CN108973478A - Large scale engraved stone machine people assembly and its method for carving stone material - Google Patents
Large scale engraved stone machine people assembly and its method for carving stone material Download PDFInfo
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- CN108973478A CN108973478A CN201811153845.9A CN201811153845A CN108973478A CN 108973478 A CN108973478 A CN 108973478A CN 201811153845 A CN201811153845 A CN 201811153845A CN 108973478 A CN108973478 A CN 108973478A
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- carving
- transverse shifting
- lead screw
- fixed
- pedestal
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B1/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models
- B44B1/06—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B3/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
- B44B3/06—Accessories, e.g. tool or work holders
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention discloses a kind of large scale engraved stone machine people's assemblies, including installing the mobile fixed system of carving on the ground, it is set to the engraving machine human body and a set of central controller, the mobile fixed system of central controller controls carving and engraving machine human body of the mobile fixed system opposite sides of carving；The central point of Sculpture robot body bottom portion is located at using the central point of the mobile fixed system pedestal of carving as in the reference axis of dot；Engraving machine human body includes pedestal, and the rotation oscillating arm mechanisms being installed on pedestal, and rotation oscillating arm mechanisms end connect moving parts connection with engraving machine, and engraving machine is installed on engraving machine connection moving parts.The invention also discloses the methods using robot assembly engraving stone material.The robot assembly structure is compact, easy to safeguard, application method is simple, and the automatic positioning of carving may be implemented, the autonomous engraving for completing stone material.
Description
Technical field
The present invention relates to a kind of robot technology, it is particularly suitable for a kind of large scale engraved stone machine people assembly and its carving
The method for carving stone material.
Background technique
Engraved stone especially large-stone engraving has very high requirement for the level of skilled worker, however, engraving
The pollutants such as the dust, the noise that generate in the process cause the occupational diseases such as pneumoconiosis, hearing impairment multiple.Stone carving industry faces specially
The problems such as industry technician is deficient, recruitment cost increases year by year, seriously constrains the healthy long-run development of the industry.
201510268112. X of Chinese patent literature discloses a kind of six degree of freedom series parallel type water jet Sculpture robot,
Its structure includes pedestal, columns assemblies, lifting device, two-freedom rocker arm, freedom degree parallel connection knife rest and jet stream carving device.
Sink is equipped in pedestal, two-freedom rocker arm can be along column up-down, freedom degree parallel connection knife under the driving of lifting device
Frame is sleeved on two-freedom rocker arm and can be along traversing on two-freedom rocker arm, and the spray gun in jet stream carving device is mounted on three
On freedom degree parallel connection knife rest, and there is space six degrees of freedom of motion.The Sculpture robot that the patent document proposes can be realized pair
The processing operation such as the blanking cutting of acrylic product, engraving, chamfering, Lou Jing and deburring, the engraving machine which proposes
People's active force when carving operation is small, is not suitable for engraved stone.
Chinese patent literature 201220306802.1 discloses a kind of stone material multi-layer fabric decoration product Sculpture robot, structure
Including end effector and robot body.End effector includes electro spindle, attachment base, knife handle and diamond cutter；Electricity is main
Axis, attachment base, knife handle and diamond cutter are sequentially connected；Attachment base is connected with robot body end.Engraving machine human body
Including wrist, forearm, large arm, saddle and in the servo motor and speed reducer of joint；Sculpture robot wrist, forearm,
Large arm, saddle are sequentially connected, and the joint of connection is provided with servo motor and speed reducer；Sculpture robot saddle and vertical
Column lead screw pair is connected.Column lead screw pair includes ball-screw, motor, column and counterweight；Ball-screw, motor and counterweight are respectively provided with
On column, counterweight and robot body are respectively in the two sides of column.The Sculpture robot that the patent document proposes cannot be automatic
Determine the relative position between robot and carving.
Chinese patent application 201710622724.3 discloses a kind of Sculpture robot, and structure includes engraving bar, distance
Sensor, engraving bar attachment base, connecting rod, first support arm, movable bolt, second support arm, fixing seat, third support arm, carve bar
It is connected to the rear surface of engraving bar attachment base, the inside of engraving bar attachment base is equipped with range sensor, and connecting rod is connected to carving
The right side of bar attachment base is carved, connecting rod is connected on the left of first support arm, first support arm passes through movable bolt phase with second support arm
Connection, second support arm are connected with third support arm, and third support arm is welded in the left side of fixing seat.The patent application is equipped with distance and passes
Sensor realizes the Sculpture robot and possesses the function of can detecte distance between equipment and carving, Ke Yijing when in use
The really carving depth of control equipment.But the engraving machine human body that the patent application proposes is conventional serial mechanical arm, rigidity
With in parallel or series-parallel mechanical arm compared to slightly poor, and the Sculpture robot of patent application proposition can control carving depth but
The relative position between equipment and carving cannot be automatically determined.
Chinese patent application 201710058326.3 discloses a kind of engraving robot palletizer, and structure includes pedestal, consolidates
If power device on the base, by power device driving swing arm unit, be arranged in the executive device of swing arm unit front end with
And keep executive device balance balanced component, the executive device include money connect swing arm unit front end motor mount,
The actuating motor that is installed on motor mount and Suction cup assembly by actuating motor driving rotation, on the motor mount
It is additionally provided with cam plane engraving component.The patent application be designed to provide it is a kind of intelligently carried for stone slab and to stone slab into
The engraving robot palletizer of row cam plane engraving cannot complete 3 D stereo engraving.
