CN113814806A - Clamping robot - Google Patents
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- CN113814806A CN113814806A CN202111045685.8A CN202111045685A CN113814806A CN 113814806 A CN113814806 A CN 113814806A CN 202111045685 A CN202111045685 A CN 202111045685A CN 113814806 A CN113814806 A CN 113814806A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B3/00—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools
- B24B3/36—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools of cutting blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/006—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The clamping robot provided by the embodiment of the invention comprises: a base; the mechanical arm rotating mechanism is arranged on the base; the mechanical arm lifting mechanism is arranged on the mechanical arm rotating mechanism; the mechanical arm is arranged on the mechanical arm lifting mechanism; the blade feeding mechanism is arranged on the mechanical arm; the tail end rotating mechanism is connected with the blade feeding mechanism and is used for installing a blade to be processed; the mechanical arm rotating mechanism is used for driving the mechanical arm to rotate, the mechanical arm lifting mechanism is used for driving the mechanical arm to lift, and the blade feeding mechanism is used for driving the tail end rotating mechanism to reciprocate; the tail end rotating mechanism is used for driving the blade to be processed to rotate. According to the embodiment of the invention, the robot structure capable of moving in multiple directions is designed, so that the organic integration of tool surface polishing, blade passivation and the robot structure is realized, the polishing passivation process is more convenient and faster, and the problems of low efficiency and poor precision consistency of manual operation are solved by performing the polishing passivation through the robot.
Description
Technical Field
The invention relates to the technical field of machining, in particular to a clamping robot for passivation and polishing of a hard alloy blade.
Background
In the machining technology, a cemented carbide tool has good cutting performance and is widely used in cutting, but the surface quality of the rake face and the flank face of the tool and further the machined surface quality are affected by a large amount of cutting heat and severe friction generated during the cutting process of the cemented carbide tool. Therefore, improving the surface quality and cutting performance of the machining tool has a great influence on the machining. The common processing measure of the hard alloy blade is grinding by a diamond grinding wheel, but the surface of the blade has the defects of thermal deformation, grinding burn, surface/subsurface damage and the like in the grinding process, so that the service life of the cutter is reduced to a certain extent.
Chemical mechanical polishing is an advanced surface processing technique. Compared with the grinding machining of the hard alloy blade, the effect of the synergistic effect of mechanical removal and chemical oxidation can be achieved by regulating and controlling the technological parameters of polishing and the proportion of the oxidant in the polishing solution in the chemical mechanical polishing process, so that the efficient and nondestructive precise machining process of the hard alloy blade is realized, the blade surface with extremely high surface integrity can be obtained, and the service life of the blade is prolonged. At present, the common blade passivation polishing machine in China basically adopts simple manual operation and manual work to position a blade to be processed by experience, so that the rotating speed, the forward and reverse rotating time, the forward and reverse rotating times and the like of the upper rotating disc and the lower rotating disc of the equipment are influenced by human factors, and the problems of low processing efficiency, poor precision consistency and the like exist.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a clamping robot, which realizes the organic integration of tool surface polishing, blade passivation and a robot structure by designing the robot structure capable of moving in multiple directions, so that the polishing passivation process is more convenient and faster, and the problems of low efficiency and poor precision consistency of manual operation are solved by performing polishing passivation through the robot.
Specifically, an embodiment of the present invention provides a clamping robot, including: a base; arm rotary mechanism includes: the rotary seat is arranged at the upper part of the base and is connected with the base, and a first accommodating space is formed between the rotary seat and the base; the first transmission device is connected with the rotating seat and is positioned in the first accommodating space; the first power device is arranged in the base, penetrates through the base and is connected with the first transmission device, and the first power device is used for driving the first transmission device to drive the rotating seat to rotate relative to the base; arm elevating system includes: the cross beam is positioned on one side, far away from the base, of the mechanical arm rotating mechanism; the supporting rod is connected with the cross beam and the rotating seat; the second power device mounting shell is arranged on one side, far away from the mechanical arm rotating mechanism, of the cross beam; the second transmission device is connected between the cross beam and the mechanical arm rotating mechanism and penetrates through the cross beam; the second power device is arranged outside the third power device mounting shell, penetrates through the second power device mounting shell and is connected to the second transmission device and penetrates through one end of the cross beam; the mechanical arm is connected to the second transmission device and is positioned between the cross beam and the rotating seat; the blade feeding mechanism is connected with the mechanical arm; and a tip rotating mechanism for mounting the blade to be machined and including: the tail end mounting seat is connected with one end, far away from the mechanical arm, of the blade feeding mechanism; the third power device mounting shell is arranged on the tail end mounting seat and forms a third accommodating space with the tail end mounting seat; the third power device is arranged outside the third power device mounting shell, penetrates through the second power device mounting shell and extends into the third accommodating space; the coupling is connected with the third power device and is positioned in the third accommodating space; the cutter bar clamp is rotatably connected to the tail end mounting seat, one end of the cutter bar clamp penetrates through the tail end mounting seat, extends into the third accommodating space and is connected to one end, far away from the third power device, of the coupler; the cutter bar is connected to one end, far away from the third power device, of the cutter bar clamp, and the to-be-machined blade is installed at one end, far away from the cutter bar clamp, of the cutter bar.
The clamping robot provided by the embodiment of the invention comprises: a base; the mechanical arm rotating mechanism is arranged on the base; the mechanical arm lifting mechanism is arranged on the mechanical arm rotating mechanism; the mechanical arm is arranged on the mechanical arm lifting mechanism; the blade feeding mechanism is arranged on the mechanical arm; the tail end rotating mechanism is connected with the blade feeding mechanism and is used for installing a blade to be processed; the mechanical arm rotating mechanism is used for driving the mechanical arm to rotate around a first rotating center line of the mechanical arm rotating mechanism relative to the base; the mechanical arm lifting mechanism is used for driving the mechanical arm to reciprocate relative to the mechanical arm rotating mechanism along the direction of the first rotating central line, and the blade feeding mechanism is used for driving the tail end rotating mechanism to reciprocate relative to the mechanical arm along the direction perpendicular to the first rotating central line; the tail end rotating mechanism is used for driving the blade to be processed to rotate around a second rotating center line of the tail end rotating mechanism relative to the blade feeding mechanism.
According to the technical scheme, the robot is provided with the mechanisms capable of performing rotary motion, lifting motion and feeding motion and the rotary motion of the tail end rotating mechanism clamped with the blade, so that the organic combination of the robot structure, the tool surface polishing and the blade passivation process is realized, and the problems of low efficiency and poor precision consistency of manual operation are solved.
In one embodiment of the present invention, the robot arm rotating mechanism includes: the rotating seat is arranged at the upper part of the base and is connected with the base; the first transmission device is connected with the rotating seat and is positioned in a first accommodating space formed by the rotating seat and the base; and the first power device is arranged in the base, penetrates through the base and is connected with the first transmission device, and the first power device is used for driving the first transmission device to drive the rotating seat to rotate relative to the base.
In one embodiment of the present invention, the robot arm lifting mechanism includes: the cross beam is positioned on one side, far away from the base, of the mechanical arm rotating mechanism; the second power device mounting shell is arranged on one side, far away from the mechanical arm rotating mechanism, of the cross beam; the second transmission device is connected between the cross beam and the mechanical arm rotating mechanism and penetrates through the cross beam, the second transmission device is connected with and penetrates through the mechanical arm, and the mechanical arm is positioned between the cross beam and the mechanical arm rotating mechanism; and the second power device is arranged outside the third power device mounting shell, penetrates through the second power device mounting shell and is connected to the second transmission device at one end penetrating through the cross beam.
In an embodiment of the present invention, the robot arm lifting mechanism further includes a coupler, and the coupler is connected between the second transmission device and the second power device and is located in a second accommodating space formed by the second power device mounting housing and the cross beam.
In one embodiment of the present invention, the second transmission device includes a ball screw connected between the cross beam and the robot arm rotation mechanism and capable of rotating relative to the cross beam and the robot arm rotation mechanism, the ball screw penetrates through the robot arm, one end of the ball screw penetrates through the cross beam and is connected to the second power device, the nut seat is connected to the robot arm, and the nut seat is sleeved on the ball screw and engaged with the ball screw to drive the robot arm to reciprocate relative to the robot arm rotation mechanism along the direction of the first rotation center line.
In one embodiment of the present invention, the blade feeding mechanism includes a telescopic moving device, one end of the telescopic moving device is connected to the mechanical arm, the other end of the telescopic moving device is connected to the terminal rotating mechanism, and the telescopic moving device is used for driving the terminal rotating mechanism to reciprocate relative to the mechanical arm along a direction perpendicular to the first rotation central line.
In one embodiment of the present invention, the tip rotating mechanism includes: the tail end mounting seat is connected with the blade feeding mechanism; the third power device mounting shell is arranged on the tail end mounting seat and forms a third accommodating space with the tail end mounting seat; the third power device is arranged outside the third power device mounting shell, penetrates through the second power device mounting shell and extends into the third accommodating space; the cutter bar clamp is rotatably connected to the tail end mounting seat, and one end of the cutter bar clamp penetrates through the tail end mounting seat, extends into the third accommodating space and is connected with the third power device; the cutter arbor is connected keep away from on the cutter arbor anchor clamps the one end of third power device, the cutter arbor is located end mount pad is kept away from one side of third power device, wherein wait to process the blade and install keep away from on the cutter arbor the one end of cutter arbor anchor clamps.
In an embodiment of the present invention, the clamping robot further includes a guide post, the guide post penetrates through the mechanical arm, and two ends of the guide post are respectively connected to the mechanical arm lifting mechanism and the mechanical arm rotating mechanism.
Above-mentioned technical scheme is provided with the guide post in order to be used for leading to the arm through being provided with on the roating seat, can avoid the arm not rotate along with arm rotary mechanism when going up and down to realize the linear motion of arm.
In an embodiment of the present invention, the clamping robot further includes a control unit, and the control unit is electrically connected to the robot arm rotating mechanism, the robot arm lifting mechanism, the blade feeding mechanism, and the tip rotating mechanism.
The technical scheme can have one or more of the following advantages or beneficial effects: according to the embodiment of the invention, the robot is provided with the mechanisms capable of performing rotary motion, lifting motion, feeding motion and rotary motion of the tail end rotating mechanism clamped with the blade, so that the organic combination of the structure of the robot, the surface polishing of the cutter and the blade passivation is realized, and the problems of low efficiency and poor precision consistency of manual operation are solved by performing polishing passivation through the robot. In addition, the guide columns are arranged on the rotary seat to guide the mechanical arm, so that the mechanical arm can be prevented from not rotating along with the mechanical arm rotating mechanism when being lifted, and linear motion of the mechanical arm is realized
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic partial cross-sectional view of a clamping robot provided by the present invention.
Fig. 2 is a schematic structural view of the clamping robot at another angle provided by the invention.
Fig. 3 is a schematic diagram of the freedom of movement of each mechanism when the clamping robot performs polishing and passivation provided by the invention.
Fig. 4 is a schematic structural diagram of a mechanical arm of the clamping robot provided by the invention.
Fig. 5 is a schematic structural diagram of an end rotating mechanism provided in the present invention.
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.
The clamping robot for passivating and polishing the hard alloy blade provided by the following embodiment of the invention realizes the organic combination of the robot structure, the tool surface polishing and the blade edge passivation by arranging a plurality of mechanisms capable of performing rotary motion, lifting motion, feeding motion and rotary motion of a tail end rotating mechanism clamping the blade on the robot, and solves the problems of low efficiency and poor precision consistency of manual operation by polishing and passivating the robot.
Referring to fig. 1, an embodiment of the present invention provides a clamping robot, which is used for clamping an insert to be machined, such as a cemented carbide insert, and can be switched between different machining stations, so as to polish a front face and a rear face of the cemented carbide insert and passivate an edge of the cemented carbide insert. Specifically, the chucking robot includes, for example, a base 1, a robot arm rotating mechanism 200, a robot arm lifting mechanism 300, a robot arm 19, a blade feeding mechanism 18, and an end rotating mechanism 400. Wherein, the mechanical arm rotating mechanism 200 is arranged on the base 1. The robot arm lifting mechanism 300 is provided on the robot arm rotating mechanism 200. The robot arm 19 is provided on the robot arm lift mechanism 300. The blade feed mechanism 18 is provided on the robot arm 19. The end rotation mechanism 400 is connected to the blade feed mechanism 18 and is used to mount the blade 25 to be machined.
The robot arm rotating mechanism 200 is configured to drive the robot arm 19 to rotate relative to the base 1 around a first rotation centerline 27 of the robot arm rotating mechanism 200. The robot arm lifting mechanism 300 is configured to drive the robot arm 19 to reciprocate relative to the robot arm rotating mechanism 200 along the direction of the first rotation centerline 27, and the blade feeding mechanism 18 is configured to drive the tip rotating mechanism 400 to reciprocate relative to the robot arm 19 along the direction perpendicular to the first rotation centerline 27; the end rotating mechanism 400 is used for driving the blade 25 to be processed to rotate around the second rotating central line 28 of the end rotating mechanism 400 relative to the blade feeding mechanism.
Therefore, according to the technical scheme, the robot is provided with the mechanisms capable of performing rotary motion, lifting motion, feeding motion and rotary motion of the tail end rotating mechanism clamped with the blade, so that the organic combination of the robot structure, tool surface polishing and blade passivation is realized, and the problems of low efficiency and poor precision consistency of manual operation are solved by performing polishing passivation through the robot.
Specifically, the base 1 is, for example, a hollow shell-type support, which is fixed at a corresponding position by, for example, bolting or welding, so as to assist in processing the blade 25 to be processed, so that the base 1 can maintain the stability of the whole apparatus during operation.
As shown in fig. 1, the robot arm rotating mechanism 200 includes, for example, a rotary base 4, a first transmission device 3, and a first power device 2. Specifically, the rotary base 4 is provided, for example, at an upper portion of the base 1 and connected to the base 1. The rotary base 4 is, for example, a hollow housing-like component, and is rotatable with respect to the base 1. Specifically, the rotary base 4 is connected to the base 1, for example, by a bearing, to achieve relative rotation. The rotating base 4 covers the rotating base 4, and forms a first accommodating space Sp1 with the base. A first power means 2 is for example arranged in the base 1, which passes through the base 1 and is connected to a first transmission means 3. The first transmission device 3 is connected with the rotary seat 4. The first transmission device 3 is, for example, a gear transmission mechanism, a rack and pinion transmission mechanism, or the like. Specifically, for example, the first transmission device 3 may adopt a common harmonic gear reducer on the market, which has the performances of high transmission and motion precision, high transmission efficiency, large bearing capacity, and the like. The first transmission device 3 is disposed in the first accommodation space Sp1, for example. The first power device 2 is, for example, a motor, an electric machine, etc., such as an electric motor, a stepping motor, a servo motor, etc. The first power device 2 can drive the rotary base 4 to rotate through the first transmission device 3, and further drive the mechanical arm to rotate relative to the base. Above-mentioned technical scheme has driven the rotation of roating seat through setting up arm rotary mechanism to realize the rotation of arm, thereby can for example wait to process the cutter of centre gripping on the arm and move back the polishing angle of sword operation in order to change the blade, realize treating the polishing of the rake face and the back knife face of processing the blade and the passivation to the cutting edge.
Specifically, as shown in fig. 1, the robot arm lifting mechanism 2 includes, for example, a cross member 9, a second power unit mounting case 10, a second transmission unit 6, and a second power unit 11. Wherein, the beam 9 is located on the side of the mechanical arm rotation mechanism 200 away from the base 1, for example, the beam 9 is located on the side of the rotation seat 4 away from the base 1. More specifically, as shown in fig. 2, a support rod 5 is welded or screwed to the rotary base 4, for example. The support rods 5 are rod-shaped members made of steel, wood or other materials, and the number of the rod-shaped members is one, two or more, and the rod-shaped members are used for supporting the cross beams 9 to play a role of stable support. The second power mounting housing 10 is, for example, a hollow housing-like component, which is fixed to the cross beam 9 on a side away from the robot arm rotation mechanism 200, such as the rotary base 4, for example, by welding or screwing. Further, the second power mounting case 10 and the cross member 9 form a second accommodation space Sp 2. The second transmission 6 is for example a transmission that enables the conversion of a rotational movement into a linear movement. The second transmission 6 is connected between the cross beam 9 and the robot arm rotating mechanism 200, for example. More specifically, the second transmission device 6 includes, for example, two opposite ends, one end of which is connected to the second power device 11 through the cross beam 9, and the other end of which is fixed to the rotary base 4 in the robot arm rotating mechanism 200 through a rolling bearing. The second power unit 11 is fixed to the outside of the second power installation case 10 by, for example, screwing or welding. The second power unit 11 extends through the second power unit mounting case 10, for example, and is connected to the second transmission 6. The second transmission 11 is, for example, a motor, an electric machine, etc., such as an electric motor, a stepping motor, a servo motor, etc.
Further, the robot arm lifting mechanism 300 further includes a coupler 8, for example, the coupler 8 is a cone ring keyless coupler and is located in the second accommodating space Sp 2. Two ends of the coupling 8 are respectively connected to the second power device 11 and the second transmission device 6.
Further, in one embodiment of the present invention, the above-mentioned second transmission 6 is a ball screw transmission mechanism, which includes, for example, a ball screw 29 and a nut holder 16. Specifically, the nut seat 16 is sleeved on the ball screw 29 and engaged with the ball screw 29. The ball screw 29 is connected between the cross beam 9 and the robot arm rotating mechanism 200, and for example, the ball screw 29 is connected between the cross beam 9 and the rotary base 4. Specifically, one end of the ball screw is connected to the second power unit 11, for example, through the cross member 9, and the other end thereof is connected to the rotary base 4, for example, by a rolling bearing or the like. When the second power device 11 drives the ball screw 29 to rotate through the second transmission device 6, the ball screw 29 rotates around the first rotation center line 27 relative to the rotary base 4, so as to drive the nut base 16 to perform reciprocating motion, i.e., lifting motion, relative to the mechanical arm rotation mechanism along the direction of the first rotation center line. The ball screw 29 penetrates the mechanical arm 19, and the nut holder 16 is fixed to the mechanical arm 19 by, for example, screwing or welding, so that when the ball screw rotates, the nut holder 16 drives the mechanical arm 19 to move up and down, i.e., reciprocate, relative to the mechanical arm rotation mechanism 200 along the direction of the first rotation center line 27.
Specifically, as shown in fig. 1, the blade feed mechanism 100 is mounted on the robot arm 19, for example. Specifically, the blade feed mechanism 100 includes, for example, the telescopic moving device 17. Specifically, the telescopic motion device is, for example, a cylinder, an oil cylinder, an electric push rod, or other devices capable of realizing telescopic motion, and the invention is not limited thereto. One end of the telescopic moving means 17 is fixedly connected to the robot arm 19, for example, and the other end is connected to the end rotating mechanism 400, for example. Specifically, as shown in fig. 4, in one embodiment of the present invention, the telescopic moving means 17 is, for example, an axial-foot-stand type cylinder including, for example, a cylinder body and a piston rod 18 connected to the cylinder body. The cylinder is connected to a mechanical arm 19. As shown in fig. 5, the end of the piston rod 18 remote from the robot arm 19 is connected to, for example, an end-rotating mechanism screw 400. According to the technical scheme, the feeding motion of the mechanical arm 19, the tail end rotating mechanism 400 and the blade 25 to be machined can be realized through the telescopic motion device by arranging the blade feeding mechanism, when the polishing force of the mechanical arm on the blade 25 to be machined needs to be increased, the blade feeding mechanism is pushed outwards, so that the tail end rotating mechanism is pushed forwards, and the pressure applied to the blade 25 to be machined by the tail end rotating mechanism is increased. On the contrary, when the polishing force of the robot arm on the blade 25 to be processed needs to be reduced, the sheet feeding mechanism retracts, thereby reducing the pressure of the tip rotating mechanism on the blade 25 to be processed. According to the technical scheme, the blade feeding mechanism is arranged, so that feeding movement of the mechanical arm can be realized through the telescopic movement device, the polishing precision of the blade can be freely changed, and the polishing machine is suitable for more places.
Specifically, as shown in fig. 5, the tip rotating mechanism 400 includes, for example: a tip mount 30, a third power unit mount housing 31, a third power unit 20, a blade holder clamp 23, and a blade holder 24. The tip mount 30 is connected to the blade feed mechanism 100, for example, by a screw connection or the like. The third power unit 20 is, for example, a motor, or the like. The third power unit mounting case 31 is fixed to the end mounting base 30 by, for example, screwing or welding, and forms a third accommodation space Sp3 with the end mounting base 30. The third power unit 20 is fixed to the outside of the third power unit mounting case 31 by welding, screwing, or the like, for example. The knife holder clamp 23 is connected to the third power unit 20, for example, and is rotatably connected to the end mount 30. Specifically, one end of the tool bar clamp 23 penetrates through the end mounting seat 30 and extends into the third accommodating space Sp 3. The tool bar holder 23 is connected to the tip end mounting base 30 via a bearing 22, for example, so as to be rotatable with respect to the tip end mounting base 30. The end rotation mechanism 400 further comprises, for example, a coupling 21, the coupling 21 being disposed, for example, in the third housing control Sp3 and being used to connect the knife bar clamp 23 and the third power device 20. The bearing 22 is, for example, an angular contact bearing, a ball bearing, or the like, and the present invention is not limited thereto. The tool bar 24 is connected, for example, to an end of the tool bar clamp 24 remote from the third power means 20 and on a side of the end mount 30 remote from the third power means 20. Wherein the insert 25 to be machined is mounted, for example, on the end of the tool holder 24 remote from the tool holder clamp 23. The insert 25 to be machined is clamped on the tool shank 24, for example by means of a threaded eccentric pin and an insert shim. The shape of the to-be-machined blade 25 is different, and includes a diamond shape, a triangle shape, a regular quadrangle shape, a regular hexagon shape, and the like, as shown in fig. 5, the triangular blade is used for illustration in this embodiment, it is understood that the to-be-machined blade 25 may be other blades with different shapes, and the invention is not limited thereto. Above-mentioned technical scheme drives cutter arbor anchor clamps 23, cutter arbor 24 through third power device 20 and rotates to the rotation of drive cutter (waiting to process blade 25), consequently it can realize waiting to process the polishing of the rake face and the back knife face of blade 25 under the circumstances of clamping blade once.
Further, the clamping robot provided by the embodiment of the invention can further comprise a guide post 7. As shown in fig. 1, the guide post 7 is, for example, an elongated columnar member, and both ends thereof are, for example, connected to the robot arm lift mechanism 300 and the robot arm rotation mechanism 200, respectively. Specifically, one end of the guide post 7 is fixed to the rotary base 4 by, for example, screwing, welding, or the like, and the other end thereof is fixed to the cross member 9 by, for example, screwing, welding, or the like. The number of the guide posts is, for example, two, and the guide posts are respectively disposed on both sides of the rotating base 4, but it may be one, and the invention is not limited thereto. The guide post 7 extends through the mechanical arm 19. Specifically, the robot arm 19 is provided with, for example, through holes corresponding to the number of the guide posts 7, and the robot arm 19 is sleeved on the guide posts through the through holes. Above-mentioned technical scheme is through setting up guide post 7 to arm 19, can prevent that arm 19 from taking place to rotate when carrying out rectilinear motion on second transmission 6 to guaranteed that arm 19 rotates along with roating seat 4. In other words, the guide columns are arranged on the rotary seat to guide the mechanical arm, so that the mechanical arm can be prevented from rotating along with the mechanical arm rotating mechanism when being lifted, and linear motion of the mechanical arm is realized.
Specifically, in one embodiment of the present invention, the first power device, the second power device and the third power device of the clamping robot are all stepping motors, and more specifically, for the convenience of distinguishing, the first power device adopts the second stepping motor, the second power device adopts the third stepping motor, and the third power device adopts the first stepping motor. For example, the first stepper motor selection stepper motor FL42BYG40 is selected as follows:
(1) calculating the total moment of inertia Jep of the motor:
the resistance mainly overcome by the first stepping motor is the rolling friction force of the angular contact ball bearing 22, but the friction force of the bearing is very small and can not be considered, so the influence of the rotational inertia of the tool bar clamp, the tool bar and the blade to be machined is mainly considered in the aspect of driving torque.
For convenient calculation, can regard cutter arbor anchor clamps and cutter arbor as heavily being 1kg, the size is the cuboid of 25mm x 130mm, then the inertia of cuboid around the Z axle is:
data are substituted into the available Jz × (2.52+2.52) ÷ 12 ═ 1.04kg · cm2＝1.04×10-4kg·m2
The model of a first stepping motor is FL42BYG40, the first stepping motor is a two-phase hybrid stepping motor, the stepping angle is 1.8 degrees during driving, and the inertia of the motor rotor is represented by Jm which is 54g cm2Since the transmission ratio i of the motor directly connected to the shaft is 1, the total moment of inertia applied to the motor can be calculated as:
Jep＝Jm+Jz
substituting the data into the above equation yields:
Jep＝Jm+Jz＝1.04+0.054＝1.094kg·cm2＝1.094×10-4kg·m2
(2) calculating equivalent load torque Tep applied to a motor rotating shaft:
the maximum equivalent load torque is the load born by the rotating shaft of the motor during quick start, and then:
Tep＝Tamax＝Jep·α
in the formula: alpha is angular acceleration with unit of rad/S2
The first step motor of the tail end rotating mechanism is used for driving the blade to be cut to rotate around the direction vertical to the cutter bar, the highest rotating speed is set to be pi/4 rad/S, the ordinary rotating speed is pi/9 rad/S, and meanwhile, if the time taken by the motor from rest to accelerate to the highest rotating speed is t 0.5S, the angular acceleration is carried out
α＝(π÷4)÷0.5＝1.57rad/S-2
The angular acceleration and the total moment of inertia are substituted into the above formula to obtain:
Tep＝Tamax＝Jep·α＝1.094×10-4×1.57＝1.718×10-4N·m
(3) selected step motor checking
In order to prevent the phenomena of locked rotor and step loss, the safety factor is considered when the motor is selected, so the torque is multiplied by the safety factor 2 on the result of the calculation, namely the maximum static torque Tj of the motormaxThe method comprises the following steps:
Tjmax≥2×Tep＝2×1.718×10-4N·m＝2.34×10-4N·m
the table lookup can find the maximum static torque of the selected motor FL42BYG40
Tjmax is 0.3 N.m >2.34 multiplied by 10-4 N.m, so that the motor meets the use requirement.
It can be understood that the motors meeting the above conditions can be used as the first stepping motor, and when the quality of the cutter bar clamp and the quality of the cutter bar are changed, the specification of the selected stepping motor is changed, and the selected stepping motor is selected according to the above process. Specifically, the second stepping motor and the third stepping motor each adopt a sorting method of the first stepping motor, which are, for example, a stepping motor FL57BYG54 and a stepping motor FL57BYG41, respectively.
In this particular embodiment, the work requirement of the clamping robot to achieve polishing and blunting of the blade is mainly achieved by means of four degrees of freedom of the robot mechanism, as shown in fig. 3. Specifically, the robot first degree of freedom 12: and a second stepping motor is adopted to drive a harmonic gear reducer to transmit to realize the motion of the rotary seat of the robot. Second degree of freedom of the robot 13: a third step motor and a conical ring keyless coupling are utilized to drive the ball screw to rotate, so that the mechanical arm fixedly connected with the nut seat can move up and down linearly; robot third degree of freedom 14: considering the working requirement of robot polishing in the design, the feeding motion of the mechanical arm is realized by adopting the driving of the cylinder, and the feeding motion can be transmitted and pressed on the blade and the polishing disk. Robot fourth degree of freedom 15: according to the working requirement during polishing work, a first stepping motor is adopted at the tail end of a mechanical arm of the robot to drive the cutter bar and the cutter bar clamp to realize rotation of the cutter bar.
Furthermore, the clamping robot for the passivation polishing of the cemented carbide blade further comprises a control unit. Specifically, the control unit, such as a Programmable Logic Controller (PLC), a microcontroller, a single chip, or the like, has a chip or a device capable of issuing a control instruction. The control unit is electrically connected to the robot arm rotating mechanism 200, the robot arm lifting mechanism 300, and the end rotating mechanism 400. Specifically, the control unit is electrically connected to, for example, a first power unit, a second power unit, and a third power unit. Specifically, the control unit is electrically connected with the driver in the power device, so that the drive of the driver is controlled by pulse signals sent to the driver by the control unit, the angular displacement can be controlled by controlling the number of pulses, the purpose of accurate positioning is achieved, and meanwhile, the speed and the acceleration of the motor can be controlled by controlling the pulse frequency, and the purposes of speed regulation and positioning are achieved. Further, the control unit is electrically connected to the blade feeding mechanism, for example. Specifically, the control unit is connected with a telescopic motion device of the blade feeding mechanism, so that the control unit controls the telescopic motion to realize the feeding motion of the blade. According to the technical scheme, the control unit controls the clamping robot to move, and the related actions of the clamping robot can be accurately and quickly realized, so that the polishing precision is improved.
In summary, in the embodiments of the present invention, the robot is provided with a plurality of mechanisms capable of performing a rotational motion, a lifting motion, a feeding motion, and a rotational motion of the end rotating mechanism on which the blade is clamped, so that the robot structure and the tool surface polishing and the blade edge passivation are organically combined, and the problems of low efficiency and poor precision consistency of manual operation are solved by performing the polishing and passivation through the robot. In addition, the guide columns are arranged on the rotary seat to guide the mechanical arm, so that the mechanical arm can be prevented from rotating along with the mechanical arm rotating mechanism when being lifted, and linear motion of the mechanical arm is realized.
In addition, it should be understood that the foregoing embodiments are merely exemplary illustrations of the present invention, and the technical solutions of the embodiments can be arbitrarily combined and collocated without conflict between technical features and structural contradictions, which do not violate the purpose of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A clamping robot, comprising:
a base;
arm rotary mechanism includes:
the rotary seat is arranged at the upper part of the base and is connected with the base, and a first accommodating space is formed between the rotary seat and the base;
the first transmission device is connected with the rotating seat and is positioned in the first accommodating space; and
the first power device is arranged in the base, penetrates through the base and is connected with the first transmission device, and the first power device is used for driving the first transmission device to drive the rotating seat to rotate relative to the base;
arm elevating system includes:
the cross beam is positioned on one side, far away from the base, of the mechanical arm rotating mechanism;
the supporting rod is connected with the cross beam and the rotating seat;
the second power device mounting shell is arranged on one side, far away from the mechanical arm rotating mechanism, of the cross beam;
the second transmission device is connected between the cross beam and the mechanical arm rotating mechanism and penetrates through the cross beam;
the second power device is arranged outside the third power device mounting shell, penetrates through the second power device mounting shell and is connected to the second transmission device and penetrates through one end of the cross beam;
the mechanical arm is connected to the second transmission device and is positioned between the cross beam and the rotating seat;
the blade feeding mechanism is connected with the mechanical arm; and
a tip rotating mechanism for mounting a blade to be machined and including:
the tail end mounting seat is connected with one end, far away from the mechanical arm, of the blade feeding mechanism;
the third power device mounting shell is arranged on the tail end mounting seat and forms a third accommodating space with the tail end mounting seat;
the third power device is arranged outside the third power device mounting shell, penetrates through the second power device mounting shell and extends into the third accommodating space;
the coupling is connected with the third power device and is positioned in the third accommodating space;
the cutter bar clamp is rotatably connected to the tail end mounting seat, one end of the cutter bar clamp penetrates through the tail end mounting seat, extends into the third accommodating space and is connected to one end, far away from the third power device, of the coupler;
the cutter bar is connected to one end, far away from the third power device, of the cutter bar clamp, and the to-be-machined blade is installed at one end, far away from the cutter bar clamp, of the cutter bar.
2. A clamping robot, comprising:
a base;
the mechanical arm rotating mechanism is arranged on the base;
the mechanical arm lifting mechanism is arranged on the mechanical arm rotating mechanism;
the mechanical arm is arranged on the mechanical arm lifting mechanism;
the blade feeding mechanism is arranged on the mechanical arm; and
the tail end rotating mechanism is connected with the blade feeding mechanism and is used for installing a blade to be processed;
the mechanical arm rotating mechanism is used for driving the mechanical arm to rotate around a first rotating center line of the mechanical arm rotating mechanism relative to the base; the mechanical arm lifting mechanism is used for driving the mechanical arm to reciprocate relative to the mechanical arm rotating mechanism along the direction of the first rotating central line, and the blade feeding mechanism is used for driving the tail end rotating mechanism to reciprocate relative to the mechanical arm along the direction perpendicular to the first rotating central line; the tail end rotating mechanism is used for driving the blade to be processed to rotate around a second rotating center line of the tail end rotating mechanism relative to the blade feeding mechanism.
3. The clamping robot of claim 2, wherein the robotic arm rotating mechanism comprises:
the rotating seat is arranged at the upper part of the base and is connected with the base;
the first transmission device is connected with the rotating seat and is positioned in a first accommodating space formed by the rotating seat and the base; and
the first power device is arranged in the base, penetrates through the base and is connected with the first transmission device, and the first power device is used for driving the first transmission device to drive the rotating seat to rotate relative to the base.
4. The clamping robot of claim 2, wherein the robotic arm lift mechanism comprises:
the cross beam is positioned on one side, far away from the base, of the mechanical arm rotating mechanism;
the second power device mounting shell is arranged on one side, far away from the mechanical arm rotating mechanism, of the cross beam;
the second transmission device is connected between the cross beam and the mechanical arm rotating mechanism and penetrates through the cross beam, the second transmission device is connected with and penetrates through the mechanical arm, and the mechanical arm is positioned between the cross beam and the mechanical arm rotating mechanism;
and the second power device is arranged outside the third power device mounting shell, penetrates through the second power device mounting shell and is connected to the second transmission device at one end penetrating through the cross beam.
5. The clamping robot as recited in claim 4, wherein the robot arm lifting mechanism further comprises a coupler, the coupler is connected between the second transmission device and the second power device and is located in a second accommodating space formed by the second power device mounting housing and the cross beam.
6. The clamping robot as recited in claim 4, wherein said second transmission means comprises a ball screw connected between said cross member and said robot arm rotation mechanism and rotatable relative thereto, said ball screw extending through said robot arm, one end of said ball screw extending through said cross member and connected to said second power means, and a nut socket connected to said robot arm, said nut socket fitting over said ball screw and engaging said ball screw to drive said robot arm to reciprocate relative to said robot arm rotation mechanism in the direction of said first center line of rotation.
7. The clamping robot as recited in claim 2, wherein the blade feed mechanism comprises a telescoping motion device having one end connected to the robotic arm and another end connected to the distal rotation mechanism, the telescoping motion device being configured to drive the distal rotation mechanism to reciprocate relative to the robotic arm in a direction perpendicular to the first centerline of rotation.
8. The clamping robot of claim 2, wherein the end rotation mechanism comprises:
the tail end mounting seat is connected with the blade feeding mechanism;
the third power device mounting shell is arranged on the tail end mounting seat and forms a third accommodating space with the tail end mounting seat;
the third power device is arranged outside the third power device mounting shell, penetrates through the second power device mounting shell and extends into the third accommodating space;
the cutter bar clamp is rotatably connected to the tail end mounting seat, and one end of the cutter bar clamp penetrates through the tail end mounting seat, extends into the third accommodating space and is connected with the third power device;
the cutter arbor is connected keep away from on the cutter arbor anchor clamps the one end of third power device, the cutter arbor is located end mount pad is kept away from one side of third power device, wherein wait to process the blade and install keep away from on the cutter arbor the one end of cutter arbor anchor clamps.
9. The clamping robot as claimed in any one of claims 1-8, further comprising a guiding post, wherein the guiding post penetrates through the robot arm, and two ends of the guiding post are respectively connected to the robot arm lifting mechanism and the robot arm rotating mechanism.
10. The clamping robot of any one of claims 1-8, further comprising a control unit electrically connected to the robot arm rotation mechanism, the robot arm lift mechanism, the blade feed mechanism, and the tip rotation mechanism.
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| CN202111045685.8A CN113814806A (en) | 2021-09-07 | 2021-09-07 | Clamping robot |
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| CN202111045685.8A CN113814806A (en) | 2021-09-07 | 2021-09-07 | Clamping robot |
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| CN208681645U (en) * | 2018-09-10 | 2019-04-02 | 苏州小工匠机器人有限公司 | End has the manipulator of spindle motor |
| US20210007281A1 (en) * | 2019-07-14 | 2021-01-14 | Brian F. Smith | Autonomous lawn mower blade sharpening and task robot |
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2021
- 2021-09-07 CN CN202111045685.8A patent/CN113814806A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105710870A (en) * | 2014-12-04 | 2016-06-29 | 北京航天斯达科技有限公司 | Four-freedom-degree horizontal joint robot |
| CN206029896U (en) * | 2016-12-15 | 2017-03-22 | 赵书畅 | Robot |
| CN106926222A (en) * | 2017-04-28 | 2017-07-07 | 西安航空学院 | Apery dual-arm robot |
| CN207189375U (en) * | 2017-08-04 | 2018-04-06 | 东莞市安域机器人有限公司 | A kind of robot grinding device |
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Application publication date: 20211221 |