CN201941484U - Grinding, engraving and machining robot - Google Patents

Abstract

The utility model relates to a grinding and carving processing robot, which comprises an industrial computer, a motion control card, a stepping motor drive system, an encoder, a lead screw, a linear bearing, a grinding disc, a shaft coupling, a bottom plate and a bracket. The robot is modeled by an industrial computer, and generates control instructions to the motion control card to drive and control each joint variable and the angle of the grinding disc. The position feedback is performed through the installed two encoders to form a semi-closed-loop stepping system, which is convenient and accurate. Cutting angle, and control the stepless speed regulation of the grinding disc motor to achieve the process requirements of rough grinding, fine grinding and polishing. This robot has two structures, one is used for grinding and polishing, and the other is used for engraving. The two structures can be easily replaced, so that both grinding and engraving can be used. The robot is simple in structure, small in size, low in energy consumption, high in efficiency, low in noise, easy to use, high in automation level and control precision, and can be used in grinding and engraving, mold, lens, machining and other industries, and has a good market prospect.

Description

Grinding and carving robot

technical field

The utility model relates to a grinding and carving robot, specifically comprising a grinding and processing robot and a robot capable of realizing three-dimensional carving.

Background technique

With China's accession to the WTO, China's grinding and engraving handicraft market is increasingly in line with international standards, and the handicraft jewelry industry has also developed from the original simple emphasis on its own value to the direction of diversification and individualization. This requires the equipment for handicraft processing to have high flexibility. At present, the field of handicraft grinding and CNC processing equipment in our country is almost blank, and the engraving angle of the existing engraving machines on the market cannot be changed, so that it cannot satisfy the engraving of complex shapes of handicrafts. For crafts with complex shapes such as three-dimensional and multi-faceted, due to the lack of advanced special processing equipment for grinding and engraving, many of them are still processed by hand. Manual processing has low labor efficiency and high labor costs, which greatly affects and restricts the development of the handicraft processing industry. How to overcome the problems of inaccurate grinding and engraving angles, low production efficiency and harsh environment of manual processing handicrafts has become the key. The utility model developed by the grinding and engraving processing robot can improve the automation and flexibility level of the grinding and engraving processing industry, improve product quality, and reduce labor costs.

Contents of the invention

The purpose of the utility model is to develop a small size, low energy consumption, high efficiency, and other problems in order to overcome the problems of inaccurate cutting and grinding angles of manual processing handicrafts, low production efficiency, and the inability to change the engraving angles of existing engraving machines on the market. The grinding and engraving robot with the characteristics of low noise applies robot technology and numerical control technology to the grinding and engraving processing industry to meet the grinding and engraving of complex shapes.

The technical solution adopted by the utility model to achieve the above-mentioned purpose is to provide a grinding and carving robot, including a motor, a shaft coupling, a grinding and carving head fixture, a bottom plate, a pillar, an industrial computer and a motion control card. Connected with the four pillars, the left support block and the right support block are fixed on the bottom plate by screws, the optical axis A and the lead screw A are installed on the left support block and the right support block through set screws and bearings; the slider A is connected to the right support block by screws The screw nut A and the linear bearing A are fixed; the rotary table is connected with the slider A below through screws, the side of the rotary table is connected with the stepping motor of the rotary table through the flange, and the rotary table and the upper support block are also connected with the bearing through set screws , The two ends of the optical axis B and the lead screw B are connected; the slider B is connected to the support arm through a set screw and a taper pin, and the pitch flange, indexing motor, encoder B and grinding head fixture are installed on the support arm through screws. The sticking rod and the workpiece to be ground are fixed in the grinding head fixture, and the central axis of the pitching flange is also connected with the pitching motor flange, pitching motor and encoder A through screws; two bearing seats are also fixed on the bottom plate , the bearing in the bearing seat is connected to the disc motor through the shafts and flanges on both sides, the output shaft of the disc motor is connected to the disc through a coupling; the disc angle motor is connected to the flange shaft of the disc motor through a key; the motion control card is inserted in the In the PCI slot of the industrial computer, the motion control card is connected with the encoder, the AC speed regulating motor interface and 6 motor drivers through wires. That is to say, this kind of grinding and engraving robot completes the grinding process of the workpiece by changing the relative position of the workpiece to be ground and the grinding disc fixed on the grinding head fixture.

