CN107160566B - Intelligent spider formula robot ambulation machining center - Google Patents
Intelligent spider formula robot ambulation machining center Download PDFInfo
- Publication number
- CN107160566B CN107160566B CN201710495396.5A CN201710495396A CN107160566B CN 107160566 B CN107160566 B CN 107160566B CN 201710495396 A CN201710495396 A CN 201710495396A CN 107160566 B CN107160566 B CN 107160566B
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- China
- Prior art keywords
- connecting rod
- motion bar
- spider
- machining center
- rod
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/003—Multipurpose machines; Equipment therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/005—Devices for the automatic drive or the program control of the machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/04—Accessories specially adapted for use with machines or devices of the preceding groups for supporting or holding work or conveying or discharging work
- B28D7/046—Accessories 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, it include the workbench placed thereon for stone material to be processed, the fixation device being fixed for treating processing stone material is provided on the workbench, it further include having the spider-type robot that all directions are arbitrarily creeped on above-mentioned table surface, the spider-type robot includes to treat the organisation of working that processing stone material is processed and the walking mechanism for promoting the mobile processing of the organisation of working, 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 can be improved working efficiency, and required time when shortening processing reduces the working strength of operator, reduces cost.
Description
Technical field
The present invention relates to stone processing technical fields, and in particular to be intelligent spider formula robot ambulation machining center.
Background technique
The existing CNC numerical control machining center for processing of stone, generally comprises organic frame, workbench and crossbeam, passes through
Crossbeam and the graver being installed on crossbeam and water knife are mobile, realize the processing to three axis of stone material.That is, X-axis, Y-axis, Z axis side
To processing.However, these tradition CNC numerical control machining centers all have a general character, require to realize processing, institute by crossbeam
It is all bigger with occupied area and occupied space.In order to X-axis, Y-axis, Z-direction is mobile and processes, so driving member ratio
More, when work, also compares energy consumption.When work, each axis is mobile there is also certain limitation, and movement is slower when processing, causes work
Make low efficiency.
In consideration of it, inventor furthers investigate the above problem, there is this case generation then.
Summary of the invention
The purpose of the present invention is to provide intelligent spider formula robot ambulation machining centers, can be improved working efficiency,
Required time when shortening processing, reduces the working strength of operator, reduces cost.
To achieve the goals above, the present invention adopts the following technical scheme:
Intelligent spider formula robot ambulation machining center includes the workbench placed thereon for stone material to be processed, institute
The fixation device for being provided on workbench and being fixed for treating processing stone material is stated, further includes having on above-mentioned table surface
The spider-type robot that all directions are arbitrarily creeped, the spider-type robot include the processing treating processing stone material and being processed
Mechanism and the walking mechanism processed for promoting the organisation of working to move, the organisation of working are fixed on the walking mechanism
On.
Preferably, the organisation of working includes by four side plates to be sequentially connected the shell surrounded and for automatic tool changer
Main shaft is vertically installed with linear guide on the case inside wall, is equipped with above and below linear guide in the linear guide
The mounting plate of sliding, the main shaft are vertically arranged on the mounting plate, and towards stone material to be processed；Is equipped on institute's shell
One driving motor is fixedly installed with feed screw nut on the mounting plate, and the feed screw nut is ordinatedly installed with for driving
The screw rod that mounting plate is slided in the linear guide is stated, the output shaft of first driving motor is through shaft coupling and the screw rod
One end is fixedly connected.
Preferably, the linear guide is two, and interval is installed on the inner sidewall of the shell side by side；Each linear guide
On be fitted with sliding block, the sliding block is fixed on the mounting plate.
Preferably, the walking mechanism includes two rows of support legs for drive shell walking, two rows of support leg difference
It is correspondingly arranged on the opposite sides plate of shell, every row's support leg is made of several intervals movable supporter arranged side by side, institute
It states and is installed with corresponding to one-to-one correspondence on the position of each movable supporter for driving movable supporter to swing laterally on shell
Second driving motor, second driving motor are both secured on the lateral wall of the shell at vertically arranged；Above-mentioned activity
Support leg includes first connecting rod, the second connecting rod and third connecting rod, and first connecting rod accumbency is in the second connecting rod
Top, the second connecting rod and third connecting rod are vertically obliquely installed, and third connecting rod is in the lower section of the second connecting rod, institute
The first end for stating first connecting rod is fixed on the output shaft of the second driving motor, the second end of first connecting 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 third connecting rod, described
The sucker convenient for walking is provided on the lower end of third connecting rod；It is equipped on the first connecting rod and drives third connecting rod
Driving device is put in the lower end lift that movement is put in lift up and down；Control sucker is installed in the shell and inhales the vacuum evacuation device put.
Preferably, the vacuum evacuation device includes the first cylinder for supplying or being vented to the sucker, and described the
One cylinder and sucker ventilation connect.
Preferably, it includes third driving motor, movable rod and swing rod that driving device is put in the lift, and the swing rod has perpendicular
Portion and above vertical part and the transverse part vertical with vertical part, the output shaft of the third driving motor and the lower end of above-mentioned vertical part connect
It connects, above-mentioned movable rod includes three motion bars, respectively the first motion bar, the second motion bar and third motion bar；It is described
The free end of the first end of first motion bar and above-mentioned transverse part is movably hinged, and first motion bar is vertically arranged, the third
Motion bar is vertically obliquely installed, and second motion bar is located at below the first motion bar, and the third motion bar is located at described the
Below two motion bars, the first end of the second end of first motion bar and second motion bar is movably hinged, and described second
The second end of motion bar and the first end of the third motion bar are movably hinged, and the second end of the third motion bar is flexibly connected
In in the third connecting rod；Be movably connected in the middle part of second motion bar second end of second connecting rod with it is described
At the first end of third connecting rod.
Preferably, the fixed 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 installed with
For compressing the briquetting of stone material to be processed.
Preferably, the fixed device is two, and is located along the same line.
Preferably, the tool magazine for spider-type robot described above tool changing, the cutter are installed on the workbench
Warehouse compartment is in the table surface edge；The tool magazine is divided into two rows, and two rows of tool magazines are located at the work
On the table top of platform on one group of relative side.
By adopting the above technical scheme, the present invention has following beneficial effect:
Stone material to be processed is placed on work at work by intelligent spider formula robot ambulation machining center of the invention
On platform table top, and it is clamped and is fixed by fixed device；Then, spider-type robot can creep on workbench,
And it treats processing stone material and is processed.During processing, spider-type robot can carry out 360 degree on the table automatically
It turns to, without human intervention, can reduce the working strength of employee, can also be improved working efficiency.Spider-type robot can be with
It creeps steering, it is quicker, convenient to turn to, and can be realized three axis and moves simultaneously, so required working space is smaller, to be added
The positioning of work stone material is more convenient.It has saved working hour, has improved processing efficiency, and then reduce processing cost.Not only overcome existing CNC number
Control stone machining equipment by is set up in housiung separator and cooperate other mobile mechanisms, only can one liang of monoplane axis moved
The limitation and space hold of positioning.It can also enough avoiding drop CNC numerical control stone process equipment transmission component excessive, cause
Electric energy loss；So more energy saving, environmental protection.
Therefore, intelligent spider formula robot ambulation machining center of the invention can be improved working efficiency, shorten processing
When the time required to, reduce the working strength of operator, reduce cost.
Detailed description of the invention
Detailed description will be given by the following detailed implementation and drawings by the present invention for ease of explanation,.
Fig. 1 is the structural schematic diagram for not placing spider-type robot of the invention.
Fig. 2 is the structural schematic diagram of the organisation of working of spider-type robot in the present invention.
Fig. 3 be Fig. 2 in along the direction A-A cutting structural schematic diagram.
Fig. 4 be Fig. 2 in along the direction B-B cutting structural schematic diagram.
Fig. 5 is the schematic view of the front view of spider-type robot of the invention.
In figure:
1- workbench；2- fixes device；
The second cylinder of 21-；22- briquetting；
3- tool magazine；7- stone material to be processed；
41- shell；42- main shaft；
43- linear guide；44- mounting plate；
The first driving motor of 45-；46- feed screw nut；
47- screw rod；48- main shaft mounting base；
49- sliding block；
The second driving motor of 51-；52- third driving motor；
53- first connecting rod；The second connecting rod of 54-；
55- third connecting rod；56- sucker；
The first motion bar of 61-；The second motion bar of 62-；
63- third motion bar.
Specific embodiment
In order to further explain the technical solution of the present invention, being explained in detail below by specific embodiment the present invention
It states.
As shown in Figs. 1-5, intelligent spider formula robot ambulation machining center of the invention includes to put for stone material to be processed
Workbench 1 placed on it is provided with the fixation device 2 being fixed for treating processing stone material 7, institute on the workbench 1
It states fixed device 2 to be located on the middle part of 1 table top of workbench, further includes thering are all directions on above-mentioned table surface arbitrarily to climb
Dynamic spider-type robot, the spider-type robot include to treat organisation of working that processing stone material is processed and for promoting
Make the walking mechanism of the mobile processing of the organisation of working, the organisation of working is fixed in the walking mechanism.
More specifically, intelligent spider formula robot ambulation machining center of the invention further includes having a control system, is passed 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 fixed device 2 includes the second cylinder 21 and briquetting 22, second cylinder 21
It being vertically arranged on the workbench 1, the piston rod of second cylinder 21 is stretched out away from 1 table top of workbench, and described the
The piston rod of two cylinders 21 is installed with the briquetting 22 for compressing stone material 7 to be processed.Here according to needs of production, can incite somebody to action
Briquetting 22 is designed to arbitrary shape, is fixed by single briquetting 22, reduces the occupied space of stone material fixed part, keeps away as far as possible
Exempt from the movement of spider-type robot crawling to interfere.Specifically, the fixation device 2 in the present invention uses automatic clamping device,
It is stretched out with the piston rod of cylinder or retraction realizes the lifting of briquetting 22, and then to being placed in stone to be processed on 1 table top of workbench
Material is unclamped or is clamped.
In the present invention, it is preferred that the fixed device 2 is two, and is located along the same line.It is specific: according to reality
Processing need, two briquettings 22 are in being oppositely arranged or be away from each other setting, or towards being unanimously arranged.It in this way can be to convenient to annular
Stone material or slabstone are gripped.
In the present invention, it is preferred that be installed with the tool magazine for spider-type robot described above tool changing on the workbench 1
3, the tool magazine 3 is located at 1 mesa edge of workbench；The tool magazine 3 is divided for two rows, and two rows of tool magazines 3 are divided
It 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 interferes.According to actual processing needs, tool magazine 3 is can be set in each Bian Shangjun 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 includes to be sequentially connected the shell 41 surrounded by four side plates and used
In being vertically installed with linear guide 43 on the main shaft 42 of automatic tool changer, 41 inner sidewall of shell, in the linear guide 43
The mounting plate 44 slided up and down along linear guide is installed, the main shaft 42 is vertically arranged on the mounting plate 44, and direction
Stone material 7 to be processed；First driving motor 45 is installed on institute's shell 41, is fixedly installed with feed screw nut on the mounting plate 44
46, the feed screw nut 46 is ordinatedly installed with the screw rod for driving the mounting plate 44 to slide in the linear guide 43
47, the output shaft of first driving motor 45 is fixedly connected through shaft coupling with the one end of the screw rod 47.Here, main shaft 42
It is that mounting plate 44 is mounted on by the main shaft mounting base 48 for installing main shaft 42.
In the present invention, it is preferred that the linear guide 43 is two, and the inner sidewall of the shell 41 is installed at interval side by side
On；Sliding block 49 is fitted in each linear guide 43, the sliding block 49 is fixed on the mounting plate 44.In order to realize peace
For loading board 44 in sliding process, sliding is more steady, and linear guide 43 is designed as two.What needs to be explained here is that using
Two linear guides 43 are a kind of preferred mode, be can be set mostly according to needs of production with linear guide 43.For example,
Three, four, five etc..
In the present invention, it is preferred that the walking mechanism includes the two rows of support legs walked for drive shell 41, two rows of
Support leg, which respectively corresponds, to be arranged on the opposite sides plate of shell 41, and every row's support leg is propped up by the activity that several intervals are arranged side by side
Support foot is constituted, and is corresponded on the shell 41 on the position of each movable supporter to correspond and is installed with for driving movable supporting
Second driving motor 51 of foot horizontal swing, second driving motor 51 are both secured to the shell 41 at vertically arranged
Lateral wall on.
In the present invention, above-mentioned movable supporter includes first connecting rod 53, the second connecting rod 54 and third connecting rod 55,
53 accumbency of first connecting rod is in the top of the second connecting rod 54, and the second connecting rod 54 and the vertical inclination of third connecting rod 55 are set
It sets, and third connecting rod 55 is in the lower section of the second connecting rod 54, the first end of the first connecting rod 53 is fixed on the second drive
On the output shaft of dynamic motor 51, the second end of first connecting 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 third connecting rod 55 are hinged, are provided with and are convenient on the lower end of the third connecting rod 55
The sucker 56 of walking；It is equipped on the first connecting rod 53 and the lower end lift that movement is put in lift up and down of third connecting rod 55 is driven to put
Driving device；Control sucker is installed in the shell and inhales the vacuum evacuation device (not providing in figure) put.It in this way can be to sucker
56 air inlet or pumping is realized by the change of gas pressure in sucker 56 and 1 deck contact part of workbench in workbench 1
Absorption and removal on table top.
In the present invention, it is preferred that the vacuum evacuation device includes first for supplying or being vented to the sucker 56
Cylinder (does not provide) in figure, and first cylinder and the sucker 56 ventilation connect.
In the present invention, it is preferred that it includes third driving motor 52, movable rod and swing rod (figure that driving device is put in the lift
In do not provide), the swing rod has vertical part and above vertical part and the transverse part vertical with vertical part, the third driving motor 52
Output shaft connect 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 third motion bar 63；The first end of first motion bar 61 and the free end moveable hinge of above-mentioned transverse part
It connects, first motion bar 61 is vertically arranged, and the third motion bar 63 is vertically obliquely installed, and second motion bar 62 is located at
Below first motion bar, the third motion bar 63 is located at 62 lower section of the second motion bar, 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 third motion bar 63
First end it is hinged, the second end of the third motion bar 63 is movably connected in the third connecting rod 55.Wherein, third is living
The second end of lever 63 is articulated with the middle part or middle part of third connecting rod 55 or less on the part of sucker 56；Second motion bar
62 are movably hinged the hinged place hinged in the lower end of second connecting rod 54 and the upper end of the third connecting rod 55, 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 third connecting rod 55 is acted around the first end foot-up of third connecting rod 55.
Among the above, the first driving motor 45, the second driving motor 51 and third driving motor 52 be all made of stepper motor or
Servo motor；Swing rod similarly equivalence replacement for turntable and around center of turntable and can be vertically installed in the turntable body of rod.
In the present invention, movable supporter is at least 4, and the movable supporter on 41 side wall of same housing is 2.
Preferably as one kind of the invention, the movable supporter can be 6,8 or 12.Here movable supporter
Number can need to be arranged according to actual production.
By adopting the above technical scheme, intelligent spider formula robot ambulation machining center of the invention, can be improved work
Efficiency, required time when shortening processing, reduces the working strength of operator, reduces cost.
