阅读说明：本技术 智能机器人用激光切割辅助装置 (Laser cutting auxiliary device for intelligent robot ) 是由 不公告发明人 于 2019-10-10 设计创作，主要内容包括：本发明属于工业自动化生产设备技术领域,涉及一种智能机器人用激光切割辅助装置。本发明安装在智能机器人的手臂上,智能机器人的手臂保持不动,电缸推杆与导杆的组合朝上移动,带动动直线导轨向上平移,直线导轨带动斜交叉滑块一边沿着直线导轨向右滑动,一边沿着斜直线导轨左下至右上沿着与水平面成45度的方向移动,斜交叉滑块带动立直线导轨自左下至右上移动,立直线导轨带动十字交叉滑块朝右平移,电缸推杆与导杆的组合在竖直方向上的距离变量T的增量与十字交叉滑块朝右平移的增量完全相等。本发明切割出尺寸很小的多种形状的孔,孔的形状精确,简化了PLC编程人员的工作,减少了出现浮点数的计算过程,结构紧凑,运动灵活。(The invention belongs to the technical field of industrial automatic production equipment, and relates to a laser cutting auxiliary device for an intelligent robot. The invention is installed on the arm of the intelligent robot, the arm of the intelligent robot is kept still, the combination of the electric cylinder push rod and the guide rod moves upwards to drive the movable linear guide rail to move upwards, the linear guide rail drives the oblique cross slide block to slide rightwards along the linear guide rail and move along the direction which forms 45 degrees with the horizontal plane from the left lower part to the right upper part along the oblique linear guide rail, the oblique cross slide block drives the vertical linear guide rail to move from the left lower part to the right upper part, the vertical linear guide rail drives the cross slide block to move rightwards, and the increment of the distance variable T of the combination of the electric cylinder push rod and the guide rod in the vertical direction is completely equal to the increment of the right movement of the cross slide block. The invention cuts out holes with various shapes with small size, the shapes of the holes are accurate, the work of PLC programmers is simplified, the calculation process of floating point numbers is reduced, the structure is compact, and the movement is flexible.)

1. A laser cutting auxiliary device for an intelligent robot comprises a connecting disc assembly and a laser; the connecting disc assembly comprises a connecting disc, a driving gear and a rotary servo motor;

the device is characterized by also comprising an electric cylinder assembly, an oblique cross sliding block, a cross sliding block and a vertical linear guide rail;

the electric cylinder assembly comprises a guiding electric cylinder, a fixed vertical plate, an inclined linear guide rail, a movable linear guide rail, a fixed linear guide rail and a driven gear; the guide electric cylinder comprises an electric cylinder body assembly and a combination of an electric cylinder push rod and a guide rod; the electric cylinder body component comprises a horizontal disc-shaped electric cylinder connecting plate, and a V-shaped circular ring-shaped track is arranged on the electric cylinder connecting plate; the driven gear is fixedly connected with the electric cylinder connecting plate; the movement direction of the combination of the electric cylinder push rod and the guide rod is vertical to the electric cylinder connecting plate; the fixed vertical plate is vertically arranged; the fixed vertical plate is vertical to the front and back direction; the fixed vertical plate is fixedly connected to the lower surface of the electric cylinder connecting plate; the movable linear guide rail and the combination of the electric cylinder push rod and the guide rod are fixedly connected, and the linear guide rail is arranged in the left-right horizontal direction; the inclined linear guide rail and the fixed linear guide rail are fixedly connected on the same plane of the fixed vertical plate, the arrangement direction of the inclined linear guide rail is from the upper right to the lower left, and an included angle of 45 degrees is formed between the arrangement direction of the inclined linear guide rail and the horizontal plane; the fixed linear guide rail is arranged in the left and right horizontal directions;

the coupling disc assembly further comprises three V-groove bearings; the connecting disc is horizontally arranged; the inner rings of the three V-shaped groove bearings are respectively and fixedly connected with the connecting disc, the outer rings of the V-shaped groove bearings are provided with V-shaped grooves, and the V-shaped grooves of the outer rings of the three V-shaped groove bearings are respectively embedded with the V-shaped circular ring-shaped tracks; a shell flange of the rotary servo motor is fixedly connected with the connecting disc, and a driving gear is fixedly connected with an output shaft of the rotary servo motor; the driving gear is meshed with the driven gear; the rotary servo motor drives the electric cylinder assembly and the oblique cross slide block, the laser and the vertical linear guide rail which are arranged on the electric cylinder assembly to rotate around the axial lead of the V-shaped circular ring track through the combination of the driving gear and the driven gear, and the V-shaped circular ring track drives the outer ring of the V-shaped groove bearing to roll;

the oblique crossing sliding block is provided with an oblique crossing horizontal sliding chute and an oblique crossing oblique sliding chute; the oblique crossing oblique sliding chutes are matched with the oblique linear guide rails to form a linear guide rail pair, and the oblique crossing horizontal sliding chutes are matched with the moving linear guide rails to form a linear guide rail pair; the vertical linear guide rail is fixedly connected with the oblique crossing slide block;

the crisscross slide block is provided with crisscross vertical slide grooves and crisscross horizontal slide grooves; the cross vertical sliding groove is matched with the vertical linear guide rail to form a linear guide rail pair, and the cross horizontal sliding groove is matched with the fixed linear guide rail to form a linear guide rail pair;

the laser is fixedly connected with the crisscross sliding block; the optical axis of the laser is arranged along the vertical direction, the cutting hole of the laser faces downwards, the optical axis of the laser is aligned with the axis line of the V-shaped circular ring track in the left-right direction, and the distance between the optical axis of the laser and the axis line of the V-shaped circular ring track is the eccentricity e.

Technical Field

The invention belongs to the technical field of industrial automatic production equipment, relates to an auxiliary device of intelligent thin steel plate cutting equipment, and particularly relates to a laser cutting auxiliary device for an intelligent robot.

Background

In the field of laser cutting, a laser is often fixedly installed at the tail end of an arm of an intelligent robot, the advantage of high-efficiency and quick cutting of the laser and the advantage of flexibility of the intelligent robot are combined together, and cutting can be carried out on the surface of a complex part along a complex path. However, when a very small hole needs to be cut, such as a hole with a diameter less than or equal to 3 mm, the calculation accuracy of the intelligent robot is often insufficient, and the small circular hole is cut into a polygonal small hole. Having it cut square holes or other complex shaped holes would yield results that are much different from what was expected.

The small round hole cutting auxiliary device described in patent CN201710517163.0 can also assist the robot to cut a round hole with a small diameter. The patent has a disadvantage that the increment of the displacement pushed by the end plate of the rod leading to the electric cylinder is not equal to the increment of the eccentric radius R, and is not linear, and a more complex functional relationship including but not only a trigonometric function exists between the two, which causes a lot of troubles for later PLC programming.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the laser cutting auxiliary device for the intelligent robot, which can cut small holes in various shapes, has very accurate shapes, can simplify the work of PLC programmers, can eliminate the conversion relation between the propelling displacement of the guide electric cylinder and the eccentric radius, avoids the floating point calculation error of the guide electric cylinder and the eccentric radius, and has compact structure and flexible motion.

The invention is realized by the following technical scheme:

a laser cutting auxiliary device for an intelligent robot comprises an electric cylinder assembly, a connecting disc assembly, an oblique cross sliding block, a laser and a vertical linear guide rail;

the electric cylinder assembly comprises a guiding electric cylinder, a fixed vertical plate, an inclined linear guide rail, a movable linear guide rail, a fixed linear guide rail and a driven gear; the guide electric cylinder comprises an electric cylinder body assembly and a combination of an electric cylinder push rod and a guide rod; the electric cylinder body component comprises a horizontal disc-shaped electric cylinder connecting plate, and a V-shaped circular ring-shaped track is arranged on the electric cylinder connecting plate; the driven gear is fixedly connected with the electric cylinder connecting plate; the movement direction of the combination of the electric cylinder push rod and the guide rod is vertical to the electric cylinder connecting plate; the fixed vertical plate is vertically arranged; the fixed vertical plate is vertical to the front and back direction; the fixed vertical plate is fixedly connected to the lower surface of the electric cylinder connecting plate; the movable linear guide rail and the combination of the electric cylinder push rod and the guide rod are fixedly connected, and the linear guide rail is arranged in the left-right horizontal direction; the inclined linear guide rail and the fixed linear guide rail are fixedly connected on the same plane of the fixed vertical plate, the arrangement direction of the inclined linear guide rail is from the upper right to the lower left, and an included angle of 45 degrees is formed between the arrangement direction of the inclined linear guide rail and the horizontal plane; the fixed linear guide rail is arranged in the left and right horizontal directions;

the connecting disc assembly comprises a connecting disc, three V-shaped groove bearings, a driving gear and a rotary servo motor; the connecting disc is horizontally arranged; the inner rings of the three V-shaped groove bearings are respectively and fixedly connected with the connecting disc, the outer rings of the V-shaped groove bearings are provided with V-shaped grooves, and the V-shaped grooves of the outer rings of the three V-shaped groove bearings are respectively embedded with the V-shaped circular ring-shaped tracks, namely, the electric cylinder assembly is connected with the connecting disc assembly through a revolute pair; a shell flange of the rotary servo motor is fixedly connected with the connecting disc, and a driving gear is fixedly connected with an output shaft of the rotary servo motor; the driving gear is meshed with the driven gear; the rotary servo motor drives the electric cylinder assembly and the oblique cross slide block, the laser and the vertical linear guide rail which are arranged on the electric cylinder assembly to rotate around the axial lead of the V-shaped circular ring track through the combination of the driving gear and the driven gear, and the V-shaped circular ring track drives the outer ring of the V-shaped groove bearing to roll;

the oblique crossing sliding block is provided with an oblique crossing horizontal sliding chute and an oblique crossing oblique sliding chute; the oblique crossing oblique sliding chutes are matched with the oblique linear guide rails to form a linear guide rail pair, and the oblique crossing horizontal sliding chutes are matched with the moving linear guide rails to form a linear guide rail pair; the vertical linear guide rail is fixedly connected with the oblique crossing slide block;

the crisscross slide block is provided with crisscross vertical slide grooves and crisscross horizontal slide grooves; the cross vertical sliding groove is matched with the vertical linear guide rail to form a linear guide rail pair, and the cross horizontal sliding groove is matched with the fixed linear guide rail to form a linear guide rail pair;

the laser is fixedly connected with the crisscross sliding block; the optical axis of the laser is arranged along the vertical direction, the cutting hole of the laser faces downwards, the optical axis of the laser is aligned with the axis line of the V-shaped circular ring track in the left-right direction, and the distance between the optical axis of the laser and the axis line of the V-shaped circular ring track is the eccentricity e.

The invention is fixedly connected with the tail end of the arm of the intelligent robot through the mounting hole of the intelligent robot. The invention is used as an independent working unit, the PLC is used for programming the movement of the guide electric cylinder and the rotary servo motor, and the PLC is in communication linkage with an electric control system of the intelligent robot to coordinate the work.

The guiding electric cylinder is a mature product used in modern industrial automation, is a modularized product designed by integrally combining an electric cylinder servo motor, a guide rod-guide sleeve combination and a lead screw-nut combination, converts the rotary motion of the electric cylinder servo motor into linear motion, and simultaneously converts the best advantages of the electric cylinder servo motor, namely accurate rotating speed control, accurate revolution control and accurate torque control into accurate linear speed control, accurate position control and accurate thrust control, and is a brand new revolutionary product for realizing a high-precision linear motion series. The characteristics of direction electric jar: closed-loop servo control is carried out, and the control precision reaches 0.01 mm; the thrust is precisely controlled, and the control precision can reach 0.1%; the device has a guiding function, and no other guiding mechanism is required to be configured; the guide electric cylinder is easily connected with a computer and other control systems through a servo controller, high-precision motion control is achieved, the guide electric cylinder is low in noise, energy-saving, clean, high in rigidity, strong in impact resistance, long in service life and simple in operation and maintenance, the guide electric cylinder can operate in a severe environment for a long time without faults, and the protection grade can reach IP 66. The device is suitable for long-term work, realizes high-strength, high-speed and high-precision positioning, and has stable motion and low noise. The control modes of the electric cylinder servo motor comprise torque control, revolution control and rotating speed control, and the control modes of the corresponding guide electric cylinder comprise force control, displacement control and linear speed control. Therefore, the method can be widely applied to experimental instruments, paper making industry, chemical industry, automobile industry, electronic industry, mechanical automation industry, welding industry and the like.

The invention can cut out not only small round holes, but also other small-sized holes, such as squares, hexagons and the like. By small size is meant a hole having a maximum side length, maximum diagonal or maximum diameter of no more than 8 mm.

Taking the example of cutting a square hole of 2 × 2 mm in a thin steel sheet, the working process of the present invention is as follows.

1) Initializing, and enabling the eccentricity e between the optical axis of the laser and the axis line of the V-shaped circular ring track to be zero, and correspondingly enabling the combination of the electric cylinder push rod and the guide rod to be at an initial position.

2) The intelligent robot is driven by an arm to move to the position near a steel plate to be cut, the optical axis of the laser is perpendicular to the steel plate to be cut, the optical axis of the laser irradiates towards the steel plate and just irradiates the center of a square to be cut, and the distance between the laser and the steel plate is within the effective distance range of laser cutting.

