Laser cutting mechanical arm capable of cooling

Abstract

The invention discloses a laser cutting mechanical arm capable of cooling, and belongs to the technical field of mechanical arms, the laser cutting mechanical arm comprises a mechanical arm body, a vibration detection unit, a control unit and a cooling liquid conveying unit; the vibration detection unit is arranged on the mechanical arm body and comprises a piezoelectric type electric control vibration sensor, and the piezoelectric type electric control vibration sensor is electrically connected with the control unit; and the control unit is used for receiving an output value of the vibration detection unit and regulating and controlling the amount of the cooling liquid output by the cooling liquid conveying unit, so that the amount of the cooling liquid required by the mechanical arm during laser cutting operation is dynamically regulated, dynamic self-adaptive regulation and control of the output amount of the cooling liquid are realized, and the cooling intensity is regulated in real time according to vibration changes in the cutting process. The problem that a traditional fixed cooling mode is not matched with the actual cooling requirement is effectively solved, and core components are prevented from being damaged due to overheating caused by insufficient cooling.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, specifically to a robotic arm for laser cutting that can be cooled. Background Technology

[0002] Laser cutting technology, with its advantages of high precision and high efficiency, is widely used in the field of machining. The robotic arm used in laser cutting is the core execution component, and its operational stability directly affects the cutting quality. During laser cutting, the laser and laser cutting head generate continuous vibrations, and the vibration intensity dynamically changes with the cutting conditions. Simultaneously, the core heat-generating components continuously accumulate heat. If this heat cannot be dissipated in time, it will affect the operational stability and lifespan of the equipment.

[0003] Existing cooling systems for robotic arms used in laser cutting mostly employ fixed modes to regulate coolant output, lacking the ability to dynamically adapt to vibration conditions and making it difficult to adjust cooling intensity in real time according to vibration changes during the cutting process. Furthermore, some cooling systems have redundant structures, relying on the coordinated control of multiple components. This not only increases the risk of equipment failure but also leads to a mismatch between coolant output and actual cooling demand, causing core components to be prone to overheating damage due to insufficient cooling or wasting energy due to excessive cooling.