Intelligent spider formula robot ambulation machining center of the invention is by more activity branch in spider-type robot
Support foot cooperates co-operation and realizes walking.In the process of walking, each movable supporter is how to realize horizontal hunting and edge
Vertical direction lifts leg, is described by taking a movable supporter course of work as an example here:
Original state, the sucker 56 on movable supporter are adsorbed on 1 table top of workbench.When work, by control system control
It makes the second cylinder 21 to ventilate to sucker 56, so that air pressure changes in sucker 56, and then sucker 56 is detached from the suction with 1 table top of workbench
It is attached；And then, control system control third driving motor 52 drives swing rod to turn an angle from initial position, as swing rod turns
Dynamic to drive movable rod that third connecting rod 55 is pulled to rotate around the first end of third connecting rod 55, swing rod pulls movable rod connection
It is dynamic, realize lift leg movement.After leg movement to be lifted is completed, control system control third driving motor 52 stops working.At this point, control
System processed controls the second driving motor 51 and first end of first hinge bar from initial position around the first hinge bar is driven to swing one
It stops working after determining angle.Control system control third driving motor 52 drives swing rod to be turned back to initial position, as swing rod turns
Dynamic to drive movable rod that third connecting rod 55 is pulled to rotate around the first end of third connecting rod 55, swing rod pulls movable rod connection
Dynamic, leg movement is put in realization.After leg movement to be put is completed, control system control third driving motor 52 stops working, and controls
System controls the second cylinder 21 and is vented to sucker 56, so that air pressure changes in sucker 56, and then the absorption of sucker 56 and workbench 1
On face.At this point, the second driving motor 51 drives the first hinge bar around the first end of the first hinge bar again for control system control
It swings to and stops working after initial position.The first end of first hinge bar an of support leg is achieved with respect to workbench 1
The change of position.That is, translation of the first end of the first hinge bar with respect to 1 position of workbench.
Each movable supporter cooperates co-operation and realizes promotion spider-type robot shell 41 in 1 plane of workbench
The change of position.Wherein, when not ipsilateral on the shell 41 of spider-type robot, while the movable supporter of foot-up is opposite simultaneously
Rotary oscillation movement, and put foot, fixed realization spider-type robot rectilinear creeping.When not ipsilateral on shell 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 robot is how to creep and turn to.Here by when not ipsilateral movable supporter on the shell 41 of spider-type robot, divide
For first part and second part, control system control first part's movable supporter first is detached from the absorption with workbench,
Control the foot-up movement, and opposite direction rotating wobbling action simultaneously simultaneously of first part's movable supporter.At this point, the activity of second part
Support leg absorption workbench is motionless.Control system control first part's movable supporter foot-up swings, puts foot, control system control
When first part's movable supporter processed is adsorbed in workbench again, while the movable supporter for controlling second part is started to work,
The movable supporter of second part repeats the work of first part's movable supporter.(first part's movable supporter and second here
Piecemeal activity support leg swaying direction is consistent.) realize change of the spider-type machine with respect to operating position, be by control
System is switched fast control first part's movable supporter and the work of second part movable supporter, realizes spider-type robot straight line
It creeps.
Similarly, control system control first part's movable supporter is detached from the absorption with workbench first, in control first
Piecemeal activity support leg foot-up movement, and rotating Vortex wobbling action simultaneously, at this point, the movable supporter of second part adsorbs
Workbench is motionless.Control system control first part's movable supporter foot-up swings, puts foot, and control system controls first part
When movable supporter is adsorbed in workbench again, while the movable supporter for controlling second part is started to work, second part
Movable supporter repeats the work of first part's movable supporter.(first part's movable supporter and second part activity branch here
Support foot swaying direction is consistent.) realize that spider-type machine with respect to the change of operating position, is switched fast by control system
First part's movable supporter and the work of second part movable supporter are controlled, realizes that spider-type robot turns to.
When spider-type robot creeps to position to be processed, the organisation of working of spider-type robot is started to work, tool
Body, control system control the first driving motor 45 work so that drive mounting plate 44 along linear guide 43 sliding as to
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 work or main shaft 42 are worked at the same time with the first driving motor 45, realize 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 driving motor 45 and works and then drive mounting plate 44 along the sliding of linear guide 43 as knife
It deposits at the opposite position of cutter position in tool library 3.Control system controls the walking of spider-type robot, that is, controls 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 is then spider-type robot
Knife is taken out of tool magazine 3.
The present invention utilizes advanced anti-raw technology, and spider walking principle is applied to Machining Center for stone material, breaches biography
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 is detached from after being vented and is adsorbed on workbench 1, can guarantee to have in spider-type robot ambulation or processing enough
Freedom degree, entire head can be freely to twist in tri- dimensions of X, Y, Z.And automatic traveling mechanism occupied space is minimum, also puts
The mobile larger space occupied of traditional walking robot idler wheel is taken off.
The present invention uses fixed tools library 3, and various cutter can be returned to the cutter being arranged in parallel in 1 plane of work platform for placing
In library 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 on main shaft 42 from tool magazine.Again by used cutter automatically spider-type robot after cutting or drilling
Tool magazine is put back on main shaft 42.This tool changing mode can cooperate turret-style tool changing mechanism suffered when carrying out tool changing to avoid main shaft 42
Limitation also advantageously improves tool changing efficiency, saves the time.Simultaneously, it is possible to reduce labor intensity avoids substitution work knife process
Present in security risk.In addition, being conducive to place all kinds of cutters, avoiding difference because of the tool magazine of independent storing cutter
Cutter, which influences each other, causes to take knife difficult.
Intelligent spider formula robot ambulation machining center of the invention, it is real for changing tradition CNC numerical control stone process equipment
Existing three axis are mobile, processing, using cruciform bracing move mode, are automatically walked using spider-type robot, tool changing and processing.It should
Intelligent spider formula robot ambulation machining center, the working strength that working hour can be greatly shortened, reduce operator；Spider-type machine
Device people can fast move and fix, and improve working efficiency, reduce cost.The spider-type robot can creep automatically to work
At tool magazine on platform, and knife, tool changing are taken automatically, carry out tool changing without artificial, substantially increase processing efficiency, it is tired to reduce worker
Labor and tool changing operation fault cause business economic to be lost.
Intelligent spider formula robot ambulation machining center of the invention has strong applicability, the operation is stable, high-efficient spy
Point, realizes multifunctional all processing, the working strength for greatly shortening working hour, reducing operator, and multifunctional all reduces
Cost improves mechanical convenience.
Above-described embodiment and schema and non-limiting product form and style of the invention, any technical field it is common
The appropriate changes or modifications that technical staff does it all should be regarded as not departing from patent category of the invention.
Claims (8)
1. intelligent spider formula robot ambulation machining center includes the workbench placed thereon for stone material to be processed, special
Sign is: being provided with the fixation device being fixed for treating processing stone material on the workbench, further includes having in above-mentioned work
Make the spider-type robot that all directions on platform table top are arbitrarily creeped, the spider-type robot includes to treat processing stone material progress
The organisation of working of processing and the walking mechanism processed for promoting the organisation of working to move, the organisation of working are fixed on described
In walking mechanism, the organisation of working includes by four side plates to be sequentially connected the shell surrounded and for the master of automatic tool changer
Axis；The walking mechanism includes two rows of support legs for drive shell walking, and two rows of support legs, which respectively correspond, to be arranged in shell
On the opposite sides plate of body, every row's support leg is made of several intervals movable supporter arranged side by side, corresponding on the shell
It is installed with the second driving motor for driving movable supporter to swing laterally in one-to-one correspondence on the position of each movable supporter,
Second driving motor is both secured on the lateral wall of the shell at vertically arranged；Above-mentioned movable supporter includes
First connecting rod, the second connecting rod and third connecting rod, first connecting rod accumbency are in the top of the second connecting rod, the second connection
Bar and third connecting rod are vertically obliquely installed, and third connecting rod is in the lower section of the second connecting rod, the first connecting rod
First end be fixed on the output shaft of the second driving motor, the upper end of the second end of first connecting rod and second connecting rod
It is flexibly connected, the lower end of second connecting rod is flexibly connected with the upper end of the third connecting rod, the third connecting rod
The sucker convenient for walking is provided on lower end；The lower end for driving third connecting rod or more lift is installed to put on the first connecting rod
Driving device is put in the lift of movement；Control sucker is installed in the shell and inhales the vacuum evacuation device put.
