RU236677U1 - MOBILE THREE-AXIS MANIPULATOR FOR PLASMA CUTTING - Google Patents

Abstract

The utility model relates to process equipment for the mechanization and automation of process operations. A mobile three-axis manipulator for plasma cutting comprises a support structure in the form of a stand, with which a robotic arm of the manipulator is pivotally connected, having a shoulder and a forearm pivotally connected to it with a working element installed on it, and controlled movement drives. The stand comprises a base and a cover of the manipulator, between which three vertical cylindrical axes are installed, connecting them and forming a stand of a triangular configuration with equal sides, in which a movable block of the manipulator is installed on the guide axes with the ability to move along them. A stepper motor is installed in the center of the base, the shaft of which is connected to a threaded rod passed through the movable block through a nut fixed to it and vertically installed between the base and the cover with the ability to set the movable block of the manipulator in motion up or down depending on the direction of rotation of the threaded rod transmitted from the stepper motor connected to it. The manipulator arm is hingedly attached to the movable block of the manipulator. A toothed wheel is mounted on one of the guide axes of the stand, secured to the manipulator arm, and also connected by means of a toothed belt to the shaft of the stepper electric motor of the arm, mounted on the movable block of the manipulator and providing rotation of the manipulator arm around the axis of the stand, which is the axis of rotation of the manipulator arm, on which two toothed wheels connected to each other with the possibility of free rotation around the axis of rotation of the manipulator arm are also mounted. One of the toothed wheels is connected by means of a toothed belt to the shaft of the stepper motor of the forearm, mounted on the movable block of the manipulator and providing movement of the forearm relative to the hinge axis in the coupling unit of the arm and the forearm, on which a toothed wheel is mounted, secured to the forearm and connected by means of another toothed belt to the second toothed wheel mounted on the axis of rotation of the manipulator arm. The manipulator is designed with the possibility of connection to a power supply unit and a control unit. For controlling stepper motors, the manipulator is designed with the possibility of electrical connection with the corresponding drivers connected via communication lines to the driver control unit, which is connected to the manipulator control unit, the said units and drivers are electrically connected to the power supply unit. The implementation of the purpose is ensured. 2 fig.

Description

The utility model relates to technological equipment with low weight and size parameters for the mechanization and automation of technological operations and use as an alternative to CNC machines, and can find application in mechanical processing shops, at hard-to-reach construction sites, in construction and installation companies working in remote areas, when it is necessary to perform cutting of sheet metal, cutting complex holes, for example in pipes.

The prerequisite for creating a useful model, namely a portable, small-sized, inexpensive and easy-to-manufacture plasma cutting manipulator, is the absence of such manipulators on the market, as well as their demand to replace manual operations, as more labor-intensive and less accurate, or to replace the need to order from production, for example, cutting sheet metal, etc.

The Internet mainly provides information on multifunctional industrial robot manipulators for plasma cutting, as well as robotic systems. For example, the HJZLASER robot manipulator for laser cutting is known, made with a CNC system, with a cutting area of 3000x1500 mm, with software, with the function of cutting metal materials, cutting thickness of 6 mm, cutting speed of 12 m/min (https://www.protehnology.ru/robot-manipulyator-dlya-lazernoy-rezki-hjz-laser, date of viewing 04.07.2024).

Also known from the Internet is the six-axis robot manipulator HS-R6-10, which is an industrial robot with a lifting capacity of 10 kg, a weight of 180 kg, and a working radius of 1589 mm (https://lasergu.ru/catalog/promyshlennye-roboty-manipulyatory/shestiosevoy_robot_manipulyator_hs_r6_10/, viewed on 04.07.2024).

Also known from the Internet is a 3D robot for laser cutting and welding, performing 3D fiber laser cutting X/Y with an arm length of 1800x3200 mm (https://leadermash.ru/product/metalloobrabotka/3d-robot-dlya-lazernoy-rezki-i-svarki/, date viewed 04.07.2024).

The disadvantage of the robots mentioned, known from the Internet, is that they are multifunctional industrial robotic manipulators, the use of which outside of production conditions, especially in remote construction sites, is unacceptable and economically impractical.

An industrial robot is known from the prior art, comprising an arm with drives and a gripper, a base and external magnetic systems. The robot is made with a horizontal-angular coordinate system and contains a lifting drive, while the arm is made articulated, and the external magnetic systems are made in the form of sequentially located rows with rotor blocks (Patent of the Russian Federation No. 2184030 C1, priority date 19.03.2001, publication date 27.06.2002, author Litvinenko A.M., RU).

The disadvantage of the analogue is its structural complexity due to the presence of external magnetic systems with rotor blocks.

The prior art also includes a mobile robot related to robotic complexes intended for eliminating the consequences of emergency situations, comprising a body, a manipulator on a rotating base, designed with the possibility of selecting and subsequently docking specific equipment from a set of replaceable tool equipment, wherein a manipulator with six degrees of freedom is used, and on its rotating base one or two five-degree manipulators equipped with television cameras are placed (Patent of the Russian Federation No. 142363 U1, priority date 03.09.2013, publication date 27.06.2014, authors: Goydin O.P. et al., RU).

