum wheel moving chassis; the two self-positioning deviation compensation systems are respectively mounted on one side of the Mecanum wheel moving chassis; the mechanical arm module is installed on one side of the top of the Mecanum wheel moving chassis. The technical problem to be solved by the invention is to provide the self-positioning multi-joint type carbon dioxide cutting vehicle based on the polar coordinate tail end laser head, which is convenient for carbon dioxide cutting.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cutting, and more specifically, to a self-positioning multi-joint type carbon dioxide cutting vehicle based on a polar coordinate end laser head. Background Art

[0002] Laser cutting is an important application technology in the laser processing industry, which has the characteristics of fast cutting speed, high machining accuracy, and narrow cut seam. At the same time, through non-contact machining, the machined workpiece has no mechanical stress and surface damage. This makes laser cutting almost unrestricted by materials and is applied in a wide range of materials such as carbon steel, stainless steel, alloy steel, wood, plastic, rubber, cloth, quartz, ceramics, glass, and composite materials.

[0003] In recent years, with the development of technology, advanced composite materials have been widely used in industrial fields such as aviation, aerospace, shipbuilding, high-speed rail, and automobiles due to their excellent properties such as light weight, high specific strength, and high specific modulus. However, at the same time, their characteristics such as high hardness, high strength, poor thermal conductivity, anisotropy, and discreteness make it difficult for traditional processing methods to meet the high-precision and high-efficiency processing requirements of complex composite material workpieces. Usually, a three-dimensional CO2 laser cutting machine is used to achieve high-efficiency and high-precision processing of large and complex composite material workpieces.

[0004] In the automotive industry, the demand for three-dimensional workpiece cutting increases year by year. Because the carbon dioxide laser generates a large amount of heat and cannot be controlled by optical fibers, multi-degree-of-freedom robotic arms for controlling the hard optical path of carbon dioxide lasers are relatively rare. For example, a ZAC multi-axis optical path integrated automatic focusing three-dimensional five-axis laser cutting head disclosed in a Chinese patent with the application publication number CN116765595 A, and a three-dimensional five-axis laser cutting head disclosed in a Chinese patent with the application publication number CN116765595 A, both achieve control of three degrees of freedom through three motors. However, this device can only achieve three-dimensional cutting well through a three-coordinate displacement device such as a gantry truss. But in the case of cutting the inner cavity, due to the insufficient length of the robotic arm, it cannot penetrate deep inside for cutting. At the same time, in narrow places, due to the structural limitations of the robotic arm, the movable range of the robotic arm joints is small, and the degrees of freedom of the end laser head cannot be achieved.

[0005] At the same time, the above two carbon dioxide robotic arms are based on the traditional robotic arm structure. However, in the structure of a multi-joint multi-degree-of-freedom robotic arm, taking UR5 as an example, when the end effector realizes planar displacement, the overall robotic arm swings greatly at different positions and the joint bending degree is large, resulting in spatial limitations when this structure is used for cutting inside the workpiece cavity.

[0006] Meanwhile, in the robotic arm of the above UR5 architecture, when cutting planar graphics, it will cause a large bending degree of the robotic arm joints, resulting in a reduction in the range of the planar area that the robotic arm can cut itself. As a result, the ratio of the planar cutting range to the arm length becomes larger, greatly reducing the utilization rate of the equipment space, and increasing the restrictions in complex cavities.

[0007] Meanwhile, when the power of the carbon dioxide laser cutting is relatively high, a large amount of heat is generated on the mirror surface. The above equipment cannot guarantee the temperature control of the refraction mirror surface, making it difficult to achieve high-power laser cutting.

[0008] Meanwhile, when realizing the cutting of a large number of small patterns such as round holes, the traditional robotic arm structure requires the linkage control of three or even four degrees of freedom. The overall movement of the robotic arm is large, and it is impossible to move the multi-joints of the robotic arm in a narrow space. At the same time, the control amount is large, the efficiency is low, and the control is complex. And when the movement amount in the xy plane is restricted during the cutting of complex workpieces, it is easy for the laser to be not perpendicular to the cutting surface during non-special planar cutting. Taking round holes as an example, it is easy for the hole wall of the round hole to present a certain taper after cutting.

[0009] Meanwhile, when cutting large automobile shells or the inner side of large cavities, traditional cutting requires the workpiece to be reversed and positioned after the front-side cutting. Currently, the cutting equipment cannot cut based on the side of the cavity and can enter the interior for cutting by means of vehicle-mounted movement. In related fields, such as a self-laying track self-propelled welding machine disclosed in a Chinese patent with the application publication number CN116275775A, the invention discloses a crawler-type track mechanism in terms of equipment movement. This mechanism utilizes the setting of the crawler-type track and, through the magnetism of the bar magnet, ensures the stability of the movement of the welding trolley. On the other hand, it can also avoid the laying of the track, enabling the welding trolley to perform straight-line welding. However, this mechanism cannot achieve self-positioning and pose offset compensation after reaching the designated working location.

[0010] Meanwhile, traditional large automobile shell cutting or semi-cavity cutting equipment all locates based on the positioning elements of the workpiece with reference to the equipment coordinate system. However, this method requires adjusting the workpiece to establish its coordinates based on the equipment's own benchmark. This method requires the workpiece to move to the benchmark elements of the equipment for positioning by itself, resulting in difficulties in workpiece positioning during the processing of large workpieces, requiring a large number of equipment, and reducing productivity and other problems.

[0011] Meanwhile, the hard optical path required for carbon dioxide laser cutting has great limitations on the structure, and there is still no equipment or structure on the market that can solve the above problems. Summary of the Invention

[0012] The technical problem to be solved by the present invention is to provide a self-positioning multi-joint type carbon dioxide cutting vehicle based on a polar coordinate end laser head to facilitate carbon dioxide cutting.

[0013] The present invention realizes the invention purpose by adopting the following technical solutions: A self-positioning multi-joint type carbon dioxide cutting vehicle based on a polar coordinate end laser head, which is characterized in that it includes: a robotic arm module, an end polar coordinate laser head, a reflection and heat dissipation system, a Mecanum wheel mobile chassis, and a self-positioning deviation compensation system; The end polar coordinate laser head is installed at the end of the robotic arm module; the reflection and heat dissipation system is distributed in the robotic arm module, and the reflection and heat dissipation system is installed above the Mecanum wheel mobile chassis; two self-positioning deviation compensation systems are respectively installed on one side of the Mecanum wheel mobile chassis; the robotic arm module is installed on one side of the top of the Mecanum wheel mobile chassis.

