CN106424925B - A kind of optical axis cutting robot walked - Google Patents

A kind of optical axis cutting robot walked Download PDF

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Publication number
CN106424925B
CN106424925B CN201611173308.1A CN201611173308A CN106424925B CN 106424925 B CN106424925 B CN 106424925B CN 201611173308 A CN201611173308 A CN 201611173308A CN 106424925 B CN106424925 B CN 106424925B
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CN
China
Prior art keywords
optical axis
wheel
fixed seat
stepper motor
cutting
Prior art date
Application number
CN201611173308.1A
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Chinese (zh)
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CN106424925A (en
Inventor
不公告发明人
Original Assignee
哈工大机器人集团(广州)知识产权投资控股有限公司哈尔滨分公司
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Application filed by 哈工大机器人集团(广州)知识产权投资控股有限公司哈尔滨分公司 filed Critical 哈工大机器人集团(广州)知识产权投资控股有限公司哈尔滨分公司
Priority to CN201611173308.1A priority Critical patent/CN106424925B/en
Publication of CN106424925A publication Critical patent/CN106424925A/en
Application granted granted Critical
Publication of CN106424925B publication Critical patent/CN106424925B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23DPLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D47/00Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23DPLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D47/00Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts
    • B23D47/04Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts of devices for feeding, positioning, clamping, or rotating work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23DPLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D47/00Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts
    • B23D47/04Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts of devices for feeding, positioning, clamping, or rotating work
    • B23D47/045Sawing machines or sawing devices working with circular saw blades, characterised only by constructional features of particular parts of devices for feeding, positioning, clamping, or rotating work feeding work into engagement with the saw blade
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels

Abstract

The invention discloses a kind of optical axis cutting robots walked, including pedestal, collecting box, driving device, cutter device, optical axis conveying device, two transfers, it is characterised in that:The collecting box is mounted in the groove of front of chassis, the first hydraulic cylinder cylinder body bottom end of the cutter device is mounted on above the optical axis cutting bed of pedestal, the circular guideway of the optical axis conveying device is slidably mounted in optical axis conveying device installation groove, and the steering engine bottom surface of the transfer is mounted on inside the transfer fixed seat of pedestal;So that robot is reached designated position by driving device and transfer co-ordination, optical axis can not only be conveyed by optical axis conveying device, but also optical axis rotation can be made, keep cutting more convenient, accurately, it is not easy to sideslip, since delivery wheel is using rubber material, it is not easy to damage optical axis surface;Optical axis can be cut into the optical axis section of designated length by cutter device.

Description

A kind of optical axis cutting robot walked
Technical field
The present invention relates to a kind of robots, particularly disclose a kind of optical axis cutting robot walked, belong to robot Technical field.
Background technology
The machine of some optical axises cutting at present has volume big, mobile inconvenient disadvantage, for example the machines such as abrasive wheel cutting machine Device, when being worked due to making optical axis be easy to damage its surface in cutting process without the device of some protection optical axises, Machine cannot be such that optical axis side cutting edge rotates simultaneously, keep the optical axis deviation of cutting big, and generation waste product is more, some existing optical axises are cut It is not ideal enough to cut robot function, as application number 201610612445.4 discloses《A kind of optical axis fixed length cutting classifying packing machine Device people》, can not automatically walk, therefore be badly in need of one kind can oneself walking and cut accurate optical axis cutting robot.