[0004] It is worth noting that the temperature sensors commonly used in traditional dynamic cooling solutions have significant limitations: the transmission and detection of temperature signals have an inherent lag, making it impossible to respond promptly to instantaneous changes in heat load caused by sudden changes in working conditions during laser cutting (such as cutting through the material or changing the cutting path), easily leading to situations of "untimely cooling" or "overcooling"; at the same time, the high temperature and dust in the laser cutting environment can easily affect the detection accuracy of temperature sensors. In contrast, the vibration signal during laser cutting is directly related to the cutting load and heat input intensity. Changes in vibration intensity can reflect the dynamic changes in cutting conditions in real time, and its response speed is much faster than that of temperature signals. Moreover, vibration sensors have strong anti-interference capabilities, are flexible in installation, and are more suitable for the complex working conditions of laser cutting. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic arm for laser cutting that can be cooled, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: including a robotic arm body, a vibration detection unit, a control unit, and a coolant delivery unit; The vibration detection unit is mounted on the robotic arm body and includes a piezoelectric electronically controlled vibration sensor, which is electrically connected to the control unit. The control unit receives the output value of the vibration detection unit and regulates the amount of coolant output from the coolant delivery unit, thereby dynamically adjusting the amount of coolant required by the robotic arm during laser cutting operations. include: The vibration calculation module receives the vibration amplitude output by the vibration detection unit and calculates the vibration rate of change. The vibration control module calculates the power output of the coolant delivery drive component based on the vibration change rate and transmits it to the cooling delivery unit through the controller. The coolant delivery unit includes a variable frequency water pump and an electric actuator for controlling the switching of the variable frequency water pump. The electric actuator receives a controller signal and adjusts the opening amount of the variable frequency water pump, thereby controlling the output of coolant and realizing dynamic adjustment of coolant. As a further preferred embodiment of this technical solution: the vibration detection unit detects the vibration signal of the core vibration region of the robotic arm through a piezoelectric electronically controlled vibration sensor, wherein the core vibration region is the connection between the laser housing and the laser cutting head barrel; The piezoelectric electronically controlled vibration sensor adopts a rigid bonding and fixing method. Its installation position is adjacent to the mounting housing of the cooling circulation component. It can convert mechanical vibration signals into electronic control signals and output them to the control unit. As a further preferred embodiment of this technical solution: the piezoelectric electronically controlled vibration sensor is set in the core vibration area of ​​the robotic arm body to collect vibration signals in real time during the laser cutting operation, and the detection response of the sensor is adapted to the dynamic working conditions of laser cutting. As a further preferred embodiment of this technical solution: the control unit takes the main controller as its core carrier, and the main controller has a built-in interference signal filtering module to filter out irrelevant vibration interference generated during the operation of the robotic arm, so as to ensure the accuracy of vibration detection signals and subsequent control commands; As a further preferred embodiment of this technical solution: the vibration calculation module is integrated inside the main controller. The vibration calculation module establishes a signal transmission relationship with the piezoelectric electronically controlled vibration sensor to receive vibration detection signals. After signal conversion, amplitude calculation, and data buffering, the vibration change rate is calculated in real time and output to the vibration control module. As a further preferred embodiment of this technical solution: the vibration control module is integrated inside the main controller and establishes signal transmission relationships with the vibration calculation module and the electric actuator respectively. It is used to receive vibration change rate parameters, calculate the power output parameters of the coolant delivery drive component in combination with preset quantitative control logic, and convert them into control commands to be transmitted to the electric actuator. As a further preferred embodiment of this technical solution: the vibration calculation module calculates the real-time vibration amplitude based on the electrical control signal output by the piezoelectric electronically controlled vibration sensor, and then calculates and outputs the vibration change rate per unit time based on multiple continuously collected vibration amplitude data; As a further preferred embodiment of this technical solution: the vibration control module presets a vibration change rate threshold range, classifies and judges the received vibration change rate parameters, calculates the corresponding variable frequency pump opening amount and speed parameters based on the judgment results, generates control commands and transmits them to the electric actuator; As a further preferred embodiment of this technical solution: the vibration control module dynamically corrects the operating parameters of the variable frequency water pump based on the adjusted coolant circulation state and the real-time vibration change rate fed back by the vibration calculation module. When the vibration rate of change is within the preset range, the current operating parameters of the variable frequency water pump are maintained; when the vibration rate of change exceeds the preset range, the power output parameters are recalculated and adjusted to form a closed-loop control. As a further preferred embodiment of this technical solution: the coolant delivery unit includes a power component, a liquid storage component, a transmission channel component, and a heat exchange component. The power component is a variable frequency water pump, the liquid storage component is a water tank, the transmission channel component includes an inlet transmission pipe, a return transmission pipe, an inlet pipe, and a return pipe, and the heat exchange component includes a spiral annular water-cooled channel, a cooling chamber, and a mirror mount. The variable frequency water pump is connected to the water tank, and the transmission flow channel assembly enables the connection between the power assembly, the liquid storage assembly and the heat exchange assembly. After receiving the control command, the electric actuator adjusts the operating parameters of the variable frequency water pump to achieve dynamic adjustment of the coolant circulation speed.

[0007] Compared with the prior art, the beneficial effects of the present invention are: 1. It achieves dynamic adaptive control of coolant output, and adjusts the cooling intensity in real time according to the vibration changes during the cutting process, effectively solving the problem of mismatch between the traditional fixed cooling mode and the actual cooling demand, and avoiding damage to core components due to insufficient cooling and overheating.

[0008] 2. The cooling system structure is simplified. The coolant circulation speed can be precisely controlled by a variable frequency water pump alone, without the need for additional regulating valves. This reduces the risk of equipment failure and avoids energy waste caused by over-cooling.

[0009] 3. The control unit has a built-in signal filtering module that can filter out irrelevant interference signals. Combined with the precise calculations of the vibration calculation module and the vibration control module, it ensures the accuracy and timeliness of coolant regulation, thereby improving the stability of the robotic arm operation and the cutting quality.

