CN112935432A

CN112935432A - Perforating machine with manipulator

Info

Publication number: CN112935432A
Application number: CN202110068685.3A
Authority: CN
Inventors: 吴小肖
Original assignee: Yueqing Lechuan Mechanical Electronics Co ltd
Current assignee: Yueqing Lechuan Mechanical Electronics Co ltd
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2021-06-11

Abstract

The invention discloses a perforator with a manipulator, which comprises a base, a rotating head assembly, a bearing platform and the manipulator arranged on the base, wherein the manipulator comprises a mounting seat, a first joint, a first arm, a second joint, a second arm, a third joint and a third arm, the rotating head assembly is rotatably connected with the second arm through the third joint, the rotating head assembly is provided with a straightening device which enables an electrode wire to keep a linear state, the manipulator replaces an original support frame, on the basis of not increasing the manual workload, the processing range of the perforating machine is enlarged, and the processing capacities of different dimensions and different angles are increased.

Description

Perforating machine with manipulator

Technical Field

The invention belongs to the technical field of machining, and particularly relates to a puncher with a manipulator.

Background

The working principle of the puncher is that a continuous vertically moving electrode wire is used as an electrode to carry out pulse spark discharge on a workpiece to machine the workpiece. The die is usually used for processing large, medium and small dies, the processing characteristics are not limited by the hardness of metal materials, and the required hole pattern can be processed by the die after the die plate is quenched so as to ensure the quality and prolong the service life. The existing punching machine generally comprises a base, wherein a support frame and a bearing table for placing workpieces are arranged on the base, and a rotating head assembly for operating the movement of an electrode wire is arranged on the support frame.

The prior art puncher is generally provided with a moving mechanism for generating relative movement between the bearing table and the rotating head assembly, such as a combination of a gear, a rack and a motor, and the prior art moving mechanism is generally large in size. Particularly, when the positions of a plurality of holes to be punched on the same workpiece are far away from each other and/or the height difference of the positions of the plurality of holes to be punched on the same workpiece is large, the conventional punching machine increases the volume of the whole moving mechanism to meet the moving requirement of the workpiece, but the action has high requirement on the site and also increases the failure probability of the punching machine; or through manual assistance operation, the processing efficiency of the measure is low, and the measure needs to be stared and kept manually, so that the workload of workers is greatly increased.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the perforating machine which does not increase the workload of workers and has wider moving range.

In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a take perforator of manipulator, includes base, rotating head assembly, plummer, still includes the manipulator of setting on the base, the manipulator includes mount pad, first joint, first arm, second joint, second arm, third joint and third arm, mount pad and base fixed connection, mount pad and first arm rotate through first joint and are connected, first arm and second arm rotate through the second joint and connect, second arm and third arm rotate through the third joint and connect, the rotating head assembly rotates through the third joint with the second arm and is connected, be equipped with on the rotating head assembly and make the electrode wire keep the straight line state hold straight ware.

By adopting the scheme, the original support frame is replaced by the manipulator, the processing range of the perforating machine is enlarged on the basis of not increasing the workload of workers, the processing capacities of different dimensions and different angles are increased, the original support frame enables the rotating head assembly and the base to be relatively fixed, the electrode wire is always perpendicular to the ground, and the electrode wire is made to linearly reciprocate during operation.

As a further arrangement of the invention, the straightening device comprises a concave cavity which is concave along the radial direction of the electrode wire, the concave cavity is used for the electrode wire to be embedded, and the groove wall of the concave cavity is in contact fit with the outer wall of the electrode wire.

By adopting the scheme, the straightening function of the straightening device is ensured, and the phenomenon that the electrode wire is unsmooth in movement and too fast in abrasion due to overlarge friction force between the straightening device and the electrode wire is prevented.

As a further arrangement of the invention, the straightening device comprises two fixedly connected clamping pieces, grooves are arranged on the opposite surfaces of the two clamping pieces, and the concave cavity is formed by splicing the two grooves.

By adopting the scheme, the two clamping pieces are preferably fixed through the bolts, the distance between the two clamping pieces is conveniently adjusted, the electrode wire is ensured not to be separated from the concave cavity, and the straightening effect of the straightening device is ensured.

As a further arrangement of the invention, a through cavity for the lead to penetrate through is arranged on the side wall of the first arm, the through cavity is provided with two cavity openings, the two cavity openings are respectively arranged on one side of the through cavity close to the first joint and one side of the through cavity close to the second joint, and the two cavity openings are oppositely arranged.

By adopting the scheme, the wire enables different parts of the manipulator to be electrically connected, the penetrating cavity is used for concentrating and fixing the wire, the wire is prevented from influencing the normal operation of the perforating machine, the outer wall object is prevented from damaging the wire, and the integrity of the wire is ensured.

As a further arrangement of the present invention, the orifice of the through cavity is provided with an extension wall extending in a direction away from the other orifice, and the height of the extension wall gradually decreases from a side close to the orifice to a side away from the orifice.

Adopt above-mentioned scheme, the extension wall can prevent that wire and accent from producing the scraping or buckling in manipulator motion process, guarantees the normal use of wire, strengthens whole intensity of wearing to establish the chamber simultaneously.

As a further configuration of the present invention, the first joint includes a first rotating shaft fixedly connected to one end of the first arm, the second joint includes a second rotating shaft fixedly connected to one end of the first arm far from the first rotating shaft, the first rotating shaft and the second rotating shaft are parallel to each other, and the first rotating shaft is perpendicular to the first arm.

By adopting the scheme, the first rotating shaft and the second rotating shaft are preferably arranged on the same side face of the first arm, the penetrating cavity is arranged on the side face deviating from the side face where the first rotating shaft and the second rotating shaft are arranged, and the situation that the conducting wire interferes with the movement of the first joint and the second joint is prevented.

The invention further comprises a moving mechanism which enables the base and the bearing table to generate relative displacement, wherein the moving mechanism comprises a first driving piece and a second driving piece which are arranged between the base and the bearing table, the first driving piece and the second driving piece both drive the bearing table to do linear reciprocating motion, and the first driving piece and the second driving piece are vertical to each other.

Adopt above-mentioned scheme, first driving piece second driving piece all can be by the gear and the rack of mutually supporting and make the gear along the motor of rack motion and constitute, reaches the purpose of removing the plummer, first driving piece and second driving piece mutually perpendicular, including the operation of manipulator, can effectual increase piercing mill's the biggest processing range.

As a further arrangement of the invention, the mounting seat is cylindrical, and at least three fixed ends extending in the direction away from the axis of the mounting seat are arranged on one side of the outer wall of the mounting seat facing the base, and the fixed ends are rotationally symmetrical along the axis of the mounting seat.

By adopting the scheme, the fixed end is convenient for the installation seat to be fast fixed with the base.

As a further arrangement of the invention, the cross section of the fixed end along the radial direction of the installation seat is triangular, and one edge of the fixed end is attached to the outer wall of the installation seat.

In the technical scheme, the triangle comprises an approximate triangle, and the strength of the fixed end can be increased due to the shape of the triangle.

As a further arrangement of the invention, the fixed end is provided with a reinforcing rib, two adjacent side edges of the reinforcing rib are respectively fixed with the fixed end and the side wall of the mounting seat, and the reinforcing rib is vertical to the fixed end.

Adopt above-mentioned scheme, the stiff end intensity can further be guaranteed to the strengthening rib.

The invention is further described below with reference to the accompanying drawings.

Drawings

FIG. 1 is a side view of an embodiment of the present invention;

FIG. 2 is a front view of an embodiment of the present invention;

FIG. 3 is a first schematic view of a robot according to an embodiment of the present invention;

figure 4 is a second schematic view of a robot in accordance with an embodiment of the present invention;

FIG. 5 is an enlarged view of portion I of FIG. 4;

FIG. 6 is a schematic diagram of a wire electrode and a straightening device according to a second embodiment of the present invention.

The device comprises a base 1, a rotating head assembly 2, a bearing table 3, a manipulator 4, a mounting seat 41, a fixed end 411, a reinforcing rib 412, a first joint 42, a first rotating shaft 421, a first arm 43, a penetrating cavity 431, an extending wall 4311, a second joint 44, a second rotating shaft 441, a second arm 45, a third joint 46, a third arm 47, a straightening device 5a, a cavity 5a1, a straightening device 5b, a clamping piece 5b1, a groove 5b11, a cavity 5b2, a bolt 5b3, a first driving piece 6, a second driving piece 7, an electrode wire 8 and a lead 9.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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, unless otherwise specified, the orientations or positional relationships indicated in the description as terms of "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Specific embodiments of the present invention are shown in fig. 1-6.

The first embodiment is as follows: the utility model provides a take perforator of manipulator, including base 1, rotating head assembly 2, plummer 3 and the manipulator 4 of setting on base 1, manipulator 4 includes mount pad 41, first joint 42, first arm 43, second joint 44, second arm 45, third joint 46 and third arm 47, mount pad 41 and base 1 fixed connection, mount pad 41 and first arm 43 rotate through first joint 42 and connect, first arm 43 and second arm 45 rotate through second joint 44 and connect, second arm 45 and third arm 47 rotate through third joint 46 and connect, rotating head assembly 2 rotates through third joint 46 with second arm 45 and connects, be equipped with straightening device 5a on rotating head assembly 2. Through replacing original support frame with manipulator 4, on the basis that does not increase the manual work volume, increase the workable scope of piercing mill, increase different dimensions, the machining capacity of different angles, original support frame makes rotating head assembly 2 and base 1 keep relatively fixed, make wire electrode 8 and ground perpendicular all the time, make wire electrode 8 be straight reciprocating motion at the during operation, but manipulator 4 of this embodiment can drive rotating head assembly 2 and remove and the slope at the during operation, wire electrode 8 can not always be perpendicular with ground, the existence of straightening ware 5a can reduce gravity and 4 influences of removing to wire electrode 8 of manipulator, make wire electrode 8 be straight reciprocating motion, guarantee piercing mill normal operating.

The straightening device 5a comprises a concave cavity 5a1 which is concave along the radial direction of the electrode wire 8, the cavity 5a1 is used for the electrode wire 8 to be embedded in, and the groove wall of the cavity 5a1 is in contact fit with the outer wall of the electrode wire 8, in the embodiment, the cavity 5a1 is U-shaped, so that the electrode wire 8 can be conveniently embedded into the cavity 5a 1. The straightening device has the advantages that the straightening function of the straightening device 5a is guaranteed, and meanwhile the phenomenon that the electrode wire 8 is unsmooth in movement and too fast in abrasion due to the fact that the friction force between the straightening device 5a and the electrode wire 8 is too large is prevented.

The side wall of the first arm 43 is provided with a through cavity 431 for the lead 9 to penetrate through, the through cavity 431 is provided with two cavities, the two cavities are respectively arranged on one side of the through cavity 431 close to the first joint 42 and one side of the through cavity 431 close to the second joint 44, and the two cavities are oppositely arranged. The wire 9 makes the different positions of manipulator 4 electrically connect, wears to establish chamber 431 and is used for concentrating and fixed wire 9, prevents that wire 9 from influencing the perforator and normally operates, prevents that the outer wall object from haring wire 9 simultaneously, guarantees the integrality of wire 9.

The opening penetrating the cavity 431 is provided with an extension wall 4311 extending in the direction away from the other opening, and the height of the extension wall 4311 is gradually reduced from the side close to the opening to the side away from the opening. The extension wall 4311 can prevent the lead 9 from scraping or bending with the cavity opening during the movement of the manipulator 4, ensure the normal use of the lead 9, and enhance the strength of the whole through cavity 431.

The first joint 42 includes a first rotating shaft 421 fixedly connected to one end of the first arm 43, the second joint 44 includes a second rotating shaft 441 fixedly connected to one end of the first arm 43 away from the first rotating shaft 421, the first rotating shaft 421 and the second rotating shaft 441 are parallel to each other, and the first rotating shaft 421 and the first arm 43 are perpendicular to each other. In this embodiment, the first rotating shaft 421 and the second rotating shaft 441 are disposed on the same side surface of the first arm 43, and the through cavity 431 is disposed on a surface of the side surface facing away from the first rotating shaft 421 and the second rotating shaft 441, so as to prevent the lead 9 from interfering with the movement of the first joint 42 and the second joint 44.

The mounting base 41 is cylindrical, and one side of the outer wall of the mounting base 41 facing the base 1 is provided with at least three fixed ends 411 extending in the direction away from the axis of the mounting base 41, in this embodiment, four fixed ends 411 are provided, and the fixed ends 411 are rotationally symmetric along the axis of the mounting base 41. The presence of the fixed end 411 facilitates the quick fixing of the mounting base 41 to the base 1.

The cross section of the fixed end 411 along the radial direction of the mounting seat 41 is triangular, and one side of the fixed end is attached to the outer wall of the mounting seat 41. The triangle includes an approximate triangle, and the shape of the triangle can increase the strength of the fixing end 411.

The fixed end 411 is provided with a reinforcing rib 412, two adjacent side edges of the reinforcing rib 412 are respectively fixed with the fixed end 411 and the side wall of the mounting base 41, and the reinforcing rib 412 is perpendicular to the fixed end 411. The reinforcing ribs 412 can further secure the strength of the fixing end 411.

The embodiment further comprises a moving mechanism for enabling the bearing table 3 and the base 1 to generate relative displacement, the moving mechanism comprises a first driving piece 6 and a second driving piece 7 which are arranged between the base 1 and the bearing table 3, the first driving piece 6 and the second driving piece 7 both drive the bearing table 3 to do linear reciprocating motion, and the first driving piece 6 and the second driving piece 7 are perpendicular to each other. In this embodiment, the first driving member 6 and the second driving member 7 are composed of a sliding rail, a sliding block and an electric push rod for pushing the sliding block to move along the sliding rail, so as to move the bearing platform 3, and the first driving member 6 and the second driving member 7 are perpendicular to each other, and the maximum processing range of the puncher can be effectively increased by the operation of the manipulator 4.

Example two: the second embodiment is the same as the first embodiment, except that the straightening device 5b comprises two clamping pieces 5b1, the opposite surfaces of the two clamping pieces 5b1 are provided with grooves 5b11, and the cavity 5b2 is formed by splicing the two grooves 5b 11. In this embodiment, the two clamping pieces 5b1 are kept relatively fixed by the bolts 5b3, so that the distance between the two clamping pieces 5b1 can be conveniently adjusted, the wire electrode 8 is prevented from separating from the cavity 5b1, and the straightening effect of the straightener 5b is ensured.

The present invention is not limited to the above embodiments, and those skilled in the art can implement the present invention in other embodiments according to the disclosure of the present invention, or make simple changes or modifications on the design structure and idea of the present invention, and fall into the protection scope of the present invention.

Claims

1. The utility model provides a take piercing mill of manipulator, includes base, rotating head assembly, plummer, its characterized in that: the wire electrode straightening machine is characterized by further comprising a manipulator arranged on the base, the manipulator comprises a mounting seat, a first joint, a first arm, a second joint, a second arm, a third joint and a third arm, the mounting seat is fixedly connected with the base, the mounting seat is rotatably connected with the first arm through the first joint, the first arm is rotatably connected with the second arm through the second joint, the second arm is rotatably connected with the third arm through the third joint, the rotating head assembly is rotatably connected with the second arm through the third joint, and a straightening device enabling a wire electrode to keep a linear state is arranged on the rotating head assembly.

2. The manipulator-equipped piercing machine according to claim 1, characterized in that: the straightening device comprises a concave cavity which is concave along the radial direction of the electrode wire, the concave cavity is used for the electrode wire to be embedded in, and the groove wall of the concave cavity is in contact fit with the outer wall of the electrode wire.

3. The manipulator-equipped piercing machine according to claim 2, characterized in that: the straightening device comprises two fixedly connected clamping pieces, grooves are formed in the opposite surfaces of the two clamping pieces, and the concave cavity is formed by splicing the two grooves.

4. The manipulator-equipped piercing machine according to claim 1, 2 or 3, characterized in that: be equipped with on the lateral wall of first arm and supply the wire to wear to establish the chamber, wear to establish the chamber and be equipped with two accent, two the accent sets up respectively and establishes the chamber and be close to one side of first joint and the one side of being close to the second joint, two the accent sets up relatively.

5. The manipulator-equipped piercing machine according to claim 4, wherein: the accent of wearing to establish the chamber is equipped with the extension wall that extends to the direction of keeping away from another accent, the height of extending the wall is reduced to the one side of keeping away from the accent by the one side that is close to the accent.

6. The piercing machine with manipulator according to claim 2 or 3 or 5, characterized in that: the first joint comprises a first rotating shaft fixedly connected with one end of the first arm, the second joint comprises a second rotating shaft fixedly connected with one end of the first arm far away from the first rotating shaft, the first rotating shaft and the second rotating shaft are parallel to each other, and the first rotating shaft is perpendicular to the first arm.

7. The manipulator-equipped piercing machine according to claim 6, characterized in that: still including making base and plummer produce relative displacement's moving mechanism, moving mechanism is including setting up first driving piece and the second driving piece between base and plummer, first driving piece and second driving piece all drive the plummer and do straight reciprocating motion, first driving piece and second driving piece mutually perpendicular.

8. The manipulator-equipped piercing machine according to claim 7, characterized in that: the mount pad is cylindrically, the outer wall of mount pad is equipped with at least three stiff end to keeping away from the extension of mount pad axis direction towards one side of base, the axis rotational symmetry of mount pad is followed to the stiff end.

9. The manipulator-equipped piercing machine according to claim 8, characterized in that: the fixed end is triangular along the radial section of the mounting seat, and one edge of the fixed end is attached to the outer wall of the mounting seat.

10. The manipulator-equipped piercing machine according to claim 9, characterized in that: the fixing end is provided with a reinforcing rib, two adjacent side edges of the reinforcing rib are fixed with the fixing end and the side wall of the mounting seat respectively, and the reinforcing rib is perpendicular to the fixing end.