A seven-axis industrial robot

Abstract

This application discloses a seven-axis industrial robot, relating to the field of laser processing technology. It includes a base, on which a six-axis moving mechanism is mounted. A connecting plate is mounted on the drive end of the six-axis moving mechanism, and a seventh-axis moving mechanism is mounted on the connecting plate. A laser cutting head is mounted on the moving end of the seventh-axis moving mechanism. This application uses the six-axis moving mechanism in conjunction with the seventh-axis moving mechanism to drive the laser cutting head, increasing the movable range of the laser cutting head and its flexibility. This results in an absolute positioning accuracy of ±0.01mm and a trajectory accuracy of ±0.05mm for the laser cutting head, thus meeting the needs of most high-precision cutting applications.

Description

Technical Field

[0001] This application relates to the field of laser processing technology, and in particular to a seven-axis industrial robot. Background Technology

[0002] Industrial robots play a central role in laser processing technology. Their multi-degree-of-freedom robotic arms can precisely guide laser beams to perform tasks such as cutting, welding, cladding, cleaning, and marking on complex three-dimensional trajectories. Robots endow laser processing with extremely high flexibility, enabling it to adapt to the processing of curved and irregularly shaped workpieces. This technology combines the flexibility of robots with the precision and efficiency of lasers, significantly improving the manufacturing level and quality in high-end fields such as automotive and aerospace.

[0003] Currently, among existing six-axis industrial robot laser processing technologies, six-axis industrial robots are rapidly replacing traditional gantry laser processing machine tools due to their advantages such as lower overall cost, six-degree-of-freedom programming at the end effector, and ease of operation. Gantry laser processing machine tools have a repeatability of ±0.005mm and a trajectory accuracy of ±0.01mm. Six-axis industrial robots, on the other hand, can only achieve an absolute positioning accuracy of ±0.1mm and a trajectory accuracy of only ±0.5mm.

[0004] In the field of robotic laser cutting, the absolute positioning accuracy and trajectory accuracy of traditional six-axis robots generally cannot meet the accuracy requirements for cutting small circles or small irregularly shaped parts. Utility Model Content

[0005] In order to improve the processing accuracy of industrial robots in the field of laser cutting, this application provides a seven-axis industrial robot.

[0006] The seven-axis industrial robot provided in this application adopts the following technical solution:

[0007] A seven-axis industrial robot includes a base, on which a six-axis moving mechanism is mounted. A connecting plate is mounted on the drive end of the six-axis moving mechanism, and a seventh-axis moving mechanism is mounted on the connecting plate. A laser cutting head is mounted on the moving end of the seventh-axis moving mechanism.

[0008] By adopting the above technical solution, a six-axis moving mechanism is used in conjunction with a seventh-axis moving mechanism to drive the laser cutting head to move, which increases the movable range of the laser cutting head and also increases the flexibility of the laser cutting head's movement. This allows the absolute positioning accuracy of the laser cutting head to reach ±0.01mm and the trajectory accuracy to reach ±0.05mm, thereby meeting the needs of most high-precision cutting.

[0009] Preferably, the seventh-axis moving mechanism includes a first driving member, a reducer, and a rotating frame. The reducer is disposed at the end of the connecting plate away from the six-axis moving mechanism. The first driving member is disposed on the reducer and is connected to the reducer in a transmission manner. The rotating frame is rotatably disposed at the end of the connecting plate away from the six-axis moving mechanism and is fixedly connected to the driving end of the reducer. The laser cutting head is disposed on the rotating frame.

[0010] By adopting the above technical solution, the first driving component drives the rotating frame to rotate through the reducer, and the rotating frame drives the laser cutting head to move, thereby realizing the seventh axis control.

[0011] Preferably, the six-axis moving mechanism includes a first joint, a second joint, a large arm, a third joint, a fourth joint, a fifth joint, and a sixth joint. The first joint is mounted on the base, the second joint is mounted on the first joint, the large arm is mounted on the second joint, the third joint is mounted on the large arm, the fourth joint is mounted on the third joint, the fifth joint is mounted on the fourth joint, the sixth joint is mounted on the fifth joint, and the connecting plate is rotatably mounted on the sixth joint.

[0012] By adopting the above technical solution, six joints are used to drive the connecting plate to move, thereby realizing the six-axis movement of the laser cutting head.

[0013] Preferably, the distance between the rotation axis of the connecting plate and the rotation axis of the rotating frame is D1, and the distance between the rotation axis of the rotating frame and the laser cutting head is D2, where D1 equals D2.

[0014] By adopting the above technical solution, the distance between the rotation axis of the connecting plate and the rotation axis of the rotating frame is equal to the distance between the rotation axis of the rotating frame and the laser cutting head, so that when the seventh axis moving mechanism drives the laser cutting head to move, the movement of the laser cutting head is more precise.

