A laser robot end contour interpolation device

Abstract

The utility model discloses a kind of laser manipulator end profile interpolation devices, including base and movable seat, base is provided with X axis connecting arm, X axis driving mechanism, Y axis connecting arm and Y axis driving mechanism, movable seat is provided with first Y axis sliding connection mechanism and first X axis sliding connection mechanism, X axis connecting arm is movably connected with movable seat by first Y axis sliding connection mechanism, Y axis connecting arm is movably connected with movable seat by first X axis sliding connection mechanism.The laser manipulator end profile interpolation device has the advantages of high flexibility, high cutting smoothness and cutting precision, wide application range, can effectively improve cutting quality and cutting efficiency.

Description

Technical Field

[0001] This utility model relates to the field of laser cutting equipment technology, specifically to a laser robotic arm end contour interpolation device. Background Technology

[0002] In the field of laser cutting, three-axis machining is generally performed by a robot to complete the trajectory movement. However, the robot cannot strictly follow the required curve movement and can only approximate the curve to be processed with a broken line trajectory. When performing small-diameter circular cutting or irregular cutting, it will cause serious distortion at the corners, affecting the cutting effect, reducing the cutting quality and cutting efficiency, and has certain limitations. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the shortcomings of the existing technology and provide a laser robot end contour interpolation device with high flexibility, high cutting smoothness and cutting precision, wide applicability, and the ability to effectively improve cutting quality and cutting efficiency.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A laser robotic arm end-effector contour interpolation device includes a base and a movable seat. The base is provided with an X-axis connecting arm, an X-axis drive mechanism for driving the X-axis connecting arm to reciprocate along the X-axis direction, a Y-axis connecting arm, and a Y-axis drive mechanism for driving the Y-axis connecting arm to reciprocate along the Y-axis direction. The movable seat is provided with a first Y-axis sliding connection mechanism and a first X-axis sliding connection mechanism. The X-axis connecting arm is movably connected to the movable seat through the first Y-axis sliding connection mechanism, and the Y-axis connecting arm is movably connected to the movable seat through the first X-axis sliding connection mechanism.

[0006] As a further improvement to the above technical solution:

[0007] The first Y-axis sliding connection mechanism includes a first Y-axis guide rail fixedly mounted on the movable seat and a first slide fixedly mounted on the X-axis connecting arm. The first slide slides on the first Y-axis guide rail so that the movable seat can reciprocate in the Y-axis direction relative to the X-axis connecting arm.

[0008] The first X-axis sliding connection mechanism includes a first X-axis guide rail fixedly mounted on the movable seat and a second slide fixedly mounted on the Y-axis connecting arm. The second slide slides on the first X-axis guide rail so that the movable seat can reciprocate relative to the Y-axis connecting arm in the X-axis direction.

[0009] The base is provided with a second X-axis sliding connection mechanism and a second Y-axis sliding connection mechanism. The X-axis connecting arm is movably connected to the base through the second X-axis sliding connection mechanism, and the Y-axis connecting arm is movably connected to the base through the second Y-axis sliding connection mechanism.

[0010] The second X-axis sliding connection mechanism includes a second X-axis guide rail fixedly mounted on the base and a third slide fixedly mounted on the X-axis connecting arm. The third slide slides on the second X-axis guide rail so that the X-axis connecting arm can reciprocate relative to the base in the X-axis direction.

[0011] The second Y-axis sliding connection mechanism includes a second Y-axis guide rail fixedly mounted on the base and a fourth slide fixedly mounted on the Y-axis connecting arm. The fourth slide slides on the second Y-axis guide rail so that the Y-axis connecting arm can reciprocate relative to the base in the Y-axis direction.

[0012] The X-axis drive mechanism includes a first lead screw, a first lead screw nut, and a first drive motor. The first lead screw is rotatably mounted on the base, and the first lead screw nut is fixedly connected to the X-axis connecting arm. The first drive motor drives the first lead screw to rotate, thereby causing the first lead screw nut and the X-axis connecting arm to reciprocate.

[0013] The first drive motor and the first lead screw are connected by a first synchronous belt assembly. The first synchronous belt assembly includes a first driving pulley, a first synchronous belt and a first driven pulley. The first driving pulley is circumferentially fixed to the output shaft of the first drive motor, the first driven pulley is circumferentially fixed to the first lead screw, and the first synchronous belt is wound between the first driving pulley and the first driven pulley.

[0014] The Y-axis drive mechanism includes a second lead screw, a second lead screw nut, and a second drive motor. The second lead screw is rotatably mounted on the base, and the second lead screw nut is fixedly connected to the Y-axis connecting arm. The second drive motor drives the second lead screw to rotate, thereby causing the second lead screw nut and the Y-axis connecting arm to reciprocate.

[0015] The second drive motor and the second lead screw are connected by a second synchronous belt assembly. The second synchronous belt assembly includes a second driving pulley, a second synchronous belt and a second driven pulley. The second driving pulley is circumferentially fixed to the output shaft of the second drive motor, and the second driven pulley is circumferentially fixed to the second lead screw. The second synchronous belt is wound between the second driving pulley and the second driven pulley.

[0016] Compared with the prior art, the advantages of this utility model are:

[0017] This utility model discloses a laser robotic arm end-effector interpolation device, comprising a base and a movable seat. The base is mounted on the robotic arm, and the laser cutting head is mounted on the movable seat. An X-axis connecting arm is provided between the base and the movable seat. An X-axis drive mechanism drives the movable seat to reciprocate along the X-axis direction, achieving fine adjustment of the X-axis position of the laser cutting head. A Y-axis connecting arm is provided between the base and the movable seat. A Y-axis drive mechanism drives the movable seat to reciprocate along the Y-axis direction, achieving fine adjustment of the Y-axis position of the laser cutting head. During laser cutting, the robotic arm moves the base to the processing station, and the movable seat drives the laser cutting head to achieve fine adjustment of the X-axis and Y-axis positions. The device interpolates the movement trajectory of the laser cutting head, avoiding serious distortion. It has the advantages of high flexibility, smooth cutting, high cutting accuracy, and wide applicability, and can effectively improve cutting quality and efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the end-effector interpolation device for a laser robotic arm.

[0019] Figure 2 This is a top view of the laser robotic arm's end-effector interpolation device.

[0020] Figure 3 This is a schematic diagram of the internal structure of the laser robotic arm's end-effector interpolation device.

[0021] Figure 4 This is a schematic diagram of the X-axis connecting arm and the X-axis drive mechanism.

[0022] Figure 5 This is a schematic diagram of the Y-axis connecting arm and the Y-axis drive mechanism.

[0023] Figure 6 This is a structural schematic diagram of the Y-axis connecting arm and the Y-axis drive mechanism from a bottom-view angle.

[0024] Legend:

[0025] 1. Base; 2. Movable seat; 3. X-axis connecting arm; 4. X-axis drive mechanism; 401. First lead screw; 402. First lead screw nut; 403. First drive motor; 404. First synchronous belt assembly; 4041. First driving pulley; 4042. First synchronous belt; 4043. First driven pulley; 5. Y-axis connecting arm; 6. Y-axis drive mechanism; 601. Second lead screw; 602. Second lead screw nut; 603. Second drive motor; 604. Second synchronous belt assembly; 60 41. Second driving pulley; 6042. Second synchronous belt; 6043. Second driven pulley; 7. First Y-axis sliding connection mechanism; 701. First Y-axis guide rail; 702. First slide block; 8. First X-axis sliding connection mechanism; 801. First X-axis guide rail; 802. Second slide block; 9. Second X-axis sliding connection mechanism; 901. Second X-axis guide rail; 902. Third slide block; 10. Second Y-axis sliding connection mechanism; 1001. Second Y-axis guide rail; 1002. Fourth slide block. Detailed Implementation