Invention content
Technical solution used in the present invention is:A kind of optical axis cutting robot walked, including pedestal, collecting box, Driving device, cutter device, optical axis conveying device, two transfers, it is characterised in that:The collecting box is mounted on pedestal In the groove of front, the first hydraulic cylinder cylinder body bottom end of the cutter device is mounted on above the optical axis cutting bed of pedestal, institute The circular guideway for the optical axis conveying device stated is slidably mounted in optical axis conveying device installation groove, the rudder of the transfer Machine bottom surface is mounted on inside the transfer fixed seat of pedestal;
The pedestal include bottom plate, input system, control system, optical axis conveying device fixed seat, the first stepper motor, Two first gears, transmission shafts, the bottom plate are a rectangle planks, the front position set there are one rectangle it is recessed Slot is respectively provided with a transfer fixed seat below the bottom plate at left and right sides of rectangular recess, in the soleplate between it is forward Position be equipped with optical axis cutting bed, the optical axis cutting bed is a cuboid, its front set there are one perforative optical axis pacify Discharge hole is equipped with cutter device mounting groove, a rectangular recess is respectively provided at left and right sides of it, in rectangular recess in the above Side is equipped with optical axis fixing device fixed seat, and optical axis fixing device is equipped in optical axis fixing device fixed seat, and optical axis fixes dress It sets and is slidably mounted in rectangular recess, optical axis fixing device includes second hydraulic cylinder, optical axis fixed seat, ten balls, described Second hydraulic cylinder rear end of the cylinder block be fixedly mounted in optical axis fixing device fixed seat, after piston rod end and optical axis fixed seat Face is fixedly connected, and is set there are two semicircle cambered surface in 702 front end of optical axis fixed seat, is set between two semicircle cambered surfaces recessed there are one cutting Slot 704 is designed with five hemispherical grooves in each semicircle cambered surface, and a rolling is rotatablely installed in each spherical groove 703 pearls;Meta position installs the optical axis conveying device fixed seat support column there are four rectangular array, described two light in the soleplate It is parallel before and after axis conveying device fixed seat to be fixedly mounted on above four optical axis conveying device fixed seat support columns;In four light Axis conveying device fixed seat support column centre position is set there are one fixing frame for transmission shaft, in four optical axis conveying device fixed seat branch The back location of dagger is equipped with the first stepper motor fixed seat;First stepper motor is horizontal positioned, and peace is fixed in side Above the first stepper motor fixed seat, motor shaft is fixedly connected with transmission shaft by shaft coupling, transmission shaft rotational installation In the hole above fixing frame for transmission shaft, described two first gears are fixedly mounted on transmission shaft, and position is in transmission shaft The left and right sides of fixed frame;Control system is fixedly mounted on the lower left corner of substrate, and input system is fixedly mounted on the bottom plate right side Inferior horn;
The driving device includes two the first wheel shaft supporting frames, second gear, the second stepper motor fixed seat, the Two stepping motor, two the first wheels, the first wheel axle, third gears, the first wheel shaft supporting frame upper surface are fixed Mounted on bottom plate in the following, in the dynamic hole mounted on above the first wheel shaft supporting frame of the first wheel shaft rotation, described two A first wheel is respectively and fixedly installed to the both ends of the first wheel axle;The third gear is fixedly mounted on the first wheel axle On;The second stepper motor fixed seat is fixedly mounted on bottom plate in the following, second stepper motor is horizontal positioned, side Face is fixedly mounted on above the second stepper motor fixed seat, and motor shaft is fixedly connected with second gear, the second gear It is intermeshed with third gear;
The cutter device includes first hydraulic cylinder support plate, two first hydraulic cylinders, two cutting wheeling supporting frames, the Three stepper motor fixed seats, third stepper motor, cutting wheel, two belt pulleys, belt, cutting wheel shaft, described two first Hydraulic cylinder is placed vertically, and cylinder body bottom end is fixedly mounted on above optical axis cutting bed, piston rod end and first hydraulic cylinder branch It is fixedly connected below fagging;Described two cutting wheeling supporting frames upper surfaces be fixedly mounted on first hydraulic cylinder support plate in the following, Third stepper motor fixed seat is fixedly mounted on cutting wheeling supporting frame side, and the cutting wheel axis is rotatably installed in cutting wheel branch In the circular hole of support lower end;The cutting wheel is fixedly mounted on above cutting wheel shaft, and belt pulley is fixedly mounted on cutting wheel Above axis, the third stepper motor is horizontal positioned, and side is fixedly mounted in third stepper motor fixed seat, motor Axis is fixedly connected with belt pulley, and the belt is mounted on above two belt pulleys;The cutting wheel is located at cutter device peace In tankage;
