CN204487550U - A kind of robotize spiral punching system - Google Patents
A kind of robotize spiral punching system Download PDFInfo
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- CN204487550U CN204487550U CN201520028135.9U CN201520028135U CN204487550U CN 204487550 U CN204487550 U CN 204487550U CN 201520028135 U CN201520028135 U CN 201520028135U CN 204487550 U CN204487550 U CN 204487550U
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Abstract
The utility model provides a kind of robotize spiral punching system, comprises four-degree-of-freedom serial manipulator, terminal drilling unit and system controller; Control by system controller the adjustment that four-degree-of-freedom serial manipulator and terminal drilling unit carry out corresponding drilling attitude respectively, and the aperture of drilling can be regulated in real time.This robotize spiral punching system one can process a series of aperture cutter, and when effectively prevent the drilling of robotize hole-drilling system, tool changing link, greatly can improve the working (machining) efficiency of drilling, be particularly suitable for the hole system processing of workpiece, have good application prospect.
Description
Technical field
The utility model designs a kind of spiral punching system, and especially a kind of roboticized spiral punching system, belongs to industrial control field.
Background technology
Robotize automatic punching system, with the advantage such as its automation, flexibility, high accuracy, cost be low, becomes the large-scale assembling fields such as Aeronautics and Astronautics, shipbuilding, automobile and develops intelligent drilling equipment first.Because drilling drilling is a kind of sizing method for drilling, for high accuracy connecting hole, it needs to take the clustered operations such as boring, reaming, fraising, and a large amount of tool changing link will have a strong impact on drilling efficiency.Especially the application along with difficult-to-machine materials such as titanium alloy, aluminium alloy, carbon fibre composites is more and more wider, and conventional borehole, because of its excessive drilling axial force, very easily causes the drilling defect of this type of material work piece.Therefore, the how working (machining) efficiency of hoisting machine peopleization automatic punching system and drilling quality, having become robotize automatic punching system must the primary technical problem solved in above-mentioned large-scale assembling field application.
Summary of the invention
The technical problems to be solved in the utility model is the problems such as existing robotize hole-drilling system exists that drilling axial force is large, drilling aperture is little and working (machining) efficiency is low.
In order to solve the problems of the technologies described above, the utility model provides a kind of robotize spiral punching system, comprises four-degree-of-freedom serial manipulator, terminal drilling unit and system controller;
Four-degree-of-freedom serial manipulator comprises rectangle frame base, supporting plate, column, large arm and forearm; The relative inner of two length frames of rectangle frame base is equipped with longitudinal rack, and the upper side of two length frames is equipped with longitudinal rail; The bottom surface of supporting plate is provided with two bottom surface chutes, and two bottom surface chutes are embedded on two longitudinal rails respectively, and can slidably reciprocate along two longitudinal rails; Four drift angle places of supporting plate are respectively equipped with a vertical drive motor, and the output shaft of vertical drive motor is provided with driven wheel, and driven wheel is meshed with the longitudinal rack of corresponding position; Column is vertically arranged on the top of supporting plate, and the top vertical of column is provided with one and horizontally rotates motor, and the output shaft horizontally rotating motor is provided with and horizontally rotates joint; The top level horizontally rotating joint is provided with a large arm drive motors, and one end of large arm is vertically mounted on the output shaft of large arm drive motors, and large arm drive motors drives large arm to swing in vertical plane; The other end of large arm is provided with forearm driving mechanism, and the link of forearm is arranged on the other end of large arm by swinging axle swing type, and forearm driving mechanism drives forearm to swing in vertical plane around swinging axle;
Terminal drilling unit comprises three bar parallel institutions, spiral drilling mechanism and Fa Shi testing agency;
Three bar parallel institutions comprise moving platform, fixed platform, the first electric expansion bar, the second electric expansion bar and the 3rd electric expansion bar; The trailing flank of fixed platform is fixedly mounted on the abutting joint end of forearm; The bottom of the first electric expansion bar, the second electric expansion bar and the 3rd electric expansion bar is all arranged on by radians such as hook hinge on the circumferential edges of fixed platform leading flank; The first drive motors driving its motion bar stretching motion first electric expansion bar is equipped with; Second electric expansion bar is equipped with and drives the second driving of its movable telescopic bar motion electronic; The 3rd drive motors driving the motion of its movable telescopic bar 3rd electric expansion bar is equipped with; Three motion bar tops of the first electric expansion bar, the second electric expansion bar and the 3rd electric expansion bar are all arranged on by spherical linkage on the circumferential edges of moving platform trailing flank;
Spiral drilling mechanism comprises revoluting motor, columnar revolution housing, columniform spinning motor, revolution-radius adjustment motor, worm screw and worm gear; Revoluting motor is provided with revolution deceleration device, and the output shaft of revolution deceleration device is provided with revolution driven wheel; Revolution housing passes perpendicularly through the centre bore of moving platform, and rotary type is arranged on moving platform; The excircle of revolution housing is provided with a circle revolution gear ring, and revolution gear ring is meshed with revolution driven wheel; The top of spinning motor is to being connected to columniform rotation deceleration device, and the axial line of the axial line of spinning motor and rotation deceleration device is positioned on same axis; Spinning motor and rotation deceleration device are arranged in revolution housing by two inner bearing rotary types; The output shaft of rotation deceleration device stretches out forward outside revolution housing, and the output shaft of rotation deceleration device departs from its axial line; The output shaft of rotation deceleration device is provided with knife bar, and knife bar is equipped with cutter; The tail end of spinning motor is provided with the revolution-radius regulating shaft stretching out revolution housing rear end lid backward, and revolution-radius regulating shaft is provided with worm gear; Revolution-radius regulates motor to be arranged on the rear end cap of revolution housing, and worm screw is arranged on the rear end cap of revolution housing respectively by front support seat and rear support seat; Worm screw and revolution-radius regulate the output shaft coaxial transmission of motor; Worm and wheel is meshed;
Fa Shi testing agency comprises the first light distance sensor be vertically mounted on moving platform leading flank, the second light apart from sensor and the 3rd light distance sensor; First light is positioned at circumferentially same apart from sensor, the second light apart from sensor and the 3rd light apart from sensor, and radian between adjacent two is equal;
System controller respectively with vertical drive motor, horizontally rotate motor, large arm drive motors, forearm driving mechanism, the first drive motors, second drive electronic, the 3rd drive motors, revoluting motor, spinning motor, revolution-radius to regulate motor, the first light to be connected apart from sensor apart from sensor, the second light apart from sensor and the 3rd light.
Adopt four-degree-of-freedom serial manipulator to drive terminal drilling unit to carry out the adjustment of drilling posture, effectively can improve flexibility and the drilling precision of drilling attitude; Adopt three bar parallel institutions to drive spiral drilling mechanism to carry out drilling posture fine adjustment, flexibility and the drilling precision of drilling attitude can be improved further; Revoluting motor is adopted to drive revolution housing to carry out unitary rotation, when the output shaft of rotation deceleration device departs from its axial line, effectively can change aperture adjustment during drilling, achieve a cutter and can process a series of aperture, tool changing link when effectively prevent the drilling of robotize hole-drilling system, greatly can improve the working (machining) efficiency of drilling, be particularly suitable for the hole system processing of workpiece; Adopt the collaborative work of three bar parallel institutions and spiral drilling mechanism, effectively can simplify spiral drilling mechanism composition, reduce design difficulty and the manufacturing cost of spiral drilling mechanism; Adopt the structure of worm and wheel can effectively prevent from there will not be spinning motor to rotate when revoluting motor drives revolution housing to carry out unitary rotation, improve the precision of drilling; Employing method is vowed to detect to detect in real time and is treated that the method for drilling point vows error, and this error is delivered to controller, controls the drilling pose that three bar parallel institutions revise terminal drilling unit in real time, effectively improves drilling precision.
