Laser cutting microfiber device based on six-axis mechanical arm

Abstract

The utility model relates to a laser cutting microfiber device based on a six-axis mechanical arm, which comprises the six-axis mechanical arm, a jig, a laser machine, a ccd camera, a waste gas absorber and a machine body, the six-axis mechanical arm is positioned on one side of the machine body, the jig is fixedly connected with the six-axis mechanical arm, the laser machine and the waste gas absorber are arranged on the machine body, the ccd camera is fixedly connected with the laser machine, and the waste gas absorber is fixedly connected with the jig. And the ccd camera is used for photographing and detecting the microfiber-cut product. According to the device, microfibers on the protective sleeve are cut, the cutting precision is high, the production efficiency is high, the batch production consistency is high, waste gas is absorbed, and the problems of over-detection and missing detection are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of ultra-fiber laser cutting equipment, and in particular to an ultra-fiber laser cutting device based on a six-axis mechanical arm. Background Art

[0002] A protective case is a cover that protects mobile phones and other electronic products. Some high-end protective cases need to be fitted with microfiber on their inner surface. Usually, a whole piece of microfiber is pressed onto the inner surface of the protective case by molding, and then the excess microfiber waste is cut off.

[0003] The existing protective cover ultra-fiber removal adopts manual assembly line operation, which is implemented as follows: keep the laser head position unchanged at each station of the assembly line, manually put the protective cover that fits the ultra-fiber into the processing fixture, turn on the laser machine, and manually slide the protective cover at a constant speed in the processing fixture at a specified angle. At the same time, the laser emitted by the laser head cuts the ultra-fiber at the corresponding position. The manual assembly line operation method has the following problems:

[0004] 1. Manual operation has the problem of hand shaking. It is difficult to accurately control the position of the protective cover, the sliding speed of the protective cover, and the angle between the protective cover and the laser, resulting in low ultra-fiber cutting accuracy and poor consistency in batch production;

[0005] 2. Since the ultra-fiber around the protective cover, corners and hollow parts need to be cut, the assembly line needs to be equipped with multiple stations, each station is equipped with a laser machine, a processing fixture and a worker, which requires a large amount of labor and low production efficiency;

[0006] 3. Manual operation poses a safety hazard, and the exhaust gas generated by laser cutting is harmful to the health of workers;

[0007] 4. After all the waste materials are removed, the cutting quality is manually inspected visually to check for over-inspection and missed inspection. Utility Model Content

[0008] The purpose of the utility model is to design a laser cutting ultra-fiber device based on a six-axis robotic arm, so that it can cut the ultra-fiber on the protective cover with high cutting accuracy, high production efficiency, high batch production consistency, absorption of waste gas, and reduction of over-inspection and missed inspection problems.

[0009] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0010] A laser ultra-fiber cutting device based on a six-axis robotic arm comprises a six-axis robotic arm, a jig, a laser machine, a CCD camera, an exhaust gas absorber and a machine body, wherein the six-axis robotic arm is located on one side of the machine body, the jig is fixedly connected to the six-axis robotic arm, the laser machine and the exhaust gas absorber are arranged on the machine body, the CCD camera is fixedly connected to the laser machine, and the CCD camera is used to take photos and detect the products after ultra-fiber cutting.

[0011] Furthermore, in the above-mentioned laser ultra-fiber cutting device based on a six-axis robot arm, the six-axis robot arm is provided with a PLC, and the PLC is electrically connected to the control interface of the laser machine.

[0012] Furthermore, the above-mentioned laser ultra-fiber cutting device based on a six-axis robotic arm, the six-axis robotic arm includes a base, an azimuth axis installed on the base, a first pitch axis installed on the azimuth axis, a second pitch axis installed on the first pitch axis, a first rotation axis installed on the second pitch axis, a third pitch axis installed on the first rotation axis, and a second rotation axis installed on the third pitch axis, and the jig is fixedly connected to the second rotation axis.

[0013] Furthermore, in the above-mentioned laser cutting ultra-fiber device based on a six-axis robotic arm, the exhaust gas absorber includes an intake pipe, the intake pipe is located on the upper surface of the body, the remaining part of the exhaust gas absorber except the intake pipe is located in the body, and the exhaust gas absorber is connected to an environmental protection treatment system.

[0014] Furthermore, in the above-mentioned laser cutting ultra-fiber device based on a six-axis robot arm, the laser machine is fixedly connected to the upper surface of the machine body, and the laser machine includes a laser head.

[0015] Furthermore, in the above-mentioned laser ultra-fiber cutting device based on the six-axis robotic arm, the CCD camera is fixedly connected to the laser head, and the CCD camera is located on one side of the laser head.

[0016] Compared with the prior art, the utility model has the following beneficial effects: the utility model provides a laser ultra-fiber cutting device based on a six-axis robotic arm, which utilizes the characteristic that the six-axis robotic arm can move freely in three-dimensional space, drives the protective cover fixed in the fixture to move along a specific trajectory in three-dimensional space, and the laser machine emits laser to cut the ultra-fiber at the corresponding position. The six-axis robotic arm has high movement accuracy in three-dimensional space, which improves the ultra-fiber cutting accuracy and batch production consistency. A worker can operate the device to cut off all ultra-fiber waste on the protective cover, thereby improving production efficiency. The exhaust gas absorber absorbs the exhaust gas generated by laser cutting, which is beneficial to the health of the workers. The CCD camera takes pictures of the products after cutting to detect the ultra-fiber cutting quality, reduces over-inspection and missed inspection problems, and avoids the outflow of defective products. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of the utility model;

[0019] The names of the components marked in the figure are as follows:

[0020] 1. Six-axis robotic arm; 11. Base; 12. Azimuth axis; 13. First pitch axis; 14. Second pitch axis; 15. First rotation axis; 16. Third pitch axis; 17. Second rotation axis; 2. Fixture; 3. Machine body; 31. Roller; 4. Laser machine; 41. Laser head; 5. CCD camera; 6. Intake pipe. DETAILED DESCRIPTION

[0021] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0022] Example: Please refer to Figure 1 A laser cutting ultra-fiber device based on a six-axis robot arm includes a six-axis robot arm 1, a fixture 2, a laser machine 4, a CCD camera 5, an exhaust gas absorber and a body 3.

[0023] The machine body 3 is a frame or a structure with a casing on the frame. The lower end of the machine body 3 is provided with a roller 31 for easy movement. The laser machine 4 is fixedly connected to the upper surface of the machine body 3. The laser machine 4 includes a laser head 41. The laser head 41 is located above the machine body 3. The laser head 41 can emit laser. The laser machine 4 can adopt existing technology. The CCD camera 5 is fixedly connected to the laser head 41 and is located on the right side of the laser head 41. In this embodiment, a bracket is fixedly connected to the outer shell of the laser head 41, and the CCD camera 5 is fixedly connected to the bracket. The CCD camera 5 is used to take pictures and detect the product after cutting the ultra-fiber. The exhaust gas absorber includes an air intake pipe 6, which is located on the upper surface of the machine body 3. The rest of the exhaust gas absorber except the air intake pipe 6 is installed in the machine body 3, and the exhaust gas absorber is connected to the environmental protection treatment system. The structure of the exhaust gas absorber and the environmental protection treatment system can adopt existing technology. The exhaust gas absorber can absorb the exhaust gas generated during the laser cutting process and discharge it after being treated by the environmental protection treatment system. The environmental protection treatment system can be a separate environmental protection treatment system for this device, or it can be an environmental protection treatment system for the entire factory.

[0024] The six-axis robot 1 is located on the right side of the body 3. The six-axis robot 1 includes a base 11, an azimuth axis 12 installed on the base 11, a first pitch axis 13 installed on the azimuth axis 12, a second pitch axis 14 installed on the first pitch axis 13, a first rotation axis 15 installed on the second pitch axis 14, a third pitch axis 16 installed on the first rotation axis 15, and a second rotation axis 17 installed on the third pitch axis 16. The installation method is the prior art and will not be repeated. The fixture 2 is fixedly connected to the second rotation axis 17. The second rotation axis 17 is the wrist of the six-axis robot 1. By controlling the rotation of each axis of the six-axis robot 1, the wrist of the robot can be moved arbitrarily in three-dimensional space, and then the fixture 2 can be moved arbitrarily in three-dimensional space. A protective cover that fits the ultra-fiber can be placed in the fixture 2. When the fixture 2 moves during the laser cutting process, the protective cover in the fixture 2 moves together, so that the protective cover in the fixture 2 can cut the ultra-fiber under laser irradiation.

[0025] The six-axis robot arm 1 is provided with a PLC, which is electrically connected to the control interface of the laser machine 4. The PLC is used to control the action of the laser machine 4 emitting laser in real time during the movement of the six-axis robot arm 1.

[0026] Working principle of this embodiment: This embodiment provides a laser cutting ultra-fiber device based on a six-axis robotic arm.

[0027] In the first step, the control program of the six-axis robot arm 1 and the laser machine 4 is stored in the PLC, the fixture 2 is manually installed on the wrist of the robot arm, and the exhaust gas absorber is started;

[0028] The second step is to manually place the protective cover fitted with microfiber into the fixture 2;

[0029] The third step is to start the six-axis robot arm 1, and under program control, the six-axis robot arm 1 moves the fixture 2 equipped with the protective cover to a specified position, and makes the side wall of the protective cover form a specified angle with the laser irradiation direction;

[0030] Step 4: Under program control, the six-axis robot 1 moves the protective cover at a constant speed along the specified trajectory, and at the same time controls the laser machine 4 to emit laser, and keeps the angle between the side wall of the protective cover and the laser irradiation direction unchanged. The laser cuts the ultra-fiber along the circumferential direction of the edge of the side wall of the protective cover, and the exhaust gas absorber sucks in the exhaust gas and discharges it until a closed cutting loop is formed on the protective cover;

[0031] Step 5: Under program control, the six-axis robot arm 1 moves the protective cover to a specified position so that the bottom surface of the protective cover is perpendicular to the laser irradiation direction;

[0032] Step 6: Under program control, the six-axis robot arm 1 moves the protective cover at a constant speed along the specified trajectory, and at the same time controls the laser machine 4 to emit laser, and keeps the angle between the bottom surface of the protective cover and the laser irradiation direction unchanged. The laser cuts the ultra-fiber along the circumference of the edge of the hollow part of the protective cover, and the exhaust gas absorber sucks in the exhaust gas and discharges it until a closed cutting loop is formed on the protective cover;

[0033] Step 7: The CCD camera 5 takes a picture of the protective cover after cutting the ultra-fiber to determine whether the ultra-fiber cutting accuracy meets the quality requirements. The protective cover is manually removed from the fixture 2 to remove the ultra-fiber waste after cutting.

[0034] Step 8. Repeat steps 2 to 7 for continuous operation.

[0035] Among them, when cutting the ultra-fibers around the periphery and corners of the protective cover, the angle between the side wall of the protective cover and the laser irradiation direction is preferably 55-75°, and the angle is kept unchanged to ensure the consistency and smoothness of the ultra-fiber cutting around the periphery and corners of the protective cover; when cutting the ultra-fibers at the hollow part of the protective cover, the angle between the bottom surface of the protective cover and the laser irradiation direction is preferably 90°, and the angle is kept unchanged to ensure the consistency and smoothness of the ultra-fiber cutting at the hollow part of the protective cover.

[0036] The existing manual assembly line operation method completes the ultra-fiber laser cutting by manually sliding the protective cover in the processing fixture, which has problems such as low ultra-fiber cutting accuracy, poor batch production consistency, and low production efficiency. This embodiment uses the characteristic that the six-axis robot arm 1 can move freely in three-dimensional space, and controls the six-axis robot arm 1 to move according to the specified trajectory in three-dimensional space through a program, driving the protective cover fixed in the fixture 2 to move according to the specified trajectory in three-dimensional space, and at the same time controls the laser machine 4 to emit laser to cut the ultra-fiber at the corresponding position. The ultra-fiber cutting accuracy and consistency of this embodiment depend on the movement accuracy of the six-axis robot arm 1 in three-dimensional space, which is significantly higher than the manual assembly line operation method, and one worker can operate the device to cut off all the ultra-fiber waste on the protective cover, which improves production efficiency, and absorbs the exhaust gas generated by laser cutting through the exhaust gas absorber, which is beneficial to the health of workers. The ultra-fiber cutting quality is detected by taking pictures of the cut product through the CCD camera 5, which avoids the outflow of defective products, and the ultra-fiber on the protective cover of different structures and sizes can be cut by replacing the fixture 2 and adjusting the movement trajectory of the six-axis robot arm 1 in three-dimensional space. The device is universal and reduces repeated investment in equipment.

[0037] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an element centered thereon. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an element centered thereon. The terms "upper", "lower", "left", "right", "front", "rear" and similar expressions used herein are for illustrative purposes only.

[0038] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A laser cutting ultra-fiber device based on a six-axis robotic arm, characterized in that: The invention comprises a six-axis robot arm (1), a jig (2), a laser machine (4), a CCD camera (5), an exhaust gas absorber and a machine body (3), wherein the six-axis robot arm (1) is located on one side of the machine body (3), the jig (2) is fixedly connected to the six-axis robot arm (1), the laser machine (4) and the exhaust gas absorber are arranged on the machine body (3), the CCD camera (5) is fixedly connected to the laser machine (4), and the CCD camera (5) is used to take photos of the product after cutting the ultra-fiber.

2. The laser cutting ultra-fiber device based on a six-axis robotic arm according to claim 1 is characterized in that: The six-axis mechanical arm (1) is provided with a PLC, and the PLC is electrically connected to a control interface of the laser machine (4).

3. The laser cutting ultra-fiber device based on a six-axis robotic arm according to claim 1 is characterized in that: The six-axis robot arm (1) comprises a base (11), an azimuth axis (12) mounted on the base (11), a first pitch axis (13) mounted on the azimuth axis (12), a second pitch axis (14) mounted on the first pitch axis (13), a first rotation axis (15) mounted on the second pitch axis (14), a third pitch axis (16) mounted on the first rotation axis (15), and a second rotation axis (17) mounted on the third pitch axis (16); the fixture (2) is fixedly connected to the second rotation axis (17).

4. The laser cutting ultra-fiber device based on a six-axis robotic arm according to claim 1 is characterized in that: The exhaust gas absorber comprises an air intake pipe (6), the air intake pipe (6) is located on the upper surface of the machine body (3), the remaining parts of the exhaust gas absorber except the air intake pipe (6) are located inside the machine body (3), and the exhaust gas absorber is connected to an environmental protection treatment system.

5. The laser cutting ultra-fiber device based on a six-axis robotic arm according to claim 1 is characterized in that: The laser machine (4) is fixedly connected to the upper surface of the machine body (3), and the laser machine (4) comprises a laser head (41).

6. The laser cutting ultra-fiber device based on a six-axis robotic arm according to claim 5 is characterized in that: The CCD camera (5) is fixedly connected to the laser head (41), and the CCD camera (5) is located on one side of the laser head (41).

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