The optical axis conveying device includes optical axis transmission wheel, three the 4th stepper motors, three delivery wheels, three conveyings Wheel shaft is equipped with circular hole in optical axis transmission wheel center, a gear wheel is respectively provided in optical axis transmission wheel both sides, on gear wheel Equipped with circular guideway, the circular guideway is slidably mounted on inside optical axis conveying device installation groove, optical axis transmission wheel and light Axis conveying device fixed seat is concentric;It is equipped with the groove of three circumference array in optical axis transmission wheel side;It is respectively set on groove both sides There are one delivery wheel fixing brackets, and the 4th stepper motor fixed seat, the 4th step are equipped in delivery wheel fixing bracket side Stepper motor side is fixedly mounted in the 4th stepper motor fixed seat, and motor shaft is fixedly connected with feeding axle by shaft coupling; The feeding axle is rotatably installed in the hole on delivery wheel fixing bracket, and the delivery wheel is fixedly mounted on feeding axle On;
The transfer includes that steering engine, Second wheel support base, the 5th stepper motor, the 5th stepper motor are fixed Seat, Second wheel, Second wheel axis, the steering engine are placed straight down, and bottom surface is fixedly mounted on transfer fixed seat It is fixedly connected above the inside, motor shaft and Second wheel support base;The Second wheel axis is rotatably installed in Second wheel In the hole of support base, the Second wheel is fixedly mounted on above Second wheel axis, the 5th stepper motor fixed seat Side is fixedly mounted on Second wheel support base side, and the 5th stepper motor is horizontal positioned, and side is fixedly mounted on the 5th step Stepper motor fixed seat is in the following, its motor shaft is fixedly connected with Second wheel axis by shaft coupling.
Further, the delivery wheel is elastic rubber wheel.
Beneficial effects of the present invention:Robot is set to reach specific bit by driving device and transfer co-ordination It sets, optical axis can not only be conveyed by optical axis conveying device, but also optical axis rotation can be made, keep cutting more convenient, accurately, it is not easy to Sideslip, since delivery wheel is using rubber material, it is not easy to damage optical axis surface;Optical axis can be cut by cutter device The optical axis section of designated length.
Description of the drawings
Fig. 1, Fig. 2, Fig. 3 are the overall structure diagram of the present invention.
Fig. 4, Fig. 5, Fig. 6, Fig. 7 are the structural schematic diagram of the pedestal and driving device of the present invention.
Fig. 8, Fig. 9 are the structural schematic diagram of the cutter device of the present invention.
Figure 10, Figure 11 are the structural schematic diagram of the optical axis conveying device of the present invention.
Figure 12, Figure 13 are the structural schematic diagram of the transfer of the present invention.
Figure 14 is the structural schematic diagram of the optical axis fixing device of the present invention.
Drawing reference numeral:1- pedestals, 2- collecting boxs, 3- driving devices, 4- cutter devices, 5- optical axises conveying device, 6- are turned to Device, 7- optical axises fixing device, 101- bottom plates, 102- input systems, 103- control systems, 104- transfers fixed seat, 105- optical axis fixing devices fixed seat, 106- optical axises cutting bed, 107- optical axises placed hole, 108- cutter devices mounting groove, 109- Optical axis conveying device fixed seat support column, 110- optical axis conveying devices fixed seat, 111- optical axis conveying devices installation groove, 112- First stepper motor fixed seat, the first stepper motors of 113-, 114- first gears, 115- fixing frame for transmission shaft, 116- transmission shafts, The first wheels of 301- shaft supporting frame, 302- second gears, the second stepper motors of 303- fixed seat, the second stepper motors of 304-, The first wheels of 305-, the first wheel axles of 306-, 307- thirds gear, 401- first hydraulic cylinders support plate, 402- first hydraulic cylinders, 403- cuts wheeling supporting frame, 404- third stepper motors fixed seat, 405- thirds stepper motor, 406- cutting wheels, 407- belts Wheel, 408- belts, 409- cutting wheel shaft, 501- optical axises transmission wheel, 502- circular guideways, 503- gear wheels, 504- circular holes, 505- 4th stepper motor, the 4th stepper motor fixed seats of 506-, 507- delivery wheels fixing bracket, 508- delivery wheels, 509- delivery wheels Axis, 601- steering engines, 602- Second wheels support base, the 5th stepper motors of 603-, the 5th stepper motor fixed seats of 604-, 605- Two wheels, 606- Second wheels axis, 701- second hydraulic cylinders, 702- optical axises fixed seat, 703- balls, 704- cut-in grooves.
