Correcting and positioning device of six-degree-of-freedom robot laser coding system

Abstract

The utility model discloses a correcting and positioning device of a six-degree-of-freedom robot laser coding system, which relates to the technical field of robot laser coding in an automatic production line and comprises a six-degree-of-freedom laser coding robot body, a movable base and a lifting platform. The six-degree-of-freedom laser code printing robot body is installed on the lifting platform, the lifting mechanism comprises two sets of limiting frames, and the two sets of limiting frames are located on the two sides of the lifting platform respectively, the six-degree-of-freedom laser code printing robot is provided with the movable base, the lifting platform is arranged on the movable base, and the height position of the lifting platform can be adjusted through the arranged lifting mechanism; therefore, the height position of the six-degree-of-freedom laser coding robot body can be adjusted, the six-degree-of-freedom laser coding robot body can adapt to products of different heights or thicknesses, it is ensured that the six-degree-of-freedom laser coding robot can be accurately positioned to a target object, and the coding precision and efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot laser coding in an automated production line, in particular to a correction and positioning device for a six-degree-of-freedom robot laser coding system. Background Art

[0002] In existing automated production lines, six-degree-of-freedom robot laser coding systems are widely used in coding of various products, such as packaging boxes, bottles, labels, etc.

[0003] However, due to the differences in height and thickness of different products, the height of the coding target items will also change, which puts higher requirements on the positioning accuracy of the robot. Therefore, it is particularly important to design a six-degree-of-freedom robot laser coding system that can adaptively adjust the height and accurately position. Utility Model Content

[0004] The utility model aims to solve the shortcomings of the prior art and proposes a correction positioning device for a six-degree-of-freedom robot laser coding system.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A correction positioning device for a six-degree-of-freedom robot laser coding system, comprising a six-degree-of-freedom laser coding robot body, a mobile base and a lifting platform, wherein the lifting platform is movably mounted on the mobile base through a lifting mechanism, and the six-degree-of-freedom laser coding robot body is mounted on the lifting platform;

[0007] The lifting mechanism includes two groups of limit frames, which are respectively located on both sides of the lifting platform, one group of the limit frames includes a first rotating arm and a second rotating arm, the middle position of the outer wall of the first rotating arm and the second rotating arm are rotatably connected to each other through a rotating shaft, and movable grooves are respectively provided on the opposite side walls of the lifting platform, and the inner walls of the two movable grooves are slidably connected with a mounting rod, and the two ends of the mounting rod are respectively rotatably connected to the end side walls of the two second rotating arms, and the end of the second rotating arm away from the mounting rod is rotatably connected to the outer wall of the moving base, and one end of the first rotating arm is rotatably connected to the side wall of the lifting platform, and a driving assembly is arranged on the moving base, and the driving assembly is used to drive the two first rotating arms to move away from one end of the lifting platform.

[0008] The above technical solution further includes: the driving assembly includes a driving motor fixedly mounted on the outer wall of the mobile base, a threaded rod is fixedly mounted on the output shaft end wall of the driving motor, the end of the threaded rod away from the driving motor is rotatably connected to the outer wall of the mobile base through a bearing rod, a threaded slider is threadedly connected to the outer wall of the threaded rod, the bottom wall of the threaded slider is slidably connected to the outer wall of the mobile base, connecting rods are respectively fixedly mounted on the opposite side walls of the threaded slider, and the end of the connecting rod away from the threaded slider is rotatably connected to the end side wall of the first rotating arm.

[0009] A laser sensor is installed at the coding end of the six-degree-of-freedom laser coding robot body, a controller is installed on the mobile base, and the drive motor and the laser sensor are electrically connected to the controller respectively.

[0010] A first travel switch and a second travel switch are installed on the outer wall of the movable base and located on the moving path of the connecting rod. The first travel switch and the second travel switch are used to limit the moving position of the connecting rod.

