Cutting robot with high flexibility

Abstract

The utility model discloses a cutting robot with high flexibility. The cutting robot comprises a base, a robot body, a cutting assembly and a reinforcing device. The reinforcing device is arranged at the rear end of the base, so that the bottom weight of the cutting robot is increased, the influence of acting force brought by the front end of the robot body during production and cutting is weakened, and the problems that due to the long-term influence of the movable acting force, connection of the base is loosened, and the robot body is unstable in installation are solved. The bottom weight of the cutting robot is increased by means of weight increment of a balancing weight and connection of a connecting piece, the balancing weight can be detached and replaced and flexibly meets the requirements, movement of the reinforcing device and the base during installation is more convenient when the balancing weight is detached, the reinforcing device is high in installation convenience, and the service life of the reinforcing device is prolonged. And by arranging the connecting piece, the assembling body and the base can be conveniently connected, and then the base and the reinforcing device are connected into a whole, so that the bottom weight of the cutting robot is increased.

Description

Technical Field

[0001] The utility model relates to the relevant field of cutting robots, in particular to a cutting robot with high flexibility. Background Art

[0002] A welding and cutting robot is an automated device that can perform welding and cutting operations. It generally uses a robotic arm with multiple joints to achieve adjustment of any position and posture within the workspace. At present, there are two main structural forms of five-axis robots: rectangular coordinate type and articulated coordinate type. The former has high positioning accuracy, but in a narrow space, the movement of this type of robot is hindered and it cannot move with ease; the latter has a fast movement speed, but the position and posture degrees of freedom are coupled together, and the control is complex. The continuous rotation welding and cutting requirements of closed curves based on complex spatial curves put forward higher requirements on the mechanical structure characteristics of the robot.

[0003] The Chinese patent with patent number CN202122285880.X discloses "A welding and cutting robot with multiple degrees of freedom". By setting up multiple sets of motors and cooperating with a rotating table, the flexibility of the welding and cutting robot with multiple degrees of freedom is improved, achieving high flexibility in welding and cutting.

[0004] This structure has certain advantages, but it still has the common problems of cutting robots:

[0005] During the operation of the cutting robot, as the movable arm continues to move, its gravity tends to the front operating area. Over time, the bolts of the base are prone to loosening. When the base installation of the robot becomes loose, the original preset trajectory of the robot will have errors, resulting in inaccurate cutting and welding points, and poor processing quality. Utility Model Content

[0006] Therefore, in order to solve the above-mentioned shortcomings, the utility model provides a cutting robot with high flexibility.

[0007] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a cutting robot with high flexibility, comprising: a base, a robot body is installed on the top of the base;

[0008] The robot body is composed of a mechanical arm with multiple joints, which can be flexibly adjusted to achieve adjustment of any position and posture;

[0009] A cutting assembly, wherein the cutting assembly is mounted at the front end of the robot body;

[0010] A reinforcement device, the front end of which is embedded in the interior of the base, the reinforcement device includes an assembly, a support frame, a ball, a counterweight, a limiting groove, a limiting plate, and a connecting piece. The interior of the assembly is slidably connected to the support frame, the bottom end of the support frame is rotatably connected to the ball, the counterweight is placed in the interior of the support frame, the limiting plate is downwardly embedded in the limiting groove, and is locked and fixed to the assembly with bolts, the left end of the connecting piece is fixed to the assembly, and its front left end is embedded in the interior of the base.

[0011] Preferably, the connecting member includes a connecting plate, a guide block, and a snap-in block. The left end of the connecting plate is fixed to the assembly body, a guide block is fixed inside the connecting plate, a snap-in block is movable inside the guide block, and the snap-in block is embedded to the left into the interior of the base.

[0012] It is further preferred that a slide groove is provided inside the assembly, and a ball rolls in the slide groove, which plays a flexible role in pushing the movement of the support frame to avoid difficulty in removing the support frame carrying the counterweight block.

[0013] It is further preferred that a limiting groove is provided inside the rear end of the assembly, which cooperates with the limiting plate to limit the support frame and the counterweight block, and stably confines the counterweight block inside the assembly. By setting the counterweight block, the overall weight is increased, and then the weight of the base is increased to resist the force brought by the movement of the robot body, thereby reducing the probability of the base being unstable and loose.

[0014] It is further preferred that the connecting parts are provided in two groups, which are symmetrically distributed at the left and right ends of the assembly, so as to facilitate the restriction of the two ends of the base, play a sufficient weighting role, and reduce the force caused by the movement of the robot body.

[0015] It is further preferred that the inner cross-section size of the guide block is consistent with the middle cross-section size of the clamping block, so that the clamping block can move inside the guide block, making it easy to embed the clamping block into the connection ports at both ends of the base.

[0016] It is further preferred that the cross section of the guide block is rectangular, and stability is enhanced by setting a rectangular structure.

[0017] It is further preferred that the robot body and cutting assembly are both existing technologies in mechanical production and will not be elaborated here, and the robot body can be rotated and adjusted with multiple degrees of freedom and has strong flexibility.

[0018] In a further preferred embodiment, a mounting plate can be welded to the outer side of the assembly, and the mounting plate can be mounted on the operating table through mounting plate bolts to further enhance the stability of the assembly placement.

[0019] Beneficial effects of the utility model:

[0020] The utility model increases the bottom weight of the cutting robot by arranging a reinforcement device at the rear end of the base, weakens the influence of the force brought by the front end of the robot body during production cutting, avoids the influence of the active force for a long time, which causes the connection of the base to loosen, the robot body to be installed unstable, and causes errors in the trajectory of the cutting component when cutting the workpiece, resulting in workpiece cutting errors. The bottom weight of the cutting robot is strengthened by the increase in weight of the counterweight block and the connection of the connecting piece. The counterweight block can be disassembled and replaced to flexibly meet the needs. When the counterweight block is removed, it is more convenient to move and adjust the reinforcement device and the base during installation. The reinforcement device is easy to install.

[0021] The utility model provides a connecting piece to facilitate the connection of the assembly and the base. The clamping block is moved outward and then the two groups of connecting plates are placed on the left and right ends of the base. The clamping block is then moved inward so that the clamping block is completely embedded in the connecting port of the base, fits with the base and is stably connected. The clamping block is fixed to the connecting plate with bolts to ensure the stability of the clamping block. The base and the reinforcement device are then connected as a whole to strengthen the bottom weight of the cutting robot. The connecting piece facilitates the rapid connection of the assembly and the base. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0023] Figure 2 It is a schematic diagram of the three-dimensional structure of the reinforcement device of the utility model;

[0024] Figure 3 It is a schematic diagram of the internal structure of the reinforcement device of the utility model;

[0025] Figure 4 This is a schematic diagram of the three-dimensional structure of the support frame and the ball bearing of the utility model;

[0026] Figure 5 It is a three-dimensional structural schematic diagram of the connecting piece of the utility model.

[0027] Among them: base-1, robot body-2, cutting component-3, reinforcement device-4, assembly-41, support frame-42, ball-43, counterweight block-44, limiting groove-45, limiting plate-46, connecting piece-47, connecting plate-471, guide block-472, and clamping block-473. DETAILED DESCRIPTION

[0028] In order to further explain the technical solution of the present utility model, it is described in detail through specific embodiments below.

[0029] See also Figure 1The utility model provides a cutting robot with high flexibility, comprising:

[0030] A base 1, a robot body 2 is mounted on the top of the base 1;

[0031] The robot body 2 is composed of a mechanical arm with multiple joints, which can be flexibly adjusted to achieve adjustment of any position and posture;

[0032] The cutting assembly 3 is installed at the front end of the robot body 2 .

[0033] See also Figure 2-4 The utility model provides a cutting robot with high flexibility, a reinforcement device 4, the front end of the reinforcement device 4 is embedded in the interior of the base 1, the reinforcement device 4 includes an assembly 41, a support frame 42, a ball 43, a counterweight 44, a limiting groove 45, a limiting plate 46, and a connecting piece 47. The interior of the assembly 41 is slidably connected to the support frame 42, the bottom end of the support frame 42 is rotatably connected to the ball 43, the counterweight 44 is placed in the interior of the support frame 42, the limiting plate 46 is downwardly embedded in the limiting groove 45, and it is locked and fixed with the assembly 41 by bolts, the left end of the connecting piece 47 is fixed to the assembly 41, and its front left end is embedded in the interior of the base 1.

[0034] In this embodiment, a slide groove is provided inside the assembly 41, and a ball 43 rolls in the slide groove, which plays a flexible role in pushing the movement of the support frame 42 to avoid difficulty in removing the support frame 42 carrying the counterweight block 44. A limiting groove 45 is provided inside the rear end of the assembly 41, which cooperates with the limiting plate 46 to limit the support frame 42 and the counterweight block 44, and stably limits the counterweight block inside the assembly 41. Through the setting of the counterweight block 44, the overall weight is increased, and then the weight of the base 1 is increased to resist the force brought by the movement of the robot body 2, reduce the probability of unstable force on the base 1 and loosening, and two groups of connecting parts 47 are provided, which are symmetrically distributed at the left and right ends of the assembly 41, so as to limit the two ends of the base 1, play a sufficient weighting role, and reduce the force brought by the movement of the robot body 2.

