A mobile three-dimensional five-axis robot cutting machine

Abstract

The utility model discloses a mobile three -dimensional five -axis robot cutting machine, including five -axis robot cutting body and AGV carrier, the bottom fixed setting of five -axis robot cutting body has the robot base, and the below of robot base is installed the flexible docking buffer mechanism, through the flexible docking buffer mechanism of bottom installation simultaneously of robot base on AGV carrier, and the flexible docking buffer mechanism includes the locating seat fixed connection on the upper surface of AGV carrier, and the inside installation of locating seat has flexible buffer subassembly, and the upper surface of flexible buffer subassembly covers robot base. The mobile three -dimensional five -axis robot cutting machine, satisfy the demand of robot base to the installation stability again, can adapt to the slight attitude change of AGV carrier when moving in the workshop different ground environment, ensure that five -axis robot cutting body still can keep the steady operation attitude after moving to any operation position, guarantee the cutting quality.

Description

Technical Field

[0001] This utility model relates to the field of cutting machines, specifically a mobile three-dimensional five-axis robot cutting machine. Background Technology

[0002] The five-axis robotic cutting machine has a core structure of "three linear motion axes (X, Y, Z axes) + two rotary motion axes (usually A and C axes or B and C axes)". During operation, the control system first receives the 3D model data of the workpiece generated by CAD / CAM software, and then converts it into motion commands for each axis. The X, Y, and Z axes are responsible for driving the cutting head (or workpiece) to achieve linear displacement in space (forward, backward, left, right, up, and down) to complete the basic position positioning. The two rotary axes coordinate to adjust the posture angle of the cutting head (such as tilting and rotating) to ensure that the cutting tool (such as laser head, plasma cutting torch, milling cutter, etc.) always maintains the optimal cutting angle with the workpiece surface to be cut. Subsequently, servo motors drive each axis to move precisely and collaboratively according to the commands. With the assistance of high-pressure gas, cooling system and other auxiliary devices, the cutting tool continuously cuts metal, composite materials and other workpieces according to the preset trajectory, and finally completes the high-precision processing of complex three-dimensional shapes (such as curved surfaces, inclined surfaces, and irregular holes). The entire process is corrected for motion errors in real time through a closed-loop feedback system to ensure cutting accuracy and stability.

[0003] Five-axis robotic cutting machines need to be fixedly installed in a specific area, and the work station cannot be flexibly adjusted according to production needs. When the production line is restructured, additional costs need to be invested to modify the installation foundation, and the ability to adapt to the production needs of multiple varieties and multiple work stations is weak. Utility Model Content

[0004] The purpose of this invention is to provide a mobile three-dimensional five-axis robot cutting machine to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, a mobile three-dimensional five-axis robot cutting machine is provided, including a five-axis robot cutting body and an AGV carrier. A robot base is fixedly installed at the bottom of the five-axis robot cutting body, and a flexible docking buffer mechanism is installed below the robot base. The robot base is mounted on the AGV carrier through the flexible docking buffer mechanism at the bottom. The flexible docking buffer mechanism includes a positioning seat fixedly connected to the upper surface of the AGV carrier, and a flexible buffer component is installed inside the positioning seat. The upper surface of the flexible buffer component is covered by the robot base.

[0006] Furthermore, the four corners of the AGV vehicle are rounded, and the four corners of the AGV vehicle are covered with elastic pads, the outer surface of which is arc-shaped.

[0007] Furthermore, the flexible docking buffer mechanism also includes a positioning space, a docking space, a docking stud, a fixing corner, and a fixing bolt. The positioning seat is square, and fixing corners are fixedly provided at the four corners of the positioning seat.

[0008] Furthermore, each of the four sets of fixed corners has a through hole, and the fixing bolts pass through the through holes on the fixed corners and are screwed to the upper surface of the AGV vehicle. The positioning seat is detachably installed on the AGV vehicle by the four sets of fixing bolts and the fixed corners.