Specific implementation mode
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14 Shown, a kind of optical axis cutting robot walked, including pedestal 1, collecting box 2, driving device 3, cutter device 4, optical axis are defeated Send device 5, two transfers 6, it is characterised in that:The collecting box 2 is mounted in the groove of 1 front of pedestal, described The 402 cylinder body bottom end of first hydraulic cylinder of cutter device 4 is mounted on above the optical axis cutting bed 106 of pedestal 1, optical axis conveying The circular guideway 502 of device 5 is slidably mounted in optical axis conveying device installation groove 111, the steering engine of the transfer 6 601 bottom surfaces are mounted on 104 the inside of transfer fixed seat of pedestal 1;
The pedestal 1 include bottom plate 101, input system 102, control system 103, optical axis conveying device fixed seat 110, First stepper motor 113, two first gear 114, transmission shaft 116, the bottom plate 101 is a rectangle plank, at it Anterior locations are set there are one rectangular recess, and a steering is respectively provided with below the bottom plate 101 at left and right sides of rectangular recess Device fixed seat 104, forward position is equipped with optical axis cutting bed 106 among bottom plate 101, and the optical axis cutting bed 106 is One cuboid sets there are one perforative optical axis placed hole 107 in its front, is equipped with cutter device mounting groove 108 in the above, It is respectively provided with a rectangular recess at left and right sides of it, optical axis fixing device fixed seat 105 is equipped with beside rectangular recess, Optical axis fixing device fixed seat 105 is equipped with optical axis fixing device 7, and optical axis fixing device 7 is slidably mounted in rectangular recess, Optical axis fixing device 7 includes 702, ten second hydraulic cylinder 701, optical axis fixed seat balls 703, the second hydraulic cylinder 701 Rear end of the cylinder block is fixedly mounted in optical axis fixing device fixed seat 105, and piston rod end is fixed with behind optical axis fixed seat 702 Connection is set in 702 front end of optical axis fixed seat there are two semicircle cambered surface, is set between two semicircle cambered surfaces there are one cut-in groove 704, It is designed with five hemispherical grooves in each semicircle cambered surface, 703 pearls of rolling are rotatablely installed in each spherical groove; 101 centre position of bottom plate sets the optical axis conveying device fixed seat support column 109 there are four rectangular array, described two optical axises It is parallel before and after conveying device fixed seat 110 to be fixedly mounted on above four optical axis conveying device fixed seat support columns 109;Four A 109 centre position of optical axis conveying device fixed seat support column is set there are one fixing frame for transmission shaft 115, in four optical axis conveying dresses The back location for setting fixed seat support column 109 is equipped with the first stepper motor fixed seat 112;First stepper motor, 113 water Placing flat, side are fixedly mounted on above the first stepper motor fixed seat 112, and motor shaft passes through shaft coupling with transmission shaft 116 Device is fixedly connected, and transmission shaft 116 is rotatably installed in the hole above fixing frame for transmission shaft 115, described two first gears 114 It is fixedly mounted on transmission shaft 116, position is in the left and right sides of fixing frame for transmission shaft 115;Control system 103 is fixedly mounted on The lower left corner above bottom plate 101, input system 102 are fixedly mounted on 101 lower right corner of bottom plate;
The driving device 3 is solid including two the first wheel shaft supporting frames 301, second gear 302, the second stepper motor Reservation 303,304, two the first wheels 305 of the second stepper motor, the first wheel axle 306, third gear 307, described first 301 upper surface of wheel shaft supporting frame is fixedly mounted on bottom plate 101 in the following, first wheel axle 306 is rotatably installed in first In hole above wheel shaft supporting frame 301, described two the first wheels 305 are respectively and fixedly installed to the first wheel axle 306 Both ends;The third gear 307 is fixedly mounted in the first wheel axle 306;The second stepper motor fixed seat 303 is solid Dingan County is mounted in bottom plate 101 in the following, second stepper motor 304 is horizontal positioned, and side is fixedly mounted on the second stepping electricity Above machine fixed seat 303, motor shaft is fixedly connected with second gear 302, the second gear 302 and third gear 307 Intermeshing;
The cutter device 4 includes the cutting wheel branch of first hydraulic cylinder 402, two of first hydraulic cylinder support plate 401, two Support 403, third stepper motor fixed seat 404, third stepper motor 405, cutting wheel 406, two belt pulleys 407, belts 408, wheel shaft 409 is cut, described two first hydraulic cylinders 402 are placed vertically, and cylinder body bottom end is fixedly mounted on optical axis cutting Above platform 106, piston rod end is fixedly connected below with first hydraulic cylinder support plate 401;Two cutting wheels support 403 upper surface of frame is fixedly mounted on first hydraulic cylinder support plate 401 in the following, third stepper motor fixed seat 404 is fixedly mounted on 403 side of wheeling supporting frame is cut, the cutting wheel shaft 409 is rotatably installed in the circular hole of 403 lower end of cutting wheeling supporting frame; The cutting wheel 406 is fixedly mounted on above cutting wheel shaft 409, and belt pulley 407 is fixedly mounted on above cutting wheel shaft 409, The third stepper motor 405 is horizontal positioned, and side is fixedly mounted in third stepper motor fixed seat 404, motor Axis is fixedly connected with belt pulley 407, and the belt 408 is mounted on above two belt pulleys 407;The cutting wheel 406 In cutter device mounting groove 108;
The optical axis conveying device 5 includes optical axis transmission wheel 501, three the 4th stepper motors, 505, three delivery wheels 508, three feeding axles 509 are equipped with circular hole 504 in 501 center of optical axis transmission wheel, each in 501 both sides of optical axis transmission wheel If there are one gear wheels 503, circular guideway 502 is equipped on gear wheel 503, the circular guideway 502 is slidably mounted on light 111 the inside of axis conveying device installation groove, optical axis transmission wheel 501 and optical axis conveying device fixed seat 110 are concentric;It is transmitted in optical axis It takes turns 501 sides and sets groove there are three circumference array;A delivery wheel fixing bracket 507 is respectively provided on groove both sides, defeated 507 side of wheel fixing bracket is sent to be equipped with the 4th stepper motor fixed seat 506, peace is fixed in 505 side of the 4th stepper motor In the 4th stepper motor fixed seat 506, motor shaft is fixedly connected with feeding axle 509 by shaft coupling;The conveying Wheel shaft 509 is rotatably installed in the hole on delivery wheel fixing bracket 507, and the delivery wheel 508 is fixedly mounted on feeding axle On 509;
The transfer 6 includes steering engine 601, Second wheel support base 602, the 5th stepper motor 603, the 5th stepping Motor fixing seat 604, Second wheel 605, Second wheel axis 606, the steering engine 601 are placed straight down, and bottom surface is fixed Mounted on 104 the inside of transfer fixed seat, motor shaft is fixedly connected above with Second wheel support base 602;Described Two wheel axles 606 are rotatably installed in the hole of Second wheel support base 602, and the Second wheel 605 is fixedly mounted on second Above wheel axle 606,604 side of the 5th stepper motor fixed seat is fixedly mounted on 602 side of Second wheel support base, 5th stepper motor 603 is horizontal positioned, side be fixedly mounted on the 5th stepper motor fixed seat 604 in the following, its motor shaft with Second wheel axis 606 is fixedly connected by shaft coupling.
Operation principle of the present invention:The present invention keeps robot arrival specified by driving device 3 and 6 co-ordination of transfer Job site needs that optical axis to be cut 5 the inside of optical axis conveying device will be put into first when optical axis segment, passes through three the 4th Stepper motor 505 drives delivery wheel 508 to rotate, and then optical axis is driven to move forward, and is consolidated by optical axis after adjusting Cutting Length Determining the stretching of second hydraulic cylinder 701 of device 7 makes optical axis fixed seat 702 clamp optical axis, and at this moment cutter device 4 is in first hydraulic cylinder 402 and 405 co-ordination of third stepper motor under make cutting wheel 406 cut optical axis, while the first stepper motor 113 work drive Optical axis conveying device 5 rotates, and optical axis rotation is made to complete cutting work, and the optical axis section of well cutting drops to 2 the inside of collecting box.
Further, the delivery wheel 508 is elastic rubber wheel.
In the description of the present invention, it should be noted that the fingers such as term "upper", "lower", "front", "rear", "left", "right" The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings or when invention product use usually puts The orientation or positional relationship put, is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated dress It sets or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as the limit to the present invention System.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively heavy The property wanted.