Chinese patent application 201710525733.0 discloses a kind of intelligent engraving system with automatic loading/unloading function
System, structure include robot body, tool magazine system, fixed platform, black iron, material table, the support of table, workbench, control
Cabinet, charging and discharging mechanism, module bracket, screw type mould group, dust pelletizing system and cooling-water machine processed.Robot body is mounted on ground black iron
Surface middle part, fixed platform are fixed on the support of table, and the support of table is fixed on ground black iron upper surface, and material table is fixed on
On ground, workbench is fixed on ground black iron upper surface by the support of table, and the control cabinet is arranged on the ground, control cabinet
It is connected respectively with the power input of robot body and signal input part by power supply line and signal wire.In screw type mould group
Lead screw is horizontally disposed, and lead screw is connect with servo motor transmission, and screw type mould group and servo motor are entirely through module bracket and mould
The fixing end of group support frame connection, screw type mould group is fixed on the table by reinforcing rib, and aluminum profile is fixed by connecting plate
On the movable end of screw type mould group, aluminum profile is connect by connecting plate one with the cylinder body of cylinder, and the piston-rod lower end of cylinder is logical
It crosses connecting plate two to connect with sponge sucker, four paws centralizer is fixed on the table, and tool magazine system is solid by tool magazine support plate
It is scheduled on tool magazine support frame, dust pelletizing system is connected to by dust suction tracheae with the end effector of robot body, and cooling-water machine passes through
Water pipe is connected to the end effector of robot body.The Sculpture robot that the patent application proposes is processed suitable for woodcarving, no
It can complete the engraving task of large-stone.
Above-mentioned engraving machine can not achieve the large-stone engraving of carving autonomous positioning per capita.In addition, laser engraving machine
Carving Machining is carried out as machining tool using laser, there is certain limitation to rapidoprint, it can not the materials such as processing stone material.
Summary of the invention
It is total the purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, providing a kind of large scale engraved stone machine people
At and its engraving stone material method, which is compact, easy to safeguard, application method is simple, may be implemented to carve
The automatic positioning of object, the autonomous engraving for completing stone material.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of large scale engraved stone machine people's assembly, including being mounted on the mobile fixation of carving being equipped on the ground in gutter
System, and it is set to the mobile fixed system opposite sides of carving and the engraving machine human body be fixed on ground and a set of
Central controller, the mobile fixed system of central controller controls carving and engraving machine human body；
The central point of Sculpture robot body bottom portion is located at using the central point of the mobile fixed system pedestal of carving as the seat of dot
On parameter；
The engraving machine human body includes pedestal, and the rotation oscillating arm mechanisms being installed on pedestal, rotation oscillating arm mechanisms end
End connect moving parts connection with engraving machine, and engraving machine is installed on engraving machine connection moving parts.
The mobile fixed system of the carving includes pedestal, is provided with the parallel boss of multiple groups on pedestal along its length,
Multiple drain hole groups corresponding with land drain are provided on pedestal between every two group platform；On base length direction
It is also arranged in parallel with multiple groups transverse shifting fixed cell, is arranged in parallel with two groups on two groups of transverse shifting fixed cells of outermost
Vertically move fixed cell.
The rotation oscillating arm mechanisms include the first driving motor being mounted on the base, the output shaft of the first driving motor with
First swing arm connects firmly to form the first revolute pair；
Second driving motor is fixed in the first swing arm, and output shaft and the second swing arm connect firmly to form the second revolute pair；
Third driving motor is fixed in the second swing arm, and output shaft and third swing arm connect firmly to form third revolute pair；
4th driving motor is fixed in third swing arm, and output shaft and the 5th swing arm connect firmly to form the 4th revolute pair；
5th swing arm connect moving parts with engraving machine and connects firmly.
The engraving machine connection moving parts include the chassis connected firmly with the 5th swing arm, are along the circumferential direction uniformly divided on chassis
Cloth is fixedly connected with three kinematic mount component one end, and the other end of three kinematic mount components is respectively with support ring and positioned at branch
Top plate in the middle part of pushing out ring is connected；Kinematic mount component connect to form spherical pair with top plate.
Engraving machine is fixed on the upper surface of top plate.
Each kinematic mount component includes a L-type bottom plate, vertically-mounted on the horizontal component end of L-type bottom plate to have
One lead screw support component, the two sides of L-type floor level part along its length are respectively arranged with first straight line guide rail, wherein one
The vertical portion of block L-type bottom plate is fixed on the chassis upper surface, and kinematic mount Component driver is equipped on the lower surface of chassis
Motor, kinematic mount Component driver motor are connect with one end of the first lead screw of the vertical portion for passing through L-type bottom plate, the first lead screw
The other end the first lead screw support component on；
Supporting block is installed by screw thread on first lead screw, there are two the first sliding block group, two the first sliding blocks for the installation of supporting block lower part
Group, which respectively corresponds, is mounted on two line slideway auxiliaries of composition on two first straight line guide rails；
It is connected by pin shaft with drive link one end in supporting block and constitutes the 5th revolute pair, the drive link other end is equipped with spherical shape
Part, the spherical parts connect to form spherical pair with the top plate.
It is equipped with one on the riser side adjacent with kinematic mount Component driver motor and places the block that supporting block is hit.
The transverse shifting fixed cell shares four groups, wherein it is identical for structure to be symmetrically arranged on two groups of pedestal two sides
The second transverse shifting fixed cell, intermediate two groups are the identical first transverse shifting fixed cell of structure；
The first transverse shifting fixed cell includes the fixed list of the first transverse shifting being mounted on the base by motor base
The output shaft of first driving motor, the first transverse shifting fixed cell driving motor passes through the second lead screw support component and the second lead screw
It is coupled, the second lead screw other end is installed in third lead screw support component；Second, third lead screw support component is both secured to pedestal
On, and second straight line guide rail both ends are located at, second straight line guide rail is located at below the second lead screw, and passes through guide rail installation pedestal
It is mounted on the pedestal between two boss, there are two the second sliding blocks to form line slideway auxiliary for installation on second straight line guide rail, often
A transverse shifting manipulator is mounted in a sliding block group, while transverse shifting manipulator also passes through the screw thread peace being arranged thereon
Screw pair is constituted on the second lead screw.
The first transverse shifting manipulator is T-shaped.
Oppositely arranged on pedestal, i.e., the fixed list of two groups of the first transverse shifting of two group of first transverse shifting fixed cell
First driving motor is respectively arranged at the both ends of bottom plate convex platform.