The disadvantage of this analogue is that it is a multi-component robotic complex and is based on a tracked vehicle, which indicates its structural complexity and the appropriateness of its use for its intended purpose - to eliminate the consequences of emergency situations.

The closest to the claimed design are manipulators belonging to the SCARA (Selective Compliance Articulated Robot Arm) type - a type of articulated robotic manipulators with selective compliance.

For example, a multi-axis industrial robot is known from the prior art, in particular, the SCARA type (Application No. RU 2016149547 A, priority date 16.12.2016, publication date 20.06.2018, authors: BORDEGNONI Stefano et al., IT).

Also known is a multi-axis industrial robot, in particular, of the "selective compliance assembly robot arm" (SCARA) type, comprising a support structure, a first arm connected to the support structure with the ability to rotate about a first axis of rotation, a second arm connected to said first arm with the ability to rotate about a second axis of rotation parallel to said first axis, and a working element located on a shaft mounted on said second arm and configured to be driven, by means of a drive unit, into a first translational movement along a third axis and into a second rotational movement around said third axis, wherein said third axis is parallel to said first and second axes (Application No. RU 2017103979 A, priority date 02/08/2017, publication date 08/08/2018, authors: BORDEGNONI Stefano et al., IT).

The disadvantage of the given analogues is that they are multifunctional industrial robotic manipulators, the use of which is suitable for transporting parts and assembling small products, including tightening screws.

The prototype is a robot containing a welded frame and having a three-coordinate cable, portal, positioning mechanism with additional fourth and fifth rotary axes, in which cables with an electric drive move the portal positioner in a Cartesian coordinate system (US 2023390917 A1, published 07.12.2023, prototype).

The disadvantage of the prototype is its complexity.

The technical problem is the need to expand the arsenal of robotic manipulators and create a portable manipulator for plasma cutting, which can be in demand at hard-to-reach construction sites.

In order to solve the technical problem and achieve the technical result, a mobile three-axis manipulator for plasma cutting is proposed, comprising a support structure in the form of a stand, with which a robotic arm of the manipulator is pivotally connected, having a shoulder and a forearm pivotally connected to it with a working element installed on it, and controlled movement drives. What is new is that the stand comprises a base and a cover of the manipulator, between which three vertical cylindrical axes are installed, connecting them and forming a stand of a triangular configuration with equal sides, in which a movable block of the manipulator is installed on the said axes, which are guides, with the possibility of moving along the said guides. In this case, a stepper motor is installed in the center of the base, the shaft of which is connected to a threaded rod passed through the movable block through a nut fixed to it and vertically installed between the base and the cover with the possibility of setting the movable block of the manipulator in motion up or down depending on the direction of rotation of the threaded rod, transmitted from the stepper motor connected to it. The manipulator arm is pivotally attached to the movable block of the manipulator, wherein a toothed wheel is mounted on one of the guide axes of the stand, secured to the manipulator arm, and also connected by means of a toothed belt to the shaft of the stepper electric motor of the arm, mounted on the movable block of the manipulator and providing rotation of the manipulator arm around the axis of the stand, which is the axis of rotation of the manipulator arm, on which two toothed wheels connected to each other with the possibility of free rotation around the axis of rotation of the manipulator arm are also mounted. In this case, one of the toothed wheels is connected by means of a toothed belt to the shaft of the stepper motor of the forearm, mounted on the movable block of the manipulator and providing movement of the forearm relative to the hinge axis in the coupling unit of the arm and the forearm, on which a toothed wheel is mounted, secured to the forearm and connected by means of another toothed belt to the second toothed wheel mounted on the axis of rotation of the manipulator arm. In this case, the manipulator is designed with the possibility of connection to a power supply unit and a control unit, and for controlling the said stepper motors, the manipulator is designed with the possibility of electrical connection to the corresponding drivers connected via communication lines to a driver control unit, which is connected to the manipulator control unit, wherein said units and drivers are electrically connected to the power supply unit.

To explain the utility model, drawings are provided that explain an example of the implementation of a mobile three-axis manipulator for plasma cutting.

Fig. 1 schematically shows a mobile three-axis manipulator for plasma cutting, general view in isometric projection; Fig. 2 shows an electrical control circuit for the manipulator drives.

The description of the mobile three-axis manipulator for plasma cutting and its operating principle are as follows.

A mobile three-axis manipulator for plasma cutting is a support structure in the form of a stand, with which the robotic arm of the manipulator is hingedly connected (Fig. 1). The stand comprises a base 1 and a cover 2 of the manipulator, between which three vertical cylindrical axes 3 are installed, connecting the base and the cover during the assembly of the manipulator and forming a stand of a triangular configuration with equal sides, in which a movable block 4 of the manipulator is installed on the axes 3, which are guides, with the possibility of moving along the guides 3. For this purpose, a stepper electric motor 5 is installed in the center of the base, the shaft of which is connected to a threaded rod 6 passed through the movable block 4 through a nut 7 fixed to it. In this case, the threaded rod 6 is vertically installed between the base 1 and the cover 2 with the possibility of setting the movable block 4 of the manipulator in motion up or down depending on the direction of rotation of the threaded rod 6, transmitted from the stepper electric motor 5 connected to it. The arm 8 of the manipulator, which is part of the robotic arm of the manipulator, is pivotally attached to the movable block 4 of the manipulator. For this purpose, a toothed wheel 9 is mounted on one of the guide axes 3 of the stand, secured to the arm 8 of the manipulator, and also connected by means of a toothed belt 10 to the shaft of the stepper electric motor of the arm 11, mounted on the movable block 4 of the manipulator and providing rotation of the arm 8 of the manipulator around the axis 3 of the stand, which is the axis of rotation of the arm of the manipulator due to the fact that the stepper motor 11 rotates the belt and, thereby, rotates the arm 8 of the manipulator. On the axis 3 of the stand, which is the axis of rotation of the arm of the manipulator, two toothed wheels 12 and 13 are also mounted, not connected to the arm 8, but connected to each other with the possibility of free rotation around the axis of rotation of the arm of the manipulator. Moreover, one toothed wheel 12 is connected by means of a toothed belt to the shaft of a stepper motor 14 mounted on a movable block 4 of the manipulator and providing movement of the forearm 15 relative to the hinge axis 16 in the coupling unit of the shoulder 8 and the forearm 15. In this case, a toothed wheel 17 is mounted on the hinge axis 16, secured to the forearm 15 and connected by means of another toothed belt to a second toothed wheel 13 mounted on the rotation axis 3 of the manipulator arm. In this case, the stepper motor 14 rotates the toothed belt and, thereby, rotates two toothed wheels 12 and 13 on the rotation axis 3 of the arm, which, by means of a toothed belt, transmit rotation to the toothed wheel 17 of the hinge axis 16 and, accordingly, set the forearm 15 of the manipulator in motion. A working tool 18, for example a laser marker, is attached to the forearm 15, and the shoulder 8 and the forearm 15 pivotally connected to it form a robotic manipulator arm pivotally connected to the stand.

In addition, according to the electrical drive control circuit shown in Fig. 2, the manipulator contains a power supply unit 19, a control unit 20, and for controlling the said stepper motors 5, 11 and 14, the manipulator is equipped with corresponding electrically connected drivers 21, 22 and 23, mounted on a stand and connected via communication lines to a driver control unit 24, which is connected to the control unit 20 of the manipulator, for example a microcomputer, wherein said units and drivers are electrically connected to the power supply unit 19.

To reduce the weight of the manipulator, the base 1, cover 2 and movable block 4 can be made with technological openings, and for greater stability, protrusions with support elements can be made in the base and in the cover of the stand.

The technical result achieved by the utility model consists in expanding the arsenal of robotic mobile manipulators for plasma cutting, which are in demand at hard-to-reach construction sites.

Claims (1)

A mobile three-axis manipulator for plasma cutting, comprising a support structure in the form of a stand, with which a robotic arm of the manipulator is pivotally connected, having a shoulder and a forearm pivotally connected to it with a working element installed on it, and controlled movement drives, characterized in that the stand comprises a base and a cover of the manipulator, between which three vertical cylindrical axes are installed, connecting them and forming a stand of a triangular configuration with equal sides, in which a movable block of the manipulator is installed on said axes, which are guides, with the possibility of moving along said guides, wherein a stepper motor is installed in the center of the base, the shaft of which is connected to a threaded rod passed through the movable block through a nut fixed to it and vertically installed between the base and the cover with the possibility of setting the movable block of the manipulator in motion up or down depending on the direction of rotation of the threaded rod, transmitted from the stepper motor connected to it, the shoulder is pivotally attached to the movable block of the manipulator manipulator, wherein on one of the guide axes of the stand a toothed wheel is mounted, secured to the arm of the manipulator, and also connected by means of a toothed belt to the shaft of the stepper electric motor of the arm, mounted on the movable block of the manipulator and providing rotation of the arm of the manipulator about the axis of the stand, which is the axis of rotation of the arm of the manipulator, on which two toothed wheels connected to each other with the possibility of free rotation about the axis of rotation of the arm of the manipulator, are also mounted, wherein one of the toothed wheels is connected by means of a toothed belt to the shaft of the stepper motor of the forearm, mounted on the movable block of the manipulator and providing movement of the forearm relative to the hinge axis in the joint of the arm and the forearm, on which a toothed wheel is mounted, secured to the forearm and connected by means of another toothed belt to the second toothed wheel mounted on the axis of rotation of the arm of the manipulator, wherein the manipulator is configured to be connected to a power supply unit and a control unit, and for controlling the mentioned stepper motors the manipulator is designed with the possibility of electrical connection with the corresponding drivers, connected via communication lines to the driver control unit, which is connected to the manipulator control unit, wherein said units and drivers are electrically connected to the power supply unit.