Mechanical arm utilizing laser to assist positioning

Abstract

The utility model discloses a mechanical arm utilizing laser to assist in positioning, which relates to the technical field of mechanical arm control and comprises a main arm machine and a welding structure, a first rotating joint is mounted above the main arm machine through bolts, and an auxiliary arm machine is arranged on one side, far away from the main arm machine, of the first rotating joint. A second rotating joint is arranged on the side, away from the rotating joint, of the auxiliary arm machine, the welding structure is arranged on the side, away from the auxiliary arm machine, of the second rotating joint, the welding structure comprises a laser positioning assembly, a welding assembly and a guiding assembly, and the welding assembly is arranged on the left side of the laser positioning assembly. A guide assembly is arranged on the side, away from the laser positioning assembly, of the welding assembly, and a rotating support is installed on the upper portion of the inner wall of the main arm machine through bolts. In the process of welding the materials, a welding area is positioned and guided through a laser positioning assembly at the moment, and therefore the welding path of the materials is obtained in real time.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arm control, in particular to a mechanical arm using laser-assisted positioning. Background Art

[0002] A robotic arm is an automated mechanical device that can simulate the functions of a human arm. It is flexible and precise, and can play an important role in various fields such as industrial production, medical field, and military applications. A robotic arm is usually programmable, and its connecting rods are connected by joints, allowing rotational movement or translational displacement. The various links of the robotic arm form a kinematic chain, and its end is called the end effector, which is similar to a human hand. The robotic arm can control the movement of several of its motion joints, and realize the movement of other joints by controlling motors and transmission devices. It can also accept user instructions and complete specified actions with high precision. However, when welding materials, due to the different welding paths, the robotic arm needs to repeat the conveying path planning. Therefore, a robotic arm that uses laser-assisted positioning is needed.

[0003] The application number retrieved is: CN201510224516.9, a full-angle industrial spot welding robot based on laser positioning, which effectively realizes robot multi-angle welding. A laser locator is provided on the surface of the L-shaped bracket, which effectively improves the welding accuracy.

[0004] However, the existing robotic arms still have certain defects in actual use: when welding materials, due to the differences in the materials being welded, the control device of the robotic arm is often required to continuously send multiple path structure plans, which will affect the use of the robotic arm in the actual operation process. For this reason, we propose a robotic arm that uses laser-assisted positioning. Summary of the invention

[0005] In order to make up for the above shortcomings, the utility model provides a robotic arm that utilizes laser-assisted positioning, aiming to improve the problem that when welding materials, when the welded materials are different, the control equipment of the robotic arm often needs to continuously transmit the planning of multiple path structures, which will affect the use of the robotic arm in the actual operation process.

[0006] The utility model realizes a robotic arm using laser-assisted positioning through the following technical scheme, including a main arm machine and a welding structure, wherein a first rotating joint is installed on the top of the main arm machine by bolts, and a sub-arm machine is arranged on the side of the first rotating joint away from the main arm machine, and a second rotating joint is arranged on the side of the sub-arm machine away from the rotating joint, and the welding structure is arranged on the side of the second rotating joint away from the sub-arm machine, and the welding structure includes a laser positioning component, a welding component and a guide component, and a welding component is arranged on the left side of the laser positioning component, and a guide component is arranged on the side of the welding component away from the laser positioning component, and a rotating bracket is installed on the inner wall of the main arm machine by bolts.

[0007] Furthermore, the laser positioning assembly includes a shell, a first guide lens, a connecting tube, a second guide lens and a mounting ring, and the first guide lens is arranged at the bottom of the shell, and the second guide lens is arranged on the left side of the first guide lens, and two groups of connecting tubes are installed on the top of the shell by bolts, and the distance between the two groups of connecting tubes is the same, and the first guide lens and the second guide lens are connected to the shell by a mounting ring.

[0008] Furthermore, the laser positioning assembly also includes a laser transmitting box, a signal processing box, a light receiving bracket and a control box, and a light receiving bracket is arranged below the laser transmitting box, and a signal processing box is arranged at the center of the two groups of light receiving brackets, and a control box is arranged above the signal processing box.

[0009] Furthermore, the welding assembly includes a welding machine body, a connecting plate, a mounting bracket, a supporting bracket and a welding gun, and a connecting plate is installed under the welding machine body by bolts, and a mounting bracket is provided on the side of the connecting plate away from the welding machine body, and a supporting bracket is provided on the side of the mounting bracket away from the connecting plate, and a welding gun is provided on the side of the supporting bracket away from the mounting bracket.