[0010] 4. Vibration sensors are flexible in installation and adaptable to complex working conditions. They are not subject to strict limitations such as high temperature, dusty environments, and installation space. They can accurately capture vibration signals of core components. Compared with temperature sensors, which are easily affected by the environment, they further reduce system maintenance costs, extend the service life of the cooling control system, and improve the overall operational reliability of the equipment. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of a cooling-capable robotic arm for laser cutting according to the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of a cooling-capable robotic arm for laser cutting according to the present invention. Figure 2 ; Figure 3 This is a partial structural schematic diagram of a laser cutting robotic arm capable of cooling according to the present invention. Figure 4 This is a schematic diagram of the internal structure of a laser cutting robotic arm capable of cooling according to the present invention. Figure 5 This is a schematic diagram of the vibration calculation module of a laser cutting robotic arm capable of cooling according to the present invention. Figure 6 This is a schematic diagram of the vibration control module of a laser cutting robotic arm capable of cooling according to the present invention.

[0012] In the diagram: 1. Robotic arm body; 2. Coolant delivery drive assembly; 21. Water tank; 22. Variable frequency water pump; 23. Inlet water transmission pipe; 24. Return water transmission pipe; 3. Cooling circulation assembly; 31. Auxiliary pipe; 32. Inlet water pipe; 33. Spiral annular water cooling channel; 34. Return water pipe; 35. Cooling chamber; 36. Mirror mount; 37. Mounting housing. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example

[0014] Please see Figures 1-6 This is a schematic diagram of some embodiments of a robotic arm for laser cutting that can be cooled, as described in this application.

[0015] Includes robotic arm body 1, vibration detection unit, control unit, and coolant delivery unit; The vibration detection unit is mounted on the robotic arm body 1 and includes a piezoelectric electronically controlled vibration sensor, which is electrically connected to the control unit. The control unit receives the output value of the vibration detection unit and regulates the amount of coolant output from the coolant delivery unit, thereby dynamically adjusting the amount of coolant required by the robotic arm during laser cutting operations. include: The vibration calculation module receives the vibration amplitude output by the vibration detection unit and calculates the vibration rate of change. The vibration control module calculates the power output of the coolant delivery drive assembly 2 based on the vibration change rate and transmits it to the cooling delivery unit through the controller. The coolant delivery unit includes a variable frequency water pump 22 and an electric actuator for controlling the switching of the variable frequency water pump 22. The electric actuator receives a controller signal and adjusts the opening amount of the variable frequency water pump 22, thereby controlling the output of coolant and realizing dynamic adjustment of coolant.

[0016] In this embodiment, as Figure 3 As shown, the piezoelectric electronically controlled vibration sensor, as the core component of the vibration detection unit, is fixedly installed on the robotic arm body 1. The specific installation position is at the connection between the laser housing and the laser cutting head barrel. It adopts a rigid fitting and fixing method, which takes into account the vibration detection of both the laser and the laser cutting head. Its installation position is adjacent to the mounting housing 37 of the cooling circulation component 3. This sensor uses an industrial-grade piezoelectric structure with a detection response time of ≤0.1s and a vibration detection range of 0.01-1.0mm. Its core function is to capture vibration signals during the laser cutting process of the robotic arm in real time, including the optical axis pulsation generated by the laser, the micro-impact vibration of the lens, and the recoil force of the molten pool and the pneumatic vibration of the high-speed jet of auxiliary gas generated when the laser cutting head is cutting. It directly converts mechanical vibration signals of different amplitudes into corresponding electrical control signals of 0-5V in real time. When the vibration amplitude is <0.1mm, the output voltage is low (≤0.3V). When the vibration amplitude is in the range of 0.1-1.0mm, the output voltage increases linearly with the vibration amplitude. The vibration amplitude and the sensor output voltage have a strictly linear relationship, and the mathematical formula is as follows:

[0017] In the formula: The sensor output voltage, The formula precisely quantifies the relationship between vibration intensity and electrical signal, ensuring the accuracy of vibration detection and providing a quantitative basis for subsequent graded adjustment.

[0018] The vibration signals of the laser and laser cutting head are detected in real time by a piezoelectric electronically controlled vibration sensor. The mechanical vibration is converted into an electronic control signal and transmitted to the control unit. The control unit directly changes the power output of the coolant delivery drive component according to the vibration amplitude, thereby realizing the adaptive adjustment of the coolant circulation speed.