The second transverse shifting fixed cell includes that the second transverse shifting being mounted on the base by motor base is consolidated
Order member driving motor, the output shaft of the second transverse shifting fixed cell driving motor pass through the 4th lead screw support component through clutch
Device is coupled with third lead screw, and the third lead screw other end is installed in the 5th lead screw support component；Four, the 5th lead screw support components
It is both secured on pedestal, is provided on the outer wing base of the second transverse shifting fixed cell driving motor parallel with third lead screw
Third linear guide, installation forms line slideway auxiliary there are two third sliding block in third linear guide, in each third sliding block group
Be mounted on a transverse shifting support platform, at the same Lateral mobile platform also pass through be arranged thereon be threadably mounted at third silk
Screw pair is constituted on thick stick.
Oppositely arranged on pedestal, i.e., the fixed list of two groups of the second transverse shifting of two group of second transverse shifting fixed cell
First driving motor is respectively arranged at the both ends of bottom plate.
The longitudinal movement fixed cell includes the longitudinal movement fixed cell bottom being fixed in transverse shifting support platform
, the 4th linear guide and longitudinal movement fixed cell driving device are provided on base upper surface, the longitudinal movement is fixed
Cell driving device includes the longitudinal movement driving motor for being mounted on one end on longitudinal movement fixed cell pedestal, and longitudinal movement is driven
The output shaft of dynamic motor passes through the 6th lead screw support component and is connected with the 4th lead screw one end, and the 4th lead screw other end is mounted on the 7th
In lead screw support component；On 4th lead screw by screw thread installation there are two longitudinal moving mechanical hand constitute screw pair, the 4th
There are two Four-sliders to form line slideway auxiliary for installation in linear guide, and two longitudinal moving mechanical hands are also separately fixed at correspondence
Four-slider group on.
Six, the 7th lead screw support components are concordant with the both ends of the 4th linear guide respectively.
Two groups of longitudinal movement fixed cells are oppositely arranged, i.e., two groups of longitudinal movement driving motor is located at the two of bottom plate
Side.
The drain hole group includes upper surface drain tank, lower surface drain tank and drain hole, and drain tank setting in upper surface exists
Between adjacent two boss of base upper surface；Drain tank setting in lower surface is corresponding with upper surface drain tank in base lower surface；
Drain hole is arranged between upper surface drain tank and lower surface drain tank, and is connected to upper and lower surface drain tank.
A method of stone material is carved using large scale engraved stone machine people's assembly, comprising the following steps:
Carving is placed on the boss of the mobile fixed system pedestal of carving by the first step；
Second step, two two longitudinal movement driving motors vertically moved in fixed cells rotate in the forward direction simultaneously, so that four
Longitudinal moving mechanical hand moves toward one another two-by-two, and carving is moved to the centre bit of the boss of the mobile fixed system pedestal of carving
It sets and clamps；
Third step, two clutches in the second transverse shifting fixed cell by the second transverse shifting fixed cell driving motor and
Third lead screw disconnects；
4th step, two the first transverse shifting fixed cell driving motors in two the first transverse shifting fixed cells are simultaneously just
To rotation, corresponding four transverse shifting manipulators move toward one another two-by-two, and carving is moved to the mobile fixed system of carving
It center and is clamped on base boss；
At this point, the bottom center of carving and the mobile fixed system base upper surface center of carving are overlapped, due to engraving machine
People's pedestal upper surface center and the mobile fixed system base upper surface center of carving are relative to one in Three Dimensional Ground coordinate system
Change in coordinate axis direction is overlapped, and the distance in three-dimensional system of coordinate in two outer reference axis is it is known that carving and table on Sculpture robot pedestal
Face center relative position is it is known that automatic positioning operation is completed；
5th step, according to the size of carving, shape-designing, central controller issues control signal, drives Sculpture robot sheet
Engraving operation is completed in body movement；
6th step, after the completion of carving operation, firstly, two the first transverse shiftings in two the first transverse shifting fixed cells are solid
Order member driving motor reversely rotates simultaneously, and corresponding four transverse shifting manipulators move round about two-by-two,
Secondly, two clutches in the second transverse shifting fixed cell are by the second transverse shifting fixed cell driving motor and
Three lead screws are connected；
Then, the two longitudinal movement driving motors vertically moved in fixed cell reversely rotate simultaneously, corresponding four longitudinal directions
Opposite direction moves mobile manipulator two-by-two；
Finally, the second transverse shifting fixed cell driving motor reversed rotation simultaneously in two the second transverse shifting fixed cells
Turn, so that two transverse shifting support platforms move in the opposite direction, carving carving is released.
The present invention has the following characteristics that compared with prior art
(1) large scale engraved stone machine people's assembly proposed by the present invention, using hybrid connected structure, robot bearing capacity is larger,
Mechanical rigid is higher.
(2) large scale engraved stone machine people's assembly proposed by the present invention, may be implemented the automatic positioning of carving.
(3) large scale engraved stone machine people's assembly proposed by the present invention, can complete various sizes of engraved stone.
(4) large scale engraved stone machine people's assembly proposed by the present invention, high degree of automation greatly reduce artificial
Cost.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is Sculpture robot body construction schematic diagram of the invention；
Fig. 3 is engraving machine kinematic mount system structure diagram of the invention；
Fig. 4 is the mobile fixed system structural schematic diagram of carving of the invention；
Fig. 5 a is the base construction schematic diagram of the mobile fixed system of carving of the invention；
Fig. 5 b be in Fig. 5 a A-A to sectional view；
Fig. 5 c is part B enlarged drawing in Fig. 5 b；
Fig. 6 a is carving direction first movement fixed system structural schematic diagram of the invention；
Fig. 6 b, Fig. 6 c are Fig. 6 a top view and left view respectively；
Fig. 7 a is the mobile fixed system structural schematic diagram in carving direction second of the invention；
Fig. 7 b, Fig. 7 c are Fig. 7 a top view and left view respectively；
Fig. 8 is the mobile fixed system structural schematic diagram in carving direction of the invention.
