CN112720575B - Intelligent ultra-precise robot four-axis shell and machining process thereof - Google Patents
Intelligent ultra-precise robot four-axis shell and machining process thereof Download PDFInfo
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- CN112720575B CN112720575B CN202011512427.1A CN202011512427A CN112720575B CN 112720575 B CN112720575 B CN 112720575B CN 202011512427 A CN202011512427 A CN 202011512427A CN 112720575 B CN112720575 B CN 112720575B
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- sleeve base
- wall
- driving source
- arm
- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent ultra-precise robot four-axis shell and a processing technology thereof, and the intelligent ultra-precise robot four-axis shell comprises a shaft sleeve base body, a driving source installation part, a left supporting arm and a right supporting arm, wherein the shaft sleeve base body is used for installing a robot arm, the driving source installation part is arranged at the tail end of the shaft sleeve base body and is used for installing a driving motor for driving the robot arm to rotate, the left supporting arm is arranged at one side of the shaft sleeve base body, the right supporting arm is arranged at the other side of the shaft sleeve base body, the left supporting arm is longer than the right supporting arm, matched shaft pin connecting parts are arranged on the left supporting arm and the right supporting arm, the shaft pin connecting parts are used for rotatably connecting the shaft sleeve base body, a driving arm connecting part is arranged at one side of the tail end of the left supporting arm, and the driving arm connecting part is used for driving the shaft sleeve base body to rotate along the shaft pin connecting part.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a four-axis shell of an intelligent ultra-precise robot and a machining process thereof.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots for industrial applications. An industrial robot is a machine device which automatically executes work, and is a machine which realizes various functions by means of self power and control capability. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.
The invention provides an intelligent ultra-precise robot four-axis shell and a machining process thereof, wherein the intelligent ultra-precise robot four-axis shell has the advantages that the precision requirement on each part is high during production and assembly of an industrial robot so as to meet the action of realizing various functions, the production precision of the existing industrial robot installation shell is low, the use requirement is not met, the waste rate is high during production, and the production cost is high.
Disclosure of Invention
The invention aims to provide a four-axis shell of an intelligent ultra-precise robot and a machining process thereof, and aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an ultra-precise robot four-axis casing of intelligence, the casing includes axle sleeve base member, driving source installation department, left branch strut and right branch strut, the axle sleeve base member is used for installing the robot arm, the driving source installation department sets up at axle sleeve base member tail end, the driving source installation department is used for installing drive robot arm pivoted driving motor, the left branch strut sets up in axle sleeve base member one side, the right branch strut sets up the opposite side at the axle sleeve base member, the left branch strut is good at the right branch strut, be provided with assorted pivot connection portion on left branch strut and the right branch strut, pivot connection portion is used for rotating the connection axle sleeve base member, left branch strut tail end one side is provided with actuating arm connecting portion, actuating arm connecting portion is used for driving the axle sleeve base member to rotate along pivot connection portion.
As a preferable technical solution of the present invention, a plurality of sets of screw connection holes are provided on an end surface of the driving source mounting portion.
The invention also provides a processing technology of the four-axis shell of the intelligent ultra-precise robot, which is applied to the shell, and the processing technology of the shell comprises the following steps:
s1, forming a shell: blanking an alloy ingot, casting a formed blank,
s2, quenching and tempering: heating to 900-930 deg.C at a rate of 320-350 deg.C/h, maintaining for 180-240min, immediately filling high-purity inert gas, rapidly cooling to 40-50 deg.C, and discharging;
s3, rough machining: roughly machining the shell by using a numerical control lathe, and drilling a threaded hole on the end face of the driving source mounting part;
s4, processing of a driving source mounting part: placing the cooled shell on a processing table, using an arc-shaped clamp to support the outer wall of the lower side of the shaft sleeve base body, using the clamp to clamp the tail end of the right support arm and the outer wall of the left support arm, positioning the appearance of a part, using a baffle to limit the inner side wall of a connecting part of a driving arm, using a support screw to tightly abut against the outer wall of the upper side of the shaft sleeve base body and the outer wall of a driving source mounting part, setting the flatness of the end face of the driving source mounting part to be 0-0.02mm, and using a horizontal processing center to process the end face of the driving source mounting part according to the finished size of the part;
s5, processing the inner wall of the shaft sleeve matrix, the inner wall of the shaft pin connecting part and the connecting part of the driving arm: the shell is placed on a machining table, a clamp plate with a reference plane is attached to the end face of the driving source installation portion in a flat mode, three positioning belt locking screws are arranged on one side, away from the reference plane, of the clamp plate, the three positioning belt locking screws are in locking connection with corresponding threaded connection holes in the end face of the driving source installation portion, the outer wall of the shaft sleeve base body and the outer wall of the driving source installation portion are abutted tightly through supporting screws, and a horizontal machining center is used for machining the inner wall of the shaft sleeve base body, the inner wall of the shaft pin connection portion and the driving arm connection portion according to the size of a finished part.
As a preferable technical solution of the present invention, in the step S4, the model of the middle-horizontal machining center is a mazak 6800.
As a preferred technical solution of the present invention, in step S5, the model of the horizontal machining center is a mozake 6800.
As a preferable technical scheme of the invention, the repeated positioning precision of each axis of the horizontal machining center is 0-0.005mm.
In a preferred embodiment of the present invention, in step S4, the outer wall of the lower side of the driving source mounting portion is supported by a spring.
As a preferable technical scheme of the present invention, in step S5, the repeated clamping error of the three positioning screws with locking strips is 0-0.1mm.
As a preferred embodiment of the present invention, in the step S5, the upper side wall and the lower side wall of the tail portion of the left support arm are pressed and locked by using the support screw.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to a four-axis shell of an intelligent ultra-precise robot, wherein a shaft sleeve base body is used for mounting a robot mechanical arm, a driving source mounting part is used for mounting a driving motor, the driving motor can drive the robot mechanical arm to rotate in the shaft sleeve base body, a shaft pin connecting part is connected with a supporting frame through a movable shaft pin and rotatably supports the shaft sleeve base body, a driving arm connecting part is used for connecting an external driving rod, an external control rod drives the shaft sleeve base body to rotate along the shaft pin connecting part through the driving arm connecting part, and the rotation of the robot mechanical arm and the rotation of the shaft sleeve base body are combined to realize actions with different functions.
2. According to the four-axis shell machining process of the intelligent ultra-precise robot, an arc-shaped clamp is used for supporting the outer wall of the lower side of a shaft sleeve base body, the clamp is used for clamping the tail end of a right supporting arm and the outer wall of a left supporting arm, the appearance of a part is positioned, a baffle plate is used for limiting the inner side wall of a connecting part of a driving arm, a supporting screw is used for abutting against the outer wall of the upper side of the shaft sleeve base body and the outer wall of a driving source installation part, a horizontal machining center is used for machining the end face of the driving source installation part according to the size of a finished part, the problem of deformation of the thin wall of the shell after machining is effectively solved through the method, and machining precision is high.
3. The invention relates to a four-axis shell processing technology of an intelligent ultra-precise robot, which is characterized in that a clamp plate with a reference plane is flatly attached to the end face of a driving source installation part, three positioning belt locking screws are arranged on one side, away from the reference plane, of the clamp plate and are in locking connection with corresponding threaded connection holes in the end face of the driving source installation part, a support screw is used for abutting against the outer wall of a shaft sleeve base body and the outer wall of the driving source installation part, the support screw is used for pressing and locking the upper side wall and the lower side wall of the tail part of a left support arm, and a horizontal processing center is used for processing the inner wall of the shaft sleeve base body, the inner wall of a shaft pin connection part and a driving arm connection part according to the finished size of a part, so that the cutter vibration and deformation during the processing of the part are prevented, and the processing precision is further improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a left side view of the present invention;
in the figure: 10. a shaft sleeve base body; 20. a drive source mounting section; 21. connecting a threaded hole; 30. a left support arm; 40. a right support arm; 50. a shaft pin connecting part; 60. a drive arm connecting portion.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1
Referring to fig. 1-3, the present invention provides a technical solution:
the utility model provides a four-axis casing of intelligent ultra-precision robot, the casing includes axle sleeve base member 10, driving source installation department 20, left support arm 30 and right support arm 40, axle sleeve base member 10 is used for installing the robot arm, driving source installation department 20 sets up at axle sleeve base member 10 tail end, driving source installation department 20 is used for installing the driving motor that drives robot arm pivoted, left support arm 30 sets up in axle sleeve base member 10 one side, right support arm 40 sets up the opposite side at axle sleeve base member 10, left support arm 30 is longer than right support arm 40, be provided with assorted pivot connecting portion 50 on left support arm 30 and the right support arm 40, pivot connecting portion 50 is used for rotating and connecting axle sleeve base member 10, left support arm 30 tail end one side is provided with actuating arm connecting portion 60, actuating arm connecting portion 60 is used for driving axle sleeve base member 10 to rotate along pivot connecting portion 50;
the end surface of the drive source mounting portion 20 is provided with a plurality of sets of screw connection holes 21.
Specifically, be used for installing the robot arm in the axle sleeve base member 10, driving source installation department 20 is used for installing driving motor, driving motor can drive the robot arm and rotate in axle sleeve base member 10, pivot connecting portion 50 is connected with the support frame through the activity pivot, rotate the support to axle sleeve base member 10, driving arm connecting portion 60 is used for connecting the outside actuating lever, the outside control lever passes through driving arm connecting portion 60 and drives axle sleeve base member 10 and rotate along pivot connecting portion 50, the rotation of robot arm and the rotation of axle sleeve base member 10 make up mutually, the action of the different functions of realization.
Example 2
The invention also provides a four-axis shell processing technology of the intelligent ultra-precise robot, which is applied to the shell of the embodiment 1, and the shell processing technology comprises the following steps:
s1, forming a shell: blanking an alloy ingot, casting a formed blank,
s2, quenching and tempering: heating to 900-930 ℃ at the speed of 320-350 ℃/h, preserving heat for 180-240min, immediately filling high-purity inert gas after heat preservation, rapidly cooling to 40-50 ℃ and discharging, so that the performance and the material of the shell can be adjusted to a great extent, and the shell has good strength, plasticity and toughness and good comprehensive mechanical properties;
s3, rough machining: roughly machining the shell by using a numerical control lathe, and drilling a threaded hole on the end face of the driving source mounting part;
s4, processing of a driving source mounting part: the cooled shell is placed on a machining table, the outer wall of the lower side of the shaft sleeve base body is supported by an arc-shaped clamp, the tail end of a right support arm and the outer wall of a left support arm are clamped by the clamp, the appearance of a part is positioned, the inner side wall of a connecting part of a driving arm is limited by a baffle, the outer wall of the upper side of the shaft sleeve base body and the outer wall of a driving source installation part are abutted tightly by a support screw, the end face flatness of the driving source installation part is 0-0.02mm, the end face of the driving source installation part is machined by a horizontal machining center according to the finished size of the part, the problem of deformation of the shell after thin wall machining is effectively solved by the method, and the machining precision is high.
The model of the horizontal machining center is a Mazak 6800, and the repeated positioning precision of each axis of the horizontal machining center is 0-0.005mm; the outer wall of the lower side of the driving source installation part is supported by the spring, and the phenomenon of cutter vibration during thin-wall machining of the shell is effectively avoided by the arranged spring, so that the plane machining quality is improved;
s5, processing the inner wall of the shaft sleeve base body, the inner wall of the shaft pin connecting part and the driving arm connecting part: the shell is placed on a processing table, a clamp plate with a reference plane is used for being flatly attached to the end face of the driving source installation part, three positioning belt locking screws are arranged on one side, away from the reference plane, of the clamp plate and are in locking connection with corresponding threaded connection holes in the end face of the driving source installation part, supporting screws are used for tightly abutting the outer wall of the shaft sleeve base body and the outer wall of the driving source installation part, and a horizontal processing center is used for processing the inner wall of the shaft sleeve base body, the inner wall of the shaft pin connection part and the driving arm connection part according to the size of a finished part;
the model of the horizontal machining center is a Mazak 6800, and the repeated positioning precision of each axis of the horizontal machining center is 0-0.005mm; the repeated clamping error of the three positioning screws with the locking belts is 0-0.1mm, the upper side wall and the lower side wall of the tail part of the left supporting arm are pressed and locked by the supporting screws, the cutter vibration and deformation during part processing are prevented, and the processing precision is further improved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an intelligence ultra-precision robot four-axis casing which characterized in that:
the casing includes axle sleeve base member, driving source installation department, left branch brace and right branch brace, the axle sleeve base member is used for installing robot arm, the driving source installation department sets up at axle sleeve base member tail end, the driving source installation department is used for installing driving robot arm pivoted driving motor, the left branch brace sets up in axle sleeve base member one side, the right branch brace sets up the opposite side at the axle sleeve base member, the left branch brace is good at the right branch brace, be provided with assorted pivot connection portion on left branch brace and the right branch brace, pivot connection portion is used for rotating the connection axle sleeve base member, left branch brace tail end one side is provided with actuating arm connecting portion, actuating arm connecting portion is used for driving the axle sleeve base member to rotate along connecting portion.
2. The four-axis housing of an intelligent ultra-precise robot as claimed in claim 1, wherein the end face of the driving source mounting part is provided with a plurality of groups of threaded connection holes.
3. A four-axis housing machining process for an intelligent ultra-precise robot, applied to the housing of any one of claims 1-2, comprising the following steps:
s1, forming a shell: blanking an alloy ingot, casting a formed blank,
s2, hardening and tempering: heating to 900-930 deg.C at a rate of 320-350 deg.C/h, maintaining for 180-240min, immediately filling high-purity inert gas, rapidly cooling to 40-50 deg.C, and discharging;
s3, rough machining: roughly machining the shell by using a numerical control lathe, and drilling a threaded hole on the end face of the driving source mounting part;
s4, processing of a driving source mounting part: placing the cooled shell on a processing table, using an arc-shaped clamp to support the outer wall of the lower side of the shaft sleeve base body, using the clamp to clamp the tail end of the right support arm and the outer wall of the left support arm, positioning the appearance of a part, using a baffle to limit the inner side wall of a connecting part of a driving arm, using a support screw to tightly abut against the outer wall of the upper side of the shaft sleeve base body and the outer wall of a driving source mounting part, setting the flatness of the end face of the driving source mounting part to be 0-0.02mm, and using a horizontal processing center to process the end face of the driving source mounting part according to the finished size of the part;
s5, processing the inner wall of the shaft sleeve base body, the inner wall of the shaft pin connecting part and the driving arm connecting part: the shell is placed on a processing table, a clamp plate with a reference plane is attached to the end face of the driving source installation portion and is flat, three positioning belt locking screws are arranged on one side, away from the reference plane, of the clamp plate, the three positioning belt locking screws are in locking connection with corresponding threaded connection holes in the end face of the driving source installation portion, supporting screws are used for abutting against the outer wall of a shaft sleeve base body and the outer wall of the driving source installation portion, and a horizontal processing center is used for processing the inner wall of the shaft sleeve base body, the inner wall of a shaft pin connection portion and the inner wall of a driving arm connection portion according to the size of a finished part.
4. The intelligent four-axis shell machining process for the ultra-precise robot of claim 3, wherein in the step S4, the model of the horizontal machining center is a Mazak 6800.
5. The intelligent four-axis shell machining process for the ultra-precise robot of claim 4, wherein in the step S5, the model of the horizontal machining center is a Mazak 6800.
6. The intelligent four-axis shell machining process for the ultra-precise robot as claimed in claim 4 or 5, wherein the repeated positioning precision of each axis of the horizontal machining center is 0-0.005mm.
7. The intelligent four-axis housing processing technology for the ultra-precise robot as claimed in claim 3, wherein in step S4, a spring is used to support the outer wall of the lower side of the driving source mounting part.
8. The intelligent four-axis housing processing technology for the ultra-precise robot as claimed in claim 3, wherein in step S5, the repeated clamping error of the three positioning screws with the locking screws is 0-0.1mm.
9. The intelligent four-axis shell machining process for the ultra-precise robot as claimed in claim 3, wherein in step S5, the upper side wall and the lower side wall of the tail part of the left supporting arm are locked by pressing with supporting screws.
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| CN202011512427.1A CN112720575B (en) | 2020-12-19 | 2020-12-19 | Intelligent ultra-precise robot four-axis shell and machining process thereof |
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| CN202011512427.1A CN112720575B (en) | 2020-12-19 | 2020-12-19 | Intelligent ultra-precise robot four-axis shell and machining process thereof |
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