Parallel manipulator for laser processing

Abstract

The utility model discloses a parallel manipulator for laser processing. The parallel manipulator comprises a frame body, a first X-axis transfer module, a second X-axis transfer module, a first swing arm, a second swing arm, a first sliding seat, a second sliding seat, a Z-axis transfer module and a laser head. The first sliding seat and the second sliding seat are arranged on the frame body in a sliding mode in the X-axis direction and are connected with the corresponding first X-axis transferring module and the second X-axis transferring module in an assembled mode. The first end of the first swing arm is pivoted with the first sliding seat through a first shaft, the first end of the second swing arm is pivoted with the second sliding seat through a second shaft, and the second end of the second swing arm is pivoted with the second end of the first swing arm through a third shaft; the Z-axis transfer module is assembled on the second end of the first swing arm or the second swing arm, and the laser head is assembled on the Z-axis transfer module. According to the parallel manipulator for laser processing, the defect of large inertia of a traditional series manipulator can be overcome, and the stability and reliability of the Z-axis transfer module and the laser head in hovering on the X axis and the Y axis are improved.

Description

Technical Field

[0001] The utility model relates to laser processing equipment, in particular to a parallel manipulator for laser processing. Background Art

[0002] As we all know, in laser processing equipment, the use of robots is indispensable; with the help of robots, laser processing equipment has automation or semi-automation functions.

[0003] Among them, for the robot used in the laser cutting machine, the robot is a serial robot, that is, it consists of a frame, an X-axis transfer module installed on the frame, a Y-axis transfer module installed on the output end of the X-axis transfer module, a Z-axis transfer module installed on the output end of the Y-axis transfer module, and a laser head installed on the output end of the Z-axis transfer module. The purpose of controlling the movement of the laser head in the X-axis, Y-axis and Z-axis is achieved through the coordinated cooperation of the X-axis transfer module, the Y-axis transfer module and the Z-axis transfer module.

[0004] However, since the X-axis transfer module is responsible for driving the Y-axis transfer module, the Z-axis transfer module and the laser head to move along the X-axis, and the Y-axis transfer module is responsible for driving the Z-axis transfer module and the laser head to move along the Y-axis direction; this will cause the existing serial robot to have the defect of large inertia, and the large inertia will affect the processing effect of the laser head.

[0005] Therefore, there is an urgent need for a parallel robot for laser processing to overcome one or more of the above-mentioned defects. Utility Model Content

[0006] The purpose of the utility model is to provide a parallel robot for laser processing to overcome the defect of large inertia of traditional serial robots and to improve the stability and reliability of the Z-axis transfer module and the laser head in hovering on the X-axis and Y-axis.

[0007] To achieve the above-mentioned purpose, the parallel robot for laser processing of the present invention includes a frame, a first X-axis transfer module, a second X-axis transfer module, a first swing arm, a second swing arm, a first slide, a second slide, a Z-axis transfer module and a laser head. The first X-axis transfer module and the second X-axis transfer module are both assembled on the frame, the first slide and the second slide are each slidably arranged on the frame along the X-axis direction, the first slide is also assembled and connected to the first X-axis transfer module, and the second slide is also assembled and connected to the second X-axis transfer module. The first end of the first swing arm is pivotally connected to the first slide by means of a first axis extending along the Z-axis direction, the first end of the second swing arm is pivotally connected to the second slide by means of a second axis extending along the Z-axis direction, and the second end of the second swing arm is pivotally connected to the second end of the first swing arm by means of a third axis extending along the Z-axis direction. The Z-axis transfer module is assembled on the second end of the first swing arm or the second swing arm, and the laser head is assembled on the Z-axis transfer module.

[0008] Compared with the existing technology, with the help of the design of "the first end of the first swing arm is pivoted to the first slide by means of the first axis extending along the Z-axis direction, the first end of the second swing arm is pivoted to the second slide by means of the second axis extending along the Z-axis direction, and the second end of the second swing arm is pivoted to the second end of the first swing arm by means of the third axis extending along the Z-axis direction", and the first slide and the second slide are each slidably arranged on the frame along the X-axis direction, this design allows the first swing arm, the second swing arm and the frame to jointly form a triangle that can slide in the X-axis direction and can be changed in size, so that the laser head assembled on the second end of the first swing arm or the second swing arm through the Z-axis transfer module has the function of moving in the Y-axis direction, thereby overcoming the defect of large inertia of the traditional serial manipulator; as described above, since the first swing arm, the second swing arm and the frame jointly form a triangle that can slide in the X-axis direction and can be changed in size, with the help of the characteristics of the triangle, the Z-axis transfer module and the laser head can both hover stably and reliably on the X-axis and Y-axis.