Wherein, 1. engraving machine human body, the mobile fixed system of 2. carvings, 3. central controllers；
11. Sculpture robot pedestal, 12. the first revolute pairs of Sculpture robot, 13. the first swing arms of Sculpture robot, 14. carvings
Carve the second revolute pair of robot, 15. the second swing arms of Sculpture robot, 16. Sculpture robot third revolute pairs, 17. engraving machines
Device people's third swing arm, 18. Sculpture robots the 4th go to pair, the 5th swing arm of 19. Sculpture robot, the connection of 110. engraving machines
Component chassis, 111. engraving machine kinematic mount systems, 112. engraving machine connection component support rings, 113. engraving machines, 114.
Engraving machine connection component top plate, 115. spherical pairs, the 4th driving motor of 116. Sculpture robot, 117. Sculpture robot thirds are driven
Dynamic motor, 118. the second driving motors of Sculpture robot, 119. the first driving motors of Sculpture robot；
1111. engraving machine kinematic mount system drive motors, 1112. engraving machine kinematic mount system support bases, 1113.
Anticollision block, 1114. engraving machine kinematic mount system supporting blocks, 1115. engraving machine kinematic mount system drive connecting rods,
1116. first lead screws, 1117. first lead screw support components, 1118. first union ends, 1119. first straight line guide rails,
11110. first sliding block groups, 11111. the 5th revolute pairs.
21. carving moves fixed system pedestal, 22. carving direction first movement fixed systems, 23. carvings
Move fixed system, the mobile fixed system in 24. carving directions in direction second；
211. first motor installation pedestals, 212. first guide rail installation pedestals, 213. pedestals, 214. second motors install base
Seat, 215. third guide rail installation pedestals, drain tank on 216., 217. lower drain tanks, 218. drain holes, 219. thirds electricity
Machine installation pedestal, 2110. second guide rail installation pedestals, 2111. the 4th motor mounting bases, 2112. the 4th guide rails install base
Seat, 2113. boss；
221. first carving directions movement solid mechanical hand, the mobile solid mechanical hand in 222. second carving directions, 223.
Solid mechanical hand-drive motor is moved in carving direction, 224. second lead screw support components, 225. second sliding blocks, and 226. the
Two linear guides, 227. second lead screws, 228. third sliding blocks, 229. third lead screw support components；
Move support platform, the mobile support platform driving motor in 232. carving directions, 233. clutches in 231. carving directions
Device, 234. the 4th lead screw support components, 235. Four-slider groups, 236. the 5th sliding block groups, 237. third lead screws, 238.
Third linear guide, 239. the 5th lead screw support components；
Solid mechanical hand is moved in 241. first carving directions, 242. the 6th sliding blocks, 243. the 4th linear guides, and 244. the
Two carving directions movement solid mechanical hand, 245. the 7th sliding blocks, the mobile fixed system pedestal in 246. carving directions, 247.
Solid mechanical hand-drive motor is moved in carving direction, 248. the 6th lead screw support components, 249. the 4th lead screws, and 2410. the
Seven lead screw support components.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
This specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification revealed interior
Hold, so that those skilled in the art understands and reads, is not intended to limit the invention enforceable qualifications, therefore does not have skill
Essential meaning in art, the modification of any structure, the change of proportionate relationship or the adjustment of size can be produced not influencing the present invention
Under raw effect and the purpose that can reach, should all still it fall in the range of disclosed technology contents obtain and can cover.
Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, be merely convenient to
Narration is illustrated, rather than to limit the scope of the invention, relativeness is altered or modified, without substantive change
Under technology contents, when being also considered as the enforceable scope of the present invention.
As shown in Figure 1, a kind of large scale engraved stone machine people's assembly of the invention includes an engraving machine human body
1, a carving moves fixed system 2 and a set of central controller 3.The 11 upper surface center of Sculpture robot pedestal with
The mobile 21 upper surface center of fixed system pedestal of carving is overlapped relative to earth axes along direction, along direction and direction distance
It is known；The central controller installation is on the ground.
1 structure of engraving machine human body is as shown in Fig. 2, include a Sculpture robot pedestal 11, a Sculpture robot
First revolute pair 12, first swing arm of Sculpture robot 13, second revolute pair of Sculpture robot 14, an engraving machine
The second swing arm of people 15, a Sculpture robot third revolute pair 16, Sculpture robot third swing arm 17, a Sculpture robot
Four go to pair 18, the 5th swing arm 19 of Sculpture robot, an engraving machine connection component chassis 110, three engraving machine movements
Support system 111, an engraving machine connection component support ring 112, an engraving machine 113, an engraving machine connection component top plate
114, three spherical pairs 115, the 4th driving motor 116 of Sculpture robot, a Sculpture robot third driving motor
117, second driving motor of Sculpture robot 118, first driving motor of Sculpture robot 119.
The Sculpture robot pedestal 11 is mounted on level ground；119 body of the first driving motor of Sculpture robot is solid
It is scheduled on Sculpture robot pedestal 11, output shaft connects firmly to form first turn of Sculpture robot with the first swing arm of Sculpture robot 13
Dynamic pair 12；118 body of the second driving motor of Sculpture robot is fixed in the first swing arm of Sculpture robot 13, output shaft and carving
The second swing arm of robot 15 is carved to connect firmly to form the second revolute pair of Sculpture robot 14；117 machine of Sculpture robot third driving motor
Body is fixed in the second swing arm of Sculpture robot 15, and output shaft and Sculpture robot third swing arm 17 connect firmly to form engraving machine
People's third revolute pair 16；116 body of the 4th driving motor of Sculpture robot is fixed in Sculpture robot third swing arm 17, defeated
Shaft and the 5th swing arm 19 of Sculpture robot, which connect firmly, to be formed Sculpture robot the 4th and goes to pair 18；The 5th swing arm 19 of Sculpture robot
It is connected firmly with engraving machine connection component chassis 110；Three engraving machine kinematic mount 111 circular shafts of system are symmetrical, are installed in parallel and are carving
Between machine connection component chassis 110 and engraving machine connection component support ring 112；It is right in three engraving machine kinematic mount systems 111
The three engraving machine kinematic mount system drive connecting rods 1115 answered form three spherical surfaces with engraving machine connection component top plate 114 respectively
Pair 115；Engraving machine 113 is fixed on the upper surface of engraving machine connection component top plate 114.
111 structure of engraving machine kinematic mount system is as shown in figure 3, include an engraving machine kinematic mount system drive motor
1111, an engraving machine kinematic mount system support base 1112, an anticollision block 1113, an engraving machine kinematic mount
System supporting block 1114, an engraving machine kinematic mount system drive connecting rod 1115, first lead screw 1116, one first
Thick stick support component 1117, first union end 1118, two first straight line guide rails 1119, two the first sliding block groups 11110, one
A 5th revolute pair 11111.
1111 body of engraving machine kinematic mount system drive motor is fixed on the following table on engraving machine connection component chassis 110
Face；Engraving machine kinematic mount system support base 1112 is L-shaped, and vertical portion is fixed on engraving machine connection component chassis 110
Upper surface；The first union end (i.e. horizontal component end) 1118 of engraving machine kinematic mount system support base 1112 is fixed on
112 lower surface of engraving machine connection component support ring；Anticollision block 1113 is fixed on engraving machine kinematic mount system support base
On 1112 vertical portion inner wall, the first lead screw support component 1117 is fixed on engraving machine kinematic mount system support base 1112
On horizontal component end,；One end of first lead screw 1116 passes through anticollision block 1113 and engraving machine kinematic mount system supports
It is connected after 1112 vertical portion of pedestal with engraving machine kinematic mount system drive motor output shaft 1111, the other end is fixed on first
In lead screw support component 1117；Two first straight line guide rails 1119 are mounted on 1112 water of engraving machine kinematic mount system support base
The two sides of the upper surface in flat partial-length direction, two the first sliding block groups 11110 are separately mounted to two first straight line guide rails
Two line slideway auxiliaries are constituted on 1119；Engraving machine kinematic mount system supporting block 1114 is fixed on two the first sliding block groups
On 11110；Engraving machine kinematic mount system drive connecting rod 1115 and engraving machine kinematic mount system supporting block 1114 connect firmly composition
5th revolute pair 11111.
Mobile 2 structure of fixed system of carving is as shown in figure 4, include the mobile fixed system pedestal 21 of a carving, and two
A carving direction first movement fixed system 22, the mobile fixed system 23 in two carving directions second, two engraving object spaces
To mobile fixed system 24；
The pedestal 213 of the mobile fixed system pedestal 21 of the carving is mounted on the ground equipped with gutter；Two carvings
It is mobile solid that the mobile fixed system 23 of direction first movement fixed system 22 and two carving directions second is installed in carving
Determine in system base 21；The mobile fixed system 24 in two carving directions is parallel, the mobile fixed system in two of them carving direction
System pedestal 246 moves 23 corresponding four carving directions of fixed system across two carving directions second are fixed on along direction
In mobile support platform 231.
Mobile 21 structure of fixed system pedestal of carving is as shown in Fig. 5 a, Fig. 5 b, Fig. 5 c, including a first motor installation
Pedestal 211, a first guide rail installation pedestal 212, a pedestal 213, second motor mounting base 214, a third
Guide rail installation pedestal 215, several upper surface drain tanks 216, several lower surface drain tanks 217, several drain holes 218,
One third motor mounting base 219, a second guide rail installation pedestal 2110, the 4th motor mounting base 2111, one
A 4th guide rail installation pedestal 2112, several boss 2113；
The first motor installation pedestal 211 and third motor mounting base 219 are about 213 upper surface central symmetry of pedestal, and two
Person is each attached on pedestal 213；Second motor mounting base 214 and the 4th motor mounting base 2111 are about table on pedestal 213
Face central symmetry, the two are each attached on pedestal 213；First guide rail installation pedestal 212 is fixed on the 4th motor on pedestal 213
Between corresponding two boss 2113 of installation pedestal 2111；Second guide rail installation pedestal 2110 is fixed on the second electricity on pedestal 213
Between corresponding two boss 2113 of machine installation pedestal 214；Third guide rail installation pedestal 215 is mounted on third motor on pedestal 213
The outside of installation pedestal 219；4th guide rail installation pedestal 2112 is mounted on the outer of first motor installation pedestal 211 on pedestal 213
Side；The boss 2113 is fixed on pedestal 213, for placing carving；Upper surface drain tank 216 is arranged on pedestal 213
Between adjacent two boss 2113 on surface；Lower surface drain tank 217 is arranged in 213 lower surface of pedestal and upper surface drain tank 216
It is corresponding；Drain hole 218 is arranged between upper surface drain tank 216 and lower surface drain tank 217, and is connected to upper and lower surface sluicing
Slot.
First movement fixed system 22 structure in carving direction is as shown in Fig. 6 a, Fig. 6 b, Fig. 6 c, including one first engraving
Object space is to mobile solid mechanical hand 221, and the mobile solid mechanical hand 222 in a second carving direction, a carving direction is moved
Dynamic solid mechanical hand-drive motor 223, a second lead screw support component 224, second sliding block 225, a second straight line
Guide rail 226, second lead screw 227, a third sliding block 228, a third lead screw support component 229；
The mobile solid mechanical hand in corresponding two carving directions in described two carving direction first movement fixed systems 22
Driving motor 223 is separately mounted on the second motor mounting base 214 and the 4th motor mounting base 2111；Corresponding second is straight
Line guide rail 226 is separately mounted in the second guide rail installation pedestal 2110 and the first guide rail installation pedestal 212；Second sliding block, 225 He
Third sliding block 228 is mounted on two line slideway auxiliaries of composition on second straight line guide rail 226；Second lead screw support component 224 and
Three lead screw support components 229 are each attached on pedestal 213, are located at the both ends of second straight line guide rail 226；Second lead screw 227
One end pass through the second lead screw support component 224 and the output shaft of the mobile solid mechanical hand-drive motor 223 in carving direction is solid
Connection, the other end are mounted in third lead screw support component 229；The mobile solid mechanical hand 221 in first carving direction and the second carving
It carves object space to be separately fixed on third sliding block 228 and the second sliding block 225 to mobile solid mechanical hand 222, then be reversibly mounted on
Two screw pairs are constituted on second lead screw 227.
