CN214558380U - Laser processing system capable of quickly positioning mechanical arm to three-dimensional coordinate system - Google Patents

Abstract

The utility model provides a laser processing system which can quickly position a mechanical arm to a three-dimensional coordinate system, comprising a laser processing machine which is used for emitting laser beams to process; a correction module is arranged outside a processing galvanometer on the laser processing machine; the lower surface of the correction module is provided with three probes which are telescopic structures; the layout surfaces of the three probes form a two-dimensional plane; the tips of the three probes are positioned on the same horizontal plane during testing, and the correction module is also positioned on the horizontal plane; a robot arm including a clamping member for clamping a workpiece so that the laser processing machine can project laser light onto the workpiece; when in test, the clamping piece clamps a test board, so that the test board is close to the three probes and abuts against the three probes; and adjusting the angle of the clamping piece of the mechanical arm for clamping the test board by using the compression length of each probe, and repeating the test and the angle adjustment until the compression lengths of the three probes are the same when the three probes are abutted, so that the test board is in the horizontal plane.

Description

Laser processing system capable of quickly positioning mechanical arm to three-dimensional coordinate system

Technical Field

The present invention relates to laser processing, and more particularly to a laser processing system capable of positioning a robot arm to a three-dimensional coordinate system.

Background

The laser beam is applied to a laser processing object to achieve the purposes of processing, material removal, cutting or carving after the laser beam is processed by a lens to achieve high focusing. The workpiece is typically placed on a slide. And then the motor system is used for controlling the movement and the rotation of the sliding table, and the sliding table is moved to a position suitable for processing so as to carry out processing operation. Wherein, the computer calculates the processing coordinate and controls the laser processor to process.

However, in many applications, the workpiece is placed on a robot, but because the range of the robot is quite large and the robot is not fixed in its location, when the robot clamps the workpiece, the coordinates of the clamped workpiece have a large error with the coordinates of the laser emitted from the laser galvanometer, and if the error is not corrected, the coordinates calculated by the computer device have an error with the actual machining point of the laser machining machine, so that the final pattern on the workpiece is distorted, and the final machined pattern of the workpiece cannot meet the expected result

Therefore, the present invention is directed to a novel laser processing system capable of positioning a robot arm to a three-dimensional coordinate system, so as to overcome the above-mentioned drawbacks of the prior art.

SUMMERY OF THE UTILITY MODEL

Therefore, the present invention is directed to solve the above-mentioned problems of the prior art, and the present invention provides a laser processing system capable of quickly positioning a robot arm to a three-dimensional coordinate system, so as to quickly position a horizontal position of a test board held by the robot arm, align the test board with coordinates of a processing galvanometer of a laser processing machine in the horizontal position, and determine a focal length and a focus of the processing galvanometer by a photographing focal length determining device. Therefore, when an object is machined, the horizontal position of the test board measured by the invention can be applied, the coordinate of the test board in the horizontal position and the focal length and the focal point of the machining galvanometer are aligned, and the mechanical arm can be quickly adjusted to a required position, so that a workpiece clamped by the mechanical arm in actual work can be accurately machined by laser.

In order to achieve the above object, the present invention provides a laser processing system capable of rapidly positioning a robot arm to a three-dimensional coordinate system, comprising a laser processing machine for emitting a laser beam for processing; each laser processing machine is provided with a processing galvanometer, and the processing galvanometer is used for moving to a required position in the direction of an X, Y, Z axis so as to project laser light to achieve the purpose of processing; the laser processing controller is connected with the laser processing machine; the laser processing controller is used for receiving coordinate data to be processed and controlling a corresponding laser processing machine so as to carry out required processing operation on the workpiece; a correction module, installed below the processing galvanometer of the laser processing machine; wherein the center of the correction module is provided with a hollow hole which is aligned with the lower part of the processing galvanometer so that the laser emitted by the processing galvanometer can be projected on an object to be processed through the hollow hole; the lower surface of the correction module is provided with three probes which are of telescopic structures; the layout surfaces of the three probes form a two-dimensional plane; when in test, the needle points of the three probes are positioned on the same horizontal plane, and the correction module is also positioned on the horizontal plane; the mechanical arm comprises a clamping piece, and the clamping piece is used for clamping a workpiece when in work so that a processing galvanometer of the laser processing machine can project laser light on the workpiece; during testing, the robot arm uses the clamping member to clamp a test board for determining the horizontal plane; wherein the upper surface of the test board is a flat upper plate; the mechanical arm uses the clamping piece to clamp the test board during testing, and the test board is close to the three probes on the lower surface of the correction module; the three probes will properly retract upward when being pressed by the test board; the angle of the clamping piece of the mechanical arm is adjusted by applying the compression length of each probe, the angle of the clamping piece for clamping the test board is changed, and the test and the angle adjustment are repeated until the compression lengths of the three probes are the same when the three probes are abutted, so that the test board is shown to be on the horizontal plane.