[0014] As a further limitation of this technical solution, the robotic arm module includes an A-axis rotation assembly, a B-axis rotation assembly, and a C-axis rotation assembly; The A-axis rotation assembly includes a robotic arm base, an A-axis driving gear, an A-axis driven gear, an A-axis main spindle box, and an A-axis motor; The robotic arm base is installed on the upper side of the vehicle frame, and the A-axis main spindle box is rotatably connected to the robotic arm base through a bearing; the A-axis motor is installed on one side of the A-axis main spindle box and fixedly connected to the input shaft of the A-axis main spindle box. The output shaft of the A-axis main spindle box is fixedly connected to the A-axis driving gear, the A-axis driven gear is fixed to the robotic arm base, and the A-axis driven gear meshes with the A-axis driving gear; The B-axis rotation assembly includes a B-axis main spindle box, a B-axis optical path main shaft, a B-axis motor, an upper small arm module, a lower small arm module, and a B-axis eccentric meshing module; The B-axis main spindle box is installed on the A-axis main spindle box; the B-axis motor is installed on one side of the B-axis main spindle box; the B-axis optical path main shaft is connected to the B-axis main spindle box through a bearing, and the small diameter shaft section of the B-axis optical path main shaft forms a rotatable fit with the B-axis main spindle box; the lower small arm module is fixedly connected to the B-axis optical path main shaft through the B-axis end face connecting plate; the flange of the lower small arm module forms a fit with the contour concave pit of the upper small arm module; the B-axis eccentric meshing module is arranged in the B-axis main spindle box, the B-axis motor is matched with the input end of the B-axis eccentric meshing module, and the B-axis optical path main shaft is matched with the output end of the B-axis eccentric meshing module; The C-axis rotation assembly includes a C-axis optical path main shaft, a C-axis main spindle box, a C-axis eccentric meshing module, and a C-axis motor; The C-axis optical path main shaft is installed on the end face of one end of the small arm upper module; the C-axis optical path main shaft bearing is connected to the C-axis main shaft box; the C-axis motor is installed on the radial side of the C-axis main shaft box; the C-axis eccentric meshing module is installed in the C-axis main shaft box, and the C-axis motor is fixedly connected to the input end of the C-axis eccentric meshing module; the output end of the C-axis eccentric meshing module meshes with the C-axis optical path main shaft. The lower side mirror assembly is arranged in the robotic arm base and fixedly connected to the vehicle frame. One of the middle mirror assemblies is fixedly connected to the B-axis main shaft box, another middle mirror assembly is fixedly connected to the lower end of the small arm lower module, one of the upper side mirror assemblies is fixedly connected to the upper end of the small arm lower module, and another upper side mirror assembly is fixedly connected to the C-axis main shaft box.

[0015] As a further limitation of this technical solution, the Mecanum wheel mobile chassis includes the vehicle frame, Mecanum wheels, a carbon dioxide laser generator, and a storage battery; the corresponding Mecanum wheels are respectively installed at the four corners of the vehicle frame, the vehicle frame is fixedly connected to the carbon dioxide laser generator, the carbon dioxide laser generator is fixedly connected to the storage battery, and the carbon dioxide laser generator is matched with one of the lower side mirror modules.

[0016] As a further limitation of this technical solution, the lower side mirror assembly is arranged at the central position of the robotic arm base, and the reflecting surface faces the laser generating direction of the carbon dioxide laser generator; For the mirror assembly fixed on the B-axis main shaft box, its reflecting surface forms a 45-degree angle with the first axis and the second axis; For the mirror assembly fixed at the lower end of the small arm lower module, its reflecting surface forms a 45-degree angle with the second axis and the axis of the small arm lower module; For the mirror assembly fixedly connected to the upper end of the small arm lower module, its reflecting surface forms a 45-degree angle with the third axis and the axis of the small arm lower module; For the mirror assembly fixed in the C-axis main shaft box, its reflecting surface forms a 45-degree angle with the second axis and the third axis.

[0017] As a further limitation of this technical solution, the reflection and heat dissipation system includes a water-cooled radiator and the mirror assembly; The water-cooled radiator is installed at the middle position on the upper side of the vehicle frame; The mirror assembly includes a reflecting mirror surface, a heat dissipation component, and a frame body; the heat dissipation component includes a heat dissipation disc, a pressure spring, a sealed connection sleeve, a support screw, a spring pressing disc, a spring seat, and an end connection cover; The frame body includes a liquid circulation cavity and a sealed end cover; A cavity is provided inside the liquid circulation cavity; one end of each of the four support screws passes through the reflecting mirror surface and the heat dissipation disc respectively, and is threadedly connected to the liquid circulation cavity, and the reflecting mirror surface is in contact with the heat dissipation disc; Threads are provided at the through hole of the other cross section of the liquid circulation cavity and are connected to the sealing end cover; a through hole is opened on the end surface of the sealing end cover; the shoulder of the large diameter shaft section of the sealing connection sleeve is in contact with the sealing end cover and the liquid circulation cavity; the small diameter shaft section of the sealing connection sleeve is matched with the through hole of the sealing end cover; a through hole is opened at the center of the end surface of the spring pressing disc, and the through hole is matched with the sealing connection sleeve; a through hole is opened at the center of the end surface of the spring seat; the through hole of the spring seat is matched with the small diameter shaft section of the sealing connection sleeve, and the end surface is in contact with the sealing end cover; the pressure spring is sleeved on the small diameter shaft section of the sealing connection sleeve, one end is in contact with the end surface of the spring seat, and the other end is in contact with the spring pressing disc; the end connection cover is matched with the end surface of the sealing connection sleeve.

[0018] As a further limitation of this technical solution, the self-positioning deviation compensation system includes a bracket assembly, a pressure feedback assembly, and an angle rod extension module, and the angle rod extension assembly is installed at the front end of the pressure feedback assembly; the pressure feedback assembly and the angle rod extension module are installed on the bracket assembly; The bracket assembly includes a sliding template and a vertical plate. The sliding template is provided with two guide groove-shaped holes, and a positioning flange is provided on the side of the sliding template, so that the vertical plate is vertically fixed to the sliding template connection to form an assembly with an L-shaped interface; the sliding template is fixedly connected to the vehicle frame; The pressure feedback assembly includes a spring seat, a return spring, a spring pressing ring and a pressure sensor. The spring seat is in contact with one side of the return spring, and the other side of the return spring is matched with the spring pressing ring; one side of the spring pressing ring is a concave disc shape to position the return spring, and the spring pressing ring protrudes to form a rod-shaped contact head, and the rod-shaped contact head passes through the spring seat and the vertical plate; the other side of the spring pressing ring in contact with the return spring is matched with the pressure sensor pressing head; the convex platform of the pressure sensor is matched with the guide groove-shaped hole of the sliding template, and the spring seat contacts the vertical plate; The angle bar extension module includes a sliding plate, a rotating bar bracket, an angle bar, an electric push rod, a push rod bracket A, and a push rod bracket B. A boss is provided in the middle of the sliding plate. One side of the sliding plate is provided with a through hole, and the other side is provided with a slot-shaped hole. The vertical plate is L-shaped and is provided with a through hole for the probe of the return spring to extend out and threaded holes for installing the push rod bracket A and the push rod bracket B. The push rod bracket A and the push rod bracket B are respectively fixedly connected to the electric push rod. The angle bar extends from the cylindrical surface with connecting plates at two angles to form a V shape. Slot-shaped holes are provided on the two extending plates and are respectively matched with the boss in the electric push rod and the sliding plate. A through hole is provided in the cylindrical end face of the angle bar, and a brass sleeve is arranged in the through hole. A connecting screw passes through a fixing washer and the brass sleeve and is threadedly connected to the rotating bar bracket, and the rotating bar bracket is fixedly connected to the sliding template.