[0015] Preferably, a lifting seat is provided on the side of the rotating frame away from the connecting plate, a lifting block is slidably provided in the lifting seat, a lead screw is rotatably provided in the lifting seat, the lead screw thread passes through the lifting block, a second driving member is provided on the lifting seat, the driving end of the second driving member is connected to the lead screw, and the laser cutting head is fixedly provided on the lifting block.

[0016] By adopting the above technical solution, the second driving component drives the lead screw to rotate, the lead screw drives the lifting block to move up and down within the lifting seat, and the lifting block drives the laser cutting head to move up and down, thereby further improving the flexibility of the laser cutting head movement.

[0017] Preferably, the connecting plate has mounting holes, the bottom of the reducer passes through the mounting holes, and the reducer is fixedly connected to the connecting plate.

[0018] By adopting the above technical solution, the reducer is installed in the mounting hole of the connecting plate, and the mounting hole limits the reducer, thereby improving the stability of the seventh axis moving mechanism.

[0019] Preferably, the connecting plate is connected to the sixth joint flange, and the rotating frame is connected to the output flange of the reducer.

[0020] By adopting the above technical solution, the connection plate is connected to the sixth joint flange, which enhances the connection stability between the connection plate and the sixth joint. The rotating frame is connected to the output flange of the reducer, which enhances the connection stability between the rotating frame and the reducer.

[0021] In summary, this application includes at least one of the following beneficial technical effects:

[0022] 1. By using a seventh-axis moving mechanism in conjunction with a six-axis moving mechanism to drive the laser cutting head, the movable range of the laser cutting head is increased, as is the flexibility of its movement. This allows the absolute positioning accuracy of the laser cutting head to reach ±0.01mm, and the trajectory accuracy to reach ±0.05mm, thus meeting the needs of most high-precision cutting.

[0023] 2. The second driving component drives the lead screw to rotate, which in turn drives the lifting block to move up and down within the lifting seat. The lifting block then drives the laser cutting head to move up and down, thereby further improving the flexibility of the laser cutting head's movement.

[0024] 3. The reducer is installed in the mounting holes of the connecting plate through the mounting holes. The mounting holes limit the movement of the reducer, thereby improving the stability of the seventh axis moving mechanism. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the seven-axis industrial robot of this application;

[0026] Figure 2 This is a partial exploded view of the seven-axis industrial robot of this application;

[0027] Figure 3 This is a partial front view of the seven-axis industrial robot of this application.

[0028] Reference numerals: 1. Base; 2. Six-axis moving mechanism; 21. First joint; 22. Second joint; 23. Main arm; 24. Third joint; 25. Fourth joint; 26. Fifth joint; 27. Sixth joint; 3. Connecting plate; 4. Seventh-axis moving mechanism; 41. First drive component; 42. Reducer; 43. Rotating frame; 5. Laser cutting head; 6. Lifting seat; 7. Lifting block; 8. Lead screw; 9. Second drive component; 10. Mounting hole. Detailed Implementation

[0029] The following is in conjunction with the appendix Figures 1-3 This application will be described in further detail.

[0030] This application discloses a seven-axis industrial robot.

[0031] Reference Figure 1 A seven-axis industrial robot includes a base 1, a six-axis moving mechanism 2 mounted on the base 1, a connecting plate 3 mounted on the moving end of the six-axis moving mechanism 2, a seventh-axis moving mechanism 4 mounted on the connecting plate 3, and a laser cutting head 5 mounted on the moving end of the seventh-axis moving mechanism 4.

[0032] The use of a six-axis moving mechanism 2 in conjunction with a seventh-axis moving mechanism 4 to move the laser cutting head 5 increases the movable range of the laser cutting head 5 and also increases the flexibility of its movement. This allows the absolute positioning accuracy of the laser cutting head 5 to reach ±0.01mm and the trajectory accuracy to reach ±0.05mm, thus meeting the needs of most high-precision cutting operations.

[0033] Reference Figure 1 and Figure 2 Specifically, the six-axis moving mechanism 2 includes a first joint 21, a second joint 22, a large arm 23, a third joint 24, a fourth joint 25, a fifth joint 26, and a sixth joint 27. The first joint 21 is mounted on the base 1, the second joint 22 is mounted on the first joint 21, the large arm 23 is mounted on the second joint 22, the third joint 24 is mounted on the end of the large arm 23 away from the second joint 22, the fourth joint 25 is mounted on the third joint 24, the fifth joint 26 is mounted on the fourth joint 25, and the sixth joint 27 is mounted on the fifth joint 26. The connecting plate 3 is fixedly mounted on the sixth joint 27 via a flange. Each joint can rotate, thereby enabling multi-angle movement of the laser cutting head 5.

[0034] The seventh-axis moving mechanism 4 includes a first driving component 41, a reducer 42, and a rotating frame 43. A mounting hole 10 is provided at the end of the connecting plate 3 away from the sixth joint 27. The lower half of the reducer 42 is inserted into the mounting hole 10, and the upper half of the reducer 42 is fixedly connected to the connecting plate 3 by bolts. The first driving component 41 is fixedly mounted on the top of the reducer 42, and the output end of the first driving component 41 is fixedly connected to the input end of the reducer 42. The rotating frame 43 is fixedly mounted on the output end of the reducer 42 via a flange. In this application, the first driving component 41 can be a servo motor, and the reducer 42 can be a harmonic reducer.