[0010] Furthermore, the guide assembly includes a first mounting block, a rotating shaft and a second mounting block, and the first mounting block is provided with a rotating shaft on a side away from the welding assembly, and the second mounting block is provided on a side of the rotating shaft away from the first mounting block.

[0011] Furthermore, the guide assembly also includes a connecting rod and a docking ring, and a docking ring is provided on a side of the connecting rod away from the laser positioning assembly.

[0012] The utility model provides a mechanical arm using laser assisted positioning, which has the following beneficial effects:

[0013] When welding the material, the main arm machine and the auxiliary arm barrel are adjusted through the first rotating joint and the second rotating joint, so that the second rotating joint drives the welding structure connected to the guide assembly to move. At this time, when the welding structure is above the material, the laser positioning of the welding structure will locate the welding path of the material through the first guide lens. At this time, the robot drives the welding structure to position through the correction of the positioning laser, so that the robot drives the welding structure to drive the material to move along the welding path, thereby obtaining the welding path of the material, so as to facilitate the robot to drive the welding structure to weld the material. The specific contents are as follows:

[0014] A first rotating joint is installed on the top of the main arm machine by bolts, and a sub-arm machine is arranged on the side of the first rotating joint away from the main arm machine, and a second rotating joint is arranged on the side of the sub-arm machine away from the rotating joint, and a welding structure is arranged on the side of the second rotating joint away from the sub-arm machine, and the welding structure includes a laser positioning component, a welding component and a guide component, and a welding component is arranged on the left side of the laser positioning component, and a guide component is arranged on the side of the welding component away from the laser positioning component, and a rotating bracket is installed on the top of the inner wall of the main arm machine by bolts, and the laser positioning component includes a shell, a first guide lens, a connecting pipe, A second guide lens and a mounting ring, and a first guide lens is arranged below the outer shell, and a second guide lens is arranged on the left side of the first guide lens, and two groups of connecting tubes are installed on the top of the outer shell by bolts, and the distance between the two groups of connecting tubes is the same, and the first guide lens and the second guide lens are connected to the outer shell by a mounting ring, the laser positioning assembly also includes a laser transmitting box, a signal processing box, a light receiving bracket and a control box, and a light receiving bracket is arranged below the laser transmitting box, and a signal processing box is arranged at the center of the two groups of light receiving brackets, and a control box is arranged above the signal processing box. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of the entire front view of a mechanical arm utilizing laser-assisted positioning according to the utility model;

[0016] Figure 2 This is a schematic diagram of a welding structure using laser-assisted positioning according to the utility model;

[0017] Figure 3 This is a schematic diagram of the structure of a welding assembly of a robotic arm using laser-assisted positioning according to the utility model;

[0018] Figure 4 This is a structural schematic diagram of a laser positioning assembly of a mechanical arm using laser-assisted positioning according to the utility model;

[0019] Figure 5It is a structural schematic diagram of a front cross section of a first guiding lens of a mechanical arm using laser-assisted positioning according to the utility model;

[0020] Figure 6 The utility model is a schematic diagram of the structure of a guide assembly of a mechanical arm using laser-assisted positioning.

[0021] In the figure: 1. main arm machine; 2. first rotating joint; 3. auxiliary arm machine; 4. second rotating joint; 5. welding structure; 6. rotating bracket; 7. laser positioning assembly; 8. welding assembly; 9. guide assembly; 10. welding machine body; 11. connecting plate; 12. mounting bracket; 13. supporting bracket; 14. welding gun; 15. outer shell; 16. first guide lens; 17. connecting pipe; 18. mounting ring; 19. laser emission box; 20. signal processing box; 21. light receiving bracket; 22. control box; 23. second guide lens; 24. first mounting block; 25. rotating shaft; 26. second mounting block; 27. connecting rod; 28. docking ring. Implementation

[0022] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0023] like Figure 1 - Figure 6 As shown, a robotic arm utilizing laser-assisted positioning comprises a main arm 1 and a welding structure 5, wherein a first rotating joint 2 is installed above the main arm 1 by means of bolts, and a sub-arm 3 is provided on the side of the first rotating joint 2 away from the main arm 1, and a second rotating joint 4 is provided on the side of the sub-arm 3 away from the rotating joint, and the welding structure 5 is provided on the side of the second rotating joint 4 away from the sub-arm 3, and the welding structure 5 comprises a laser positioning component 7, a welding component 8 and a guide component 9, and a welding component 8 is provided on the left side of the laser positioning component 7, and a guide component 9 is provided on the side of the welding component 8 away from the laser positioning component 7, and a rotating bracket 6 is installed above the inner wall of the main arm 1 by means of bolts, wherein when welding materials by means of the robotic arm, the materials are positioned by means of the laser positioning component 7, and after completing the laser positioning, the robotic arm moves and moves along the welding node, and at this time, the laser positioning component 7 is repositioned after moving to the end, thereby completing the positioning of the corresponding welding position.

[0024] The laser positioning assembly 7 includes a shell 15, a first guide lens 16, a connecting tube 17, a second guide lens 23 and a mounting ring 18, and the first guide lens 16 is arranged below the shell 15, and the second guide lens 23 is arranged on the left side of the first guide lens 16, and two groups of connecting tubes 17 are installed on the top of the shell 15 by bolts, and the distance between the two groups of connecting tubes 17 is the same, and the first guide lens 16 and the second guide lens 23 are connected to the shell 15 by the mounting ring 18, and at this time, when the welding assembly 8 moves, the positioning assembly connected to the welding assembly 8 moves with the welding assembly 8, and during the movement, the first guide lens 16 and the second guide lens 23 respectively guide long laser strips and point lasers to facilitate the use of lasers.

[0025] The laser positioning component 7 also includes a laser transmitting box 19, a signal processing box 20, a light receiving bracket 21 and a control box 22, and a light receiving bracket 21 is arranged below the laser transmitting box 19, and a signal processing box 20 is arranged at the center of the two groups of light receiving brackets 21, and a control box 22 is arranged above the signal processing box 20. When the laser positioning component 7 needs to be operated, the laser transmitting box 19 is a device for generating a laser beam, and the signal processing box 20 includes an amplifier, an analog-to-digital converter, a microprocessor, etc., which are used to process the received signal and calculate the position information of the target object. At this time, the light receiving bracket 21 is used to receive the reflected or scattered laser signal when the light is emitted. At this time, the laser is transmitted into the first guide lens 16 and the second guide lens 23, thereby completing the laser emission, and the control box 22 is used to control the operation of the entire laser positioning system, including the emission, scanning and data processing of the laser beam.

[0026] The welding assembly 8 includes a welding machine body, a connecting plate 11, a mounting bracket 12, a supporting bracket 13 and a welding gun 14, and the connecting plate 11 is installed at the bottom of the welding machine body by bolts, and the side of the connecting plate 11 away from the welding machine body is provided with a mounting bracket 12, and the side of the mounting bracket 12 away from the connecting plate 11 is provided with a supporting bracket 13, and the side of the supporting bracket 13 away from the mounting bracket 12 is provided with a welding gun 14, and at this time, the welding machine body of the welding assembly 8 is sprayed through the welding gun 14, and the welding machine body is connected by the connecting plate 11 and the mounting bracket 12, and the supporting bracket 13 below is fixed, and when welding is required, the welding gun 14 sprays out to weld the material.

[0027] The guide assembly 9 includes a first mounting block 24, a rotating shaft 25 and a second mounting block 26, and the rotating shaft 25 is arranged on the side of the first mounting block 24 away from the welding assembly 8, and the second mounting block 26 is arranged on the side of the rotating shaft 25 away from the first mounting block 24. The guide assembly 9 also includes a connecting rod 27 and a docking ring 28, and the docking ring 28 is arranged on the side of the connecting rod 27 away from the laser positioning assembly 7. When the position of the welding assembly 8 needs to be adjusted, the guide assembly 9 fixes the rotating shaft 25 through the first mounting block 24 and the second mounting ring 18, and the docking ring 28 is located inside the second rotating joint 4. When the welding assembly 8 needs to be rotated, the second rotating joint 4 cooperates with the docking ring 28 to adjust the welding assembly 8.

[0028] In summary, the utility model uses the main arm machine 1 and the welding structure 5, and at this time the rotating bracket 6 inside the main arm machine 1 drives the main arm machine 1 to rotate, and at this time the first rotating joint 2 drives the auxiliary arm machine 3 to rotate, and the second rotating joint 4 installed on the auxiliary arm machine 3 is connected to the guide component 9, so that the guide component 9 is connected to the welding structure 5, so that the welding component 8 in the welding structure 5 is positioned by the laser positioning component 7 during the welding process, and the material is placed above the welding platform. At this time, the main arm machine 1 and the auxiliary arm machine 3 rotate through the first rotating joint 2 and the second rotating joint 4, so that the welding structure 5 connected to the guide component 9 is driven to move above the material, and the guide component 9 drives the welding structure 5 to be parallel to the material. At this time, the laser emitting box 19 inside the laser positioning component 7 emits light, and the light is formed by the light receiving bracket 21. At this time, the light is emitted along the first guiding lens 16;

[0029] At this time, the laser contacts the material, and the laser locates the position of the material. At this time, the guide component 9 and the robot arm adjust the position of the welding structure 5. After completing the positioning, the robot arm drives the welding structure 5 to move along the welding position of the material, and the welding structure 5 obtains the welding path of the material. At this time, when the welding structure 5 moves to the welding end of the material, the laser positioning component 7 performs secondary positioning of the material through the second guide lens 23. At this time, the welding structure 5 is reset, thereby completing the positioning of the welding path.

Claims

1. A robotic arm utilizing laser-assisted positioning, comprising a main arm (1) and a welding structure (5), characterized in that: A first rotating joint (2) is installed above the main arm machine (1) by means of bolts, and a secondary arm machine (3) is provided on a side of the first rotating joint (2) away from the main arm machine (1), and a second rotating joint (4) is provided on a side of the secondary arm machine (3) away from the rotating joint, and the welding structure (5) is provided on a side of the second rotating joint (4) away from the secondary arm machine (3), and the welding structure (5) includes a laser positioning component (7), a welding component (8) and a guide component (9), and a welding component (8) is provided on the left side of the laser positioning component (7), and a guide component (9) is provided on a side of the welding component (8) away from the laser positioning component (7), and a rotating bracket (6) is installed above the inner wall of the main arm machine (1) by means of bolts.

2. The laser-assisted positioning robot according to claim 1, characterized in that: The laser positioning assembly (7) comprises a housing (15), a first guiding lens (16), a connecting tube (17), a second guiding lens (23) and a mounting ring (18), wherein the first guiding lens (16) is arranged below the housing (15), and the second guiding lens (23) is arranged on the left side of the first guiding lens (16), and two groups of connecting tubes (17) are installed above the housing (15) by bolts, and the distance between the two groups of connecting tubes (17) is the same, and the first guiding lens (16) and the second guiding lens (23) are connected to the housing (15) by the mounting ring (18).

3. The laser-assisted positioning robot according to claim 1, characterized in that: The laser positioning assembly (7) further comprises a laser emission box (19), a signal processing box (20), a light receiving bracket (21) and a control box (22), wherein the light receiving bracket (21) is arranged below the laser emission box (19), the signal processing box (20) is arranged at the center of two groups of the light receiving brackets (21), and the control box (22) is arranged above the signal processing box (20).

4. The laser-assisted positioning robot according to claim 1, characterized in that: The welding assembly (8) comprises a welding machine body (10), a connecting plate (11), a mounting bracket (12), a supporting bracket (13) and a welding gun (14), wherein the connecting plate (11) is mounted below the welding machine body (10) by means of bolts, and the mounting bracket (12) is arranged on a side of the connecting plate (11) away from the welding machine body (10), and the supporting bracket (13) is arranged on a side of the mounting bracket (12) away from the connecting plate (11), and the welding gun (14) is arranged on a side of the supporting bracket (13) away from the mounting bracket (12).

5. The robotic arm using laser assisted positioning according to claim 1, characterized in that: The guide assembly (9) comprises a first mounting block (24), a rotating shaft (25) and a second mounting block (26), wherein the first mounting block (24) is provided with the rotating shaft (25) on a side away from the welding assembly (8), and the second mounting block (26) is provided on a side of the rotating shaft (25) away from the first mounting block (24).

6. The robotic arm using laser assisted positioning according to claim 1, characterized in that: The guide assembly (9) further comprises a connecting rod (27) and a docking ring (28), and a docking ring (28) is provided on a side of the connecting rod (27) away from the laser positioning assembly (7).

Images