As further restriction scheme of the present utility model, the other end of large arm is provided with driven cavity, and forearm driving mechanism is arranged in driven cavity; Forearm driving mechanism comprises forearm drive motors, gearing shaft and end cap; The output shaft of forearm drive motors is provided with main angular wheel; One end rotary type of gearing shaft is arranged on the chamber wall of driven cavity, and other end rotary type is arranged on end cap, and end cap is sealed on the lateral opening of driven cavity; Gearing shaft is fixed with one from angular wheel and two travelling gears; Be meshed from angular wheel with main angular wheel, and with two travelling gear coaxial transmissions; The link of forearm is arranged on the other end of large arm by swinging axle swing type, and on link, be provided with two driven gears; Travelling gear is meshed with driven gear, and drives forearm to swing in vertical plane around swinging axle; Forearm drive motors is connected with system controller.Adopt travelling gear be meshed with driven gear thus drive forearm to swing up and down, the wobble accuracy that can improve forearm controls; Employing end cap can for convenience detach or maintenance forearm driving mechanism.
As further improvement of the utility model scheme, the leading flank of moving platform is provided with support housing, and support housing is set on revolution housing, and revolution housing can relative support housing into rotation.Adopt support housing can effectively prevent revolution housing from shaking in rotary course, further increase the precision of drilling.
As further improvement of the utility model scheme, the front end of revolution housing is provided with the bearing (ball) cover be sealed on revolution housing, and the output shaft of rotation deceleration device is through bearing (ball) cover.Adopt bearing (ball) cover that steel cuttings in drilling process can be prevented to be splashed on inner bearing, avoid inner bearing impaired in the course of the work.
As further restriction scheme of the present utility model, the revolution axial line of housing and the axial line of rotation deceleration device deviate.Adopt and the axial line of revolution housing is designed to deviate with the axial line of rotation deceleration device, the spreading range in aperture can be expanded further.
As further restriction scheme of the present utility model, the output shaft that the revolution offset that the revolution axial line of housing and the axial line of rotation deceleration device deviate equals rotation deceleration device departs from the rotation eccentric amount of its axial line, and the offset direction of the offset that revolves round the sun is contrary with the offset direction of rotation eccentric amount.The radius of drilling can expand to by this design: tool diameter ~ tool diameter adds twice offset.
As further improvement of the utility model scheme, the side of large arm is provided with large arm back shaft; The side of forearm is provided with forearm back shaft, is provided with support cylinder between large arm back shaft and forearm back shaft; System controller is connected with the hydraulic system of support cylinder.Rigidity of support when adopting support cylinder effectively can improve drilling between large arm and forearm, prevents forearm from shaking in drilling process.
The beneficial effects of the utility model are: (1) adopts four-degree-of-freedom serial manipulator to drive terminal drilling unit to carry out the adjustment of drilling posture, effectively can improve flexibility and the drilling precision of drilling attitude; (2) adopt three bar parallel institutions to drive spiral drilling mechanism to carry out drilling posture fine adjustment, flexibility and the drilling precision of drilling attitude can be improved further; (3) revoluting motor is adopted to drive revolution housing to carry out unitary rotation, when the output shaft of rotation deceleration device departs from its axial line, effectively can change aperture adjustment during drilling, achieve a cutter and can process a series of aperture, tool changing link when effectively prevent the drilling of robotize hole-drilling system, greatly can improve the working (machining) efficiency of drilling, be particularly suitable for the hole system processing of workpiece; (4) adopt the collaborative work of three bar parallel institutions and spiral drilling mechanism, effectively can simplify spiral drilling mechanism composition, reduce design difficulty and the manufacturing cost of spiral drilling mechanism; (5) adopt the structure of worm and wheel can effectively prevent from there will not be spinning motor to rotate when revoluting motor drives revolution housing to carry out unitary rotation, improve the precision of drilling; (6) employing method is vowed to detect to detect in real time and is treated that the method for drilling point vows error, and this error is delivered to controller, controls the drilling pose that three bar parallel institutions revise terminal drilling unit in real time, effectively improves drilling precision.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is four-degree-of-freedom serial manipulator structural representation of the present utility model;
Fig. 3 of the present utility modelly horizontally rotates articulation structure schematic diagram;
Fig. 4 is large arm structural representation of the present utility model;
Fig. 5 is forearm structure schematic diagram of the present utility model;
Fig. 6 is terminal drilling cellular construction schematic diagram of the present utility model;
Fig. 7 is three bar parallel institution structural representations of the present utility model;
Fig. 8 is spiral drilling mechanism of the present utility model structural representation;
Fig. 9 is spiral drilling mechanism of the present utility model sectional view;
Figure 10 is drilling flow chart of the present utility model.
