CN107160566A - Intelligent spider formula robot ambulation machining center - Google Patents

Intelligent spider formula robot ambulation machining center Download PDF

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Publication number
CN107160566A
CN107160566A CN201710495396.5A CN201710495396A CN107160566A CN 107160566 A CN107160566 A CN 107160566A CN 201710495396 A CN201710495396 A CN 201710495396A CN 107160566 A CN107160566 A CN 107160566A
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CN
China
Prior art keywords
rod
motion bar
spider
machining center
workbench
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
CN201710495396.5A
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Chinese (zh)
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CN107160566B (en
Inventor
李群生
李金生
陈贵明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tatsu Qin Intelligent Technology (shanghai) Ltd By Share Ltd
Original Assignee
Tatsu Qin Intelligent Technology (shanghai) Ltd By Share Ltd
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.)
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Priority to CN201710495396.5A priority Critical patent/CN107160566B/en
Publication of CN107160566A publication Critical patent/CN107160566A/en
Application granted granted Critical
Publication of CN107160566B publication Critical patent/CN107160566B/en
Expired - Fee Related legal-status Critical Current
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B28WORKING CEMENT, CLAY, OR STONE
    • B28DWORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/003Multipurpose machines; Equipment therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B28WORKING CEMENT, CLAY, OR STONE
    • B28DWORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00Accessories specially adapted for use with machines or devices of the preceding groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B28WORKING CEMENT, CLAY, OR STONE
    • B28DWORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00Accessories specially adapted for use with machines or devices of the preceding groups
    • B28D7/005Devices for the automatic drive or the program control of the machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B28WORKING CEMENT, CLAY, OR STONE
    • B28DWORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00Accessories specially adapted for use with machines or devices of the preceding groups
    • B28D7/04Accessories specially adapted for use with machines or devices of the preceding groups for supporting or holding work or conveying or discharging work
    • B28D7/046Accessories specially adapted for use with machines or devices of the preceding groups for supporting or holding work or conveying or discharging work the supporting or holding device being of the vacuum type

Abstract

The present invention discloses intelligent spider formula robot ambulation machining center, include for stone material to be processed workbench placed thereon, it is provided with the workbench for treating the fixing device that processing stone material is fixed, also include the spider-type robot that all directions on above-mentioned table surface are arbitrarily creeped, the spider-type robot, which includes, treats organisation of working that processing stone material is processed and the walking mechanism for promoting the organisation of working movement processing, and the organisation of working is fixed in the walking mechanism.Compared with prior art, intelligent spider formula robot ambulation machining center of the present invention, it can improve operating efficiency, required time when shortening processing, reduce the working strength of operating personnel, reduce cost.

Description

Intelligent spider formula robot ambulation machining center
Technical field
The present invention relates to stone processing technical field, and in particular to be intelligent spider formula robot ambulation machining center.
Background technology
The existing CNC numerical control machining centers for processing of stone, generally comprise organic frame, workbench and crossbeam, pass through Crossbeam and the movement of the graver being installed on crossbeam and water knife, realize the processing to the axle of stone material three.That is, X-axis, Y-axis, Z axis side To processing.However, these traditional CNC numerical control machining centers all have a general character, it is required for realizing processing, institute by crossbeam With floor space and space-consuming all than larger.In order to X-axis, Y-axis, Z-direction movement and processing, so driving member ratio It is more, power consumption is also compared during work.During work, each axle movement is there is also certain limitation, and movement is slower during processing, causes work Make efficiency low.
In consideration of it, inventor furthers investigate to above mentioned problem, there is this case generation then.
The content of the invention
It is an object of the invention to provide intelligent spider formula robot ambulation machining center, it can improve operating efficiency, Required time when shortening processing, reduces the working strength of operating personnel, reduces cost.
To achieve these goals, the present invention is adopted the following technical scheme that:
Intelligent spider formula robot ambulation machining center, includes for stone material to be processed workbench placed thereon, institute State and be provided with workbench for treating the fixing device that processing stone material is fixed, also included on above-mentioned table surface The spider-type robot that all directions are arbitrarily creeped, the spider-type robot, which includes, treats the processing that processing stone material is processed Mechanism and the walking mechanism for promoting the organisation of working movement processing, the organisation of working are fixed on the walking mechanism On.