Claims (2)

1. a kind of optical axis cutting robot walked, including pedestal(1), collecting box(2), driving device(3), cutter device (4), optical axis conveying device(5), two transfers(6), it is characterised in that:The collecting box(2)Mounted on pedestal(1)Before In the rectangular recess A in face, the cutter device(4)First hydraulic cylinder(402)Cylinder body bottom end is mounted on pedestal(1)Light Axis cutting bed(106)Above, the optical axis conveying device(5)Circular guideway(502)It is slidably mounted on optical axis conveying device Installation groove(111)In, the transfer(6)Steering engine(601)Bottom surface is mounted on pedestal(1)Transfer fixed seat (104)The inside;
The pedestal(1)Including bottom plate(101), input system(102), control system(103), optical axis conveying device fixed seat (110), the first stepper motor(113), two first gears(114), transmission shaft(116), the bottom plate(101)It is one long Rectangular plank is set in the front position there are one rectangular recess A, the bottom plate at left and right sides of rectangular recess A(101)Under Face is respectively provided with a transfer fixed seat(104), in bottom plate(101)Intermediate forward position is equipped with optical axis cutting bed(106), The optical axis cutting bed(106)It is a cuboid, is set there are one perforative optical axis placed hole in its front(107), in light Axis cutting bed(106)It is equipped with cutter device mounting groove above(108), in optical axis cutting bed(106)The left and right sides is respectively provided with one Rectangular recess B is equipped with optical axis fixing device fixed seat beside rectangular recess B(105), in optical axis fixing device fixed seat (105)It is equipped with optical axis fixing device(7), optical axis fixing device(7)It is slidably mounted in rectangular recess B, optical axis fixes dress It sets(7)Including second hydraulic cylinder(701), optical axis fixed seat(702), ten balls(703), the second hydraulic cylinder(701) Rear end of the cylinder block is fixedly mounted on optical axis fixing device fixed seat(105)On, piston rod end and optical axis fixed seat(702)Below It is fixedly connected, in optical axis fixed seat(702)Front end is set there are two semicircle cambered surface, is set between two semicircle cambered surfaces recessed there are one cutting Slot(704), it is designed with five hemispherical grooves in each semicircle cambered surface, one is rotatablely installed in each hemispherical groove Ball(703);In bottom plate(101)Centre position sets the optical axis conveying device fixed seat support column there are four rectangular array (109), the optical axis conveying device fixed seat described in two(110)The front and back parallel four optical axis conveying devices that are fixedly mounted on are consolidated Reservation support column(109)Above;In four optical axis conveying device fixed seat support columns(109)Centre position is set there are one transmission shaft Fixed frame(115), in four optical axis conveying device fixed seat support columns(109)Back location fixed equipped with the first stepper motor Seat(112);First stepper motor(113)Horizontal positioned, side is fixedly mounted on the first stepper motor fixed seat (112)Above, motor shaft and transmission shaft(116)It is fixedly connected by shaft coupling, transmission shaft(116)It is rotatably installed in transmission shaft Fixed frame(115)In hole above, described two first gears(114)It is fixedly mounted on transmission shaft(116)On, position exists Fixing frame for transmission shaft(115)The left and right sides;Control system(103)It is fixedly mounted on bottom plate(101)The lower left corner above, input System(102)It is fixedly mounted on bottom plate(101)The lower right corner;
The driving device(3)Including two the first wheel shaft supporting frames(301), second gear(302), the second stepper motor Fixed seat(303), the second stepper motor(304), two the first wheels(305), the first wheel axle(306), third gear (307), the first wheel shaft supporting frame(301)Upper surface is fixedly mounted on bottom plate(101)In the following, first wheel Axis(306)It is rotatably installed in the first wheel shaft supporting frame(301)In hole above, described two the first wheels(305)Respectively It is fixedly mounted on the first wheel axle(306)Both ends;The third gear(307)It is fixedly mounted on the first wheel axle(306) On;The second stepper motor fixed seat(303)It is fixedly mounted on bottom plate(101)In the following, second stepper motor (304)Horizontal positioned, side is fixedly mounted on the second stepper motor fixed seat(303)Above, motor shaft and second gear (302)It is fixedly connected, the second gear(302)With third gear(307)Intermeshing;