[0035] A lifting seat 6 is fixedly installed on the side of the rotating frame 43 away from the connecting plate 3. A lifting block 7 is slidably installed in the lifting seat 6 along the vertical direction. The laser cutter is fixedly installed on the side wall of the lifting block 7. A second driving component 9 is fixedly installed on the top of the lifting seat 6. In this application, the second driving component 9 can be a servo motor. A lead screw 8 is fixedly installed on the driving end of the second driving component 9. The lead screw 8 is rotatably installed in the lifting seat 6, and the thread of the lead screw 8 passes through the lifting block 7.

[0036] The first drive unit 41 drives the rotating frame 43 to rotate via the reducer 42. The rotating frame 43 drives the laser cutting head 5 to move via the lifting seat 6, thereby enabling seventh-axis control. The second drive unit 9 drives the lead screw 8 to rotate. The lead screw 8 drives the lifting block 7 to move up and down within the lifting seat 6. The lifting block 7 drives the laser cutting head 5 to move up and down, thereby further improving the flexibility of the laser cutting head 5.

[0037] Reference Figure 3 The distance between the rotation axis of the connecting plate 3 and the rotation axis of the rotating frame 43 is D1, and the distance between the rotation axis of the rotating frame 43 and the laser cutting head 5 is D2. D1 equals D2, so that when the seventh axis moving mechanism 4 drives the laser cutting head 5 to move, the movement of the laser cutting head 5 is more precise.

[0038] The implementation principle of a seven-axis industrial robot in this application embodiment is as follows: a six-axis moving mechanism 2 is used in conjunction with a seventh-axis moving mechanism 4 to drive the laser cutting head 5 to move, which increases the movable range of the laser cutting head 5 and also increases the flexibility of the laser cutting head 5 to move, so that the absolute positioning accuracy of the laser cutting head 5 can reach ±0.01mm and the trajectory accuracy can reach ±0.05mm, thereby meeting the needs of most high-precision cutting.

[0039] The above are merely optional embodiments of this disclosure and are not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A seven-axis industrial robot, characterized in that: The device includes a base (1), on which a six-axis moving mechanism (2) is provided. A connecting plate (3) is provided on the driving end of the six-axis moving mechanism (2). A seventh-axis moving mechanism (4) is provided on the connecting plate (3). A laser cutting head (5) is provided on the moving end of the seventh-axis moving mechanism (4). The seventh-axis moving mechanism (4) includes a first driving member (41), a reducer (42), and a rotating frame (43). The reducer (42) is located at the end of the connecting plate (3) away from the six-axis moving mechanism (2). The first driving member (41) is located on the reducer (42) and is connected to the reducer (42) in a transmission connection. The rotating frame (43) is rotatably located at the end of the connecting plate (3) away from the six-axis moving mechanism (2) and is fixedly connected to the driving end of the reducer (42). The laser cutting head (5) is located on the rotating frame (43).

2. A seven-axis industrial robot according to claim 1, characterized in that: The six-axis moving mechanism (2) includes a first joint (21), a second joint (22), a large arm (23), a third joint (24), a fourth joint (25), a fifth joint (26), and a sixth joint (27). The first joint (21) is mounted on the base (1), the second joint (22) is mounted on the first joint (21), the large arm (23) is mounted on the second joint (22), the third joint (24) is mounted on the large arm (23), the fourth joint (25) is mounted on the third joint (24), the fifth joint (26) is mounted on the fourth joint (25), the sixth joint (27) is mounted on the fifth joint (26), and the connecting plate (3) is rotatably mounted on the sixth joint (27).

3. A seven-axis industrial robot according to claim 1, characterized in that: The distance between the rotation axis of the connecting plate (3) and the rotation axis of the rotating frame (43) is D1, and the distance between the rotation axis of the rotating frame (43) and the laser cutting head (5) is D2. D1 equals D2.

4. A seven-axis industrial robot according to claim 1, characterized in that: A lifting seat (6) is provided on the side of the rotating frame (43) away from the connecting plate (3). A lifting block (7) is slidably provided in the lifting seat (6). A lead screw (8) is rotatably provided in the lifting seat (6). The lead screw (8) is threaded through the lifting block (7). A second driving member (9) is provided on the lifting seat (6). The driving end of the second driving member (9) is connected to the lead screw (8). The laser cutting head (5) is fixedly provided on the lifting block (7).

5. A seven-axis industrial robot according to claim 1, characterized in that: The connecting plate (3) has a mounting hole (10), the bottom of the reducer (42) passes through the mounting hole (10), and the reducer (42) is fixedly connected to the connecting plate (3).

6. A seven-axis industrial robot according to claim 2, characterized in that: The connecting plate (3) is connected to the flange of the sixth joint (27), and the rotating frame (43) is connected to the output flange of the reducer (42).

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