It is preferred that, the organisation of working, which includes, is sequentially connected the housing that surrounds by four side plates and for automatic tool changer Vertically it is equiped with line slideway, the line slideway and is provided with along above and below line slideway on main shaft, the case inside wall The installing plate of slip, the main shaft is vertically arranged on the installing plate, and towards stone material to be processed;Is provided with institute's housing Feed screw nut is installed with one motor, the installing plate, the feed screw nut is ordinatedly equiped with for driving institute The screw mandrel that installing plate is slided in the line slideway is stated, the output shaft of first motor is through shaft coupling and the screw mandrel One end is fixedly connected.
It is preferred that, the line slideway is two, and interval is installed on the madial wall of the housing side by side;Each line slideway On coordinate sliding block is installed, the sliding block is fixed on the installing plate.
It is preferred that, the walking mechanism includes the two row's support feets walked for drive shell, two row's support feets difference It is correspondingly arranged on the opposite sides plate of housing, often arranges support feet and be made up of some movable supporters being arranged side by side that are spaced, institute State to correspond on the position for corresponding to each movable supporter on housing and be equiped with what is swung laterally for driving movable supporter Second motor, second motor is both secured on the lateral wall of the housing into vertically arranged;Above-mentioned activity Support feet includes head rod, the second connecting rod and the 3rd connecting rod, and head rod accumbency is in the second connecting rod Top, the second connecting rod and the 3rd connecting rod are vertically obliquely installed, and the 3rd connecting rod is in the lower section of the second connecting rod, institute The first end for stating head rod is fixed on the output shaft of the second motor, the second end of head rod and described second The upper end of connecting rod is flexibly connected, and the lower end of second connecting rod is flexibly connected with the upper end of the 3rd connecting rod, described The sucker for being easy to walking is provided with the lower end of 3rd connecting rod;It is provided with the head rod and drives the 3rd connecting rod Lift puts the lift of action and puts drive device above and below lower end;Control sucker is installed in the housing and inhales the vacuum extractor put.
It is preferred that, the vacuum extractor includes the first cylinder for supplying or being vented to the sucker, described the One cylinder is connected with sucker ventilation.
It is preferred that, drive device is put in the lift includes the 3rd motor, movable rod and swing rod, and the swing rod has perpendicular Portion and above the vertical part and the transverse part vertical with vertical part, the output shaft of the 3rd motor connects with the lower end of above-mentioned vertical part Connect, above-mentioned movable rod includes three motion bars, respectively the first motion bar, the second motion bar and the 3rd motion bar;It is described The first end of first motion bar and the free end of above-mentioned transverse part are movably hinged, and first motion bar is vertically arranged, and the described 3rd Motion bar is vertically obliquely installed, and second motion bar is located at below the first motion bar, and the 3rd motion bar is located at described the Below two motion bars, the second end of first motion bar and the first end of second motion bar are movably hinged, and described second Second end of motion bar and the first end of the 3rd motion bar are movably hinged, and the second end of the 3rd motion bar is flexibly connected In in the 3rd connecting rod;Be movably connected in the middle part of second motion bar the second end of second connecting rod with it is described At the first end of 3rd connecting rod.
It is preferred that, the fixing device includes the second cylinder and briquetting, and second cylinder is vertically arranged at the work Make on platform, the piston rod of second cylinder is stretched out away from the table surface, and the piston rod of second cylinder is equiped with Briquetting for compressing stone material to be processed.
It is preferred that, the fixing device is two, and is located along the same line.
It is preferred that, the tool magazine for spider-type robot described above tool changing, the cutter are equiped with the workbench Warehouse compartment is in the table surface edge;The tool magazine is divided into two rows, and tool magazine described in two rows is located at the work respectively On the table top of platform on one group of relative side.
Using above-mentioned technical proposal, the present invention has following beneficial effect:
The intelligent spider formula robot ambulation machining center of the present invention, operationally, work is placed on by stone material to be processed On platform table top, and it is clamped and is fixed by fixing device;Then, spider-type robot can creep on workbench, And treat processing stone material and be processed.During processing, spider-type robot can carry out 360 degree on the table automatically Turn to, without artificial operation, the working strength of employee can be reduced, operating efficiency can also be improved.Spider-type robot can be with Creep steering, it is quicker, convenient to turn to, can realize that three axles are moved simultaneously, so required working space is smaller, to be added The positioning of work stone material more facilitates.Save man-hour, improved processing efficiency, and then reduce processing cost.Not only overcome existing CNC numbers Control stone machining equipment by is set up in housiung separator and coordinate other travel mechanisms, only can the axle of monoplane one or two move The limitation and space hold of positioning.It can also enough avoiding drop CNC numerical control stone process equipments transmission component excessive, cause Electric energy loss;So more saving, environmental protection.
Therefore, intelligent spider formula robot ambulation machining center of the invention, it can improve operating efficiency, shorten processing When the time required to, reduce operating personnel working strength, reduce cost.
Brief description of the drawings
For ease of explanation, the present invention is described in detail by following specific implementations and accompanying drawing.
Fig. 1 is the structural representation for not placing spider-type robot of the invention.
Fig. 2 is the structural representation of the organisation of working of spider-type robot in the present invention.
Fig. 3 be Fig. 2 in along A-A directions cutting structural representation.
Fig. 4 be Fig. 2 in along B-B directions cutting structural representation.
Fig. 5 is the main structure diagram of the spider-type robot of the present invention.
In figure:
1- workbench;2- fixing devices;
The cylinders of 21- second;22- briquettings;
3- tool magazines;7- stone materials to be processed;
41- housings;42- main shafts;
43- line slideways;44- installing plates;
The motors of 45- first;46- feed screw nut;
47- screw mandrels;48- main shaft mounting seats;
49- sliding blocks;
The motors of 51- second;The motors of 52- the 3rd;
53- head rods;The connecting rods of 54- second;
The connecting rods of 55- the 3rd;56- suckers;
The motion bars of 61- first;The motion bars of 62- second;
The motion bars of 63- the 3rd.
Embodiment
In order to which technical scheme is explained further, the present invention is explained in detail below by specific embodiment State.
As Figure 1-5, intelligent spider formula robot ambulation machining center of the invention, includes and is put for stone material to be processed It is provided with workbench 1 placed on it, the workbench 1 for treating the fixing device 2 that processing stone material 7 is fixed, institute Fixing device 2 is stated on the middle part of the table top of workbench 1, also includes all directions on above-mentioned table surface and arbitrarily climbs Dynamic spider-type robot, the spider-type robot, which includes, treats organisation of working that processing stone material is processed and for promoting Make the walking mechanism of the organisation of working movement processing, the organisation of working is fixed in the walking mechanism.
More specifically, intelligent spider formula robot ambulation machining center of the invention also includes a control system, passes through The control system is realized to spider-type robot job control.The control system can use PLC control system or controller.
In the present invention, it is preferred that the fixing device 2 includes the second cylinder 21 and briquetting 22, second cylinder 21 It is vertically arranged on the workbench 1, the piston rod of second cylinder 21 stretches out away from the table top of workbench 1, described the The piston rod of two cylinders 21 is equiped with the briquetting 22 for compressing stone material 7 to be processed., can be by here according to needs of production Briquetting 22 is designed to arbitrary shape, is fixed by single briquetting 22, reduces the space-consuming of stone material fixed part, keeps away as far as possible Exempt from the movement of spider-type robot crawling to interfere.Specifically, the fixing device 2 in the present invention uses automatic clamping device, Stretched out or bounced back with the piston rod of cylinder and realize the lifting of briquetting 22, and then to being positioned over stone to be processed on the table top of workbench 1 Material unclamps or clamped.
In the present invention, it is preferred that the fixing device 2 is two, and is located along the same line.Specifically:According to reality Processing need, two briquettings 22 are in being oppositely arranged or mutually away from setting, or towards consistent setting.So can be to convenient to annular Stone material or slabstone are gripped.
In the present invention, it is preferred that the tool magazine for spider-type robot described above tool changing is equiped with the workbench 1 3, the tool magazine 3 is located at the mesa edge of workbench 1;3 points of the tool magazine is two rows, 3 points of tool magazine described in two rows Wei Yu not be on the table top of the workbench 1 on one group of relative side.In this way, can avoid climbing spider-type robot as far as possible Row movement is interfered.According to actual processing needs, tool magazine 3 can be set on each side on the table top of the workbench 1.More Specifically, tool magazine includes connecting plate and is arranged side by side in multiple knife rests being caught in for cutter on connecting plate.
In the present invention, it is preferred that the organisation of working, which includes, to be sequentially connected the housing 41 surrounded by four side plates and used In being vertically equiped with line slideway 43, the line slideway 43 on the main shaft 42 of automatic tool changer, the madial wall of housing 41 The installing plate 44 slided up and down along line slideway is installed, the main shaft 42 is vertically arranged on the installing plate 44, and direction Stone material 7 to be processed;It is provided with institute's housing 41 on first motor 45, the installing plate 44 and is installed with feed screw nut 46, the feed screw nut 46 is ordinatedly equiped with the screw mandrel for driving the installing plate 44 to be slided in the line slideway 43 47, the output shaft of first motor 45 is fixedly connected through shaft coupling with the one end of the screw mandrel 47.Here, main shaft 42 It is that installing plate 44 is arranged on by the main shaft mounting seat 48 for installing main shaft 42.
In the present invention, it is preferred that the line slideway 43 is two, and the madial wall of the housing 41 is installed at interval side by side On;Coordinate on each line slideway 43 and sliding block 49 is installed, the sliding block 49 is fixed on the installing plate 44.In order to realize peace Plate 44 is filled in sliding process, slip is more steady, and line slideway 43 is designed as into two.Explanation is needed exist for, is used Two line slideways 43 are a kind of preferred mode, can set many with line slideway 43 according to needs of production.For example, Three, four, five etc..
In the present invention, it is preferred that the walking mechanism includes the two row's support feets walked for drive shell 41, two rows Support feet is correspondingly arranged on the opposite sides plate of housing 41 respectively, is often arranged support feet and is spaced the activity branch being arranged side by side by some Spike is constituted, and corresponding on the position of each movable supporter to correspond to be equiped with the housing 41 is used to drive movable supporting Second motor 51 of pin horizontal swing, second motor 51 is both secured to the housing 41 into vertically arranged Lateral wall on.
In the present invention, above-mentioned movable supporter includes head rod 53, the second connecting rod 54 and the 3rd connecting rod 55, The accumbency of head rod 53 is in the top of the second connecting rod 54, and the second connecting rod 54 and the 3rd connecting rod 55 vertical tilt set Put, and the 3rd connecting rod 55 is in the lower section of the second connecting rod 54, the first end of the head rod 53 is fixed on the second drive On the output shaft of dynamic motor 51, the second end of head rod 53 and the upper end of second connecting rod 54 are hinged, and described second The lower end of connecting rod 54 and the upper end of the 3rd connecting rod 55 are hinged, and are provided with and are easy on the lower end of the 3rd connecting rod 55 The sucker 56 of walking;Lift above and below the lower end for driving the 3rd connecting rod 55 is installed on the head rod 53 puts the lift of action and put Drive device;Control sucker is installed in the housing and inhales the vacuum extractor (not provided in figure) put.So can be to sucker 56 air inlet or pumping, by the change of gas pressure in sucker 56 and the deck contact part of workbench 1, is realized in workbench 1 Absorption and removal on table top.
In the present invention, it is preferred that the vacuum extractor include for the sucker 56 is supplied or is vented first Cylinder (is not provided) in figure, and first cylinder is connected with the sucker 56 ventilation.
