Robot cutting device and industrial robot

Abstract

The utility model relates to the technical field of robot cutting devices, and particularly discloses a robot cutting device and an industrial robot, which comprise a first connecting piece, an auxiliary rotating mechanism and a second connecting piece, one end of the first connecting piece is connected to the robot, and the other end is connected to the auxiliary rotating mechanism; the auxiliary rotating mechanism comprises a motor and a speed reducer in transmission connection with the motor; the upper part of the second connector is connected to the output end of the speed reducer; the lower portion of the second connecting piece is connected with the cutting mechanism. The cutting device is simple in structure, higher in applicability, lighter and easier to control.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot cutting device technical field, especially a kind of robot cutting device and industrial robot. BACKGROUND

[0002] The existing robot cutting device, due to six-axis movement, for example, small circle cutting within 10mm, requires cutting speed of about 20mm / s, robot arm end has six degrees of freedom of series mechanical structure, so that cutting movement is coupled by six degrees of freedom movement. In the cutting process of small circle, the accuracy of cutting head movement positioning is higher, if there is small error in the movement of a degree of freedom, it will lead to the difficulty of accurate positioning of cutting head. In addition, the cutting process is the process of controlling the movement of cutting head, and the current robot cutting device has a direct or indirect connection with the robot, and the indirect connection device is relatively complex in structure, high in cost, and the complex device needs more complex control algorithm and occupies more operation space.

[0003] As in the prior art, a complete set of equipment containing parallelogram structure is driven to realize accurate small circle cutting, but such robot cutting device is heavy due to its own weight, and in order to realize stable driving of parallelogram, it can only be used for robot with large load, which is complex in structure, high in cost and requires new control requirements. UTILITY MODEL CONTENT

[0004] The utility model aims at: in view of the prior art, the robot directly connected cutting device is used for cutting operation, the movement in the cutting operation is fully and accurately controlled, that is, the deviation from the required cutting trajectory occurs, and then irregular circle is cut, or the roundness of small circle cutting does not meet the requirements. Or connect auxiliary cutting device, but the prior art has the problems of complex structure, high load requirement for robot and high control algorithm. The application provides a kind of robot cutting device and industrial robot, which has the characteristics of simple structure, solves the problem of small load robot suitable for circular cutting.

[0005] The technical scheme of the utility model is:

[0006] A kind of robot cutting device, comprising: first connecting piece, auxiliary rotating mechanism and second connecting piece;One end of the first connecting piece is connected to robot, and the other end is connected to the auxiliary rotating mechanism;The auxiliary rotating mechanism includes motor, and the motor transmission is connected with speed reducer;The upper part of the second connecting piece is connected to the output end of the speed reducer;The lower part of the second connecting piece is connected with cutting mechanism.

[0007] The utility model discloses a scheme, through setting up first connecting piece, one end of first connecting piece is connected in robot, and then can rotate synchronously under the drive of robot, and the rotation of robot end rotation transmission is the rotation of first connecting piece, and then through setting up auxiliary rotating mechanism, the other end of first connecting piece is connected in auxiliary rotating mechanism, and then can drive auxiliary rotating mechanism synchronous movement. Under the condition that the lateral rotation of second connecting piece is driven by auxiliary rotating mechanism, realize the rotation of synchronous auxiliary rotating mechanism and the translation of cutting motion control in horizontal direction of robot, and then accurately and stably control the displacement or speed of cutting mechanism in the cutting process, relative to the six degrees of freedom coupling motion of traditional six-axis comprehensive control, reduce the deviation degree with cutting trajectory, and then can cut out more regular, higher roundness small circle.

[0008] Preferably, the robot cutting device of the utility model, first connecting piece includes: first flange plate, inclined arm and second flange plate, first flange plate is connected to the end of robot, second flange plate is connected with auxiliary rotating mechanism, second flange plate is equipped with shaft hole, auxiliary rotating mechanism is arranged at shaft hole.