Mobile 23 structure of fixed system in carving direction second is as shown in Fig. 7 a, Fig. 7 b, Fig. 7 c, including two engraving object spaces
To mobile support platform 231, the mobile support platform driving motor 232 in a carving direction, a clutch 233, one the
Four lead screw support components 234, a Four-slider group 235, a 5th sliding block group 236, a third lead screw 237, one
Three linear guides 238, a 5th lead screw support component 239；
The mobile support platform driving motor 232 in carving direction in the mobile fixed system 23 in described two carving directions second
It is separately fixed in first motor installation pedestal 211 and third motor mounting base 219；Corresponding third linear guide 238 is solid
It is scheduled in third guide rail installation pedestal 215 and the 4th guide rail installation pedestal 2112；Four-slider group 235 and the 5th sliding block group 236
It is mounted on two line slideway auxiliaries of composition in third linear guide 238；4th lead screw support component 234 and the 5th lead screw support group
Part 239 is each attached on pedestal 213, and concentric with mobile 232 output shaft of support platform driving motor in carving direction；Third silk
One end of thick stick 237 passes through the 4th lead screw support component 234, passes through the mobile support platform driving of clutch 233 and carving direction
Motor 232 connects firmly, and the other end is fixed in the 5th lead screw support component 239；The mobile support platform 231 in two carving directions is divided
It is not fixed in Four-slider group 235 and the 5th sliding block group 236, is then reversibly mounted on third lead screw 237, constitute two silks
Thick stick pair of nut.
The mobile fixed system 24 in carving direction is as shown in figure 8, include the mobile solid mechanical in a first carving direction
Hand 241, the 6th sliding block 242, the 4th linear guide 243, the mobile solid mechanical hand in a second carving direction
244, the 7th sliding block 245, the mobile fixed system pedestal 246 in a carving direction, a carving direction is mobile to be fixed
Robot drives motor 247, a 6th lead screw support component 248, the 4th lead screw 249, a 7th lead screw support group
Part 2410.
The mobile fixed system pedestals 246 in described two carving directions are parallel, along direction across being fixed on two carvings
In the mobile support platform 231 in the mobile corresponding carving direction of fixed system 23 in direction second；Two carving directions are mobile solid
Determine robot drives motor 247 to be mounted in opposite directions on the mobile fixed system pedestal 246 in two carving directions；Corresponding 4th is straight
Line guide rail 243 is fixed on the mobile fixed system in carving direction close to the mobile solid mechanical hand-drive motor 247 in carving direction
On pedestal 246；6th sliding block 242 and the 7th sliding block 245 are mounted on two line slideway auxiliaries of composition in the 4th linear guide 243；
6th lead screw support component 248 and the 7th lead screw support component 2410 are concordant with the both ends of the 4th linear guide 243, and with engraving
Object space is concentric to mobile 247 output shafts of solid mechanical hand-drive motor, is fixed on the mobile fixed system pedestal 246 in carving direction
On；One end of 4th lead screw 249 passes through the 6th lead screw support component 248 and the mobile solid mechanical hand-drive motor in carving direction
247 output shaft connects firmly, and the other end is fixed in the 7th lead screw support component 2410；Move solid mechanical in the first carving direction
The mobile solid mechanical hand 244 of hand 241 and the second carving direction is separately fixed on the 6th sliding block 242 and the 7th sliding block 245,
Then two screw pairs of composition on the 4th lead screw 249 are reversibly mounted on.
A kind of automatic positioning of large scale engraved stone machine people's assembly carving of the invention, incised work process
Mainly include following five step:
Carving is placed on the boss 2113 of the mobile fixed system pedestal 21 of carving by the first step；
The mobile solid mechanical hand-drive motor 247 of the both direction in fixed systems 24 is moved in second step, two carving directions
It rotates in the forward direction simultaneously, so that the mobile solid mechanical hand 241 in two the first carving directions and two the second carving directions are mobile
Solid mechanical hand 244 is moved toward one another along direction simultaneously, and carving is moved to mobile 21 boss of fixed system pedestal of carving
The center in 2113 directions and clamping；
Third step, two clutches 233 in fixed systems 23 are moved in two carving directions second, and carving direction is mobile
Solid mechanical hand-drive motor 232 and third lead screw 237 disconnect；
4th step, the mobile solid mechanical hand in two carving directions in two carving direction first movement fixed systems 22 drive
When dynamic motor 223 rotates in the forward direction simultaneously, the mobile solid mechanical hand 221 in corresponding two the first carving directions and two second carvings
It carves object space and pushes the mobile fixed system 24 of carving and two carving directions to transport in opposite directions along direction to mobile solid mechanical hand 222
It is dynamic, carving is moved to center and the clamping in mobile 21 boss of fixed system pedestal, 2113 direction of carving；
At this point, the bottom center of carving and the mobile 21 upper surface center of fixed system pedestal of carving are overlapped.Due to the carving
11 upper surface center of robot base and the mobile 21 upper surface center of fixed system pedestal of carving are carved relative to earth axes
Be overlapped along direction, along direction and direction distance it is known that carving and 11 upper surface center relative position of Sculpture robot pedestal
Know, automatic positioning operation is completed.
5th step, according to the size of carving, shape-designing, central controller 3 issues control signal, drives engraving machine
Human body 1 acts, and completes engraving operation.
