CN108973478B - Large-scale stone carving robot assembly and stone carving method thereof - Google Patents
Large-scale stone carving robot assembly and stone carving method thereof Download PDFInfo
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- CN108973478B CN108973478B CN201811153845.9A CN201811153845A CN108973478B CN 108973478 B CN108973478 B CN 108973478B CN 201811153845 A CN201811153845 A CN 201811153845A CN 108973478 B CN108973478 B CN 108973478B
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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
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- 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
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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
- 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 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
Technical Field
The invention relates to a robot technology, in particular to a large-scale stone carving robot assembly and a stone carving method thereof.
Background
Stone engraving, especially large stone engraving, has high requirements on the level of technical workers, however, dust, noise and other pollutants generated in the engraving process cause frequent occupational diseases such as pneumoconiosis, hearing impairment and the like. The stone carving industry faces the problems of lack of professional technical personnel, rising of labor cost year by year and the like, and severely restricts the healthy long-term development of the industry.
Chinese patent document 201510268112X discloses a six-degree-of-freedom series-parallel water jet engraving robot, which structurally comprises a base, a column assembly, a lifting device, a two-degree-of-freedom rocker arm, a three-degree-of-freedom parallel tool rest and a jet engraving device. The base is internally provided with a water tank, the two-degree-of-freedom rocker arm can be lifted along the upright post under the drive of the lifting device, the three-degree-of-freedom parallel knife rest is sleeved on the two-degree-of-freedom rocker arm and can transversely move along the two-degree-of-freedom rocker arm, and the spray gun in the jet carving device is arranged on the three-degree-of-freedom parallel knife rest and has six degrees of freedom of movement. The engraving robot provided by the patent document can realize the processing operations of cutting, engraving, chamfering, building mirror, trimming and the like on the acrylic product, and the engraving robot provided by the patent application has small acting force during engraving operation and is not suitable for stone engraving.
Chinese patent document 201220306802.1 discloses a stone stereoscopic handicraft carving robot, the structure of which comprises an end effector and a robot body. The end effector comprises an electric spindle, a connecting seat, a cutter handle and a diamond cutter; the electric spindle, the connecting seat, the tool shank and the diamond tool are connected in sequence; the connecting seat is connected with the tail end of the robot body. The engraving robot body comprises a wrist, a forearm, a big arm, a slide carriage seat, a servo motor at a joint and a speed reducer; the engraving robot wrist, the forearm, the big arm and the slide carriage seat are connected in sequence, and a servo motor and a speed reducer are arranged at the joint of the engraving robot wrist, the forearm, the big arm and the slide carriage seat; the engraving robot slide carriage seat is connected with the upright screw pair. The upright post screw pair comprises a ball screw, a motor, an upright post and a counterweight; ball, motor and counter weight all set up on the stand, and counter weight and robot body divide and list in the both sides of stand. The engraving robot proposed in this patent document cannot automatically determine the relative position between the robot and the engraving object.
Chinese patent application 201710622724.3 discloses an engraving robot, its structure includes sculpture pole, distance sensor, sculpture pole connecting seat, the connecting rod, first support arm, movable bolt, the second support arm, the fixing base, the third support arm, the sculpture pole is connected in the lower extreme surface of sculpture pole connecting seat, the inside of sculpture pole connecting seat is equipped with distance sensor, the connecting rod is connected in the right side of sculpture pole connecting seat, the left side of first support arm is connected with the connecting rod, first support arm is connected through movable bolt with the second support arm, the second support arm is connected with the third support arm, the third support arm welds in the left side of fixing base. The device is provided with the distance sensor, so that the carving robot has the function of detecting the distance between the device and the carving object when in use, and the carving depth of the device can be accurately controlled. However, the engraving robot body proposed by the patent application is a traditional serial mechanical arm, the rigidity is slightly inferior to that of a parallel or series-parallel mechanical arm, and the engraving robot proposed by the patent application can control the engraving depth but cannot automatically determine the relative position between the equipment and the engraving object.
The utility model provides a 201710058326.3 discloses an sculpture palletizing robot, its structure includes the base, sets firmly the power device on the base, by power device driven swing arm assembly, set up the executive device and keep the balanced subassembly of executive device at swing arm assembly front end, executive device includes that the money connects at the motor mount pad of swing arm assembly front end, sets firmly the execution motor on the motor mount pad and by execution motor drive pivoted sucking disc subassembly, still be equipped with plane sculpture subassembly on the motor mount pad. The object of this patent application is to provide an engraving palletizing robot for intelligent carrying 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 feeding and discharging functions, which structurally comprises a robot body, a tool magazine system, a fixed platform, ground flat iron, a material table, a workbench bracket, a workbench, a control cabinet, a feeding and discharging mechanism, a module bracket, a screw type module, a dust removal system and a water chiller. The robot body is installed at the middle part of the upper surface of the ground level iron, the fixed platform is fixed on the workbench support, the workbench support is fixed on the upper surface of the ground level iron, the material table is fixed on the ground, the workbench is fixed on the upper surface of the ground level iron through the workbench support, the control cabinet is arranged on the ground, and the control cabinet is respectively connected with the power input end and the signal input end of the robot body through the power line and the signal line. The screw rod level in the screw type module sets up, the screw rod is connected with servo motor transmission, screw type module is whole to be connected with the module support frame through the module support with servo motor, the stiff end of screw type module passes through the strengthening rib to be fixed on the workstation, the aluminium alloy passes through the connecting plate to be fixed on the movable end of screw type module, the aluminium alloy passes through connecting plate one and is connected with the cylinder body of cylinder, the piston rod lower extreme of cylinder passes through connecting plate two and is connected with the sponge sucking disc, four-jaw centering anchor clamps are fixed on the workstation, the tool magazine system passes through the tool magazine backup pad to be fixed on the tool magazine support frame, dust pelletizing system passes through dust absorption trachea and the end effector intercommunication of robot body, the cold water machine passes through the water pipe and communicates with the end effector of robot body. The carving robot provided by the patent application is suitable for wood carving processing and can not finish the carving task of large-scale stone.
The carving robot can not realize the autonomous positioning of the carving object for carving the large stone. In addition, the laser engraving machine adopts laser as a processing tool to carry out engraving processing, has a certain limit on processing materials, and cannot process materials such as stone materials.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a large-scale stone carving robot assembly and a stone carving method thereof.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the large-scale stone carving robot assembly comprises 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 are 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, wherein 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 ground drainage ditches are arranged on the base between every two groups of platforms; the base is also provided with a plurality of groups of transverse moving fixing units in parallel in the length direction, 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 engraving 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 the 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.
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 the 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.
The four groups of transverse moving fixing units are respectively arranged at two sides of the base, wherein two groups of transverse moving fixing units which are symmetrically arranged at two sides of the base 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;
The first transverse moving fixing unit comprises a first transverse moving fixing unit driving motor which is arranged on the base through a motor base, an output shaft of the first transverse moving fixing unit driving motor passes through the second screw rod supporting assembly to be connected with the second screw rod, and the other end of the second screw rod is arranged on the third screw rod supporting assembly; the second and third screw rod supporting components are fixed on the base and are respectively positioned at two ends of the second linear guide rail, the second linear guide rail is positioned below the second screw rod and is arranged on the base between the two bosses through the 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 the transverse moving manipulator is arranged on the second screw rod through threads arranged on the transverse moving manipulator to form a screw nut pair.
The first 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.
The second transverse moving fixing unit comprises a second transverse moving fixing unit driving motor which is arranged on the base through a motor base, an output shaft of the second transverse moving fixing unit driving motor passes through the fourth screw rod supporting component and is connected with a third screw rod through a clutch, and the other end of the third screw rod is arranged on the fifth screw rod supporting component; 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, each third sliding block group is provided with a transverse movement supporting platform, and meanwhile the transverse movement platform is further arranged on the third screw rod through threads arranged on the transverse movement supporting platform to form a screw-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.
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 penetrates through a sixth screw rod supporting component to be connected with one end of a fourth screw rod, and the other end of the fourth screw rod is arranged on a seventh screw rod 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.
And the sixth screw rod supporting component and the seventh screw rod supporting component 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.
The water draining hole group comprises an upper surface water draining groove, a lower surface water draining groove and water draining holes, and the upper surface water draining groove is arranged between two adjacent bosses on the upper surface of the base; the lower surface water draining groove is arranged on the lower surface of the base and corresponds to the upper surface water draining groove; the water drain hole is arranged between the upper surface water drain groove and the lower surface water drain groove and communicated with the upper surface water drain groove and the lower surface water drain groove.
A method of engraving stone using a large scale stone engraving robot assembly, 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 distances on two outer coordinate axes in the three-dimensional coordinate system are 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 fixing unit driving motors in the two second transverse moving fixing units simultaneously rotate reversely, so that the two transverse moving supporting platforms move in opposite directions, and the engraving objects are released.
Compared with the prior art, the invention has the following characteristics:
(1) The large-scale stone carving robot assembly provided by the invention adopts a series-parallel structure, and has the advantages of larger bearing capacity and higher mechanical rigidity.
(2) The large-scale stone carving robot assembly provided by the invention can realize automatic positioning of the carving.
(3) The large-scale stone carving robot assembly provided by the invention can finish stone carving of different sizes.
(4) The large-scale stone carving robot assembly provided by the invention has high automation degree and greatly reduces labor cost.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the engraving robot body structure of the present invention;
FIG. 3 is a schematic diagram of the motion support system of the engraving machine of the present invention;
FIG. 4 is a schematic diagram of a engraving mobile securing system of the present invention;
FIG. 5a is a schematic view of the base structure of the engraving mobile securing system of the present invention;
FIG. 5b is a cross-sectional view taken along line A-A of FIG. 5 a;
FIG. 5c is an enlarged view of portion B of FIG. 5B;
FIG. 6a is a schematic diagram of a first mobile fixture system in the direction of a carving object according to the present invention;
FIGS. 6b and 6c are top and left views, respectively, of FIG. 6 a;
FIG. 7a is a schematic diagram of a second system for moving and fixing a carving object in the direction of the present invention;
fig. 7b, 7c are top and left views, respectively, of fig. 7 a;
fig. 8 is a schematic diagram of a carving direction movement fixing system of the present invention.
The system comprises a carving robot body, a carving moving and fixing system and a central controller, wherein the carving robot body, the carving moving and fixing system and the central controller are respectively arranged in the carving robot body, the carving moving and fixing system and the central controller;
11. the engraving robot base 12, the engraving robot first rotating pair 13, the engraving robot first swing arm 14, the engraving robot second rotating pair 15, the engraving robot second swing arm 16, the engraving robot third rotating pair 17, the engraving robot third swing arm 18, the engraving robot fourth rotating pair 19, the engraving robot fifth swing arm, 110, a carving machine connecting assembly chassis, 111, a carving machine movement supporting system, 112, a carving machine connecting assembly supporting ring, 113, a carving machine, 114, a carving machine connecting assembly top plate, 115, a spherical pair, 116, a carving robot fourth driving motor, 117, a carving robot third driving motor, 118, a carving robot second driving motor, 119, and a carving robot first driving motor;
1111. The engraver motion support system drive motor 1112, the engraver motion support system support base 1113, the anti-bump stop 1114, the engraver motion support system support block 1115, the engraver motion support system drive link 1116, the first lead screw, 1117, the first lead screw support assembly 1118, the first coupling end, 1119, the first linear guide, 11110, the first slider group, 11111, the fifth revolute pair.
21. A carving movement fixing system base 22, a carving direction first movement fixing system 23, a carving direction second movement fixing system 24, and a carving direction movement fixing system;
211. first motor mounting base 212, first rail mounting base 213, base 214, second motor mounting base 215, third rail mounting base 216, upper drain tank 217, lower drain tank 218, drain hole 219, third motor mounting base 2110, second rail mounting base 2111, fourth motor mounting base 2112, fourth rail mounting base 2113, boss;
221. the first carving direction moving fixed manipulator, 222, the second carving direction moving fixed manipulator, 223, the carving direction moving fixed manipulator driving motor, 224, the second lead screw supporting component, 225, the second sliding block, 226, the second linear guide rail, 227, the second lead screw, 228, the third sliding block, 229 and the third lead screw supporting component;
231. The engraving object direction moving support platform 232, the engraving object direction moving support platform driving motor 233, a clutch 234, a fourth screw rod supporting component 235, a fourth sliding block set 236, a fifth sliding block set 237, a third screw rod 238, a third linear guide rail 239 and a fifth screw rod supporting component;
241. the first engravings move stationary robot, 242, sixth slider, 243, fourth linear guide, 244, second engravings move stationary robot, 245, seventh slider, 246, engravings move stationary system base, 247, engravings move stationary robot drive motor, 248, sixth lead screw support assembly, 249, fourth lead screw, 2410, seventh lead screw support assembly.
Detailed Description
The invention will be further described with reference to the drawings and examples.
The structures, proportions, sizes, etc. shown in the drawings attached hereto are for illustration purposes only and are not intended to limit the scope of the invention, which is defined by the claims, but rather by the claims. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
As shown in fig. 1, a large-scale stone carving robot assembly of the present invention includes a carving robot body 1, a carving moving and fixing system 2, and a set of central controllers 3. The center of the upper surface of the engraving robot base 11 is overlapped with the center of the upper surface of the engraving object moving and fixing system base 21 along the direction relative to the ground coordinate system, and the distance along the direction and the direction are known; the central controller is installed on the ground.
The engraving robot body 1 is structured as shown in fig. 2, and comprises an engraving robot base 11, an engraving robot first revolute pair 12, an engraving robot first swinging arm 13, an engraving robot second revolute pair 14, an engraving robot second swinging arm 15, an engraving robot third revolute pair 16, an engraving robot third swinging arm 17, an engraving robot fourth revolute pair 18, an engraving robot fifth swinging arm 19, an engraving machine connecting component chassis 110, three engraving machine motion supporting systems 111, an engraving machine connecting component supporting ring 112, an engraving machine 113, an engraving machine connecting component top plate 114, three spherical pairs 115, an engraving robot fourth driving motor 116, an engraving robot third driving motor 117, an engraving robot second driving motor 118, and an engraving robot first driving motor 119.
The engraving robot base 11 is installed on a horizontal ground; the engraving robot first driving motor 119 body is fixed on the engraving robot base 11, and an output shaft thereof is fixedly connected with the engraving robot first swing arm 13 to form an engraving robot first rotating pair 12; the body of the second driving motor 118 of the engraving robot is fixed on the first swing arm 13 of the engraving robot, and the output shaft of the second driving motor is fixedly connected with the second swing arm 15 of the engraving robot to form a second revolute pair 14 of the engraving robot; the engraving robot third driving motor 117 is fixed on the engraving robot second swing arm 15, and the output shaft thereof is fixedly connected with the engraving robot third swing arm 17 to form the engraving robot third revolute pair 16; the engraving robot fourth driving motor 116 body is fixed on the engraving robot third swing arm 17, and the output shaft of the engraving robot fourth driving motor is fixedly connected with the engraving robot fifth swing arm 19 to form a engraving robot fourth turning pair 18; the fifth swing arm 19 of the engraving robot is fixedly connected with the engraving machine connecting component chassis 110; the three engraving machine motion supporting systems 111 are circularly axisymmetrically arranged in parallel between the engraving machine connecting component chassis 110 and the engraving machine connecting component supporting ring 112; corresponding three engraving machine motion support system drive links 1115 in the three engraving machine motion support systems 111 form three spherical pairs 115 with the engraving machine connection assembly top plate 114 respectively; the engraving machine 113 is fixed to the upper surface of the engraving machine coupling assembling top plate 114.
The structure of the engraving machine motion support system 111 is shown in fig. 3 and includes an engraving machine motion support system driving motor 1111, an engraving machine motion support system supporting base 1112, an anti-collision block 1113, an engraving machine motion support system supporting block 1114, an engraving machine motion support system driving connecting rod 1115, a first lead screw 1116, a first lead screw supporting assembly 1117, a first connecting end 1118, two first linear guide rails 1119, two first slider groups 11110, and a fifth rotating pair 11111.
The engraving machine motion supporting system driving motor 1111 body is fixed on the lower surface of the engraving machine connecting component chassis 110; the engraving machine motion supporting system supporting base 1112 is in an L shape, and the vertical part thereof is fixed on the upper surface of the engraving machine connecting component chassis 110; a first link end (i.e., horizontal portion end) 1118 of the engraver motion support system support base 1112 is secured to the lower surface of the engraver attachment assembly support ring 112; an anti-collision block 1113 is fixed on the inner wall of the vertical part of the engraving machine motion supporting system supporting base 1112, and a first screw rod supporting assembly 1117 is fixed on the end of the horizontal part of the engraving machine motion supporting system supporting base 1112; one end of the first screw 1116 passes through the anti-collision block 1113 and the vertical part of the engraving machine motion supporting system supporting base 1112 and is fixedly connected with the engraving machine motion supporting system driving motor output shaft 1111, and the other end is fixed on the first screw supporting component 1117; two first linear guide rails 1119 are mounted on both sides of the upper surface of the horizontal portion of the engraving machine motion support system support base 1112 in the length direction, and two first slider groups 11110 are respectively mounted on the two first linear guide rails 1119 to form two linear guide rail pairs; the engraving machine motion support system support block 1114 is fixed to two first slider groups 11110; the engraving machine motion support system drive link 1115 is fixedly coupled to the engraving machine motion support system support block 1114 to form a fifth revolute pair 11111.
The structure of the carving moving and fixing system 2 is shown in fig. 4, and comprises a carving moving and fixing system base 21, two carving direction first moving and fixing systems 22, two carving direction second moving and fixing systems 23 and two carving direction moving and fixing systems 24;
the base 213 of the engraving mobile fixing system base 21 is mounted on the ground provided with a drain; the two carving direction first moving and fixing systems 22 and the two carving direction second moving and fixing systems 23 are arranged on the carving moving and fixing system base 21; the two carving direction movement fixing systems 24 are parallel, wherein the two carving direction movement fixing system bases 246 are transversely fixed on the four carving direction movement supporting platforms 231 corresponding to the second carving direction movement fixing systems 23 along the direction.
The engraving mobile fixing system base 21 is structured as shown in fig. 5a, 5b, 5c, and includes a first motor mounting base 211, a first rail mounting base 212, a base 213, a second motor mounting base 214, a third rail mounting base 215, a plurality of upper surface drain grooves 216, a plurality of lower surface drain grooves 217, a plurality of drain holes 218, a third motor mounting base 219, a second rail mounting base 2110, a fourth motor mounting base 2111, a fourth rail mounting base 2112, and a plurality of bosses 2113;
The first motor mounting base 211 and the third motor mounting base 219 are centrally symmetrical with respect to the upper surface of the base 213, and both are fixed on the base 213; the second motor mounting base 214 and the fourth motor mounting base 2111 are centrally symmetrical about the upper surface of the base 213, both of which are fixed to the base 213; the first rail mounting base 212 is fixed between two bosses 2113 corresponding to the fourth motor mounting base 2111 on the base 213; the second rail mounting base 2110 is fixed between two bosses 2113 corresponding to the second motor mounting base 214 on the base 213; the third rail mounting base 215 is mounted on the base 213 outside of the third motor mounting base 219; the fourth rail mounting base 2112 is mounted on the base 213 outside of the first motor mounting base 211; the boss 2113 is fixed on the base 213 for placing the engraving; the upper surface water drain groove 216 is arranged between two adjacent bosses 2113 on the upper surface of the base 213; a lower surface drain groove 217 is provided on the lower surface of the base 213 in correspondence with the upper surface drain groove 216; a drain hole 218 is provided between the upper surface drain tank 216 and the lower surface drain tank 217, and communicates the upper and lower surface drain tanks.
The first carving direction moving and fixing system 22 is structured as shown in fig. 6a, 6b and 6c, and comprises a first carving direction moving and fixing manipulator 221, a second carving direction moving and fixing manipulator 222, a carving direction moving and fixing manipulator driving motor 223, a second lead screw supporting component 224, a second sliding block 225, a second linear guide rail 226, a second lead screw 227, a third sliding block 228 and a third lead screw supporting component 229;
The two corresponding engraving direction moving and fixing manipulator driving motors 223 in the two engraving direction first moving and fixing systems 22 are respectively installed on the second motor installation base 214 and the fourth motor installation base 2111; corresponding second linear guide rails 226 are mounted on the second guide rail mounting base 2110 and the first guide rail mounting base 212, respectively; the second slide block 225 and the third slide block 228 are installed on the second linear guide rail 226 to form two linear guide rail pairs; the second screw rod supporting assembly 224 and the third screw rod supporting assembly 229 are both fixed on the base 213 and are respectively positioned at two ends of the second linear guide rail 226; one end of the second screw 227 passes through the second screw support assembly 224 to be fixedly connected with an output shaft of the engraving object direction movement fixing manipulator driving motor 223, and the other end is mounted on the third screw support assembly 229; the first engraving direction moving and fixing manipulator 221 and the second engraving direction moving and fixing manipulator 222 are respectively fixed on a third slider 228 and a second slider 225, and then reversely mounted on a second screw 227 to constitute two screw-nut pairs.
The second carving direction moving and fixing system 23 is structured as shown in fig. 7a, 7b and 7c, and comprises two carving direction moving and supporting platforms 231, a carving direction moving and supporting platform driving motor 232, a clutch 233, a fourth screw rod supporting component 234, a fourth sliding block group 235, a fifth sliding block group 236, a third screw rod 237, a third linear guide rail 238 and a fifth screw rod supporting component 239;
The engraving direction moving support platform driving motors 232 in the two engraving direction second moving fixing systems 23 are respectively fixed on the first motor mounting base 211 and the third motor mounting base 219; corresponding third linear guide 238 is fixed to third guide mounting base 215 and fourth guide mounting base 2112; the fourth slider group 235 and the fifth slider group 236 are mounted on the third linear guide 238 to form two linear guide pairs; the fourth screw rod supporting assembly 234 and the fifth screw rod supporting assembly 239 are both fixed on the base 213 and concentric with the output shaft of the engraving object direction moving supporting platform driving motor 232; one end of the third screw 237 penetrates through the fourth screw supporting component 234 and is fixedly connected with the carving direction moving supporting platform driving motor 232 through the clutch 233, and the other end of the third screw 237 is fixed on the fifth screw supporting component 239; the two engraving object direction moving support platforms 231 are respectively fixed on the fourth slide block group 235 and the fifth slide block group 236, and then reversely arranged on the third screw rod 237 to form two screw rod nut pairs.
The engraving orientation moving and fixing system 24 is shown in fig. 8 and includes a first engraving orientation moving and fixing manipulator 241, a sixth slider 242, a fourth linear guide 243, a second engraving orientation moving and fixing manipulator 244, a seventh slider 245, an engraving orientation moving and fixing system base 246, an engraving orientation moving and fixing manipulator driving motor 247, a sixth screw supporting assembly 248, a fourth screw 249, and a seventh screw supporting assembly 2410.
The two engraving direction moving and fixing system bases 246 are parallel and transversely fixed on the engraving direction moving and supporting platform 231 corresponding to the second engraving direction moving and fixing system 23 along the direction; the two engraving direction moving and fixing manipulator driving motors 247 are installed on the two engraving direction moving and fixing system bases 246 in opposite directions; the corresponding fourth linear guide 243 is closely adjacent to the engraving direction moving and fixing manipulator driving motor 247 and is fixed on the engraving direction moving and fixing system base 246; the sixth slider 242 and the seventh slider 245 are mounted on the fourth linear guide 243 to constitute two linear guide pairs; the sixth screw rod supporting assembly 248 and the seventh screw rod supporting assembly 2410 are flush with the two ends of the fourth linear guide 243 and concentric with the output shaft of the engraving direction moving and fixing manipulator driving motor 247, and are fixed on the engraving direction moving and fixing system base 246; one end of the fourth screw 249 passes through the sixth screw supporting component 248 to be fixedly connected with an output shaft of the carving object direction moving and fixing mechanical arm driving motor 247, and the other end of the fourth screw 249 is fixed on the seventh screw supporting component 2410; the first engraving direction moving and fixing manipulator 241 and the second engraving direction moving and fixing manipulator 244 are respectively fixed on the sixth slider 242 and the seventh slider 245, and then reversely mounted on the fourth screw 249 to constitute two screw-nut pairs.
The automatic positioning and engraving working process of the large-scale stone engraving robot assembly engraving object mainly comprises the following five steps:
first, placing the engraving on the boss 2113 of the engraving movement fixing system base 21;
second, the two moving and fixing robot driving motors 247 in the two moving and fixing systems 24 rotate forward at the same time, so that the two first moving and fixing robots 241 and 244 move in opposite directions at the same time, and the engraving is moved to the center position of the boss 2113 of the base 21 of the moving and fixing system and clamped;
third, the two clutches 233 in the second moving and fixing system 23 for the two carving directions disconnect the driving motor 232 of the mechanical arm for moving and fixing the carving directions and the third lead screw 237;
fourth, when the two engraving direction moving and fixing manipulator driving motors 223 in the two engraving direction first moving and fixing systems 22 simultaneously rotate in the forward direction, the corresponding two first engraving direction moving and fixing manipulators 221 and two second engraving direction moving and fixing manipulators 222 push the engraving and two engraving direction moving and fixing systems 24 to move in opposite directions, so that the engraving is moved to the central position of the engraving moving and fixing system base 21 in the direction of the boss 2113 and clamped;
At this time, the center of the bottom surface of the engraving and the center of the upper surface of the engraving movement fixing system base 21 coincide. Since the center of the upper surface of the engraving robot base 11 and the center of the upper surface of the engraving object moving and fixing system base 21 are overlapped along the direction relative to the ground coordinate system, the distance along the direction and the direction are known, 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.
And fifthly, according to the size and the modeling design of the carving object, the central controller 3 sends out a control signal to drive the carving robot body 1 to act, so that the carving operation is completed.
After the engraving operation is completed, first, the two engraving direction moving and fixing manipulator driving motors 223 in the two engraving direction first moving and fixing systems 22 reversely rotate, and the corresponding two first engraving direction moving and fixing manipulators 221 and the corresponding two second engraving direction moving and fixing manipulators 222 move in opposite directions; secondly, the two clutches 233 in the two engraving direction second moving and fixing system 23 connect the engraving direction moving and fixing manipulator driving motor 223 and the second lead screw 227; then, the two-direction moving and fixing robot driving motors 247 in the two-engraving direction moving and fixing system 24 simultaneously rotate reversely, so that the two first engraving direction moving and fixing robots 241 and the two second engraving direction moving and fixing robots 244 simultaneously move in opposite directions; finally, the engraving direction moving support platform driving motor 232 in the two engraving direction second moving fixing system 23 simultaneously rotates reversely, so that the two engraving direction moving support platforms 231 move in opposite directions, and the engraving is released.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims 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.
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| CN109664660B (en) * | 2019-01-02 | 2023-09-01 | 昆明理工大学 | Engraving machine with double drill bits |
| CN110065332B (en) * | 2019-05-10 | 2024-03-15 | 河南英凯科技发展有限公司 | Stone carving machine |
| 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 |
| CN112918169B (en) * | 2021-02-26 | 2023-03-28 | 安庆师范大学 | Pattern carving robot |
| CN113771537B (en) * | 2021-09-10 | 2022-05-31 | 淮阴工学院 | Test method of multi-degree-of-freedom intelligent mechanical arm |
| 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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| CN104827812A (en) * | 2015-05-07 | 2015-08-12 | 郑建兵 | Three-dimensional vertical type carving machine |
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| CN101239530B (en) * | 2008-03-06 | 2011-07-20 | 吴善旺 | Stereo carving machine |
| CN104553558A (en) * | 2015-02-05 | 2015-04-29 | 沈阳建筑大学 | Carving machine with series-parallel structure |
| WO2018039893A1 (en) * | 2016-08-30 | 2018-03-08 | 陈海涛 | Multi-functional engraving machine |
| CN107225899B (en) * | 2017-07-17 | 2019-05-17 | 合肥卡星数控设备有限公司 | A kind of compact-sized automatic feeding type engraving machine |
| CN108327434A (en) * | 2018-04-25 | 2018-07-27 | 夏巧巧 | A kind of engraver tool provision for disengagement |
| CN208914872U (en) * | 2018-09-30 | 2019-05-31 | 山东交通学院 | Large scale engraved stone machine people's assembly |
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| CN104827812A (en) * | 2015-05-07 | 2015-08-12 | 郑建兵 | Three-dimensional vertical type carving machine |
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