2. intelligent spider formula robot ambulation machining center according to claim 1, it is characterised in that: the case inside
It is vertically installed with linear guide on wall, the mounting plate slided up and down along linear guide is installed in the linear guide, it is described
Main shaft is vertically arranged on the mounting plate, and towards stone material to be processed；First driving motor, the peace are installed on institute's shell
Feed screw nut is fixedly installed in loading board, the feed screw nut is ordinatedly installed with for driving the mounting plate in the straight line
The screw rod of guide rail sliding, the output shaft of first driving motor are fixedly connected through shaft coupling with the one end of the screw rod.
3. intelligent spider formula robot ambulation machining center according to claim 2, it is characterised in that: the linear guide
It is two, and interval is installed on the inner sidewall of the shell side by side；Sliding block, the sliding block are fitted in each linear guide
It is fixed on the mounting plate.
4. intelligent spider formula robot ambulation machining center according to claim 1, it is characterised in that: the vacuum means
Set includes for connecting to the first cylinder sucker gas supply or be vented, first cylinder and sucker ventilation.
5. intelligent spider formula robot ambulation machining center according to claim 1 or 4, it is characterised in that: the lift is put
Driving device includes third driving motor, movable rod and swing rod, the swing rod there is vertical part and above vertical part and with it is perpendicular
The output shaft of the vertical transverse part in portion, the third driving motor is connect with the lower end of above-mentioned vertical part, and above-mentioned movable rod includes
Three motion bars, respectively the first motion bar, the second motion bar and third motion bar；The first end of first motion bar with it is upper
The free end for stating transverse part is movably hinged, and first motion bar is vertically arranged, and the third motion bar is vertically obliquely installed, described
Second motion bar is located at below the first motion bar, and the third motion bar is located at below second motion bar, and described first is living
The second end of lever and the first end of second motion bar are movably hinged, the second end and the third of second motion bar
The first end of motion bar is movably hinged, and the second end of the third motion bar is movably connected in the third connecting rod；It is described
It is movably connected in the middle part of second motion bar at the second end of second connecting rod and the first end of the third connecting rod.
6. intelligent spider formula robot ambulation machining center according to claim 1-4, it is characterised in that: described
Fixed 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 installed with for compressing stone material to be processed
Briquetting.
7. intelligent spider formula robot ambulation machining center according to claim 1-4, it is characterised in that: described
Fixed device is two, and is located along the same line.
8. intelligent spider formula robot ambulation machining center according to claim 1, it is characterised in that: on the workbench
It is installed with the tool magazine for spider-type robot described above tool changing, the tool magazine is located at the table surface edge；
The tool magazine is divided into two rows, and two rows of tool magazines are located on the table top of the workbench on one group of relative side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710495396.5A CN107160566B (en) | 2017-06-26 | 2017-06-26 | Intelligent spider formula robot ambulation machining center |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710495396.5A CN107160566B (en) | 2017-06-26 | 2017-06-26 | Intelligent spider formula robot ambulation machining center |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107160566A CN107160566A (en) | 2017-09-15 |
| CN107160566B true CN107160566B (en) | 2019-05-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710495396.5A Expired - Fee Related CN107160566B (en) | 2017-06-26 | 2017-06-26 | Intelligent spider formula robot ambulation machining center |
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Citations (6)
| 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 |
-
2017
- 2017-06-26 CN CN201710495396.5A patent/CN107160566B/en not_active Expired - Fee Related
Patent Citations (6)
| 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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|---|---|
| CN107160566A (en) | 2017-09-15 |
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