After the completion of carving operation, firstly, two engraving object spaces in two carving direction first movement fixed systems 22
It is reversely rotated to mobile solid mechanical hand-drive motor 223, the mobile solid mechanical hand 221 in corresponding two the first carving directions
It is moved in the opposite direction with the mobile solid mechanical hand 222 in two the second carving directions；Secondly, two carving directions second
Solid mechanical hand-drive motor 223 and second are moved in carving direction by two clutches 233 moved in fixed system 23
Thick stick 227 is connected；Then, the mobile solid mechanical hand-drive motor of both direction in the mobile fixed system 24 in two carving directions
247 reversely rotate simultaneously, so that the mobile solid mechanical hand 241 in two the first carving directions and two the second carving directions are moved
Dynamic solid mechanical hand 244 moves in the opposite direction simultaneously；Finally, in the mobile fixed system 23 in two carving directions second
The mobile support platform driving motor 232 in carving direction reversely rotates simultaneously, so that the mobile support platform in two carving directions
231 move in the opposite direction, and carving carving is released.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of large scale engraved stone machine people's assembly, characterized in that including being mounted on the carving being equipped on the ground in gutter
The mobile fixed system of object is carved, and is set to the mobile fixed system opposite sides of carving and is fixed on the engraving machine on ground
Human body and a set of central controller, the mobile fixed system of central controller controls carving and engraving machine human body；
The central point of Sculpture robot body bottom portion is located at using the central point of the mobile fixed system pedestal of carving as the seat of dot
On parameter；
The engraving machine human body includes pedestal, and the rotation oscillating arm mechanisms being installed on pedestal, rotation oscillating arm mechanisms end
End connect moving parts connection with engraving machine, and engraving machine is installed on engraving machine connection moving parts；
The mobile fixed system of the carving includes pedestal, is provided with the parallel boss of multiple groups on pedestal along its length, and every two
Multiple drain hole groups corresponding with land drain are provided on pedestal between group platform；It is also flat on base length direction
Row is provided with multiple groups transverse shifting fixed cell, and two groups of longitudinal directions are arranged in parallel on two groups of transverse shifting fixed cells of outermost
Mobile fixed cell.
2. as described in claim a kind of large scale engraved stone machine people's assembly, characterized in that the rotation oscillating arm mechanisms packet
The first driving motor being mounted on the base is included, the output shaft of the first driving motor and the first swing arm connect firmly to form the first rotation
It is secondary；
Second driving motor is fixed in the first swing arm, and output shaft and the second swing arm connect firmly to form the second revolute pair；
Third driving motor is fixed in the second swing arm, and output shaft and third swing arm connect firmly to form third revolute pair；
4th driving motor is fixed in third swing arm, and output shaft and the 5th swing arm connect firmly to form the 4th revolute pair；
5th swing arm connect moving parts with engraving machine and connects firmly.
3. as claimed in claim 2 kind of large scale engraved stone machine people's assembly, characterized in that the engraving machine connection movement
Component includes the chassis connected firmly with the 5th swing arm, is distributed uniformly and circumferentially on chassis and is fixedly connected with three kinematic mount components
One end, top plate of the other end of three kinematic mount components respectively with support ring and in the middle part of support ring are connected；Movement branch
Support component connect to form spherical pair with top plate；Engraving machine is fixed on the upper surface of top plate.
4. as claimed in claim 3 kind of large scale engraved stone machine people's assembly, characterized in that each kinematic mount component is equal
It is vertically-mounted on the horizontal component end of L-type bottom plate to have the first lead screw support component, L-type floor level including a L-type bottom plate
The two sides of part along its length are respectively arranged with first straight line guide rail, and the vertical portion of one of L-type bottom plate is fixed on
On the chassis upper surface, kinematic mount Component driver motor, kinematic mount Component driver motor are installed on the lower surface of chassis
It is connect with one end of the first lead screw of the vertical portion for passing through L-type bottom plate, the other end the first lead screw support component of the first lead screw
On；
Supporting block is installed by screw thread on first lead screw, there are two the first sliding block group, two the first sliding blocks for the installation of supporting block lower part
Group, which respectively corresponds, is mounted on two line slideway auxiliaries of composition on two first straight line guide rails；
It is connected by pin shaft with drive link one end in supporting block and constitutes the 5th revolute pair, the drive link other end is equipped with spherical shape
Part, the spherical parts connect to form spherical pair with the top plate；
It is equipped with one on the riser side adjacent with kinematic mount Component driver motor and places the block that supporting block is hit.
5. as described in claim a kind of large scale engraved stone machine people's assembly, characterized in that the transverse shifting is fixed single
Member shares four groups, wherein two groups for being symmetrically arranged on pedestal two sides are the identical second transverse shifting fixed cell of structure, intermediate
Two groups are the identical first transverse shifting fixed cell of structure.
6. as claimed in claim 5 kind of large scale engraved stone machine people's assembly, characterized in that first transverse shifting is solid
Order member includes the first transverse shifting fixed cell driving motor being mounted on the base by motor base, the first transverse shifting
The output shaft of fixed cell driving motor passes through the second lead screw support component and is coupled with the second lead screw, the installation of the second lead screw other end
In in third lead screw support component；Second, third lead screw support component is both secured on pedestal, and is located at second straight line and is led
Rail both ends, second straight line guide rail is located at below the second lead screw, and is mounted on the bottom between two boss by guide rail installation pedestal
On seat, there are two the second sliding blocks to form line slideway auxiliary for installation on second straight line guide rail, is mounted on one in each sliding block group
Transverse shifting manipulator, while transverse shifting manipulator also passes through being threadably mounted on the second lead screw of being arranged thereon and constitutes lead screw
Pair of nut；
The first transverse shifting manipulator is T-shaped；
Oppositely arranged on pedestal, i.e., two groups of the first transverse shifting fixed cell drive of two group of first transverse shifting fixed cell
Dynamic motor is respectively arranged at the both ends of bottom plate convex platform.
7. as claimed in claim 5 kind of large scale engraved stone machine people's assembly, characterized in that second transverse shifting is solid
Order member includes the second transverse shifting fixed cell driving motor being mounted on the base by motor base, the second transverse shifting
The output shaft of fixed cell driving motor passes through the 4th lead screw support component and is coupled through clutch with third lead screw, and third lead screw is another
One end is installed in the 5th lead screw support component；Four, the 5th lead screw support components are both secured on pedestal, the second transverse shifting
The third linear guide parallel with third lead screw is provided on the outer wing base of fixed cell driving motor, in third linear guide
There are two third sliding blocks to form line slideway auxiliary for installation, and it is flat that a transverse shifting support is mounted in each third sliding block group
Platform, while Lateral mobile platform also passes through being threadably mounted on third lead screw of being arranged thereon and constitutes screw pair；
Oppositely arranged on pedestal, i.e., two groups of the second transverse shifting fixed cell drive of two group of second transverse shifting fixed cell
Dynamic motor is respectively arranged at the both ends of bottom plate.
8. as claimed in claim 7 kind of large scale engraved stone machine people's assembly, characterized in that the longitudinal movement is fixed single
Member includes the longitudinal movement fixed cell pedestal being fixed in transverse shifting support platform, and it is straight that the 4th is provided on base upper surface
Line guide rail and longitudinal movement fixed cell driving device, the longitudinal movement fixed cell driving device include being mounted on longitudinal shifting
The longitudinal movement driving motor of one end on dynamic fixed cell pedestal, the output shaft for vertically moving driving motor pass through the 6th lead screw branch
Support component is connected with the 4th lead screw one end, and the 4th lead screw other end is mounted in the 7th lead screw support component；Lead on 4th lead screw
Crossing screw thread installation, there are two longitudinal moving mechanical hands to constitute screw pair, and there are two Four-sliders for installation in the 4th linear guide
Line slideway auxiliary is formed, two longitudinal moving mechanical hands are also separately fixed in corresponding Four-slider group.
9. as claimed in claim 8 kind of large scale engraved stone machine people's assembly, characterized in that the support of the six, the 7th lead screws
Component is concordant with the both ends of the 4th linear guide respectively；Two groups of longitudinal movement fixed cells are oppositely arranged, i.e. two groups of longitudinal shifting
Dynamic driving motor is located at the two sides of bottom plate.
10. a kind of method using large scale engraved stone machine people's assembly engraving stone material, characterized in that the following steps are included:
Carving is placed on the boss of the mobile fixed system pedestal of carving by the first step；
Second step, two two longitudinal movement driving motors vertically moved in fixed cells rotate in the forward direction simultaneously, so that four
Longitudinal moving mechanical hand moves toward one another two-by-two, and carving is moved to the centre bit of the boss of the mobile fixed system pedestal of carving
It sets and clamps；
Third step, two clutches in the second transverse shifting fixed cell by the second transverse shifting fixed cell driving motor and
Third lead screw disconnects；
4th step, two the first transverse shifting fixed cell driving motors in two the first transverse shifting fixed cells are simultaneously just
To rotation, corresponding four transverse shifting manipulators move toward one another two-by-two, and carving is moved to the mobile fixed system of carving
It center and is clamped on base boss；
At this point, the bottom center of carving and the mobile fixed system base upper surface center of carving are overlapped, due to engraving machine
People's pedestal upper surface center and the mobile fixed system base upper surface center of carving are relative to one in Three Dimensional Ground coordinate system
Change in coordinate axis direction is overlapped, and the distance in three-dimensional system of coordinate in two outer reference axis is it is known that carving and table on Sculpture robot pedestal
Face center relative position is it is known that automatic positioning operation is completed；
5th step, according to the size of carving, shape-designing, central controller issues control signal, drives Sculpture robot sheet
Engraving operation is completed in body movement；
6th step, after the completion of carving operation, firstly, two the first transverse shiftings in two the first transverse shifting fixed cells are solid
Order member driving motor reversely rotates simultaneously, and corresponding four transverse shifting manipulators move round about two-by-two,
Secondly, two clutches in the second transverse shifting fixed cell are by the second transverse shifting fixed cell driving motor and
Three lead screws are connected；
Then, the two longitudinal movement driving motors vertically moved in fixed cell reversely rotate simultaneously, corresponding four longitudinal directions
Opposite direction moves mobile manipulator two-by-two；
Finally, the second transverse shifting fixed cell driving motor reversed rotation simultaneously in two the second transverse shifting fixed cells
Turn, so that two transverse shifting support platforms move in the opposite direction, carving carving is released.
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| CN201811153845.9A CN108973478B (en) | 2018-09-30 | 2018-09-30 | Large-scale stone carving robot assembly and stone carving method thereof |
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|---|---|---|---|
| CN201811153845.9A CN108973478B (en) | 2018-09-30 | 2018-09-30 | Large-scale stone carving robot assembly and stone carving method thereof |
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| CN108973478B CN108973478B (en) | 2023-07-25 |
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| CN109664660A (en) * | 2019-01-02 | 2019-04-23 | 昆明理工大学 | A kind of engraving machine of double drill bits |
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| CN112372079A (en) * | 2020-11-18 | 2021-02-19 | 重庆凯州标牌有限公司 | Carving machine for producing character pattern label |
| CN112918169A (en) * | 2021-02-26 | 2021-06-08 | 安庆师范大学 | Pattern carving robot |
| CN113771537A (en) * | 2021-09-10 | 2021-12-10 | 淮阴工学院 | Multi-degree-of-freedom intelligent mechanical arm and testing method thereof |
| CN114589681A (en) * | 2022-04-21 | 2022-06-07 | 北京化工大学 | Just, dismantle snakelike arm of modularization |
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| CN114589681B (en) * | 2022-04-21 | 2024-03-26 | 北京化工大学 | Modularized snake-shaped mechanical arm convenient to disassemble |
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