CN108973478B - Large-scale stone carving robot assembly and stone carving method thereof - Google Patents

Abstract

The invention discloses a large-scale stone carving robot assembly, which comprises a carving moving and fixing system arranged on the ground, a carving robot body and a set of central controllers, wherein the carving robot body and the set of central controllers are arranged on two opposite sides of the carving moving and fixing system, and the central controllers control the carving moving and fixing system and the carving robot body; the center point of the bottom of the engraving robot body is positioned on a coordinate axis taking the center point of the engraving object moving and fixing system base as a round point; the engraving robot body comprises a base and a rotating swing arm mechanism arranged on the base, the tail end of the rotating swing arm mechanism is connected with the engraving machine connecting motion assembly, and the engraving machine is arranged on the engraving machine connecting motion assembly. The invention also discloses a method for engraving stone by using the robot assembly. The robot assembly is compact in structure, easy to maintain and simple in use method, and can automatically position the sculptures and sculptures the stone automatically.

Description

Large-scale stone carving robot assembly and method for carving stone

technical field

The invention relates to a robot technology, and is especially suitable for a large-scale stone carving robot assembly and a stone carving method thereof.

Background technique

Stone carving, especially large-scale stone carving, has high requirements on the level of skilled workers. However, dust, noise and other pollutants generated during the carving process lead to frequent occurrence of occupational diseases such as pneumoconiosis and hearing loss. The stone carving industry is facing problems such as lack of professional and technical personnel and rising labor costs year by year, which seriously restricts the healthy and long-term development of the industry.

Chinese patent document 201510268112. X discloses a six-degree-of-freedom hybrid water-jet engraving robot whose structure includes a base, a column assembly, a lifting device, a two-degree-of-freedom rocker arm, a three-degree-of-freedom parallel tool holder and a jet engraving device. There is a water tank in the base, and the two-degree-of-freedom rocker arm can be lifted and lowered along the column under the drive of the lifting device. The three-degree-of-freedom parallel tool holder is set on the two-degree-of-freedom rocker arm and can move laterally along the two-degree-of-freedom rocker arm. The spray gun in the jet engraving device is installed on the three-degree-of-freedom parallel tool holder, and has six degrees of freedom in space. The engraving robot proposed in this patent document can realize processing operations such as blanking and cutting, engraving, chamfering, mirroring and trimming of acrylic products. The engraving robot proposed in this patent application has a small force during engraving and is not suitable for stone engraving.

Chinese patent document 201220306802.1 discloses a three-dimensional carving robot for stone craft products, the structure of which includes an end effector and a robot body. The end effector includes an electric spindle, a connecting seat, a tool handle and a diamond tool; the electric spindle, a connecting seat, a tool handle and a diamond tool are connected in sequence; the connecting seat is connected to the end of the robot body. The main body of the engraving robot includes the wrist, forearm, upper arm, slide seat, and servo motor and reducer at the joints; the wrist, forearm, large arm, and slide seat of the engraving robot are connected in sequence, and servo motors and reducers are arranged at the connected joints; the slide seat of the engraving robot is connected to the column screw pair. The column screw pair includes a ball screw, a motor, a column and a counterweight; the ball screw, the motor and the counterweight are all arranged on the column, and the counterweight and the robot body are arranged on both sides of the column. The engraving robot proposed in this patent document cannot automatically determine the relative position between the robot and the engraved object.

Chinese patent application 201710622724.3 discloses an engraving robot. Its structure includes an engraving rod, a distance sensor, an engraving rod connecting seat, a connecting rod, a first arm, a movable bolt, a second arm, a fixed seat, and a third arm. connected, the third arm is welded to the left side of the holder. The patent application is equipped with a distance sensor, which realizes that the engraving robot has the function of detecting the distance between the equipment and the engraved object when in use, and can precisely control the engraving depth of the equipment. However, the body of the engraving robot proposed in this patent application is a traditional serial mechanical arm, and its stiffness is slightly worse than that of a parallel or hybrid mechanical arm. Moreover, the engraving robot proposed in this patent application can control the engraving depth but cannot automatically determine the relative position between the equipment and the engraved object.

Chinese patent application 201710058326.3 discloses an engraving and palletizing robot. Its structure includes a base, a power device fixed on the base, a swing arm assembly driven by the power device, an actuator arranged at the front end of the swing arm assembly, and a balance assembly to keep the actuator balanced. The purpose of this patent application is to provide an engraving and palletizing robot for intelligent handling of stone slabs and plane engraving of stone slabs, which cannot complete three-dimensional engraving.

Chinese patent application 201710525733.0 discloses an intelligent engraving system with automatic loading and unloading functions. Its structure includes a robot body, a tool magazine system, a fixed platform, a horizontal iron, a material table, a workbench bracket, a workbench, a control cabinet, a loading and unloading mechanism, a module bracket, a screw-type module, a dust removal system, and a water chiller. The robot body is installed in the middle of the upper surface of the horizontal iron, the fixed platform is fixed on the workbench support, the workbench support is fixed on the upper surface of the horizontal iron, the material table is fixed on the ground, the workbench is fixed on the upper surface of the horizontal iron through the workbench support, and the control cabinet is arranged on the ground. The lead screw in the lead screw module is set horizontally, and the lead screw is connected with the servo motor through transmission. The lead screw module and the servo motor are connected to the module support frame through the module bracket as a whole. The warehouse system is fixed on the tool magazine support frame through the tool magazine support plate, the dust removal system is connected with the end effector of the robot body through the dust suction pipe, and the chiller is connected with the end effector of the robot body through the water pipe. The engraving robot proposed in this patent application is suitable for wood carving processing, but cannot complete the engraving task of large stone materials.

None of the above-mentioned engraving robots can realize large-scale stone engraving with autonomous positioning of engraving objects. In addition, the laser engraving machine uses laser as a processing tool for engraving processing, which has certain restrictions on processing materials, and it cannot process materials such as stone.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a large-scale stone carving robot assembly and its stone carving method. The robot assembly has a compact structure, is easy to maintain, and is simple to use. It can realize automatic positioning of carved objects and complete stone carving independently.

To achieve the above object, the present invention adopts the following technical solutions:

A large-scale stone engraving robot assembly, including a carving moving and fixing system installed on the ground provided with a drainage ditch, a carving robot body and a set of central controllers arranged on opposite sides of the carving moving and fixing system and fixed on the ground, and the central controller controls the carving moving and fixing system and the carving robot body;

The center point of the bottom of the engraving robot body is located on the coordinate axis with the center point of the engraving moving and fixing system base as the circle point;

The engraving robot body includes a base, and a rotating and swinging arm mechanism installed on the base. The end of the rotating and swinging arm mechanism is connected with the engraving machine connection movement assembly, and the engraving machine is installed on the engraving machine connection movement assembly.

The moving and fixing system for sculptures includes a base on which multiple groups of parallel bosses are arranged along the length direction, and a plurality of drain hole groups corresponding to the ground drainage ditch are arranged on the base between each two groups of platforms; multiple groups of laterally moving and fixing units are arranged in parallel on the length direction of the base, and two groups of longitudinally moving and fixing units are arranged in parallel on the outermost two groups of laterally moving and fixing units.

The rotating swing arm mechanism includes a first driving motor installed on the base, the output shaft of the first driving motor is fixedly connected with the first swing arm to form a first rotating pair;

The second driving motor is fixed on the first swing arm, and its output shaft is fixedly connected with the second swing arm to form a second rotating pair;

The third driving motor is fixed on the second swing arm, and its output shaft is fixedly connected with the third swing arm to form a third rotating pair;

The fourth drive motor is fixed on the third swing arm, and its output shaft is fixedly connected with the fifth swing arm to form a fourth rotating pair;

The fifth swing arm is fixedly connected with the engraving machine connecting motion assembly.

The connecting motion assembly of the engraving machine includes a chassis fixedly connected to the fifth swing arm, one end of the three motion support assemblies is evenly distributed and fixedly connected to the chassis along the circumferential direction, and the other ends of the three motion support assemblies are respectively connected to the support ring and the top plate located in the middle of the support ring; the motion support assembly is connected to the top plate to form a spherical pair.

The engraving machine is fixed on the upper surface of the top plate.

Each motion support assembly includes an L-shaped bottom plate, the end of the horizontal part of the L-shaped bottom plate is vertically equipped with a first screw support assembly, the horizontal portion of the L-shaped bottom plate is provided with first linear guide rails on both sides along its length direction, the vertical part of one of the L-shaped bottom plates is fixed on the upper surface of the chassis, and the lower surface of the chassis is equipped with a drive motor for the motion support assembly.

The support block is mounted on the first lead screw through threads, and the lower part of the support block is equipped with two first slider groups, and the two first slider groups are respectively installed on the two first linear guide rails to form two linear guide rail pairs;

The supporting block is connected with one end of the driving connecting rod through a pin shaft to form a fifth rotating pair, and the other end of the driving connecting rod is provided with a spherical piece, which is connected with the top plate to form a spherical pair.

On the side of the riser adjacent to the drive motor of the motion support assembly, a stopper for placing the impact of the support block is installed.

There are four groups of laterally moving and fixing units, wherein the two groups symmetrically installed on both sides of the base are the second laterally moving and fixing units with the same structure, and the middle two groups are the first laterally moving and fixing units with the same structure;

The first laterally moving and fixing unit includes a driving motor for the first laterally moving and fixing unit installed on the base through a motor base. The output shaft of the driving motor of the first laterally moving and fixing unit passes through the second screw support assembly and is connected to the second screw. As for the guide rail pair, a lateral movement manipulator is installed on each slide block group, and the transverse movement manipulator is also installed on the second lead screw through the threads provided thereon to form a lead screw nut pair.

The first laterally moving manipulator is T-shaped.

The two groups of first laterally moving and fixing units are oppositely arranged on the base, that is, the driving motors of the two groups of first laterally moving and fixing units are respectively arranged at both ends of the boss on the bottom plate.

The second laterally moving and fixing unit includes a second laterally moving and fixing unit drive motor mounted on the base through a motor base. The output shaft of the second laterally moving and fixing unit’s driving motor passes through the fourth lead screw support assembly and is connected to the third lead screw through a clutch. A laterally movable supporting platform is installed on each of them, and the laterally movable platform is also installed on the third lead screw through the thread provided on it to form a lead screw nut pair.

The two sets of second laterally moving and fixing units are oppositely arranged on the base, that is, the driving motors of the two groups of second laterally moving and fixing units are respectively arranged at both ends of the bottom plate.

The longitudinal movement and fixation unit includes a longitudinal movement and fixation unit base fixed on the transverse movement support platform, the base upper surface is provided with a fourth linear guide rail and a longitudinal movement and fixation unit driving device, the longitudinal movement and fixation unit driving device includes a longitudinal movement drive motor installed at one end of the longitudinal movement and fixation unit base, the output shaft of the longitudinal movement drive motor is connected to one end of the fourth lead screw through the sixth lead screw support assembly, and the other end of the fourth lead screw is installed on the seventh lead screw support assembly; Two fourth sliders are installed to form a pair of linear guide rails, and two longitudinal moving manipulators are respectively fixed on corresponding fourth slider groups.

The sixth and seventh lead screw support assemblies are respectively flush with the two ends of the fourth linear guide rail.

The two groups of longitudinally moving and fixing units are arranged in opposite directions, that is, the driving motors of the two groups of longitudinally moving are respectively located on both sides of the bottom plate.

The set of drain holes includes an upper surface drain groove, a lower surface drain groove and a drain hole. The upper surface drain groove is arranged between two adjacent bosses on the upper surface of the base; the lower surface drain groove is arranged on the lower surface of the base corresponding to the upper surface drain groove; the drain hole is arranged between the upper surface drain groove and the lower surface drain groove, and communicates with the upper and lower surface drain grooves.

A method for carving stone using a large-scale stone carving robot assembly, comprising the following steps:

The first step is to place the sculpture on the boss of the base of the sculpture mobile fixing system;

In the second step, the two longitudinal movement drive motors in the two longitudinal movement and fixing units rotate positively at the same time, so that the four longitudinal movement manipulators move toward each other two by two, and move the engraving to the center of the boss of the engraving moving and fixing system base and clamp it;

In the third step, the two clutches in the second lateral movement and fixation unit disconnect the drive motor of the second transverse movement and fixation unit from the third leading screw;

In the fourth step, two of the two first lateral moving and fixing units drive the motors to rotate in the forward direction at the same time, and the corresponding four lateral moving manipulators move toward each other two by two to move the carving to the center position on the boss of the carving moving and fixing system base and clamp it;

At this time, the center of the bottom surface of the sculpture coincides with the center of the upper surface of the base of the sculpture moving and fixing system. Since the center of the upper surface of the base of the sculpture robot base coincides with the center of the upper surface of the base of the sculpture moving and fixing system relative to a coordinate axis direction in the ground three-dimensional coordinate system, the distance on the two outer coordinate axes in the three-dimensional coordinate system is known, and the relative position of the sculpture and the center of the upper surface of the sculpture robot base is known, and the automatic positioning operation is completed;

The fifth step, according to the size and shape design of the carving, the central controller sends out a control signal to drive the movement of the carving robot body to complete the carving work;

In the sixth step, after the engraving operation is completed, firstly, the drive motors of the two first laterally mobile fixed units in the two first laterally mobile fixed units rotate in reverse directions at the same time, and the corresponding four laterally mobile manipulators move in opposite directions in pairs.

Secondly, the two clutches in the second laterally moving fixed unit connect the drive motor of the second laterally moved fixed unit and the third leading screw;

Then, the two longitudinal movement driving motors in the longitudinal movement fixing unit rotate in opposite directions at the same time, and the corresponding four longitudinal movement manipulators move in pairs in opposite directions;

Finally, the second laterally moving and fixing unit of the two second laterally moving and fixing units drives the motor to reversely rotate at the same time, so that the two laterally moving and supporting platforms move in opposite directions, and the carvings are released.

Compared with the prior art, the present invention has the following characteristics:

(1) The large-scale stone carving robot assembly proposed by the present invention adopts a hybrid structure, and the robot has a large load-carrying capacity and high mechanical rigidity.

(2) The large-scale stone carving robot assembly proposed by the present invention can realize automatic positioning of carved objects.

(3) The large-scale stone carving robot assembly proposed by the present invention can complete stone carvings of different sizes.

(4) The large-scale stone carving robot assembly proposed by the present invention has a high degree of automation and greatly reduces labor costs.

