CN111993613A

CN111993613A - Mechanical arm type open-loop reciprocating diamond wire special-shaped cutting machine

Info

Publication number: CN111993613A
Application number: CN202011003114.3A
Authority: CN
Inventors: 张启金; 林培林; 傅水平; 周雄军
Original assignee: Xiamen Pinhe Machinery Manufacturing Co Ltd
Current assignee: Xiamen Pinhe Machinery Manufacturing Co Ltd
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2020-11-27

Abstract

The invention relates to a mechanical arm type open-loop reciprocating diamond wire special-shaped cutting machine which comprises a workbench and a cutting mechanism for cutting an object to be processed, wherein the cutting mechanism comprises a rack, a mounting rack, a saw wire, a plurality of wire rollers, a first wire winding and unwinding device and a second wire winding and unwinding device, one end of the saw wire is arranged on the first wire winding and unwinding device, the other end of the saw wire is arranged on the second wire winding and unwinding device, a part between the two ends of the saw wire is wound on the plurality of wire rollers and forms a saw cutting part for saw cutting the object to be processed, the plurality of wire rollers are rotatably arranged on the mounting rack, the mounting rack is movably arranged on the rack and can drive the saw cutting part to form a curved cutting track, the mechanical arm is mounted on the rack, and the mounting rack is mounted on the movable end of the mechanical. The invention can avoid driving the object to be cut to move, saves energy consumption, has more flexible movement of the saw cutting part and can improve the processing efficiency.

Description

Mechanical arm type open-loop reciprocating diamond wire special-shaped cutting machine

Technical Field

The invention relates to a mechanical arm type open-loop reciprocating diamond wire special-shaped cutting machine.

Background

The special-shaped cutting of the traditional processing hard material, such as laser cutting and flame cutting commonly used for processing metal, but can generate a large amount of heat in the two cutting processes, so that the surface material of a workpiece is changed, and the performance of a processed finished product is influenced. The electric spark cutting is to use continuously moving fine metal wire to carry out pulse spark discharge to remove metal from a workpiece, and has slow cutting and forming speed and small processing size. For another example, the bead wire saw is used for special-shaped cutting, the diameter of the wire saw is about 8-11mm, the saw seam generated by cutting is large, the material is wasted, and the processing precision is low.

Disclosure of Invention

The invention aims to provide a mechanical arm type open-loop reciprocating diamond wire special-shaped cutting machine which can reduce energy consumption and saw cuts, has better flexibility and more diversified processing shapes.

In order to achieve the purpose, the invention adopts the following technical scheme:

reciprocating buddha's warrior attendant line dysmorphism cutting machine of manipulator arm-type ring-opening, including being used for placing the workstation of treating the processing thing and being used for treating the cutting mechanism that the processing thing cuts, cutting mechanism includes frame, mounting bracket, saw line, a plurality of line roller, first coiling and uncoiling device and second coiling and uncoiling device, and the one end setting of saw line is on first coiling and uncoiling device, and the other end of saw line sets up on the second coiling and uncoiling device, and the part between the saw line both ends is around establishing on a plurality of line rollers and forming the portion of saw cutting that is used for saw cutting the processing thing, and is a plurality of the line roller rotationally sets up on the mounting bracket, mounting bracket movably sets up in the frame and can drive it forms curved surface form cutting orbit to saw cut the portion, still including installing robotic arm in the frame, the mounting bracket is.

As a preferable mode of the present invention, the mounting bracket includes a first support arm, a second support arm, and a third support arm connecting the first support arm and the second support arm, the first support arm, the second support arm, and the third support arm enclose a U shape, one end of the first support arm is connected to the third support arm, one end of the second support arm is connected to the third support arm, a sawing space is formed between the other end of the first support arm and the other end of the second support arm, and the sawing portion is disposed corresponding to the sawing space.

As a preferable mode of the present invention, the first support arm includes a first arm body and a first telescopic arm disposed on the first arm body, the first telescopic arm is disposed on the first arm body in a telescopic manner, a first telescopic driving mechanism for driving the first telescopic arm to telescope is disposed on the first arm body, the second support arm includes a second arm body and a second telescopic arm disposed on the second arm body, the second telescopic arm is disposed on the second arm body in a telescopic manner, a second telescopic driving mechanism for driving the second telescopic arm to telescope is disposed on the second arm body, and the first telescopic arm and the second telescopic arm are both provided with the thread roller.

As a preferable mode of the present invention, a sliding plate is provided on the robot arm, the third arm includes a first movable arm and a second movable arm, the first arm is connected to the first movable arm, the second arm is connected to the second movable arm, the first movable arm is provided on the sliding plate in a manner of being slidable along a length direction of the sliding plate, the robot arm further includes a first power mechanism for driving the first movable arm to slide, the second movable arm is provided on the sliding plate in a manner of being slidable along the length direction of the sliding plate, and the robot arm further includes a second power mechanism for driving the second movable arm to slide.

As a preferable mode of the present invention, the robot arm includes a rotating base rotatably disposed on the frame, a first swing arm rotatably disposed on the rotating base, a second swing arm rotatably disposed on the first swing arm, a telescopic movable arm telescopically disposed on the second swing arm, and a third swing arm disposed on the telescopic movable arm, and the sliding plate is disposed on the third swing arm.

As a preferred mode of the present invention, the first wire take-up and pay-off device and the second wire take-up and pay-off device are both disposed on the frame, the frame is further provided with a main motor, the main motor is provided with a power wheel, the robot arm is provided with a plurality of automatic aligning guide wheel devices, and a portion of the saw wire between the first wire take-up and pay-off device and the second wire take-up and pay-off device is diffracted on the automatic aligning guide wheel devices, the wire roller and the power wheel.

As a preferred mode of the present invention, the self-aligning guide wheel device includes a wheel body, a first mounting block, a second mounting block, a U-shaped adjusting bracket, a first limiting rotating shaft, a second limiting rotating shaft, a first pressing spring and a second pressing spring, wherein two ends of the U-shaped adjusting bracket are respectively mounted on the first limiting rotating shaft and the second limiting rotating shaft, the first limiting rotating shaft is rotatably arranged on the first mounting block, the second limiting rotating shaft is rotatably arranged on the second mounting block, a wire passing groove is arranged on the wheel body, the first limit rotating shaft and the second limit rotating shaft are arranged corresponding to the wire passing groove, the first top pressure spring is sleeved on the first limit rotating shaft and is positioned between the first mounting block and the U-shaped adjusting frame, the second top pressure spring is sleeved on the second limiting rotating shaft and is positioned between the second mounting block and the U-shaped adjusting frame.

As a preferable mode of the present invention, each of the wire rollers is provided with one winding groove, or each of the wire rollers is provided with a plurality of winding grooves, and the plurality of winding grooves are arranged along an axial direction of the wire roller.

As a preferable mode of the present invention, the present invention further includes a guide rail, the workbench is slidably disposed on the guide rail, the present invention further includes a sliding mechanism for driving the workbench to slide, the workbench is provided with a second rotating table, the present invention further includes a second rotation driving mechanism for driving the second rotating table to rotate, the present invention further includes a second pallet disposed on the second rotating table, the second pallet is disposed on the second rotating table in a liftable manner, and the present invention further includes a second lifting mechanism for driving the second pallet to lift up and down.

After the technical scheme is adopted, the mechanical arm is arranged on the rack, the mounting frame is mounted at the movable end of the mechanical arm, the mounting frame can drive the saw cutting part to form a curved surface-shaped cutting track, the movement of the saw cutting part is utilized to carry out special-shaped cutting, the object to be cut does not need to be driven to move in the cutting process, the energy consumption is further saved, the movement of the saw cutting part is more flexible, and the processing efficiency can be improved. Further, the third support arm includes first digging arm and second digging arm, and first digging arm and the equal movably setting of second digging arm are on the slide to can adjust the distance between first support arm and the second support arm, thereby the adjustment cutting span adapts to the thing of waiting to cut of different specifications, and board flexibility is stronger. Further, first support arm and second support arm all adopt telescopic boom structure to can adjust the maximum feed volume of saw cutting portion, adapt to the thing of waiting to cut of more specifications, the board flexibility is stronger.

Drawings

Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.

Fig. 2 is a schematic structural view of another angle of the first embodiment of the present invention (the saw line is not shown in the drawing).

Fig. 3 is a schematic structural diagram of a second embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a third embodiment of the present invention.

Fig. 5 is a schematic view of another angle structure of the third embodiment of the present invention (the saw line is not shown).

FIG. 6 is a schematic view of the structure of the slide plate of the present invention cooperating with the first movable arm and the second movable arm.

FIG. 7 is a first schematic view of the wire roller of the present invention.

Fig. 8 is a schematic view of the structure of a second type of thread roller in the present invention.

Fig. 9 is a schematic structural view of the self-aligning guide wheel device of the present invention.

Fig. 10 is a schematic structural view of the tension control device of the present invention.

In the figure:

rack 10

Guide rail 21 of workbench 20

Sliding mechanism 22 second rotating platform 23

Second pallet 24

Object to be cut 30

First winding and unwinding device 41 and second winding and unwinding device 42

Main motor 43 power wheel 44

Guide wheel 45

First mounting block 451 second mounting block 452

First limit rotating shaft 453 and second limit rotating shaft 454

First top pressure spring 455 and second top pressure spring 456

U-shape adjusting frame 457 wheel body 458

Wire through groove 459

Wire roller 50 winding slot 51

Saw wire 52

First rotating table 61 first pallet 62

First beam 63 first body 631

First boom 632 and second beam 64

Second body 641 second movable arm 642

Connecting column 65

Mounting table 71 lifting mechanism 72

Rotating shaft 73 first upright 74

First cylinder 741 first guide arm 742

Second upright 75 and second post 751

A second guide arm 752 is connected to the cross member 76

Auxiliary frame 77 supports shaft 78

Limit shaft 710 of slide shaft 79

Sleeve part 741 and slider part 761

First swing arm 801 and second swing arm 802

Telescopic movable arm 804 of third swing arm 803

Rotating base 805 first arm 806

First telescopic arm 807 and first support arm 808

Second arm body 809 second telescopic arm 810

Second arm 811 first movable arm 812

Second movable arm 813 and third support arm 814

First lead screw motor 816 of sliding plate 815

First lead screw motor 817 first slide plate 818

Second lead screw motor 819 second lead screw 820

Second slide plate 821

First swing arm 1001 of fulcrum plate 1000

Second swing arm 1002 pushing mechanism 1003

Connecting shaft 1004 tension pulley 1005

First spacing post 1006 and second spacing post 1007

Encoder 1008

Detailed Description

In order to further explain the technical scheme of the invention, the following detailed description is combined with the accompanying drawings.

