A laser processing head of a robot end is with the shape working distance compensation assembly

Abstract

The utility model relates to laser processing equipment technical field discloses a kind of mechanical arm end laser processing head along shape working distance compensation subassembly, including fixed mounting seat, floating mounting seat, elastic floating subassembly and distance-limiting structure. Fixed mounting seat connects mechanical arm end, and floating mounting seat is used to install laser processing head, and elastic floating subassembly connects fixed mounting seat with floating mounting seat;Distance-limiting structure is arranged in floating mounting seat and is equipped with distance-limiting roller with workpiece surface rolling contact. Predetermined laser effect position and distance-limiting roller between the predetermined contact position of workpiece surface have preset geometric positional relationship. When distance-limiting roller moves along workpiece surface profile, floating mounting seat drives laser processing head to elastically float relative to fixed mounting seat, to compensate the working distance change of laser processing head relative to workpiece surface. The utility model can use mechanical contact to compensate workpiece local profile deviation, reduce laser effect position fluctuation and the risk that processing head and workpiece interfere.

Description

Technical Field

[0001] This utility model relates to the field of laser processing equipment technology, and in particular to a conformal working distance compensation component for a laser processing head at the end of a robotic arm. Background Technology

[0002] In robotic arm-type laser processing equipment, the laser processing head is usually mounted at the end of the robotic arm, and the robotic arm drives the laser processing head to move relative to the workpiece along a preset path. For workpieces with curved surfaces such as grinding rollers and cylinders, a positioner can be used to clamp and drive the workpiece to rotate, so that the laser beam forms a continuous motion trajectory along the workpiece surface.

[0003] The actual surface of the workpiece may have localized wear, pits, or protrusions. When the robotic arm moves the laser processing head only according to a preset trajectory, the working distance between the laser processing head and the workpiece surface will fluctuate with changes in the local contour, which will cause the laser action position to shift and increase the risk of interference between the laser processing head or its auxiliary components and the workpiece.

[0004] Existing equipment can acquire the workpiece contour through visual inspection, laser rangefinders, or displacement sensors, and the control system drives the robotic arm to perform real-time position compensation. However, this method places high demands on detection accuracy, control latency, and the robotic arm's dynamic response capability. Therefore, a simple and convenient local conformal compensation component is needed at the end of the robotic arm. Utility Model Content

[0005] This invention provides a conformal working distance compensation component for the laser processing head at the end of a robotic arm, which is used to solve the problem of fluctuation in the working distance of the laser processing head caused by local contour deviation of the workpiece.

[0006] To address the aforementioned issues, this invention provides a conformal working distance compensation component for a laser processing head at the end of a robotic arm, comprising a fixed mounting base, a floating mounting base, an elastic floating component, and multiple distance limiting structures.

[0007] The fixed mounting base is used to connect to the end of the robotic arm, and the floating mounting base is used to mount the laser processing head.

[0008] The elastic floating assembly includes a plurality of compression springs disposed between the fixed mounting base and the floating mounting base. The compression springs are used to enable the floating mounting base to move in a direction close to or away from the surface of the workpiece to be processed, and to provide the floating mounting base with an elastic force toward the surface of the workpiece to be processed.

[0009] A distance-limiting structure is provided on the floating mounting base. Each distance-limiting structure includes a distance-limiting roller for rolling contact with the surface of the workpiece to be processed. The laser processing head and the distance-limiting roller have a preset installation position relationship. When the distance-limiting roller moves with the change in height of the surface of the workpiece to be processed, the distance-limiting roller drives the floating mounting base and the laser processing head mounted on it to float together to compensate for the change in the working distance between the laser processing head and the surface of the workpiece to be processed.

[0010] As a preferred embodiment of the above technical solution, the fixed mounting base is a fixed connecting plate, the floating mounting base is a floating connecting plate, and the elastic floating component includes multiple compression springs. The two ends of the compression springs are respectively connected to the fixed connecting plate and the floating connecting plate, and are in a pre-compression state when the distance-limiting roller contacts the surface of the workpiece to be processed.

[0011] As a preferred embodiment of the above technical solution, the plurality of compression springs are distributed at intervals along the circumference of the floating connecting plate to form a distributed elastic support for the floating connecting plate.

[0012] As a preferred embodiment of the above technical solution, the distance limiting structure further includes a distance limiting rod, one end of which is connected to the floating mounting base, and the other end is rotatably connected to the distance limiting roller. The rolling direction of the distance limiting roller is adapted to the movement direction of the workpiece to be processed relative to the laser processing head.

[0013] As a preferred embodiment of the above technical solution, the light-emitting end of the laser processing head and the distance-limiting roller have a preset positional relationship, such that when the distance-limiting roller contacts the surface of the workpiece to be processed, a preset working gap is formed between the light-emitting end of the laser processing head and the surface of the workpiece to be processed.

[0014] As a preferred embodiment of the above technical solution, multiple limiting structures are spaced apart on the side of the floating mounting base near the workpiece to be processed, so as to form multi-point rolling limiting support for the floating mounting base through multiple limiting rollers.

[0015] This invention establishes a mechanical distance reference through rolling contact between a distance-limiting roller and the workpiece surface, and mounts the laser processing head and the distance-limiting structure together on a floating mounting base. When local contour changes occur on the workpiece surface, the distance-limiting roller drives the floating mounting base and the laser processing head to float synchronously, thereby directly compensating for local positional deviations between the robot arm's preset trajectory and the actual workpiece surface. This component reduces the need for the robot arm to perform high-frequency real-time compensation for local contour changes.

[0016] The above description is merely an overview of the technical solution of this utility model. To better understand the technical means of this utility model and to implement it according to the description, the specific embodiments of this utility model are further described below in conjunction with the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the conformal working distance compensation component in this utility model embodiment when applied to a grinding roller laser processing equipment; Figure 2 This is a schematic diagram of the connection structure between the conformal working distance compensation component and the end effector of the robotic arm in an embodiment of this utility model. Figure 3 This is a schematic diagram of the conformal working distance compensation component in an embodiment of the present utility model; In the diagram: 1. Conformal working distance compensation component; 2. Robotic arm; 3. Positioner; 101. Floating mount; 102. Laser processing head; 103. Distance limiting structure; 104. Elastic element; 105. Distance limiting rod; 106. Distance limiting roller; 107. Fixed mount. Detailed Implementation

[0018] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are only a part of the embodiments of this utility model, and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are all within the protection scope of this utility model.

[0019] See Figures 1 to 3 This utility model embodiment provides a conformal working distance compensation component for a laser processing head at the end of a robotic arm. The conformal working distance compensation component 1 is installed between the end of the robotic arm 2 and the laser processing head 102. Figure 1 Using a grinding roller as the workpiece to be processed and clamped and driven to rotate by a positioner 3, this illustrates an application of the conformal working distance compensation component 1 in a laser processing equipment for curved workpieces.

[0020] The conformal working distance compensation component 1 includes a fixed mounting base 107, a floating mounting base 101, an elastic floating component, and multiple distance limiting structures 103. The fixed mounting base 107 is used to connect to the end of the robotic arm 2, and the floating mounting base 101 is used to mount the laser processing head 102. The light emission axis of the laser processing head 102 faces the surface of the workpiece to be processed.

[0021] An elastic floating assembly is disposed between the fixed mounting base 107 and the floating mounting base 101. In the illustrated embodiment, the elastic floating assembly includes a plurality of elastic elements 104, which allow the floating mounting base 101 to generate elastic displacement relative to the fixed mounting base 107 when subjected to the action of the workpiece surface contour transmitted by the limiting structure 103, and provide a restoring force to the floating mounting base 101 when the external action decreases.

[0022] Multiple limiting structures 103 are disposed on the side of the floating mounting base 101 near the workpiece to be processed. Each limiting structure 103 includes a limiting rod 105 and a limiting roller 106. One end of the limiting rod 105 is connected to the floating mounting base 101, and the other end is rotatably connected to the limiting roller 106. The limiting roller 106 is used for rolling contact with the surface of the workpiece to be processed.

[0023] The laser processing head 102 has a predetermined geometric positional relationship with the distance-limiting roller 106 at a predetermined contact position on the workpiece surface. Specifically, when the distance-limiting roller 106 contacts the workpiece surface, the predetermined geometric positional relationship is used to establish a predetermined working gap between the light-emitting end of the laser processing head 102 and the workpiece surface. The predetermined working gap can be determined during assembly based on the structural dimensions of the laser processing head 102 and the required processing distance.

[0024] During processing, the robotic arm 2 drives the conformal working distance compensation component 1 and the laser processing head 102 to move relative to the workpiece, while the distance-limiting roller 106 maintains rolling contact with the workpiece surface. When there are depressions or protrusions on the workpiece surface, the distance-limiting roller 106 moves with the actual surface contour of the workpiece and drives the floating mounting base 101 to float elastically relative to the fixed mounting base 107 via the distance-limiting rod 105. Since both the laser processing head 102 and the distance-limiting structure 103 are mounted on the floating mounting base 101, the laser processing head 102 and the distance-limiting structure 103 move synchronously, thereby compensating for local positional deviations between the preset trajectory of the robotic arm 2 and the actual surface of the workpiece.

[0025] In a further embodiment of this invention, the fixed mounting base 107 is a fixed connecting plate, the floating mounting base 101 is a floating connecting plate, and the elastic element 104 is a compression spring, with both ends of the compression spring connected to the fixed connecting plate and the floating connecting plate, respectively. When the distance-limiting roller 106 contacts the workpiece surface, the compression spring is in a pre-compressed state to provide an elastic force toward the workpiece surface to the floating connecting plate, so that the distance-limiting roller 106 can maintain contact with the workpiece surface within the allowable floating stroke.

[0026] Multiple compression springs are distributed at intervals along the circumference of the floating connecting plate. In the illustrated embodiment, both the fixed connecting plate and the floating connecting plate are rectangular, and there are four compression springs. The four compression springs are respectively set at the four corners of the fixed connecting plate and the floating connecting plate, thereby forming distributed elastic support for the floating connecting plate and reducing the possibility of significant swaying during floating.

[0027] Multiple limiting structures 103 are spaced apart on the side of the floating connecting plate closest to the workpiece, and form multi-point rolling limiting support with the workpiece surface through multiple limiting rollers 106. Multi-point support can reduce the possibility of significant swaying of the floating connecting plate caused by local defects at a single contact point, and improve the positional stability of the laser processing head 102 when it moves with the contour of the workpiece surface.

[0028] The distance limiting rod 105 is used to determine the position of the distance limiting roller 106 relative to the floating mounting base 101, and the workpiece contact end of the distance limiting roller 106 constitutes a mechanical distance reference. Multiple distance limiting rods 105 can have the same extension length, so that multiple distance limiting rollers 106 form a stable rolling contact on a predetermined workpiece surface.

[0029] The rolling direction of the distance-limiting roller 106 is adapted to the movement direction of the workpiece relative to the laser processing head 102. Figure 1 In the application shown, the positioner 3 drives the grinding roller to rotate, the robotic arm 2 drives the conformal working distance compensation component 1 to move along the surface of the grinding roller, and the distance limiting roller 106 forms rolling contact with the surface of the grinding roller to reduce relative friction and make the distance limiting structure 103 follow the contour change of the grinding roller surface more smoothly.

[0030] exist Figure 1 In the application shown, the positioner 3 clamps the grinding roller and drives it to rotate around its axis. The robotic arm 2 drives the conformal working distance compensation component 1 and the laser processing head 102 to move along the axial direction of the grinding roller, so that the laser beam and the surface of the grinding roller form a compound relative motion. The robotic arm 2 is mainly responsible for the overall processing path positioning, and the conformal working distance compensation component 1 uses the distance limiting roller 106 and the elastic element 104 to compensate for the local contour changes of the grinding roller surface, thereby combining the overall path motion with local mechanical compensation.

