阅读说明：本技术 一种轴控运动控制结构 (Shaft control motion control structure ) 是由 谢曦宇 张兴斌 史丹丹 余海龙 庞博 邓松辉 于 2021-07-28 设计创作，主要内容包括：本发明提供了一种轴控运动控制结构,包括第一旋转台和第一组件,所述第一旋转台可围绕Z轴自转,且所述第一旋转台用于带动所述第一组件旋转,所述第一组件包括横梁和第二组件,所述横梁平行于Y轴,所述第二组件可沿着所述横梁的轴向方向移动,所述第二组件包括垂直梁和第三组件,所述垂直梁平行于Z轴,所述第三组件可沿着所述垂直梁的轴向移动,所述第三组件包括第二旋转台和激光器,所述激光器安装于所述第二旋转台上,所述第二旋转台可围绕X轴自转,所述第二旋转台用于带动所述激光器转动以调节角度。(The invention provides a shaft control motion control structure which comprises a first rotating table and a first assembly, wherein the first rotating table can rotate around a Z axis and is used for driving the first assembly to rotate, the first assembly comprises a cross beam and a second assembly, the cross beam is parallel to a Y axis, the second assembly can move along the axial direction of the cross beam, the second assembly comprises a vertical beam and a third assembly, the vertical beam is parallel to the Z axis, the third assembly can move along the axial direction of the vertical beam, the third assembly comprises a second rotating table and a laser, the laser is installed on the second rotating table, the second rotating table can rotate around the X axis, and the second rotating table is used for driving the laser to rotate so as to adjust the angle.)

1. The utility model provides an axle accuse motion control structure, its characterized in that includes first revolving stage and first subassembly, first revolving stage can center on Z axle rotation, just first revolving stage is used for driving first subassembly is rotatory, first subassembly includes crossbeam and second subassembly, the crossbeam is on a parallel with the Y axle, the second subassembly can along the axial direction of crossbeam removes, the second subassembly includes perpendicular roof beam and third subassembly, perpendicular roof beam is on a parallel with the Z axle, the third subassembly can along the axial displacement of perpendicular roof beam, the third subassembly includes second revolving stage and laser instrument, the laser instrument install in on the second revolving stage, the second revolving stage can center on X axle rotation, the second revolving stage is used for driving the laser instrument rotates with angle regulation.

2. The axis-controlled motion control structure according to claim 1, further comprising a dual-axis transmission assembly, wherein the dual-axis transmission assembly is connected to the first rotating table, and the dual-axis transmission assembly is used for driving the first rotating table to move along an X-axis and/or a Y-axis.

3. The shaft-controlled motion control structure of claim 2, wherein the dual-shaft transmission assembly includes a first axial transmission mechanism for moving the second axial transmission mechanism along either one of an X-axis and a Y-axis, and a second axial transmission mechanism for moving the first rotary table along the other one of the X-axis and the Y-axis.

4. The shaft control motion control structure according to claim 3, further comprising a weight assembly, wherein the first axial transmission mechanism is disposed on one side of the second axial transmission mechanism, and the weight assembly is disposed on the opposite side of the second axial transmission mechanism.

5. The shaft control motion control structure according to claim 1, wherein the first member includes two sets of the second members, and the two sets of the second members are respectively located at both ends of the first member.

6. The shaft control motion control structure according to claim 5, wherein the first rotating table and the beam have their central axes coincident, and when the first rotating table rotates about the Z axis, the beam also rotates about the Z axis.

7. The shaft control motion control structure according to claim 1, wherein a distance measuring sensor is further disposed on the laser, and an emitting direction of the distance measuring sensor is parallel to a light emitting direction of the laser.

8. The shaft-controlled motion control structure according to claim 1, wherein the cross beam is provided with a first rail, the second assembly further comprises a first sliding block matched with the first rail, and the first sliding block is relatively fixedly connected with the vertical beam.