Detailed description of the invention
As shown in figs 1-9, robotize spiral punching system of the present utility model, comprises four-degree-of-freedom serial manipulator 1000, terminal drilling unit 2000 and system controller 3000;
Wherein, four-degree-of-freedom serial manipulator 1000 comprises rectangle frame base 1001, supporting plate 1002, column 1003, large arm 1004 and forearm 1005; Be equipped with longitudinal rack 1006 in the relative inner of two length frames of rectangle frame base 1001, be equipped with longitudinal rail 1007 at the upper side of two length frames; Be provided with two bottom surface chutes in the bottom surface of supporting plate 1002, two bottom surface chutes are embedded on two longitudinal rails 1007 respectively, and can slidably reciprocate along two longitudinal rails 1007; Be respectively equipped with a vertical drive motor 1009 at four drift angle places of supporting plate 1002, the output shaft of vertical drive motor 1009 is provided with driven wheel 1008, driven wheel 1008 is meshed with the longitudinal rack 1006 of corresponding position; Column 1003 is vertically arranged on the top of supporting plate 1002, is provided with one horizontally rotates motor 1010 at the top vertical of column 1003, the output shaft horizontally rotating motor 1010 is provided with and horizontally rotates joint 1011; Be provided with a large arm drive motors 1012 in the top level horizontally rotating joint 1011, one end of large arm 1004 is vertically mounted on the output shaft of large arm drive motors 1012, and large arm drive motors 1012 drives large arm 1004 to swing in vertical plane; Be provided with forearm driving mechanism at the other end of large arm 1004, the link of forearm 1005 is arranged on the other end of large arm 1004 by swinging axle 1013 swing type, and forearm driving mechanism drives forearm 1005 to swing in vertical plane around swinging axle 1013;
Be provided with driven cavity at the other end of large arm 1004, forearm driving mechanism is arranged in driven cavity; Forearm driving mechanism comprises forearm drive motors 1014, gearing shaft 1019 and end cap 1020; The output shaft of forearm drive motors 1014 is provided with main angular wheel 1015; One end rotary type of gearing shaft 1019 is arranged on the chamber wall of driven cavity, and other end rotary type is arranged on end cap 1020, and end cap 1020 is sealed on the lateral opening of driven cavity; Gearing shaft 1019 is fixed with one from angular wheel 1016 and two travelling gears 1017; Be meshed from angular wheel 1016 with main angular wheel 1015, and with two travelling gear 1017 coaxial transmissions; The link of forearm 1005 is arranged on the other end of large arm 1004 by swinging axle 1013 swing type, and on link, be provided with two driven gears 1018; Travelling gear 1017 is meshed with driven gear 1018, and drives forearm 1005 to swing in vertical plane around swinging axle 1013; Forearm drive motors 1014 is connected with system controller 3000;
Terminal drilling unit 2000 comprises three bar parallel institutions 2100, spiral drilling mechanism 2200 and Fa Shi testing agency 2300;
Three bar parallel institutions 2100 comprise moving platform 2101, fixed platform 2102, first electric expansion bar 2103, second electric expansion bar 2104 and the 3rd electric expansion bar 2105; The trailing flank of fixed platform 2102 is fixedly mounted on the abutting joint end of forearm 1005; The bottom of the first electric expansion bar 2103, second electric expansion bar 2104 and the 3rd electric expansion bar 2105 is all arranged on by radians such as hook hinge on the circumferential edges of fixed platform 2102 leading flank; First electric expansion bar 2103 is equipped with the first drive motors 2106 driving its motion bar stretching motion; Second electric expansion bar 2104 is equipped with and drives second of the motion of its movable telescopic bar to drive electronic 2107; 3rd electric expansion bar 2105 is equipped with the 3rd drive motors 2108 driving the motion of its movable telescopic bar; Three motion bar tops of the first electric expansion bar 2103, second electric expansion bar 2104 and the 3rd electric expansion bar 2105 are all arranged on by spherical linkage on the circumferential edges of moving platform 2101 trailing flank;
Spiral drilling mechanism 2200 comprises revoluting motor 2201, columnar revolution housing 2202, columniform spinning motor 2203, revolution-radius adjustment motor 2204, worm screw 2205 and worm gear 2206; Revoluting motor 2201 is provided with revolution deceleration device 2207, the output shaft of revolution deceleration device 2207 is provided with revolution driven wheel 2208; Revolution housing 2202 passes perpendicularly through the centre bore 2101-1 of moving platform 2101, and rotary type is arranged on moving platform 2101; The excircle of revolution housing 2202 is provided with a circle revolution gear ring 2209, and revolution gear ring 2209 is meshed with revolution driven wheel 2208; On the top of spinning motor 2203 to being connected to columniform rotation deceleration device 2213, and the axial line of the axial line of spinning motor 2203 and rotation deceleration device 2213 is positioned on same axis; Spinning motor 2203 and rotation deceleration device 2213 are arranged in revolution housing 2202 by two inner bearing 2212 rotary types; The output shaft of rotation deceleration device 2213 stretches out forward outside revolution housing 2202, and the output shaft of rotation deceleration device 2213 departs from its axial line; The output shaft of rotation deceleration device 2213 is provided with knife bar 2214, knife bar 2214 is equipped with cutter 2215; Be provided with the revolution-radius regulating shaft stretching out revolution housing 2202 rear end cap 2218 backward at the tail end of spinning motor 2203, revolution-radius regulating shaft is provided with worm gear 2206; Revolution-radius regulates motor 2204 to be arranged on the rear end cap 2218 of revolution housing 2202, and worm screw 2205 is arranged on the rear end cap 2218 of revolution housing 2202 respectively by front support seat 2216 and rear support seat 2217; Worm screw 2205 and revolution-radius regulate the output shaft coaxial transmission of motor 2204; Worm screw 2205 is meshed with worm gear 2206;
Fa Shi testing agency 2300 comprises and is vertically mounted on the first light on moving platform 2102 leading flank apart from sensor 2301, second light apart from sensor 2302 and the 3rd light apart from sensor 2303; First light is positioned at same circumferentially apart from sensor 2302 and the 3rd light apart from sensor 2303 apart from sensor 2301, second light, and radian between adjacent two is equal; When mounted, ensure that the first light all parallels with the axial line of revolution housing 2202 apart from sensor 2301, second light apart from sensor 2302 and the 3rd light apart from the probe orientation of sensor 2303;
System controller 3000 respectively with vertical drive motor 1009, horizontally rotate motor 1010, large arm drive motors 1012, forearm driving mechanism, the first drive motors 2106, second drive electronic 2107, the 3rd drive motors 2108, revoluting motor 2201, spinning motor 2203, revolution-radius to regulate motor 2204, first light to be connected apart from sensor 2303 apart from sensor 2301, second light apart from sensor 2302 and the 3rd light.
As shown in Figure 9, in order to improve the rotational stability of revolution housing 2202 further, the leading flank of moving platform 2101 is provided with support housing 2210, support housing 2210 is set on revolution housing 2202, and revolution housing 2202 can rotate by relative support housing 2210.
As shown in Figure 9, in order to prevent steel cuttings in drilling process to be splashed on inner bearing 2212 further, be provided with the bearing (ball) cover 2211 be sealed on revolution housing 2202 in the front end of revolution housing 2202, the output shaft of rotation deceleration device 2213 is through bearing (ball) cover 2211.
As shown in Figure 9, in order to improve fine setting performance during drilling further, the revolution axial line of housing 2202 and the axial line of rotation deceleration device 2213 are set to deviate; The output shaft that the revolution offset that the revolution axial line of housing 2202 and the axial line of rotation deceleration device 2213 deviate equals rotation deceleration device 2213 departs from the rotation eccentric amount of its axial line, and the offset direction of the offset that revolves round the sun is contrary with the offset direction of rotation eccentric amount.