[0019] In this embodiment, the coolant delivery unit is installed on the robotic arm body 1 and includes a variable frequency water pump 22, an electric actuator for regulating the operating parameters of the variable frequency water pump 22, and auxiliary components such as a water tank 21, an inlet water transmission pipe 23, a return water transmission pipe 24, an inlet water pipe 32, a return water pipe 34, a spiral annular water cooling channel 33, a cooling chamber 35, and a mirror base 36, providing stable coolant circulation and dynamic speed control for the robotic arm's laser cutting operation.

[0020] The variable frequency water pump 22 is fixedly connected to one side of the water tank 21, serving as the core for power and control of the coolant circulation. Its operating speed, output flow rate, and opening volume are precisely controlled by an electric actuator. The electric actuator is electrically connected to the control unit (main controller) and can receive control signals transmitted from the main controller to precisely adjust the power supply frequency and opening volume of the variable frequency water pump 22, directly changing the pump's output speed and coolant delivery flow rate, thereby controlling the coolant circulation speed and achieving dynamic adaptive adjustment of the coolant circulation state. The water tank 21 is used to store coolant, and an antifreeze and anti-rust industrial coolant is selected to ensure stable use under different operating conditions. The inlet water transmission pipe 23 and the return water transmission pipe 24 are respectively installed on the water tank 21. The inlet water transmission pipe 23 is directly connected to the inlet water pipe 32, and the return water transmission pipe 24 is directly connected to the return water pipe 34.

[0021] One end of the inlet pipe 32 is connected to the inlet transmission pipe 23, and the other end is connected to the spiral annular water-cooling channel 33. One end of the return pipe 34 is connected to the return transmission pipe 24, and the other end is connected to the end of the spiral annular water-cooling channel 33 away from the inlet pipe 32. The cooling chamber 35 is located inside the mounting housing 37, and the spiral annular water-cooling channel 33 is coiled inside the cooling chamber 35. The lens mount 36 is located inside the cooling chamber 35 to ensure that the coolant can fully cover the lens mount 36 and the internal optical lens to achieve efficient heat exchange.

[0022] The electric actuator receives a signal from the main controller and adjusts the opening and output speed of the variable frequency water pump 22 to directly change the delivery flow rate and circulation speed of the coolant. After the variable frequency water pump 22 pressurizes the coolant in the water tank 21, it sends it into the spiral annular water cooling channel 33 through the water inlet transmission pipe 23 and the water inlet pipe 32. After heat exchange with the mirror base 36 and the optical lens, it flows back to the water tank 21 through the return water pipe 34 and the return water transmission pipe 24 to form a closed loop. The circulation speed can be precisely controlled by the variable frequency water pump 22 throughout the process, thus completing the continuous cooling of the robotic arm.

[0023] In this embodiment, the main controller, as the core carrier of the control unit, is fixedly installed on the robotic arm body 1 and arranged adjacent to the variable frequency water pump 22, electric actuator, and piezoelectric electronically controlled vibration sensor.

[0024] The main controller is electrically connected to the piezoelectric electronically controlled vibration sensor and the electric actuator supporting the variable frequency water pump 22 respectively, and is used to receive the output signal of the piezoelectric electronically controlled vibration sensor. After being processed by the internal module, it outputs corresponding control instructions to regulate the operating state of the variable frequency water pump 22 in the coolant delivery unit, and only realizes the dynamic adaptive regulation of the coolant circulation speed through the adjustment of the water pump parameters. The main controller is built-in with a signal filtering module, which can filter out irrelevant interference signals such as slight jitter of the robotic arm joints, ensuring the accuracy of the received vibration signal and subsequent processing; at the same time, it integrates a control signal output module, which can convert the processing results of the vibration calculation module and the vibration regulation module into executable electrical signals and transmit them to the electric actuator synchronously, ensuring that the parameter adjustment of the variable frequency water pump 22 is synchronized with the vibration working conditions and realizing the precise matching of the coolant circulation speed and the cutting working conditions.

[0025] The main controller directly realizes single-component closed-loop regulation through electrical signal transmission; when the vibration amplitude is abnormal (exceeding 1.0 mm, corresponding voltage > 5.0 V), or the temperature of the lens holder 36 exceeds 80 °C, the main controller can trigger an alarm signal, and at the same time control the electric actuator to adjust the variable frequency water pump 22 to the maximum opening and the rated maximum speed, maintaining the maximum coolant circulation speed to continuously strengthen the cooling, avoiding equipment damage such as optical lens explosion and lens holder 36 deformation; if the vibration sensor fails, the main controller automatically switches to the temperature detection standby regulation mode to ensure that the cooling system does not fail and guarantee the normal progress of the cutting operation.

[0026] The control unit takes the main controller as the core, integrates the vibration calculation module and the vibration regulation module, realizes the closed-loop of vibration signal acquisition, signal processing, regulation instruction output, and water pump parameter adjustment, and dynamically adjusts the operating parameters of the variable frequency water pump 22 according to different vibration amplitudes and vibration change rates, and only through the water pump can complete the precise regulation of the coolant circulation speed, ensuring that the cooling effect is completely matched with the cutting working conditions.

[0027] Among them, as Figure 5 shown, the vibration calculation module is integrated inside the main controller, and is used to receive the vibration signal output by the vibration detection unit. After signal conversion, amplitude calculation, and data caching, it calculates the vibration change rate in real time and outputs it to the vibration regulation module, providing a quantitative basis for the subsequent regulation of the coolant circulation speed.

[0028] Steps of the vibration calculation module: S1, The sensor collects voltage signals. The piezoelectric electronically controlled vibration sensor continuously collects the vibration signal during the robotic arm laser cutting operation and converts it into a 0–5 V analog voltage signal , and continuously transmits it to the main controller; S2, Data conversion. The analog-to-digital conversion unit built in the main controller digitally processes the analog voltage signal and converts the continuous analog signal into a discrete digital signal; S3, Digital Signal Output: After data conversion, a digital voltage signal is output for subsequent amplitude calculation. S4, Amplitude Calculation Processing: Based on the linear relationship between vibration amplitude and voltage, the real-time vibration amplitude is calculated using a formula. S5, Output amplitude value, the calculated real-time vibration amplitude value Output to the data buffer unit; S6, data cache storage, caches and stores multiple consecutive sets of vibration amplitude values ​​for subsequent calculation of vibration change rate; S7, Rate of Change Calculation Processing, calculates the vibration rate of change per unit time based on the cached amplitude data; S8 outputs the rate of change value, which outputs the calculated real-time vibration rate of change value R to the vibration control module as the core basis for subsequent control.

[0029] The formula for the linear relationship between vibration amplitude and voltage is as follows:

[0030] The vibration amplitude is calculated from the sensor output voltage, reflecting the quantitative correspondence between vibration intensity and electrical signal; The formula for calculating the rate of change of vibration is:

[0031] In the formula: The vibration rate is expressed as (unit: mm / s). The amplitude of vibration at the current moment. The amplitude of the vibration at the previous moment. Sampling time interval (unit: seconds); In this embodiment, as Figure 6 As shown, the vibration control module is also integrated into the main controller. It transmits signals to the vibration calculation module and the electric actuator that is paired with the variable frequency water pump, and is used to directly read the vibration rate of change value output by the vibration calculation module. Based on the preset quantitative function relationship, the power output (opening volume and speed) of the variable frequency water pump is calculated, and then converted into the corresponding control signal, which is transmitted to the electric actuator of the coolant delivery unit through the main controller; The vibration control module includes the following steps: S1, Input data, receives the real-time vibration rate of change value output by the vibration calculation module. It can also receive historical control parameters for closed-loop correction.

[0032] S2, the rate of change value, is used to preprocess the input rate of change value and remove outliers to obtain an effective control input.

[0033] S3, Determine the magnitude of the rate of change. Preset the threshold range of vibration rate of change and divide the vibration rate of change into three categories: zero rate of change, small rate of change, and large rate of change.

[0034] S4, graded control action, executes corresponding control action according to the magnitude of the rate of change: execute corresponding control action according to the magnitude of the vibration rate of change, including maintaining the current water pump opening volume, fine-tuning the water pump opening volume, or significantly correcting the water pump opening volume.