In the present invention, it is preferred that drive device is put in the lift includes the 3rd motor 52, movable rod and swing rod (figure In do not provide), the swing rod has vertical part and above the vertical part and the transverse part vertical with vertical part, the 3rd motor 52 Output shaft be connected with the lower end of above-mentioned vertical part, above-mentioned movable rod includes three motion bars, respectively the first motion bar 61, Second motion bar 62 and the 3rd motion bar 63;The first end of first motion bar 61 and the free end moveable hinge of above-mentioned transverse part Connect, first motion bar 61 is vertically arranged, the 3rd motion bar 63 is vertically obliquely installed, second motion bar 62 is located at Below first motion bar, the 3rd motion bar 63 is located at the lower section of the second motion bar 62, and the of first motion bar 61 Two ends and the first end of second motion bar 62 are hinged, the second end of second motion bar 62 and the 3rd motion bar 63 First end be hinged, the second end of the 3rd motion bar 63 is movably connected in the 3rd connecting rod 55.Wherein, the 3rd live Second end of lever 63 is articulated with below the middle part of the 3rd connecting rod 55 or middle part on the part of sucker 56;Second motion bar 62 are movably hinged the hinged place being hinged in the upper end of the lower end of second connecting rod 54 and the 3rd connecting rod 55, and this is hinged Place is just by the middle part of the second motion bar 62, so that the second motion bar 62 can be put around the middle part of the second motion bar 62 It is dynamic.I.e., it is possible to realize that the 3rd connecting rod 55 is acted around the first end foot-up of the 3rd connecting rod 55.
In above-mentioned, the first motor 45, the second motor 51 and the 3rd motor 52 using stepper motor or Servomotor;Swing rod similarly equivalence replacement for rotating disk and around center of turntable and can be vertically installed in the rotating disk body of rod.
In the present invention, the movable supporter that movable supporter is at least on 4, the same side wall of housing 41 is 2.
As one kind of the invention preferably, the movable supporter can be 6,8 or 12.Here movable supporter Number can need to set according to actual production.
Using above-mentioned technical proposal, intelligent spider formula robot ambulation machining center of the invention, it can improve work Efficiency, required time when shortening processing, reduces the working strength of operating personnel, reduces cost.
The intelligent spider formula robot ambulation machining center of the present invention is by many activity branch in spider-type robot Spike cooperates cooperation and realizes walking.In the process of walking, each movable supporter is how to realize horizontal hunting and edge Vertical direction lift leg, it is described here by taking a movable supporter course of work as an example:
Sucker 56 on original state, movable supporter is adsorbed on the table top of workbench 1.During work, by control system control Make the second cylinder 21 to ventilate to sucker 56 so that air pressure changes in sucker 56, and then sucker 56 departs from the suction with the table top of workbench 1 It is attached;And then, control system controls the 3rd motor 52 to be turned an angle with driven fork from initial position, as swing rod turns Dynamic to drive movable rod to pull the 3rd connecting rod 55 to be rotated around the first end of the 3rd connecting rod 55, swing rod pulls movable rod connection It is dynamic, realize lift leg action.After leg action to be lifted is completed, control system controls the 3rd motor 52 to be stopped.Now, control System processed controls the second motor 51 to drive the first hinge bar to swing one from first end of the initial position around the first hinge bar Determine to be stopped after angle.Control system controls the 3rd motor 52 to be turned back to initial position with driven fork, as swing rod turns Dynamic to drive movable rod to pull the 3rd connecting rod 55 to be rotated around the first end of the 3rd connecting rod 55, swing rod pulls movable rod connection Dynamic, leg action is put in realization.After leg action to be put is completed, control system controls the 3rd motor 52 to be stopped, and controls System controls the second cylinder 21 to be vented sucker 56 so that air pressure changes in sucker 56, and then the absorption of sucker 56 and workbench 1 On face.Now, the second motor 51 drives the first hinge bar around the first end of the first hinge bar again for control system control Swing to and be stopped after initial position.It is achieved in that the first end of the first hinge bar of a support feet with respect to workbench 1 The change of position.That is, translation of the first end of the first hinge bar with respect to the position of workbench 1.