As shown in Figures 4 and 5, in order to prevent forearm 1005 from rocking in drilling process, large arm back shaft 1021 is provided with in the side of large arm 1004; Be provided with forearm back shaft 1022 in the side of forearm 1005, support cylinder 1023 is installed between large arm back shaft 1021 and forearm back shaft 1022; System controller 3000 is connected with the hydraulic system of support cylinder 1023.
As shown in Figure 10, robotize spiral punching system of the present utility model operationally, first, by controlling four-degree-of-freedom serial manipulator 1000, three bar parallel institution 2100 and Fa Shi testing agency 2300 by controller 3000, terminal drilling unit 2000 is delivered to corresponding drilling pose; Secondly, motor 2204 is regulated to drive cutter revolution-radius to regulate by revolution-radius; Finally under four-degree-of-freedom serial manipulator 1000 and three bar parallel institutions 2100 support, complete spiral drilling by terminal drilling unit 2000.Concrete workflow is as follows:
(1) before spiral drilling, utilize four-degree-of-freedom serial manipulator 1000 and three bar parallel institutions 2100, terminal drilling unit 2000 is delivered to corresponding drilling pose, comprises the steps:
A, by vertical drive motor 1009, horizontally rotate that motor 1010, large arm drive motors 1012 and forearm drive motors 1014 drive supporting plate 1002 respectively, horizontally rotate joint 1011, large arm 1004 and forearm 1005 cooperative motion, terminal drilling unit 2000 is adjusted to corresponding drilling position;
B, by first drive motors 2106, second drive electronic 2107 and the 3rd drive motors 2108 drive regulate moving platform 2101 move, spiral drilling mechanism 2200 is adjusted to corresponding drilling pose.
C, to be detected by Fa Shi testing agency 2300 and treat that the method for drilling point vows that error delivers to system controller 3000, then control by system controller 3000 the drilling pose that three bar parallel institutions 2100 revise terminal drilling unit 2000.
(2) when spiral drilling, under four-degree-of-freedom serial manipulator 1000 and three bar parallel institutions 2100 support, worked in coordination with spiral drilling by spiral drilling mechanism 2200 and three bar parallel institutions 2100, comprised the steps:
D, size according to tool diameter and bore dia, regulate motor 2204 to drive together with spinning motor 2203, spinning motor deceleration device 2213, knife bar 2214 and cutter 2215 through worm screw 2205 and worm gear 2206 by revolution-radius to rotate, the revolution-radius completing cutter 2215 regulates;
E, under four-degree-of-freedom serial manipulator 1000 and three bar parallel institutions 2100 support, work in coordination with spiral drilling by spiral drilling mechanism 2200 and three bar parallel institutions 2100.
The foregoing is only a better case study on implementation of robotize spiral punching system that the utility model relates to and method, but practical range of the present utility model is not limited thereto example.
Claims (7)
1. a robotize spiral punching system, is characterized in that: comprise four-degree-of-freedom serial manipulator (1000), terminal drilling unit (2000) and system controller (3000);
Described four-degree-of-freedom serial manipulator (1000) comprises rectangle frame base (1001), supporting plate (1002), column (1003), large arm (1004) and forearm (1005); The relative inner of two length frames of described rectangle frame base (1001) is equipped with longitudinal rack (1006), and the upper side of described two length frames is equipped with longitudinal rail (1007); The bottom surface of described supporting plate (1002) is provided with two bottom surface chutes, and two bottom surface chutes are embedded on two longitudinal rails (1007) respectively, and can slidably reciprocate along two longitudinal rails (1007); Four drift angle places of described supporting plate (1002) are respectively equipped with a vertical drive motor (1009), the output shaft of described vertical drive motor (1009) is provided with driven wheel (1008), and described driven wheel (1008) is meshed with the longitudinal rack (1006) of corresponding position; Described column (1003) is vertically arranged on the top of supporting plate (1002), the top vertical of described column (1003) is provided with one and horizontally rotates motor (1010), described in horizontally rotate motor (1010) output shaft be provided with and horizontally rotate joint (1011); The described top level horizontally rotating joint (1011) is provided with a large arm drive motors (1012), one end of described large arm (1004) is vertically mounted on the output shaft of large arm drive motors (1012), and described large arm drive motors (1012) drives large arm (1004) to swing in vertical plane; The other end of described large arm (1004) is provided with forearm driving mechanism, the link of described forearm (1005) is arranged on the other end of large arm (1004) by swinging axle (1013) swing type, and described forearm driving mechanism drives forearm (1005) to swing in vertical plane around swinging axle (1013);
Described terminal drilling unit (2000) comprises three bar parallel institutions (2100), spiral drilling mechanism (2200) and Fa Shi testing agency (2300);
Described three bar parallel institutions (2100) comprise moving platform (2101), fixed platform (2102), the first electric expansion bar (2103), the second electric expansion bar (2104) and the 3rd electric expansion bar (2105); The trailing flank of described fixed platform (2102) is fixedly mounted on the abutting joint end of forearm (1005); The bottom of described first electric expansion bar (2103), the second electric expansion bar (2104) and the 3rd electric expansion bar (2105) is all arranged on by radians such as hook hinge on the circumferential edges of fixed platform (2102) leading flank; The first drive motors (2106) driving its motion bar stretching motion described first electric expansion bar (2103) is equipped with; Described second electric expansion bar (2104) is equipped with and drives second of the motion of its movable telescopic bar to drive electronic (2107); The 3rd drive motors (2108) driving the motion of its movable telescopic bar described 3rd electric expansion bar (2105) is equipped with; Three motion bar tops of described first electric expansion bar (2103), the second electric expansion bar (2104) and the 3rd electric expansion bar (2105) are all arranged on by spherical linkage on the circumferential edges of moving platform (2101) trailing flank;
Described spiral drilling mechanism (2200) comprises revoluting motor (2201), columnar revolution housing (2202), columniform spinning motor (2203), revolution-radius adjustment motor (2204), worm screw (2205) and worm gear (2206); Described revoluting motor (2201) is provided with revolution deceleration device (2207), and the output shaft of described revolution deceleration device (2207) is provided with revolution driven wheel (2208); Described revolution housing (2202) passes perpendicularly through the centre bore (2101-1) of moving platform (2101), and rotary type is arranged on moving platform (2101); The excircle of described revolution housing (2202) is provided with circle revolution gear ring (2209), and described revolution gear ring (2209) is meshed with revolution driven wheel (2208); The top of described spinning motor (2203) is to being connected to columniform rotation deceleration device (2213), and the axial line of the axial line of spinning motor (2203) and rotation deceleration device (2213) is positioned on same axis; Described spinning motor (2203) and rotation deceleration device (2213) are arranged in revolution housing (2202) by two inner bearing (2212) rotary types; The output shaft of described rotation deceleration device (2213) stretches out forward revolution housing (2202) outward, and the output shaft of rotation deceleration device (2213) departs from its axial line; The output shaft of described rotation deceleration device (2213) is provided with knife bar (2214), described knife bar (2214) is equipped with cutter (2215); The tail end of described spinning motor (2203) is provided with the revolution-radius regulating shaft stretching out revolution housing (2202) rear end cap (2218) backward, and described revolution-radius regulating shaft is provided with worm gear (2206); Described revolution-radius regulates motor (2204) to be arranged on the rear end cap (2218) of revolution housing (2202), and described worm screw (2205) is arranged on the rear end cap (2218) of revolution housing (2202) respectively by front support seat (2216) and rear support seat (2217); Described worm screw (2205) and revolution-radius regulate the output shaft coaxial transmission of motor (2204); Described worm screw (2205) is meshed with worm gear (2206);
Described Fa Shi testing agency (2300) comprises the first light distance sensor (2301) be vertically mounted on moving platform (2102) leading flank, the second light apart from sensor (2302) and the 3rd light distance sensor (2303); Described first light is positioned at same circumferentially apart from sensor (2302) and the 3rd light apart from sensor (2303) apart from sensor (2301), the second light, and radian between adjacent two is equal;
Described system controller (3000) respectively with vertical drive motor (1009), horizontally rotate motor (1010), large arm drive motors (1012), forearm driving mechanism, first drive motors (2106), second drives electronic (2107), 3rd drive motors (2108), revoluting motor (2201), spinning motor (2203), revolution-radius regulates motor (2204), first light is apart from sensor (2301), second light is connected apart from sensor (2302) and the 3rd light apart from sensor (2303).
2. robotize spiral punching system according to claim 1, it is characterized in that: the other end of described large arm (1004) is provided with driven cavity, described forearm driving mechanism is arranged in driven cavity; Described forearm driving mechanism comprises forearm drive motors (1014), gearing shaft (1019) and end cap (1020); The output shaft of described forearm drive motors (1014) is provided with main angular wheel (1015); One end rotary type of described gearing shaft (1019) is arranged on the chamber wall of driven cavity, and other end rotary type is arranged on end cap (1020), and described end cap (1020) is sealed on the lateral opening of driven cavity; Described gearing shaft (1019) is fixed with one from angular wheel (1016) and two travelling gears (1017); Describedly to be meshed from angular wheel (1016) with main angular wheel (1015), and with two travelling gear (1017) coaxial transmissions; The link of described forearm (1005) is arranged on the other end of large arm (1004) by swinging axle (1013) swing type, and on link, be provided with two driven gears (1018); Described travelling gear (1017) is meshed with driven gear (1018), and drives forearm (1005) to swing in vertical plane around swinging axle (1013); Described forearm drive motors (1014) is connected with system controller (3000).
3. robotize spiral punching system according to claim 1 and 2, it is characterized in that: the leading flank of described moving platform (2101) is provided with support housing (2210), described support housing (2210) is set in revolution housing (2202), and revolution housing (2202) can be rotated by relative support housing (2210).
4. robotize spiral punching system according to claim 1 and 2, it is characterized in that: the front end of described revolution housing (2202) is provided with the bearing (ball) cover (2211) be sealed in revolution housing (2202), the output shaft of described rotation deceleration device (2213) is through bearing (ball) cover (2211).
5. robotize spiral punching system according to claim 1 and 2, is characterized in that: the axial line of described revolution housing (2202) and the axial line of rotation deceleration device (2213) deviate.
6. robotize spiral punching system according to claim 5, it is characterized in that: the output shaft that the revolution offset that the axial line of described revolution housing (2202) and the axial line of rotation deceleration device (2213) deviate equals rotation deceleration device (2213) departs from the rotation eccentric amount of its axial line, and the offset direction of revolution offset is contrary with the offset direction of rotation eccentric amount.
7. robotize spiral punching system according to claim 1 and 2, is characterized in that: the side of described large arm (1004) is provided with large arm back shaft (1021); The side of described forearm (1005) is provided with forearm back shaft (1022), is provided with support cylinder (1023) between described large arm back shaft (1021) and forearm back shaft (1022); Described system controller (3000) is connected with the hydraulic system of support cylinder (1023).
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| CN201520028135.9U CN204487550U (en) | 2015-01-15 | 2015-01-15 | A kind of robotize spiral punching system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552278A (en) * | 2015-01-15 | 2015-04-29 | 南京信息职业技术学院 | Robotized spiral hole drilling system |
| CN109332812A (en) * | 2018-11-22 | 2019-02-15 | 筑梦高科建筑有限公司 | A kind of structure non-destructive waterpower robot for disassembling work |
-
2015
- 2015-01-15 CN CN201520028135.9U patent/CN204487550U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552278A (en) * | 2015-01-15 | 2015-04-29 | 南京信息职业技术学院 | Robotized spiral hole drilling system |
| CN109332812A (en) * | 2018-11-22 | 2019-02-15 | 筑梦高科建筑有限公司 | A kind of structure non-destructive waterpower robot for disassembling work |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150722 Effective date of abandoning: 20151230 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |