CN111844011B - Robot tail end cutter compensation mechanism - Google Patents
Robot tail end cutter compensation mechanism Download PDFInfo
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- CN111844011B CN111844011B CN202010546407.XA CN202010546407A CN111844011B CN 111844011 B CN111844011 B CN 111844011B CN 202010546407 A CN202010546407 A CN 202010546407A CN 111844011 B CN111844011 B CN 111844011B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention discloses a robot tail end tool compensating mechanism, which comprises an integral rotating plate, a guide rail sliding block, a linear motor, an electric main shaft mounting part, a high-speed main shaft, a screw nut pair and a linear grating, wherein the integral rotating plate is arranged at the tail end of five shafts of a hybrid robot, replaces a part connected with the high-speed main shaft in a positioning head of the original five-freedom-degree hybrid robot and rotates along with the five shafts, a linear motor magnetic plate is fixed on the integral rotating plate, a linear motor body linearly reciprocates relative to the magnetic plate, namely the integral rotating plate, the high-speed main shaft is connected with a linear motor body through the electric main shaft mounting part, the high-speed main shaft accurately linearly reciprocates through the guide rail sliding block pair, the linear grating can accurately read the displacement of the linear motor and reversely control the displacement motion of the linear motor, so that the compensation motion of the tail end of the hybrid robot in the feeding direction during the tool machining is realized through the accurate control of the displacement of the linear motor, high efficiency, quick system dynamic response and simple control.
Description
Technical Field
The invention relates to a cutter compensation mechanism, in particular to a robot tail end cutter compensation mechanism.
Background
The hybrid robot is applied to processing large complex parts due to the advantage of high rigidity, and particularly relates to the fields of ships, spaceflight, aviation and the like. When the existing hybrid robot is used for processing complex parts, the tail end of the robot moves along an ideal track by means of simultaneous action of a plurality of motors, and the milling motion for removing materials is realized by means of a high-speed main shaft arranged at the tail end of the robot and a cutter. Compared with a series robot and a parallel robot, the motion control algorithm of the series-parallel robot is more complex, the dynamic response is slow, the feeding motion of the cutter during milling is realized by only depending on the robot algorithm, the working efficiency and the working time of the series-parallel robot are greatly reduced, and the feeding motion of processing realized through multi-axis linkage is obviously defective. The existing five-degree-of-freedom hybrid robot (such as CN110053026A) for processing workpieces is realized by a cutter arranged at the tail end of a high-speed main shaft, the main shaft performs high-speed rotary motion to provide cutting motion of the cutter, the feed motion of the cutter is realized by the linkage of the hybrid robot, the control algorithm of the hybrid robot is complex, the realization of the feed motion of the cutter by multi-shaft linkage is obviously not a reasonable method, and the dynamic response of the hybrid robot is slow.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a robot end tool compensation mechanism which shortens the dynamic response time of a hybrid robot during processing and improves the processing efficiency.
The invention discloses a robot tail end tool compensation mechanism which comprises an integral rotating plate, wherein the integral rotating plate comprises a front wall and a rear wall which are arranged in parallel at intervals from front to back, the bottom, the top and the right side of the front wall and the rear wall are respectively connected with a bottom wall, a top wall and a right wall, a through hole is formed in the middle of the front wall, and a plurality of front wall mounting holes are uniformly formed in the front wall along the outer circumferential direction of the through hole at intervals; a plurality of rear wall mounting holes are uniformly formed in the rear wall at intervals along the circumferential direction, the plurality of front wall mounting holes are used for being connected with shaft joints in the five-freedom-degree hybrid robot through screws penetrating through the front wall mounting holes, and the rear wall mounting holes are used for being fixedly connected with the five-axis output end of the five-freedom-degree hybrid robot through bolts;
a linear motor magnetic plate is fixed in the middle of the top wall of the integral rotating plate along the length direction of the integral rotating plate, a guide rail is respectively fixed on the front side and the rear side of the linear motor magnetic plate, the two guide rails are arranged in parallel with the linear motor magnetic plate, two sliding blocks are connected on each guide rail in a sliding way, a limit groove is downwards arranged at the middle position of the top wall of the integral rotating plate positioned at the outer side of the front guide rail, the bottoms of the front side wall and the rear side wall of a linear motor fixing plate with an n-shaped longitudinal section along the width direction are respectively fixed on the two sliding blocks at the front side and the two sliding blocks at the rear side, the body of a linear motor is fixed in the middle groove of the linear motor fixing plate and positioned above the linear motor magnetic plate, the bottom wall at the middle position of the front wall of the linear motor fixing plate downwards extends to form a front side limit plate and a rear side connecting plate which are arranged in parallel at intervals, the lower part of the limiting plate is inserted into a limiting groove and can move left and right in the limiting groove, the connecting plate penetrates through a top wall groove formed in the top wall of the integral rotating plate and is inserted into a cavity between the front wall and the rear wall of the integral rotating plate, a nut connecting plate is fixed on the connecting plate, a flange of a screw nut is fixed on the nut connecting plate, the screw nut is connected with the right side of the screw through a screw nut pair, the right side of the screw is fixed in a bearing, the bearing is fixed in an opening of the right wall of the integral rotating plate, a brake is fixed at the right end of the screw penetrating through the bearing, the right side of the brake is installed on a brake installing plate, and the brake installing plate is fixed on the outer wall of the right wall of the integral rotating plate;
a grating mounting plate is fixed on the left side of the nut connecting plate, a grating reading head is fixedly connected on the grating mounting plate, a grating ruler is attached to the bottom surface of the top wall of the integral rotating plate, the grating ruler is positioned right above the grating reading head, and a communication line of the grating reading head is connected with a driver for controlling the body of the linear motor to move;
an electric spindle mounting part is fixed on the top surface of the linear motor fixing plate, a middle through hole is formed in the middle of the electric spindle mounting part, the axis direction of the middle through hole is the same as the motion direction of the linear motor, and a high-speed spindle is fixed in the middle through hole.
The invention has the beneficial effects that:
when a tool configured at the tail end of the five-degree-of-freedom hybrid robot is used for machining a workpiece, the precise position compensation motion of the tool at the tail end of the high-speed spindle in the feeding direction is realized by utilizing the reciprocating linear motion of a linear motor and matching with a linear grating without five-axis linkage, a complex hybrid kinetic algorithm is avoided, the robot only needs to move to the position above the part to be machined by a track, the response speed and the time of the robot are improved to a great extent, the machining efficiency is improved, and the control algorithm is simplified. The compensation mechanism can realize movement of +/-10 mm along the feeding direction of the cutter, and the stroke can meet the compensation movement of the feeding direction during machining.
Drawings
FIG. 1 is an overall perspective view of the robotic end tool compensation mechanism of the present invention;
FIG. 2 is a perspective view of the installation position of the compensating shaft mechanism of the present invention on a hybrid robot;
FIG. 3 is a perspective view of the structure of FIG. 1 with the housing and cavity cover removed;
FIG. 4 is an exploded view of the outer structure of the present invention;
FIG. 5 is a middle partial sectional view of the stationary plate of the linear motor of FIG. 3;
fig. 6 is a perspective view of the linear motor of fig. 3;
fig. 7 is a perspective view of a fixing plate of the linear motor of fig. 3;
FIG. 8 is a partially sectioned isometric view of the structure shown in FIG. 3, turned 180 degrees upside down;
FIG. 9 is a perspective view, partially in section, of the installation of the present invention in the configuration shown in FIG. 2;
Detailed Description
The following describes in further detail embodiments of the present invention.
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings: the robot end tool compensation mechanism of the invention as shown in the attached drawings comprises an integral rotating plate 24, wherein the integral rotating plate 24 comprises a front wall and a rear wall which are arranged in parallel at intervals in the front and the rear, the bottom, the top and the right side of the front wall and the rear wall are respectively connected with a bottom wall, a top wall and a right wall, a through hole 243 is formed in the middle of the front wall, and a plurality of front wall mounting holes 241 are uniformly formed in the front wall along the outer circumferential direction of the through hole at intervals; a plurality of rear wall mounting holes 242 are uniformly arranged on the rear wall at intervals along the circumferential direction, and the rear wall mounting holes 242 are used for fixedly connecting with a five-axis output end (namely a speed reducer of the five-axis output end) of the five-degree-of-freedom hybrid robot 2 through bolts.
The middle of the top wall of the integral rotating plate 24 and the length direction of the integral rotating plate 24 are fixedly provided with a linear motor magnetic plate 33, the front side and the rear side of the linear motor magnetic plate 33 are respectively and fixedly provided with a guide rail 37, the two guide rails 37 are arranged in parallel with the linear motor magnetic plate 33, each guide rail 37 is connected with two sliding blocks 35 in a sliding way, the middle position of the top wall of the integral rotating plate 24 positioned at the outer side of the front guide rail 37 is downwards provided with a limiting groove, and the bottoms of the front side wall and the rear side wall of a linear motor fixing plate 31 with an n-shaped longitudinal section along the width direction are respectively and fixedly arranged on the two sliding blocks 35 at the front side and the two sliding blocks 35 at the rear side. A linear motor body 32 is fixed in the middle groove of the linear motor fixing plate 31 and located above the linear motor magnetic plate 33, the linear motor can realize linear reciprocating motion, as shown in fig. 6, when the linear motor magnetic plate is fixed, the linear motor body can do circular reciprocating linear motion on the linear motor magnetic plate, the motion direction is shown as the arrow direction in the figure, namely, the linear motor magnetic plate 33 is fixed on the integral rotating plate 24, the linear motor body 32 is installed on the linear motor fixing plate, and a guide rail slider is connected between the linear motor fixing plate and the integral rotating plate, so that the linear motor body and the linear motor fixing plate can do accurate linear reciprocating motion relative to the integral rotating plate.
The bottom wall of the middle position of the front wall of the linear motor fixing plate 31 extends downwards to form a front limiting plate and a rear connecting plate which are arranged in parallel at intervals from front to rear.
The lower part of limiting plate insert the spacing groove setting and can remove about in the spacing groove, when linear electric motor's body 32 made linear motion and exceeded the stroke range, limiting plate both sides terminal surface can hit the spacing groove both sides wall of whole rotor plate front wall, reach mechanical limit function, avoid linear electric motor to take place the driving phenomenon at the debugging in-process, improved the reliability and the security of mechanism.
The web is inserted through a top wall slot formed in the top wall of the integral pivotal plate 24 into a cavity defined between the front and rear walls of the integral pivotal plate 24. A nut connecting plate 41 is fixed on the connecting plate, a flange of a screw nut 29 is fixed on the nut connecting plate 41, the right sides of the screw nut 29 and the screw 30 are connected through a screw nut pair, the right side of the screw 30 is fixed in a bearing 39, the bearing 39 is fixed in an opening of the right wall of the integral rotating plate 24, a brake 34 is fixed at the right end of the screw 30 penetrating through the bearing 39, the right side of the brake is installed on a brake installing plate 26, and the brake installing plate 26 is fixed on the outer wall of the right wall of the integral rotating plate.
The linear reciprocating motion of the linear motor is transmitted to the nut connecting plate, so that the nut connecting plate 41 and the linear motor synchronously perform linear reciprocating motion, the nut connecting plate continuously transmits the motion to the screw nut 29, the linear motion of the screw nut is converted into rotary motion of the screw through the screw nut pair, namely, after the reciprocating linear motion of the linear motor is transmitted to the screw, the rotary motion of the screw is output, the linear motor can be braked by locking the screw through the brake 34, and the linear motor can perform linear motion after the brake is released.
A grating mounting plate 40 is fixed to the left side of the nut attachment plate 41 and linearly reciprocates with the nut attachment plate. As shown in fig. 8, the grating reading head 27 is fixedly connected to the grating mounting plate 40, the grating ruler 28 is attached to the bottom surface of the top wall of the integral rotating plate 24, the grating ruler is located right above the grating reading head, and since the grating reading head 27 is mounted on the grating mounting plate 40, the grating reading head makes linear reciprocating motion along with the nut connecting plate 41, that is, makes linear reciprocating motion along with the body 32 of the linear motor; when the grating reading head moves relative to the grating ruler, the grating reading head can accurately calculate the displacement of the grating reading head by reading the scale change information of the grating ruler. The communication line of the grating reading head is connected with a driver for controlling the body of the linear motor to move.
An electric main shaft installation part 22 is fixed on the top surface of a linear motor fixing plate, a middle through hole is formed in the middle of the electric main shaft installation part 22, the axis direction of the middle through hole is the same as the motion direction of a linear motor, a high-speed main shaft 21 is fixed in the middle through hole, and the high-speed main shaft 21 can be formed by adopting an existing structure. The high-speed spindle tail end can output high-speed rotary motion, the milling cutter with the cutter handle is installed at the high-speed spindle tail end, then the workpiece can be machined, the axis direction of the high-speed spindle is the same as the motion direction of the linear motor, linear motion is transmitted to the high-speed spindle by the linear motor body through the linear motor fixing plate 31 and the electric spindle installing part 22, the high-speed spindle obtains accurate linear reciprocating motion along the axis direction through the guide rail 37 and the sliding block 35, the linear motor has the corresponding characteristic of being faster compared with a servo motor, the high-speed spindle can obtain the rapid response function along the axial direction, and the feeding motion during machining of the tool at the spindle tail end is realized by the linear reciprocating motion of the linear motor.
As shown in fig. 2, the present invention is disclosed in the publication number: the invention relates to an improvement on a structure of a five-freedom-degree series-parallel robot comprising a multi-axis rotating support in the Chinese patent CN 104985596A, which replaces local parts in a positioning head in the CN 104985596A, so that the original invention has one more compensation axis function, and the defect of the application of the original invention in the field of complex part processing is overcome; when the structure of the invention is installed, only the parts connected with the high-speed main shaft in the positioning head of the five-freedom-degree hybrid robot are needed to be dismounted, and the invention is installed, as shown in figure 9, the rear wall of the integral rotating plate 24 of the invention is installed on the speed reducer 45 of the five shafts of the hybrid robot through screws, the front wall of the integral rotating plate 24 is connected with the shaft joint 44 in the five-freedom-degree hybrid robot through the screws penetrating through the front wall installation holes 241, the boss on the end surface of the shaft joint is clamped in the through hole 243 on the front wall of the integral rotating plate, the shaft joint 44 is installed in the inner hole of the bearing 43, the shaft joint 44 is used for penetrating the cable of the grating reading head 27, the speed reducer 45 and the outer ring of the bearing 43 are both installed on the housing 42 of the five shafts in hybrid, the rotating motion is transmitted to the speed reducer 45 through the five-shaft motor, the speed reducer drives the integral rotating plate 24 to rotate, namely, the invention is installed on five shafts of the parallel-serial robot, so that the cutter at the tail end of the high-speed main shaft 21 moves to a position point needing cutting processing through multi-shaft linkage of the parallel-serial robot, and the feed motion of the cutter is realized by the invention.
In the mechanism, the body 32, the high-speed spindle 21 and the grating reading head 27 of the linear motor do synchronous linear reciprocating motion relative to the integral rotating plate 24, the grating ruler 28 is fixed on the integral rotating plate, scale information of the grating ruler is read by the grating reading head and is fed to the linear motor to realize position control of the linear motor, so that the linear motor outputs accurate and controllable linear reciprocating motion, namely, the feeding motion of a cutter at the tail end of the high-speed spindle during milling can be accurately controlled, thus the accurate feeding and quick retracting of a milling cutter can be realized by the linear motion of the linear motor without five-axis linkage of a robot, the dynamic response speed and the response time of the robot are improved, when the feeding motion is not needed, the brake 34 locks the lead screw 30 by the band-type brake function, so that the lead screw cannot rotate, namely, the female lead screw 29 cannot move, and the nut connecting plate 41 connected with the lead screw cannot move, therefore, the linear motor fixing plate 31 cannot move, namely, the body of the linear motor cannot move, the brake indirectly locks the linear motor, the phenomenon that the linear motor slides, namely, the high-speed spindle slides, is prevented, the reliability of the mechanism is improved, and the possibility that a tool at the tail end of the spindle hits a workpiece due to sliding is avoided.
The foregoing description of the present invention is intended to be illustrative rather than restrictive, and therefore the embodiments of the present invention are not limited to the specific embodiments described above. It will be apparent to those skilled in the art that other variations and modifications can be made without departing from the spirit of the invention and the scope of the appended claims.
Claims (1)
1. The utility model provides a terminal cutter compensating mechanism of robot which characterized in that: the integral rotating plate comprises an integral rotating plate (24), wherein the integral rotating plate comprises a front wall and a rear wall which are arranged in a front-rear parallel spaced mode, the bottom, the top and the right side of the front wall and the rear wall are respectively connected with a bottom wall, a top wall and a right wall, a through hole (243) is formed in the middle of the front wall, and a plurality of front wall mounting holes (241) are uniformly spaced on the front wall along the outer circumferential direction of the through hole; a plurality of rear wall mounting holes (242) are uniformly arranged on the rear wall at intervals along the circumferential direction, the plurality of front wall mounting holes (241) are used for being connected with shaft joints (44) in the five-freedom-degree hybrid robot through screws penetrating through the front wall mounting holes (241), and the rear wall mounting holes (242) are used for being fixedly connected with the five-axis output end of the five-freedom-degree hybrid robot through bolts;
the centre of the roof of whole rotor plate (24) and the length direction along whole rotor plate be fixed with a linear electric motor magnetic plate (33) linear electric motor magnetic plate front side and rear side be fixed with a guide rail (37) respectively, two guide rails and linear electric motor magnetic plate parallel arrangement, sliding connection has two slider (35) on every guide rail, top wall intermediate position that is located the whole rotor plate of front side guide rail outside department opens downwards has a spacing groove, the bottom of lateral wall is fixed respectively on two slider (35) of front side and on two sliders of rear side around one is the linear electric motor fixed plate (31) of n shape along width direction's longitudinal section, a linear electric motor's body (32) are fixed in the intermediate groove of linear electric motor fixed plate and are located linear electric motor magnetic plate (33) top, the diapire downwardly extending of intermediate position department of linear electric motor fixed plate (31) antetheca form the limiting plate of front side that parallel interval set up before and after the back set up And a connecting plate at the rear side, the lower part of the limit plate is inserted into the limit groove and can move left and right in the limit groove, the connecting plate is inserted into a cavity between the front wall and the rear wall of the integral rotating plate through a top wall groove formed on the top wall of the integral rotating plate (24), a nut connecting plate (41) is fixed on the connecting plate, a flange of a screw nut (29) is fixed on the nut connecting plate, the right side of the screw nut (29) is connected with the right side of the screw (30) through a screw nut pair, the right side of the screw rod (30) is fixed in a bearing (39), the bearing is fixed in an opening of the right wall of the integral rotating plate (24), a brake (34) is fixed at the right end of the screw rod, which penetrates through the bearing, the right side of the brake is installed on a brake installation plate (26), and the brake installation plate is fixed on the outer wall of the right wall of the integral rotating plate;
a grating mounting plate (40) is fixed on the left side of the nut connecting plate (41), a grating reading head (27) is fixedly connected on the grating mounting plate (40), a grating ruler (28) is attached to the bottom surface of the top wall of the integral rotating plate (24), the grating ruler is positioned right above the grating reading head, and a communication line of the grating reading head is connected with a driver for controlling the body of the linear motor to move;
an electric main shaft installation part (22) is fixed on the top surface of the linear motor fixing plate, a middle through hole is formed in the middle of the electric main shaft installation part, the axis direction of the middle through hole is the same as the movement direction of the linear motor, and a high-speed main shaft (21) is fixed in the middle through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010546407.XA CN111844011B (en) | 2020-06-16 | 2020-06-16 | Robot tail end cutter compensation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010546407.XA CN111844011B (en) | 2020-06-16 | 2020-06-16 | Robot tail end cutter compensation mechanism |
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| Publication Number | Publication Date |
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| CN111844011A CN111844011A (en) | 2020-10-30 |
| CN111844011B true CN111844011B (en) | 2022-07-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010546407.XA Active CN111844011B (en) | 2020-06-16 | 2020-06-16 | Robot tail end cutter compensation mechanism |
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| CN113084832B (en) * | 2021-04-09 | 2022-09-30 | 北京石油化工学院 | Radiation-resistant nuclear emergency disassembling robot based on battery power |
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| CA2292372A1 (en) * | 1999-12-17 | 2001-06-17 | Servo-Robot Inc. | Robot feature tracking devices and methods |
| CN101386141A (en) * | 2008-10-27 | 2009-03-18 | 吉林大学 | Mixed straight line gyration quick cutter servo device |
| CN102922286A (en) * | 2012-09-18 | 2013-02-13 | 北京理工大学 | Macro-micro combined precision micro composite machining tool |
| CN203679343U (en) * | 2013-12-11 | 2014-07-02 | 成都飞机工业（集团）有限责任公司 | Tail end hole forming actuator of robot |
| CN108015312A (en) * | 2017-10-27 | 2018-05-11 | 上海拓璞数控科技股份有限公司 | For robot high accuracy drilling and the end effector and measuring method of counter boring |
| CN110053026A (en) * | 2019-05-23 | 2019-07-26 | 上海交通大学 | Series parallel robot in five degrees of freedom for work pieces process |
| CN110280789A (en) * | 2019-05-24 | 2019-09-27 | 上海拓璞数控科技股份有限公司 | Double swing head device and its control method with normal direction shifting axle |
-
2020
- 2020-06-16 CN CN202010546407.XA patent/CN111844011B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2292372A1 (en) * | 1999-12-17 | 2001-06-17 | Servo-Robot Inc. | Robot feature tracking devices and methods |
| CN101386141A (en) * | 2008-10-27 | 2009-03-18 | 吉林大学 | Mixed straight line gyration quick cutter servo device |
| CN102922286A (en) * | 2012-09-18 | 2013-02-13 | 北京理工大学 | Macro-micro combined precision micro composite machining tool |
| CN203679343U (en) * | 2013-12-11 | 2014-07-02 | 成都飞机工业（集团）有限责任公司 | Tail end hole forming actuator of robot |
| CN108015312A (en) * | 2017-10-27 | 2018-05-11 | 上海拓璞数控科技股份有限公司 | For robot high accuracy drilling and the end effector and measuring method of counter boring |
| CN110053026A (en) * | 2019-05-23 | 2019-07-26 | 上海交通大学 | Series parallel robot in five degrees of freedom for work pieces process |
| CN110280789A (en) * | 2019-05-24 | 2019-09-27 | 上海拓璞数控科技股份有限公司 | Double swing head device and its control method with normal direction shifting axle |
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