Each movable supporter cooperates cooperation and realizes promotion spider-type robot housing 41 in the plane of workbench 1 The change of position.Wherein, when not homonymy on the housing 41 of spider-type robot, while the movable supporter of foot-up is simultaneously opposite Rotary oscillation is acted, and is put pin, fixed and realize the rectilinear creeping of spider-type robot.When not homonymy on housing 41, while foot-up Movable supporter rotating Vortex wobbling action, realize spider-type robot turn to.More specifically, in order to more clearly describe spider Zhu Shi robots are how to creep and turn to.Here by when not homonymy movable supporter on the housing 41 of spider-type robot, point For Part I and Part II, control system control Part I movable supporter first departs from the absorption with workbench, Control the foot-up action, and opposite direction rotating wobbling action simultaneously simultaneously of Part I movable supporter.Now, the activity of Part II Support feet absorption workbench is motionless.Control system controls Part I movable supporter foot-up, swings, puts pin, control system control When Part I movable supporter processed is adsorbed in workbench again, while control the movable supporter of Part II to start working, The movable supporter of Part II repeats the work of Part I movable supporter.(Part I movable supporter and second here Piecemeal activity support feet swaying direction is consistent.) change of the spider-type machine with respect to operating position is realized, by controlling system System is switched fast control Part I movable supporter and the work of Part II movable supporter, realizes spider-type robot straight line Creep.
Similarly, control system control Part I movable supporter departs from the absorption with workbench first, in control first The foot-up action, and rotating Vortex wobbling action simultaneously of piecemeal activity support feet, now, the movable supporter absorption of Part II Workbench is motionless.Control system controls Part I movable supporter foot-up, swings, puts pin, control system control Part I When movable supporter is adsorbed in workbench again, while control the movable supporter of Part II to start working, Part II Movable supporter repeats the work of Part I movable supporter.(Part I movable supporter is propped up with Part II activity here Spike swaying direction is consistent.) change of the spider-type machine with respect to operating position is realized, it is switched fast by control system Part I movable supporter and the work of Part II movable supporter are controlled, realizes that spider-type robot is turned to.
When spider-type robot creeps to position to be processed, the organisation of working of spider-type robot is started working, tool Body, control system controls the first motor 45 to work and then drives installing plate 44 along the sliding of line slideway 43 as treating At the position to be processed of processing stone material, change of the main shaft 42 with respect to position height to be processed on stone material is realized.And then, control system System control main shaft 42 works or the motor 45 of main shaft 42 and first works simultaneously, realizes that main shaft 42 treats adding for Working position Work.
Equally, when needing tool changing or cutter puts back to tool magazine 3, when spider-type robot creeps the tool magazine onto platform At 3, control system controls the first motor 45 to work and then drive installing plate 44 along the sliding of line slideway 43 as knife Deposit at the relative position of cutter position in tool storehouse 3.The walking of control system control spider-type robot, that is, control the row of spider-type robot Mechanism work is walked, and then cutter can be directly caught in the corresponding knife rest of tool magazine 3.Inverse process, then be spider-type robot Knife is taken out of tool magazine 3.
The present invention utilizes senior anti-raw technology, and spider walking principle is applied into Machining Center for stone material, biography is breached Cross beam type of uniting is driven.Pneumatic suction cup 56 on each movable supporter of walking mechanism, it is adsorbable in fixed on workbench 1 or Pneumatic suction cup 56 departs from after being vented to be adsorbed on workbench 1, ensure that in spider-type robot ambulation or processing there is enough The free degree, whole head can be freely to twist in tri- dimensions of X, Y, Z.And automatic traveling mechanism space-consuming is minimum, also puts The larger space that the roller movement of traditional walking robot takes is taken off.