Referring to fig. 1 to 10, the present invention provides an open-loop reciprocating diamond wire special-shaped cutting machine, which includes a worktable 20 for placing an object to be processed and a cutting mechanism for cutting the object to be processed, wherein the object to be processed in the present invention may be a hard object such as stone, metal, etc., and the present invention takes stone as an example, and particularly, larger stone.

The cutting mechanism comprises a rack 10, a mounting frame, a saw wire 52, a plurality of wire rollers 50, a first wire winding and unwinding device 41 and a second wire winding and unwinding device 42, wherein one end of the saw wire 52 is arranged on the first wire winding and unwinding device 41, the other end of the saw wire 52 is arranged on the second wire winding and unwinding device 42, and the first wire winding and unwinding device 41 comprises a first reel and a first wire winding and unwinding motor which is driven by the first reel. The second coiling and uncoiling device 42 comprises a second reel and a second coiling and uncoiling motor which is in transmission with a second winding, wherein the first coiling and uncoiling motor and the second coiling and uncoiling motor are arranged on the mounting frame, in the invention, the saw wire 52 adopts an electroplated diamond wire, the saw wire 52 is one, one end of the saw wire 52 is connected to the first reel, and the other end of the saw wire 52 is connected to the second reel. The part between the two ends of the saw wire 52 is wound on the wire rollers 50 to form a saw cutting part for sawing the object to be processed, when the device works, the first wire take-up and pay-off device 41 releases the wires, the second wire take-up and pay-off device 42 takes up the wires, the saw cutting part is driven to saw on the object to be processed by matching with the feeding of the object to be processed or the feeding of the cutting mechanism, when the saw wire 52 on the first wire take-up and pay-off device 41 is released, the second wire take-up and pay-off device 42 releases the wires, and the first wire take-up and pay-off device 41 takes up the wires, so that the repeated walking of the saw wire 52 is realized. According to the invention, the first wire winding and unwinding device 41 and the second wire winding and unwinding device 42 can drive the saw wire 52 to move, so that the saw wire 52 is better driven to move, the main motor 43 is further arranged on the rack 10, the power wheel 44 is arranged on the main motor 43, the saw wire 52 is wound on the power wheel 44, and the power wheel 44 rotates to further pull the saw wire 52 to move.

In the present invention, the wire rollers 50 are rotatably disposed on the mounting bracket, and the mounting bracket is movably disposed on the frame 10 and can drive the sawing portion to form a curved cutting track, so as to implement the special-shaped cutting.

In order to guide the movement of the saw wire 52, in the present invention, a plurality of guide wheels 45 are provided between the first wire takeup and payoff device 41 and the second wire takeup and payoff device 42 for guiding the sliding of the saw wire 52 and changing the running direction of the saw wire 52.

Preferably, the guide wheel 45 is a self-aligning guide wheel device 45, and a portion of the saw wire 52 between the first wire winding and unwinding device 41 and the second wire winding and unwinding device 42 is diffracted on the self-aligning guide wheel device, the wire roller 50 and the power wheel 44.

Specifically, the self-aligning guide wheel device includes a wheel body 458, a first mounting block 451, a second mounting block 452, a U-shaped adjusting frame 457, a first limiting rotating shaft 453, a second limiting rotating shaft 454, a first top pressure spring 455 and a second top pressure spring 456, the first mounting block 451 and the second mounting block 452 are fixed at corresponding positions of the robot arm, two ends of the U-shaped adjusting frame 457 (specifically, two free ends of the U-shaped adjusting frame 457) are respectively mounted on the first limiting rotating shaft 453 and the second limiting rotating shaft 454, the first limiting rotating shaft 453 is rotatably mounted on the first mounting block 451, the second limiting rotating shaft 454 is rotatably mounted on the second mounting block 452, the first limiting rotating shaft 453 and the second limiting rotating shaft 454 are coaxially arranged, a wire passing groove 459 is arranged on the wheel body 458, the wire passing groove 459 is arranged along the circumferential direction of the wheel body 458, and the first limiting rotating shaft 453 and the second limiting rotating shaft 454 are arranged corresponding to the wire passing groove 459, the first top pressure spring 455 is sleeved on the first limiting rotating shaft 453 and is located between the first mounting block 451 and the U-shaped adjusting frame 457, and the second top pressure spring 456 is sleeved on the second limiting rotating shaft 454 and is located between the second mounting block 452 and the U-shaped adjusting frame 457. With the structure of the invention, when the diamond wire passes through the wheel body 458 and the movement angles of other mechanisms (cutting mechanism, mounting rack and the like) are changed, the diamond wire can generate an axial force on the wheel body 458, so that the wheel body 458 automatically generates a deflection angle, the direction of the diamond wire is automatically adjusted to adapt to wire cutting, and the saw wire 52 is ensured to be always in the wire passing groove 459.

The number and the positions of the self-aligning guide wheel devices are set according to the specific structure of the machine, for example, the guide wheels at a position in fig. 2, B in fig. 3, C in fig. 4, D in fig. 4, and E in fig. 4 can all adopt the self-aligning guide wheel devices.