[0009] Furthermore, four sets of docking spaces are equidistantly provided on the inner wall of the positioning space, and docking studs are fixedly installed inside each of the four sets of docking spaces. At the same time, four sets of through holes are equidistantly provided on the flexible buffer component and the robot base. The docking studs pass through the flexible buffer component and the robot base in sequence and are screwed and fixed with nuts. The flexible buffer component is inserted into the interior of the positioning space.

[0010] Furthermore, the flexible cushioning component includes a hard rubber pad A, a metal sheet, a soft rubber pad, and a hard rubber pad B, and the hard rubber pad A, the metal sheet, the soft rubber pad, and the hard rubber pad B are distributed in layers from bottom to top.

[0011] Furthermore, the hard rubber pad A, soft rubber pad and hard rubber pad B have the same thickness, and metal sheets are interspersed between adjacent sets of rubber pads.

[0012] Furthermore, multiple sets of equidistantly distributed perforations are provided on the hard rubber pad A, the metal sheet, the soft rubber pad, and the hard rubber pad B, and the thickness of the two sets of metal sheets is the same.

[0013] Compared with the prior art, the beneficial effects of this utility model are: 1. This solution involves mounting the five-axis robot cutting body on an AGV carrier via a robot base at its bottom. This allows the five-axis robot cutting body to completely break free from the limitations of fixed working positions. Utilizing the flexible mobility of the AGV carrier, the robot cutting body can be directly transported to any location within the workshop requiring cutting, eliminating the need for long-distance workpiece transfers or the construction of fixed cutting equipment in different areas, significantly improving operational flexibility. The AGV carrier can quickly move the five-axis robot cutting body between workstations, reducing equipment idle time and waiting time, effectively improving overall cutting efficiency. 2. This solution uses a layered combination of flexible buffer components, which complements the rigid support of hard rubber with the flexible buffer of soft rubber. This satisfies the robot base's requirements for installation stability and can also adapt to slight posture changes when the AGV carrier moves in different workshop ground environments. This ensures that the five-axis robot cutting body can maintain a stable working posture after moving to any working position, thus guaranteeing cutting quality. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a 3D five-axis robot cutting machine; Figure 2 This is a schematic diagram of the AGV vehicle in the structure of this utility model; Figure 3 This is a top view of the AGV carrier structure of this utility model; Figure 4 This is a schematic diagram of the flexible docking buffer mechanism of this utility model. Figure 5 This is a top view of the flexible docking buffer mechanism of this utility model. Figure 6 This is a cross-sectional view of the flexible docking buffer mechanism of this utility model.

[0015] The diagram is labeled as follows: 100, five-axis robot cutting body; 101, robot base; 200, AGV carrier; 300, flexible docking buffer mechanism; 31, positioning seat; 32, positioning space; 33, docking space; 34, docking stud; 35, fixed angle; 36, fixing bolt; 37, flexible buffer assembly; 371, hard rubber pad A; 372, metal sheet; 373, soft rubber pad; 374, hard rubber pad B. Detailed Implementation

[0016] Please see Figure 1-6 This utility model provides a mobile three-dimensional five-axis robot cutting machine, including a five-axis robot cutting body 100 and an AGV carrier 200. A robot base 101 is fixedly installed at the bottom of the five-axis robot cutting body 100, and a flexible docking buffer mechanism 300 is installed below the robot base 101. The robot base 101 is mounted on the AGV carrier 200 through the flexible docking buffer mechanism 300 at the bottom. The flexible docking buffer mechanism 300 includes a positioning seat 31 fixedly connected to the upper surface of the AGV carrier 200, and a flexible buffer component 37 is installed inside the positioning seat 31. The upper surface of the flexible buffer component 37 is covered by the robot base 101.

[0017] Working Principle: The bottom of the five-axis robot cutting body 100 is mounted on the AGV carrier 200 via the robot base 101. The AGV carrier 200 can carry the five-axis robot cutting body 100 and move it to any location in the workshop for cutting work. The mounting of the five-axis robot cutting body 100 to the AGV carrier 200 via the robot base 101 allows the five-axis robot cutting body 100 to completely break free from the limitations of a fixed working position. With the flexible mobility of the AGV carrier 200, the five-axis robot cutting body 100 can be directly carried to any location in the workshop where cutting is required, eliminating the need for long-distance transport of workpieces or the construction of fixed cutting equipment in different areas, significantly improving operational flexibility. Meanwhile, when there are multiple scattered cutting stations in the workshop, the AGV carrier 200 can quickly drive the five-axis robot cutting body 100 to switch between stations, reducing equipment idle time and waiting time, and effectively improving overall cutting efficiency. There is no need to reserve a fixed large installation area for the five-axis robot cutting body 100. When not performing cutting operations, the five-axis robot cutting body 100 can be moved to an idle corner for storage by the AGV carrier 200, saving valuable production space in the workshop. Moreover, the existence of the robot base 101 can ensure the installation stability of the five-axis robot cutting body 100 during the movement and operation of the AGV carrier 200, avoiding the decrease in cutting accuracy due to movement, and taking into account both mobility and operational reliability.

[0018] As a preferred embodiment, the four corners of the AGV vehicle 200 are rounded, and the four corners of the AGV vehicle 200 are covered with elastic pads, the outer surface of which is arc-shaped.

[0019] As a preferred embodiment, the flexible docking buffer mechanism 300 also includes a positioning space 32, a docking space 33, a docking stud 34, a fixing angle 35, and a fixing bolt 36. The positioning seat 31 is square, and a fixing angle 35 is fixedly provided at each of the four corners of the positioning seat 31.

[0020] Each of the four sets of fixed angles 35 has a through hole, and the fixing bolts 36 pass through the through holes on the fixed angles 35 and are screwed to the upper surface of the AGV carrier 200. The positioning seat 31 is detachably installed on the AGV carrier 200 by the four sets of fixing bolts 36 and the fixed angles 35.

[0021] Four sets of docking spaces 33 are equidistantly provided on the inner wall of the positioning space 32, and docking studs 34 are fixedly provided inside each of the four sets of docking spaces 33. At the same time, four sets of through holes are equidistantly provided on the flexible buffer component 37, and four sets of through holes are also equidistantly provided on the robot base 101. The docking studs 34 pass through the flexible buffer component 37 and the robot base 101 in sequence and are screwed and fixed with nuts. The flexible buffer component 37 is inserted into the interior of the positioning space 32.

[0022] The flexible cushioning component 37 includes a hard rubber pad A371, a metal sheet 372, a soft rubber pad 373, and a hard rubber pad B374, and the hard rubber pad A371, the metal sheet 372, the soft rubber pad 373, and the hard rubber pad B374 are distributed in layers from bottom to top.

[0023] The hard rubber pad A371, soft rubber pad 373 and hard rubber pad B374 have the same thickness, and a metal sheet 372 is interspersed between adjacent sets of rubber pads.

[0024] Multiple sets of equidistant perforations are provided on the hard rubber pad A371, metal sheet 372, soft rubber pad 373 and hard rubber pad B374, and the thickness of the two sets of metal sheets 372 is the same.

[0025] like Figure 2-6 As shown: Hard rubber pads A371 and B374 provide stable upper and lower base support, while the soft rubber pad 373 in the middle can effectively absorb the bumps and vibrations generated when the AGV carrier 200 moves, as well as the impact force when the five-axis robot cutting body 100 is operating, avoiding the vibration being directly transmitted to the robot base 101 and affecting the cutting accuracy. The metal sheet 372 between adjacent rubber pads can restrain the lateral expansion and deformation of each rubber pad when it is compressed, preventing the rubber pads from being misaligned due to excessive deformation, and further ensuring the stability of the connection between the robot base 101 and the AGV carrier 200. The uniform thickness of the hard rubber pads A371, 373, and B374, as well as the uniform thickness of the metal sheet 372, ensures more even stress distribution across the entire flexible buffer assembly 37. When the load is transferred from the AGV carrier 200 to the robot base 101 via the hard rubber pads A371, 372, 373, and B374, localized stress concentration due to differences in component thickness is avoided, reducing wear on the rubber pads and metal sheet 372 and extending the service life of the flexible docking buffer mechanism 300. Furthermore, the multiple sets of equidistant perforations on all components reduce the overall weight of the flexible buffer assembly 37, preventing excessive additional load on the AGV carrier 200. While affecting its mobility, the perforation provides a certain deformation space for the rubber pad when it is compressed and deformed, making the cushioning effect gentler. At the same time, the perforation can also enhance the heat dissipation of the component and prevent the heat generated by the robot cutting operation from accumulating at the rubber pad and accelerating aging. In addition, this layered flexible cushioning component 37 can complement the rigid support of hard rubber and the flexible cushioning of soft rubber, which not only meets the installation stability requirements of the robot base 101, but also adapts to the slight posture changes of the AGV carrier 200 when moving in different ground environments in the workshop. This ensures that the five-axis robot cutting body 100 can maintain a stable working posture after moving to any working position, thus ensuring the cutting quality.

