A laser cutting robot

Abstract

The utility model relates to the field of laser cutting, especially a laser cutting robot, which comprises a multi-axis mechanical arm and a laser cutting head arranged on the clamping jaw of the multi-axis mechanical arm, the laser cutting head is fixedly installed on the clamping jaw of the multi-axis mechanical arm through a rotating module, the rotating module is used for controlling the rotation angle of the laser cutting head, the rotating module comprises a servo motor, a first gear, a second gear, a third gear and a limiting rod, the servo motor is fixedly installed inside the clamping jaw of the multi-axis mechanical arm, the output shaft of the servo motor penetrates through the clamping jaw and extends to the outside of the clamping jaw, the first gear is sleeved on the output shaft of the servo motor, the second gear and the third gear are both rotatably installed on the multi-axis mechanical arm, the first gear is engaged with the third gear, the first gear is engaged with the second gear through a spur gear, one end of the limiting rod is fixedly installed on the second gear, the laser cutting head is fixedly connected with the third gear, and the rotary arrangement of the laser cutting head makes it applicable to the cutting of more sectional materials.

Description

Technical Field

[0001] This utility model relates to the field of laser cutting, and in particular to a laser cutting robot. Background Technology

[0002] Laser cutting, as a novel thermal cutting technology, boasts advantages such as high cutting speed, high production efficiency, good cut surface quality, small heat-affected zone, and environmental friendliness. It has become one of the main methods for cutting metal sheets and is increasingly widely used. When cutting a workpiece, a laser cutting machine needs to move the cutting head to change its position. Existing laser cutting machines generally use robotic arms or large horizontal displacement devices in conjunction with lifting devices to move the cutting head. However, in the process of cutting complex-shaped workpieces, the cutting head needs to move frequently in the horizontal direction. Using robotic arms or large horizontal displacement devices for horizontal movement of the cutting head is cumbersome and involves large movements, and the displacement accuracy is not high.

[0003] When laser cutting a workpiece, the cutting head needs to be moved to change its position. Existing laser cutting machines generally use a robotic arm or a large horizontal displacement device in conjunction with a lifting device to move the cutting head. However, in the process of cutting workpieces with complex shapes, the cutting head needs to move frequently in the horizontal direction. However, using a robotic arm or a large horizontal displacement device to move the cutting head horizontally is not only cumbersome and involves large movements, but also lacks high displacement accuracy. Utility Model Content

[0004] The purpose of this invention is to provide a laser cutting robot to solve the problems existing in the prior art.

[0005] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0006] A laser cutting robot includes a multi-axis robotic arm and a laser cutting head mounted on the gripper of the multi-axis robotic arm. The laser cutting head is fixedly mounted on the gripper of the multi-axis robotic arm via a rotating module. The rotating module is used to control the rotation angle of the laser cutting head. The rotating module includes a servo motor, a first gear, a second gear, a third gear, and a limiting rod. The servo motor is fixedly mounted inside the gripper of the multi-axis robotic arm. The output shaft of the servo motor passes through the gripper and extends to the outside of the gripper. The first gear is sleeved on the output shaft of the servo motor. The second and third gears are rotatably mounted on the multi-axis robotic arm. The first gear meshes with the third gear. The first gear meshes with the second gear through a spur gear. One end of the limiting rod is fixedly mounted on the second gear. The laser cutting head is fixedly connected to the third gear.

[0007] When employing the above technical solution, it is important to note that when the wall at the far end of the multi-axis robotic arm (where the gripper is mounted) is in a horizontal position, the center points of the first and second gears are on the same vertical line, and the center points of the second and third gears are on the same horizontal line. At this time, the limit rod is vertically positioned, and the axes of the first, second, and third gears are all in the forward-backward direction. Simultaneously, the laser emitted by the laser cutting head is also horizontally. When the first gear rotates 90 degrees, the laser cutting head mounted on the third gear also rotates 90 degrees. At this time, the laser emitted by the laser cutting head is vertically downward. It should be specifically noted that because the first and second gears... A spur gear is installed as a transition, so the first gear and the second gear rotate in the same direction, and the first gear and the second gear rotate in opposite directions. Therefore, the limiting rod rotates counterclockwise, and the laser cutting head rotates clockwise. At this time, the other end of the limiting rod is pressed against the right side of the laser cutting head. The limiting rod restricts the rotation angle of the laser cutting head, so that it either sprays the laser vertically downward or initially horizontally. Because some plates are placed horizontally and some are placed vertically during laser cutting, in order to cut better, the laser cutting head is set to be able to be horizontal or vertical, so as to achieve the effect of adapting to the placement direction of the plate and making it easier to design the cutting path.

[0008] In a further embodiment, the limiting rod is a square rod, the center line of the limiting rod is parallel to one of the diameter lines of the second gear, and the end face of the limiting rod away from the center of the second gear is composed of a plane and an arc-shaped surface.

[0009] By adopting the above technical solution, specifically when the limiting rod is in a vertical position, the left side of its top surface is set as a rounded corner structure, and the radius of this rounded corner is half the length of the limiting rod in the left and right directions. In this way, when the limiting rod rotates 90 degrees counterclockwise, the left end face will gradually fit with the right end face of the laser cutting head during the last part of the rotation, and finally fit completely and lock together. In order to avoid interference during the fitting process, it is necessary to set it as a rounded corner structure.

[0010] In a further embodiment, a receiving groove is provided at one end of the limiting rod away from the center of the second gear, and a pressure sensor is provided inside the receiving groove, with the end face of the pressure sensor flush with the end face of the limiting rod.

[0011] By adopting the above technical solution, the pressure sensor can read the bonding pressure between the limit rod and the right side of the laser cutting head during bonding, thus achieving more precise control.

[0012] In a further embodiment, the transmission ratio between the first gear and the second gear is 1:1, and the transmission ratio between the first gear and the third gear is 1:1.

[0013] By adopting the above technical solution, the first gear, the second gear, the third gear, including the spur gear used for meshing, all have the same addendum circle diameter, dedendum circle diameter, pitch circle diameter, number of teeth, and module. Therefore, when the second gear rotates 90 degrees counterclockwise, the third gear will rotate 90 degrees clockwise. The limit rod is set more to make its rotation angle more precise, in order to compensate for the error after gear wear.

[0014] In a further embodiment, multiple ultrasonic rangefinders are fixedly mounted on the grippers of the multi-axis robotic arm.

[0015] By adopting the above technical solution, the distance between the gripper and the workpiece (plate) can be measured, which facilitates better automated control.

[0016] In summary, this utility model has the following beneficial effects:

[0017] 1. When the first gear is rotated 90 degrees, the laser cutting head mounted on the third gear also rotates 90 degrees. At this time, the laser emitted by the laser cutting head is vertically downward. It should be noted that because there is a spur gear between the first and second gears as a transition, the rotation directions of the first and second gears are the same, while their rotation directions are opposite. Therefore, the limiting rod rotates counterclockwise, and the laser cutting head rotates clockwise. At this time, the other end of the limiting rod is pressed against the right side of the laser cutting head. The limiting rod restricts the rotation angle of the laser cutting head, so that it either emits the laser vertically downward or initially horizontally. Because some plates are placed horizontally and some are placed vertically during laser cutting, the laser cutting head is set to be able to be horizontal or vertical to achieve the effect of adapting to the placement direction of the plate, making it easier to design the cutting path. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a structural schematic diagram illustrating the rotating module of this utility model;

[0020] Figure 3 This is a schematic diagram illustrating the structure of the limiting rod and the laser cutting head in a locked state, which is used to demonstrate the present invention.

[0021] In the diagram, 1 is a multi-axis robotic arm; 2 is a laser cutting head; 3 is a rotating module; 31 is a servo motor; 32 is the first gear; 33 is the second gear; 34 is the third gear; 35 is a limit rod; and 4 is a spur gear. Detailed Implementation

[0022] The present invention will be further described in detail below with reference to the accompanying drawings.

[0023] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to the attached figures. Figure 1 In this specification, the terms "bottom surface" and "top surface," "inner" and "outer" refer to the direction toward or away from the geometry of a specific component. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this specification, "a plurality of" means two or more, unless otherwise explicitly and specifically defined by the direction of the center.

[0024] Example 1:

[0025] like Figures 1-3 As shown, a laser cutting robot includes a multi-axis robotic arm 1 and a laser cutting head 2 mounted on the gripper of the multi-axis robotic arm 1. The laser cutting head 2 is fixedly mounted on the gripper of the multi-axis robotic arm 1 via a rotating module 3. The rotating module 3 is used to control the rotation angle of the laser cutting head 2. The rotating module 3 includes a servo motor 31, a first gear 32, a second gear 33, a third gear 34, and a limiting rod 35. The servo motor 31 is fixedly mounted inside the gripper of the multi-axis robotic arm 1. The output shaft of the servo motor 31 passes through the gripper and extends to the outside of the gripper. The first gear 32 is sleeved on the output shaft of the servo motor 31. The second gear 33 and the third gear 34 are both rotatably mounted on the multi-axis robotic arm 1. The first gear 32 meshes with the third gear 34. The first gear 32 is connected to a... A spur gear 4 meshes with a second gear 33. One end of a limiting rod 35 is fixedly mounted on the second gear 33. The laser cutting head 2 is fixedly connected to a third gear 34. The limiting rod 35 is a square rod, and its center line is parallel to one of the diameter lines of the second gear 33. The end face of the limiting rod 35 away from the center of the second gear 33 consists of a plane and an arc-shaped surface. A receiving groove is provided at the end of the limiting rod 35 away from the center of the second gear 33. A pressure sensor is installed inside the receiving groove, and the end face of the pressure sensor is flush with the end face of the limiting rod 35. The transmission ratio between the first gear 32 and the second gear 33 is 1:1, and the transmission ratio between the first gear 32 and the third gear 34 is 1:1. Multiple ultrasonic rangefinders are fixedly mounted on the grippers of the multi-axis robotic arm 1.

[0026] Specific implementation process: It should be noted that when the wall at the far end of the multi-axis robotic arm (the end where the gripper is mounted) is in a horizontal position, the center points of the first and second gears are on the same vertical line, and the center points of the second and third gears are on the same horizontal line. At this time, the limit rod is vertically set, and the axes of the first, second, and third gears are all in the forward-backward direction. Simultaneously, the laser emitted by the laser cutting head is also horizontally. When the first gear rotates 90 degrees, the laser cutting head mounted on the third gear also rotates 90 degrees. At this time, the laser emitted by the laser cutting head is vertically downward. It should be specifically noted that because the first and second gears... A spur gear is used as a transition, so the first gear and the second gear rotate in the same direction, but in opposite directions. Therefore, the limiting rod rotates counter-clockwise, while the laser cutting head rotates clockwise. At this point, the other end of the limiting rod is pressed against the right side of the laser cutting head. The limiting rod restricts the rotation angle of the laser cutting head, causing it to either spray the laser vertically downwards or initially horizontally. Since some plates are placed horizontally and others vertically during laser cutting, the laser cutting head is designed to be able to rotate horizontally or vertically to adapt to the placement direction of the plate, making it easier to design the cutting path.

[0027] In the embodiments disclosed in this utility model, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments disclosed in this utility model according to the specific circumstances.

[0028] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

Claims

1. A laser cutting robot, characterized in that: The system includes a multi-axis robotic arm (1) and a laser cutting head (2) mounted on the gripper of the multi-axis robotic arm (1). The laser cutting head (2) is fixedly mounted on the gripper of the multi-axis robotic arm (1) via a rotation module (3). The rotation module (3) is used to control the rotation angle of the laser cutting head (2). The rotation module (3) includes a servo motor (31), a first gear (32), a second gear (33), a third gear (34), and a limit rod (35). The servo motor (31) is fixedly mounted inside the gripper of the multi-axis robotic arm (1). The output shaft of the machine (31) passes through the gripper and extends to the outside of the gripper. The first gear (32) is sleeved on the output shaft of the servo motor (31). The second gear (33) and the third gear (34) are rotatably mounted on the multi-axis robotic arm (1). The first gear (32) meshes with the third gear (34). The first gear (32) meshes with the second gear (33) through a spur gear (4). One end of the limiting rod (35) is fixedly mounted on the second gear (33). The laser cutting head (2) is fixedly connected to the third gear (34).

2. The laser cutting robot according to claim 1, characterized in that: The limiting rod (35) is a square rod, and the center line of the limiting rod (35) is parallel to one of the diameter lines of the second gear (33). The end face of the limiting rod (35) away from the center of the second gear (33) is composed of a plane and an arc surface.

3. The laser cutting robot according to claim 1, characterized in that: The end of the limiting rod (35) away from the center of the second gear (33) is provided with a receiving groove, and a pressure sensor is provided inside the receiving groove. The end face of the pressure sensor is flush with the end face of the limiting rod (35).

4. A laser cutting robot according to claim 1, characterized in that: The transmission ratio between the first gear (32) and the second gear (33) is 1:1, and the transmission ratio between the first gear (32) and the third gear (34) is 1:

1.

5. A laser cutting robot according to claim 1, characterized in that: Multiple ultrasonic rangefinders are fixedly installed on the grippers of the multi-axis robotic arm (1).

Images