9. The axis-controlled motion control structure according to claim 1, wherein the vertical beam has a second track, the third assembly further comprises a second slider engaged with the second track, the second slider is connected to the second rotary table, and the second rotary table is rotatable relative to the second slider.

Technical Field

The invention relates to the technical field of transmission devices, in particular to a shaft control motion control structure.

Background

Laser equipment is generally applied to laser processing and laser cleaning, and essentially drives a laser transmitter to move through a transmission assembly, so that different cleaning or processing purposes are realized according to a moving path.

However, most of transmission assemblies equipped in the existing laser are driven by mechanical arms and are difficult to meet diversified product structures and requirements, the existing solution is usually to directly design a complex track path, although the processing/cleaning purpose can be realized, the improvement on the operation cost and the programming difficulty is relatively high, and therefore a shaft control motion control structure which is compatible with multiple product groups and relatively simple in track programming is needed.

Disclosure of Invention

The invention provides an axial motion control structure, aiming at solving the technical problems mentioned in the background technology.

The invention provides a shaft control motion control structure which comprises a first rotating table and a first assembly, wherein the first rotating table can rotate around a Z axis and is used for driving the first assembly to rotate, the first assembly comprises a cross beam and a second assembly, the cross beam is parallel to a Y axis, the second assembly can move along the axial direction of the cross beam, the second assembly comprises a vertical beam and a third assembly, the vertical beam is parallel to the Z axis, the third assembly can move along the axial direction of the vertical beam, the third assembly comprises a second rotating table and a laser, the laser is installed on the second rotating table, the second rotating table can rotate around the X axis, and the second rotating table is used for driving the laser to rotate so as to adjust the angle.

Furthermore, the device also comprises a double-shaft transmission assembly, wherein the double-shaft transmission assembly is connected with the first rotating table and is used for driving the first rotating table to move along the X axis and/or the Y axis.

Further, the double-shaft transmission assembly comprises a first axial transmission mechanism and a second axial transmission mechanism, the first axial transmission mechanism is used for driving the second axial transmission mechanism to move along any one of the X axis and the Y axis, and the second axial transmission mechanism is used for driving the first rotating platform to move along the other one of the X axis and the Y axis.

Furthermore, the balance weight device further comprises a balance weight component, the first axial transmission mechanism is arranged on one side of the second axial transmission mechanism, and the balance weight component is arranged on the other side, opposite to the second axial transmission mechanism.

Furthermore, the first assembly comprises two groups of second assemblies, and the two groups of second assemblies are respectively positioned at two ends of the first assembly.

Further, the central axes of the first rotating platform and the beam coincide, and when the first rotating platform rotates around the Z axis, the beam also rotates around the Z axis.

Furthermore, still be equipped with the range finding inductor on the laser instrument, just the emission direction of range finding inductor is on a parallel with the light-emitting direction of laser instrument.

Furthermore, a first track is arranged on the cross beam, the second assembly further comprises a first sliding block matched with the first track, and the first sliding block is fixedly connected with the vertical beam relatively.

Furthermore, a second track is arranged on the vertical beam, the third assembly further comprises a second sliding block matched with the second track, the second sliding block is connected with the second rotating platform, and the second rotating platform can rotate relative to the second sliding block.

According to the invention, the first rotating platform and the first assembly are arranged, the first rotating platform can rotate to drive the first assembly to rotate, so that the laser can form a circular path, the structure is compact by arranging the first rotating platform, and the design space of one shaft is saved; the invention also provides a device, which is characterized in that the first assembly is provided with a beam and a second assembly, and the second assembly can move along the beam; arranging the second assembly into a vertical beam and a third assembly, wherein the vertical beam of a third assembly researcher moves; set up the third subassembly into the second revolving stage, but the rotation of second revolving stage is in order to drive the laser instrument and rotate angle regulation, realizes Y axle, Z axle, around the X axle and around the multiaxis linkage of Z axle, and carries out accurate control to laser light-emitting angle through the second revolving stage, realizes the laser operation requirement of different products, different curved surfaces.

Drawings

Fig. 1 is a schematic overall structural diagram of a shaft control motion control structure according to an embodiment of the present invention.

FIG. 2 is an angular schematic view of the embodiment of FIG. 1.

Fig. 3 is a schematic view of another angle of the embodiment of fig. 1.

FIG. 4 is a schematic illustration of the process of the embodiment of FIG. 1 as applied to cleaning a first type of product.

FIG. 5 is a schematic illustration of the process of the embodiment of FIG. 1 applied to cleaning a second type of product.

FIG. 6 is a schematic illustration of the process of the embodiment of FIG. 1 applied to cleaning a second type of product.

FIG. 7 is a schematic illustration of the process applied to the embodiment of FIG. 1 for cleaning a third type of product.

FIG. 8 is a schematic illustration of the process applied to the embodiment of FIG. 1 for cleaning a third type of product.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention. It is to be understood that the drawings are provided solely for the purposes of reference and illustration and are not intended as a definition of the limits of the invention. The connection relationships shown in the drawings are for clarity of description only and do not limit the manner of connection.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; either mechanically or electrically, and may be internal to both elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

It should be noted that in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1 to 3, the present invention provides an axial motion control structure 100, comprising a first rotating platform 10 and a first assembly, wherein the first rotating platform 10 can rotate around a Z axis, and the first rotating platform 10 is used for driving the first assembly to rotate, the first assembly comprises a beam 20 and a second assembly, the cross beam 20 is parallel to the Y-axis, the second assembly is movable along the axial direction of the cross beam 20, the second assembly comprises a vertical beam 30 and a third assembly, the vertical beam 30 being parallel to the Z-axis, the third assembly, which is movable along the axial direction of the vertical beam 30, includes a second rotary table 40 and a laser 50, the laser 50 is installed on the second rotating platform 40, the second rotating platform 40 can rotate around the X axis, and the second rotating platform 40 is used for driving the laser 50 to rotate so as to adjust the angle.

According to the invention, by arranging the first rotating platform 10 and the first assembly, the first rotating platform 10 can rotate to drive the first assembly to rotate, so that the laser can form a circular path, the structure is compact by arranging the first rotating platform 10, and the design space of one shaft is saved; the invention also provides that the first assembly is provided as a beam 20 and a second assembly, and the second assembly is movable along the beam 20; the second assembly is arranged as a vertical beam 30 and a third assembly, and the third assembly the vertical beam 30 moves; set up the third subassembly into second revolving stage 40, but second revolving stage 40 rotation is in order to drive laser instrument 50 rotation angle regulation, realizes Y axle, Z axle, around X axle and around the multiaxis linkage of Z axle, and carries out accurate control to laser light-emitting angle through second revolving stage 40, realizes the laser operation requirement of different products, different curved surfaces.

In one embodiment of the present invention, as shown in fig. 2, the first assembly includes two sets of the second assemblies, the two sets of the second assemblies are respectively located at two ends of the first assembly, and the two sets of the second assemblies can move towards each other along the cross beam 20 for better adjustment.

In one embodiment of the present invention, the central axes of the first rotating table 10 and the beam 20 are coincident, and when the first rotating table 10 rotates around the Z axis, the beam 20 also rotates around the Z axis; in this embodiment, the central axes of the first rotating table 10 and the beam 20 are overlapped, so that the two groups of laser beams can rotate around the Z axis to form a complete circle, and when the two groups of laser beams are arranged to be symmetrical around the Z axis, the two groups of laser beams can be overlapped and rotated 180 degrees to complete a circle of cleaning, thereby improving the efficiency; the height difference of the two groups of laser beams can be adjusted, so that the cleaning of two different planes can be realized through one-time circular rotation, and the efficiency is improved.