[0031] In this embodiment, the laser processing head 102 and the distance limiting structure 103 are jointly disposed on the floating mounting base 101, so that the mechanical displacement of the distance limiting roller 106 generated by the workpiece contour is directly converted into the synchronous floating displacement of the laser processing head 102; through the elastic connection between the fixed mounting base 107 and the floating mounting base 101, the influence of local contour changes of the workpiece on the working distance of the laser processing head 102 is reduced.

[0032] In the above embodiment, multiple compression springs are used as elastic elements 104, and distance-limiting rollers 106 are used as rolling elements that contact the workpiece surface. Provided that the floating mounting base 101 can float elastically relative to the fixed mounting base 107, and the laser processing head 102 can move synchronously with the distance-limiting structure 103, the elastic elements 104 and rolling elements can also adopt other mechanical structures with the same function.

[0033] The term "working distance compensation" as used in this specification refers to reducing the distance fluctuation between the laser processing head 102 and the workpiece surface caused by local contour changes of the workpiece by using the distance limiting structure 103 and the elastic floating component. It does not require that a theoretically completely constant geometric distance be formed under all working conditions.

[0034] The above description is merely a specific embodiment of this utility model, and the protection scope of this utility model is not limited thereto. Equivalent variations or substitutions made by those skilled in the art within the scope of the technology disclosed in this utility model should all be included within the protection scope of this utility model. The protection scope of this utility model is determined by the scope of the claims.

Claims

1. A conformal working distance compensation component for a laser processing head at the end of a robotic arm, characterized in that, include: A fixed mounting base and a floating mounting base, wherein the fixed mounting base is used to connect to the end effector of a robotic arm, and the floating mounting base is used to mount a laser processing head; An elastic floating assembly includes a plurality of compression springs disposed between the fixed mounting base and the floating mounting base. The compression springs are used to enable the floating mounting base to move in a direction close to or away from the surface of the workpiece to be processed, and to provide the floating mounting base with an elastic force toward the surface of the workpiece to be processed. A distance-limiting structure is provided on the floating mounting base. Each distance-limiting structure includes a distance-limiting roller for rolling contact with the surface of the workpiece to be processed. The laser processing head and the distance-limiting roller have a preset installation position relationship. When the distance-limiting roller moves with the change in height of the surface of the workpiece to be processed, the distance-limiting roller drives the floating mounting base and the laser processing head mounted thereon to float together to compensate for the change in the working distance between the laser processing head and the surface of the workpiece to be processed.

2. The conformal working distance compensation component for the laser processing head at the end of a robotic arm according to claim 1, characterized in that, The fixed mounting base is a fixed connecting plate, the floating mounting base is a floating connecting plate, and the elastic floating component includes multiple compression springs. The two ends of the compression springs are respectively connected to the fixed connecting plate and the floating connecting plate, and are in a pre-compressed state when the distance-limiting roller contacts the surface of the workpiece to be processed.

3. The conformal working distance compensation component for the laser processing head at the end of a robotic arm according to claim 2, characterized in that, Multiple compression springs are distributed circumferentially along the floating connecting plate to form distributed elastic support for the floating connecting plate.

4. The conformal working distance compensation component for the laser processing head at the end of a robotic arm according to claim 1, characterized in that, The distance limiting structure also includes a distance limiting rod, one end of which is connected to the floating mounting base, and the other end is rotatably connected to the distance limiting roller. The rolling direction of the distance limiting roller is adapted to the movement direction of the workpiece to be processed relative to the laser processing head.

5. The conformal working distance compensation component for the laser processing head at the end of a robotic arm according to claim 1, characterized in that, The laser processing head has a preset positional relationship with the limiting roller, such that when the limiting roller contacts the surface of the workpiece to be processed, a preset working gap is formed between the laser processing head and the surface of the workpiece to be processed.

6. The conformal working distance compensation component for the laser processing head at the end of a robotic arm according to claim 1, characterized in that, Multiple limiting structures are disposed on the side of the floating mounting base near the workpiece to be processed, so as to form multi-point rolling limiting support for the floating mounting base through multiple limiting rollers.

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