[0035] S5, intermediate mapping value converted into vibration rate of change value With variable frequency water pump open volume Intermediate mapping values Mathematical transformation is performed to achieve precise quantitative control: Step 1: Vibration change rate to intermediate mapping value; Step 2: Mapping intermediate values ​​to variable frequency pump operating capacity Based on intermediate mapping values Combined with the graded control actions, the final pump opening volume is calculated.

[0036] S6, the speed synthesis calculation is based on the pump's open capacity and combined with the pump's rated speed to calculate the target speed.

[0037] S7, the output control parameter will be the calculated target pump opening volume. With target speed It is encapsulated as a control command and output to the electric actuator.

[0038] S8, the drive actuator, receives control commands and adjusts the power supply frequency and opening amount of the variable frequency water pump to achieve precise control of the coolant circulation speed.

[0039] in, Preset vibration rate of change threshold range, Divided into three categories: The rate of change is zero: The threshold value is zero. The rate of change is relatively small. For small changes; The rate of change is relatively large

[0040] S4, graded control actions are executed according to the magnitude of the rate of change: Zero rate of change: Execute "Keep speed constant", that is, maintain the current pump operating rate. constant; Small rate of change: Perform "speed fine-tuning correction" to make a small adjustment to the water pump opening rate; Large change rate: Implement "significant speed correction" to make a large adjustment to the pump opening rate.

[0041] In S5, intermediate mapping values ​​are defined. The normalized result of the vibration rate of change is given by the following formula:

[0042] In the formula: The maximum allowable rate of change of vibration for the system. .

[0043] Calculate the final pump opening volume :

[0044] in: This represents the current operating capacity of the water pumps; For the adjustment of open quantity, and Positive correlation: The rate of change is zero: ,

[0045] The rate of change is relatively small. ,

[0046] The rate of change is relatively large: final , ,final ,Right now .

[0047] In S6, the speed synthesis calculation is based on the pump opening rate. Combined with the rated speed of the water pump Calculate the target rotational speed :

[0048] In the formula: Based on the base speed, This is the rated maximum speed.

[0049] In S8, the coolant circulation speed With water pump opening volume The quantitative relationship is as follows:

[0050] In the formula: (Base cycle speed) (Pump flow coefficient).

[0051] Vibration change rate to intermediate mapping value to pump opening rate:

[0052] This link enables a fully quantized conversion from vibration signals to water pump control.

[0053] Working Principle: After the robotic arm starts the laser cutting operation, the piezoelectric electronically controlled vibration sensor in the vibration detection unit captures the vibration signals generated by the laser and the laser cutting head in real time, converts them into electrical signals, and transmits them to the control unit. The control unit, with the main controller at its core, receives the electrical signals and, through processes such as digital conversion, amplitude calculation, and data caching, calculates the vibration change rate in real time and outputs it to the vibration control module. Upon receiving the vibration change rate value, the vibration control module first preprocesses it to remove outliers, then classifies the vibration change rate according to a preset threshold range. Combining this with a preset quantitative function relationship, it converts the vibration change rate into the opening quantity of the variable frequency water pump 22 through an intermediate mapping value, thereby synthesizing the target rotational speed and generating control commands. After receiving the control command, the electric actuator adjusts the operating parameters of the variable frequency water pump 22 in the coolant delivery unit to change the coolant circulation speed. The coolant enters the spiral annular water cooling channel 33 through the inlet water transmission pipe 23 and the inlet water pipe 32. After completing heat exchange with the mirror base 36 and optical lens in the cooling chamber 35, it flows back to the water tank 21 through the return water pipe 34 and the return water transmission pipe 24 to form a closed loop, thereby achieving precise dynamic cooling of the core components of the robotic arm.

[0054] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0055] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art, inspired by this description, design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the scope of protection of this invention. Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for laser cutting capable of cooling, characterized in that: It includes the robotic arm body, vibration detection unit, control unit, and coolant delivery unit; The vibration detection unit is mounted on the robotic arm body and includes a piezoelectric electronically controlled vibration sensor, which is electrically connected to the control unit. The control unit receives the output value of the vibration detection unit and regulates the amount of coolant output from the coolant delivery unit, thereby dynamically adjusting the amount of coolant required by the robotic arm during laser cutting operations. include: The vibration calculation module receives the vibration amplitude output by the vibration detection unit and calculates the vibration rate of change. The vibration control module calculates the power output of the coolant delivery drive component based on the vibration change rate and transmits it to the cooling delivery unit through the controller. The coolant delivery unit includes a variable frequency water pump and an electric actuator for controlling the switching of the variable frequency water pump. The electric actuator receives a controller signal and adjusts the opening amount of the variable frequency water pump, thereby controlling the output of coolant and realizing dynamic adjustment of coolant.