Preferably, each probe is fitted with a sensor for sensing the compressed length of each probe.

Further preferably, the laser processing system further comprises a control processor; the mechanical arm also comprises a clamping position controller which is used for adjusting the clamping position of the mechanical arm; the control processor is connected with the sensor of each probe and the clamping position controller of the mechanical arm;

when the three probes are abutted by the test board during testing, the sensor of each probe senses the compression length of each probe and transmits the compression length of each probe to the control processor.

Preferably, the three probes are located at two ends and corners of an L-shaped path, and the corners of the L-shaped path are right angles.

Preferably, the upper plate of the upper surface of the test board has a two-dimensional groove, and the orientation of the test board is adjusted so that when all the three probes fall into the two-dimensional groove, the coordinate of the horizontal plane of the test board is overlapped with the coordinate of the machining galvanometer.

Further preferably, the depth of the two-dimensional groove is the same, and when three probes fall into the two-dimensional groove, the X coordinate and the Y coordinate are aligned.

Further preferably, the two-dimensional groove is an L-shaped groove.

Preferably, the laser processing system further comprises a vertical coordinate calibrator in signal communication with the robot arm, the vertical coordinate calibrator being configured to calibrate a vertical coordinate such that the test plate is positioned at a focal point of the laser projection;

wherein the vertical coordinate calibrator comprises a focal length determining device for determining the distance between the processing galvanometer and the test board; the device for determining the photographic focal length comprises a camera for recording the image of the test board; when the test board clamped by the mechanical arm moves up and down along the laser ejection path, so that the laser illumination range measured by the image input by the camera reaches the minimum, the height of the test board is the position of the focus, and the distance between the focus and the laser ejection point in the processing galvanometer is the focal length.

Preferably, when the robot arm translates in a non-rotating manner so that the test board just touches three probes of the calibration module at the same time, the vertexes of the three probes form a first plane; when the test board rotates for an angle along the X axis of the test board, so that the test board just touches three probes of the correction module at the same time, the vertexes of the three probes form a second plane; wherein the intersection line of the first plane and the second plane is the X-axis of the test board observed at the calibration module; wherein the Y-axis of the test board as viewed at the calibration module is obtained in the same manner as described above when the test board is rotated about its own Y-axis.

Preferably, the correction module is located below, in front of, behind, to the left of, or to the right of the machining galvanometer.

Preferably, the calibration module is located below the processing galvanometer, and a hollow is located in the center of the calibration module and aligned with the lower part of the processing galvanometer, so that laser emitted by the processing galvanometer can be projected onto an object to be processed through the hollow. A further understanding of the nature and advantages of the present invention will become apparent from the following description when read in conjunction with the accompanying drawings.

Drawings

FIG. 1 shows a schematic diagram of the combination of the main components of the present invention;

FIG. 2 shows a schematic view of the bottom side of FIG. 1;

FIG. 3 is a schematic view of the probe, sensor, control processor and robot according to the present invention;

fig. 4 is a schematic plan view showing the arrangement of the probe according to the present invention;

FIG. 5 is a schematic view of another embodiment of the present invention;

FIG. 6 is a schematic view of the connection structure of the laser processing machine, the vertical coordinate calibrator and the robot according to the present invention;

fig. 7A is a schematic view showing the laser illumination range projected by the laser light on the test board according to the present invention;

fig. 7B is another schematic diagram of the laser illumination range projected by the laser light on the test board according to the present invention;

fig. 7C is a schematic view of the laser illumination range projected by the laser light on the test board according to the present invention;

FIG. 8A is a schematic diagram showing another method of aligning the X and Y axes of the present invention in which three probes are just touching the test board;

FIG. 8B is a schematic view of the test board rotating along its X-axis in another method of aligning the X-axis and the Y-axis according to the present invention;

fig. 9 is a schematic view showing another arrangement position of the calibration module according to the present invention.

Description of the reference numerals

10. A laser processing machine; 12. processing a galvanometer; 15. a correction module; 40. a robot arm;

41. a clamping member; 42. a test board; 44. a probe; 45. a sensor;

48. a clamping position controller; 50. A photographing focal length determining device;

52. a camera; 54. a comparator; 55. a control processor;

60. a laser processing controller; 70. A vertical coordinate calibrator;

100. the laser illumination range; 151. a void; 200. an L-shaped path;

421. an upper flat plate; 422. a two-dimensional trench.

Detailed Description

Now, the structure of the present invention, and the functions and advantages thereof, will be described in detail with reference to the accompanying drawings.

Referring to fig. 1 to 9, a laser processing system for rapidly positioning a robot arm to a three-dimensional coordinate system according to the present invention is shown, which includes the following components:

a laser processing machine 10 for emitting a laser beam for processing, such as marking. In operation, the laser beam emitted by each laser processing machine 10 may be projected onto a workpiece (not shown) to present a pattern processed by the laser beam on the workpiece. Each laser processing machine 10 is provided with a processing galvanometer 12 for moving to a required position in the X, Y, Z axis direction to project laser light for processing.

A laser processing controller 60, the laser processing controller 60 is connected to the laser processing machine 10. The laser processing controller 60 is configured to receive coordinate data to be processed and control the corresponding laser processing machine 10 to perform a desired processing operation on the workpiece.

A calibration module 15, the calibration module 15 is installed outside the processing galvanometer 12 of the laser processing machine 10. The laser processing controller 60 stores the relative position relationship between the calibration module 15 and the processing galvanometer 12, and the laser processing controller 60 can convert the relative position relationship into the processing position coordinates of the processing galvanometer 12. The calibration module 15 can be located below, in front of, behind, to the left of, or to the right of the machining galvanometer 12. As shown in fig. 1, when the calibration module 15 is located below the processing galvanometer 12, a hollow 151 is located at the center of the calibration module 15, and the hollow 151 is aligned below the processing galvanometer 12, so that the laser emitted from the processing galvanometer 12 can be projected onto an object to be processed through the hollow 151. When the calibration module 15 is located at the front, rear, left or right of the machining galvanometer 12, the calibration module 15 and the machining galvanometer 12 are located at the same horizontal plane. Fig. 9 shows the calibration module 15 to the right of the machining galvanometer 12.

As shown in fig. 2, three retractable probes 44 are mounted on the lower surface of the calibration module 15, each probe 44 has a sensitivity and is of a retractable structure, the retractable range can be 10mm, and the minimum resolution during the retractable can be 0.001 mm. As shown in fig. 4, the three probes 44 are located at both ends and corners of an L-shaped path 200. Wherein the corners of the L-shaped path 200 are right angles. Each probe 44 is mounted with a sensor 45 for sensing the compressed length of each probe 44.

A robot 40, the robot 40 comprising a holding member 41, wherein the holding member 41 is used for holding a workpiece during operation, so that the processing galvanometer 12 of the laser processing machine 10 can project laser onto the workpiece. During testing, the robot 40 uses the clamping member 41 to clamp a test board 42 for determining the level. Wherein the upper surface of the test board 42 is a relatively flat upper plate 421. After the test plate 42 is used to determine the level, the robot 40 is used to hold a workpiece. As shown in fig. 3, the robot 40 further includes a clamping position controller 48 for adjusting the clamping position of the robot 40.

Before testing, the tips of the probes 44 are adjusted so that the tips of the three probes 44 are located on the same horizontal plane, and the calibration module 15 is also located on the horizontal plane.

A control processor 55 is connected to the sensor 45 of each probe 44 and the grip position controller 48 of the robot 40.

During testing, the robot 40 uses the clamping member 41 to clamp the testing board 42, and the testing board 42 is close to the three probes 44 on the lower surface of the calibration module 15. The three probes 44 are suitably retracted upward by the test plate 42, and the sensor 45 of each probe 44 senses the compressed length of each probe 44 and transmits the compressed length of each probe 44 to the control processor 55.

Since the tips of the three probes 44 are already aligned in the same horizontal plane before testing. Therefore, when the compression length of each probe 44 is consistent, it means that the upper plate 421 of the test board 42 is located on a horizontal plane.

When the compressed length of each probe 44 is not consistent, the control processor 55 converts the compressed length into the angle that needs to be adjusted by the clamping member 41 of the robot 40, and transmits the calculated angle to the clamping position controller 48, so as to adjust the robot 40 to the corresponding clamping position, thereby changing the angle at which the clamping member 41 clamps the test board 42. Then, the robot 40 uses the clamping member 41 to clamp the testing board 42, and the testing board 42 is close to the lower surface of the calibration module 15, and the above-mentioned testing and angle adjustment are repeated until the compression lengths of the three probes 44 are the same when they are abutted, which indicates that the testing board 42 is on the horizontal plane.

As shown in fig. 1, the upper plate 421 of the upper surface of the testing board 42 has a two-dimensional groove 422, and the orientation of the testing board 42 is adjusted such that the coordinates of the horizontal plane of the testing board 42 overlap the coordinates of the machining galvanometer 12 when all of the three probes 44 fall into the two-dimensional groove 422.

Wherein the three probes 44 do not contact the two-dimensional groove 422 when the horizontal plane of the test board 42 is measured, but the horizontal plane is determined by using the plane of the upper plate 421 located outside the two-dimensional groove 422. When the test board 42 is determined to be in the horizontal plane through the above-mentioned tests, the three probes 44 of the calibration module 15 are aligned with the two-dimensional groove 422 by moving the test board 42 by the robot 40 so that two probes 44 of the three probes 44 fall into one side of the two-dimensional groove 422, and slowly moving or rotating the test board 42 by the robot 40 so that the other probe 44 of the three probes 44 falls into the other side of the two-dimensional groove 422. This completes the alignment action. The purpose of this operation is to allow the test plate 42 to not only remain in a horizontal plane, but its horizontal plane coordinates can also overlap the coordinates of the machining galvanometer 12. Preferably, the two-dimensional trenches 422 are all the same depth, so that when three probes 44 are all dropped into the two-dimensional trench 422, they are aligned with the X and Y coordinates.

The two-dimensional trench 422 in this embodiment is an L-shaped trench, but is not limited to this type, and any type of two-dimensional trench 422 may be used, and the position of the probe is set to correspond to the two-dimensional trench 422, so as to achieve the purpose of aligning the X coordinate and the Y coordinate.

As shown in fig. 8A and 8B, another operation for aligning the X axis and the Y axis is proposed in the present application, in which the coordinates of the test board 42 are aligned with the coordinates of the robot 40, so that the robot 40 can obtain the coordinate position of the test board 42. Then, the robot 40 is translated in a non-rotating manner, so that the test board 42 just touches the three probes 44 of the calibration module 15 at the same time (as shown in fig. 8A), and a first plane formed by the vertexes of the three probes 44 is recorded; the test plate 42 is then rotated through an angle along its X-axis (as shown in fig. 8B) and the same operation is performed such that the test plate 42 just touches the three probes 44 of the calibration module 15 at the same time, and the second plane formed by the apexes of the three probes 44 is recorded. Calculating the intersection of the first plane and the second plane to obtain the X-axis of the test board 42 observed at the calibration module 15; by rotating the test plate 42 about its own Y-axis in the same manner, the Y-axis of the test plate 42 as viewed at the calibration module 15 can also be obtained. Therefore, the calibration module 15 can obtain the X-axis and Y-axis of the test board 42, and the X-axis and Y-axis of the test board 42 can be compared with the X-axis and Y-axis of the calibration module 15 to obtain the coordinate difference between the two. The difference is then input to the robot 40 for compensation or computational compensation at the programming end of the laser 10. For the sake of accuracy, the method of calculating the compensation value may perform the operation of determining the coordinates of the X-axis and the Y-axis and the difference calculation for a plurality of times, and average the calculated values for compensation.

As shown in fig. 5, a vertical coordinate calibrator 70 is further included, the vertical coordinate calibrator 70 is in signal connection with the robot 40 for calibrating the vertical coordinate, so that the test board can be located at the focus of the laser projection. After determining the horizontal plane and the horizontal plane coordinates of the test board 42, the vertical coordinate calibrator 70 memorizes the positioning of the robot 40 at this position and corrects the vertical coordinate so that the test board 42 can be located at the focus of the laser projection for achieving the best projection effect.

As shown in fig. 6, the vertical coordinate calibration device 70 includes a focus distance determining device 50 for determining the distance between the machining galvanometer 12 and the test board 42. The device 50 includes a camera 52 for capturing an image of the test board 42, and a comparator 54 connected to the camera 52, wherein the camera 52 inputs the projected image into the comparator 54.

The focus is determined by moving the test board 42 held by the robot 40 up and down along the laser emitting path to stay at different positions, then the processing galvanometer 12 projects laser light onto the test board 42, and by moving the test board 42 up and down along the laser emitting path, the camera 52 is used to capture images of the test board 42 at different positions, and the images are inputted into the comparator 54. The comparator 54 calculates the laser illumination range 100 of the laser projected on the test board 42 in the image. Fig. 7A to 7C show the laser irradiation range 100 projected by the laser on the test board 42 at different height positions. As shown in fig. 7C, when the illumination range 100 of the projected laser reaches the minimum, the height of the test board 42 is the position of the focal point, and the distance between the focal point and the laser emitting point in the processing galvanometer 12 is calculated as the focal length. The workpiece can therefore be placed at this height for the best machining effect when actually performing laser machining operations.

