CN206662453U - A kind of wired device type variable wire cutting robot - Google Patents
A kind of wired device type variable wire cutting robot Download PDFInfo
- Publication number
- CN206662453U CN206662453U CN201720509822.1U CN201720509822U CN206662453U CN 206662453 U CN206662453 U CN 206662453U CN 201720509822 U CN201720509822 U CN 201720509822U CN 206662453 U CN206662453 U CN 206662453U
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- forearm
- large arm
- cylinder
- wrist
- waist
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Abstract
A kind of wired device type variable wire cutting robot is the utility model is related to, belongs to robot field.Waist is arranged on base by rebound, large arm is arranged on waist by adpting flange, base, servomotor is respectively mounted at waist and large arm, joint shaft is arranged in large arm by bearing; forearm is arranged on joint shaft; wrist is connected with forearm by branch sleeve with soket head cap screw; end clamping mechanism is fixed together by connecting plate and wrist connecting plate; mariages cylinder is arranged on waist rear portion by bolt; thread guide mechanism is arranged on the inside of large arm, and wire electrode is drawn by mariages cylinder, is reached by thread guide mechanism at the clamping mechanism of end.Advantage is structure novelty, can process part with complex shape and the part with steep-taper, and working motion precision is high, realizes polygon processing, improves processing efficiency.
Description
Technical field
Robot field is the utility model is related to, more particularly to a kind of wired device type variable wire cutting robot.
Background technology
At present, robot technology is developed rapidly, and the application of robot in the factory is more and more common.Utilize machine
Human arm is processed, and has the characteristics of operation is flexible, achievable complicated processing, the processing that processing of robots can be realized is a little
Weldering, Laser Processing, spraying etc., but current processing of robots lacks for superhard, exotic material and has complicated table
The processing method of facial contour part.
Linear cutter is widely used in industrial production because it has the advantage that, but in processed complex curved surface zero
In part, the design of lathe mechanism is restricted the working ability of wire cutting again, is embodied in：Wire cutting machine tool is tied due to it
Structure limits, and to process based on simple flat surface, can not realize the processing of space curved surface substantially；Although wire cutting machine tool has been realized in
To the processing with taper part, but taper workpiece particularly steep-taper ± 5 ° work piece cut when, low precision, processing difficulties；
To realize the processing of complex parts, using multi-shaft interlocked lathe, machine tool structure is complicated, and control is difficult, and cost is high.
Involved wire cutting robot, end is arranged in using by wire electrode in Publication No. CN103752967A patents
Mode on two guide wheels, wire electrode is set to move reciprocatingly by servomotor driving.This method is limited due to leading tyre tread,
The length of wire electrode is shorter, is easily broken under conditions of high frequency voltage and high temperature is born, it is impossible to for prolonged
In processing, and servomotor being arranged in end so that the increase of end structure weight, robot arm rigidity reduce,
Machining accuracy reduces.
The content of the invention
The utility model provides a kind of wired device type variable wire cutting robot, can not be processed again with solving traditional wire cutting
Miscellaneous curved surface, processing steep-taper part difficulty and existing wire cutting robot wire electrode length are short, and fracture of wire easily occurs, can not
The problem of applied in specific processing.
The utility model adopts the technical scheme that：Including：Base, waist, large arm, forearm, wrist, waist pass through transition
Plate is arranged on base, and large arm is arranged on waist by adpting flange, base, and servomotor is respectively mounted at waist and large arm,
Joint shaft is arranged in large arm by bearing, and forearm is arranged on joint shaft, and wrist and forearm are by branch sleeve with interior hexagonal
Mode connects for screw, end clamping mechanism are fixed together by connecting plate and wrist connecting plate, and mariages cylinder is arranged on waist by bolt
Portion rear portion, thread guide mechanism are arranged on the inside of large arm, and wire electrode is drawn by mariages cylinder, and end clamping mechanism is reached by thread guide mechanism
Place.
Installation belt wheel I inside large arm described in the utility model, timing belt, belt wheel II, belt wheel I connect with servo motor output shaft
Connect, belt wheel II is connected by key with joint shaft, and timing belt is on belt wheel I, belt wheel II.
It is made up of outside forearm described in the utility model forearm upper shell and forearm lower house, cylinder body is clamped inside forearm and is led to
Cross holding screw to be assemblied on forearm lower house, rotary cylinder-block left end is connected by rotary cylinder-block set I with clamping cylinder body, its right-hand member
It is arranged on by rotary cylinder-block set II on forearm lower house, rotary shaft is arranged on by bearing clamps cylinder body and rotary cylinder-block set II
Inside, bearing gland are arranged on forearm lower house by soket head cap screw, and rotating end cap is threadedly attached in rotary shaft
Right-hand member, push rod shaft, which coordinates, to be arranged in rotary shaft interstitial hole, right-hand member installation spring, forms single-acting hydraulic cylinder structure, six groups are led
Wheel assembly is symmetrically mounted in forearm lower house by screw, and 2 electricity-supplying pieces are arranged in the middle part of forearm lower house by screw, small
Limiter uses sapphire material at arm, and interference is arranged in the symmetrical holes of forearm lower house right-hand member.
Wrist branch sleeve left end described in the utility model is connected by soket head cap screw and rotating end cap, and right-hand member passes through spiral shell
Nail is connected with wrist connecting plate, and wrist limiter is bonded in the middle part of wrist connecting plate.
The structure of clamping mechanism described in the utility model is：Slotted in the middle part of connecting plate for installing push rod, one end of push rod
It is connected by screw thread with adapter sleeve, adapter sleeve passes through cylinder and two companies by screw thread and push rod axis connection, the other end of push rod
Bar is hinged, and connecting rod is hinged with two V-type framves respectively further through cylinder, forms linkage, and V-type frame middle part is column articulated by center
On connecting plate, the top of V-type frame is respectively articulated with two stator rings, lower end fluting, installs spring and movable guide wheel.
Guide wheel shaft assembly passes through the spiral shell that is threadably mounted on the inside of large arm at 2 groups of large arm in thread guide mechanism described in the utility model
In pit, guide wheel is arranged on joint shaft interior plate by screw inside 2 groups of joint shafts.
Wire electrode described in the utility model is drawn from mariages cylinder respectively, by guide wheel shaft assembly, 2 groups of joints at 2 groups of large arm
Guide wheel inside axle, guide wheel assembly, electricity-supplying piece, limiter at forearm, wrist limiter, movable guide wheel and stator ring keep tensioning
State.
The utility model has the advantages that structure is novel, linear cutter is combined with robot, breaches original line
The limitation of cutting off machine structure, part with complex shape and the part with steep-taper can be processed, it is of the present utility model
Wire electrode length meets processing request, connection and reasonable arrangement, solves wire cutting wire and robot architecture's interference problem, and is easy to change
Silk；The wired device in end is simple in construction, in light weight, and working motion precision is high, by changing wired device size, can process with not
Stack pile part, and the different edge of wired device can be utilized to be processed, polygon processing is realized, improves processing efficiency.
Brief description of the drawings
Fig. 1 is the overall structural representation of the utility model；
Fig. 2 is the overall backsight structural representation of the utility model, and large arm and joint shaft have done broken section；
Fig. 3 is the structural representation of the utility model forearm and wrist；
Fig. 4 is the top view of the structure of the utility model forearm and wrist；
Fig. 5 is the sectional view of the utility model forearm and wrist and clamping mechanism；
Fig. 6 is the structural representation of the utility model clamping mechanism and wrist connecting plate；
Fig. 7 is the structural representation of the utility model clamping mechanism；
Fig. 8 is the structural representation for removing a side connecting plate in the utility model clamping mechanism.
Embodiment
Below in conjunction with accompanying drawing, the technical characteristics of the utility model is described further, it should be understood that following specific embodiment parties
Formula is merely to illustrate the utility model rather than limitation the scope of the utility model.It should be pointed out that the skill to this area
For art personnel, on the premise of the utility model technical concept is not departed from, some deformations and change can also be made, these are all
Belong to the scope of protection of the utility model.
Including：Base 1, waist 2, large arm 3, forearm 4, wrist 6, waist 2 are arranged on base 1 by rebound 101, greatly
Arm 3 is arranged on waist by adpting flange 201, base 1, and servomotor is respectively mounted at waist 2 and large arm 3；Joint shaft 7 passes through
Bearing is arranged in large arm 3, and forearm 4 is arranged on joint shaft 7 by six soket head cap screws, and wrist 6 passes through with forearm 4 to be connected
Sleeve 601, is connected using soket head cap screw, and end clamping mechanism 5 is consolidated using connecting plate 501, wrist connecting plate 602 by screw
Connect together, mariages cylinder 9 is arranged on the rear portion of waist 2 by bolt, and thread guide mechanism 8 is arranged on the inside of large arm, and wire electrode 10 is distinguished
Drawn by mariages cylinder 9, reached by thread guide mechanism 8 at end clamping mechanism 5；
As shown in Fig. 2 the inside of large arm 3 installation belt wheel I 302, timing belt 303, belt wheel II 304, belt wheel I 302 and servo electricity
Machine 301 exports axis connection, and belt wheel II 304 is connected by key 305 with joint shaft 7, and timing belt 303 is arranged on belt wheel I 302, belt wheel
On II 304, so as to drive joint shaft 7 to rotate；
As shown in Figure 4, Figure 5, it is made up of outside forearm 4 forearm upper shell 401 and forearm lower house 407, forearm inner clamps
Tight cylinder body 403 is assemblied on forearm lower house 407 by holding screw 413, and the left end of rotary cylinder-block 402 covers I by rotary cylinder-block
408 are connected with clamping cylinder body, and its right-hand member is arranged on forearm lower house 407 by rotary cylinder-block set II 410, and rotary shaft 409 is logical
Cross bearing 416 to be arranged on inside clamping cylinder body 402 and rotary cylinder-block set II 410, bearing gland 406 is installed by soket head cap screw
On forearm lower house 407, play axial compression to all of above structure, rotating end cap 412 is threadedly attached in rotation
The right-hand member of axle 409, push rod shaft 411, which coordinates, to be arranged in the interstitial hole of rotary shaft 409, right-hand member installation spring 415, forms single-acting liquid
Press cylinder device, six groups of guide wheel assemblies 404 are symmetrically mounted in forearm lower house 407 by screw, and 2 electricity-supplying pieces 414 pass through spiral shell
Nail is arranged on the middle part of forearm lower house 407, and limiter 405 uses sapphire material at forearm, and interference is arranged on forearm lower house
In the symmetrical holes of 407 right-hand members；
As shown in figure 5, the left end of wrist branch sleeve 601 is connected by soket head cap screw and rotating end cap 412, right-hand member passes through
Screw is connected with wrist connecting plate 602, and wrist limiter 603 is bonded in the middle part of wrist connecting plate 602；
As shown in Fig. 6, Fig. 7, Fig. 8, clamping mechanism 5 is connected by connecting plate 501 and wrist connecting plate 602 by screw,
The middle part of connecting plate 501 is slotted for installing push rod 505, and one end of push rod 505 is connected by screw thread with adapter sleeve 509, adapter sleeve
509 are connected by screw thread with push rod shaft 411, and the other end of push rod 505 is be hinged by cylinder and two connecting rods 506, and connecting rod 506 is again
It is be hinged with two V-type framves 504 respectively by cylinder, linkage is formed, V-type frame middle part is hinged on connection by newel 508
On plate, open and close movement can be done, the top of V-type frame 504 is respectively articulated with two stator rings 502, lower end fluting, installs spring
507 and movable guide wheel 503；
As shown in Fig. 2 guide wheel shaft assembly 801 passes through the spiral shell that is threadably mounted on the inside of large arm at 2 groups of large arm in thread guide mechanism 8
In pit, guide wheel 802 is arranged on joint shaft interior plate 701 by screw inside 2 groups of joint shafts；
Wire electrode 10 is drawn from mariages cylinder 9 respectively, by being led inside 801,2 groups of joint shafts of guide wheel shaft assembly at 2 groups of large arm
Wheel 802, guide wheel assembly 404, electricity-supplying piece 414, limiter 405 at forearm, wrist limiter 603, reach clamping mechanism 4, pass through
Movable guide wheel 503 and stator ring 502 keep tensioning and working condition.
The utility model can both be fixed on the table by foundation bolt, can also be fixed in mobile work platform,
So as to realize that multistation is processed.
The utility model robot has the characteristics of multiple degrees of freedom, and operation is flexible, can process with complex shape zero
Part, the length of the utility model wire electrode meets processing request, and solves wire electrode and the interference problem of robot motion, electricity
The replacing of polar filament is also easier, and the utility model is to finger tip clamping mechanism innovative design so that finger tip clamping mechanism size
It can change, disclosure satisfy that the processing needs of different-thickness part, because wired device is simple in construction, reasonable in design, therefore can be with
It is processed using the top and the side of both sides three of wired device, improves processing efficiency, meets the needs of particular process occasion.
Specific implementation measure of the present utility model is described above, it is to be understood that the utility model is not
Above-mentioned particular implementation is confined to, those skilled in the art can make various modifications within the scope of the claims and repair
Change, this has no effect on substantive content of the present utility model.
Claims (7)
1. a kind of wired device type variable wire cutting robot, including：Base, waist, large arm, forearm, wrist, waist pass through transition
Plate is arranged on base, and large arm is arranged on waist by adpting flange, base, and servomotor is respectively mounted at waist and large arm,
It is characterized in that：Joint shaft is arranged in large arm by bearing, and forearm is arranged on joint shaft, and wrist passes through adapter sleeve with forearm
Cylinder is connected with soket head cap screw, and end clamping mechanism is fixed together by connecting plate and wrist connecting plate, and mariages cylinder passes through spiral shell
Bolt is arranged on waist rear portion, and thread guide mechanism is arranged on the inside of large arm, and wire electrode is drawn by mariages cylinder, and end is reached by thread guide mechanism
Hold at clamping mechanism.
A kind of 2. wired device type variable wire cutting robot according to claim 1, it is characterised in that：Inside the large arm
Installation belt wheel I, timing belt, belt wheel II, belt wheel I are connected with servo motor output shaft, and belt wheel II is connected by key with joint shaft, together
Step band is on belt wheel I, belt wheel II.
A kind of 3. wired device type variable wire cutting robot according to claim 1, it is characterised in that：Outside the forearm
It is made up of forearm upper shell and forearm lower house, cylinder body is clamped inside forearm and is assemblied in by holding screw on forearm lower house,
Rotary cylinder-block left end is connected by rotary cylinder-block set I with clamping cylinder body, and its right-hand member is arranged under forearm by rotary cylinder-block set II
On housing, rotary shaft is arranged on by bearing to be clamped inside cylinder body and rotary cylinder-block set II, and bearing gland passes through soket head cap screw
On forearm lower house, rotating end cap is threadedly attached in the right-hand member of rotary shaft, and push rod shaft, which coordinates, is arranged on rotary shaft
In interstitial hole, right-hand member installation spring, single-acting hydraulic cylinder structure is formed, six groups of guide wheel assemblies are symmetrically mounted on forearm by screw
In lower house, 2 electricity-supplying pieces are arranged in the middle part of forearm lower house by screw, and limiter uses sapphire material, mistake at forearm
It is full of in the symmetrical holes of forearm lower house right-hand member.
A kind of 4. wired device type variable wire cutting robot according to claim 1, it is characterised in that：The wrist connection
Sleeve left end is connected by soket head cap screw and rotating end cap, and right-hand member is connected by screw and wrist connecting plate, wrist limiter
It is bonded in the middle part of wrist connecting plate.
A kind of 5. wired device type variable wire cutting robot according to claim 1, it is characterised in that：The clamping mechanism
Structure be：Slotted in the middle part of connecting plate for installing push rod, one end of push rod is connected by screw thread with adapter sleeve, and adapter sleeve passes through
Screw thread and push rod axis connection, the other end of push rod by cylinder and two rod hinge connections, connecting rod further through cylinder respectively with two V
Type frame is hinged, and is formed linkage, is hinged in the middle part of V-type frame by newel on connecting plate, the top of V-type frame is respectively articulated with two
Individual stator ring, lower end fluting, installs spring and movable guide wheel.
A kind of 6. wired device type variable wire cutting robot according to claim 1, it is characterised in that：The thread guide mechanism
In guide wheel shaft assembly is by being threadably mounted in the screwed hole on the inside of large arm at 2 groups of large arm, guide wheels pass through spiral shell inside 2 groups of joint shafts
Nail is arranged on joint shaft interior plate.
A kind of 7. wired device type variable wire cutting robot according to claim 1, it is characterised in that：The wire electrode point
Do not drawn from mariages cylinder, by guide wheel shaft assembly, 2 groups of joint shafts inside guide wheels, guide wheel assembly, electricity-supplying piece, forearms at 2 groups of large arm
Locate limiter, wrist limiter, movable guide wheel and stator ring keep tensioning state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720509822.1U CN206662453U (en) | 2017-05-09 | 2017-05-09 | A kind of wired device type variable wire cutting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720509822.1U CN206662453U (en) | 2017-05-09 | 2017-05-09 | A kind of wired device type variable wire cutting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206662453U true CN206662453U (en) | 2017-11-24 |
Family
ID=60371811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720509822.1U Expired - Fee Related CN206662453U (en) | 2017-05-09 | 2017-05-09 | A kind of wired device type variable wire cutting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206662453U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106925853A (en) * | 2017-05-09 | 2017-07-07 | 吉林大学 | A kind of wired device type variable wire cutting robot |
| CN111185643A (en) * | 2020-01-13 | 2020-05-22 | 厦门理工学院 | Wire cutting wire conveying device and manipulator |
| CN111331210A (en) * | 2020-03-27 | 2020-06-26 | 厦门理工学院 | Wire clamping device and manipulator |
-
2017
- 2017-05-09 CN CN201720509822.1U patent/CN206662453U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106925853A (en) * | 2017-05-09 | 2017-07-07 | 吉林大学 | A kind of wired device type variable wire cutting robot |
| CN111185643A (en) * | 2020-01-13 | 2020-05-22 | 厦门理工学院 | Wire cutting wire conveying device and manipulator |
| CN111331210A (en) * | 2020-03-27 | 2020-06-26 | 厦门理工学院 | Wire clamping device and manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171124 Termination date: 20190509 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |