CN111702486B - Modularization welding-grinding switching integrated tube processing numerical control robot - Google Patents
Modularization welding-grinding switching integrated tube processing numerical control robot Download PDFInfo
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- CN111702486B CN111702486B CN202010581330.XA CN202010581330A CN111702486B CN 111702486 B CN111702486 B CN 111702486B CN 202010581330 A CN202010581330 A CN 202010581330A CN 111702486 B CN111702486 B CN 111702486B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
Abstract
The invention relates to the technical field of robots, in particular to a pipe processing numerical control robot integrating modularized welding, grinding and switching, which comprises a processing table, a flat plate bottom frame, a rotating mechanism, a lifting mechanism, a horizontal moving mechanism, a turnover mechanism and a tool changing mechanism, wherein the rotating mechanism comprises a rotatable rotating table, the tool changing mechanism comprises a rotatable rotating disc, tool placing grooves are symmetrically arranged at the top of the rotating disc at intervals, a grinding clamping fixture and a welding gun clamping fixture are erected in each tool placing groove respectively, a grinding knife is arranged at the bottom of the grinding clamping fixture, a welding gun is arranged at the bottom of the welding gun clamping fixture, a tightening machine is arranged at one side of the rotating disc, the lifting mechanism comprises a lifting vertical plate, the horizontal moving mechanism comprises a horizontal plate, the turnover mechanism comprises a turnover plate capable of being turned over, a clamping connector is arranged at the bottom of the turnover plate, and the technical scheme can rapidly switch the grinding knife and the welding gun, the pipe fitting does not need to be transferred during polishing and welding, the cost is reduced, and the efficiency is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a modular welding-grinding switching integrated tube processing numerical control robot.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robot by the wide application in each industrial field such as electron, commodity circulation, chemical industry, Pipe fitting is the general name of the spare part that plays effects such as connection, control, diversion, reposition of redundant personnel, it is sealed, support in Pipe fitting course of working, need polish the welding to the Pipe fitting, traditional polishing welding can only be operated through two different equipment, the cost is higher, and waste time and energy, consequently, we have proposed a modularization weld mill and have switched integrative Pipe processing numerical control machine ware, in order to solve above-mentioned problem of proposing.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a tube processing numerical control robot integrating modularized welding, grinding and switching.
In order to solve the technical problems, the invention provides the following technical scheme: a pipe processing numerical control robot integrating modularized welding, grinding and switching comprises a processing table, a flat plate bottom frame, a rotating mechanism, a lifting mechanism, a horizontal moving mechanism, a turnover mechanism and a tool changing mechanism, wherein the flat plate bottom frame is positioned on one side of the processing table, the rotating mechanism and the tool changing mechanism are respectively arranged on two sides of the top of the flat plate bottom frame, the rotating mechanism comprises a rotatable rotating table, the tool changing mechanism comprises a rotatable rotating disc, tool placing grooves are symmetrically arranged on the top of the rotating disc at intervals, a grinding clamping fixture and a welding gun clamping fixture are respectively erected in each tool placing groove, a grinding tool is arranged at the bottom of the grinding clamping fixture, a welding gun is arranged at the bottom of the welding gun clamping fixture, a tightening machine is arranged on one side of the rotating disc, the lifting mechanism is vertically arranged on the table top of the rotating table, the lifting mechanism comprises a lifting vertical plate capable of lifting, and the horizontal moving mechanism is horizontally arranged on a vertical surface of the lifting vertical plate, the horizontal migration mechanism includes the horizontal plate that can horizontal migration, and tilting mechanism installs in the bottom of horizontal plate, and tilting mechanism is including the returning face plate that can overturn, and the bottom of returning face plate is provided with the joint head that can be connected with the cooperation of the joint tool of polishing and welder joint tool respectively.
Preferably, the joint includes the mounting panel, the spacing post of first spacing post and second, the mounting panel is the bottom of horizontal installation at the returning face plate, first spacing post is vertical bottom center department of installing at the mounting panel, the spacing post of second is vertical bottom center department of installing at first spacing post, the diameter of first spacing post is greater than the diameter of the spacing post of second, the bottom center department of the spacing post of second is equipped with the spacing jack that extends along the vertical direction of the spacing post of second, the bottom edge of first spacing post is equipped with the cambered surface, the upper end and the lower extreme of first spacing post are equipped with respectively along the inverted triangle grooving that first spacing post circumferencial direction distributes.
Preferably, the polishing clamping jig and the welding gun clamping jig both comprise a hollow cylindrical sleeve and four vertical abutting contact plates, a first partition plate which is horizontally arranged is arranged at the upper end of the inside of the cylindrical sleeve, a second partition plate which is horizontally arranged is arranged at the lower end of the inside of the cylindrical sleeve, a socket for a second limiting column to penetrate through is arranged at the center of the first partition plate, a positioning pin which can be inserted into a limiting jack arranged on the second limiting column is arranged at the center of the top of the second partition plate, the four vertical abutting contact plates are equidistantly distributed in the circumferential direction of the positioning pin, an inverted triangle which can be inserted into the second limiting column in a matched mode with each inverted triangle groove is arranged on each vertical abutting contact plate, sliding columns which are vertically arranged are arranged at the top and the bottom of each vertical abutting contact plate, and limiting sliding holes which are used for each sliding column to penetrate through and slide are arranged on the first partition plate and the second partition plate.
Preferably, every all the cover is equipped with the conflict lantern ring on the locating pin, and the top of the conflict lantern ring can be contradicted with the bottom of the spacing post of second and set up, and the inner circle of the conflict lantern ring is equipped with the first slider that two symmetries set up, is equipped with on the locating pin to be used for supplying gliding vertical chute about every first slider, and the below of the conflict lantern ring is equipped with the conflict spring, and the conflict lantern ring cover is established on the locating pin, and the top and the bottom of conflict spring can be contradicted with the bottom of the conflict lantern ring and the top of second baffle respectively and set up.