In the utility model of grinding and engraving processing robot, the screw nut A and the linear bearing A are installed on the slider A in parallel, and the screw A and the optical axis A form a horizontal movement pair under the support of the left support block and the right support block. The screw nut B and the linear bearing B are installed on the slider B in parallel, and the screw B and the optical axis B form a vertical moving pair under the support of the upper support block and the rotary table.

The motor is a device for generating power, and 7 motors are used in total, 6 of which adopt stepping motors, and 1 AC speed regulating motor is used to drive the millstone to rotate; 5 motors are respectively arranged in the 6 stepping motors. Drive the five kinematic joints of the robot, and a stepper motor drives the grinding disc to swing. The motor and each joint are connected by flanges or the left support block and the right support block through screws. The horizontal movement pair and the vertical movement pair use screw and linear bearing to cooperate, and the lead screw can also bear a certain bending moment by pre-tightening the screw. The five kinematic joints of the robot are: 1. The stepper motor drives the horizontal movement side to make horizontal movement; 3. One unit is connected in series above the horizontal slider A and on the side of the rotary table, and the stepping motor of the rotary table drives the rotary table to complete the rotation of the robot's waist; 4. Fix the arm on the vertically moving slider B to support The head of the arm fixes the grinding head fixture, and the grinding head fixture is connected with the indexing stepping motor at the tail through the pitch flange to realize the rotary movement of the grinding head fixture, and the encoder at the end of the indexing stepping motor is used to realize the angle feedback 5. The central axis of the pitching flange at the rear end of the grinding head fixture is also connected to the flange, the pitching stepper motor and the encoder A by screws, and this part is used as the pitching joint of the robot to realize the pitching motion of the grinding head. The millstone motor is an AC speed-regulating motor, and the two bearing seats fixed on the bottom plate support the millstone motor. The millstone motor is connected to the millstone through a coupling to drive the millstone to rotate; the millstone angle motor is connected to the flange shaft of the millstone motor through a key.

According to the utility model of the grinding and carving processing robot, the encoder B is installed on the indexing motor and the encoder A is installed on the pitching motor. The mechanism constitutes a semi-closed loop stepping system. Due to the feedback information of the encoder, the trajectory of the grinding workpiece or carving knife can be precisely controlled.

In the utility model of the grinding and engraving processing robot, two bearing seats are also fixed on the bottom plate, and the grinding disc motor in the bearing housing and the coupling and the grinding disc connected thereto are replaced with the work of fixing the workpiece to be engraved. The table and the carving knife are installed in the grinding head fixture to form a three-dimensional carving robot. That is to say, this three-dimensional engraving robot completes the engraving process of the workpiece through the change of the relative position of the carving knife and the engraving workpiece fixed on the workbench.

The utility model adopts an industrial computer equipped with a high-performance stepping/servo motor multi-axis motion control card to drive a semi-closed-loop stepping system. The multi-axis motion control card is based on the PC bus and uses a high-performance microprocessor and large-scale The programming device realizes the multi-axis coordinated control of multiple motors, converts the rotational motion of the motors into the motion changes of each joint, and finally forms the relative position change between the grinding workpiece and the grinding disc or the relative position of the carving knife and the carving workpiece fixed on the workbench. Position changes to complete the grinding or engraving of the workpiece.

The grinding and engraving processing robot of the utility model has the following advantages:

1. Compared with similar products, this utility model has good angle control performance and high automation level. It can automatically guide the processing trajectory through the three-dimensional modeling of the industrial computer, control the robot to complete the operation trajectory, and can grind, polish and engrave integration. The utility model installs encoders on the key two joints to form feedback, which makes the joint angle of the robot more accurate. At the same time, it can process any given convex curved surface in six-axis linkage, laying a good foundation for the processing of new gem cutting shapes, and can carve out Crafts of complex shapes.

2. The utility model is simple in structure, small in size, low in energy consumption, high in efficiency, low in noise, easy to use, and has a high level of automation, which can reduce repetitive labor for workers, get rid of traditional experience operations, and have high control precision. The position feedback of the robot can make the machining angle of the robot more accurate, which can reach 0.06°.