The present invention can return various cutter on the cutter being arranged in parallel in the plane of work platform for placing 1 using fixed tools storehouse 3 In storehouse 3.When needing a certain cutter to carry out machining, spider-type robot climbs to the corresponding position of tool magazine 3, by cutter Automatically exchanged to from tool magazine on main shaft 42.Cutting or drilling finish rear again by used cutter automatically spider-type robot Tool magazine is put back on main shaft 42.It is suffered during tool changing that this tool changing mode can avoid main shaft 42 from coordinating turret-style tool changing mechanism to carry out Limitation, also advantageously improves tool changing efficiency, saves the time.Simultaneously, it is possible to reduce hand labor intensity, it is to avoid substitution work knife process Present in potential safety hazard.Further, since there is the tool magazine of independent storing cutter, be conducive to placing all kinds of cutters, it is to avoid different Cutter, which influences each other, to be caused to take knife difficult.
The intelligent spider formula robot ambulation machining center of the present invention, changes tradition CNC numerical control stones process equipment in fact Existing three axles movement, processing, using cruciform bracing move mode, are automatically walked, tool changing and processing using spider-type robot.Should Intelligent spider formula robot ambulation machining center, can greatly shorten man-hour, reduce the working strength of operating personnel;Spider-type machine Device people quickly can move and fix, and improve operating efficiency, reduce cost.The spider-type robot can creep to work automatically At tool magazine on platform, and knife, tool changing are taken automatically, carry out tool changing without artificial, substantially increase processing efficiency, reduce workman tired Labor and tool changing operation error cause business economic to be lost.
The intelligent spider formula robot ambulation machining center of the present invention, with strong applicability, working stability, the spy of efficiency high Point, realizes that multifunctional all is processed, and greatly shortens man-hour, reduces the working strength of operating personnel, multifunctional all, reduction Cost, improves mechanical convenience.
Above-described embodiment and schema and non-limiting product form of the invention and style, any art it is common Appropriate change or modification that technical staff is done to it, all should be regarded as not departing from the patent category of the present invention.

Claims (9)

1. intelligent spider formula robot ambulation machining center, includes for stone material to be processed workbench placed thereon, it is special Levy and be:It is provided with for treating the fixing device that processing stone material is fixed, also includes in above-mentioned work on the workbench Make the spider-type robot that all directions on platform table top are arbitrarily creeped, the spider-type robot, which includes, treats processing stone material progress The organisation of working of processing and the walking mechanism for promoting the organisation of working movement processing, the organisation of working is fixed on described In walking mechanism.
2. intelligent spider formula robot ambulation machining center according to claim 1, it is characterised in that:The organisation of working Include and be sequentially connected by four side plates on the housing that surrounds and the main shaft for automatic tool changer, the case inside wall vertically It is equiped with line slideway, the line slideway and the installing plate slided up and down along line slideway is installed, the main shaft is pacified vertically Loaded on the installing plate, and towards stone material to be processed;It is provided with institute's housing on the first motor, the installing plate fixed Feed screw nut is installed, the feed screw nut is ordinatedly equiped with what is slided for driving the installing plate in the line slideway Screw mandrel, the output shaft of first motor is fixedly connected through shaft coupling with the one end of the screw mandrel.
3. intelligent spider formula robot ambulation machining center according to claim 2, it is characterised in that:The line slideway For two, and interval is installed on the madial wall of the housing side by side;Coordinate on each line slideway and sliding block, the sliding block are installed It is fixed on the installing plate.
4. intelligent spider formula robot ambulation machining center according to claim 2, it is characterised in that:The walking mechanism Include the two row's support feets walked for drive shell, two row's support feets are correspondingly arranged at the opposite sides plate of housing respectively On, often arrange support feet and be made up of some movable supporters being arranged side by side that are spaced, each movable supporter is corresponded on the housing Position on correspond be equiped with for drive movable supporter swing laterally the second motor, it is described second driving electricity Machine is both secured on the lateral wall of the housing into vertically arranged;Above-mentioned movable supporter includes head rod, second Connecting rod and the 3rd connecting rod, head rod accumbency are in the top of the second connecting rod, the second connecting rod and the 3rd connecting rod Vertically it is obliquely installed, and the 3rd connecting rod is in the lower section of the second connecting rod, the first end of the head rod is fixed on On the output shaft of second motor, the second end of head rod is flexibly connected with the upper end of second connecting rod, described The lower end of second connecting rod is flexibly connected with the upper end of the 3rd connecting rod, is provided with just on the lower end of the 3rd connecting rod In the sucker of walking;Lift above and below the lower end for driving the 3rd connecting rod is installed on the head rod puts the lift of action and put driving Device;Control sucker is installed in the housing and inhales the vacuum extractor put.
5. intelligent spider formula robot ambulation machining center according to claim 4, it is characterised in that:The vacuum means The first cylinder included for supplying or being vented to the sucker is put, first cylinder is connected with sucker ventilation.
6. intelligent spider formula robot ambulation machining center according to claim 5, it is characterised in that:Driving is put in the lift Device includes the 3rd motor, movable rod and swing rod, and the swing rod has vertical part and hung down above vertical part and with vertical part Straight transverse part, the output shaft of the 3rd motor is connected with the lower end of above-mentioned vertical part, and above-mentioned movable rod includes three Motion bar, respectively the first motion bar, the second motion bar and the 3rd motion bar;The first end of first motion bar and above-mentioned horizontal stroke The free end in portion is movably hinged, and first motion bar is vertically arranged, and the 3rd motion bar is vertically obliquely installed, and described second Motion bar is located at below the first motion bar, and the 3rd motion bar is located at below second motion bar, first motion bar The second end and the first end of second motion bar be movably hinged, the second end of second motion bar with the described 3rd activity The first end of bar is movably hinged, and the second end of the 3rd motion bar is movably connected in the 3rd connecting rod;Described second At the first end that the second end of second connecting rod and the 3rd connecting rod are movably connected in the middle part of motion bar.
7. the intelligent spider formula robot ambulation machining center according to claim any one of 1-6, it is characterised in that:It is described Fixing device includes the second cylinder and briquetting, and second cylinder is vertically arranged on the workbench, second cylinder Piston rod stretched out away from the table surface, the piston rod of second cylinder is equiped with for compressing stone material to be processed Briquetting.
8. the intelligent spider formula robot ambulation machining center according to claim any one of 1-6, it is characterised in that:It is described Fixing device is two, and is located along the same line.
9. intelligent spider formula robot ambulation machining center according to claim 1, it is characterised in that:On the workbench The tool magazine for spider-type robot described above tool changing is equiped with, the tool magazine is located at the table surface edge; The tool magazine is divided into two rows, and tool magazine described in two rows is respectively on one group of relative side on the table top of the workbench.
CN201710495396.5A 2017-06-26 2017-06-26 Intelligent spider formula robot ambulation machining center Expired - Fee Related CN107160566B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102198699A (en) * 2011-05-10 2011-09-28 山东大学 Method for processing square hole of stone tabletop board by using chain saw
CN106171158A (en) * 2016-07-12 2016-12-07 张学衡 A kind of agricultural field robot for punching
CN106493865A (en) * 2016-11-10 2017-03-15 安曼博珠宝控股有限公司 A kind of intelligent jewelry cuts topping machanism
CN106607998A (en) * 2017-01-18 2017-05-03 天津市山友玉石纽扣有限公司 Strip-shaped jade rounding device
JP2017087387A (en) * 2015-11-16 2017-05-25 株式会社タカトリ Wire saw device
CN207290543U (en) * 2017-06-26 2018-05-01 达秦智能科技(上海)股份有限公司 Intelligent spider formula robot ambulation machining center

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102198699A (en) * 2011-05-10 2011-09-28 山东大学 Method for processing square hole of stone tabletop board by using chain saw
JP2017087387A (en) * 2015-11-16 2017-05-25 株式会社タカトリ Wire saw device
CN106171158A (en) * 2016-07-12 2016-12-07 张学衡 A kind of agricultural field robot for punching
CN106493865A (en) * 2016-11-10 2017-03-15 安曼博珠宝控股有限公司 A kind of intelligent jewelry cuts topping machanism
CN106607998A (en) * 2017-01-18 2017-05-03 天津市山友玉石纽扣有限公司 Strip-shaped jade rounding device
CN207290543U (en) * 2017-06-26 2018-05-01 达秦智能科技(上海)股份有限公司 Intelligent spider formula robot ambulation machining center

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