Preferably, the below center department of second baffle is equipped with the carousel that is the level setting, and the center department of carousel is equipped with the pivot that is vertical setting, and the top of pivot can be the pivoted respectively with the bottom insert the inside bottom of locating second baffle and cylinder cover, and the top edge of carousel is equipped with four hinge columns that are the cross and distribute, articulates respectively on every hinge column to be equipped with the articulated connecting rod that is the level setting, and the other end of every articulated connecting rod sets up with the traveller extension end hinge that every vertical conflict board bottom set up respectively.
Preferably, a threaded sleeve which is horizontally arranged is arranged on the peripheral wall of each cylindrical sleeve respectively, two ends of the threaded sleeve extend towards the inside and the outside of each cylindrical sleeve respectively, one end of the threaded sleeve extends towards the center of one of the vertical abutting contact plates, a bolt which is horizontally arranged is arranged on an inner ring of the threaded sleeve, the bolt is in threaded connection with the inner ring of the threaded sleeve, one end of the bolt can be rotatably inserted into the inner wall of one of the vertical abutting contact plates, the other end of the bolt penetrates through the inner ring of the threaded sleeve and extends towards the outside of the cylindrical sleeve, and a working end of the tightening machine is in butt joint with a working end of the bolt.
Preferably, tool changing mechanism still includes the cylinder, the rack, gear and first rotatory montant, first rotatory montant is vertical and can the pivoted insert establish with the top of dull and stereotyped chassis, the top of first rotatory montant is connected with the center department of rotary disk, the bottom downwardly extending of first rotatory montant, the gear is the extension end of horizontal installation at first rotatory montant, the rack is the one side that the level is located the gear, wheel and rack toothing sets up, the cylinder is the one end that the level is located the rack, the output of cylinder is connected with the one end of rack, one side of rack is equipped with the first track that is the level setting, be provided with on the lateral wall of rack and can be at the gliding second slider in first track, the bottom of connecting plate and dull and stereotyped chassis is passed through at first orbital top is connected.
Preferably, rotary mechanism still includes first motor, the rotatory montant of second, first awl tooth and second awl tooth, the rotatory montant of second is vertical and can the pivoted insert the one end of locating first rotatory montant at the top of dull and stereotyped chassis, the top of the rotatory montant of second is connected with the bottom center department of revolving stage, the bottom of the rotatory montant of second is to the vertical extension in below of dull and stereotyped chassis, first awl tooth is the extension end of horizontal installation at the rotatory montant of second, the second awl tooth is vertical below one side that is located first awl tooth, first awl tooth and second awl tooth meshing set up, first motor is the one end that the level is located the second awl tooth, the output of first motor is connected with the center department of second awl tooth, first motor is installed on the inner wall of dull and stereotyped chassis.
Preferably, the lifting mechanism and the horizontal movement mechanism have the same structure, the lifting mechanism and the horizontal movement mechanism both comprise a driving plate, a second motor, a driving wheel, a driven wheel, a second track and two third tracks, the driving plate of the lifting mechanism is vertically arranged on the table top of the rotating table, the driving plate of the horizontal movement mechanism is horizontally arranged on the vertical surface of the lifting vertical plate, the driving wheel and the driven wheel are respectively arranged on two sides of the driving plate, the driving wheel and the driven wheel are respectively rotatably inserted on the driving plate through rotating shafts, the driving wheel is in transmission connection with the driven wheel through a synchronous belt, the second track is arranged between the driving wheel and the driven wheel, the side wall of the second track is connected with the outer wall of the driving plate, the second track is provided with a third sliding block capable of sliding on the second track, the side wall of the third sliding block is provided with a shifting block connected with the inner wall of the synchronous belt, and the lifting vertical plate and the horizontal plate are respectively arranged on the third sliding block, two third track symmetries set up in the orbital both sides of second, are provided with the fourth slider that can slide on every third track respectively, and the one end of every fourth slider is connected in the one side of lift riser and horizontal plate respectively, and the second motor is installed on the drive plate, and the output of second motor is connected with the one end of the pivot of action wheel.
Preferably, tilting mechanism still includes upset cylinder and the type of falling U frame, and the type of falling U frame is the bottom of horizontal installation at the horizontal plate, and the inside of the type of falling U frame is equipped with and is the horizontally upset pole, and the both ends of upset pole can the pivoted respectively pass the inner wall and the outside extension of outer wall of the type of falling U frame, and the upset board is the level and is located the below of upset pole, and the upset pole passes through the connecting piece to be connected with the periphery of upset board, and the upset cylinder is installed on the lateral wall of the type of falling U frame, and the output of upset cylinder is connected with one of them extension end of upset pole.
Compared with the prior art, the invention has the beneficial effects that: a modularized pipe processing numerical control robot integrating welding, grinding and switching, a clamping head is arranged and can be respectively detachably connected with a grinding clamping fixture and a welding gun clamping fixture, the bottom of a second limiting column is butted with a socket on a second connecting component, a second limiting column is driven by a lifting mechanism to penetrate through the socket and extend towards the inside of a cylindrical sleeve, the first limiting column is arranged above a first partition plate in the cylindrical sleeve to achieve limiting, a limiting jack on the second limiting column is inserted into a positioning pin for positioning, each inverted triangle inserting block on each vertical abutting plate is butted with each inverted triangle cutting groove on the second limiting column, when the limiting jack of the second limiting column is inserted into the positioning pin, the bottom of the second limiting column abuts against the top of an abutting sleeve ring, so that the second limiting column plays a buffering role when being inserted into the cylindrical sleeve, a working end of a tightening machine is arranged to drive a bolt to horizontally move towards the inside of the cylindrical sleeve through a threaded sleeve, the other end of the bolt drives one of the vertical contact plates to move towards the direction of a second limit post inserted into the cylindrical sleeve, when one of the vertical contact plates in the cylindrical sleeve moves, the vertical contact plate moves along the limit slide hole through the slide posts arranged at the top and the bottom respectively, the slide post at the bottom of the moving vertical contact plate drives one end of one of the hinged connecting rods to move, the movable hinged connecting rod drives the turntable to rotate, the turntable simultaneously drives one end of all the hinged connecting rods to rotate and move, and drives the slide post at the bottom of each vertical contact plate to move through each hinged connecting rod respectively, and simultaneously drives each vertical contact plate to move towards the direction of the second limit post inserted into the cylindrical sleeve, and each inverted triangle inserting block on each vertical contact plate is inserted into each inverted triangle cutting groove on the second limit post to position, when one of the vertical touch panels in the cylindrical sleeve moves, the vertical touch panels move along the limiting slide holes through the slide posts arranged at the top and the bottom respectively, the slide post at the bottom of the moving vertical touch panel drives one end of one of the hinged connecting rods to move, the movable hinged connecting rod drives the rotary table to rotate, the rotary table simultaneously drives one end of all the hinged connecting rods to rotate and move, and each hinged connecting rod drives the slide post at the bottom of each vertical touch panel to move respectively, and simultaneously drives each vertical touch panel to move towards the direction of the second limiting post inserted in the cylindrical sleeve, and each inverted triangle insertion block on the vertical touch panel is inserted into each inverted triangle groove on the second limiting post to position, so that the clamping head can be fixed with the welding gun clamping fixture and the polishing clamping fixture respectively, when the switching between the welding gun and the polishing knife is required, starting a cylinder, wherein the cylinder drives a rack to linearly move along a first track, the rack drives a gear to rotate, a rotating disc is driven to rotate through the rotation of the gear and a first rotating vertical rod, the polishing clamping jig and a welding gun clamping jig are switched, when a clamping head needs to be rotated to the position of the rotating disc, a first motor is started, the first motor drives a second bevel gear and a first bevel gear to rotate, the first bevel gear drives a second rotating rod and a rotating table to rotate, the clamping head is driven to rotate along the center of the rotating disc at the same time until the clamping head is rotated to the position above the rotating disc, when the clamping head needs to be switched, each driving wheel is respectively driven to rotate by each second motor arranged on a lifting mechanism and a horizontal moving mechanism, each driving wheel respectively drives each driven wheel to rotate through each synchronous belt, and the synchronous belts drive a shifting block and a third sliding block to move, make lift riser lift and horizontal plate carry out horizontal migration respectively, the work end through upset cylinder drives the trip bar and rotates, drives connecting piece and trip plate through the trip bar and carries out the angle upset, add man-hour, make the joint tool of polishing and welder joint tool angle of joint adjust, this technical scheme can be quick will polish sword and welder switches, make the pipe fitting need not the transfer when polishing the welding, reduce cost raises the efficiency.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is an enlarged view taken at A of FIG. 2 in accordance with the present invention;
FIG. 4 is a partial front view of the present invention;
FIG. 5 is a partial side view of the present invention;
FIG. 6 is a partial perspective view of the first embodiment of the present invention;
FIG. 7 is a partial perspective view of the second embodiment of the present invention;
FIG. 8 is a partial top view of the present invention;
FIG. 9 is a cross-sectional view taken along line B-B of FIG. 8 in accordance with the present invention;
FIG. 10 is an enlarged view of the invention at C of FIG. 9;
FIG. 11 is a partial cross-sectional view of a grinding clamping fixture and a welding gun clamping fixture of the present invention;
FIG. 12 is a partially exploded view of the clamping fixture for grinding and clamping the welding gun according to the present invention;
fig. 13 is a partial perspective view of the card connector of the present invention.
The reference numbers in the figures are: 1-a processing table; 2-a flat plate chassis; 3-a rotating mechanism; 4-a lifting mechanism; 5-a horizontal moving mechanism; 6-turning over mechanism; 7-a tool changing mechanism; 8-rotating table; 9-rotating the disc; 10-a cutter releasing groove; 11-polishing the clamping fixture; 12-clamping a welding gun clamping fixture; 13-polishing the knife; 14-a welding gun; 15-a tightening machine; 16-lifting vertical plates; 17-a horizontal plate; 18-a flipping board; 19-mounting a plate; 20-a first restraint post; 21-a second limit post; 22-a limit jack; 23-inverted triangular grooving; 24-a hollow cylindrical sleeve; 25-vertical touch panel; 26-a first separator; 27-a second separator; 28-socket; 29-a locating pin; 30-inverted triangle insertion block; 31-a strut; 32-limiting slide holes; 33-interference collar; 34-a first slider; 35-vertical chute; 36-an abutment spring; 37-a turntable; 38-a rotating shaft; 39-hinge columns; 40-a hinged link; 41-thread bush; 42-bolt; 43-cylinder; 44-a rack; 45-gear; 46-a first vertical rotating rod; 47-a first track; 48-a second slide; 49-a first motor; 50-a second vertical rotating rod; 51-a first bevel gear; 52-second taper teeth; 53-a drive plate; 54-a second motor; 55-driving wheel; 56-driven wheel; 57-a second track; 58-a third track; 59-a third slider; 60-a poking block; 61-a fourth slider; 62-overturning the cylinder; 63-an inverted U-shaped frame; 64-a flipping bar; 65-connecting piece.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 to 13, a modular welding-grinding-switching-integrated tube processing numerical control robot comprises a processing table 1, a flat plate chassis 2, a rotating mechanism 3, a lifting mechanism 4, a horizontal moving mechanism 5, a turnover mechanism 6 and a tool changing mechanism 7, wherein the flat plate chassis 2 is positioned on one side of the processing table 1, the rotating mechanism 3 and the tool changing mechanism 7 are respectively arranged on two sides of the top of the flat plate chassis 2, the rotating mechanism 3 comprises a rotatable rotating table 8, the tool changing mechanism 7 comprises a rotatable rotating disc 9, tool placing grooves 10 are symmetrically arranged on the top of the rotating disc 9 at intervals, a grinding clamping fixture 11 and a welding gun clamping fixture 12 are respectively erected in each tool placing groove 10, a grinding knife 13 is arranged at the bottom of the grinding clamping fixture 11, a welding gun 14 is arranged at the bottom of the welding gun clamping fixture 12, a tightening machine 15 is arranged on one side of the rotating disc 9, the lifting mechanism 4 is vertically arranged on the table top of the rotating table 8, elevating system 4 is including the riser 16 that can go up and down, and horizontal migration mechanism 5 is the level and sets up the perpendicular at riser 16, and horizontal migration mechanism 5 is including the horizontal plate 17 that can horizontal migration, and tilting mechanism 6 is installed in the bottom of horizontal plate 17, and tilting mechanism 6 is including the returning face plate 18 that can overturn, and the bottom of returning face plate 18 is provided with the joint head that can cooperate the connection with joint tool 11 and the welder joint tool 12 of polishing respectively.
The joint includes mounting panel 19, the spacing post 21 of first spacing post 20 and second, mounting panel 19 is the bottom of horizontal installation at returning face plate 18, first spacing post 20 is vertical bottom center department of installing at mounting panel 19, the spacing post 21 of second is vertical bottom center department of installing at first spacing post 20, the diameter of first spacing post 20 is greater than the diameter of the spacing post 21 of second, the bottom center department of the spacing post 21 of second is equipped with the spacing jack 22 that extends along the vertical direction of the spacing post 21 of second, the bottom edge of first spacing post 20 is equipped with the cambered surface, the upper end and the lower extreme of first spacing post 20 are equipped with respectively along the inverted triangle grooving 23 that first spacing post 20 circumferencial direction distributes.
The grinding clamping jig 11 and the welding gun clamping jig 12 both comprise a hollow cylindrical sleeve 24 and four vertical abutting plates 25, a first partition plate 26 which is horizontally arranged is arranged at the upper end inside the cylindrical sleeve 24, a second partition plate 27 which is horizontally arranged is arranged at the lower end inside the cylindrical sleeve 24, a socket 28 for a second limiting column 21 to pass through is arranged at the center of the first partition plate 26, a positioning pin 29 which can be inserted into a limiting insertion hole 22 arranged on the second limiting column 21 is arranged at the center of the top of the second partition plate 27, the four vertical abutting plates 25 are equidistantly distributed and arranged in the circumferential direction of the positioning pin 29, an inverted triangle insertion block 30 which can be inserted into each inverted triangle cutting groove 23 on the second limiting column 21 is respectively arranged on each vertical abutting plate 25, a sliding column 31 which is vertically arranged is respectively arranged at the top and the bottom of each vertical abutting plate 25, and a limiting sliding hole 32 for each sliding column 31 to pass through and slide is respectively arranged on the first partition plate 26 and the second partition plate 27, the joint that sets up can be dismantled with the joint tool 11 of polishing and welder joint tool 12 respectively and be connected, socket 28 butt joint on the bottom of the spacing post 21 of second and the second coupling assembling, drive the spacing post 21 of second through elevating system 4 and pass socket 28 and extend to the inside of cylinder cover 24, first spacing post 20 sets up the top of first baffle 26 in cylinder cover 24, it is spacing to play, spacing jack 22 on the spacing post 21 of second inserts on locating pin 29, be used for the location, every of setting is perpendicular to inserting piece 30 and every of the spacing post 21 of falling triangle grooving 23 butt joint on the spacing post 21 of second to support every falling triangle on the touch panel 25.
All the cover is equipped with the conflict lantern ring 33 on every locating pin 29, the top of the conflict lantern ring 33 can be contradicted with the bottom of the spacing post 21 of second and set up, the inner circle of the conflict lantern ring 33 is equipped with the first slider 34 that two symmetries set up, be equipped with on the locating pin 29 and be used for supplying gliding vertical chute 35 about every first slider 34, the below of the conflict lantern ring 33 is equipped with conflict spring 36, the conflict lantern ring 33 cover is established on locating pin 29, the top and the bottom of conflict spring 36 can be contradicted with the bottom of the conflict lantern ring 33 and the top of second baffle 27 respectively and set up, when the spacing jack 22 of the spacing post 21 of second inserted on locating pin 29, the top of the conflict lantern ring 33 is contradicted to the bottom of the spacing post 21 of second, make the spacing post 21 of second play the cushioning effect when inserting in the cylinder cover 24.
A horizontally arranged turntable 37 is arranged at the center of the lower part of the second partition plate 27, a vertically arranged rotating shaft 38 is arranged at the center of the turntable 37, the top and the bottom of the rotating shaft 38 can be respectively inserted into the second partition plate 27 and the inner bottom end of the cylindrical sleeve 24 in a rotating manner, four hinge columns 39 distributed in a cross shape are arranged at the edge of the top of the turntable 37, a horizontally arranged hinge connecting rod 40 is respectively hinged on each hinge column 39, the other end of each hinge connecting rod 40 is respectively hinged with the extending end of the sliding column 31 arranged at the bottom of each vertical touch plate 25, when one vertical touch plate 25 in the cylindrical sleeve 24 moves, the vertical touch plate 25 moves along the limit sliding hole 32 through the sliding columns 31 arranged at the top and the bottom respectively, the sliding column 31 at the bottom of the moving vertical touch plate 25 drives one end of one hinge connecting rod 40 to move, the moving hinge connecting rod 40 drives the turntable 37 to rotate, the rotary plate 37 drives one end of each hinge connecting rod 40 to rotate, drives the sliding column 31 at the bottom of each vertical contact plate 25 to move through each hinge connecting rod 40, drives each vertical contact plate 25 to move towards the second limiting column 21 inserted into the cylindrical sleeve 24, and inserts each inverted-triangle inserting block 30 on each vertical contact plate 25 into each inverted-triangle cutting groove 23 on the second limiting column 21 to locate.
The outer peripheral wall of each cylindrical sleeve 24 is provided with a horizontally arranged threaded sleeve 41, two ends of each threaded sleeve 41 extend towards the inside and the outside of the cylindrical sleeve 24 respectively, one end of each threaded sleeve 41 extends towards the center of one of the vertical contact plates 25, an inner ring of each threaded sleeve 41 is provided with a horizontally arranged bolt 42, each bolt 42 is in threaded connection with the inner ring of each threaded sleeve 41, one end of each bolt 42 is rotatably inserted into the inner wall of one of the vertical contact plates 25, the other end of each bolt 42 penetrates through the inner ring of each threaded sleeve 41 and extends towards the outside of the cylindrical sleeve 24, the working end of the tightening machine 15 is in butt joint with the working end of each bolt 42, the working end of the tightening machine 15 is arranged to drive each bolt 42 to horizontally move towards the inside of the cylindrical sleeve 24 through the threaded sleeve 41, and the other end of each bolt 42 drives one of the vertical contact plates 25 to move towards the direction of the second limiting column 21 inserted into the cylindrical sleeve 24.
The tool changing mechanism 7 further comprises an air cylinder 43, a rack 44, a gear 45 and a first rotating vertical rod 46, wherein the first rotating vertical rod 46 is vertical and can be rotatably inserted into the top of the flat plate chassis 2, the top of the first rotating vertical rod is connected with the center of the rotating disc 9, the bottom of the first rotating vertical rod 46 extends downwards, the gear 45 is horizontally arranged at the extending end of the first rotating vertical rod 46, the rack 44 is horizontally arranged at one side of the gear 45, the gear 45 is meshed with the rack 44, the air cylinder 43 is horizontally arranged at one end of the rack 44, the output end of the air cylinder 43 is connected with one end of the rack 44, one side of the rack 44 is provided with a first rail 47 which is horizontally arranged, a second slider 48 which can slide in the first rail 47 is arranged on the side wall of the rack 44, the top of the first rail 47 is connected with the bottom of the flat plate chassis 2 through a connecting plate, when the switching between the welding gun 14 and the grinding knife 13 is required, the cylinder 43 is started, the cylinder 43 drives the rack 44 to perform linear motion along the first rail 47, the rack 44 drives the gear 45 to rotate, the rotating disc 9 is driven to rotate through the rotation of the gear 45 and the first rotating vertical rod 46, and the grinding clamping jig 11 and the welding gun clamping jig 12 are switched in a rotating mode.
The rotating mechanism 3 further comprises a first motor 49, a second rotating vertical rod 50, a first bevel gear 51 and a second bevel gear 52, wherein the second rotating vertical rod 50 is vertically and rotatably inserted into one end of the top of the tablet personal computer chassis 2 far away from the first rotating vertical rod 46, the top of the second rotating vertical rod 50 is connected with the center of the bottom of the rotating platform 8, the bottom of the second rotating vertical rod 50 vertically extends towards the lower part of the tablet personal computer chassis 2, the first bevel gear 51 is horizontally arranged at the extending end of the second rotating vertical rod 50, the second bevel gear 52 is vertically arranged at one side below the first bevel gear 51, the first bevel gear 51 is meshed with the second bevel gear 52, the first motor 49 is horizontally arranged at one end of the second bevel gear 52, the output end of the first motor 49 is connected with the center of the second bevel gear 52, the first motor 49 is arranged on the inner wall of the tablet personal computer chassis 2, when the clamping head needs to be rotated to the position of the rotating disk 9, the first motor 49 is started, the first motor 49 drives the second bevel gear 52 and the first bevel gear 51 to rotate, the first bevel gear 51 drives the second rotating rod and the rotating platform 8 to rotate, and meanwhile, the clamping joint is driven to rotate along the center of the rotating disk 9 until the clamping joint is rotated to the position above the rotating disk 9.
The lifting mechanism 4 and the horizontal moving mechanism 5 have the same structure, the lifting mechanism 4 and the horizontal moving mechanism 5 both comprise a driving plate 53, a second motor 54, a driving wheel 55, a driven wheel 56, a second track 57 and two third tracks 58, the driving plate 53 of the lifting mechanism 4 is vertically installed on the table top of the rotating table 8, the driving plate 53 of the horizontal moving mechanism 5 is horizontally installed on the vertical surface of the lifting vertical plate 16, the driving wheel 55 and the driven wheel 56 are respectively arranged on both sides of the driving plate 53, the driving wheel 55 and the driven wheel 56 are respectively rotatably inserted on the driving plate 53 through a rotating shaft 38, the driving wheel 55 is in transmission connection with the driven wheel 56 through a synchronous belt, the second track 57 is positioned between the driving wheel 55 and the driven wheel 56, the side wall of the second track 57 is connected with the outer wall of the driving plate 53, a third slide block 59 capable of sliding on the second track 57 is arranged on the second track 57, a shifting block 60 connected with the inner wall of the synchronous belt is arranged on the side wall of the third slide block 59, the lifting vertical plate 16 and the horizontal plate 17 are respectively arranged on the third sliding blocks 59, the two third rails 58 are symmetrically arranged at two sides of the second rail 57, each third rail 58 is respectively provided with a fourth sliding block 61 capable of sliding on each third rail 58, one end of each fourth sliding block 61 is respectively connected with one surface of the lifting vertical plate 16 and one surface of the horizontal plate 17, the second motor 54 is arranged on the driving plate 53, the output end of the second motor 54 is connected with one end of the rotating shaft 38 of the driving wheel 55, when the clamping joint needs to be switched between the polishing clamping jig 11 and the welding gun clamping jig 12, each driving wheel 55 is driven to rotate by each second motor 54 arranged on the lifting mechanism 4 and the horizontal moving mechanism 5, each driving wheel 55 drives each driven wheel 56 to rotate by each synchronous belt, the synchronous belts drive the shifting blocks 60 and the third sliding blocks 59 to move, and the lifting vertical plate 16 is lifted and the horizontal plate 17 is horizontally moved.
Turnover mechanism 6 still includes upset cylinder 62 and the type of falling U frame 63, the type of falling U frame 63 is the bottom of horizontal installation at horizontal plate 17, the inside of the type of falling U frame 63 is equipped with and is the horizontally upset pole 64, the both ends of upset pole 64 can the pivoted respectively pass the inside wall and the outside extension of the type of falling U frame 63, the upset board 18 is the level and is located the below of upset pole 64, upset pole 64 passes through connecting piece 65 and is connected with the periphery of upset board 18, upset cylinder 62 is installed on the lateral wall of the type of falling U frame 63, the output of upset cylinder 62 is connected with one of them extension end of upset pole 64, it rotates to drive upset pole 64 through the work end of upset cylinder 62, drive connecting piece 65 and upset board 18 through upset pole 64 and carry out the angle upset, in man-hour, make the joint of joint tool 11 and the welder joint tool 12 angle of polishing of joint adjust.
The working principle is as follows: the arranged clamping head can be detachably connected with a grinding clamping jig 11 and a welding gun clamping jig 12 respectively, the bottom of a second limiting column 21 is butted with a socket 28 on a second connecting component, the second limiting column 21 is driven to penetrate through the socket 28 and extend towards the inside of a cylindrical sleeve 24 through a lifting mechanism 4, a first limiting column 20 is arranged above a first partition plate 26 in the cylindrical sleeve 24 to limit, a limiting insertion hole 22 on the second limiting column 21 is inserted into a positioning pin 29 for positioning, each inverted triangle insertion block 30 on each vertical abutting contact plate 25 is butted with each inverted triangle cutting groove 23 on the second limiting column 21, when the limiting insertion hole 22 on the second limiting column 21 is inserted into the positioning pin 29, the bottom of the second limiting column 21 abuts against the top of a sleeve ring 33, so that the second limiting column 21 plays a buffering role when being inserted into the cylindrical sleeve 24, a working end of a screwing machine 15 is arranged to drive a bolt 42 to horizontally move towards the inside of the cylindrical sleeve 24 through a threaded sleeve 41, the other end of the bolt 42 drives one of the vertical touch panels 25 to move towards the second position-limiting post 21 inserted into the cylindrical sleeve 24, when one of the vertical touch panels 25 in the cylindrical sleeve 24 moves, the vertical touch panel 25 moves along the position-limiting slide hole 32 through the top and bottom sliding posts 31, the sliding post 31 at the bottom of the moving vertical touch panel 25 drives one end of one of the hinged connecting rods 40 to move, the movable hinged connecting rod 40 drives the rotating disc 37 to rotate, the rotating disc 37 drives one end of all the hinged connecting rods 40 to rotate and move, and drives the sliding post 31 at the bottom of each vertical touch panel 25 to move through each hinged connecting rod 40, and drives each vertical touch panel 25 to move towards the second position-limiting post 21 inserted into the cylindrical sleeve 24, and inserts each inverted triangle insertion block 30 on the vertical touch panel 25 into each inverted triangle cutting groove 23 on the second position-limiting post 21 to position, when one of the vertical touch plates 25 in the cylindrical sleeve 24 moves, the vertical touch plate 25 moves along the limiting slide hole 32 through the slide posts 31 arranged at the top and the bottom, the slide post 31 at the bottom of the moving vertical touch plate 25 drives one end of one of the hinge connecting rods 40 to move, the moving hinge connecting rod 40 drives the rotary table 37 to rotate, the rotary table 37 simultaneously drives one end of all the hinge connecting rods 40 to rotate and move, each hinge connecting rod 40 drives the slide post 31 at the bottom of each vertical touch plate 25 to move, and simultaneously drives each vertical touch plate 25 to move towards the direction of the second limiting post 21 inserted into the cylindrical sleeve 24, and each inverted triangle insertion block 30 on the vertical touch plate 25 is inserted into each inverted triangle cutting groove 23 on the second limiting post 21 to be positioned, so that the clamping head can be fixed with the welding gun clamping jig 12 and the clamping jig grinding jig 11 respectively, when switching between the welding gun 14 and the polishing knife 13 is required, the air cylinder 43 is started, the air cylinder 43 drives the rack 44 to perform linear motion along the first track 47, the rack 44 drives the gear 45 to rotate, the rotating disc 9 is driven to rotate through the rotation of the gear 45 and the first rotating vertical rod 46, the polishing clamping fixture 11 and the welding gun clamping fixture 12 are switched to rotate, when the clamping joint needs to be rotated to the position of the rotating disc 9, the first motor 49 is started, the first motor 49 drives the second conical tooth 52 and the first conical tooth 51 to rotate, the first conical tooth 51 drives the second rotating rod and the rotating disc 8 to rotate, and simultaneously drives the clamping joint to rotate along the center of the rotating disc 9 until the clamping joint rotates to the upper part of the rotating disc 9, when the clamping joint needs to be switched between the polishing clamping fixture 11 and the welding gun clamping fixture 12, each driving wheel 55 is driven to rotate through each second motor 54 arranged on the lifting mechanism 4 and the horizontal moving mechanism 5, every action wheel 55 drives every through every hold-in range respectively and follows the rotation of driving wheel 56, and the hold-in range drives and dials piece 60 and third slider 59 and removes, makes lift riser 16 go up and down and carry out horizontal migration with horizontal plate 17 respectively, drives upset pole 64 through the work end of upset cylinder 62 and rotates, drives connecting piece 65 and upset board 18 through upset pole 64 and carries out the angle upset, adds man-hour, makes the joint of card joint's joint tool 11 and the 12 angles of welder joint tool of polishing adjust.
Claims (9)
1. A modularized pipe processing numerical control robot integrating welding, grinding and switching, comprises a processing table (1) and is characterized by further comprising a flat plate bottom frame (2), a rotating mechanism (3), a lifting mechanism (4), a horizontal moving mechanism (5), a turnover mechanism (6) and a tool changing mechanism (7), wherein the flat plate bottom frame (2) is positioned on one side of the processing table (1), the rotating mechanism (3) and the tool changing mechanism (7) are respectively arranged on two sides of the top of the flat plate bottom frame (2), the rotating mechanism (3) comprises a rotatable rotating table (8), the tool changing mechanism (7) comprises a rotatable rotating disc (9), tool placing grooves (10) are symmetrically arranged on the top of the rotating disc (9) at intervals, a grinding clamping fixture (11) and a welding gun clamping fixture (12) are respectively erected in each tool placing groove (10), and a grinding tool (13) is arranged at the bottom of the grinding clamping fixture (11), the bottom of the welding gun clamping jig (12) is provided with a welding gun (14), one side of the rotating disc (9) is provided with a tightening machine (15), the lifting mechanism (4) is vertically arranged on the table top of the rotating table (8), the lifting mechanism (4) comprises a lifting vertical plate (16) capable of lifting, the horizontal moving mechanism (5) is horizontally arranged on a vertical surface of the lifting vertical plate (16), the horizontal moving mechanism (5) comprises a horizontal plate (17) capable of horizontally moving, the turnover mechanism (6) is arranged at the bottom of the horizontal plate (17), the turnover mechanism (6) comprises a turnover plate (18) capable of turning over, and the bottom of the turnover plate (18) is provided with a clamping joint which can be respectively connected with the polishing clamping jig (11) and the welding gun clamping jig (12) in a matched mode; the joint head includes mounting panel (19), first spacing post (20) and the spacing post of second (21), mounting panel (19) are the bottom of horizontal installation at returning face plate (18), first spacing post (20) are vertical bottom center department of installing at mounting panel (19), the spacing post of second (21) is vertical bottom center department of installing at first spacing post (20), the diameter of first spacing post (20) is greater than the diameter of the spacing post of second (21), the bottom center department of the spacing post of second (21) is equipped with spacing jack (22) that extend along the vertical direction of the spacing post of second (21), the bottom edge of first spacing post (20) is equipped with the cambered surface, the upper end and the lower extreme of first spacing post (20) are equipped with respectively along the inverted triangle grooving (23) of first spacing post (20) circumferencial direction distribution.
2. The modular welding-grinding-switching-integrated tube processing numerical control robot as claimed in claim 1, wherein each of the grinding clamping jig (11) and the welding gun clamping jig (12) comprises a hollow cylindrical sleeve (24) and four vertical contact plates (25), a first partition plate (26) horizontally arranged is arranged at the upper end inside the cylindrical sleeve (24), a second partition plate (27) horizontally arranged is arranged at the lower end inside the cylindrical sleeve (24), a socket (28) for a second limiting column (21) to pass through is arranged at the center of the first partition plate (26), a positioning pin (29) capable of being inserted into a limiting insertion hole (22) formed in the second limiting column (21) is arranged at the center of the top of the second partition plate (27), the four vertical contact plates (25) are equidistantly distributed in the circumferential direction of the positioning pin (29), and each vertical contact plate (25) is respectively provided with a triangular groove (23) formed in the second limiting column (21) and capable of being inserted into each triangular groove The reverse triangle is inserted piece (30), and the top and the bottom of every vertical touch panel (25) are equipped with respectively and are traveller (31) of vertical setting, are equipped with respectively on first baffle (26) and the second baffle (27) to be used for supplying every traveller (31) to walk and gliding spacing slide opening (32).
3. The modular tube processing numerical control robot for the welding, grinding and switching integration is characterized in that each positioning pin (29) is sleeved with a collision lantern ring (33), the top of the collision lantern ring (33) can be abutted to the bottom of a second limiting column (21), two first sliding blocks (34) which are symmetrically arranged are arranged on an inner ring of the collision lantern ring (33), a vertical sliding groove (35) which is used for enabling each first sliding block (34) to slide up and down is formed in the positioning pin (29), a collision spring (36) is arranged below the collision lantern ring (33), the collision lantern ring (33) is sleeved on the positioning pin (29), and the top and the bottom of the collision spring (36) can be abutted to the bottom of the collision lantern ring (33) and the top of a second partition plate (27) respectively.
4. The modular welding-grinding-switching-integrated tube processing numerical control robot as claimed in claim 3, wherein a horizontally arranged rotary table (37) is arranged at the center below the second partition plate (27), a vertically arranged rotary shaft (38) is arranged at the center of the rotary table (37), the top and the bottom of the rotary shaft (38) can be respectively inserted into the bottom ends of the second partition plate (27) and the cylindrical sleeve (24) in a rotating manner, four hinge columns (39) distributed in a cross shape are arranged at the top edge of the rotary table (37), each hinge column (39) is respectively hinged with a horizontally arranged hinge connecting rod (40), and the other end of each hinge connecting rod (40) is respectively hinged with the extending end of a sliding column (31) arranged at the bottom of each vertical abutting contact plate (25).
5. A modular mill-switching integrated pipe machining robot as claimed in claim 4, the tightening machine is characterized in that a threaded sleeve (41) which is horizontally arranged is arranged on the outer peripheral wall of each cylindrical sleeve (24), two ends of each threaded sleeve (41) extend towards the inside and the outside of each cylindrical sleeve (24), one end of each threaded sleeve (41) extends towards the center of one vertical contact plate (25), a bolt (42) which is horizontally arranged is arranged on the inner ring of each threaded sleeve (41), each bolt (42) is in threaded connection with the inner ring of each threaded sleeve (41), one end of each bolt (42) can be rotatably inserted into the inner wall of one vertical contact plate (25), the other end of each bolt (42) penetrates through the inner ring of each threaded sleeve (41) and extends towards the outside of each cylindrical sleeve (24), and the working end of each tightening machine (15) is in butt joint with the working end of each bolt (42).
6. The modular welding-grinding-switching-integrated pipe processing numerical control robot as claimed in claim 5, characterized in that the tool changing mechanism (7) further comprises an air cylinder (43), a rack (44), a gear (45) and a first rotating vertical rod (46), the first rotating vertical rod (46) is vertical and can be inserted into the top of the flat plate chassis (2) in a rotating manner, the top of the first rotating vertical rod is connected with the center of the rotating disk (9), the bottom of the first rotating vertical rod (46) extends downwards, the gear (45) is horizontally arranged at the extending end of the first rotating vertical rod (46), the rack (44) is horizontally arranged on one side of the gear (45), the gear (45) is meshed with the rack (44), the air cylinder (43) is horizontally arranged at one end of the rack (44), the output end of the air cylinder (43) is connected with one end of the rack (44), one side of the rack (44) is provided with a first rail (47) which is horizontally arranged, a second sliding block (48) capable of sliding in the first rail (47) is arranged on the side wall of the rack (44), and the top of the first rail (47) is connected with the bottom of the flat plate bottom frame (2) through a connecting plate.
7. The modular tube processing numerical control robot for welding, grinding and switching integration according to claim 6, wherein the rotating mechanism (3) further comprises a first motor (49), a second rotating vertical rod (50), a first bevel gear (51) and a second bevel gear (52), the second rotating vertical rod (50) is vertically inserted into one end of the top of the flat plate chassis (2) far away from the first rotating vertical rod (46) and can rotate, the top of the second rotating vertical rod (50) is connected with the center of the bottom of the rotating platform (8), the bottom of the second rotating vertical rod (50) vertically extends to the lower part of the flat plate chassis (2), the first bevel gear (51) is horizontally installed at the extending end of the second rotating vertical rod (50), the second bevel gear (52) is vertically located on one side of the lower part of the first bevel gear (51), the first bevel gear (51) is meshed with the second bevel gear (52), the first motor (49) is horizontally arranged at one end of the second conical tooth (52), the output end of the first motor (49) is connected with the center of the second conical tooth (52), and the first motor (49) is arranged on the inner wall of the flat plate underframe (2).
8. The modular tube processing robot for welding, grinding and switching integration is characterized in that the lifting mechanism (4) and the horizontal moving mechanism (5) have the same structure, the lifting mechanism (4) and the horizontal moving mechanism (5) respectively comprise a driving plate (53), a second motor (54), a driving wheel (55), a driven wheel (56), a second track (57) and two third tracks (58), the driving plate (53) of the lifting mechanism (4) is vertically arranged on the table top of the rotating table (8), the driving plate (53) of the horizontal moving mechanism (5) is horizontally arranged on the vertical surface of the lifting vertical plate (16), the driving wheel (55) and the driven wheel (56) are respectively arranged on two sides of the driving plate (53), the driving wheel (55) and the driven wheel (56) are respectively inserted on the driving plate (53) in a rotatable manner through a rotating shaft (38), the driving wheel (55) is in transmission connection with the driven wheel (56) through a synchronous belt, the second rail (57) is located between the driving wheel (55) and the driven wheel (56), the side wall of the second rail (57) is connected with the outer wall of the driving plate (53), third sliding blocks (59) capable of sliding on the second rail (57) are arranged on the second rail (57), shifting blocks (60) connected with the inner wall of the synchronous belt are arranged on the side wall of each third sliding block (59), the lifting vertical plate (16) and the horizontal plate (17) are respectively installed on the third sliding blocks (59), the two third rails (58) are symmetrically arranged on two sides of the second rail (57), a fourth sliding block (61) capable of sliding on each third rail (58) is respectively arranged on each third rail (58), one end of each fourth sliding block (61) is connected with one surface of the lifting vertical plate (16) or the horizontal plate (17), and the second motor (54) is installed on the driving plate (53), the output end of the second motor (54) is connected with one end of the rotating shaft (38) of the driving wheel (55).
9. The modular tube processing numerical control robot with the integrated functions of welding, grinding and switching is characterized in that the turnover mechanism (6) further comprises a turnover cylinder (62) and an inverted U-shaped frame (63), the inverted U-shaped frame (63) is horizontally arranged at the bottom of the horizontal plate (17), a horizontal turnover rod (64) is arranged inside the inverted U-shaped frame (63), two ends of the turnover rod (64) respectively can rotatably penetrate through the inner wall and the outer wall of the inverted U-shaped frame (63) to extend outwards, the turnover plate (18) is horizontally arranged below the turnover rod (64), the turnover rod (64) is connected with the circumferential surface of the turnover plate (18) through a connecting piece (65), the turnover cylinder (62) is arranged on the side wall of the inverted U-shaped frame (63), and the output end of the turnover cylinder (62) is connected with one of the extension ends of the turnover rod (64).
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| CN116713786B (en) * | 2023-08-08 | 2023-10-17 | 方冠（常州）数控科技有限公司 | Swing arm type automatic tool changing device for vertical and horizontal double-spindle machine tool |
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| JP2004114262A (en) * | 2002-09-27 | 2004-04-15 | Daihen Corp | Tool exchange mechanism of industrial robot |
| AU2008200839B2 (en) * | 2007-04-10 | 2013-08-15 | Erowa Ag | Handling manipulator assembly |
| CN203401208U (en) * | 2013-07-26 | 2014-01-22 | 天津博信汽车零部件有限公司 | Five-shaft driving automatic spot welding device |
| CN205129879U (en) * | 2015-11-04 | 2016-04-06 | 东莞市欧特自动化技术有限公司 | Magic chuck automatic calibration arm -and -hand system |
| CN106956286B (en) * | 2017-05-18 | 2019-07-19 | 湖南大学 | Composite material machinery hand machining integrated system |
| CN207656250U (en) * | 2017-12-28 | 2018-07-27 | 天津翔龙电子有限公司 | A kind of mobile phone key precision carving and milling machine |
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| CN210335105U (en) * | 2019-08-19 | 2020-04-17 | 重庆光能荣能汽车配件有限公司 | Automatic hole milling device for bumper |
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Effective date of registration: 20210812 Address after: 271000 North Road, industrial park, beijipo sub district office, high tech Zone, Tai'an City, Shandong Province Applicant after: Xinyue intelligent equipment (Shandong) Co.,Ltd. Address before: 610000 No.1-1, 1st floor, building 1, No.2, Yongfeng Road, hi tech Zone, Chengdu, Sichuan Province Applicant before: CHENGDU KERUIZHI TECHNOLOGY Co.,Ltd. |
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