[0009] As a kind of scheme of the utility model, by setting first connecting piece to include the structure of first flange plate, inclined arm and second flange plate, by the structural member, first connecting piece drives auxiliary rotating mechanism to move horizontally, and the structure is conducive to the execution of small circle cutting operation.

[0010] As a kind of scheme of the utility model, by setting the inclination angle of inclined arm to vertical inclination 30 °~60 °, preferably 45 °, cooperate first flange plate and second flange plate are fixed to the both ends of inclined arm horizontally, so that the included angle of the both ends of inclined arm and first flange plate and second flange plate is equal, can stably support transmission.

[0011] Preferably, the robot cutting device of the utility model, the opposite two inner side walls of first flange plate and second flange plate are plane respectively, and the flange plate surface of first flange plate and second flange plate is parallelly arranged.

[0012] As a kind of scheme of the utility model, reduce the probability of first flange plate and second flange plate scratching external article in the process of rotation or movement, the plane of inner side can improve the stability of connection, not only reduce the damage rate and prolong service life, and improve the stability of first connecting piece support and drive auxiliary rotating mechanism to move horizontally.

[0013] Preferably, the robot cutting device of the utility model, inclined arm is square column, and the side of inclined arm is all inverted.

[0014] As a kind of scheme of the utility model, through setting square column that inclined arm presents side wall inverted batten, the rigidity of inclined arm is improved, since the weight components such as servo motor on the cutting mechanism and auxiliary rotating mechanism are borne or carried at the lower end of inclined arm, the stability of inclined arm support can be improved, the accuracy and roundness of small circle cutting are improved.

[0015] Preferably, the robot cutting device, the auxiliary rotating mechanism is assembled in a forward direction or inverted on the first connecting piece.

[0016] As a kind of scheme of the utility model, through setting auxiliary rotating mechanism forward assembly or inverted assembly, the flexibility of the device is improved, and more working scenarios are adapted.

[0017] Preferably, the robot cutting device, the upper part of the second connecting piece is provided with a third flange plate in the transverse direction, and the lower part of the second connecting piece is provided with a fixed side wall; the fixed side wall is perpendicular to the third flange plate.

[0018] As a kind of scheme of the utility model, by setting the third flange plate to be transverse, and the fixed side wall is perpendicular to the third flange plate, the trajectory control of the robot is facilitated, the error of the driven cutting mechanism rotation deviation in the cutting process is reduced, and the roundness of the cut small circle is further improved.

[0019] Preferably, the robot cutting device, the second connecting piece is fixedly connected to the cutting mechanism through a height adjuster; one side of the servo slide plate of the height adjuster is connected to the cutting mechanism, and the other side is connected to the second connecting piece, so that the cutting mechanism can move vertically relative to the second connecting piece.

[0020] As a kind of scheme of the utility model, by setting the height adjuster, the cutting mechanism can be moved vertically relative to the second connecting piece through the servo slide plate, and then the positioning height of the cutting mechanism is adjusted, not only the six degrees of freedom of the robot six-axis movement are decomposed into single-degree vertical adjustment positioning, but also the height of the cutting mechanism can be adjusted and positioned fixedly, the height adjuster can realize positioning the cutting mechanism to the set height through the fixed servo slide plate, and then the cutting end can be positioned and adjusted in height conveniently and accurately.

[0021] Preferably, the robot cutting device, the servo slide plate near the cutting mechanism side of the height adjuster is provided with a transverse sliding rail; the cutting mechanism is slidably connected to the transverse sliding rail through a transverse sliding block.

[0022] As a kind of scheme of the utility model, by setting the transverse sliding rail and the sliding block matched and slidably connected to the transverse sliding rail, through the conventional limiting fixing part, the cutting mechanism can be positioned and fixed after moving transversely relative to the servo slide plate of the height adjuster, and then the transverse position of the cutting mechanism can be adjusted and positioned separately.

[0023] Another scheme of the utility model discloses a kind of industrial robots, comprising the robot cutting device described above.

[0024] Another scheme of the utility model discloses a kind of industrial robots, comprising the robot cutting device described above.

[0025] As described above, the utility model has the beneficial effects that:

[0026] A kind of tool for robot cutting is provided, cooperate cutting process and then realize the cutting of small circle and other shapes, especially the cutting of circle which is more demanding. Compared with other complex mechanisms, the set of device also reduces the complex coupling degree of movement axis, reduces the deviation interference dimension of actual cutting and set cutting track, and then can cut out more regular, higher roundness small circle. The set of device structure is simple, can be applicable to 20Kg load small load robot, without using larger load robot, the set of device is more suitable, more portable, control is relatively simpler, provides a kind of simple cutting device and a kind of scheme of the matching of robot control and cutting process. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is the three-dimensional structure schematic diagram of the utility model;

[0028] Figure 2 It is the structure schematic diagram of the first connecting piece of the utility model;

[0029] Figure 3 It is the structure schematic diagram of the second connecting piece of the utility model;

[0030] Icon: 1, first connecting piece;11, first flange plate;12, inclined arm;13, second flange plate;131, shaft hole;2, auxiliary rotating mechanism;3, second connecting piece;31, third flange plate;32, fixed side wall;4, robot;5, cutting mechanism;51, transverse sliding block;6, height adjuster;61, transverse sliding rail. DETAILED DESCRIPTION

[0031] The utility model will be specifically described in connection with the drawings.

[0032] In order to make the purpose, technical scheme and advantage of the utility model more clear and obvious, the utility model is further specifically described in connection with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model, and are not used to limit the utility model.

[0033] Example 1:

[0034] As Figure 1As shown in the drawings, the embodiment discloses a kind of robot cutting device, comprising: first connecting piece 1, auxiliary rotating mechanism 2 and second connecting piece 3;One end of the first connecting piece 1 is connected to robot 4 by shaft, and the other end is connected to the auxiliary rotating mechanism 2 by shaft;The auxiliary rotating mechanism 2 includes motor, and the motor is drivingly connected with speed reducer;The upper portion of the second connecting piece 3 is connected to the output end of the speed reducer by shaft;The lower portion of the second connecting piece 3 is connected with cutting mechanism 5.

[0035] It should be noted that the first connecting piece 1 of the utility model is understood as a connecting piece for connecting robot 4 and auxiliary rotating mechanism 2, which can be a connecting rod or a connecting arm, and is connected by shaft or key at both ends, can follow robot 4 synchronous transverse rotation and drive auxiliary rotating mechanism 2 transverse movement;Specifically, the first connecting piece 1 includes: first flange plate 11, inclined arm 12 and second flange plate 13;First flange plate 11 and second flange plate 13 are fixed transversely to both ends of inclined arm 12 respectively;Inclined arm 12 is vertically inclined;First flange plate 11 is connected to the end of robot 4;Second flange plate 13 is fixedly connected to the fixed seat of auxiliary rotating mechanism 2;Second flange plate 13 is provided with shaft hole 131;Shaft hole 131 is for auxiliary rotating mechanism 2 to pass through.

[0036] Specifically, in the utility model, reference Figure 1 And Figure 2 As shown in the drawings, the inclination angle of the inclined arm 12 is 30°-60° vertically inclined, preferably 45°.

[0037] The connection is understood as synchronous transverse rotation, such as toothed connection, key connection or bolt connection to the end of the rotating shaft, to realize the rotation of robot 4 or auxiliary rotating mechanism 2.

[0038] It should be noted that the transverse rotation of the utility model is understood as being perpendicular to the transverse direction of auxiliary rotating mechanism 2 and robot 4;Vertical is understood as being perpendicular to the transverse direction and parallel to the direction of auxiliary rotating mechanism 2 or robot 4;Transverse rotation is understood as the plane of rotation being the plane of transverse direction.

[0039] It can be understood that robot controls the overall mechanism action of auxiliary rotating mechanism 2, reference Figure 1 As shown in the drawings, one mounting mode is that second flange plate 13 is mounted with servo motor and speed reducer by bolt, the output end of servo motor is connected with the input end of speed reducer, the output end of speed reducer is connected with second connecting piece 3 by screw, cutting mechanism 5 is mounted after mounting height adjuster 6 on second connecting piece 3, to realize the rotation and translation of second connecting piece 3 driven by auxiliary rotating mechanism 2.

[0040] It should be noted that, reference Figure 1 As shown in the drawings, cutting mechanism 5 is understood as a cutting mechanism with laser cutting in conventional robot cutting device.

[0041] Specifically, the auxiliary rotating mechanism 2 is assembled in a normal direction or upside down on the first connecting piece 1, which is not limited to the normal assembly described in the embodiment.

[0042] Specifically, referring to Figure 2 Specifically, the two inner side walls of the first flange plate 11 and the second flange plate 13 are flat, and the flange plate surfaces of the first flange plate 11 and the second flange plate 13 are arranged in parallel. Figure 2 Specifically, the two inner side walls of the first flange plate 11 and the second flange plate 13 are flat, and the flange plate surfaces of the first flange plate 11 and the second flange plate 13 are arranged in parallel.

[0043] It should be noted that the second connecting piece 3 is understood as a connecting piece that can be connected to the auxiliary rotating mechanism 2 and can rotate and translate with the auxiliary rotating mechanism 2, such as a support arm or a connecting bracket. Figure 1 Figure 3 Specifically, the upper part of the second connecting piece 3 is provided with a third flange plate 31 in the transverse direction, and the lower part of the second connecting piece 3 is provided with a fixed side wall 32; the fixed side wall 32 is perpendicular to the third flange plate 31.

[0044] Specifically, the lower part of the second connecting piece 3 is fixedly connected to the cutting mechanism 5 through the height adjuster 6; the two pairs of servo sliding plates of the height adjuster 6 are respectively connected to the cutting mechanism 5 and the second connecting piece 3, so that the cutting mechanism 5 can move vertically relative to the second connecting piece 3.

[0045] Specifically, the servo sliding plate on the side of the height adjuster 6 close to the cutting mechanism 5 is provided with a transverse sliding rail 61; the cutting mechanism 5 is slidably connected to the transverse sliding rail 61 through a transverse sliding block 51; the transverse sliding rail 61 can be provided as a sliding groove, the shape and depth of the sliding groove are matched with the transverse sliding block 51, and the transverse sliding block 51 is provided with a limiting fixing piece, which can position the transverse sliding block 51 at a set position.

[0046] It should be noted that the first and second in the first connecting piece 1 and the second connecting piece 3 of the utility model are only for clear description, and are not explained in detail in terms of numerical value or order.

[0047] ​The working mode of the utility model: the tool point of the calibration cutting mechanism 5, the cutting will be according to the tool point movement, through the programming instruction setting of robot 4 draw circle diameter, inner and outer lead, speed;When working, for example six axis robot, the other five axis of robot 4 keep unmoved, after the connection of robot 4, first connecting piece 1 and auxiliary rotating mechanism 2, the servo motor of the sixth axis of robot 4 and the servo motor of auxiliary rotating mechanism 2 are all controlled to control system, and then drive cutting mechanism 5, make cutting mechanism 5 according to the internal algorithm and control of robot 4 movement, the movement of cutting mechanism 5, through the cutting output action, cut out complete small circle;After cutting, first connecting piece 1 and auxiliary rotating mechanism 2 automatically return to the starting position;The servo motor of robot 4 and the servo motor of auxiliary rotating mechanism 2 select absolute encoder servo motor, before cutting, after cutting, when cutting interruption, robot 4 can judge tool point position, and then carry out real-time planning, realize safe and complete cutting small circle work.

[0048] Embodiment 2:

[0049] On the basis of embodiment 1, reference Figure 1 The utility model discloses still a kind of industrial robot, including robot body, the robot body end connects the robot cutting device as shown in embodiment 1.