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] like Figures 1 to 6 As shown, the laser manipulator end-effector contour interpolation device of this embodiment includes a base 1 and a movable seat 2. The base 1 is provided with an X-axis connecting arm 3, an X-axis drive mechanism 4 for driving the X-axis connecting arm 3 to reciprocate along the X-axis direction, a Y-axis connecting arm 5, and a Y-axis drive mechanism 6 for driving the Y-axis connecting arm 5 to reciprocate along the Y-axis direction. The movable seat 2 is provided with a first Y-axis sliding connection mechanism 7 and a first X-axis sliding connection mechanism 8. The X-axis connecting arm 3 is movably connected to the movable seat 2 through the first Y-axis sliding connection mechanism 7, and the Y-axis connecting arm 5 is movably connected to the movable seat 2 through the first X-axis sliding connection mechanism 8. This laser robotic arm end-effector interpolation device includes a base 1 and a movable seat 2. The base 1 is mounted on the robotic arm, and the laser cutting head is mounted on the movable seat 2. An X-axis connecting arm 3 is provided between the base 1 and the movable seat 2. The movable seat 2 is driven to reciprocate along the X-axis direction by an X-axis drive mechanism 4, thereby achieving fine adjustment of the X-axis position of the laser cutting head. A Y-axis connecting arm 5 is provided between the base 1 and the movable seat 2. The movable seat 2 is driven to reciprocate along the Y-axis direction by a Y-axis drive mechanism 6, thereby achieving fine adjustment of the Y-axis position of the laser cutting head. During laser cutting, the robotic arm moves the base 1 to the processing station, and the movable seat 2 drives the laser cutting head to achieve fine adjustment of the X-axis and Y-axis positions. The motion trajectory of the laser cutting head is interpolated to avoid serious distortion. It has the advantages of high flexibility, smooth cutting, high cutting accuracy, and wide applicability, and can effectively improve cutting quality and cutting efficiency.

[0028] It should be noted that in practical applications, the X-axis drive mechanism 4, the Y-axis drive mechanism 6, the robotic arm, and the laser cutting head are all electrically connected to the industrial CNC system, and the motion trajectory of the laser cutting head is determined by the algorithm of the industrial CNC system.

[0029] Preferably, the first Y-axis sliding connection mechanism 7 includes a first Y-axis guide rail 701 fixedly mounted on the movable seat 2 and a first slide block 702 fixedly mounted on the X-axis connecting arm 3. The first slide block 702 slides on the first Y-axis guide rail 701 so that the movable seat 2 can reciprocate in the Y-axis direction relative to the X-axis connecting arm 3. The first X-axis sliding connection mechanism 8 includes a first X-axis guide rail 801 fixedly mounted on the movable seat 2 and a second slide block 802 fixedly mounted on the Y-axis connecting arm 5. The second slide block 802 slides on the first X-axis guide rail 801 so that the movable seat 2 can reciprocate in the X-axis direction relative to the Y-axis connecting arm 5. In this embodiment, by providing a first Y-axis sliding connection mechanism 7 between the X-axis connecting arm 3 and the movable seat 2, the movable seat 2 has a Y-axis degree of freedom on the X-axis connecting arm 3. During the process of the Y-axis connecting arm 5 driving the movable seat 2 to reciprocate along the Y-axis direction, interference between the X-axis connecting arm 3 and the movable seat 2 is prevented. By providing a first X-axis sliding connection mechanism 8 between the Y-axis connecting arm 5 and the movable seat 2, the movable seat 2 has an X-axis degree of freedom on the Y-axis connecting arm 5. During the process of the X-axis connecting arm 3 driving the movable seat 2 to reciprocate along the X-axis direction, interference between the Y-axis connecting arm 5 and the movable seat 2 is prevented. The movable seat 2 has good operational stability and high positioning accuracy, which can effectively improve the quality of laser cutting processing.

[0030] Preferably, the base 1 is provided with a second X-axis sliding connection mechanism 9 and a second Y-axis sliding connection mechanism 10. The X-axis connecting arm 3 is movably connected to the base 1 through the second X-axis sliding connection mechanism 9, and the Y-axis connecting arm 5 is movably connected to the base 1 through the second Y-axis sliding connection mechanism 10.

[0031] Preferably, the second X-axis sliding connection mechanism 9 includes a second X-axis guide rail 901 fixedly mounted on the base 1 and a third slide block 902 fixedly mounted on the X-axis connecting arm 3. The third slide block 902 slides on the second X-axis guide rail 901 so that the X-axis connecting arm 3 can reciprocate relative to the base 1 in the X-axis direction. The second Y-axis sliding connection mechanism 10 includes a second Y-axis guide rail 1001 fixedly mounted on the base 1 and a fourth slide block 1002 fixedly mounted on the Y-axis connecting arm 5. The fourth slide block 1002 slides on the second Y-axis guide rail 1001 so that the Y-axis connecting arm 5 can reciprocate relative to the base 1 in the Y-axis direction.

[0032] Preferably, the X-axis drive mechanism 4 includes a first lead screw 401, a first lead screw nut 402, and a first drive motor 403. The first lead screw 401 is rotatably mounted on the base 1, and the first lead screw nut 402 is fixedly connected to the X-axis connecting arm 3. The first drive motor 403 drives the first lead screw 401 to rotate, thereby causing the first lead screw nut 402 and the X-axis connecting arm 3 to reciprocate.

[0033] Preferably, the first drive motor 403 and the first lead screw 401 are connected by a first synchronous belt assembly 404. The first synchronous belt assembly 404 includes a first driving pulley 4041, a first synchronous belt 4042 and a first driven pulley 4043. The first driving pulley 4041 is circumferentially fixed to the output shaft of the first drive motor 403, the first driven pulley 4043 is circumferentially fixed to the first lead screw 401, and the first synchronous belt 4042 is wound between the first driving pulley 4041 and the first driven pulley 4043.

[0034] Preferably, the Y-axis drive mechanism 6 includes a second lead screw 601, a second lead screw nut 602, and a second drive motor 603. The second lead screw 601 is rotatably mounted on the base 1, and the second lead screw nut 602 is fixedly connected to the Y-axis connecting arm 5. The second drive motor 603 drives the second lead screw 601 to rotate, thereby causing the second lead screw nut 602 and the Y-axis connecting arm 5 to reciprocate. In this embodiment, both the X-axis drive mechanism 4 and the Y-axis drive mechanism 6 adopt the form of a lead screw transmission mechanism, which can convert the rotational motion of the lead screw into the linear motion of the lead screw nut, and has the advantages of high transmission accuracy, high transmission efficiency, strong load capacity, and good reliability. In other embodiments, the X-axis drive mechanism 4 and the Y-axis drive mechanism 6 may also adopt components with reciprocating movement functions such as a gear and rack transmission mechanism, a telescopic cylinder mechanism, or an electric push rod, and are not limited to this embodiment.

[0035] Preferably, the second drive motor 603 and the second lead screw 601 are connected by a second synchronous belt assembly 604. The second synchronous belt assembly 604 includes a second drive pulley 6041, a second synchronous belt 6042, and a second driven pulley 6043. The second drive pulley 6041 is circumferentially fixed to the output shaft of the second drive motor 603, the second driven pulley 6043 is circumferentially fixed to the second lead screw 601, and the second synchronous belt 6042 is wound between the second drive pulley 6041 and the second driven pulley 6043. In this embodiment, the first drive motor 403 and the first lead screw 401, as well as the second drive motor 603 and the second lead screw 601, are connected by a synchronous belt drive mechanism, which has the advantages of high transmission accuracy, good operational stability, easy maintenance, and low cost. In other embodiments, the first drive motor 403 and the first lead screw 401, as well as the second drive motor 603 and the second lead screw 601, may also use gear transmission mechanisms, chain transmission mechanisms, or other components with parallel shaft transmission functions, and are not limited to this embodiment.

[0036] The above description is merely a preferred embodiment of this utility model, and the protection scope of this utility model is not limited to the above embodiments. For those skilled in the art, improvements and modifications obtained without departing from the technical concept of this utility model should also be considered within the protection scope of this utility model.

Claims

1. A laser robot end contour interpolation device, characterized by, The device includes a base (1) and a movable seat (2). The base (1) is provided with an X-axis connecting arm (3), an X-axis drive mechanism (4) for driving the X-axis connecting arm (3) to reciprocate along the X-axis direction, a Y-axis connecting arm (5), and a Y-axis drive mechanism (6) for driving the Y-axis connecting arm (5) to reciprocate along the Y-axis direction. The movable seat (2) is provided with a first Y-axis sliding connection mechanism (7) and a first X-axis sliding connection mechanism (8). The X-axis connecting arm (3) is movably connected to the movable seat (2) through the first Y-axis sliding connection mechanism (7), and the Y-axis connecting arm (5) is movably connected to the movable seat (2) through the first X-axis sliding connection mechanism (8).

2. The laser robot end effector profile interpolation apparatus of claim 1 wherein, The first Y-axis sliding connection mechanism (7) includes a first Y-axis guide rail (701) fixedly mounted on the movable seat (2) and a first slide block (702) fixedly mounted on the X-axis connecting arm (3). The first slide block (702) slides on the first Y-axis guide rail (701) so that the movable seat (2) can reciprocate in the Y-axis direction relative to the X-axis connecting arm (3). The first X-axis sliding connection mechanism (8) includes a first X-axis guide rail (801) fixedly mounted on the movable seat (2) and a second slide (802) fixedly mounted on the Y-axis connecting arm (5). The second slide (802) slides on the first X-axis guide rail (801) so that the movable seat (2) can reciprocate in the X-axis direction relative to the Y-axis connecting arm (5).

3. The laser robot end effector profile interpolation apparatus of claim 2, wherein, The base (1) is provided with a second X-axis sliding connection mechanism (9) and a second Y-axis sliding connection mechanism (10). The X-axis connecting arm (3) is movably connected to the base (1) through the second X-axis sliding connection mechanism (9), and the Y-axis connecting arm (5) is movably connected to the base (1) through the second Y-axis sliding connection mechanism (10).

4. The laser robot end contour interpolation apparatus according to claim 3, wherein, The second X-axis sliding connection mechanism (9) includes a second X-axis guide rail (901) fixedly mounted on the base (1) and a third slide (902) fixedly mounted on the X-axis connecting arm (3). The third slide (902) slides on the second X-axis guide rail (901) so that the X-axis connecting arm (3) can reciprocate relative to the base (1) in the X-axis direction. The second Y-axis sliding connection mechanism (10) includes a second Y-axis guide rail (1001) fixedly mounted on the base (1) and a fourth slide (1002) fixedly mounted on the Y-axis connecting arm (5). The fourth slide (1002) slides on the second Y-axis guide rail (1001) so that the Y-axis connecting arm (5) can reciprocate relative to the base (1) in the Y-axis direction.

5. The laser robot end effector profile interpolation apparatus of claim 4 wherein, The X-axis drive mechanism (4) includes a first lead screw (401), a first lead screw nut (402), and a first drive motor (403). The first lead screw (401) is rotatably mounted on the base (1), and the first lead screw nut (402) is fixedly connected to the X-axis connecting arm (3). The first drive motor (403) drives the first lead screw (401) to rotate, thereby causing the first lead screw nut (402) and the X-axis connecting arm (3) to reciprocate.

6. The laser robotic arm end-effector interpolation device according to claim 5, characterized in that, The first drive motor (403) and the first lead screw (401) are connected by a first synchronous belt assembly (404). The first synchronous belt assembly (404) includes a first driving pulley (4041), a first synchronous belt (4042), and a first driven pulley (4043). The first driving pulley (4041) is circumferentially fixed to the output shaft of the first drive motor (403), and the first driven pulley (4043) is circumferentially fixed to the first lead screw (401). The first synchronous belt (4042) is wound between the first driving pulley (4041) and the first driven pulley (4043).

7. The laser robotic arm end-effector interpolation device according to claim 4, characterized in that, The Y-axis drive mechanism (6) includes a second lead screw (601), a second lead screw nut (602), and a second drive motor (603). The second lead screw (601) is rotatably mounted on the base (1), and the second lead screw nut (602) is fixedly connected to the Y-axis connecting arm (5). The second drive motor (603) drives the second lead screw (601) to rotate, thereby causing the second lead screw nut (602) and the Y-axis connecting arm (5) to reciprocate.

8. The laser robotic arm end-effector interpolation device according to claim 7, characterized in that, The second drive motor (603) and the second lead screw (601) are connected by a second synchronous belt assembly (604). The second synchronous belt assembly (604) includes a second drive pulley (6041), a second synchronous belt (6042), and a second driven pulley (6043). The second drive pulley (6041) is circumferentially fixed to the output shaft of the second drive motor (603), and the second driven pulley (6043) is circumferentially fixed to the second lead screw (601). The second synchronous belt (6042) is wound between the second drive pulley (6041) and the second driven pulley (6043).

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