[0009] Preferably, the second end of the first swing arm is provided with a pivot avoidance cavity which passes through the second end in the thickness direction of the first swing arm, the second end of the second swing arm is placed in the pivot avoidance cavity, and the two ends of the third shaft respectively extend out of the second end of the second swing arm and are assembled in the cavity wall of the pivot avoidance cavity.

[0010] Preferably, the Z-axis transfer module includes a first fixed plate stacked with the second end of the first swing arm in the Z-axis direction, a second fixed plate fixedly connected to the first fixed plate and extending along the Z-axis direction, a Z-axis motor mounted on the second fixed plate, and a Z-axis slide slidably arranged on the second fixed plate along the Z-axis direction, the Z-axis slide is opposite to the second end of the first swing arm, and the laser head is installed on the Z-axis slide.

[0011] Preferably, the Z-axis transfer module also includes a Z-axis screw and a Z-axis nut slidably mounted on the Z-axis screw; the second fixed plate is also fixedly connected to the second end of the first swing arm, and the Z-axis screw is located on the side of the second fixed plate facing away from the second end of the first swing arm; the Z-axis motor is configured to drive the Z-axis screw to rotate.

[0012] Preferably, the first swing arm is located between the first axis and the third axis and is provided with a plurality of first hollow channels arranged spaced apart in the length direction of the first swing arm; the second swing arm is located between the second axis and the third axis and is provided with a plurality of second hollow channels arranged spaced apart in the length direction of the second swing arm; the first hollow channels and the second hollow channels are square.

[0013] Preferably, the first slide is equipped with two first bearing seats arranged spaced apart from each other in the Z-axis direction, and the end of the first shaft is rotatably mounted on the first bearing seat; the second slide is equipped with two second bearing seats arranged spaced apart from each other in the Z-axis direction, and the end of the second shaft is rotatably mounted on the second bearing seat.

[0014] Preferably, the first swing arm and the second swing arm are straight arms extending linearly in their length directions.

[0015] Preferably, the first slide and the second slide are aligned with each other along the X-axis direction.

[0016] Preferably, the frame includes a first end seal, a second end seal, and an X-guide slide and a main frame separated in the Y-axis direction. The first end seal fixes one end of the X-guide slide and the main frame, and the second end seal fixes the other opposite ends of the X-guide and the main frame; the first slide and the second slide are both slidably arranged on the X-guide slide.

[0017] Preferably, the first X-axis transfer module and the second X-axis transfer module both include an X-axis motor arranged separated from the X-guide slide in the Z-axis direction, an X-axis screw rod located between the X-guide slide and the main frame, and an X-axis nut slidably arranged on the X-axis screw rod; the X-axis screw rods of the first X-axis transfer module and the second X-axis transfer module are arranged separated from each other in the Z-axis direction; the X-axis screw rod and the output shaft of the X-axis motor of the first X-axis transfer module both pass through the first end seal from the same direction, and the X-axis motor is fixed on the first end seal; the X-axis screw rod and the output shaft of the X-axis motor of the second X-axis transfer module both pass through the second end seal from the same direction, and the X-axis motor is fixed on the second end seal; the first slide is fixedly connected to the X-axis nut of the first X-axis transfer module, and the second slide is fixedly connected to the X-axis nut of the second X-axis transfer module. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional diagram of the parallel manipulator for laser processing of the present utility model.

[0019] Figure 2 yes Figure 1 A three-dimensional view of the parallel robot for laser processing shown at another angle.

[0020] Figure 3 yes Figure 2 3D exploded view of .

[0021] Figure 4 yes Figure 3 Further exploded perspective view.

[0022] Figure 5 It is a stereoscopic view of a frame and a first X-axis transfer module and a second X-axis transfer module on the frame in a parallel robot for laser processing of the present invention.

[0023] Figure 6 This is a three-dimensional diagram of the parallel robot for laser processing of the present invention after a frame and a first X-axis transfer module and a second X-axis transfer module on the frame are hidden.

[0024] Figure 7 yes Figure 6 3D exploded view of . DETAILED DESCRIPTION

[0025] In order to explain the technical content and structural features of the present invention in detail, the following is a further description in conjunction with the embodiments and the accompanying drawings.

[0026] See also Figure 1 and Figure 2The parallel robot 100 for laser processing of the present invention includes a frame 10, a first X-axis transfer module 20, a second X-axis transfer module 30, a first swing arm 40, a second swing arm 50, a first slide 60, a second slide 70, a Z-axis transfer module 80 and a laser head 90. Optionally, as an example, the laser head 90 is used for laser cutting. Obviously, according to actual needs, the laser head 90 can also be used for other functions.

[0027] At the same time, the first X-axis transfer module 20 and the second X-axis transfer module 30 are both assembled on the frame 10, and the frame 10 provides a place for assembly and supports the first X-axis transfer module 20 and the second X-axis transfer module 30. The first slide 60 and the second slide 70 are each slidably mounted on the frame 10 along the X-axis direction to meet the needs of the first slide 60 and the second slide 70 to slide in the X-axis direction on the frame 10; optionally, Figures 1 to 4 As an example, the first slide 60 and the second slide 70 are aligned with each other along the X-axis direction, so that the first slide 60 and the second slide 70 can share the same guide rail (for example, the X-guide slide body 13 described below) and are slidably arranged on the frame 10, thereby simplifying the structure in which the first slide 60 and the second slide 70 are slidably arranged on the frame 10; obviously, according to actual needs, the first slide 60 and the second slide 70 can also be slidably arranged on the frame 10 without sharing the same guide rail, so it is not necessary to Figures 1 to 4 shown.

[0028] Furthermore, the first slide 60 is also assembled and connected to the first X-axis transfer module 20, so that the first X-axis transfer module 20 drives the first slide 60 to slide along the X-axis. The second slide 70 is also assembled and connected to the second X-axis transfer module 30, so that the second X-axis transfer module 30 drives the second slide 70 to slide along the X-axis.

[0029] The first end 41 of the first swing arm 40 is pivotally connected to the first slide 60 by means of a first shaft 43 extending in the Z-axis direction, so as to meet the need of the first swing arm 40 pivoting around the axis of the first shaft 43 relative to the first slide 60. The first end 51 of the second swing arm 50 is pivotally connected to the second slide 70 by means of a second shaft 53 extending in the Z-axis direction, so as to meet the need of the second swing arm 50 pivoting around the axis of the second shaft 53 relative to the second slide 70; the second end 52 of the second swing arm 50 is pivotally connected to the second end 42 of the first swing arm 40 by means of a third shaft 54 ​​extending in the Z-axis direction, so that the second swing arm 50 and the first swing arm 40 can pivot relative to each other. The Z-axis transfer module 80 is mounted on the first swing arm 40, and the laser head 90 is mounted on the Z-axis transfer module 80; obviously, according to actual needs, the Z-axis transfer module 80 can also be mounted on the second swing arm 50, so it is not necessary to use the Z-axis transfer module 80. Figures 1 to 4 and Figures 6 to 7 More specifically, the following are shown:

[0030] like Figures 2 to 4 ,as well as Figures 6 and 7 As shown in the figure, as an example, the second end 42 of the first swing arm 40 is provided with a pivot avoidance cavity 44 that passes through the second end 42 in the thickness direction of the first swing arm 40, and the second end 52 of the second swing arm 50 is placed in the pivot avoidance cavity 44. The two ends of the third shaft 54 ​​extend from the second end 52 of the second swing arm 50 and are assembled in the cavity wall 441 of the pivot avoidance cavity 44. Figure 6 and Figure 7 As shown; This design avoids the second end 42 of the first swing arm 40 and the second end 52 of the second swing arm 50 from interfering with the assembly of the second fixing plate 82 and the second end 42 of the first swing arm 40 described below due to the pivotal connection between the two, thereby making the assembly between the second fixing plate 82 of the Z-axis transfer module 80 and the second end 42 of the first swing arm 40 more compact. Figure 3 and Figure 4 As an example, the Z-axis transfer module 80 includes a first fixed plate 81 stacked with the second end 42 of the first swing arm 40 in the Z-axis direction, a second fixed plate 82 fixedly connected to the first fixed plate 81 and extending along the Z-axis direction, a Z-direction motor 85 mounted on the second fixed plate 82, and a Z-direction slide 86 slidably arranged on the second fixed plate 82 along the Z-axis direction; the Z-direction slide 86 is opposite to the second end 42 of the first swing arm 40; this improves the compactness of the assembly between the second end 42 of the first swing arm 40 and the Z-axis transfer module 80; when the Z-axis transfer module 80 includes the first fixed plate 81, the second fixed plate 82, the Z-direction motor 85 and the Z-direction slide 86, the laser head 90 is mounted on the Z-direction slide 86. More specifically, in Figure 3 and Figure 4 As an example, the Z-axis transfer module 80 also includes a Z-axis screw rod 83 and a Z-axis nut 84 slidably mounted on the Z-axis screw rod 83; the second fixed plate 82 is also fixedly connected to the second end 42 of the first swing arm 40, and the Z-axis screw rod 83 is located on the side of the second fixed plate 82 facing away from the second end 42 of the first swing arm 40; the Z-axis motor 85 is configured to drive the Z-axis screw rod 83 to rotate; this design improves the accuracy and reliability of the Z-axis motor 85 driving the laser head 90 to slide along the Z-axis direction.

[0031] like Figures 1 to 4 and Figures 6 and 7As shown, as an example, the first swing arm 40 and the second swing arm 50 are both straight arms extending linearly in the length direction thereof, so as to simplify the structures of both the first swing arm 40 and the second swing arm 50 . In addition, the first swing arm 40 is provided with a plurality of first hollow channels 45 spaced apart and arranged in the length direction of the first swing arm 40 at a position between the first axis 43 and the third axis 54, and the second swing arm 50 is provided with a plurality of second hollow channels 55 spaced apart and arranged in the length direction of the second swing arm 50 at a position between the second axis 53 and the third axis 54; optionally, as an example, the first hollow channel 45 and the second hollow channel 55 are square, so as to facilitate the manufacturing and processing of the first hollow channel 45 and the second hollow channel 55. Obviously, according to actual needs, the shapes of the first hollow channel 45 and the second hollow channel 55 can also be other, so they are not limited to those shown in the accompanying drawings; wherein, with the help of the first hollow channel 45 and the second hollow channel 55, the weight of the first swing arm 40 and the second swing arm 50 can be effectively reduced, thereby reducing the inertia of the first swing arm 40 and the second swing arm 50, thereby improving the movement accuracy of the laser head 90.

[0032] Another example Figures 1 to 4 and Figures 6 and 7 As shown, as an example, the first slide 60 is equipped with two first bearing blocks 61 spaced apart from each other in the Z-axis direction. The distal end of the first shaft 43 is rotatably mounted on the first bearing blocks 61 to improve the smoothness and sensitivity of the rotation of the first shaft 43 relative to the first slide 60. Furthermore, the second slide 70 is equipped with two second bearing blocks 71 spaced apart from each other in the Z-axis direction. The distal end of the second shaft 53 is rotatably mounted on the second bearing blocks 71 to improve the smoothness and sensitivity of the rotation of the second shaft 53 relative to the second slide 70. In addition, the frame 10 includes a first end seal 11, a second end seal 12, and an X-direction guide slider 13 and a main frame 14 arranged separately in the Y-axis direction; the first end seal 11 fixedly connects one end of the X-direction guide slider 13 and the main frame 14, and the second end seal 12 fixedly connects the other opposite ends of the X-direction conductor 13 and the main frame 14; the first slide 60 and the second slide 70 are both slidably disposed on the X-direction guide slider 13; this design makes the structure of the first slide 60 and the second slide 70 on the frame 10 more compact.

[0033] like Figure 4 and Figure 5As shown, as an example, the first X-axis transfer module 20 includes an X-axis motor 21 arranged to be separated from the X-guide slide 13 in the Z-axis direction, an X-axis screw rod 22 located between the X-guide slide 13 and the main frame 14, and an X-axis nut (not marked in the figure) slidably mounted on the X-axis screw rod 22; the second X-axis transfer module 30 includes an X-axis motor 31 arranged to be separated from the X-guide slide 13 in the Z-axis direction, an X-axis screw rod 32 located between the X-guide slide 13 and the main frame 14, and an X-axis nut (not marked in the figure) slidably mounted on the X-axis screw rod 32. The X-axis screw rods 22 (32) of the first X-axis transfer module 20 and the second X-axis transfer module 30 are arranged to be separated from each other in the Z-axis direction, as shown in the figure. Figure 4 and Figure 5 The X-axis screw rod 22 of the first X-axis transfer module 20 and the output shaft 211 of the X-axis motor 21 are both from the same direction (for example but not limited to Figure 4 and Figure 5 The left end of the X axis is passed through the first end seal 11, and the X axis motor 21 is fixed on the first end seal 11. The X axis screw rod 32 of the second X axis transfer module 30 and the output shaft 311 of the X axis motor 31 are both from the same direction (for example but not limited to Figure 1 The right end of the first X-axis transfer module 20 extends through the second end seal 12, and the X-axis motor 31 is fixed to the second end seal 12. This design makes the installation of the first X-axis transfer module 20 and the second X-axis transfer module 30 on the frame 10 more compact. The first slide 60 is fixedly connected to the X-axis nut of the first X-axis transfer module 20, and the second slide 70 is fixedly connected to the X-axis nut of the second X-axis transfer module 30. This achieves the purpose of accurately driving the first slide 60 to slide along the X-axis direction by the first X-axis transfer module 20, and the purpose of accurately driving the second slide 70 to slide along the X-axis direction by the second X-axis transfer module 30.

[0034] In conjunction with the accompanying drawings, the working principle of the parallel robot for laser processing of the present invention is explained: the first slide 60 is driven by the first X-axis transfer module 20 and the second slide 70 is driven by the second X-axis transfer module 30, so that the first slide 60 and the second slide 70 are driven to slide in the X-axis and Y-axis directions through the cooperation of the first swing arm 40 and the second swing arm 50 when the first slide 60 and the second slide 70 are approaching or moving away from each other; and the movement of the laser head 90 in the Z-axis direction is controlled by the Z-axis transfer module 80; thereby achieving the purpose of moving the laser head 90 in the X-axis direction, the Y-axis direction and the Z-axis direction.

[0035] Compared with the prior art, the first end 41 of the first swing arm 40 is pivotally connected to the first slide 60 by means of a first shaft 43 extending in the Z-axis direction, the first end 51 of the second swing arm 50 is pivotally connected to the second slide 70 by means of a second shaft 53 extending in the Z-axis direction, and the second end 52 of the second swing arm 50 is pivotally connected to the second end 42 of the first swing arm 40 by means of a third shaft 54 ​​extending in the Z-axis direction. In combination with the first slide 60 and the second slide 70 being slidably arranged on the frame 10 along the X-axis direction, the first swing arm 40, the second swing arm 50 and the frame 10 are collectively enclosed. The triangle that can slide in the X-axis direction and can be changed in size enables the laser head 90 assembled on the second end 52 of the first swing arm 40 or the second swing arm 50 through the Z-axis transfer module 80 to have the function of moving in the Y-axis direction, thereby overcoming the defect of large inertia of the traditional serial manipulator; as described above, since the first swing arm 40, the second swing arm 50 and the frame 10 together enclose a triangle that can slide in the X-axis direction and can be changed in size, with the help of the triangle characteristics, the Z-axis transfer module 80 and the laser head 90 can both hover stably and reliably on the X-axis and Y-axis.

[0036] The above disclosure is only a preferred embodiment of the present invention and cannot be used to limit the scope of the rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention are all within the scope covered by the present invention.

Claims

1. A parallel robot for laser processing, comprising a frame, a Z-axis transfer module and a laser head, characterized in that: The parallel robot for laser processing also includes a first X-axis transfer module, a second X-axis transfer module, a first swing arm, a second swing arm, a first slide and a second slide. The first X-axis transfer module and the second X-axis transfer module are both assembled on the frame. The first slide and the second slide are each slidably arranged on the frame along the X-axis direction. The first slide is also assembled and connected to the first X-axis transfer module, and the second slide is also assembled and connected to the second X-axis transfer module. The first end of the first swing arm is pivoted to the first slide by means of a first axis extending along the Z-axis direction, the first end of the second swing arm is pivoted to the second slide by means of a second axis extending along the Z-axis direction, the second end of the second swing arm is pivoted to the second end of the first swing arm by means of a third axis extending along the Z-axis direction, the Z-axis transfer module is assembled on the second end of the first swing arm or the second swing arm, and the laser head is assembled on the Z-axis transfer module.

2. The parallel robot for laser processing according to claim 1, characterized in that: The second end of the first swing arm is provided with a pivot avoidance cavity which passes through the second end in the thickness direction of the first swing arm, the second end of the second swing arm is placed in the pivot avoidance cavity, and the two ends of the third shaft respectively extend out of the second end of the second swing arm and are assembled in the cavity wall of the pivot avoidance cavity.

3. The parallel robot for laser processing according to claim 2, characterized in that: The Z-axis transfer module includes a first fixed plate stacked with the second end of the first swing arm in the Z-axis direction, a second fixed plate fixedly connected to the first fixed plate and extending along the Z-axis direction, a Z-axis motor mounted on the second fixed plate, and a Z-axis slide slidably arranged on the second fixed plate along the Z-axis direction, the Z-axis slide is opposite to the second end of the first swing arm, and the laser head is installed on the Z-axis slide.

4. The parallel robot for laser processing according to claim 3, characterized in that: The Z-axis transfer module also includes a Z-axis screw and a Z-axis nut slidably mounted on the Z-axis screw; the second fixed plate is also fixedly connected to the second end of the first swing arm, and the Z-axis screw is located on the side of the second fixed plate facing away from the second end of the first swing arm; the Z-axis motor is configured to drive the Z-axis screw to rotate.

5. The parallel robot for laser processing according to claim 1, characterized in that: The first swing arm is located between the first axis and the third axis and is provided with a plurality of first hollow channels spaced apart and arranged in the length direction of the first swing arm; the second swing arm is located between the second axis and the third axis and is provided with a plurality of second hollow channels spaced apart and arranged in the length direction of the second swing arm; the first hollow channels and the second hollow channels are square.

6. The parallel robot for laser processing according to claim 1, characterized in that: The first slide is equipped with two first bearing seats arranged spaced apart from each other in the Z-axis direction, and the end of the first shaft is rotatably assembled on the first bearing seats; the second slide is equipped with two second bearing seats arranged spaced apart from each other in the Z-axis direction, and the end of the second shaft is rotatably assembled on the second bearing seats.

7. The parallel robot for laser processing according to claim 1, characterized in that: The first swing arm and the second swing arm are both straight arms extending linearly in their length directions.

8. The parallel robot for laser processing according to claim 1, characterized in that: The first slide and the second slide are aligned with each other along the X-axis direction.

9. The parallel robot for laser processing according to claim 1, characterized in that: The frame includes a first end seal, a second end seal, and an X-guide slide and a main frame separated in the Y-axis direction. The first end seal fixes one end of the X-guide slide and the main frame, and the second end seal fixes the other opposite ends of the X-direction conductor and the main frame; the first slide and the second slide are both slidably arranged on the X-guide slide.

10. The parallel robot for laser processing according to claim 9, characterized in that: The first X-axis transfer module and the second X-axis transfer module both include an X-axis motor arranged separated from the X-guide slide body in the Z-axis direction, an X-axis screw rod located between the X-guide slide body and the main frame, and an X-axis nut slidably arranged on the X-axis screw rod; the X-axis screw rods of the first X-axis transfer module and the second X-axis transfer module are arranged separated from each other in the Z-axis direction; the X-axis screw rod and the output shaft of the X-axis motor of the first X-axis transfer module both pass through the first end seal from the same direction, and the X-axis motor is fixed on the first end seal; the X-axis screw rod and the output shaft of the X-axis motor of the second X-axis transfer module both pass through the second end seal from the same direction, and the X-axis motor is fixed on the second end seal; the first slide is fixedly connected to the X-axis nut of the first X-axis transfer module, and the second slide is fixedly connected to the X-axis nut of the second X-axis transfer module.

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