[0050] The above only is the preferred embodiment of the utility model, and does not limit the utility model, any modification, equivalent replacement and improvement etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A robotic cutting device, characterized in that, The utility model relates to a robot cutting device, which comprises a first connecting piece (1), an auxiliary rotating mechanism (2) and a second connecting piece (3). The first connecting piece (1) is connected to the robot (4) at one end and is connected to the auxiliary rotating mechanism (2) at the other end. The auxiliary rotating mechanism (2) comprises a motor and a speed reducer connected to the motor. The second connecting piece (3) is connected to the output end of the speed reducer at the upper part.

2. The robotic cutting device of claim 1, wherein, The first connecting piece (1) comprises a first flange plate (11), an inclined arm (12) and a second flange plate (13).

3. The robotic cutting device of claim 2, wherein, The inclined arm (12) is vertically inclined at an angle of 30-60°.

4. The robotic cutting device of claim 2, wherein, The flange plate surfaces of the first flange plate (11) and the second flange plate (13) are arranged in parallel.

5. The robotic cutting device of claim 2, wherein, The inclined arm (12) is a square column, and the side walls of the inclined arm (12) are arranged in reverse.

6. The robotic cutting device of claim 1, wherein, The auxiliary rotating mechanism (2) is assembled in a forward direction or upside down on the first connecting piece (1).

7. The robotic cutting device of claim 1, wherein, The upper part of the second connecting piece (3) is provided with a third flange plate (31) arranged in a transverse direction, and the lower part of the second connecting piece (3) is provided with a fixed side wall (32).

8. The robotic cutting device of claim 1, wherein, The second connecting piece (3) is fixedly connected to the cutting mechanism (5) through a height adjuster (6).

9. The robotic cutting device of claim 8, wherein, The servo slide plate of the height adjuster (6) is connected to the cutting mechanism (5) at one side and to the second connecting piece (3) at the other side, so that the cutting mechanism (5) can move vertically relative to the second connecting piece (3).

10. An industrial robot, characterized by The servo slide plate of the height adjuster (6) is provided with a transverse slide rail (61) near the cutting mechanism (5). The cutting mechanism (5) is slidably connected to the transverse slide rail (61) through a transverse sliding block (51). The utility model relates to a robot cutting device, which comprises a first connecting piece (1), an auxiliary rotating mechanism (2) and a second connecting piece (3). The first connecting piece (1) is connected to the robot (4) at one end and is connected to the auxiliary rotating mechanism (2) at the other end. The auxiliary rotating mechanism (2) comprises a motor and a speed reducer connected to the motor. The second connecting piece (3) is connected to the output end of the speed reducer at the upper part. The first connecting piece (1) comprises a first flange plate (11), an inclined arm (12) and a second flange plate (13). The inclined arm (12) is vertically inclined at an angle of 30-60°. The flange plate surfaces of the first flange plate (11) and the second flange plate (13) are arranged in parallel. The inclined arm (12) is a square column, and the side walls of the inclined arm (12) are arranged in reverse. The auxiliary rotating mechanism (2) is assembled in a forward direction or upside down on the first connecting piece (1). The upper part of the second connecting piece (3) is provided with a third flange plate (31) arranged in a transverse direction, and the lower part of the second connecting piece (3) is provided with a fixed side wall (32). The second connecting piece (3) is fixedly connected to the cutting mechanism (5) through a height adjuster (6). The servo slide plate of the height adjuster (6) is connected to the cutting mechanism (5) at one side and to the second connecting piece (3) at the other side, so that the cutting mechanism (5) can move vertically relative to the second connecting piece (3). The servo slide plate of the height adjuster (6) is provided with a transverse slide rail (61) near the cutting mechanism (5). The cutting mechanism (5) is slidably connected to the transverse slide rail (61) through a transverse sliding block (51). The utility model relates to a robot cutting device, which comprises a first connecting piece (1), an auxiliary rotating mechanism (2) and a second connecting piece (3). The first connecting piece (1) is connected to the robot (4) at one end and is connected to the auxiliary rotating mechanism (2) at the other end.

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