The device has the advantages that the horizontal direction of the test board clamped by the mechanical arm can be quickly positioned, the test board can be aligned to the coordinate of the processing galvanometer of the laser processing machine in the horizontal direction, and the focal length and the focus of the processing galvanometer are determined by the shooting focal length determining device. Therefore, when an object is machined, the horizontal position of the test board measured by the scheme can be applied, the coordinate of the test board in the horizontal position and the focal length and the focal point of the machining galvanometer are aligned, and the mechanical arm can be quickly adjusted to a required position, so that a workpiece clamped by the mechanical arm in actual work can be accurately machined by laser.

It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Claims (11)

1. A laser machining system for rapidly positioning a robotic arm to a three-dimensional coordinate system, comprising:

a laser processing machine for emitting laser beams to perform processing; wherein each laser processing machine is provided with a processing galvanometer which is used for moving to a required position in the direction of X, Y, Z axis so as to project laser light;

the correction module is arranged outside the processing galvanometer of the laser processing machine; the lower surface of the correction module is provided with three probes which are of telescopic structures; the layout surfaces of the three probes form a two-dimensional plane; the tips of the three probes are positioned on the same horizontal plane during testing, and the correction module is also positioned on the horizontal plane;

the mechanical arm comprises a clamping piece, and the clamping piece is used for clamping a workpiece when in work so that a processing galvanometer of the laser processing machine can project laser light on the workpiece; during testing, the robot arm clamps a test board through the clamping member for determining the horizontal plane; wherein the upper surface of the test board is a flat upper plate.

2. The laser machining system for rapidly positioning a robot to a three-dimensional coordinate system as claimed in claim 1, wherein each of the probes is mounted with a sensor for sensing a compressed length of each of the probes.

3. The laser machining system for rapidly positioning a robot to a three-dimensional coordinate system as claimed in claim 2, wherein the laser machining system further comprises a control processor; the mechanical arm also comprises a clamping position controller which is used for adjusting the clamping position of the mechanical arm; the control processor is connected with the sensor of each probe and the clamping position controller of the mechanical arm;

when the three probes are abutted by the test board during testing, the sensor of each probe senses the compression length of each probe and transmits the compression length of each probe to the control processor.

4. The system of claim 1, wherein the three probes are located at two ends and at a corner of an L-shaped path, the corner of the L-shaped path being a right angle.

5. The laser machining system of claim 1, wherein the upper plate of the upper surface of the test board has a two-dimensional groove, and the orientation of the test board is adjusted such that all three probes falling into the two-dimensional groove represent the coordinates of the horizontal plane of the test board overlapping the coordinates of the machining galvanometer.

6. The laser machining system of claim 5, wherein the two-dimensional grooves are all the same depth, and when three probes fall into the two-dimensional grooves, it indicates that the X and Y coordinates are aligned.

7. The laser machining system for rapidly positioning a robot to a three-dimensional coordinate system as claimed in claim 5, wherein the two-dimensional groove is an L-shaped groove.

8. The laser machining system of claim 1, further comprising a vertical coordinate aligner in signal communication with the robot, the vertical coordinate aligner for aligning vertical coordinates such that the test plate is in focus of the laser projection;

wherein the vertical coordinate calibrator comprises a focal length determining device for determining the distance between the processing galvanometer and the test board; the device for determining the photographic focal length comprises a camera for recording the image of the test board; when the test board clamped by the mechanical arm moves up and down along the laser ejection path, so that the laser illumination range measured by the image input by the camera reaches the minimum, the height of the test board is the position of the focus, and the distance between the focus and the laser ejection point in the processing galvanometer is the focal length.

9. The laser machining system of claim 1, wherein when the robot arm translates in a non-rotational manner such that the test board just touches three probes of the calibration module at the same time, the vertices of the three probes form a first plane; when the test board rotates for an angle along the X axis of the test board, so that the test board just touches three probes of the correction module at the same time, the vertexes of the three probes form a second plane; wherein the intersection line of the first plane and the second plane is the X-axis of the test board observed at the calibration module; wherein the Y-axis of the test board as viewed at the calibration module is obtained in the same manner as described above when the test board is rotated about its own Y-axis.

10. The laser machining system of claim 1, wherein the calibration module is located below, in front of, behind, to the left of, or to the right of the machining galvanometer.

11. The system of claim 1, wherein the calibration module is located below the machining galvanometer, and a hollow is located at a center of the calibration module and aligned below the machining galvanometer, such that the laser emitted by the machining galvanometer can be projected onto the object to be machined through the hollow.

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