[0019] As a further limitation of this technical solution, the end polar coordinate laser head includes an end gear box, an end triple reflection curved path module, a polar coordinate radial displacement module, and an end laser head. The end gear box is fixedly connected to the outside of the C-axis main spindle box. The other end of the end gear box is connected to the lower end of the end triple reflection curved path module. The polar coordinate radial displacement module forms a sliding connection with the end triple reflection curved path module. The lower end of the end laser head is connected to the polar coordinate radial displacement module in the normal direction of its sliding direction. The end gear box is provided with an end driving gear, an end driven gear, and an end rotating motor. The end gear box is connected to the end main spindle box through an end deep groove ball bearing. The end rotating motor is fixedly connected to the end main spindle box, and the output shaft of the end rotating motor passes through the end main spindle box and is fixedly connected to the end driving gear. The end driven gear is fixedly connected to the end gear box, and the end driven gear meshes with the end driving gear. The end selection and grasping motor and the C-axis main spindle box are fixed through a connecting sleeve. The end triple reflection curved path module includes an end reflector, an end large reflector, an end movable reflector, and a curved path part inside the end gear box. The curved path part inside the end gear box has two inflection points. The end reflector is installed on the end face opposite to the connection axis of the end gear box and the C-axis main spindle box. The end movable reflector is fixedly connected to the end linear movement module, and the end large reflector is fixedly connected to the end gear box. The polar coordinate radial displacement module includes a terminal small motor, a terminal lead screw, the terminal linear movement module, a terminal linear driving gear, and a terminal linear driven gear. The terminal linear movement module is provided with a boss that cooperates with a pit of the terminal gearbox to form a sliding connection. The terminal small motor is fixedly connected to the terminal gearbox, and an output shaft of the terminal small motor passes through the terminal gearbox and is fixedly connected to the terminal linear driving gear. The terminal linear driving gear meshes with the terminal linear driven gear, and the terminal linear driven gear is circumferentially fixed to the terminal lead screw. The terminal lead screw is connected to the terminal gearbox through bearings and is matched with an internal thread structure in the terminal linear movement module. The terminal laser head includes a terminal laser head base, a terminal laser head conical cylinder, and a terminal laser head focusing lens. The terminal laser head base is positioned and cooperates with a pit on the terminal linear movement module. The terminal laser head conical cylinder is connected to the terminal laser head base by screwing. The terminal laser head focusing lens is installed inside the terminal laser head conical cylinder.

[0020] Compared with the prior art, the advantages and positive effects of the present invention are as follows: The present invention solves the problems of low production efficiency, poor positioning accuracy, and the need for a large number of devices caused by the need for overall flipping and positioning of large semi-cavity workpieces and large workpieces after processing. In different devices, workpiece cavities, and other complex environments, the present invention obtains its own position by detecting and comparing the offset between the vehicle body and the environment, thereby realizing self-positioning and self-calibration. In the inner cavity of the workpiece, accuracy calibration is achieved in this way, so as to realize the reference positioning of the robotic arm based on programming control and achieve high-precision cutting. It breaks the traditional cutting method based on the fixed machine tool coordinates by positioning the workpiece and realizes a method based on the processing equipment adapting to the workpiece coordinates itself. The present invention solves the problems in workpiece processing, such as in large workpieces like vehicle bodies and vehicle frames, in large-scale planar graphic cutting, where the traditional robotic arm realizes the planar movement of the end through multi-degree-of-freedom joint control, resulting in a large amount of spatial movement of the robotic arm joints themselves, extremely many degrees of freedom control leading to low efficiency, and the inability to perform planar movement at the end in a narrow space. The robotic arm structure in the field of cutting or welding based on the present invention breaks the traditional planar movement method of the robotic arm based on multi-joints or a gantry truss based on xyz displacement. An additional polar coordinate plane is added to the end cutting head, reducing the number of robotic arm joints, thereby reducing the swing range of the robotic arm itself during planar movement and greatly increasing the planar cutting range of the robotic arm. At the same time, during large-scale small graphic cutting, most small graphics can be cut through the terminal polar coordinate system of this device, thus avoiding the control of multiple joints of the robotic arm and greatly improving the cutting efficiency and adaptability to complex cavities. Description of the Drawings

[0021] Figure 1 Isometric view of the present invention.

[0022] Figure 2 Isometric sectional structure schematic diagram of the robotic arm module of the present invention.

[0023] Figure 3 Isometric sectional structure schematic diagram of the B-axis rotation assembly in the robotic arm module of the present invention.

[0024] Figure 4 Isometric sectional structure schematic diagram of the mirror module in the reflection and heat dissipation system of the present invention.

[0025] Figure 5 Isometric structure schematic diagram of the heat dissipation part at the lower end of the mirror module in the reflection and heat dissipation system of the present invention.

[0026] Figure 6 Partially cut-away isometric view of the self-positioning deviation compensation system of the present invention.

[0027] Figure 7 Isometric view of the local components of the self-positioning deviation compensation system of the present invention.

[0028] Figure 8 Isometric view of the individual part of the spring retaining ring of the present invention.

[0029] Figure 9 Isometric sectional structure schematic diagram of the end polar coordinate laser head of the present invention.

[0030] Figure 10 Isometric sectional structure schematic diagram of the linear movement part at the rear side of the end polar coordinate laser head of the present invention.

[0031] Figure 11 Isometric view of the Mecanum wheel of the present invention.

[0032] In the figure: 100, robotic arm module, 101, C-axis main spindle box, 102, C-axis motor, 104, C-axis driven gear, 105, C-axis optical path main shaft, 106, upper module of the small arm, 107, lower module of the small arm, 108, B-axis end connection plate, 109, B-axis optical path main shaft, 111, B-axis main spindle box, 112, B-axis driving gear, 113, B-axis motor, 116, A-axis main spindle box, 119, robotic arm base, 120, C-axis idler shaft, 121, C-axis driving shaft, 122, C-axis driving gear, 123, C-axis idler, 124, B-axis driven gear, 125, B-axis driven shaft, 126, positioning sleeve, 127, B-axis synchronous gear, 128, output gear, 129, A-axis driven gear, 130, A-axis driving gear, 132, A-axis motor; 200. Reflection and heat dissipation system, 2100. Mirror module, 2101. Liquid circulation cavity, 2102. Support screw, 2103. Heat dissipation disc, 2104. Reflective lens, 2105. Small pressure spring, 2106. Compression gasket, 2107. Compression nut, 2109. Sealed connection sleeve, 2110. Sealing washer, 2111. Sealed end cap, 2112. Spring seat, 2113. Pressure spring, 2114. Spring compression disc, 2115. End connection cover, 2116. Pipeline joint, 2117. Compression screw; 300. Self - positioning deviation compensation system, 301. Vertical plate, 302. Sliding module, 303. Sliding plate, 304. Rotating rod bracket, 305. Angle rod, 306. Pressure sensor, 307. Spring compression ring, 308. Return spring, 309. Spring seat, 310. Push rod bracket A, 311. Electric push rod, 312. Push rod bracket B, 313. Connecting screw, 314. Fixed washer, 315. Brass sleeve; 400. End polar coordinate laser head, 401. End gearbox, 402. End small motor, 403. End mirror, 404. End driving gear, 405. End main spindle box, 406. End rotating motor, 407. End deep groove ball bearing, 408. End driven gear, 409. End large mirror, 410. End moving mirror, 411. End moving module, 412. End laser head base, 413. End laser head focusing lens, 414. End laser head conical cylinder, 415. End linear driving gear, 416. End linear driven gear, 417. End lead screw; 500. Mecanum wheel mobile chassis, 501. Frame, 502. Mecanum wheel, 503. Carbon dioxide laser generator, 504. Battery. Detailed implementation mode

[0033] The following combines the accompanying drawings to describe in detail a specific implementation mode of the present invention. However, it should be understood that the protection scope of the present invention is not limited by the specific implementation mode.

[0034] The present invention includes: Robotic arm module 100, end polar coordinate laser head 400, reflection and heat dissipation system 200, Mecanum wheel mobile chassis 500, and self - positioning deviation compensation system 300; The end polar coordinate laser head 400 is installed at the end of the robotic arm module 100; the reflection and heat dissipation system 200 is distributed within the robotic arm module 100, and the reflection and heat dissipation system 200 is installed above the Mecanum wheel mobile chassis 500; two self-positioning deviation compensation systems 300 are respectively installed on one side of the Mecanum wheel mobile chassis 500; the robotic arm module 100 is installed on one side of the top of the Mecanum wheel mobile chassis 500.

[0035] As Figure 2-3 shown, the robotic arm module includes an A-axis rotation assembly, a B-axis rotation assembly, and a C-axis rotation assembly; The A-axis rotation assembly rotates around a first axis (the central axis of the A-axis driven gear 129); the B-axis rotation assembly rotates around a second axis (the central axis of the B-axis optical path main shaft 109); the C-axis rotation assembly rotates around a third axis (the central axis of the C-axis optical path main shaft 105); the A-axis rotation assembly is installed on one side of the top of the Mecanum wheel mobile chassis; the rotation axis of the B-axis rotation assembly is perpendicular to the rotation axis of the A-axis rotation assembly; the rotation axis of the C-axis rotation assembly is perpendicular to the rotation axis of the B-axis rotation assembly; one side of the B-axis rotation assembly is connected to the A-axis rotation assembly; the other side of the B-axis rotation assembly is connected to one side of the C-axis rotation assembly; The A-axis rotation assembly includes a robotic arm base 119, an A-axis driving gear 130, an A-axis driven gear 129, an A-axis main spindle box 116, and an A-axis motor 132; The robotic arm base 119 is installed on the upper side of the vehicle frame 501, and the A-axis main spindle box 116 is rotatably connected to the robotic arm base 119 through a bearing; the A-axis motor 132 is installed on one side of the A-axis main spindle box 116 and fixedly connected to the input shaft of the A-axis main spindle box 116. The output shaft of the A-axis main spindle box 116 is fixedly connected to the A-axis driving gear 130. The A-axis driven gear 129 is fixed to the robotic arm base 119, and the A-axis driven gear 129 meshes with the A-axis driving gear 130; The B-axis rotation assembly includes a B-axis main spindle box 111, a B-axis optical path main shaft 109, a B-axis motor 113, an upper small arm module 106, a lower small arm module 107, and a B-axis eccentric meshing module; The B-axis spindle box 111 is mounted on the A-axis spindle box 116; the B-axis motor 113 is mounted on one side of the B-axis spindle box 111; the B-axis optical path spindle 109 is connected to the B-axis spindle box 111 through bearings, and the small-diameter shaft section of the B-axis optical path spindle 109 forms a rotatable fit with the B-axis spindle box; the lower arm module 107 is fixedly connected to the B-axis optical path spindle 109 through the B-axis end face connecting plate 108; the flange of the lower arm module 107 forms a fit with the contour recess of the upper arm module 106; the B-axis eccentric meshing module is arranged in the B-axis spindle box 111, the B-axis motor 113 is matched with the input end of the B-axis eccentric meshing module, and the B-axis optical path spindle 109 is matched with the output end of the B-axis eccentric meshing module; The B-axis eccentric meshing module includes a B-axis driven gear 124, a B-axis driven shaft 125, a positioning sleeve 126, a B-axis driving gear 112, and a B-axis synchronous gear 127; the B-axis driving gear 112 is fixedly connected to the output shaft of the B-axis motor 113; the B-axis driven gear 124 meshes with the B-axis driving gear 112; the B-axis driven gear 124 and the B-axis synchronous gear 127 are respectively fixedly connected to one end of the B-axis driven shaft 125; the positioning sleeve 126 is mounted on the B-axis driven shaft 125 to separate the B-axis driven gear 124 from the B-axis synchronous gear 127, and the B-axis driven shaft 125 is connected to the B-axis spindle box 111 through bearings; The B-axis synchronous gear 127 meshes with an output gear 128, and the output gear 128 is fixedly connected to the B-axis optical path spindle 109; The C-axis rotating assembly includes a C-axis optical path spindle 105, a C-axis spindle box 101, a C-axis eccentric meshing module, and a C-axis motor 102; The C-axis optical path spindle 105 is mounted on the end face of one end of the upper arm module 106; the C-axis optical path spindle 105 is connected to the C-axis spindle box 101 through bearings; the C-axis motor 102 is mounted on the radial side of the C-axis spindle box 101; the C-axis eccentric meshing module is mounted in the C-axis spindle box 101, and the C-axis motor 101 is fixedly connected to the input end of the C-axis eccentric meshing module; the output end of the C-axis eccentric meshing module meshes with the C-axis optical path spindle 105; The C-axis meshing module includes a C-axis driving shaft 121, a C-axis driving gear 122, a C-axis driven gear 104, a C-axis idler shaft 120, and a C-axis idler gear 123; The bearing of the C-axis driving shaft 121 is connected to the C-axis main spindle box 101. The C-axis driving shaft 121 is fixedly connected to the output shaft of the C-axis motor 102, and the C-axis driving shaft 121 is fixedly connected to the C-axis driving gear 122. The bearings connected to the C-axis idle gear shaft 120 are fixed to the C-axis main spindle box 101, and the C-axis idle gear shaft 120 is matched with the through hole opened on the end face of the C-axis idle gear 123. The through hole opened on the end face of the C-driven gear 104 is matched with the C-axis optical path main shaft 105. The C-axis driving gear 122 meshes with the C-axis idle gear 123, and the C-axis idle gear 120 meshes with the C-driven gear 104.

[0036] The lower side mirror assembly 2100 is arranged in the robotic arm base 119 and fixedly connected to the vehicle frame 501. One of the middle mirror assemblies 2100 is fixedly connected to the B-axis main spindle box 111, another middle mirror assembly 2100 is fixedly connected to the lower end of the lower arm sub-module 107, one of the upper side mirror assemblies 2100 is fixedly connected to the upper end of the lower arm sub-module 107, and another upper side mirror assembly 2100 is fixedly connected to the C-axis main spindle box 101.

[0037] In the A-axis main spindle box 116, the A-axis driving gear 130 meshes with the A-axis driven gear 129. The A-axis motor 132 drives the A-axis driving gear 130 to rotate, so that the A-axis driving gear 130 rotates around the A-axis driven gear 129, thereby causing the A-axis main spindle box 116 to rotate around the first axis. The B-axis rotation assembly and the C-axis rotation assembly are realized to rotate following the A-axis main spindle box 116.

[0038] The B-axis synchronous gear 127 of the eccentric meshing assembly in the B-axis main spindle box 111 meshes with the output gear 128 on the B-axis optical path main shaft 109. When the power is input by the B-axis motor 113, the B-axis driving gear 112 rotates, driving the B-axis driven gear 124 to rotate. The movement is transmitted to the B-axis synchronous gear 127 through the B-axis driven shaft 125. At the same time, the B-axis synchronous gear 127 meshes with the output gear 128, so that the output gear 128 drives the B-axis optical path main shaft 109 to rotate, thereby rotating around the second axis. At the same time, to ensure the axial isolation between the B-axis synchronous gear 127 and the B-axis driven gear 124, the shaft box positioning is realized by setting the positioning sleeve 126. The B-axis optical path main shaft 109 drives the swing arm of the lower arm sub-module 117, and the contour step of the lower arm sub-module 117 is matched with the contour flange of the upper arm sub-module 106. There are stepped round holes at both ends of the lower arm sub-module 117, so as to be connected with the mirror module 2100, realizing the swing of the upper arm sub-module 106 and the corresponding mirror module 2100, and realizing the swing of the C-axis rotation assembly following the upper arm sub-module 106.

[0039] The C-axis driven gear 104 provided on the C-axis optical path main shaft 105 meshes with the eccentric meshing component C-axis driving gear 122 in the C-axis main spindle box 101. When the C-axis driving gear 122 in the eccentric meshing component in the C-axis main spindle box 101 is powered by the C-axis motor 102, the C-axis driving gear 122 transmits the power to the C-axis idler gear 120 via the C-axis idler gear 123, so that the C-axis driven gear 104 drives the C-axis main spindle box 101 itself to rotate around the C-axis; at the same time, in order to minimize the radial dimension of the C-axis as much as possible, the present invention uses the C-axis idler gear 120 for transmission here to reduce the radial dimensions of the C-axis driving gear 122 and the C-axis driven gear 104.

[0040] Here, the present invention is a hard optical path structure for carbon dioxide laser cutting, and the following technologies are adopted by this group: The laser is transmitted along the axial direction from the base 119 and irradiates the mirror module 2100 provided in the B-axis main spindle box 111. Here, the mirror module 2100 is fixed to the B-axis main spindle box 111, so that the reflection direction of the mirror module 2100 here will not rotate due to the rotation of the B-axis optical path main shaft 109 by the B-axis motor 113; the laser is reflected along the B-axis axial direction through the mirror module 2100 in the B-axis main spindle box 111 to the mirror module 2100 at one end where the lower arm module 107 is connected to the B-axis optical path main shaft 109; here, the mirror module 2100 is fixed to the lower arm module 107, and at the same time, the reflection direction of the mirror module 2100 is the axial direction of the lower arm module 107, so that the reflection direction of the mirror module 2100 here will rotate with the rotation of the lower arm module 107, and the laser is reflected to the mirror module 2100 provided at the other end of the lower arm module 107; the mirror module 2100 at one end where the lower arm module 107 is connected to the C-axis optical path main shaft 105, and the mirror 2100 here is fixed to the lower arm module 107; so that the reflection direction of the mirror module 2100 here is always the axial direction of the C-axis optical path main shaft 105; the laser is reflected to the mirror module 2100 provided in the C-axis main spindle box 101 through the optical path main shaft, and the mirror module 2100 here is fixed to the C-axis main spindle box 101, so that the reflection direction of the mirror module 2100 always faces the end polar coordinate laser head 400.

[0041] The Mecanum wheel mobile chassis 500 includes the vehicle frame 501, Mecanum wheels 502, a carbon dioxide laser generator 503 and a storage battery 504; the Mecanum wheels 502 are respectively installed at the four corners of the vehicle frame 501, the vehicle frame 501 is fixedly connected to the carbon dioxide laser generator 503, the carbon dioxide laser generator 503 is fixedly connected to the storage battery 504, and the carbon dioxide laser generator 503 is matched with one of the lower mirror modules 2100.

[0042] The storage battery 504 supplies power to the carbon dioxide laser generator 503 and the whole machine motor; the precise displacement of the device of the present invention is carried out through the characteristics of the Mecanum wheel 502 itself.

[0043] The lower mirror assembly 2100 is arranged at the central position of the robotic arm base 119, and the 45-degree reflecting surface faces the laser generating direction of the carbon dioxide laser generator 503; For the mirror assembly 2100 fixed on the B-axis main spindle box 111, its 45-degree reflecting surface forms a 45-degree angle with the first axis and the second axis; For the mirror assembly 2100 fixed at the lower end of the lower arm sub-module 107, its 45-degree reflecting surface forms a 45-degree angle with the second axis and the axis of the lower arm sub-module 107; For the mirror assembly 2100 fixedly connected to the upper end of the lower arm sub-module 107, its 45-degree reflecting surface forms a 45-degree angle with the third axis and the axis of the lower arm sub-module 107; For the mirror assembly 2100 fixed inside the C-axis main spindle box 101, its 45-degree reflecting surface forms a 45-degree angle with the second axis and the third axis.

[0044] Referring to FIGS. 4-5, the reflection and heat dissipation system 200 includes a water-cooled radiator and the mirror assembly 2100; The water-cooled radiator is installed at the middle position on the upper side of the vehicle frame 501; The mirror assembly 2100 includes a reflecting mirror surface 2104, a heat dissipation assembly and a frame body; the heat dissipation assembly includes a heat dissipation disc 2103, a pressure spring 2113, a small pressure spring 2105, a sealed connection sleeve 2109, a support screw 2102, a compression nut 2107, a spring compression disc 2114, a spring seat 2112, an end connection cover 2115, a compression screw 2117; The frame body includes a liquid circulation cavity 2101 and a sealed end cover 2111; A cavity is provided in the liquid circulation cavity 2101, and both end faces form a 45-degree angle, and through holes are opened at both end faces and connected to the cavity; one end of each of the four support screws 2102 respectively passes through the corresponding small pressure spring 2105, the reflecting mirror surface 2104 and the heat dissipation disc 2103, and is threadedly connected to the liquid circulation cavity 2101, the reflecting mirror surface 2104 is attached to the heat dissipation disc 2103, the small pressure spring 2105 is attached to the reflecting mirror surface 2104, and by screwing the compression nut 2107 into the support screw 2102, an axial pressure is applied to the small pressure spring 2105, so as to press the heat dissipation disc 2103 and the reflecting mirror surface 2104 to ensure good attachment; Threads are provided at another cross-sectional through-hole of the liquid circulation cavity 2101 for connection with the sealing end cover 2111; a through-hole is provided on the end face 2111 of the sealing end cover; the axial cross-section of the sealing connection sleeve 2109 is in a T shape; the shoulder of the large-diameter shaft section of the sealing connection sleeve 2109 fits against the surface of the sealing end cover 2111 and the liquid circulation cavity 2101 in contact therewith; the small-diameter shaft section of the sealing connection sleeve 2109 is matched with the through-hole of the sealing end cover 2111; a through-hole is provided at the center of the end face of the spring pressing disc 2114, and the through-hole is matched with the sealing connection sleeve 2109; a through-hole is provided at the center of the end face of the spring seat 2112; the through-hole of the spring seat 2112 is matched with the small-diameter shaft section of the sealing connection sleeve 2109, and the end face is attached to the sealing end cover 2111; the pressure spring 2113 is sleeved on the small-diameter shaft section of the sealing connection sleeve 2109, with one end attached to the end face of the spring seat 2112 and the other end attached to the spring pressing disc 2114; two threaded holes for matching with the pipeline joint 2116 and two threaded holes for screwing in the pressing screw 2117 are provided at the end of the end connection cover 2115; the end connection cover 2115 is matched with the end face of the sealing connection sleeve 2109; the pressing screw 2117 is screwed into the two threaded holes on the end face of the end connection cover 2115, and the end of the pressing screw 2117 is matched with the spring pressing disc 2114. By screwing in the pressing screw 2117, axial pressure is applied to the spring pressing disc 2114, and due to the pressure of the pressure spring 2113, the shoulder at the large-diameter shaft section of the sealing connection sleeve 2109 is tightly attached to the end face of the sealing end cover 2111.

[0045] A pressing gasket 2106 is provided between the pressing nut 2107 and the small pressure spring 2105.

[0046] A sealing washer 2110 is provided between the sealing connection sleeve 2109 and the sealing end cover 2111.

[0047] The self-positioning deviation compensation system 300 includes a bracket assembly, a pressure feedback assembly, and an angle rod extension module. The angle rod extension assembly is installed at the front end of the pressure feedback assembly; the pressure feedback assembly and the angle rod extension module are installed on the bracket assembly. The bracket assembly includes a sliding template 302 and a vertical plate 301. The sliding template 302 is provided with two guide groove-shaped holes, and a positioning flange is provided on the side of the sliding template 302, so that the vertical plate 301 is vertically fixed to the sliding template 302 to form an assembly with an L-shaped interface; the sliding template 302 is fixedly connected to the vehicle frame 501. The pressure feedback component includes a spring seat 309, a return spring 308, a spring retaining ring 307, and a pressure sensor 306. The spring seat 309 is in contact with one side of the return spring 308, and the other side of the return spring 308 is engaged with the spring retaining ring 307. One side of the spring retaining ring 307 is a concave disc shape for positioning the return spring 308, and the spring retaining ring 307 protrudes to form a rod-shaped contact head that passes through the spring seat 309 and the vertical plate 301. The other side of the spring retaining ring 307 in contact with the return spring 308 is engaged with the pressure sensor tip 306. The boss of the pressure sensor 306 is engaged with the guide groove-shaped hole of the sliding template 302, and the spring seat 309 contacts the vertical plate 301. The angle rod extension module includes a sliding plate 303, a rotating rod bracket 304, an angle rod 305, an electric push rod 311, a push rod bracket A 310, and a push rod bracket B 312. A boss is provided in the middle of the sliding plate 303, a through hole is opened on one side, and a groove-shaped hole is opened on the other side. The vertical plate 301 is L-shaped, with a through hole for the probe of the return spring 308 to extend out and threaded holes for installing the push rod bracket A 310 and the push rod bracket B 312. The push rod bracket A 310 and the push rod bracket B 312 are respectively fixedly connected to the electric push rod 311. The angle rod 305 extends from the cylindrical surface with two-angle connecting plates to form a V shape. Groove-shaped holes are provided on the two extending plates, which are respectively engaged with the boss of the electric push rod 311 and the sliding plate 303. A through hole is opened on the cylindrical end surface of the angle rod 305, and a brass sleeve 315 is arranged in the through hole. A connecting screw 313 passes through a fixing washer 314 and the brass sleeve 315 and is threadedly connected to the rotating rod bracket 304, and the rotating rod bracket 304 is fixedly connected to the sliding template 302.

