CN207240213U - A kind of eight axis frame-type high rigidities casting special grinding machine people - Google Patents
A kind of eight axis frame-type high rigidities casting special grinding machine people Download PDFInfo
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- CN207240213U CN207240213U CN201720261133.3U CN201720261133U CN207240213U CN 207240213 U CN207240213 U CN 207240213U CN 201720261133 U CN201720261133 U CN 201720261133U CN 207240213 U CN207240213 U CN 207240213U
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Abstract
The utility model belongs to milling robot field, a kind of more particularly to eight axis frame-type high rigidities casting special grinding machine people, the eight axis frame-type high rigidity casting special grinding machine people includes milling robot, the milling robot includes frame, the frame includes two vertically disposed columns, the column is slidably connected by carriage and lathe bed, it is equipped between two columns and is slidably connected crossbeam by carriage and the column, the crossbeam is equipped with the main spindle box being slidably connected by carriage and the crossbeam, the main spindle box is equipped with polishing workpiece, the carriage includes the leading screw and linear guides being connected with motor, the below the crossbeam is equipped with workbench.The utility model can provide a kind of eight axis frame-type high rigidities polished casting special grinding machine people for solving the problems, such as complicated shape, space curved surface.
Description
Technical field
The utility model belongs to milling robot field, more particularly to a kind of eight axis frame-type high rigidities casting special grinding
Robot.
Background technology
Country's casting industry post processing polishing at present is completed mainly by handwork, does not only exist that grinding efficiency is low, worker
The problems such as labor intensity is big and product qualification rate is low, and there are severe compromise in operation process, it is easy to cause people
Body injures；Substantial amounts of dust is produced during manual grinding at the same time, is all very serious environmental pollution to surrounding environment and people
Source.
At present, existing some joint mechanical hands of some robot enterprise developments both at home and abroad coordinate some of sanding apparatus to beat
Robot is ground, but is found in foundry enterprise application process, the application direction of many articulated robots itself and design limitation etc.
Reason, causes the unworthiness to casting post processing polishing.Therefore a kind of high rigidity sander for casting post processing is developed
Device people is come to substitute existing manual operations be following casting industry inexorable trend.
For above-mentioned particular problem, we have developed 6 axis frame-type high rigidities to cast special grinding machine people.However, 6
Axis frame-type high rigidity casting special grinding machine people can't be competent at the polishing problem of complicated shape, space curved surface.So have
Necessity 8 axis frame-type high rigidities of exploitation cast special grinding machine people to tackle the polishing requirement of more complicated product.
Therefore, based on these problems, there is provided a kind of eight axis frames polished for solving the problems, such as complicated shape, space curved surface
Formula high rigidity casting special grinding machine people has important practical significance.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, there is provided one kind can solve complicated shape, space song
The eight axis frame-type high rigidities casting special grinding machine people of the polishing problem in face.
The utility model solves its technical problem and takes following technical scheme to realize：
A kind of eight axis frame-type high rigidities casting special grinding machine people, the eight axis frame-type high rigidity cast special beat
Mill robot includes milling robot, and the milling robot includes frame, and the frame includes two vertically disposed columns,
The column is slidably connected by carriage and lathe bed, is equipped between two columns by carriage and the column
Be slidably connected crossbeam, and the crossbeam is equipped with the main spindle box being slidably connected by carriage and the crossbeam, the main spindle box
Polishing workpiece is equipped with, the carriage includes the leading screw and linear guides being connected with motor, and the below the crossbeam is equipped with work
Make platform.
In above-mentioned eight axis frame-type high rigidities casting special grinding machine people, further, the frame is set
On milling robot, the quantity of the milling robot is set for two and parallel, and purlin is equipped with above the milling robot
Frame manipulator, two workbench sides are equipped with piece uploading pipeline, and it is defeated to be equipped with lower part below two piece uploading pipelines
Line sending.
In above-mentioned eight axis frame-type high rigidities casting special grinding machine people, further, the main spindle box includes
Intermeshing output gear and input gear, the output gear are connected with output shaft, the input gear and input shaft phase
Even, the output shaft and input shaft are installed on bearing, and input shaft is connected with gear reducer.
In above-mentioned eight axis frame-type high rigidities casting special grinding machine people, further, the platform of the workbench
Face is fixed with revolving body support phase, and revolving body support inner wall is meshed with pinion gear, the pinion gear and decelerating motor
Output shaft is mutually fixed, and the revolving body support is installed on base.
In above-mentioned eight axis frame-type high rigidities casting special grinding machine people, further, the base outer leads to
Cross hydraulic cylinder with briquetting to be connected, the briquetting is in contact when hydraulic cylinder is under contraction state with the table top.
In above-mentioned eight axis frame-type high rigidities casting special grinding machine people, further, the eight axis frame-type
The artificial eight axis linkage of high rigidity casting special grinding machine, wherein workpiece piece uploading pipeline, lower part pipeline, truss manipulator point
Wei not tri- axis of X1Y1Z1；The axis that its central post moves back and forth, the axis that main spindle box slides on crossbeam, what main spindle box moved up and down
Axis is respectively tri- axis of X2Y2Z2；Wherein the axis of worktable rotary is two axis of A B.
The advantages of the utility model and good effect are：
1st, the utility model mechanical structure uses high rigidity tower structure, improves in bruting process to mechanical structure
The impact resistance and rigidity of itself.
2nd, the utility model uses eight axis operation control systems, and one of which is that three axis are one group, and another group is five axis, is adopted
, can be mutually coordinated between two groups of movements with space coordinated signals mode, and in order to better meet robot harmony.
3rd, the utility model is by the way that equipped with gear reducer and main spindle box, the oscillating function for possessing main shaft can be clockwise
Positive and negative 30 degree are swung with both direction counterclockwise.
4th, the utility model is by can positive and negative 360 degree of any revolutions equipped with decelerating motor, workbench.
Brief description of the drawings
The technical solution of the utility model is described in further detail below with reference to drawings and examples, still
It should be known that these attached drawings only design for task of explanation, therefore not as the restriction of the scope of the utility model.In addition,
Unless otherwise indicated, these attached drawings are meant only to conceptually illustrate structure construction described herein, without to carry out to scale
Draw.
Fig. 1 is the structure diagram of frame；
Fig. 2 is the structure diagram of eight axis frame-type high rigidities casting special grinding machine people；
Fig. 3 is the structure diagram of main spindle box；
Fig. 4 is the structure diagram of workbench.
In figure：
1. column, 2. main spindle boxes, 3. leading screws, 4. lathe beds, 5. crossbeams, 6. linear guides, 7. workbench, 8. polishing machines
People, 9. truss manipulators, 10. piece uploading pipelines, 11. lower part pipelines, 12. output gears, 13. input gears, 14. outputs
Axis, 15. input shafts, 16. bearings, 17. gear reducers, 18. table tops, the support of 19. revolving bodies, 20. pinion gears, 21. decelerating motors,
22. base, 23. hydraulic cylinders, 24. briquettings.
Embodiment
Firstly, it is necessary to explanation, illustrates the eight axis frame-types of the utility model height by by way of example below
Concrete structure, feature and advantage of rigidity casting special grinding machine people etc., but all descriptions are intended merely to illustrate
, and should not be construed as forming any restrictions to the utility model.In addition, retouched in each embodiment mentioned by this paper
Any single technical characteristic stated or implied, or shown or implicit any single technical characteristic in the drawings, still
It can continue to be combined or delete between these technical characteristics (or its equivalent), may be not herein so as to obtain
More other embodiments of the utility model directly referred to.In addition, for the sake of simplifying drawing, same or like technology
Feature may be indicated only at one in the same figure.
It will be understood that when component ' attach ' to another component when it is said that, it can be directly connected to another component or
There may be intermediate member.On the contrary, when component " being directly connected to " being arrived another component when it is said that, then it represents that there is no pars intermedia
Part.
Fig. 1 gives the structure diagram of frame, and shows that eight axis frame-type high rigidities cast special beat by Fig. 2
The structure diagram of robot is ground, and the structure diagram of main spindle box is shown by Fig. 3, and work is shown by Fig. 4
Make the structure diagram of platform, below just illustrate the utility model with reference to Fig. 1 to Fig. 4.
As shown in Figs 1-4, a kind of eight axis frame-type high rigidities casting special grinding machine people 8, the eight axis frame-type is high
Rigidity casting special grinding machine people 8 includes milling robot 8, and the milling robot 8 includes frame, and the frame includes two
The vertically disposed column 1 of bar, the column 1 are slidably connected by carriage and lathe bed 4, are equipped between two columns 1
It is slidably connected crossbeam 5 by carriage and the column 1, the crossbeam 5 is equipped with and is slided by carriage with the crossbeam 5
The main spindle box 2 of dynamic connection, the main spindle box 2 are equipped with polishing workpiece, the carriage include the leading screw 3 being connected with motor and
Linear guides 6, the lower section of crossbeam 5 are equipped with workbench 7.
The mechanism of existing joint robot, is all Space Flexible Structure system, motion control axis is all in the base of a upper axis
Run on plinth, therefore the external carbuncle of system most terminal is eventually transmitted on the basis of the base 22 of system；It is understood that in stress
During, strength is all pressed in the gear structure of each kinematic axis substantially in the conductive process of mechanical arm, in order to ensure
The accuracy of operation, the geared portions in motion control are exactly operation component the most accurate, are externally subject to for a long time big
Impact force is bound to the running precision of reduction system, the impact for more high load capacity, it is possible to can destroy the overall knot of mechanical arm
Structure.Therefore the mechanical structure of the casting special grinding machinery people of our company's design uses high rigidity tower structure, each axis of system
Movement all run on frame, be distributed to well in frame structure for exterior impact stress, while frame structure sheet
Body uses casting structure, has good damping row and rigidity, and not only anti-impact force is strong, and mitigates the vibrations pair in bruting process
The impact of mechanical structure itself；Isochrone rail and leading screw 3 have stronger stress-bearing capability.
The utility model mechanical structure uses high rigidity tower structure, improve in bruting process to mechanical structure from
The impact resistance and rigidity of body.
For further, it can also consider in the utility model, the frame is arranged on milling robot 8,
The quantity of the milling robot 8 for two and it is parallel set, the top of milling robot 8 is equipped with truss manipulator 9, two
7 side of workbench is equipped with piece uploading pipeline 10, and two lower sections of piece uploading pipeline 10 are equipped with lower part pipeline 11.
System uses the one group of group of three-shaft linkage+one five-axle linkage (eight axis) operation control system, wherein tri- axis of X1, Y1, Z1
For one group of universal driving shaft, it is responsible for the upper and lower pieces control of air exercise grinder part；Five axis of X2, Y2, Z2, A, B is another set in another set
Linkage axle system is responsible for the control of posture during grinding workpieces, and in order to better meet robot harmony, two groups of fortune
Can be mutually coordinated between dynamic；Wherein mono- group of universal driving shaft of X1, Y1, Z1 is responsible for the mechanical arm grasping movement of workpiece upper and lower pieces using double
Position (using the lock design recklessly of double oil cylinders) is captured, part is disposably changed during workpiece of polishing is replaced and is loaded in place, be not take up
Polish the time, ensure to change the rapidity of part.
The utility model uses eight axis operation control systems, and one of which is that three axis are one group, and another group is five axis, uses
Space coordinated signals mode, and in order to better meet robot harmony, can be mutually coordinated between two groups of movements.
It is pointed out that the main spindle box 2 includes intermeshing output gear 12 and input gear 13, the output
Gear 12 is connected with output shaft 14, and the input gear 13 is connected with input shaft 15, and the output shaft 14 and input shaft 15 are pacified
On bearing 16, input shaft 15 is connected with gear reducer 17.
The utility model is by the way that equipped with gear reducer 17 and main spindle box 2, the oscillating function for possessing main shaft can be clockwise
Positive and negative 30 degree are swung with both direction counterclockwise.
It is pointed out that the table top 18 of the workbench 7 supports 19 phases to fix with revolving body, the revolving body support 19
Inner wall is meshed with pinion gear 20, and the pinion gear 20 and 14 phase of output shaft of decelerating motor 21 are fixed, the revolving body support
19 are installed on base 22.
The utility model is by can positive and negative 360 degree of any revolutions equipped with decelerating motor 21, workbench 7.
For further, it can also consider in the utility model, 22 outer of base passes through hydraulic cylinder 23 and pressure
Block 24 is connected, and the briquetting 24 is in contact when hydraulic cylinder 23 is under contraction state with the table top 18.
In the course of work, workpiece to be polished is transmitted to 7 side of workbench by piece uploading pipeline 10, and truss manipulator 9 presss from both sides
Workpiece is taken, workpiece to be polished is placed on the table 7, workbench 7 moves back and forth on lathe bed 4, main spindle box 2 is left along crossbeam 5
Move right, crossbeam 5 moves up and down that the polishing workpiece on main spindle box 2 is placed grinding workpieces on the table 7 complete along column 1
Into after polishing, the workpiece holding after the completion of polishing is placed on lower part transmission line by truss manipulator 9, will have been polished
Into workpiece remove completion polishing work.
In the other embodiment of the utility model, eight axis frame-type high rigidities casting special grinding machine can also be directed to
Device people 8 carries out the configuration of freedom and flexibility, so as to give full play of the technical advantage of the utility model.Just this is carried out below
Illustrative explanation.
For example, in certain embodiments, it may be considered that the eight axis frame-type high rigidity casts special grinding machine people 8 and is
Eight axis link, wherein workpiece piece uploading pipeline 10, lower part pipeline 11, and truss manipulator 9 is respectively tri- axis of X1Y1Z1；Wherein
The axis that column 1 moves back and forth, the axis that main spindle box 2 slides on crossbeam 5, the axis that main spindle box 2 moves up and down is respectively X2Y2Z2 tri-
A axis；Wherein 7 rotating axis of workbench is two axis of A B.
In conclusion the utility model can provide a kind of eight axis polished for solving the problems, such as complicated shape, space curved surface
Frame-type high rigidity casts special grinding machine people.
The utility model is described in detail in above example, but the content is only the preferable reality of the utility model
Apply example, it is impossible to be construed as limiting the scope of the utility model.Equalization made according to the scope of application of this utility model
Change and improvement etc., should all still belong within the patent covering scope of the utility model.
Claims (6)
- A kind of 1. eight axis frame-type high rigidities casting special grinding machine people, it is characterised in that：The eight axis frame-type high rigidity Casting special grinding machine people includes milling robot, and the milling robot includes frame, and the frame includes two vertically The column of setting, the column are slidably connected by carriage and lathe bed, are equipped between two columns by sliding dress Put and be slidably connected crossbeam with the column, the crossbeam is equipped with the main shaft being slidably connected by carriage with the crossbeam Case, the main spindle box are equipped with polishing workpiece, and the carriage includes the leading screw and linear guides being connected with motor, the horizontal stroke Workbench is equipped with below beam.
- 2. eight axis frame-type high rigidity according to claim 1 casts special grinding machine people, it is characterised in that：The frame Frame is arranged on milling robot, and the quantity of the milling robot is set for two and parallel, on the milling robot Side is equipped with truss manipulator, and two workbench sides are equipped with piece uploading pipeline, are set below two piece uploading pipelines There is lower part pipeline.
- 3. eight axis frame-type high rigidity according to claim 2 casts special grinding machine people, it is characterised in that：The master Axle box includes intermeshing output gear and input gear, and the output gear is connected with output shaft, the input gear with Input shaft is connected, and the output shaft and input shaft are installed on bearing, and input shaft is connected with gear reducer.
- 4. eight axis frame-type high rigidity according to claim 2 casts special grinding machine people, it is characterised in that：The work The table top and revolving body support phase for making platform are fixed, and the revolving body support inner wall is meshed with pinion gear, and the pinion gear is with subtracting The output shaft of speed motor is mutually fixed, and the revolving body support is installed on base.
- 5. eight axis frame-type high rigidity according to claim 4 casts special grinding machine people, it is characterised in that：The bottom Seat outer is connected by hydraulic cylinder with briquetting, and the briquetting is in contact when hydraulic cylinder is under contraction state with the table top.
- 6. casting special grinding machine people according to eight axis frame-type high rigidity of claim 2-5 any one of them, its feature exists In：The artificial eight axis linkage of eight axis frame-type high rigidity casting special grinding machine, wherein workpiece piece uploading pipeline, lower part are defeated Line sending, truss manipulator are respectively tri- axis of X1Y1Z1；The axis that its central post moves back and forth, what main spindle box slided on crossbeam Axis, the axis that main spindle box moves up and down are respectively tri- axis of X2Y2Z2；Wherein the axis of worktable rotary is two axis of A B.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720261133.3U CN207240213U (en) | 2017-03-17 | 2017-03-17 | A kind of eight axis frame-type high rigidities casting special grinding machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720261133.3U CN207240213U (en) | 2017-03-17 | 2017-03-17 | A kind of eight axis frame-type high rigidities casting special grinding machine people |
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| CN207240213U true CN207240213U (en) | 2018-04-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877238A (en) * | 2019-12-16 | 2020-03-13 | 滁州博明信息科技有限公司 | Concrete product polishing device and method |
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2017
- 2017-03-17 CN CN201720261133.3U patent/CN207240213U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877238A (en) * | 2019-12-16 | 2020-03-13 | 滁州博明信息科技有限公司 | Concrete product polishing device and method |
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