Claims

1. A mobile three-dimensional five-axis robot cutting machine, comprising a five-axis robot cutting body (100) and an AGV carrier (200), characterized in that: The bottom of the five-axis robot cutting body (100) is fixedly provided with a robot base (101), and a flexible docking buffer mechanism (300) is installed below the robot base (101). At the same time, the robot base (101) is installed on the AGV carrier (200) through the flexible docking buffer mechanism (300) at the bottom. The flexible docking buffer mechanism (300) includes a positioning seat (31) fixedly connected to the upper surface of the AGV carrier (200), and a flexible buffer component (37) is installed inside the positioning seat (31). At the same time, the upper surface of the flexible buffer component (37) is covered by the robot base (101).

2. The mobile three-dimensional five-axis robot cutting machine according to claim 1, characterized in that: The four corners of the AGV vehicle (200) are rounded, and the four corners of the AGV vehicle (200) are covered with elastic pads, the outer surface of which is arc-shaped.

3. The mobile three-dimensional five-axis robot cutting machine according to claim 1, characterized in that: The flexible docking buffer mechanism (300) also includes a positioning space (32), a docking space (33), a docking stud (34), a fixing angle (35) and a fixing bolt (36), and the positioning seat (31) is square, and a fixing angle (35) is fixedly provided at each of the four corners of the positioning seat (31).

4. A mobile three-dimensional five-axis robot cutting machine according to claim 3, characterized in that: All four sets of fixed corners (35) have through holes, and the fixing bolts (36) pass through the through holes on the fixed corners (35) and are screwed to the upper surface of the AGV vehicle (200). The positioning seat (31) is detachably installed on the AGV vehicle (200) by the four sets of fixing bolts (36) and the fixed corners (35).

5. A mobile three-dimensional five-axis robot cutting machine according to claim 4, characterized in that: The inner wall of the positioning space (32) is provided with four sets of docking spaces (33) at equal intervals, and each of the four sets of docking spaces (33) is fixedly provided with docking studs (34). At the same time, the flexible buffer component (37) is provided with four sets of through holes at equal intervals, and the robot base (101) is also provided with four sets of through holes at equal intervals. The docking studs (34) pass through the flexible buffer component (37) and the robot base (101) in sequence and are screwed and fixed with nuts. The flexible buffer component (37) is inserted into the interior of the positioning space (32).

6. A mobile three-dimensional five-axis robot cutting machine according to claim 5, characterized in that: The flexible buffer assembly (37) includes a hard rubber pad A (371), a metal sheet (372), a soft rubber pad (373), and a hard rubber pad B (374), and the hard rubber pad A (371), the metal sheet (372), the soft rubber pad (373), and the hard rubber pad B (374) are distributed in layers from bottom to top.

7. A mobile three-dimensional five-axis robot cutting machine according to claim 6, characterized in that: The hard rubber pad A (371), soft rubber pad (373) and hard rubber pad B (374) have the same thickness, and a metal sheet (372) is inserted between adjacent sets of rubber pads.

8. A mobile three-dimensional five-axis robot cutting machine according to claim 7, characterized in that: Multiple sets of equidistant perforations are provided on the hard rubber pad A (371), metal sheet (372), soft rubber pad (373) and hard rubber pad B (374), and the thickness of the two sets of metal sheets (372) is the same.

Images