In order to keep the saw wire 52 at a relatively constant tension and avoid the saw wire 52 from loosening or breaking, the invention further comprises a tension control device, the tension control device comprises a support plate 1000, a first swing arm 1001, a second swing arm 1002, a connecting shaft 1004 and a pushing mechanism 1003, the support plate 1000 is fixed on the frame 10 or the mounting rack, one end of the first swing arm 1001 is vertically installed on the connecting shaft 1004, the other end of the first swing arm 1001 is connected with the pushing mechanism 1003, one end of the second swing arm 1002 is vertically installed on the connecting shaft 1004, the other end of the second swing arm is installed with a tension pulley 1005 for winding the diamond wire, the connecting shaft 1004 is rotatably installed on the support plate 1000, and the pushing mechanism 1003 is installed on the support plate. Specifically, first swing arm 1001, second swing arm 1002 and extension board 1000 all set up along vertical direction, pushing mechanism 1003 adopts the cylinder, electric putter or other drive mechanism, for example can adopt electric putter, electric putter articulates on extension board 1000, electric putter's flexible end is articulated with the lower extreme of first swing arm 1001, the upper end of first swing arm 1001 is fixed on even axle 1004, even axle 1004 extends along the horizontal direction, the upper end of second swing arm 1002 is fixed on even axle 1004, tension pulley 1005 is installed to the lower extreme of second swing arm 1002, tension pulley 1005 rotationally installs the lower extreme at second swing arm 1002. In order to limit the stroke of the second swing arm 1002, a first limit shaft 1006 and a second limit shaft 1007 are respectively arranged on two sides of the second swing arm 1002, and the first limit shaft 1006 and the second limit shaft 1007 are fixed on the support plate 1000. The tension control device of the invention is preferably used between the wire winding and unwinding device and the wire rollers 50, the tension of the diamond wires is adjusted, the diamond wires coming out of the wire winding and unwinding device are subjected to tension adjustment through the tension wheel 1005 and then enter each wire roller 50, the diamond wires have proper tension in the wire rollers 50, the diamond wires are not easy to break, and the stable cutting of hard matters such as stones is ensured. In order to sense the rotation angle of the connecting shaft 1004, an encoder 1008 can be further installed on the support plate 1000, the encoder 1008 is arranged corresponding to the connecting shaft 1004, a tension sensor is arranged on the guide wheel 45, the encoder 1008, the tension sensor and the pushing mechanism 1003 are all connected to a controller, the diamond wire constant tension adjustment is achieved through the controller, and stable stone cutting is guaranteed. When the tension is adjusted, the pushing mechanism 1003 extends and retracts to drive the first swing arm 1001 to swing, and the first swing arm 1001 drives the second swing arm 1002 to swing through the connecting shaft 1004, so that the tension pulley 1005 swings.

On the basis of the general concept of the invention, the invention provides three types of cutting mechanisms to form three types of open-loop reciprocating diamond wire special-shaped cutting machines.

The first is a vertical open-loop reciprocating diamond wire special-shaped cutting machine. In this reciprocal buddha's warrior attendant line dysmorphism cutting machine of vertical ring-opening, saw cut the setting of portion along vertical face, the buddha's warrior attendant line that embodies saw cut stone material department extends along the straight direction, and when the cutting, saw cut the portion and keep with horizontal vertical direction.

In this embodiment, the mounting bracket includes a first rotating platform 61 and a support frame arranged on the first rotating platform 61, the thread roller 50 is arranged on the support frame, and the mounting bracket further includes a first rotation driving mechanism for driving the first rotating platform 61 to rotate, the first rotation driving mechanism may adopt a motor, for example, and an output shaft of the motor is in transmission connection with a rotating shaft of the first rotating platform 61.

As a preferable mode of the present invention, the present invention further includes a first pallet 62 provided on the first rotating table 61, the first pallet 62 being provided on the first rotating table 61 so as to be able to be lifted, and a first lifting mechanism for driving the first pallet 62 to be lifted up and down, the first lifting mechanism may be, for example, a plurality of cylinders, a cylinder body of the cylinder is mounted on the first rotating table 61, and a piston rod of the cylinder is mounted at a lower end of the first pallet 62. The first lifting mechanism is not limited to the oil cylinder, and can also be driven by a screw rod motor and a screw rod. According to the invention, the position of the sawing part is adjusted by rotating the first rotating table 61 and lifting the first lifting mechanism, so that the stone sawing machine is suitable for stones with different sizes.

As a preferred mode of the invention, the support frame is disposed on the first pallet 62 in a manner of being movable along a length direction of the first pallet 62, and further includes a traversing mechanism for driving the support frame to move along the length direction of the first pallet 62, the traversing mechanism may be, for example, an oil cylinder, a cylinder body of the oil cylinder is mounted on the first pallet 62, a piston rod of the oil cylinder is mounted on the support frame, the traversing mechanism may also be configured by an electric push rod or a lead screw motor, a lead screw, and the like, and preferably, the lead screw motor and the lead screw are driven, so that transmission is more accurate. In order to guide the support frame to perform linear motion, a corresponding slide rail may be disposed on the first saddle 62, and a slide groove may be disposed on the support frame corresponding to the slide rail. As a preferred mode of the present invention, the support frame includes a first beam 63, a second beam 64 and a connecting column 65, the first beam 63 and the second beam 64 are arranged in parallel and are both arranged along a horizontal direction, the connecting column 65 is arranged along a vertical direction, the upper end of the connecting column 65 is connected with one end of the first beam 63, the lower end of the connecting column 65 is connected with one end of the second beam 64, the other end of the first beam 63 and the other end of the second beam 64 form a sawing space, the whole support frame is in an inverted U-shaped structure, the sawing part is arranged corresponding to the sawing space, and the distance between the wire roller 50 on the first beam 63 and the wire roller 50 on the second beam 64 forms a cutting span, which is greater than the thickness of the stone sawing part. As a preferred embodiment of the present invention, the first beam 63 is disposed on the connecting column 65 in a manner of being capable of moving up and down with respect to the connecting column 65, and further includes a beam driving mechanism for driving the first beam 63 to move up and down, the beam driving mechanism may be, for example, an oil cylinder, for example, a plurality of oil cylinders, a cylinder body of the oil cylinder is mounted on the connecting column 65, and a piston rod of the oil cylinder is mounted on the first beam 63. The beam driving mechanism may also be a power mechanism that can drive the first beam 63 to move up and down, such as a lead screw motor and a lead screw. By adopting the structure, the distance between the first cross beam 63 and the second cross beam 64 can be adjusted through the cross beam driving mechanism, so that the cutting span can be adjusted, and the processing requirements of stones with different specifications can be met.

In a preferred embodiment of the present invention, the first beam 63 includes a first body 631, a first boom 632 telescopically disposed on the first body 631, and a first boom driving mechanism for driving the first boom 632 to extend and retract, the second beam 64 includes a second body 641, a second boom 642 telescopically disposed on the second body 641, and a second boom driving mechanism for driving the second boom 642 to extend and retract, and the thread roller 50 is disposed on each of the first boom 632 and the second boom 642. The first movable arm driving mechanism and the second movable arm driving mechanism can be linear driving mechanisms such as an oil cylinder, an electric push rod, a lead screw motor, a lead screw and the like. When the first beam 63 and the second beam 64 are not synchronously stretched, the four wire rolls 50 become irregular quadrangles, and tapered curved surfaces can be cut.

In a preferred embodiment of the present invention, the number of the wire rollers 50 is four, two of the wire rollers 50 are respectively disposed at both ends of the first beam 63, and two of the wire rollers 50 are respectively disposed at both ends of the second beam 64, specifically, the wire rollers 50 are disposed at a side surface of the first beam 63 and a side surface of the second beam 64, the four wire rollers 50 are arranged in a rectangular shape, and an axis of each wire roller 50 is disposed in a horizontal direction.

When the stone sawing machine is used for sawing, the saw wire 52 is driven to form a curved surface with a preset shape through the rotation of the first rotating platform 61 and the movement of the support frame along the first supporting platform 62, and a plane can be sawn on the stone by the movement of the support frame along the first supporting platform 62 without rotating the first rotating platform 61.

The second type is a horizontal open-loop reciprocating diamond wire profile cutting machine, in this embodiment, the sawing part is arranged in the horizontal direction, that is, the saw wire 52 at the corresponding position extends in the horizontal direction during the sawing process.

In this embodiment, the mounting rack includes a mounting table 71 and a cutting rack disposed on the mounting table 71, the mounting table 71 is disposed on the rack 10 in a manner of being capable of ascending and descending, and the mounting table 71 further includes a lifting mechanism 72 for driving the mounting table 71 to ascend and descend, the lifting mechanism 72 may be, for example, a plurality of oil cylinders, the cylinder bodies of the oil cylinders are mounted on the rack 10, and the piston rods of the oil cylinders are mounted at the lower end of the mounting table 71. The lifting mechanism 72 is not limited to an oil cylinder, and can also be driven by a lead screw motor and a lead screw.

As a preferred mode of the present invention, the cutting frame is rotatably disposed on the mounting table 71 through a horizontally disposed rotating shaft 73, and further includes a first horizontal rotating mechanism for driving the rotating shaft 73 to rotate, for example, a motor is used for the first horizontal rotating mechanism, and the rotating shaft 73 is driven to rotate by the motor, so as to drive the cutting frame to rotate integrally, in this embodiment, the axis of the thread roller 50 is disposed along a horizontal direction and is perpendicular to the axis of the rotating shaft 73.

In a preferred embodiment of the present invention, the cutting frame includes a first vertical column 74, a second vertical column 75, and a connecting cross beam 76 connecting the first vertical column 74 and the second vertical column 75, the first vertical column 74 and the second vertical column 75 are disposed in a vertical direction, the connecting cross beam 76 is disposed in a horizontal direction, and the first vertical column 74, the second vertical column 75, and the connecting cross beam 76 form a shape of a Chinese character 'men'. The lower end of the first upright post 74 is connected with the rotating shaft, the upper end of the first upright post 74 is connected with one end of the connecting beam 76, the upper end of the second upright post 75 is connected with the other end of the connecting beam 76, a sawing space is formed between the lower end of the first upright post 74 and the lower end of the second upright post 75, the sawing part is arranged corresponding to the sawing space, namely, the sawing part is formed at the position of the saw wire 52 between the lower end of the first upright post 74 and the lower end of the second upright post 75.

As a preferred mode of the present invention, the connecting beam 76 is disposed on the first upright 74 in a manner of being movable along the length direction of the connecting beam 76, and further includes a translation mechanism for driving the connecting beam 76 to move, and the translation mechanism may employ an oil cylinder, or a lead screw motor and a lead screw structure. In order to allow the connecting cross member 76 to move more smoothly, a horizontally extending sleeve portion 741 is formed at an upper end of the first upright 74, and a slider portion 761 is provided on the connecting cross member 76, the slider portion 761 being fittingly inserted into the sleeve portion 741. Through setting up translation mechanism for the interval between first stand 74 and the second stand 75 can be adjusted, thereby realizes the adjustment of cutting span, with the stone material of adaptation different specifications.