On the basis of the above embodiment, on the basis that the central axes of the first rotating table 10 and the cross beam 20 are overlapped, two lasers 50 may be provided to correspondingly set different powers and/or different types of laser beams, so as to achieve the effect of composite cleaning. The structure can be compatible with switching of single and double laser light paths, is compatible with multiple product groups, is convenient for track programming and product input, and better meets design requirements and controls design cost.

Preferably, a distance measuring sensor (not shown) is further disposed on the laser 50, and an emission direction of the distance measuring sensor is parallel to a light emitting direction of the laser 50; in this embodiment, the distance measuring sensor is disposed on the laser 50, the distance data information obtained by the distance measuring sensor is fed back to the control system, and the control system regulates and controls the shaft control transmission structure according to the data information, so that the laser 50 can be adjusted to emit light to be aligned with the center of the product, and the cleaning effect can be determined according to the distance data information.

In this embodiment, the cross beam 20 is provided with a first track, the second assembly further includes a first sliding block matched with the first track, and the first sliding block is relatively and fixedly connected with the vertical beam 30.

In this embodiment, the vertical beam 30 is provided with a second track, the third assembly further includes a second sliding block matched with the second track, the second sliding block is connected with the second rotating platform 40, and the second rotating platform 40 can rotate relative to the second sliding block.

In an embodiment of the present invention, the shaft-controlled motion control structure 100 further includes a dual-shaft transmission assembly 60, the dual-shaft transmission assembly 60 is connected to the first rotating platform 10, and the dual-shaft transmission assembly 60 is configured to drive the first rotating platform 10 to move along an X-axis and/or a Y-axis; in this embodiment, by arranging the dual-axis transmission assembly 60 to control the central axis of the axis-controlled motion control mechanism to pass through the center of the product, after the central axis of the first rotating table 10 is arranged to overlap the center of the product, the beam 20, the vertical beam 30, and the second rotating table 40 can be adjusted according to the type of the product to process various types of products, wherein the position of the laser 50 relative to the beam 20 is the radius of the circumference, the position of the laser 50 relative to the vertical beam 30 is the position of the horizontal plane where the circumference is located, and the angle adjusted by the second rotating table 40 is the angle of the surface to be cleaned relative to the horizontal plane.

Further, the dual-shaft transmission assembly 60 includes a first axial transmission mechanism 61 and a second axial transmission mechanism 62, the first axial transmission mechanism is used for driving the second axial transmission mechanism 62 to move along any one of the X-axis and the Y-axis, and the second axial transmission mechanism 62 is used for driving the first rotating platform 10 to move along the other one of the X-axis and the Y-axis.

In this embodiment, the first axial transmission mechanism 61 includes a third track and a third slider matched with the third track, the second axial transmission mechanism 62 includes a fourth track and a fourth slider matched with the fourth track, the third slider is connected with the second axial transmission mechanism 62, and the fourth slider is connected with the first rotating platform 10.

As shown in fig. 3, in an embodiment of the present invention, the shaft-controlled motion control structure 100 further includes a counterweight assembly 70, the first axial transmission mechanism 61 is disposed on one side of the second axial transmission mechanism 62, and the counterweight assembly 70 is disposed on the opposite side of the second axial transmission mechanism; in the embodiment, the first axial transmission mechanism 61 is arranged on one side of the second axial transmission mechanism 62, and the balance is maintained by adding the counterweight, so that the situation that the second axial transmission mechanism is easily broken due to the pressure of only one side is avoided.

It should be mentioned that the X-axis, Y-axis and Z-axis mentioned in the present invention are a rectangular spatial coordinate system, wherein the X-axis and the Y-axis are both parallel to the horizontal plane and the Z-axis is perpendicular to the horizontal plane, the cross beam 20 in the present invention is parallel to the Y-axis, the vertical beam 30 is parallel to the Z-axis, the first rotating table 10 rotates around the Z-axis and the second rotating table 40 rotates around the X-axis, and corresponding axial descriptions are labeled in fig. 1-3.

First embodiment

As shown in fig. 4, when the cleaning surface of the product to be cleaned is an annular arc surface, the first axial transmission mechanism 61 and the second axial transmission mechanism 62 are controlled to make the central axis of the first rotating table 10 coincide with the center position of the product, the height of the laser 50 relative to the vertical beam 30 is adjusted, the second rotating table 40 is rotated to make the laser beam face the surface to be cleaned, and at this time, the first rotating table 10 rotates to drive the scanning path of the laser beam to be the surface to be cleaned.

Second embodiment

As shown in fig. 5 to 6, when the cleaning surface of the product to be cleaned is the inner wall surface and the inner bottom surface, the first axial transmission mechanism 61 and the second axial transmission mechanism 62 are controlled so that the central axis of the first rotating table 10 coincides with the central position of the product, the laser 50 is vertically downward and faces the inner bottom surface by adjusting the second rotating table 40, the first rotating table 10 rotates to drive the laser beam to complete cleaning, then the second component is moved toward the central axis direction to reduce the rotation radius, and then the first rotating table 10 rotates until the whole inner bottom surface is cleaned.

When the width of the inner wall surface of the cleaning surface of the product to be cleaned is relatively large, the laser 50 is rotated in a direction away from the central axis by controlling the second rotating table 40, that is, an outward-expanding scanning form is formed, and the first rotating table 10 rotates 180 degrees to complete one circle of cleaning; the vertical height of the laser beam is adjusted by adjusting the position of the third component relative to the vertical beam 30 until the cleaning of the inner wall surface of the full height is completed.

Third embodiment

As shown in fig. 7-8, when the cleaning surface of the product to be cleaned is an inner wall surface and the width of the inner wall surface of the cleaning surface of the product to be cleaned is relatively small, the laser 50 is rotated in a direction close to the central axis by controlling the second rotating table 40, i.e. a cross-shaped scanning form is formed, so that the situation that two second components are too close to each other and interfere with each other is avoided, and the first rotating table 10 rotates 180 degrees to complete one circle of cleaning; the vertical height of the laser beam is adjusted by adjusting the position of the third component relative to the vertical beam 30 until the cleaning of the inner wall surface of the full height is completed.

When the cleaning surface of the product to be cleaned is the outer peripheral surface, firstly, the position of the second assembly on the cross beam 20 is adjusted, and then the second rotating table 40 is controlled to enable the laser 50 to be parallel to the cross beam 20, so that the laser beam is right opposite to the outer peripheral surface to be cleaned, and the first rotating table 10 rotates 180 degrees to complete the cleaning for one circle; the vertical height of the laser beam is adjusted by adjusting the position of the third assembly with respect to the vertical beam 30 until the cleaning of the outer peripheral surface of the full height is completed.

As can be seen from fig. 4-8 for three different types of products and different types of surfaces to be cleaned, the central axis of the first rotating table 10 is aligned with the center of the product to be cleaned by the two-axis transmission assembly 60, the radius of the scanning circle is adjusted by adjusting the position of the second assembly on the cross beam 20 (i.e., the position of the laser 50 relative to the cross beam 20), the height of the horizontal plane where the scanning circle is located is adjusted by adjusting the position of the third assembly on the vertical beam 30 (i.e., the position of the laser 50 relative to the vertical beam 30), and the irregular surface is scanned by adjusting the rotation angle of the second rotating table 40; and the laser beam is rotated around the central axis (i.e., the central position of the product) by the rotation of the first rotating table 10 to perform a circular scan.

Of course, in other types of surfaces to be cleaned, such as a surface with a cleaning surface that is not circular, scanning cleaning may also be achieved by adjusting any one of the position of the laser 50 relative to the vertical beam 30, the position of the laser 50 relative to the cross beam 20, and the rotation angle of the second rotating table 40.

Throughout the description and claims of this application, the words "comprise/comprises" and the words "have/includes" and variations of these are used to specify the presence of stated features, values, steps or components but do not preclude the presence or addition of one or more other features, values, steps, components or groups thereof.

Some features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, certain features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable combination in different embodiments.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.