The cutter device(4)Including first hydraulic cylinder support plate(401), two first hydraulic cylinders(402), two cutting wheels Supporting rack(403), third stepper motor fixed seat(404), third stepper motor(405), cutting wheel(406), two belt pulleys (407), belt(408), cutting wheel shaft(409), two first hydraulic cylinders(402)Vertical to place, cylinder body bottom end is solid Dingan County is mounted in optical axis cutting bed(106)Above, piston rod end and first hydraulic cylinder support plate(401)It is fixedly connected below; Two cutting wheeling supporting frames(403)Upper surface is fixedly mounted on first hydraulic cylinder support plate(401)In the following, third stepping Motor fixing seat(404)It is fixedly mounted on cutting wheeling supporting frame(403)Side, the cutting wheel shaft(409)It is rotatably installed in Cut wheeling supporting frame(403)In the circular hole of lower end;The cutting wheel(406)It is fixedly mounted on cutting wheel shaft(409)Above, One belt pulley(407)It is fixedly mounted on cutting wheel shaft(409)Above, the third stepper motor(405)It is horizontal positioned, Side is fixedly mounted on third stepper motor fixed seat(404)In, motor shaft and another belt pulley(407)It is fixedly connected, The belt(408)Mounted on two belt pulleys(407)Above;The cutting wheel(406)Positioned at cutter device mounting groove (108)In;
The optical axis conveying device(5)Including optical axis transmission wheel(501), three the 4th stepper motors(505), three delivery wheels (508), three feeding axles(509), in optical axis transmission wheel(501)Center is equipped with circular hole(504), in optical axis transmission wheel (501)Both sides are respectively provided with a gear wheel(503), in gear wheel(503)It is equipped with circular guideway(502), the circle leads Rail(502)It is slidably mounted on optical axis conveying device installation groove(111)The inside, optical axis transmission wheel(501)With optical axis conveying device Fixed seat(110)With one heart;In optical axis transmission wheel(501)Side sets the groove there are three circumference array;It is respectively set on groove both sides There are one delivery wheel fixing brackets(507), in delivery wheel fixing bracket(507)Side is equipped with the 4th stepper motor fixed seat (506), the 4th stepper motor(505)Side is fixedly mounted on the 4th stepper motor fixed seat(506)On, motor shaft with Feeding axle(509)It is fixedly connected by shaft coupling;The feeding axle(509)It is rotatably installed in delivery wheel fixing bracket (507)On hole in, the delivery wheel(508)It is fixedly mounted on feeding axle(509)On;
The transfer(6)Including steering engine(601), Second wheel support base(602), the 5th stepper motor(603), the 5th Stepper motor fixed seat(604), Second wheel(605), Second wheel axis(606), the steering engine(601)It puts straight down It sets, bottom surface is fixedly mounted on transfer fixed seat(104)The inside, motor shaft and Second wheel support base(602)Above It is fixedly connected;The Second wheel axis(606)It is rotatably installed in Second wheel support base(602)Hole in, described second Wheel(605)It is fixedly mounted on Second wheel axis(606)Above, the 5th stepper motor fixed seat(604)Side is fixed Mounted on Second wheel support base(602)Side, the 5th stepper motor(603)Horizontal positioned, side is fixedly mounted on the 5th Stepper motor fixed seat(604)In the following, its motor shaft and Second wheel axis(606)It is fixedly connected by shaft coupling.
2. a kind of optical axis cutting robot walked according to claim 1, it is characterised in that:The delivery wheel (508)For elastic rubber wheel.
CN201611173308.1A 2016-12-18 2016-12-18 A kind of optical axis cutting robot walked CN106424925B (en)

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CN201611173308.1A CN106424925B (en) 2016-12-18 2016-12-18 A kind of optical axis cutting robot walked

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Application Number Priority Date Filing Date Title
CN201611173308.1A CN106424925B (en) 2016-12-18 2016-12-18 A kind of optical axis cutting robot walked

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CN106424925A CN106424925A (en) 2017-02-22
CN106424925B true CN106424925B (en) 2018-09-28

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JPS60135114A (en) * 1983-12-21 1985-07-18 Tsune Seiki Kk Automatic wire rod feeder for circular sawing machine
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