3) Establishing a plane polar coordinate system (rho, theta) by taking the center of a square as an origin, a connecting line of the center of the square and one vertex of the square as a polar coordinate axis and taking the anticlockwise direction as a positive direction, wherein rho is a length variable and theta is an angle variable, and coordinates of the four vertices are respectively E (1.414 mm, 0), F (1.414 mm, pi/2 radian), G (1.414 mm, pi radian) and H (1.414 mm, 3 pi/2 radian) according to the clockwise direction;

the polar coordinate equation of the edge EF is rho (sin theta + cos theta) =1.414, wherein theta is more than or equal to 0 and less than pi/2 radian;

the polar equation of the edge FG is rho (sin theta-cos theta) =1.414, wherein pi/2 radian is less than or equal to theta and less than pi radian;

the polar coordinate equation of the edge GH is rho (sin theta + cos theta) = -1.414, wherein pi radian is not less than theta and is less than 3 pi/2 radian;

the polar coordinate equation of the side HE is rho (sin theta-cos theta) = -1.414, wherein 3 pi/2 radian is less than or equal to theta and less than 2 pi radian;

the omitted length numerical unit is millimeter (mm), and the omitted angle numerical unit is radian (rad);

the right side of the invention is the same as the direction of the angle theta =0 in the polar coordinate system, and the length variable rho of the polar coordinate, the eccentricity e between the optical axis of the laser and the axial lead of the V-shaped annular track and the distance variable T of the combination of the electric cylinder push rod and the guide rod moving upwards from the initial position are exactly equal.

Note: the diagonal length of the square is taken to be 2.828 mm.

4) The laser is ignited, the laser emits laser at the center of a square to start cutting a metal plate, the arm of the intelligent robot is kept still, the combination of the electric cylinder push rod and the guide rod moves upwards to drive the movable linear guide rail to move upwards, the movable linear guide rail and the obliquely crossed horizontal sliding groove can freely slide in the left-right horizontal direction, the obliquely linear guide rail and the obliquely crossed inclined sliding groove can freely slide upwards from left bottom to right top, so that the linear guide rail drives the obliquely crossed slide block to slide rightwards along the linear guide rail and move along the direction which is 45 degrees with the horizontal plane from left bottom to right top along the obliquely linear guide rail, namely, the movement of the obliquely crossed slide block has a component towards right, the obliquely crossed slide block drives the vertical linear guide rail to move from left bottom to right top, the vertical linear guide rail and the cross vertical sliding groove can freely slide in the up-down direction, so that the vertical linear guide rail drives the cross slide block to move rightwards, and the increment of the distance variable T of the combination of the electric cylinder push rod and the guide rod in the vertical direction is completely equal to the increment of the translation of the crisscross slide block towards the right. Moving the combination of the electric cylinder ram and the guide rod upward a distance T =1.414 mm, the laser translates to the right to an eccentricity E =1.414 mm, cutting to the right to the first apex E (1.414 mm, 0).

A hole with a larger diameter is burnt at the starting point of the laser cutting, so the starting point of the laser cutting is not selected on a required graph but is selected at one side of a leftover.

The combination of the electric cylinder push rod and the guide rod is not stopped, the electric cylinder push rod and the guide rod immediately coordinate with a rotary servo motor to cut a straight section EF, and the rotary servo motor drives the electric cylinder assembly to rotate around the axial lead of the V-shaped circular ring track by pi/2 radian through the combination of the driving gear and the driven gear. There is a relationship between the distance variable T that the combination of the electric cylinder push rod and the guide rod moves upward from the initial position and the increment θ of the electric cylinder assembly rotation: t (sin θ + cos θ) = 1.414. The electric cylinder assembly rotates pi/4 radian first, and the distance variable T of the combination of the electric cylinder push rod and the guide rod is changed into 1mm along with the rotation; the cylinder assembly then continues to rotate the second half of the pi/4 arc, and the combined cylinder ram and guide rod distance variable T is cut to the second vertex F as it becomes 1.414 mm.

The process of cutting the straight cut segments FG, GH and HE will not be repeated.

Returning to the vertex E without stopping, and continuing to the tangential O point. The laser flameout part is also over-burnt, so the flameout part is selected at the side of the leftover material even if the leftover material falls down.

The rotary servo motor drives the electric cylinder assembly, the oblique cross slide block, the laser and the vertical linear guide rail which are arranged on the electric cylinder assembly through the combination of the driving gear and the driven gear to rotate around the axial lead of the V-shaped circular ring track, the electric cylinder assembly can rotate for 1.5 circles generally, the rotation circle is used for cutting the edge of a hole, the redundant 0.5 circle is a specially designed redundant path for enabling a starting point to fall on one side of leftovers, if the electric cylinder assembly continues to rotate, a cable connected to the rotating component can be excessively twisted, and an inner wire core or an outer wrapping can be damaged. How to solve the problem of cable twisting when cutting the next hole can adopt two methods: 1. the rotary servo motor drives the electric cylinder assembly to rotate reversely through the combination of the driving gear and the driven gear, so that the electric cylinder assembly is restored to the initial position. 2. The electric cylinder assembly does not return to the initial position, when a polar coordinate system is established, a plane polar coordinate system (rho, theta) is established by taking the clockwise direction as the positive direction of the angle, and after the cutting of a next hole is completed, the electric cylinder assembly rotates to the initial position again.

When a small round hole is cut on the thin steel plate, the traveling path of the laser is between 1.3 and 1.5 circles, the starting point and the end point of the path are both in a circle, and the path is transited through a section of circular arc tangent to the edge of the small round hole.

The invention has the beneficial effects that:

1) the intelligent robot can be assisted to cut holes with various shapes and small sizes, and the shapes of the holes are very accurate.

2) The eccentricity e between the optical axis of the length variable rho laser of the polar coordinate and the axis line of the V-shaped circular ring-shaped track is exactly equal, and function or equation derivation is not needed in the middle, so that the work of PLC programmers is simplified, the calculation process of floating point numbers is reduced, and the calculation error of one floating point is eliminated.

3) Compact structure and flexible movement. The invention is fixed on the arm of the intelligent robot to work, and the lighter the weight is, the smaller the area swept by the rotating member is, the better the applicability is. The invention combines the electric cylinder push rod and the guide rod for use, so that the longer direction of the size is parallel to the axial lead of the V-shaped circular ring-shaped track and is as close as possible, the swept area of the rotating part is as small as possible, and the movement is more flexible.

Drawings

FIG. 1 is a front view of an embodiment of the present invention;

FIG. 2 is a view taken from the direction A of FIG. 1;

FIG. 3 is a view from the direction B of FIG. 1;

fig. 4 is a schematic three-dimensional structure of the electric cylinder assembly 1;

fig. 5 is a schematic diagram of a three-dimensional structure of the combination of the electric cylinder assembly 111 and the fixed vertical plate 12;

FIG. 6 is a schematic diagram of the three-dimensional structure of the combination of the cylinder push rod and guide rod 112 and the moving linear guide 14;

FIG. 7 is a schematic three-dimensional structure of the coupling disc assembly 2;

fig. 8 is a schematic sectional view of the V-groove bearing 22 in the forward direction;

fig. 9 is a schematic three-dimensional structure of the skew slider 3;

fig. 10 is a schematic three-dimensional structure of the crosshead shoe 4;

fig. 11 is a schematic diagram of establishing a planar polar coordinate system with the center of the square as an origin O and a line connecting the center of the square and one vertex of the square as a polar coordinate axis, wherein a bold line represents a movement path of a cutting point of the laser 5, and an arrow on the movement path represents a movement direction;

FIG. 12 is a schematic view showing a traveling path of the laser 5 when a small circular hole is cut in a thin steel sheet;

shown in the figure: 1. an electric cylinder assembly; 11. a guiding electric cylinder; 111. an electric cylinder assembly; 1111. an electric cylinder coupling plate; v-shaped circular ring track; 1113. a guide sleeve; 112. the combination of the electric cylinder push rod and the guide rod; 12. fixing the vertical plate; 13. an inclined linear guide rail; 14. a moving linear guide rail; 15. a fixed linear guide rail; 16. a driven gear; the axial center line of the V-shaped circular ring track 1112;

2. a coupling disc assembly; 21. a coupling disk; 211. an intelligent robot mounting hole; a V-groove bearing; 221. V-shaped grooves; 23. a driving gear; 24. rotating the servo motor;

3. obliquely crossing slide blocks; 31. obliquely crossing horizontal chutes; 32. obliquely crossing oblique chutes;

4. a crisscross slider; 41. a cross vertical chute; 42. a crisscross horizontal chute;

5. a laser; 51. the optical axis center line of the laser 5;

6. and (4) a vertical linear guide rail.

7. A situation where the traveling path of the laser 5 is drawn in a polar coordinate system (ρ, θ) when a small circular hole is cut in the thin steel sheet; 71. a path starting point; 72. and (4) ending the path.

e. The eccentricity between the optical axis center line 51 of the laser 5 and the axis 17 of the V-shaped circular ring track 1112.

a. The sides of the square holes, a =2 mm.

Detailed Description

The invention is further illustrated with reference to the following figures and examples: