CN104669085A - Five-axis two-joint servo deburring robot - Google Patents

Five-axis two-joint servo deburring robot Download PDF

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Publication number
CN104669085A
CN104669085A CN201310620658.8A CN201310620658A CN104669085A CN 104669085 A CN104669085 A CN 104669085A CN 201310620658 A CN201310620658 A CN 201310620658A CN 104669085 A CN104669085 A CN 104669085A
Authority
CN
China
Prior art keywords
arm
output shaft
servodrive
motor
plate
Prior art date
Application number
CN201310620658.8A
Other languages
Chinese (zh)
Inventor
徐建
Original Assignee
徐建
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 徐建 filed Critical 徐建
Priority to CN201310620658.8A priority Critical patent/CN104669085A/en
Publication of CN104669085A publication Critical patent/CN104669085A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/02Frames; Beds; Carriages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00Drives or gearings; Equipment therefor
    • B24B47/02Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
    • B24B47/04Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by mechanical gearing only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00Drives or gearings; Equipment therefor
    • B24B47/10Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/12Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B9/00Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor

Abstract

The invention discloses a five-axis two-joint servo deburring robot. The five-axis two-joint servo deburring robot comprises a machine base; a control table, a slide gun pipe, a cross slide plate, a drawing beam and a grinding head clamp are arranged on the slide gun pipe, and the gliding direction of the drawing beam is perpendicular to the gliding direction of the cross slide plate; one side of the drawing beam is provided with an arm slide block, and the arm slide block is glidingly connected with an arm beam; the lower end of the arm beam is provided with a first servo transmission device, and the first servo transmission device is connected with a connecting plate; the lower end of the connecting plate is provided with a grinding head installing hole, and a second servo transmission device is arranged in the grinding head installing hole; a grinding head clamp is connected to the second servo transmission device, an electric grinding head is arranged on the grinding head clamp; moreover, the output shaft of the first servo transmission device and the output shaft of the second servo transmission device are arranged perpendicularly, and thereby the electric grinding head can rotate at multiple angles, the positioning precision is high, and the running is stable.

Description

Five axle two joint servo deburring robots
Technical field
The present invention relates to a kind of deburring robot, particularly five axle two joint servo deburring robots.
Background technology
Robot is some holding function imitating staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine; Manipulator is the industrial robot occurred the earliest; also be the modern machines people occurred the earliest; it can replace the heavy labor of people to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Under existence conditions, the deburring polishing of most of parts and finished product, by manual operation, some industrial injuries are easily caused to lose, and for some people just having contacted the industry, be difficult to the unification guaranteeing precision, size, profile, be unfavorable for large batch of production.
Summary of the invention
The object of the invention is in order to solve above-mentioned the deficiencies in the prior art provide a kind of can multi-angle rotary, simple to operate, positioning precision is high, stable, the five axle two joint servo deburring robots of multiple irregular of polishing.
To achieve these goals, five axle two joint servo deburring robots designed by the present invention, comprise support, support is provided with console, support is also provided with and walks crosswise gun tube, walk crosswise slide plate, pulling beam, arm beam and grinding head fixture, walking crosswise chute gun tube is provided with walking crosswise slide plate slides and coordinating, described pulling beam is slidably connected to be walked crosswise on slide plate, and the glide direction of described pulling beam is vertical with the glide direction walking crosswise slide plate, described pulling beam side is fixed with arm slide block, arm slide block slidably connects arm beam, the first servodrive is provided with in the lower end of arm beam, the output shaft of the first servodrive is fixedly connected with connecting plate, bistrique installing hole is provided with in the lower end of connecting plate, the second servodrive is provided with in described bistrique installing hole, the output shaft of the second servodrive is fixedly connected with grinding head fixture, grinding head fixture is provided with electric grinder, and the output shaft of the first described servodrive is vertical with the output shaft of the second servodrive arranges.
By above-mentioned design make pulling beam can walk crosswise gun tube walks crosswise mobile and movable, and arm beam can be realize moving up and down on pulling beam, and can gun tube walk crosswise mobile and move forward and backward walking crosswise with pulling beam together with, simultaneously, achieving electric grinder by the connection of two servodrives can in z-axis, x-axis side rotates up, thus entirety achieves electric grinder can change between five axles, ensure that the simple to operate of entirety, can to polish the product of multiple irregular simultaneously, effectively achieve the function of multi-angle rotary and work stable.
In order to effectively improve positioning precision, be provided with the first motor and the second motor walking crosswise on slide plate, the first tooth bar is provided with in pulling beam side, the first gear coordinated with the first tooth bar is connected with at the first motor upper driving, be provided with the second tooth bar walking crosswise on gun tube, the second gear coordinated with the second tooth bar is connected with at the second motor upper driving, arm slide plate is provided with the 3rd motor, the 3rd gear is connected with at the 3rd motor upper driving, arm beam is provided with the 3rd tooth bar coordinated with the 3rd gear, all motions are all by being connected by rack pinion, thus ensure that positioning precision is high, error is little, stable.
Preferably: described first servodrive comprises interconnective 4th motor and the first decelerator, the output shaft of the first decelerator is provided with projection, reducer output shaft installing hole is provided with in the upper end of connecting plate, the groove coordinated with projection is provided with in described reducer output shaft installing hole, described second servodrive comprises interconnective 5th motor and the second decelerator, the output shaft of described second decelerator runs through bistrique installing hole and is connected and fixed with grinding head fixture, make electric grinder can rotate positive and negative 360 degree in z-axis direction by decision design simultaneously, rotate positive and negative 180 degree in the direction of the x axis, thus deburring can be carried out to irregular product, improve operating efficiency.
Preferably: described connecting plate is inverted "L" shaped structure, make overall structure simple, reasonable, attractive in appearance by preferred version.
The five axle two joint servo deburring robots that the present invention obtains, by above-mentioned global design make pulling beam can walk crosswise gun tube walks crosswise mobile and movable, and arm beam can be realize moving up and down on pulling beam, and can gun tube walk crosswise mobile and move forward and backward walking crosswise with pulling beam together with, simultaneously, achieve electric grinder by the connection of two servodrives and can rotate positive and negative 360 degree in z-axis direction, positive and negative 180 degree can be rotated in the direction of the x axis, thus entirety achieves electric grinder can change between five axles, ensure that the simple to operate of entirety, can to polish the product of multiple irregular simultaneously, effectively achieve multi-angle rotary, positioning precision is high, stable advantage.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present embodiment 1;
Fig. 2 is the enlarged drawing of J part in Fig. 1;
Fig. 3 is the overall structure schematic diagram of the present embodiment 2;
Fig. 4 is the enlarged drawing of part A in Fig. 1;
Fig. 5 is the enlarged drawing of part B in Fig. 1;
Fig. 6 is the enlarged drawing of C part in Fig. 1;
Fig. 7 is the structural representation that Fig. 3 looks over from H direction;
Fig. 8 is the structural representation that Fig. 3 looks over from G direction;
Fig. 9 is the enlarged drawing of D part in Fig. 7;
Figure 10 is the enlarged drawing of E part in Fig. 7;
About the explosive view of the first servodrive and the second servodrive in Figure 11 the present embodiment 3;
Figure 12 is the enlarged drawing of F part in Figure 11.
In figure: support 1, console 2, walk crosswise gun tube 3, walk crosswise slide plate 4, pulling beam 5, arm beam 6, grinding head fixture 7, chute 8, arm slide block 9, first servodrive 10, connecting plate 11, bistrique installing hole 12, second servodrive 13, electric grinder 14, first motor 15, second motor 16, first tooth bar 17, first gear 18, second tooth bar 19, second gear 20, 3rd motor 21, 3rd tooth bar 23, 4th motor 24, first decelerator 25, projection 26, reducer output shaft installing hole 27, groove 28, 5th motor 29, second decelerator 30.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
Embodiment 1:
As Fig. 1, shown in Fig. 2, the five axle two joint servo deburring robots that the present embodiment provides, comprise support 1, support 1 is provided with console 2, support 1 is also provided with and walks crosswise gun tube 3, walk crosswise slide plate 4, pulling beam 5, arm beam 6 and grinding head fixture 7, walking crosswise the chute 8 gun tube 3 is provided with walking crosswise slide plate 4 and being slidably matched, described pulling beam 5 is slidably connected to be walked crosswise on slide plate 4, and the glide direction of described pulling beam 5 is perpendicular to the glide direction walking crosswise slide plate 4, described pulling beam 5 side is fixed with arm slide block 9, arm slide block 9 slidably connects arm beam 6, the first servodrive 10 is provided with in the lower end of arm beam 6, the output shaft of the first servodrive 10 is fixedly connected with connecting plate 11, bistrique installing hole 12 is provided with in the lower end of connecting plate 11, the second servodrive 13 is provided with in described bistrique installing hole 12, the output shaft of the second servodrive 13 is fixedly connected with grinding head fixture 7, grinding head fixture 7 is provided with electric grinder 14, and the output shaft of the first described servodrive 10 is vertical with the output shaft of the second servodrive 13 arranges, described connecting plate 11 is in inverted "L" shaped structure, be slidably connected at walk crosswise on gun tube 3 owing to walking crosswise slide plate 4 in the present embodiment, and pulling beam 5 is slidably connected at and walks crosswise on slide plate 4, thus achieve pulling beam 5 can walk crosswise gun tube 3 walks crosswise mobile and movable, arm beam 6 is slidably connected on pulling beam 5 by arm slide plate 9, arm beam 6 can be moved up and down on pulling beam 5, and can gun tube 3 walk crosswise mobile and move forward and backward walking crosswise with pulling beam 5 together with.
Embodiment 2:
As Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, shown in Figure 10, as different from Example 1, in order to improve the accurate location of product, be provided with the first motor 15 and the second motor 16 walking crosswise on slide plate 4, the first tooth bar 17 is provided with in pulling beam 5 side, the first gear 18 coordinated with the first tooth bar 17 is connected with at the first motor 15 upper driving, be provided with the second tooth bar 19 walking crosswise on gun tube 3, the second gear 20 coordinated with the second tooth bar 19 is connected with at the second motor 16 upper driving, arm slide plate 9 is provided with the 3rd motor 21, the 3rd gear 22 is connected with at the 3rd motor 21 upper driving, arm beam 6 is provided with the 3rd tooth bar 23 coordinated with the 3rd gear 22, in the present embodiment: all motions are all by the transmission of servomotor driven gear, and coordinate spacing by wheel and rack transmission, effectively ensure that slip between links and effectively locate, thus ensure that positioning precision is high, error is little, stable.
Embodiment 3:
As Figure 11, shown in Figure 12, as different from Example 1, in order to effectively increase work efficiency, described first servodrive 10 comprises interconnective 4th motor 24 and the first decelerator 25, the output shaft of the first decelerator is provided with projection 26, reducer output shaft installing hole 27 is provided with in the upper end of connecting plate 11, be provided with in described reducer output shaft installing hole 27 and convex 26 pieces of grooves coordinated 28, described second servodrive 13 comprises interconnective 5th motor 29 and the second decelerator 30, the output shaft of described second decelerator 30 runs through bistrique installing hole 12 and is connected and fixed with grinding head fixture 7, by the present embodiment electric grinder 7 by the effective cooperation of two motors in x-axis and z-axis direction, thus achieve electric grinder and can rotate positive and negative 360 degree in z-axis direction, positive and negative 180 degree can be rotated in the direction of the x axis.

Claims (5)

1. an axle two joint servo deburring robot, comprise support (1), support (1) is provided with console (2), it is characterized in that: be also provided with on support (1) and walk crosswise gun tube (3), walk crosswise slide plate (4), pulling beam (5), arm beam (6) and grinding head fixture (7), walking crosswise the chute (8) gun tube (3) is provided with walking crosswise slide plate (4) and being slidably matched, described pulling beam (5) is slidably connected to be walked crosswise on slide plate (4), and the glide direction of described pulling beam (5) is perpendicular to the glide direction walking crosswise slide plate (4), described pulling beam (5) side is fixed with arm slide block (9), arm slide block (9) slidably connects arm beam (6), the first servodrive (10) is provided with in the lower end of arm beam (6), the output shaft of the first servodrive (10) is fixedly connected with connecting plate (11), bistrique installing hole (12) is provided with in the lower end of connecting plate (11), the second servodrive (13) is provided with in described bistrique installing hole (12), the output shaft of the second servodrive (13) is fixedly connected with grinding head fixture (7), grinding head fixture (7) is provided with electric grinder (14), and the output shaft of described the first servodrive (10) is vertical with the output shaft of the second servodrive (13) arranges.
2. five axle two joint servo deburring robots according to claim 1, it is characterized in that: be provided with the first motor (15) and the second motor (16) walking crosswise on slide plate (4), the first tooth bar (17) is provided with in pulling beam (5) side, the first gear (18) coordinated with the first tooth bar (17) is connected with at the first motor (15) upper driving, be provided with the second tooth bar (19) walking crosswise on gun tube (3), the second gear (20) coordinated with the second tooth bar (19) is connected with at the second motor (16) upper driving, arm slide plate 9 is provided with the 3rd motor (21), the 3rd gear (22) is connected with at the 3rd motor (21) upper driving, arm beam (6) is provided with the 3rd tooth bar (23) coordinated with the 3rd gear (22).
3. five axle two joint servo deburring robots according to claim 1 and 2, it is characterized in that: described first servodrive (10) comprises interconnective 4th motor (24) and the first decelerator (25), the output shaft of the first decelerator is provided with projection (26), reducer output shaft installing hole (27) is provided with in the upper end of connecting plate (11), the groove (28) coordinated with projection (26) is provided with in described reducer output shaft installing hole (27), described second servodrive (13) comprises interconnective 5th motor (29) and the second decelerator (30), the output shaft of described second decelerator (30) runs through bistrique installing hole (12) and is connected and fixed with grinding head fixture (7).
4. five axle two joint servo deburring robots according to claim 1 and 2, is characterized in that: described connecting plate (11) is in inverted "L" shaped structure.
5. five axle two joint servo deburring robots according to claim 3, is characterized in that: described connecting plate (11) is in inverted "L" shaped structure.
CN201310620658.8A 2013-11-29 2013-11-29 Five-axis two-joint servo deburring robot CN104669085A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310620658.8A CN104669085A (en) 2013-11-29 2013-11-29 Five-axis two-joint servo deburring robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310620658.8A CN104669085A (en) 2013-11-29 2013-11-29 Five-axis two-joint servo deburring robot

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CN104669085A true CN104669085A (en) 2015-06-03

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106425741A (en) * 2016-11-20 2017-02-22 嘉兴顾翔制冷设备有限公司 Condensation pipe burr removing device
CN106625090A (en) * 2016-11-20 2017-05-10 嘉兴顾翔制冷设备有限公司 Condenser pipe burr removing-refrigerant fluid adding device
CN106956139A (en) * 2017-04-18 2017-07-18 珠海天安华泰科技有限公司 Automobile steering device automatic production line
CN109015172A (en) * 2018-09-25 2018-12-18 范佳琦 A kind of automobile long-shaft type workpiece deburring equipment

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004106122A (en) * 2002-09-19 2004-04-08 Pacific Ind Co Ltd Deburring device
CN201055971Y (en) * 2007-05-08 2008-05-07 重庆三磨海达磨床有限公司 Gantry milling and filing machine tool
CN201399703Y (en) * 2009-04-01 2010-02-10 李远强 Simple five-axis numerically controlled machine tool
CN102528620A (en) * 2011-11-10 2012-07-04 贵州英特利智能控制工程研究有限责任公司 Five-axis linkage numerical-control tool grinding machine
CN102794695A (en) * 2012-08-16 2012-11-28 苏州珈玛自动化科技有限公司 Five-shaft polishing machine
CN202934565U (en) * 2012-11-13 2013-05-15 宁波市北仑恒誉自动化科技有限公司 Five-shaft double-arm multifunctional robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004106122A (en) * 2002-09-19 2004-04-08 Pacific Ind Co Ltd Deburring device
CN201055971Y (en) * 2007-05-08 2008-05-07 重庆三磨海达磨床有限公司 Gantry milling and filing machine tool
CN201399703Y (en) * 2009-04-01 2010-02-10 李远强 Simple five-axis numerically controlled machine tool
CN102528620A (en) * 2011-11-10 2012-07-04 贵州英特利智能控制工程研究有限责任公司 Five-axis linkage numerical-control tool grinding machine
CN102794695A (en) * 2012-08-16 2012-11-28 苏州珈玛自动化科技有限公司 Five-shaft polishing machine
CN202934565U (en) * 2012-11-13 2013-05-15 宁波市北仑恒誉自动化科技有限公司 Five-shaft double-arm multifunctional robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106425741A (en) * 2016-11-20 2017-02-22 嘉兴顾翔制冷设备有限公司 Condensation pipe burr removing device
CN106625090A (en) * 2016-11-20 2017-05-10 嘉兴顾翔制冷设备有限公司 Condenser pipe burr removing-refrigerant fluid adding device
CN106425741B (en) * 2016-11-20 2018-06-01 嘉兴顾翔制冷设备有限公司 A kind of condenser pipe burr device for eliminating
CN106956139A (en) * 2017-04-18 2017-07-18 珠海天安华泰科技有限公司 Automobile steering device automatic production line
CN109015172A (en) * 2018-09-25 2018-12-18 范佳琦 A kind of automobile long-shaft type workpiece deburring equipment

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Application publication date: 20150603