[0048] Self-positioning deviation compensation system. It is pushed out by the electric push rod 311, driving the angle rod 305 to rotate, so that the sliding plate 302 slides in the slot-shaped hole where the boss of the sliding plate 302 cooperates with the angle rod 305, to compensate for the displacement variable caused by the arc of the angle rod 305. Since both sides of the sliding plate 302 cooperate with the pressure sensors 306, and at the same time the pressure sensors 306 cooperate with the slot-shaped hole of the sliding template 302 through the boss, and the spring retaining ring 307 cooperates with the push rod bracket A310, when the sliding plate 302 slides in the slot-shaped hole where the boss of the sliding plate 302 cooperates with the angle rod 305 to compensate for the displacement variable caused by the arc of the angle rod 305, the sliding plate 303 moves along the detection rod direction of the spring retaining ring 307, so that the pressure sensor 306 displaces along the axis direction of the detection rod; at the same time, in terms of the mechanical structure, when the detection rods of the two-sided spring retaining rings 307 extend differently, the sliding plate 302 forms an oblique line through the cooperation of the slot-shaped hole on the other side of the sliding plate 302 and the pressure sensor 306, and displacement compensation is carried out through the slot-shaped hole; at the same time, when the pressure sensor 306 displaces, it drives the detection rod part of the spring retaining ring 307 to extend, and at the same time the return spring 308 starts to be tightened, and the pressure sensor 306 will detect a change in torque.

[0049] When the device of the present invention enters along the inner cavity side of the vehicle frame 501, the operator moves the present invention to a position near the welding. The detection heads in the two spring retaining rings 307 on the side of the vehicle body start to extend. After the detection heads of the spring retaining rings 307 touch the workpiece, they will stop. Because of the force feedback given by the return spring 308 to the pressure sensor 306, the pressure sensor 306 in the self-positioning deviation compensation system 300 can feedback to the system through the continuously changing spring pressure, and then detect the extension amount of the detection rod part of the spring retaining ring 307. The present invention performs curve fitting through MATLAB with multiple experimental data to obtain the program of the extension amount and the change amount of the spring pressure. At the same time, when the detection head of the spring retaining ring 307 touches the workpiece, the torque change detected by the pressure sensor 306 will suddenly increase, so as to detect the extension amount of the detection rod of the spring retaining ring 307; the self-positioning deviation compensation system 300 obtains its own pose deviation amount through the straight-line movement amount of the vehicle itself and when the intersection line of the plane where the two detection rods are located and the workpiece is a straight line, through the different extension amounts of the detection rods of the two spring retaining rings 307; when the intersection line of the plane where the two detection rods are located and the workpiece is a curve or a broken line, through the different extension amounts of the detection rods of the two spring retaining rings 307, and then through its own movement amount, the extension amount of the detection rod, and the input system workpiece model data for calculation, to obtain the extension amount Y of the detection rod when the movement amount is X. By comparing the detected real-time extension amount Yo with the calculated Y, the self-pose deviation amount is obtained. At the same time, its own position is located, and then the pose is adjusted through the Mecanum wheel mobile chassis 500.

[0050] Such as Figure 7 And 8As shown in the figure, the end polar coordinate laser head includes an end gearbox 401, an end triple reflection curved path module, a polar coordinate radial displacement module, and an end laser head. The end gearbox 401 is fixedly connected to the outside of the C-axis main spindle box 101; the other end of the end gearbox 401 is connected to the lower end of the end triple reflection curved path module; the polar coordinate radial displacement module is slidably connected to the end triple reflection curved path module; the lower end of the end laser head is connected to the polar coordinate radial displacement module in the normal direction of its sliding direction. The end gearbox 401 is provided with an end driving gear 404, an end driven gear 408, and an end rotating motor 406. The end gearbox 401 is connected to the end main spindle box 405 through an end deep groove ball bearing 407. The end rotating motor 406 is fixedly connected to the end main spindle box 405. The output shaft of the end rotating motor 406 passes through the end main spindle box 405 and is fixedly connected to the end driving gear 404; the end driven gear 408 is fixedly connected to the end gearbox 401, and the end driven gear 408 meshes with the end driving gear 404; the end selective grasping motor and the C-axis main spindle box are fixed through a connecting sleeve.

[0051] The end triple reflection curved path module includes an end mirror 403, an end large mirror 409, an end moving mirror 410, and a curved path part inside the end gearbox 401. The curved path part inside the end gearbox has two inflection points; the end mirror 403 is installed on the end face opposite to the connection axis of the end gearbox 401 and the C-axis main spindle box 101; the end moving mirror 410 is fixedly connected to the end linear movement module 411, and the end large mirror 409 is fixedly connected to the end gearbox 401. The end large mirror 409 and the end moving mirror 410 are located at the two inflection points of the curved path part inside the end gearbox 401. The polar coordinate radial displacement module includes an end small motor 402, an end lead screw 417, the end linear movement module 411, an end linear driving gear 415, and an end linear driven gear 416. The end linear movement module 411 is provided with a boss that cooperates with the pit of the end gearbox 401 to form a sliding connection; the end small motor 402 is fixedly connected to the end gearbox 401, and the output shaft of the end small motor 402 passes through the end gearbox 401 and is fixedly connected to the end linear driving gear 415; the end linear driving gear 415 meshes with the end linear driven gear 416, and the end linear driven gear 416 is circumferentially fixed to the end lead screw 417; the end lead screw 417 is connected to the end gearbox 401 through bearings, and the end lead screw 417 cooperates with the internal thread structure in the end linear movement module 411. The end laser head includes an end laser head base 412, an end laser head conical cylinder 414, and an end laser head focusing lens 413. The end laser head base 412 is positioned and cooperates with the end linear motion module 411 through the pit thereon; the end laser head conical cylinder 414 is connected to the end laser head base 412 by screwing; the end laser head focusing lens 413 is installed inside the end laser head conical cylinder 414.

[0052] When the end rotation motor 406 drives the end driving gear 404 to rotate, it drives the end driven gear 408 to rotate, thereby driving the end gearbox 401 to rotate; the rotation of the end small motor 402 is transmitted through the meshing of the end linear driving gear 415 and the end linear driven gear 416, causing the end lead screw 417 to rotate, thereby driving the end laser head to perform linear motion.

[0053] Here, the following technologies are used in the present invention to adapt to the characteristics of the hard optical path for carbon dioxide laser transmission: When the laser enters the end polar coordinate laser head 400, it first hits the end large mirror 409, and then refracts to the end mirror 403 in the curved path of the end gearbox 401. After two reflections, the laser hits the end moving mirror 410, and then is reflected by the end moving mirror 410 to the end laser head focusing lens 413; the end moving mirror 410 here will move along with the movement of the end moving module 411, thereby realizing the planar movement of the laser.

[0054] Reference Figure 1-5 and Figure 9, the refraction and scattering system includes a carbon dioxide generator 503, a B-axis optical path main shaft 109, a C-axis optical path main shaft 105, a mirror assembly 2100, an end triple reflection curved path module, an end laser head, and a water-cooled radiator; the carbon dioxide laser generator 503 generates a laser beam that is directed to the mirror assembly 2100 in the robotic arm base 119; the mirror assembly 2100 in the robotic arm base 119 reflects the laser beam through the A-axis main spindle box 116 to the mirror assembly 2100 in the B-axis main spindle box 111, and the mirror assembly 2100 in the B-axis main spindle box 111 reflects the laser beam through the B-axis optical path main shaft 109 to the mirror assembly 2100 at one end of the lower forearm module 107; in the lower forearm module 107, the mirror assembly 2100 at the end connected to the B-axis optical path main shaft 109 reflects the laser beam to the mirror assembly 2100 at the other end of the lower forearm module 107; the mirror assembly 2100 at the other end of the lower forearm module 107 reflects the laser beam through the C-axis optical path main shaft 105 to the mirror assembly 2100 inside the C-axis main spindle box 101; the mirror assembly 2100 inside the C-axis main spindle box 101 reflects the laser beam to the reflection curved path in the end gear box 401; in the reflection curved path of the end gear box 401, when the laser beam enters the end polar coordinate laser head, it first hits the end large mirror 409, and then refracts to the end mirror 403 in the curved path of the end gear box. After two reflections, the laser beam hits the end moving mirror 410, and then is reflected by the end moving mirror 410 to the focusing lens 413 of the end laser head; the end moving mirror 410 moves with the movement of the end moving module 411, thus realizing the planar movement of the laser beam.

[0055] The pipeline joint 2116 is connected to the water-cooled radiator through a pipeline to dissipate heat from the mirror assembly 2100.

[0056] The specific embodiments of the present invention disclosed above are only for illustration. However, the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A self-positioning multi-jointed carbon dioxide cutting vehicle based on a polar coordinate terminal laser head, characterized in that: include: A robotic arm module (100), a terminal polar coordinate laser head (400), a reflection and heat dissipation system (200), a Mecanum wheel mobile chassis (500), and a self-positioning deviation compensation system (300); The terminal polar coordinate laser head (400) is mounted at the end of the robot module (100); the reflection and heat dissipation system (200) is distributed in the robot module (100), and the reflection and heat dissipation system (200) is mounted above the Mecanum wheel mobile chassis (500); the two self-positioning deviation compensation systems (300) are respectively mounted on one side of the Mecanum wheel mobile chassis (500); and the robot module (100) is mounted on one side of the top of the Mecanum wheel mobile chassis (500).

2. The self-positioning multi-jointed carbon dioxide cutting vehicle based on the polar coordinate terminal laser head according to claim 1 is characterized in that: The robot arm module includes an A-axis rotation component, a B-axis rotation component and a C-axis rotation component; The A-axis rotating assembly comprises a robot arm base (119), an A-axis driving gear (130), an A-axis driven gear (129), an A-axis spindle box (116) and an A-axis motor (132); The robot arm base (119) is mounted on the upper side of the frame (501); the A-axis spindle box (116) and the robot arm base (119) are rotatably connected via a bearing; the A-axis motor (132) is mounted on one side of the A-axis spindle box (116) and fixedly connected to an input shaft of the A-axis spindle box (116); the output shaft of the A-axis spindle box (116) is fixedly connected to the A-axis driving gear (130); the A-axis driven gear (129) is fixed to the robot arm base (119); and the A-axis driven gear (129) meshes with the A-axis driving gear (130); The B-axis rotating assembly comprises a B-axis spindle box (111), a B-axis optical path spindle (109), a B-axis motor (113), an upper forearm module (106), a lower forearm module (107), and a B-axis eccentric meshing module; The B-axis spindle box (111) is installed on the A-axis spindle box (116); the B-axis motor (113) is installed on one side of the B-axis spindle box (111); the B-axis optical path spindle (109) is connected to the B-axis spindle box (111) via a bearing, and the small diameter shaft section of the B-axis optical path spindle (109) forms a rotatable fit with the B-axis spindle box; the lower arm module (107) is fixedly connected to the B-axis optical path spindle (109) via the B-axis end surface connecting plate (108); the flange of the lower arm module (107) forms a fit with the contour pit of the upper arm module (106); the B-axis eccentric meshing module is arranged in the B-axis spindle box (111), the B-axis motor (113) cooperates with the input end of the B-axis eccentric meshing module, and the B-axis optical path spindle (109) cooperates with the output end of the B-axis eccentric meshing module; The C-axis rotating assembly comprises a C-axis optical path spindle (105), a C-axis spindle box (101), a C-axis eccentric meshing module, and a C-axis motor (102); The C-axis optical path spindle (105) is mounted on an end surface of the upper module (106) of the forearm; the C-axis optical path spindle (105) is connected to the C-axis spindle box (101) by a bearing; the C-axis motor (102) is mounted on one radial side of the C-axis spindle box (101); the C-axis eccentric meshing module is mounted in the C-axis spindle box (101), and the C-axis motor (101) is fixedly connected to the input end of the C-axis eccentric meshing module; the output end of the C-axis eccentric meshing module meshes with the C-axis optical path spindle (105); A lower reflector assembly (2100) is arranged in the robot arm base (119) and fixedly connected to the frame (501); a middle reflector assembly (2100) is fixedly connected to the B-axis spindle box (111); another middle reflector assembly (2100) is fixedly connected to the lower end of the lower arm module (107); an upper reflector assembly (2100) is fixedly connected to the upper end of the lower arm module (107); and another upper reflector assembly (2100) is fixedly connected to the C-axis spindle box (101).

3. The self-positioning multi-jointed carbon dioxide cutting vehicle based on the polar coordinate terminal laser head according to claim 2 is characterized in that: The Mecanum wheel mobile chassis (500) comprises the vehicle frame (501), a Mecanum wheel (502), a carbon dioxide laser generator (503) and a battery (504); the four corners of the vehicle frame (501) are respectively equipped with corresponding Mecanum wheels (502); the vehicle frame (501) is fixedly connected to the carbon dioxide laser generator (503); the carbon dioxide laser generator (503) is fixedly connected to the battery (504); and the carbon dioxide laser generator (503) matches a reflector module (2100) on the lower side.

4. The self-positioning multi-jointed carbon dioxide cutting vehicle based on the polar coordinate terminal laser head according to claim 3 is characterized in that: The lower reflector assembly (2100) is arranged at the center of the mechanical arm base (119), and the 45-degree reflective surface faces the laser generation direction of the carbon dioxide laser generator (503); The reflector assembly (2100) fixed on the B-axis spindle box (111) has a 45-degree reflective surface that maintains an angle of 45 degrees with the first axis and the second axis; The reflector assembly (2100) is fixed to the lower end of the lower arm module (107), and its 45-degree reflective surface maintains an angle of 45 degrees with the second axis and the axis of the lower arm module (107); The reflector assembly (2100) is fixedly connected to the upper end of the lower arm module (107), wherein a 45-degree reflective surface thereof maintains an angle of 45 degrees with the third axis and the axis of the lower arm module (107); The reflector assembly (2100) fixed in the C-axis spindle box (101) has a 45-degree reflective surface that maintains an angle of 45 degrees with the second axis and the third axis.

5. The self-positioning multi-jointed carbon dioxide cutting vehicle based on the polar coordinate terminal laser head according to claim 3 is characterized in that: The reflection and heat dissipation system (200) comprises a water-cooled radiator and the reflector assembly (2100); The water cooling radiator is installed at a middle position on the upper side of the vehicle frame (501); The reflector assembly (2100) comprises a reflector surface (2104), a heat dissipation assembly and a frame; the heat dissipation assembly comprises a heat dissipation plate (2103), a pressure spring (2113), a sealing connection sleeve (2109), a support screw (2102), a spring pressure plate (2114), a spring seat (2112), and an end connection cover (2115); The frame comprises a liquid circulation cavity (2101) and a sealing end cover (2111); A cavity is provided in the liquid circulation cavity (2101); one end of the four support screws (2102) passes through the reflective mirror (2104) and the heat dissipation plate (2103) respectively, and is threadedly connected to the liquid circulation cavity (2101); the reflective mirror (2104) and the heat dissipation plate (2103) are in contact with each other; A thread is provided at the through hole of another section of the liquid circulation cavity (2101) and connected to the sealing end cover (2111); a through hole is provided on the end surface (2111) of the sealing end cover; the shoulder of the large diameter shaft section of the sealing connection sleeve (2109) is in contact with the sealing end cover (2111) and the liquid circulation cavity (2101); the small diameter shaft section of the sealing connection sleeve (2109) is matched with the through hole of the sealing end cover (2111); the spring pressure plate 2114 A through hole is opened at the center of the end face, and the through hole cooperates with the sealing connection sleeve (2109); a through hole is opened at the center of the end face of the spring seat (2112); the through hole of the spring seat (2112) cooperates with the small diameter shaft section of the sealing connection sleeve (2109), and the end face is fitted with the sealing end cover (2111); the pressure spring (2113) is inserted into the small diameter shaft section of the sealing connection sleeve (2109), one end is fitted with the end face of the spring seat (2112), and the other end is fitted with the spring pressure plate (2114); the end connection cover (2115) cooperates with the end face of the sealing connection sleeve (2109).

6. The self-positioning multi-jointed carbon dioxide cutting vehicle based on the polar coordinate terminal laser head according to claim 3 is characterized in that: The self-positioning deviation compensation system (300) comprises a bracket assembly, a pressure feedback assembly, and an angle rod extension module, wherein the angle rod extension assembly is mounted at the front end of the pressure feedback assembly; the pressure feedback assembly and the angle rod extension module are mounted on the bracket assembly; The support assembly comprises a sliding template (302) and a vertical plate (301); the sliding template (302) is provided with two guide slot-shaped holes; a positioning flange is provided on the side of the sliding template (302), so that the vertical plate (301) is vertically fixed to the sliding template (302) to form an assembly with an L-shaped interface; the sliding template (302) is fixedly connected to the vehicle frame (501); The pressure feedback assembly comprises a spring seat (309), a return spring (308), a spring pressure ring (307) and a pressure sensor (306); the spring seat (309) is fitted with one side of the return spring (308), and the other side of the return spring (308) is matched with the spring pressure ring (307); one side of the spring pressure ring (307) is a concave disc to position the return spring (308), and the spring pressure ring (307) protrudes to form a rod-shaped contact, and the rod-shaped contact passes through the spring seat (309) and the vertical plate (301); the spring pressure ring (307) contacts the return spring (308) and the other side is matched with the pressure sensor pressure head (306); the boss of the pressure sensor (306) is matched with the guide slot hole of the sliding template (302), and the spring seat (309) contacts the vertical plate (301); The angle rod extension module comprises a sliding plate (303), a rotating rod bracket (304), an angle rod (305), an electric push rod (311), a push rod bracket A (310), and a push rod bracket B (312); the sliding plate (303) has a boss in the middle, and one side of the two sides has a through hole, and the other side has a slotted hole; the vertical plate (301) is L-shaped, and has a through hole for the probe in the reset spring (308) to extend and a threaded hole for the push rod bracket A (310) and the push rod bracket B (312) to be installed; the push rod bracket A (310) and the push rod bracket B (312) are respectively The electric push rod (311) is fixedly connected, and the angle rod (305) extends from the cylindrical surface with two connecting plates at angles to form a V shape. The two extending plates are provided with slotted holes, which respectively cooperate with the electric push rod (311) and the bosses in the sliding plate (303); a through hole is opened on the cylindrical end surface of the angle rod (305), and a brass sleeve (315) is arranged in the through hole. The connecting screw (313) passes through the fixing washer (314) and the brass sleeve (315) to be threadedly connected to the rotating rod bracket (304), and the rotating rod bracket (304) is fixedly connected to the sliding template (302).

7. The self-positioning multi-jointed carbon dioxide cutting vehicle based on the polar coordinate terminal laser head according to claim 1 is characterized in that: The terminal polar coordinate laser head comprises a terminal gear box (401), a terminal three-reflection curved path module, a polar coordinate radial displacement module and a terminal laser head, wherein the terminal gear box (401) is fixedly connected to the outside of the C-axis spindle box (101); the other end of the terminal gear box (401) is connected to the lower end of the terminal three-reflection curved path module; the polar coordinate radial displacement module is slidably connected to the terminal three-reflection curved path module; and the lower end of the terminal laser head is connected to the polar coordinate radial displacement module in the normal direction of its sliding direction; The terminal gearbox (401) is provided with a terminal driving gear (404), a terminal driven gear (408) and a terminal rotating motor (406); the terminal gearbox (401) is connected to the terminal spindle box (405) via a terminal deep groove ball bearing (407); the terminal rotating motor (406) is fixedly connected to the terminal spindle box (405); the output shaft of the terminal rotating motor (406) passes through the terminal spindle box (405) and is fixedly connected to the terminal driving gear (404); the terminal driven gear (408) is fixedly connected to the terminal gearbox (401), and the terminal driven gear (408) meshes with the terminal driving gear (404); the terminal selection motor is fixed to the C-axis spindle box via a connecting sleeve; The terminal triple reflection curved path module comprises a terminal reflection mirror (403), a terminal large reflection mirror (409), a terminal movable reflection mirror (410), and a curved path portion inside the terminal gear box (401), wherein the curved path portion inside the terminal gear box has two inflection points; the terminal reflection mirror (403) is mounted on an end face opposite to the connection axis between the terminal gear box (401) and the C-axis spindle box (101); the terminal movable reflection mirror (410) is fixedly connected to the terminal linear movement module (411), and the terminal large reflection mirror (409) is fixedly connected to the terminal gear box (401); The polar coordinate radial displacement module comprises a terminal small motor (402), a terminal lead screw (417), the terminal linear motion module (411), a terminal linear driving gear (415), and a terminal linear driven gear (416); the terminal linear motion module (411) is provided with a boss that cooperates with a recess of the terminal gear box (401) to form a sliding connection; the terminal small motor (402) is fixedly connected to the terminal gear box (401); the output shaft of the terminal small motor (402) passes through the terminal gear box (401) and is fixedly connected to the terminal linear driving gear (415); the terminal linear driving gear (415) is meshed with the terminal linear driven gear (416), and the terminal linear driven gear (416) is circumferentially fixed to the terminal lead screw (417); the terminal lead screw (417) is connected to the terminal gear box (401) by a bearing, and the terminal lead screw (417) cooperates with the internal thread structure in the terminal linear motion module (411); The terminal laser head comprises a terminal laser head base (412), a terminal laser head conical cylinder (414), and a terminal laser head focusing lens (413); the terminal laser head base (412) is positioned by a recess on the terminal linear motion module (411) and cooperates with the recess; the terminal laser head conical cylinder (414) is connected to the terminal laser head base (412) by screwing in; and the terminal laser head focusing lens (413) is installed inside the terminal laser head conical cylinder (414).

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