[0035] See also Figure 5 The utility model provides a cutting robot with high flexibility. The connecting member 47 includes a connecting plate 471, a guide block 472, and a clamping block 473. The left end of the connecting plate 471 is fixed to the assembly 41. The guide block 472 is fixed inside the connecting plate 471. The clamping block 473 is movable inside the guide block 472. The clamping block 473 is embedded in the base 1 to the left.

[0036] In this embodiment, the inner cross-sectional size of the guide block 472 is consistent with the middle cross-sectional size of the clamping block 473, so that the clamping block 473 can move inside the guide block 472, making it easy to embed the clamping block 473 into the connecting ports at both ends of the base 1. The cross-sectional shape of the guide block 472 is rectangular, and the stability is enhanced by setting a rectangular structure.

[0037] See also Figure 1-Figure 5 When in use, the clamping block 473 is moved outward, and then the two sets of connecting plates 471 are placed at the left and right ends of the base 1, and then the clamping block 473 is moved inward, so that the clamping block 473 is completely embedded in the connecting port of the base 1, and fits with the base 1 and is stably connected, and the clamping block 473 is fixed to the connecting plate 471 with bolts to ensure the stability of the clamping block 473, thereby connecting the base 1 and the reinforcement device 4 as a whole;

[0038] Then, the limiting plate 46 is pulled out, the support frame 42 is pulled out, the counterweight 44 is placed inside the support frame 42, and the support frame 42 is pushed to slide into the assembly 41, wherein the movement of the support frame 42 is easier through the rolling of the ball 43, and after the counterweight 44 is installed, the limiting plate 46 is embedded in the limiting groove 45, and the limiting plate 46 is fixed to the assembly 41 with bolts, so that the counterweight 44 and the support frame 42 are stabilized inside, wherein the stability of the assembly 41 can be enhanced by welding a mounting plate on the assembly 41 and connecting the mounting plate with the operating table with bolts;

[0039] When it is necessary to cut the workpiece, the processing system controls the robot body 2 to adjust any position and posture in space, realizes the conversion between multiple degrees of freedom, and then flexibly drives the cutting component 3 to cut the workpiece.

[0040] The control method of the present invention is to control by manually starting and closing the switch. The wiring diagram of the power element and the provision of power supply are common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will not explain the control method and wiring arrangement in detail.

[0041] The control method of the present invention is automatic control through a controller. The control circuit of the controller can be realized by simple programming by technicians in this field. The provision of power is also common knowledge in this field. The present invention is mainly used to protect mechanical devices, so the present invention will no longer explain the control method and circuit connection in detail.

[0042] The above are only preferred examples of the present invention and are not intended to limit the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cutting robot with high flexibility, comprising: A base (1), a robot body (2) being mounted on the top of the base (1); A robot body (2), wherein the robot body (2) is composed of a mechanical arm with multiple joints, which can be flexibly adjusted to achieve adjustment of any position and posture; A cutting assembly (3), wherein the cutting assembly (3) is mounted on the front end of the robot body (2); The invention is characterized in that: it also includes a reinforcement device (4), the front end of which is embedded in the interior of the base (1), and the reinforcement device (4) includes an assembly (41), a support frame (42), a ball (43), a counterweight (44), a limiting groove (45), a limiting plate (46), and a connecting piece (47). The interior of the assembly (41) is slidably connected to the support frame (42), the bottom end of the support frame (42) is rotatably connected to the ball (43), the counterweight (44) is placed in the interior of the support frame (42), the limiting plate (46) is downwardly embedded in the interior of the limiting groove (45), and is locked and fixed with the assembly (41) by bolts, the left end of the connecting piece (47) is fixed to the assembly (41), and its front left end is embedded in the interior of the base (1).

2. According to claim 1, a cutting robot with high flexibility, characterized in that: The connecting member (47) comprises a connecting plate (471), a guide block (472), and a snap-on block (473); the left end of the connecting plate (471) is fixed to the assembly (41); the guide block (472) is fixed inside the connecting plate (471); the snap-on block (473) is movable inside the guide block (472); and the snap-on block (473) is embedded to the left into the interior of the base (1).

3. According to claim 1, a cutting robot with high flexibility, characterized in that: A slide groove is arranged inside the assembly (41), and a ball (43) rolls in the slide groove.

4. According to claim 1, a cutting robot with high flexibility, characterized in that: A limiting groove (45) is provided inside the rear end of the assembly body (41).

5. According to claim 1, a cutting robot with high flexibility, characterized in that: The connecting members (47) are provided in two groups and are symmetrically distributed at the left and right ends of the assembly (41).

6. A cutting robot with high flexibility according to claim 2, characterized in that: The size of the inner cross section of the guide block (472) is consistent with the size of the middle cross section of the clamping block (473).

7. A cutting robot with high flexibility according to claim 2, characterized in that: The cross section of the guide block (472) is rectangular.

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