2. The laser cutting robotic arm capable of cooling according to claim 1, characterized in that: The vibration detection unit detects the vibration signal of the core vibration region of the robotic arm through a piezoelectric electronically controlled vibration sensor. The core vibration region is the connection between the laser housing and the laser cutting head barrel. The piezoelectric electronically controlled vibration sensor is rigidly attached and fixed, and its installation position is adjacent to the mounting housing of the cooling circulation component. It can convert mechanical vibration signals into electronic control signals and output them to the control unit.

3. The laser cutting robotic arm capable of cooling according to claim 2, characterized in that: The piezoelectric electronically controlled vibration sensor is installed in the core vibration area of ​​the robotic arm body to collect vibration signals in real time during the laser cutting operation. The sensor's detection response is adapted to the dynamic working conditions of laser cutting.

4. A cooling-capable robotic arm for laser cutting according to claim 3, characterized in that: The control unit is based on the main controller, which has a built-in interference signal filtering module to filter out irrelevant vibration interference generated during the operation of the robotic arm, ensuring the accuracy of vibration detection signals and subsequent control commands.

5. A cooling-capable robotic arm for laser cutting according to claim 4, characterized in that: The vibration calculation module is integrated inside the main controller. The vibration calculation module establishes a signal transmission relationship with the piezoelectric electronically controlled vibration sensor to receive vibration detection signals. After signal conversion, amplitude calculation, and data buffering, it calculates the vibration change rate in real time and outputs it to the vibration control module.

6. A cooling-capable robotic arm for laser cutting according to claim 5, characterized in that: The vibration control module is integrated inside the main controller and establishes signal transmission relationships with the vibration calculation module and the electric actuator respectively. It is used to receive vibration change rate parameters, calculate the power output parameters of the coolant delivery drive component in combination with preset quantitative control logic, and convert them into control commands to be transmitted to the electric actuator.

7. A cooling-capable robotic arm for laser cutting according to claim 6, characterized in that: The vibration calculation module calculates the real-time vibration amplitude based on the electrical control signal output by the piezoelectric electronically controlled vibration sensor, and then calculates and outputs the vibration change rate per unit time based on multiple continuously collected vibration amplitude data.

8. A cooling-capable robotic arm for laser cutting according to claim 7, characterized in that: The vibration control module presets a vibration change rate threshold range, classifies and judges the received vibration change rate parameters, calculates the corresponding variable frequency pump opening and speed parameters based on the judgment results, generates control commands and transmits them to the electric actuator.

9. A cooling-capable robotic arm for laser cutting according to claim 8, characterized in that: The vibration control module dynamically corrects the operating parameters of the variable frequency water pump based on the adjusted coolant circulation state and the real-time vibration change rate fed back by the vibration calculation module. When the vibration rate of change is within the preset range, the current operating parameters of the variable frequency water pump are maintained; when the vibration rate of change exceeds the preset range, the power output parameters are recalculated and adjusted to form a closed-loop control.

10. A cooling-capable robotic arm for laser cutting according to claim 9, characterized in that: The coolant delivery unit includes a power component, a liquid storage component, a transmission channel component, and a heat exchange component. The power component is a variable frequency water pump, the liquid storage component is a water tank, the transmission channel component includes an inlet transmission pipe, a return transmission pipe, an inlet pipe, and a return pipe, and the heat exchange component includes a spiral annular water-cooled channel, a cooling chamber, and a mirror mount. The variable frequency water pump is connected to the water tank, and the transmission flow channel assembly enables the connection between the power assembly, the liquid storage assembly and the heat exchange assembly. After receiving the control command, the electric actuator adjusts the operating parameters of the variable frequency water pump to achieve dynamic adjustment of the coolant circulation speed.

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