A new type of robot built-in light guide arm rotating unit

Abstract

The application relates to the technical field of laser processing equipment, in particular to a novel robot built-in light guide arm rotating unit which comprises a robot body, a hard light path module and a flexible joint module, the hard light path module and the flexible joint module are both built-in installed in the robot body, the hard light path module and the flexible joint module are connected with each other, the flexible joint module adopts a 'j' shaped light path structure, and the rotating circle center of the flexible joint module is coincident with the fifth shaft circle center of the robot body. The application has the effect of improving the problems of insufficient flexibility, responsible structure and poor stability of the light guide arm.

Description

Technical Field

[0001] This utility model relates to the technical field of laser processing equipment, and in particular to a novel robot-embedded optical guide arm rotation unit. Background Technology

[0002] Because CO2 lasers have a wavelength of 10.6 micrometers, they cannot be transmitted through optical fibers and can only be reflected by mirror groups, i.e., a rigid optical path. When used with robots, in order to accommodate the robot's flexible movements, a bearing needs to be added to the mirror mount of the mirror group to form a light guide arm, which is specifically designed for use with CO2 lasers in robots.

[0003] There are two approaches to the design of the light guide arm: one is an external light guide arm, which is not related to the robot body and is installed outside the robot; the other is to install the light guide arm inside the robot body, which has a hollow structure, and form an integral part with the robot body.

[0004] External light guide arm: Independent of the robot body, it can be equipped with a water-cooling unit and can withstand higher laser power, but its movement flexibility is poor;

[0005] Built-in light guide arm: The built-in light guide arm cannot be equipped with a water cooling unit, so it is suitable for use with low-power lasers below 300 watts and has high mobility.

[0006] Based on the aforementioned materials, the inventors believe that the following problems exist: the light guide arm products currently on the market are either not flexible enough or have complex structures and poor stability. Utility Model Content

[0007] To address the issues of insufficient flexibility, complex structure, and poor stability in light guide arms, this application provides a novel robot-embedded light guide arm rotation unit.

[0008] The novel robot built-in light guide arm rotation unit provided in this application adopts the following technical solution:

[0009] A novel robot with a built-in optical guide arm rotation unit includes a robot body, a rigid optical path module, and a flexible joint module. The rigid optical path module and the flexible joint module are both built into the robot body and are interconnected. The flexible joint module adopts a "U"-shaped optical path structure, and its rotation center coincides with the center of the fifth axis of the robot body.

[0010] Preferably, the rigid optical path module includes a CO2 laser and a rigid optical path tube. The CO2 laser is mounted on the robot body, the rigid optical path tube is connected to the output end of the CO2 laser, and the rigid optical path tube is connected to the flexible joint module.

[0011] Preferably, the flexible joint module includes a first right-angle tube, a second right-angle tube, a third right-angle tube, a fourth right-angle tube, a ball bearing, and a refractive lens. The first right-angle tube is interconnected with the hard optical path tube in the hard optical path module. The second right-angle tube is interconnected with the first right-angle tube. The third right-angle tube is interconnected with the second right-angle tube. The fourth right-angle tube is interconnected with the third right-angle tube. The ball bearing is installed between the first right-angle tube and the hard optical path tube, between the second right-angle tube and the first right-angle tube, between the third right-angle tube and the second right-angle tube, and between the fourth right-angle tube and the third right-angle tube. A refractive lens is provided at the bend inside the first right-angle tube, the second right-angle tube, the third right-angle tube, and the fourth right-angle tube, and is inclined at 45°. The first right-angle tube, the second right-angle tube, the third right-angle tube, and the fourth right-angle tube are arranged in a "U" shape.

[0012] In summary, this application includes the following beneficial technical effects:

[0013] This utility model provides a novel robot-embedded light guide arm rotation unit, specifically designed for low-power lasers of less than 300W, meeting the lightweight requirements of a cooling system-free design. The light guide arm is fully integrated into the robot body, improving the overall flexibility and operating speed of the device. The "U"-shaped flexible joint module, with its center coinciding with the fifth axis, ensures real-time synchronous movement between the light guide arm and the robot. The reduced number of bearings in the flexible joint module lowers the failure rate and manufacturing cost, thereby improving the problems of insufficient flexibility, complex structure, and poor stability of the light guide arm. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the novel robot's built-in light guide arm rotation unit in the embodiments of this application;

[0015] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0016] Figure 3 This is a schematic diagram illustrating a ball bearing in an embodiment of this application.

[0017] Explanation of reference numerals in the attached diagram: 1. Robot body; 2. Hard optical path module; 21. CO2 laser; 22. Hard optical path tube; 3. Flexible joint module; 31. First right-angle tube; 32. Second right-angle tube; 33. Third right-angle tube; 34. Fourth right-angle tube; 35. Ball bearing; 36. Refraction lens. Detailed Implementation

[0018] In order to enable those skilled in the art to better understand the solution of the present utility model, the following will clearly and completely describe the solution in the embodiments of the present utility model with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0019] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation and specific orientation structure and operation. Therefore, it should not be construed as a limitation to the present utility model; the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and defined, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0020] The embodiment of the present application discloses a novel built-in light guide arm rotation unit for a robot. Refer to Figure 1 、 Figure 2 and Figure 3 . The novel built-in light guide arm rotation unit for a robot includes a robot body 1, a hard optical path module 2 and a flexible joint module 3. The hard optical path module 2 and the flexible joint module 3 are both installed inside the robot body 1. The hard optical path module 2 and the flexible joint module 3 are connected to each other. The flexible joint module 3 adopts a "C" - shaped optical path structure, and its rotation center coincides with the center of the fifth axis of the robot body 1.

[0021] The hard optical path module 2 includes a CO2 laser 21 and a hard optical path tube 22. The CO2 laser 21 is installed on the robot body 1. The hard optical path tube 22 is connected to the output end of the CO2 laser 21, and the hard optical path tube 22 is connected to the flexible joint module 3.

[0022] The flexible joint module 3 includes a first right-angle tube 31, a second right-angle tube 32, a third right-angle tube 33, a fourth right-angle tube 34, a ball bearing 35 and a refractive lens 36. The first right-angle tube 31 is interconnected with the hard optical path tube 22 in the hard optical path module 2. The second right-angle tube 32 is interconnected with the first right-angle tube 31. The third right-angle tube 33 is interconnected with the second right-angle tube 32. The fourth right-angle tube 34 is interconnected with the third right-angle tube 33. The ball bearing 35 is installed between the first right-angle tube 31 and the hard optical path tube 22, between the second right-angle tube 32 and the first right-angle tube 31, between the third right-angle tube 33 and the second right-angle tube 32, and between the fourth right-angle tube 34 and the third right-angle tube 33. One refractive lens 36 is provided at each bending part inside the first right-angle tube 31, the second right-angle tube 32, the third right-angle tube 33 and the fourth right-angle tube 34, and is inclined at 45°. The first right-angle tube 31, the second right-angle tube 32, the third right-angle tube 33 and the fourth right-angle tube 34 are integrally arranged in a "ji" shape.

[0023] The implementation principle of a new robot built-in light guide arm rotation unit in an embodiment of this application is as follows: during operation, laser is emitted by the CO2 laser 21, and after passing through the hard optical path tube 22, the laser passes through the first right-angle tube 31, the second right-angle tube 32, the third right-angle tube 33, and the fourth right-angle tube 34 in sequence, and the laser is transmitted to the laser head through the refraction of four refractive lenses 36.

[0024] This light guide arm is designed specifically for low-power lasers less than 300W, meeting the lightweight requirements without a cooling system. And the light guide arm is completely built inside the robot body 1, improving the overall flexibility and operation speed of the device. The "ji"-shaped flexible joint module is designed with its center of the circle coinciding with the fifth axis, ensuring the real-time synchronous movement of the light guide arm and the robot. The number of bearings in the flexible joint module is reduced, reducing the failure rate and manufacturing cost, thus achieving the effect of improving the problems of insufficient flexibility, complex structure and poor stability existing in the light guide arm.

[0025] Finally, it should be noted that the above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A novel robot with a built-in light guide arm rotation unit, characterized in that: It includes a robot body (1), a hard optical path module (2) and a flexible joint module (3). The hard optical path module (2) and the flexible joint module (3) are both installed inside the robot body (1). The hard optical path module (2) and the flexible joint module (3) are connected to each other. The flexible joint module (3) adopts a "Ji” - shaped optical path structure, and its rotation center coincides with the center of the fifth axis of the robot body (1).

2. The novel robot built-in light guide arm rotation unit according to claim 1, characterized in that: The hard optical path module (2) includes a CO2 laser (21) and a hard optical path tube (22). The CO2 laser (21) is installed on the robot body (1). The hard optical path tube (22) is connected to the output end of the CO2 laser (21), and the hard optical path tube (22) is connected to the flexible joint module (3).

3. The novel robot built-in light guide arm rotation unit according to claim 1, characterized in that: The flexible joint module (3) includes a first right - angled tube (31), a second right - angled tube (32), a third right - angled tube (33), a fourth right - angled tube (34), a ball bearing (35) and a refraction lens (36). The first right - angled tube (31) is connected to the hard optical path tube (22) in the hard optical path module (2). The second right - angled tube (32) is connected to the first right - angled tube (31). The third right - angled tube (33) is connected to the second right - angled tube (32). The fourth right - angled tube (34) is connected to the third right - angled tube (33). The ball bearing (35) is installed between the first right - angled tube (31) and the hard optical path tube (22), between the second right - angled tube (32) and the first right - angled tube (31), between the third right - angled tube (33) and the second right - angled tube (32), and between the fourth right - angled tube (34) and the third right - angled tube (33). The refraction lens (36) is provided at each bending point inside the first right - angled tube (31), the second right - angled tube (32), the third right - angled tube (33) and the fourth right - angled tube (34), and is inclined at 45°. The first right - angled tube (31), the second right - angled tube (32), the third right - angled tube (33) and the fourth right - angled tube (34) are integrally arranged in a "Ji” - shaped configuration.

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