3. The grinding and engraving processing robot of the utility model has a wide range of applications. It can not only realize the point-to-point motion grinding and polishing processing requirements of gemstone facets, but also can grind any given convex curved surface in six-axis linkage, which brings great benefits to the gemstone processing industry. New convenience while being able to apply to engraving of complex shapes. This grinding and engraving robot can be used to develop new cut-shaped processed products, such as the processing of various handicraft jewelry that requires precise control of the grinding angle, and can also be used in other engineering aspects that require precise control of grinding and polishing surfaces, such as for Mold, lens, engraving and other machining industries.

Description of drawings

  Fig. 1 is a structural schematic diagram of a grinding and engraving processing robot of the present invention.

FIG. 2 is a schematic top view of FIG. 1 .

Figure 3 is a schematic diagram of the connection between the industrial computer and the motion control card.

Fig. 4 is a schematic diagram of the structure of the engraving processing robot.

In the above figure: 1 stepper motor, 2 upper support block, 3 coupling, 4 optical axis B, 5 slider B, 6 support arm, 7 indexing motor, 8 pitch flange, 9 grinding head fixture, 10 Grinding disc, 11 Grinding disc angle motor, 12 Encoder B, 13 Bearing seat, 14 Grinding disc AC speed regulating motor, 15 Bottom plate, 16 Pillar, 17 Left support block, 18 Slider A, 19 Screw nut A, 20 Linear bearing A, 21 Lead screw B, 22 Optical axis A, 23 Lead screw A, 24 Right support block, 25 Rotary table, 26 Pitch motor flange, 27 Encoder A, 28 Pitch motor, 29 Linear bearing B, 30 Lead screw nut B, 31 Sticking rod, 32 Grinding workpiece, 33 Turntable stepping motor, 34 Engraving knife, 35 Engraving workpiece, 36 Workbench, 37 Encoder interface, 38 Motion control card, 39 Industrial computer, 40 Motor driver, 41 AC connection Adjustable speed motor interface.

Detailed ways

Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is described in further detail.

Embodiment 1: A kind of grinding and engraving processing robot of the present utility model, its structure is shown in Figure 1, at least includes industrial computer, motion control card, also has adopted 7 motors, wherein has 2 stepper motors 1, other such as Indexing motor 7, milling disc angle motor 11, pitching motor 28, turntable stepper motor 33 and milling disc motor 14 each, as well as coupling 3, grinding head fixture 9, milling disc 10, bottom plate 15 and pillar 16, The base plate 15 is connected with the four pillars 16 by screws, the left support block 17 and the right support block 24 are fixed on the base plate by screws, and the optical axis A 22 and the leading screw A 23 are installed on the left support block by set screws and bearings on the right support block; slider A 18 is fixed with screw nut A 19 and linear bearing A 20; the rotary table 25 is connected with the lower slider A 18 through screws, and the side of the rotary table is connected to the The turntable stepper motor 33 is connected, and the turntable and the upper support block 2 are also connected with the bearing, the optical axis B 4 and the two ends of the lead screw B 21 through set screws; the slider B 5 is connected with the linear bearing B 29 through set screws , leading screw nut B 30, and support arm 6 are connected, and the support arm 6 is equipped with indexing motor 7, pitch flange 8, grinding head fixture 9 and encoder B 12 through screws; the central axis of pitch flange 8 also passes through Screw connection flange 26, pitching motor 28 and encoder A 27; Also be fixed with two bearing housings 13 on the base plate 15, grinding disc motor 14 is connected with the bearing in bearing housing 13 by the axle of flange and both sides, grinding disc motor 14 The output shaft is connected with the grinding disc 10 through the shaft coupling 3; the grinding disc angle motor 11 is connected with the flange shaft of the grinding disc motor 14 through a key.

In the utility model, the connection relation of motion control card 38, industrial computer 39 and 6 stepper motor drivers 40 is referring to Fig. 3, and motion control card 38 is inserted on the PCI slot of the chassis motherboard of industrial computer 39, and motion control card passes through one end The connecting terminal is connected with the signal input ends of 6 stepping motor drivers and the interface 41 of the AC speed regulating motor and the interface 37 of the two encoders; the other end of the interface 41 of the AC speed regulating motor and the interface 37 of the two encoders are connected with The AC speed regulating motor is connected with the encoder, and the output end of the stepper motor driver 40 is connected with 6 stepper motors. The arrows in the figure represent the direction of signal transmission.

The grinding and engraving processing robot of the present utility model, its work process is: earlier the grinding workpiece 32 to be waited is fixed on the sticky rod 31, then is modeled by the industrial computer 39, and generates the control trajectory command and passes it to the motion control card 38, and moves The control card drives 5 joint stepper motors and the grinding disc angle motor 11 through the motor driver 40, and drives the grinding disc AC speed regulating motor 14 through the AC speed regulating motor interface 41, and is equipped with on the key indexing motor 7 and pitch motor 28 The two encoders B 12 and encoder A 27 perform position feedback to form a semi-closed-loop stepping system, so that it can conveniently and accurately control the grinding angle, and control the grinding disc motor 14 to drive the grinding disc 10 to rotate by stepless speed regulation, so as to realize Coarse grinding, fine grinding, polishing process requirements. That is, the grinding workpiece fixed on the grinding head fixture 9 and the sticking rod 31 forms a relative position change with the grinding disc to complete the grinding process of the workpiece.

Embodiment 2: A grinding and engraving processing robot of the present utility model, as shown in FIG. Grinding disc 10 is changed into workbench 36, and engraving knife 34 is loaded onto on grinding head fixture 9, and carving workpiece 35 is fixed on the workbench 36 simultaneously, and all the other structures are unchanged, just constituted three-dimensional engraving robot. This three-dimensional engraving robot is an engraving robot with six degrees of freedom, and the engraving angle can be changed precisely. Compared with the previous engraving machine, it is more flexible and can process more shapes. This three-dimensional engraving robot is different from the robot in Embodiment 1 in terms of structure and working mode. This engraving robot completes the engraving process of the workpiece by changing the relative position of the engraving workpiece fixed on the workbench with the engraving knife.

The grinding and engraving processing robot of the utility model has two structures that can be easily replaced, so that both grinding and carving can be used. The robot of the utility model has the advantages of simple structure, small volume, low energy consumption, high efficiency, low noise, convenient use and precise processing angle, which can reach 0.06°. The grinding and engraving processing robot has a wide range of applications, and can also be used in mechanical processing industries such as moulds, lenses, and engravings, and has a good market prospect.

Claims (4)

1. a mill is carved machining robot, comprise motor, shaft coupling, mill carving fixture head, base plate, pillar, industrial computer and motion control card, it is characterized in that: described base plate is connected with four pillars by screw, be fixed with left back-up block and right back-up block by screw on the base plate, optical axis A, leading screw A are installed on left back-up block and the right back-up block by holding screw and bearing; Slide block A fixes by screw and feed screw nut A, linear bearing A; Turntable links with following slide block A by screw, and the side of turntable links to each other with the panoramic table stepper motor by flange, and turntable also is connected with bearing, optical axis B and leading screw B two ends by holding screw with the upper support piece; Slide block B is connected support arm by holding screw with taper pin, by screw pitching flange, indexing motor and encoder B and mill carving fixture head are installed on the support arm, be fixed with sticking bar and workpiece to be ground in the mill carving fixture head, the central shaft of pitching flange also connects pitching motor flange, pitching motor and encoder A by screw; Also be fixed with two bearing blocks on described base plate, the bearing in the bearing block is connected with the axle and the flange of mill motor by both sides, and the mill motor output shaft is connected with mill by shaft coupling; Mill angle motor is connected by the flange shaft of key with the mill motor; Motion control card is inserted in the industrial computer PCI slot, by lead motion control card is connected with encoder, ac adjustable speed motor interface and 6 motor drivers.

2. mill carving machining robot according to claim 1, it is characterized in that: described feed screw nut A is parallel with linear bearing A to be installed on the slide block A, leading screw A and optical axis A constitute under the support of left back-up block and right back-up block and move horizontally pair, feed screw nut B is parallel with linear bearing B to be installed on the slide block B, and leading screw B and optical axis B constitute vertical moving sets under the support of upper support piece and turntable.

3. mill carving machining robot according to claim 1, it is characterized in that: describedly encoder B is being housed on the indexing motor and encoder A is housed on pitching motor, two encoders feed back the movement locus of mill carving scorper, constitute the semiclosed loop step-by-step system with motion control card, industrial computer.

4. mill carving machining robot according to claim 1, it is characterized in that: also be fixed with two bearing blocks on the described base plate, with the mill motor in the described bearing block and shaft coupling that is attached thereto and mill, change into and fixedly remain the workbench of carver's part, install scorper in the bistrique anchor clamps, constituted three-dimensional carving machine device people.

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