Description of drawings

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is a schematic diagram of the body structure of the engraving robot of the present invention;

Fig. 3 is a schematic structural diagram of the kinematic support system of the engraving machine of the present invention;

Fig. 4 is a schematic structural view of the sculpture moving and fixing system of the present invention;

Fig. 5a is a schematic diagram of the base structure of the sculpture moving and fixing system of the present invention;

Figure 5b is a cross-sectional view of A-A in Figure 5a;

Fig. 5c is an enlarged view of part B in Fig. 5b;

Fig. 6a is a schematic structural diagram of the first moving and fixing system in the direction of the sculpture according to the present invention;

Figure 6b and Figure 6c are a top view and a left view of Figure 6a, respectively;

Fig. 7a is a schematic structural diagram of the second moving and fixing system in the direction of the sculpture of the present invention;

Figure 7b and Figure 7c are a top view and a left view of Figure 7a, respectively;

Fig. 8 is a schematic diagram of the structure of the system for moving and fixing the sculpture in the direction of the object of the present invention.

Among them, 1. Carving robot body, 2. Carving moving and fixing system, 3. Central controller;

11. The base of the engraving robot, 12. The first rotating pair of the engraving robot, 13. The first swinging arm of the engraving robot, 14. The second rotating pair of the engraving robot, 15. The second swinging arm of the engraving robot, 16. The third rotating pair of the engraving robot, 17. The third swinging arm of the engraving robot, 18. The fourth rotating pair of the engraving robot, 19. The fifth swinging arm of the engraving robot, 110. The chassis of the engraving machine connection component, 111. The movement support system of the engraving machine, 112. The supporting ring of the engraving machine connection component .

1111. Drive motor of engraving machine motion support system, 1112. Support base of engraving machine motion support system, 1113. Anti-collision block, 1114. Engraving machine motion support system support block, 1115. Engraving machine motion support system drive connecting rod, 1116. The first lead screw, 1117. The first lead screw support assembly, 1118. The first connection end, 1119. The first linear guide rail, 11110. The first slider group, 111 11. Fifth rotating joint.

21. The base of the moving and fixing system of the sculpture, 22. The first moving and fixing system in the direction of the carving, 23. The second moving and fixing system in the direction of the carving, 24. The moving and fixing system in the direction of the carving;

211. The first motor mounting base, 212. The first rail mounting base, 213. Base, 214. The second motor mounting base, 215. The third rail mounting base, 216. The upper drain tank, 217. The lower drain tank, 218. Drain hole, 219. The third motor mounting base, 2110. The second rail mounting base, 2111. The fourth motor mounting base, 2112. The fourth rail mounting base, 2113 . Boss;

221. the first engraved object direction moves fixed manipulator, 222. the second engraved object direction moves fixed manipulator drive motor, 223. engraved object direction moves fixed manipulator drive motor, 224. the second screw support assembly, 225. the second slide block, 226. the second linear guide rail, 227. the second lead screw, 228. the third slide block, 229. the third lead screw support assembly;

231. carving thing direction mobile supporting platform, 232. carving thing direction moving supporting platform drive motor, 233. clutch, 234. the 4th leading screw support assembly, 235. the 4th slide block group, 236. the 5th slide block group, 237. the 3rd leading screw, 238. the 3rd linear guide rail, 239. the 5th leading screw support assembly;

241. The first engraving object direction moving fixed manipulator, 242. The sixth slide block, 243. The fourth linear guide rail, 244. The second engraving object direction moving fixed manipulator, 245. The seventh slide block, 246. The engraving object direction moving fixed system base, 247. The engraving object direction moving fixed manipulator drive motor, 248. The sixth lead screw support assembly, 249. The fourth lead screw, 2410. The seventh lead screw support assembly.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to cooperate with the content disclosed in the specification for those who are familiar with the technology to understand and read. They are not used to limit the conditions for the implementation of the present invention, so they have no technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope covered by the technical content disclosed in the present invention without affecting the functions and goals that can be achieved by the present invention. At the same time, terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and clarity, and are not used to limit the scope of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the present invention without substantive changes in the technical content.

As shown in FIG. 1 , a large-scale stone carving robot assembly of the present invention includes a carving robot body 1 , a sculpture moving and fixing system 2 , and a set of central controller 3 . The center of the upper surface of the engraving robot base 11 coincides with the center of the upper surface of the sculpture mobile and fixed system base 21 relative to the ground coordinate system along the direction, and the distance along the direction and direction is known; the central controller is installed on the ground.

The structure of the engraving robot body 1 is shown in Figure 2, including an engraving robot base 11, a first rotating pair 12 of an engraving robot, a first swing arm 13 of an engraving robot, a second rotating pair 14 of an engraving robot, a second swinging arm 15 of an engraving robot, a third rotating pair 16 of an engraving robot, a third swinging arm 17 of an engraving robot, a fourth rotating pair 18 of an engraving robot, a fifth swing arm 19 of an engraving robot, an engraving machine connecting assembly chassis 110, three engraving machine motion support systems 111, an engraving machine connecting assembly supporting ring 112, a Engraving machine 113, an engraving machine connection assembly top plate 114, three spherical pairs 115, a fourth drive motor 116 for an engraving robot, a third drive motor 117 for an engraving robot, a second drive motor 118 for an engraving robot, and a first drive motor 119 for an engraving robot.

The engraving robot base 11 is installed on the level ground; the first drive motor 119 body of the engraving robot is fixed on the engraving robot base 11, and its output shaft is fixedly connected with the first swing arm 13 of the engraving robot to form the first rotating pair 12 of the engraving robot; The third swing arm 17 of the engraving robot is fixedly connected to form the third rotating pair 16 of the engraving robot; the fourth drive motor 116 body of the engraving robot is fixed on the third swing arm 17 of the engraving robot, and its output shaft is fixedly connected with the fifth swing arm 19 of the engraving robot to form the fourth turning pair 18 of the engraving robot; The corresponding three engraving machine movement support system driving links 1115 in the support system 111 respectively form three spherical pairs 115 with the top plate 114 of the engraving machine connection assembly; the engraving machine 113 is fixed on the upper surface of the top plate 114 of the engraving machine connection assembly.

The structure of the engraving machine motion support system 111 is shown in Figure 3, including an engraving machine motion support system driving motor 1111, an engraving machine motion support system support base 1112, an anti-collision stopper 1113, an engraving machine motion support system support block 1114, an engraving machine motion support system drive link 1115, a first screw 1116, a first screw support assembly 1117, a first connection end 1118, two first linear guides 1119, and two first sliders Group 11110, a fifth rotary pair 11111.

The drive motor 1111 body of the engraving machine motion support system is fixed on the lower surface of the engraving machine connection assembly chassis 110; the engraving machine motion support system support base 1112 is L-shaped, and its vertical part is fixed on the upper surface of the engraving machine connection assembly chassis 110; 2, the first screw support assembly 1117 is fixed on the end of the horizontal part of the engraving machine motion support system support base 1112; one end of the first lead screw 1116 passes through the anti-collision block 1113 and the engraving machine motion support system support base 1112 vertical part, and is firmly connected with the engraving machine motion support system drive motor output shaft 1111, and the other end is fixed on the first lead screw support assembly 1117; two first linear guide rails 1119 are installed on the engraving machine motion support system support base 1112 On both sides of the upper surface in the length direction of the horizontal part, two first slider groups 11110 are respectively installed on two first linear guide rails 1119 to form two linear guide rail pairs; engraving machine motion support system support block 1114 is fixed on the two first slider groups 11110;

The structure of the sculpture moving and fixing system 2 is as shown in Figure 4, including a sculpture moving and fixing system base 21, a first moving and fixing system 22 in two sculpture directions, a second moving and fixing system 23 in two sculpture directions, and a moving and fixing system 24 in two sculpture directions;

The base 213 of the sculpture moving and fixing system base 21 is installed on the ground provided with a drainage ditch; the first moving and fixing system 22 in the direction of two carvings and the second moving and fixing system 23 in the direction of two carvings are installed on the moving and fixing system base 21;

Sculpture mobile fixing system base 21 structure as shown in Figure 5a, Figure 5b, Figure 5c, comprises a first motor installation base 211, a first guide rail installation base 212, a base 213, a second motor installation base 214, a third guide rail installation base 215, several upper surface drainage grooves 216, several lower surface drainage grooves 217, several drainage holes 218, a third motor installation base 219, a second guide rail installation base 2110, a fourth Motor installation base 2111, a fourth guide rail installation base 2112, several bosses 2113;

The first motor installation base 211 and the third motor installation base 219 are symmetrical about the center of the upper surface of the base 213, and both are fixed on the base 213; the second motor installation base 214 and the fourth motor installation base 2111 are symmetrical about the center of the upper surface of the base 213, and both are fixed on the base 213; Between the two bosses 2113 corresponding to the second motor installation base 214 on the 3; the third guide rail installation base 215 is installed on the outside of the third motor installation base 219 on the base 213; the fourth guide rail installation base 2112 is installed on the outside of the first motor installation base 211 on the base 213; The groove 217 is arranged on the lower surface of the base 213 corresponding to the drain groove 216 on the upper surface; the drain hole 218 is arranged between the drain groove 216 on the upper surface and the drain groove 217 on the lower surface, and communicates with the drain groove on the upper surface.

The structure of the first moving and fixing system 22 in the direction of the engraving is shown in Figures 6a, 6b and 6c. It includes a moving and fixing manipulator 221 in the direction of the first engraving, a moving and fixing manipulator 222 in the direction of a second engraving, a driving motor 223 for moving and fixing the manipulator in the direction of the engraving, a second screw support assembly 224, a second slider 225, a second linear guide rail 226, a second screw 227, a third slider 228, and a third screw support assembly 229;

The corresponding two engraving object direction moving fixed manipulator drive motors 223 in the first mobile fixing system 22 of the two engraving object directions are respectively installed on the second motor mounting base 214 and the fourth motor mounting base 2111; The bar supporting assembly 229 is all fixed on the base 213, and is respectively positioned at the two ends of the second linear guide rail 226; One end of the second leading screw 227 passes through the second leading screw supporting assembly 224 and the output shaft of the fixed manipulator drive motor 223 is fixedly connected in the direction of the engraving object, and the other end is installed on the third leading screw supporting assembly 229; Two leading screw nut pairs are formed on the second leading screw 227 .

The structure of the second moving and fixing system 23 in the direction of the sculpture is shown in Figure 7a, Figure 7b and Figure 7c, including two mobile support platforms 231 in the direction of the sculpture, a drive motor 232 for the movement support platform in the direction of the sculpture, a clutch 233, a fourth screw support assembly 234, a fourth slider group 235, a fifth slider group 236, a third screw 237, a third linear guide rail 238, and a fifth screw support assembly 239;

The moving support platform driving motor 232 in the second moving and fixing system 23 in the direction of the two sculptures is respectively fixed on the first motor installation base 211 and the third motor installation base 219; the corresponding third linear guide rail 238 is fixed on the third guide rail installation base 215 and the fourth guide rail installation base 2112; the fourth slider group 235 and the fifth slider group 236 are installed on the third linear guide rail 238 to form two linear guide rail pairs; the fourth screw support assembly 234 and the fifth screw support assembly 239 are all fixed on the base 213, and are concentric with the output shaft of the 232 output shafts of the mobile supporting platform in the direction of the engraving; one end of the third leading screw 237 passes through the fourth leading screw supporting assembly 234, and is fixedly connected with the driving motor 232 of the supporting platform moving in the direction of the engraving through the clutch 233, and the other end is fixed on the fifth leading screw supporting assembly 239; On the top, two lead screw nut pairs are formed.

The moving and fixing system 24 in the direction of the engraving is as shown in Figure 8, comprising a first moving and fixing manipulator 241 in the direction of the engraving, a sixth slide block 242, a fourth linear guide rail 243, a moving and fixing manipulator 244 in the direction of a second engraving, a seventh slider 245, a moving and fixing system base 246 in the direction of an engraving, a drive motor 247 for moving and fixing the manipulator in the direction of an engraving, a sixth screw support assembly 248, a fourth lead screw 249, and a seventh lead screw support assembly 2410.

The bases 246 of the two moving and fixing systems in the direction of carvings are parallel, and are fixed on the moving supporting platform 231 corresponding to the second moving and fixing system 23 in the direction of the two carvings along the direction; the driving motors 247 of the moving and fixing manipulators in the direction of the two carvings are installed on the bases 246 of the moving and fixing systems in the direction of the two carvings; 245 is installed on the fourth linear guide rail 243 to form two linear guide rail pairs; the sixth lead screw support assembly 248 and the seventh lead screw support assembly 2410 are flush with the two ends of the fourth linear guide rail 243, and are concentric with the output shaft of the manipulator drive motor 247 for moving and fixing the direction of the sculpture, and are fixed on the base 246 of the system for moving and fixing the direction of the sculpture; Fixed on the seventh lead screw support assembly 2410; the first fixed manipulator 241 moving in the direction of the engraving, and the second moving fixed manipulator 244 in the direction of the engraving are respectively fixed on the sixth slider 242 and the seventh slider 245, and then reversely installed on the fourth lead screw 249 to form two lead screw nut pairs.

The automatic positioning and engraving work process of the large-scale stone engraving robot assembly of the present invention mainly includes the following five steps:

In the first step, the sculpture is placed on the boss 2113 of the base 21 of the sculpture mobile fixing system;

In the second step, the drive motors 247 of the moving and fixing manipulators in the two directions moving and fixing systems 24 are forwardly rotated at the same time, so that the two first moving and fixing manipulators 241 and the two second moving and fixing manipulators 244 move in opposite directions at the same time, and the carvings are moved to the central position of the boss 2113 direction of the moving and fixing system base 21 of the carvings and clamped;

In the third step, the two clutches 233 in the second moving and fixing system 23 in the directions of the two engravings disconnect the driving motor 232 and the third lead screw 237 of moving and fixing the manipulator in the direction of the engraving;

In the fourth step, when the drive motors 223 of the two moving and fixing manipulators in the first moving and fixing system 22 in the direction of the two carvings are rotating in the forward direction at the same time, the corresponding two first moving and fixing manipulators 221 in the direction of the carvings and the two second moving and fixing manipulators 222 in the direction of the carvings push the carvings and the moving and fixing systems 24 in the two directions move toward each other, and move the carvings to the central position in the direction of the convex platform 2113 of the moving and fixing system base 21 of the carvings and clamp them;

At this time, the center of the bottom surface of the carving coincides with the center of the upper surface of the base 21 of the moving and fixing system of the carving. Since the center of the upper surface of the engraving robot base 11 coincides with the center of the upper surface of the sculpture moving and fixing system base 21 relative to the ground coordinate system along the direction, the distance along the direction and the direction are known, and the relative position of the engraving object and the center of the upper surface of the engraving robot base 11 is known, and the automatic positioning operation is completed.

In the fifth step, according to the size and shape design of the sculpture, the central controller 3 sends a control signal to drive the sculpture robot body 1 to complete the sculpture operation.

After the engraving operation is completed, at first, the two engraving object direction moving fixed manipulator drive motors 223 in the first mobile fixing system 22 of the two engraving object directions rotate in reverse, and the corresponding two first engraving object direction moving fixed manipulators 221 and the two second engraving object direction moving fixed manipulators 222 move in opposite directions; The moving and fixing manipulator drive motors 247 in the two directions of the two carvings rotate in opposite directions at the same time, so that the two first carvings move and fix the manipulators 241 and the two second carvings move and fix the manipulators 244 and move in opposite directions at the same time; finally, the carvings in the second moving and fixing system 23 in the two carvings move the support platform driving motor 232 in the opposite direction at the same time, so that the two carvings move the supporting platform 231 in the opposite direction, and the carvings are released.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, various modifications or deformations that those skilled in the art can make without creative labor are still within the protection scope of the present invention.

Claims (8)

1. The large-scale stone carving robot assembly is characterized by comprising a carving moving and fixing system arranged on the ground with a drainage ditch, a carving robot body and a set of central controllers, wherein the carving robot body and the set of central controllers are arranged on two opposite sides of the carving moving and fixing system and fixed on the ground, and the central controllers control the carving moving and fixing system and the carving robot body;

the center point of the bottom of the engraving robot body is positioned on a coordinate axis taking the center point of the engraving object moving and fixing system base as a round point;

the engraving robot body comprises a base and a rotating swing arm mechanism arranged on the base, the tail end of the rotating swing arm mechanism is connected with an engraving machine connecting motion assembly, and the engraving machine is arranged on the engraving machine connecting motion assembly;

the engraving article moving and fixing system comprises a base, wherein a plurality of groups of parallel bosses are arranged on the base along the length direction, and a plurality of drain hole groups corresponding to the ground drainage ditches are arranged on the base between every two groups of bosses; a plurality of groups of transverse moving fixing units are also arranged in parallel in the length direction of the base, and two groups of longitudinal moving fixing units are arranged on the two groups of transverse moving fixing units at the outermost side in parallel;

The rotating swing arm mechanism comprises a first driving motor arranged on the base, and an output shaft of the first driving motor is fixedly connected with the first swing arm to form a first rotating pair;

the second driving motor is fixed on the first swing arm, and an output shaft of the second driving motor is fixedly connected with the second swing arm to form a second revolute pair;

the third driving motor is fixed on the second swing arm, and an output shaft of the third driving motor is fixedly connected with the third swing arm to form a third revolute pair;

the fourth driving motor is fixed on the third swing arm, and an output shaft of the fourth driving motor is fixedly connected with the fifth swing arm to form a fourth revolute pair;

the fifth swing arm is fixedly connected with the engraving machine connecting motion assembly;

the four groups of transverse moving fixing units are arranged symmetrically on two sides of the base, wherein the two groups of transverse moving fixing units are second transverse moving fixing units with the same structure, and the two middle groups of transverse moving fixing units are first transverse moving fixing units with the same structure.

2. The large-scale stone carving robot assembly according to claim 1, wherein the carving machine connecting motion assembly comprises a chassis fixedly connected with the fifth swing arm, one ends of three motion support assemblies are uniformly distributed and fixedly connected on the chassis along the circumferential direction, and the other ends of the three motion support assemblies are respectively connected with a support ring and a top disc positioned in the middle of the support ring; the motion supporting component is connected with the top disc to form a spherical pair; the engraver is fixed on the upper surface of top disk.

3. The large-scale stone carving robot assembly according to claim 2, wherein each motion supporting component comprises an L-shaped bottom plate, a first screw rod supporting component is vertically arranged at the tail end of the horizontal part of the L-shaped bottom plate, first linear guide rails are respectively arranged at two sides of the horizontal part of the L-shaped bottom plate along the length direction of the horizontal part of the L-shaped bottom plate, the vertical part of one L-shaped bottom plate is fixed on the upper surface of the chassis, a motion supporting component driving motor is arranged on the lower surface of the chassis, the motion supporting component driving motor is connected with one end of a first screw rod penetrating through the vertical part of the L-shaped bottom plate, and the other end of the first screw rod is arranged on the first screw rod supporting component;

the first lead screw is provided with a supporting block through threads, two first sliding block groups are arranged at the lower part of the supporting block, and the two first sliding block groups are respectively and correspondingly arranged on the two first linear guide rails to form two linear guide rail pairs;

the supporting block is connected with one end of a driving connecting rod through a pin shaft to form a fifth revolute pair, the other end of the driving connecting rod is provided with a spherical part, and the spherical part is connected with the top disc to form a spherical pair;

a stop block for placing the impact of the supporting block is arranged on the side surface of the vertical plate adjacent to the driving motor of the motion supporting component.

4. The stone carving robot assembly of claim 3 wherein the first lateral movement fixation unit includes a first lateral movement fixation unit drive motor mounted on the base through a motor base, an output shaft of the first lateral movement fixation unit drive motor passing through a second screw support assembly coupled to a second screw, the other end of the second screw being mounted on a third screw support assembly; the second and third screw rod supporting components are fixed on the base and are respectively positioned at two ends of a second linear guide rail, the second linear guide rail is positioned below the second screw rod and is arranged on the base between two bosses through a guide rail mounting base, two second sliding blocks are arranged on the second linear guide rail to form a linear guide rail pair, each sliding block group is provided with a transverse moving manipulator, and meanwhile, the transverse moving manipulator is also arranged on the second screw rod through threads arranged on the transverse moving manipulator to form a screw nut pair;

the transverse moving manipulator is T-shaped;

the two groups of first transverse moving fixing units are reversely arranged on the base, namely, the two groups of first transverse moving fixing unit driving motors are respectively arranged at two ends of the boss on the bottom plate.

5. The stone carving robot assembly of claim 4 wherein the second lateral movement fixation unit includes a second lateral movement fixation unit drive motor mounted on the base through a motor base, an output shaft of the second lateral movement fixation unit drive motor passing through a fourth screw support assembly and coupled to a third screw through a clutch, the other end of the third screw being mounted on a fifth screw support assembly; the fourth screw rod supporting component and the fifth screw rod supporting component are fixed on the base, a third linear guide rail parallel to the third screw rod is arranged on the outer base of the driving motor of the second transverse movement fixing unit, two third sliding blocks are arranged on the third linear guide rail to form a linear guide rail pair, a transverse movement supporting platform is arranged on each third sliding block group, and meanwhile, the transverse movement supporting platform is also arranged on the third screw rod through threads arranged on the transverse movement supporting platform to form a screw rod nut pair;

the two groups of second transverse moving fixing units are reversely arranged on the base, namely, the two groups of second transverse moving fixing unit driving motors are respectively arranged at two ends of the bottom plate.

6. The large-scale stone carving robot assembly according to claim 5, wherein the longitudinal moving fixing unit comprises a longitudinal moving fixing unit base fixed on the transverse moving supporting platform, a fourth linear guide rail and a longitudinal moving fixing unit driving device are arranged on the upper surface of the base, the longitudinal moving fixing unit driving device comprises a longitudinal moving driving motor arranged at one end of the longitudinal moving fixing unit base, an output shaft of the longitudinal moving driving motor passes through a sixth screw supporting component to be connected with one end of a fourth screw, and the other end of the fourth screw is arranged on a seventh screw supporting component; the fourth screw rod is provided with two longitudinal moving manipulators through threads to form a screw rod nut pair, the fourth linear guide rail is provided with two fourth sliding blocks to form a linear guide rail pair, and the two longitudinal moving manipulators are respectively fixed on the corresponding fourth sliding block groups.

7. The large-scale stone carving robot assembly of claim 6 wherein the sixth and seventh lead screw support assemblies are respectively flush with the two ends of the fourth linear guide rail; the two groups of longitudinal moving fixing units are reversely arranged, namely, the two groups of longitudinal moving driving motors are respectively positioned at two sides of the bottom plate.

8. A method of engraving stone material in a large-scale stone engraving robot assembly as recited in claim 7, comprising the steps of:

firstly, placing an engraving object on a boss of a base of an engraving object moving and fixing system;

secondly, two longitudinal movement driving motors in the two longitudinal movement fixing units simultaneously rotate in the forward direction, so that the four longitudinal movement manipulators move in pairs, and the engraving object is moved to the center position of a boss of the engraving object movement fixing system base and clamped;

the third step, two clutches in the second transverse moving fixed unit disconnect the second transverse moving fixed unit driving motor from the third screw rod;

fourthly, driving motors of two first transverse moving fixing units in the two first transverse moving fixing units to rotate positively simultaneously, enabling corresponding four transverse moving manipulators to move in pairs, and moving the carving object to the center position on a boss of a base of the carving object moving fixing system and clamping the carving object;

At this time, the center of the bottom surface of the carving and the center of the upper surface of the base of the carving moving and fixing system are overlapped, and as the center of the upper surface of the base of the carving robot is overlapped with the center of the upper surface of the base of the carving moving and fixing system relative to one coordinate axis direction in a three-dimensional coordinate system of the ground, the distance on the other coordinate axis in the three-dimensional coordinate system is known, the relative positions of the carving and the center of the upper surface of the base of the carving robot are known, and the automatic positioning operation is completed;

fifthly, according to the size and the modeling design of the carving object, the central controller sends out a control signal to drive the carving robot body to act, so that the carving operation is completed;

sixthly, after the engraving operation is completed, firstly, the two first transverse moving fixing unit driving motors in the two first transverse moving fixing units simultaneously rotate reversely, the corresponding four transverse moving manipulators move in opposite directions in pairs,

secondly, two clutches in the second transverse moving and fixing unit connect the second transverse moving and fixing unit driving motor with a third screw rod;

then, two longitudinal movement driving motors in the longitudinal movement fixing unit simultaneously reversely rotate, and the corresponding four longitudinal movement manipulators move in opposite directions;

Finally, the second transverse moving fixed unit driving motors in the two second transverse moving fixed units simultaneously rotate reversely, so that the two transverse moving support platforms move in opposite directions, and the sculptures are released.