Preferably, in the present invention, the first upright 74 and the second upright 75 are provided in a telescopic structure, the first upright 74 includes a first cylinder 741, a first guiding arm 742 telescopically provided on the first cylinder 741, and a first guiding arm driving mechanism for driving the first guiding arm 742 to extend and retract, the second upright 75 includes a second cylinder 751, a second guiding arm 752 telescopically provided on the second cylinder 751, and a second guiding arm driving mechanism for driving the second guiding arm 752 to extend and retract, and the wire roller 50 is provided on each of the first guiding arm 742 and the second guiding arm 752. The first guide arm driving mechanism and the second guide arm driving mechanism can be linear driving mechanisms such as an oil cylinder, an electric push rod, a lead screw motor, a lead screw and the like.

As a preferable mode of the present invention, the second upright post 75 is provided with a supporting shaft 78 corresponding to the rotating shaft 73, and further comprises an auxiliary frame 77, preferably, the auxiliary frame 77 is configured to be a lifting structure and lift synchronously with the mounting platform 71, the auxiliary frame 77 is provided with a horizontally disposed limiting shaft 710, the limiting shaft 710 is configured corresponding to the supporting shaft 78, specifically, the limiting shaft 710 and the supporting shaft 78 are coaxially configured, the limiting shaft 710 is telescopically and rotatably configured on the auxiliary frame 77, specifically, for example, an oil cylinder is configured in the auxiliary frame 77, a piston rod of the oil cylinder is connected with a sliding shaft 79, the limiting shaft 710 is rotatably mounted on the sliding shaft 79, the oil cylinder can drive the sliding shaft 79 and the limiting shaft 710 to extend and retract to match the displacement of the second upright post 75, the limiting shaft 710 abuts against the supporting shaft 78, during the cutting operation, the supporting shaft 78 and the rotating shaft 73 limit the two ends of the cutting frame, so that the cutting frame can stably rotate around the axis of the rotating shaft 73 to realize stable sawing. By adopting the structure, the whole machine body is relatively stable, and can process relatively large-sized materials.

In a preferred embodiment of the present invention, the number of the wire rollers 50 is four, two of the wire rollers 50 are respectively disposed at both ends of the first vertical column 74, two of the wire rollers 50 are respectively disposed at both ends of the second vertical column 75, and the four wire rollers 50 are arranged in a rectangular shape. In the present invention, the sawing part (the sawing part is formed by the sawing wire 52 between the lower end of the first upright 74 and the lower end of the second upright 75) is not aligned with the axis of the rotating shaft 73, and the sawing part can move along a curved track when the rotating shaft 73 rotates.

The third type is a vertical open-loop reciprocating diamond wire profile cutting machine, which in this embodiment further comprises a mechanical arm mounted on the frame 10, and the mounting frame is mounted on the movable end of the mechanical arm.

In an embodiment of the present invention, the mounting block includes a first arm 808, a second arm 811, and a third arm 814 connecting the first arm 808 and the second arm 811, the first arm 808, the second arm 811, and the third arm 814 are enclosed to form a U shape, one end of the first arm 808 is connected to the third arm 814, one end of the second arm 811 is connected to the third arm 814, a sawing space is formed between the other end of the first arm 808 and the other end of the second arm 811, and the sawing portion is disposed corresponding to the sawing space.

As a preferred aspect of the present invention, the first supporting arm 808 includes a first arm 806 and a first telescopic arm 807 disposed on the first arm 806, the first telescopic arm 807 is disposed on the first arm 806 in a telescopic manner, the wire roller 50 is disposed on the first telescopic arm 807, a first telescopic driving mechanism for driving the first telescopic arm 807 to extend and retract is disposed on the first arm 806, and the first telescopic driving mechanism may adopt a conventional linear driving mechanism such as an oil cylinder, an electric push rod, or a lead screw motor.

In the invention, the second support arm 811 comprises a second arm body 809 and a second telescopic arm 810 arranged on the second arm body 809, the second telescopic arm 810 is arranged on the second arm body 809 in a telescopic manner, the second telescopic arm 810 is provided with the thread roller 50, the second arm body 809 is provided with a second telescopic driving mechanism for driving the second telescopic arm 810 to stretch, and the second telescopic driving mechanism can adopt conventional linear driving mechanisms such as an oil cylinder, an electric push rod or a screw motor.

In a preferred embodiment of the present invention, a sliding plate 815 is disposed on the robot arm, the third arm 814 includes a first movable arm 812 and a second movable arm 813, the first movable arm 812 and the second movable arm 813 are disposed on the same line, the first support arm 808 is connected to the first movable arm 812, the second support arm 811 is connected to the second movable arm 813, the first movable arm 812 is disposed on the sliding plate 815 in a manner of sliding along the length direction of the sliding plate 815, the sliding device further comprises a first power mechanism for driving the first movable arm 812 to slide, the second movable arm 813 is disposed on the sliding plate 815 in a manner of sliding along the length direction of the sliding plate 815, the sliding device further comprises a second power mechanism for driving the second movable arm 813 to slide, and the first power mechanism and the second power mechanism may adopt conventional linear driving mechanisms such as an oil cylinder, an electric push rod, or a lead screw motor. With this configuration, the spacing between the first arm 808 and the second arm 811 can be changed by the movement of the first movable arm 812 and the second movable arm 813, thereby adjusting the sawing span. Specifically, a first lead screw motor 816 is arranged on the sliding plate 815, an output shaft of the first lead screw motor 816 is connected with a first lead screw 817, the first lead screw 817 is matched with a first lead screw nut (not shown in the figure), the first lead screw nut is provided with a first sliding plate 818, the first movable arm 812 is arranged on the first sliding plate 818, the first lead screw 817 is arranged in the vertical direction, the sliding plate 815 is provided with a second lead screw motor 819, an output shaft of the second lead screw motor 819 is connected with a second lead screw 820, the second lead screw 820 is matched with a second lead screw nut (not shown in the figure), the second lead screw nut is provided with a second sliding plate 821, the second movable arm 813 is arranged on the second sliding plate 821, and the second lead screw 820 is arranged in the vertical direction.

In the invention, the mechanical arm adopts a 5-shaft mechanical arm, the mechanical arm comprises a rotating base 805 which is rotatably arranged on the rack 10, a first swing arm 801 which is rotatably arranged on the rotating base 805, a second swing arm 802 which is rotatably arranged on the first swing arm 801, a telescopic movable arm 804 which is telescopically arranged on the second swing arm 802 and a third swing arm 803 which is arranged on the telescopic movable arm 804, the sliding plate 815 is arranged on the third swing arm 803, a driving mechanism which is used for driving the rotating base 805 to rotate is correspondingly arranged on the rack 10, a driving mechanism which is used for driving the first swing arm 801 to swing is arranged on the rotating base 805, a driving mechanism which is used for driving the second swing arm 802 to swing is arranged on the first swing arm 801, a telescopic mechanism which is used for driving the telescopic movable arm 804 to swing is arranged on the second swing arm 802, and a driving mechanism which is used for driving the third swing arm 803 to swing or rotate is arranged on the telescopic, the driving mechanisms can adopt motors, and the telescopic mechanisms can adopt air cylinders or oil cylinders. By adopting the technical scheme of the invention, the mounting frame can be flexibly moved and rotated by the mechanical arm, so that the position and the direction of the sawing part can be changed, and various curved surfaces can be cut on the stone.

In order to ensure that the saw wire 52 can be stably wound around the wire roller 50 during the flexible movement of the robot arm, a plurality of guide wheels 45 are provided on the robot arm.

In this embodiment, the main motor, the first wire take-up and pay-off device 41 and the second wire take-up and pay-off device 42 are all arranged on the rack 10, so that the load of the mounting rack is reduced, the mounting rack is more flexible to move, and the processing efficiency is improved. In the process of moving each joint (swing arm, telescopic arm and rotary base) of the mechanical arm, the first wire releasing and releasing device 41 and the second wire releasing and releasing device 42 can adjust the wire releasing and releasing linear speed of the saw wire according to the tension of the saw wire, so that the length of the wire is changed to adapt to the movement of the joint.

In the three structures, each of the wire rollers 50 may be provided with a wire winding groove 51, and the wire winding groove 51 may be provided along the circumferential direction of the wire roller 50.

In the three structures, each wire roller 50 can be provided with a plurality of wire winding grooves 51, the wire winding grooves 51 are formed along the circumferential direction of the wire roller 50, and the plurality of wire winding grooves 51 are arranged along the axial direction of the wire roller 50.

In the present invention, two wire rollers 50, three wire rollers 50, four wire rollers 50, or more wire rollers 50 may be provided on the mounting frame. Preferably, the wire roller 50 is optionally provided with a power motor, and the wire roller 50 is driven to rotate by the power motor.

As a further improvement of the present invention, the present invention further includes a guide rail 21, the work table 20 is slidably disposed on the guide rail 21, and the work table 20 is guided by the guide rail 21 to perform a linear motion, and the present invention further includes a sliding mechanism 22 for driving the work table 20 to slide, the sliding mechanism may be, for example, an oil cylinder, or a lead screw motor and a lead screw, in an embodiment, the lead screw motor and the lead screw are employed, a lead screw nut is disposed on the lead screw, and the work table 20 is mounted on the lead screw nut and moves back and forth along with the lead screw nut. The workbench 20 is provided with a second rotating platform 23, and further comprises a second rotary driving mechanism for driving the second rotating platform 23 to rotate, the second rotary driving mechanism can adopt a motor, and an output shaft of the motor is in transmission connection with a rotating shaft of the second rotating platform 23 and is used for driving the second rotating platform 23 to rotate. The invention also comprises a second supporting platform 24 arranged on the second rotating platform 23, the second supporting platform 24 is arranged on the second rotating platform 23 in a lifting way, and the invention also comprises a second lifting mechanism used for driving the second supporting platform 24 to lift up and down, the second lifting mechanism can adopt a plurality of oil cylinders, for example, the cylinder bodies of the oil cylinders are arranged on the second rotating platform 23, and the piston rods of the oil cylinders are arranged at the lower end of the second supporting platform 24. The second lifting mechanism is not limited to the oil cylinder, and can also be driven by a screw rod motor and a screw rod. By adopting the technical scheme of the invention, the stone is moved by the workbench at a proper position and angle before cutting, so that the cutting mechanism can feed and cut more quickly and accurately.

The product form of the present invention is not limited to the embodiments and examples shown in the present application, and any suitable changes or modifications of the similar ideas should be made without departing from the patent scope of the present invention.

Claims

1. Reciprocal buddha's warrior attendant line dysmorphism cutting machine of manipulator arm-type ring-opening, including being used for placing the workstation of treating the processing thing and being used for treating the cutting mechanism that the processing thing cuts, cutting mechanism includes the frame, the mounting bracket, the saw wire, a plurality of line rollers, first coiling and uncoiling device and second coiling and uncoiling device, the one end setting of saw wire is on first coiling and uncoiling device, the other end of saw wire sets up on the second coiling and uncoiling device, part between the saw wire both ends is around establishing on a plurality of line rollers and forming the portion of saw cutting that is used for saw cutting the processing thing, its characterized in that: a plurality of the line roller rotationally sets up on the mounting bracket, mounting bracket movably sets up in the frame and can drive saw cut the part and form curved surface form cutting orbit, still including installing robotic arm in the frame, the mounting bracket is installed and is served at robotic arm's activity.

2. The robotic arm type open-loop reciprocating diamond wire form cutter of claim 1, wherein: the mounting bracket includes first support arm, second support arm and connects the third support arm of first support arm and second support arm, and first support arm, second support arm and third support arm enclose into the U-shaped, and the one end and the third support arm of first support arm are connected, and the one end and the third support arm of second support arm are connected, form between the other end of first support arm and the other end of second support arm and saw cut the space, saw cut the portion correspondence and saw cut the space setting.

3. The robotic arm type open-loop reciprocating diamond wire form cutter of claim 2, wherein: first support arm includes the first arm body and sets up the first flexible arm on the first arm body, and first flexible arm sets up on the first arm body with the telescopic mode, is equipped with the first flexible actuating mechanism who is used for driving the first flexible arm and stretches out and draws back on the first arm body, the second support arm includes the second arm body and sets up the flexible arm of second on the second arm body, and the flexible arm of second sets up on the second arm body with the telescopic mode, is equipped with the flexible actuating mechanism of second that is used for driving the flexible arm of second on the second arm body, first flexible arm with all be equipped with on the flexible arm of second the line roller.

4. The robotic arm type open-loop reciprocating diamond wire form cutter of claim 3, wherein: be equipped with the slide on robotic arm, the third support arm includes first digging arm and second digging arm, first support arm is connected on first digging arm, the second support arm is connected on the second digging arm, and first digging arm sets up on the slide with the gliding mode of length direction that can follow the slide, still including being used for driving the gliding first power unit of first digging arm, and the gliding mode setting of length direction that the second digging arm can follow the slide is on the slide, still including being used for driving the gliding second power unit of second digging arm.

5. The robotic arm type open-loop reciprocating diamond wire form cutter of claim 4, wherein: the mechanical arm comprises a rotary base, a first swing arm, a second swing arm, a telescopic movable arm and a third swing arm, wherein the rotary base is arranged on the rack in a rotating mode, the first swing arm is arranged on the rotary base in a rotating mode, the second swing arm is arranged on the first swing arm in a rotating mode, the telescopic movable arm is arranged on the second swing arm in a telescopic mode, the third swing arm is arranged on the telescopic movable arm in a telescopic mode, and the sliding plate is arranged on the third swing arm.

6. The robotic arm type open-loop reciprocating diamond wire form cutter of claim 5, wherein: the first wire winding and unwinding device and the second wire winding and unwinding device are arranged on the rack, a main motor is further arranged on the rack, a power wheel is arranged on the main motor, a plurality of automatic aligning guide wheel devices are arranged on the mechanical arm, and the part of the saw wire between the first wire winding and unwinding device and the second wire winding and unwinding device is diffracted on the automatic aligning guide wheel devices, the wire roller and the power wheel.

7. The robotic arm type open-loop reciprocating diamond wire form cutter of claim 6, wherein: the automatic aligning guide wheel device comprises a wheel body, a first mounting block, a second mounting block, a U-shaped adjusting frame, a first limiting rotating shaft, a second limiting rotating shaft, a first jacking spring and a second jacking spring, wherein two ends of the U-shaped adjusting frame are respectively mounted on the first limiting rotating shaft and the second limiting rotating shaft, the first limiting rotating shaft is rotatably mounted on the first mounting block, the second limiting rotating shaft is rotatably mounted on the second mounting block, a line groove is formed in the wheel body, the first limiting rotating shaft corresponds to the line groove, the first jacking spring sleeve is arranged on the first limiting rotating shaft and located between the first mounting block and the U-shaped adjusting frame, and the second jacking spring sleeve is arranged on the second limiting rotating shaft and located between the second mounting block and the U-shaped adjusting frame.

8. The robotic arm type open-loop reciprocating diamond wire form cutter of claim 1, wherein: each wire roller is provided with one wire winding groove, or each wire roller is provided with a plurality of wire winding grooves which are arranged along the axial direction of the wire roller.

9. The robotic arm type open-loop reciprocating diamond wire form cutter of claim 1, wherein: the automatic lifting device is characterized by further comprising a guide rail, the workbench is arranged on the guide rail in a sliding mode, the sliding mechanism is used for driving the workbench to slide, a second rotating platform is arranged on the workbench, the second rotating platform is further driven to rotate by a second rotation driving mechanism, the second supporting platform is arranged on the second rotating platform and can be lifted and lowered, and the second lifting mechanism is used for driving the second supporting platform to ascend and descend.