[0011] A plurality of thread grooves are provided on the outer wall of the movable base, the first travel switch is mounted on a mounting frame, a mounting hole is provided on the mounting frame, a bolt is provided inside the mounting hole, the bolt passes through the mounting hole and is threadedly connected to the inside of the thread groove to fix the position of the mounting frame.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. In the utility model, a mobile base is provided, and a lifting platform is provided on the mobile base. The height position of the lifting platform can be adjusted by the provided lifting mechanism, so that the height position of the six-degree-of-freedom laser coding robot body can be adjusted, so that the six-degree-of-freedom laser coding robot body can adapt to products of different heights or thicknesses, ensuring that the six-degree-of-freedom laser coding robot can accurately position itself on the target object, thereby improving the accuracy and efficiency of coding.

[0014] 2. In the utility model, a laser sensor is provided to detect the height of the coding end from the laser marking position in real time, and the automatic stop of the lifting mechanism is realized through a controller, thereby improving the degree of automation of positioning.

[0015] 3. In the utility model, a travel switch is provided to limit the highest position that the spiral lifter can reach, thereby avoiding collision with the external factory environment due to excessive elevation and improving the protection of the six-degree-of-freedom laser coding robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1This is a schematic diagram of the overall structure of a correction positioning device for a six-degree-of-freedom robot laser coding system proposed by the utility model;

[0017] Figure 2 is a first overall structural schematic diagram of a mobile base;

[0018] Figure 3 is a schematic structural diagram of a second integral body of the mobile base;

[0019] Figure 4 for Figure 2 A schematic diagram of the structure of the enlarged correction positioning device at A in the middle;

[0020] Figure 5 It is a schematic diagram of the electrical connection structure of the utility model.

[0021] In the figure:

[0022] 10. Six-degree-of-freedom laser coding robot body; 20. Mobile base; 21. Lifting platform; 22. Driving motor; 23. Threaded rod; 24. Threaded slider; 25. Connecting rod; 26. First rotating arm; 27. Second rotating arm; 28. Movable slot; 29. ​​Mounting rod; 31. Controller; 32. First travel switch; 33. Second travel switch; 34. Laser sensor; 41. Threaded slot; 42. Mounting bracket. DETAILED DESCRIPTION

[0023] The technical solution of the utility model is further described below in conjunction with the accompanying drawings and specific embodiments.

[0024] Embodiment 1

[0025] See attached Figure 1-5 The utility model proposes a correction positioning device for a six-degree-of-freedom robot laser coding system, comprising a six-degree-of-freedom laser coding robot body 10, a mobile base 20 and a lifting platform 21, wherein the lifting platform 21 is movably mounted on the mobile base 20 through a lifting mechanism, and the six-degree-of-freedom laser coding robot body 10 is mounted on the lifting platform 21; wherein the lifting platform 21 is provided with fixing holes, and the six-degree-of-freedom laser coding robot body 10 is mounted on the lifting platform 21 through bolts; in addition, a universal wheel with a locking function is installed on the bottom wall of the mobile base 20, so as to facilitate movement inside the factory.

[0026] The lifting mechanism includes two groups of limit frames, which are respectively located on both sides of the lifting platform 21, one of which includes a first rotating arm 26 and a second rotating arm 27, and the middle position of the outer wall of the first rotating arm 26 and the second rotating arm 27 is rotatably connected to each other through a rotating shaft, and movable grooves 28 are respectively opened on the opposite side walls of the lifting platform 21, and the inner walls of the two movable grooves 28 are slidably connected with a mounting rod 29, and the two ends of the mounting rod 29 are respectively rotatably connected to the end side walls of the two second rotating arms 27, and one end of the second rotating arm 27 away from the mounting rod 29 is rotatably connected to the outer wall of the mobile base 20, and one end of the first rotating arm 26 is rotatably connected to the side wall of the lifting platform 21 A driving assembly is provided on the mobile base 20, and the driving assembly is used to drive the two first rotating arms 26 to move away from one end of the lifting platform 21; wherein, when the lifting platform 21 needs to be lifted or lowered, the bottom end of the first rotating arm 26 (the bottom end of the first rotating arm 26 is the end away from the lifting platform 21) can be driven to move, and when the bottom end of the first rotating arm 26 moves in the horizontal direction, the second rotating arm 27 can be rotated around the axis of the rotating shaft, so that the second rotating arm 27 drives the mounting rod 29 to change its position in the movable groove 28, thereby lifting the lifting platform 21. This principle is basically similar to the principle of the scissor lift in the prior art.

[0027] The driving assembly includes a driving motor 22 fixedly mounted on the outer wall of the mobile base 20, a threaded rod 23 is fixedly mounted on the output shaft end wall of the driving motor 22, one end of the threaded rod 23 away from the driving motor 22 is rotatably connected to the outer wall of the mobile base 20 through a bearing rod, a threaded slider 24 is threadedly connected to the outer wall of the threaded rod 23, the bottom wall of the threaded slider 24 is slidably connected to the outer wall of the mobile base 20, and connecting rods 25 are fixedly mounted on the opposite side walls of the threaded slider 24, one end of the connecting rod 25 away from the threaded slider 24 is rotatably connected to the end side wall of the first rotating arm 26; wherein, when the bottom end of the first rotating arm 26 is driven to move in the horizontal direction, the driving motor 22 can be started, the driving motor 22 drives the threaded rod 23 to rotate, the thread on the outer wall of the threaded rod 23 engages with the thread on the outer wall of the threaded slider 24, thereby driving the threaded slider 24 to move, and after the threaded slider 24 moves, the position of the connecting rod 25 is driven to move, thereby driving the end position of the first rotating arm 26 to move.

[0028] A laser sensor 34 is installed at the coding end of the six-degree-of-freedom laser coding robot body 10, a controller is installed on the mobile base 20, and the drive motor 22 and the laser sensor 34 are electrically connected to the controller 31 respectively; wherein, the installation position of the laser sensor 34 should not affect the coding work, and the laser sensor 34 is set to detect the height of the coding end from the laser engraving position in real time. When the height position of the six-degree-of-freedom laser coding robot body 10 is adjusted, the controller 31 can receive the signal from the laser sensor 34 and control the action of the drive motor 22 according to the preset height value or distance threshold. When the laser sensor 34 detects that the distance between the robot and the coding target object reaches a suitable position, the controller 31 will send a stop command to the drive motor 22 to stop it from working, thereby improving the degree of automation of positioning.

[0029] A first travel switch 32 and a second travel switch 33 are installed on the outer wall of the mobile base 20 on the moving path of the connecting rod 25 (the first travel switch 32 and the second travel switch 33 are located on both sides of the connecting rod 25). The first travel switch 32 and the second travel switch 33 are used to limit the moving position of the connecting rod 25; wherein, the height position of the lifting and lowering of the lifting platform 21 can be limited by the first travel switch 32 and the second travel switch 33. When the connecting rod 25 touches the contact on the first travel switch 32 or the second travel switch 33, the first travel switch 32 sends a stop signal to the controller 31, so that the drive motor 22 stops working. The first travel switch 32 can limit the highest position that the lifting platform 21 can reach, thereby limiting the height position of the six-degree-of-freedom laser coding robot body 10, avoiding collision with the external factory environment due to excessive elevation, and improving the protection of the six-degree-of-freedom laser coding robot body 10.

[0030] A plurality of thread grooves 41 are provided on the outer wall of the mobile base 20, and the first travel switch 32 is mounted on the mounting frame 42. The mounting frame 42 is provided with a mounting hole, and a bolt is provided inside the mounting hole. The bolt passes through the mounting hole and is threadedly connected to the inside of the thread groove 41 to fix the position of the mounting frame 42; wherein, the positions of the first travel switch 32 and the second travel switch 33 can be adjusted here, so that the maximum height that the six-degree-of-freedom laser coding robot body 10 can reach can be limited according to the environment in the factory; when adjusting the position of the first travel switch 32, it is only necessary to move the mounting frame 42 to the position of the appropriate thread groove 41 and fix the mounting frame 42.

[0031] In this embodiment, the working principle of the device is as follows: when the six-degree-of-freedom laser coding robot body 10 is used to laser code the items on the production line, especially when there is a large difference in the height of the items, the height position of the six-degree-of-freedom laser coding robot body 10 can be corrected by adjusting the height position of the lifting platform 21, so that the six-degree-of-freedom laser coding robot body 10 can adapt to products of different heights or thicknesses, ensuring that the six-degree-of-freedom laser coding robot body 10 can be accurately positioned on the target object, thereby improving the accuracy and efficiency of coding.

[0032] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A correction positioning device for a six-degree-of-freedom robot laser coding system, characterized in that: The six-degree-of-freedom laser coding robot body (10) comprises a mobile base (20) and a lifting platform (21), wherein the lifting platform (21) is movably mounted on the mobile base (20) via a lifting mechanism, and the six-degree-of-freedom laser coding robot body (10) is mounted on the lifting platform (21); The lifting mechanism comprises two groups of limit frames, which are respectively located on both sides of the lifting platform (21), wherein one group of the limit frames comprises a first rotating arm (26) and a second rotating arm (27), wherein the first rotating arm (26) and the second rotating arm (27) are rotatably connected to each other at the middle position of the outer wall through a rotating shaft, movable grooves (28) are respectively provided on the opposite side walls of the lifting platform (21), and the inner walls of the two movable grooves (28) are slidably connected with a mounting rod (29), and the two ends of the mounting rod (29) are respectively rotatably connected to the end side walls of the two second rotating arms (27), and one end of the second rotating arm (27) away from the mounting rod (29) is rotatably connected to the outer wall of the movable base (20), and one end of the first rotating arm (26) is rotatably connected to the side wall of the lifting platform (21), and a driving assembly is arranged on the movable base (20), and the driving assembly is used to drive the two first rotating arms (26) to move away from one end of the lifting platform (21).

2. According to claim 1, a correction positioning device for a six-degree-of-freedom robot laser coding system is characterized in that: The driving assembly comprises a driving motor (22) fixedly mounted on the outer wall of the mobile base (20); a threaded rod (23) is fixedly mounted on the end wall of the output shaft of the driving motor (22); one end of the threaded rod (23) away from the driving motor (22) is rotatably connected to the outer wall of the mobile base (20) via a bearing rod; a threaded slider (24) is threadedly connected to the outer wall of the threaded rod (23); the bottom wall of the threaded slider (24) is slidably connected to the outer wall of the mobile base (20); connecting rods (25) are fixedly mounted on the opposite side walls of the threaded slider (24); one end of the connecting rod (25) away from the threaded slider (24) is rotatably connected to the end side wall of the first rotating arm (26).

3. The correction positioning device of the six-degree-of-freedom robot laser coding system according to claim 2 is characterized in that: A laser sensor (34) is installed at the coding end of the six-degree-of-freedom laser coding robot body (10), a controller is installed on the mobile base (20), and the drive motor (22) and the laser sensor (34) are electrically connected to the controller (31) respectively.

4. The correction positioning device of the six-degree-of-freedom robot laser coding system according to claim 3 is characterized in that: A first travel switch (32) and a second travel switch (33) are installed on the outer wall of the movable base (20) and located on the moving path of the connecting rod (25). The first travel switch (32) and the second travel switch (33) are used to limit the moving position of the connecting rod (25).

5. The correction positioning device of the six-degree-of-freedom robot laser coding system according to claim 4 is characterized in that: A plurality of thread grooves (41) are provided on the outer wall of the movable base (20); the first travel switch (32) is mounted on a mounting frame (42); a mounting hole is provided on the mounting frame (42); a bolt is provided inside the mounting hole; the bolt passes through the mounting hole and is threadedly connected to the inside of the thread groove (41) to fix the position of the mounting frame (42).

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