CN207290543U - Intelligent spider formula robot ambulation machining center - Google Patents
Intelligent spider formula robot ambulation machining center Download PDFInfo
- Publication number
- CN207290543U CN207290543U CN201720751275.8U CN201720751275U CN207290543U CN 207290543 U CN207290543 U CN 207290543U CN 201720751275 U CN201720751275 U CN 201720751275U CN 207290543 U CN207290543 U CN 207290543U
- Authority
- CN
- China
- Prior art keywords
- motion bar
- connecting rod
- spider
- rod
- machining center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 241000239290 Araneae Species 0.000 title claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 64
- 239000004575 stone Substances 0.000 claims abstract description 34
- 239000000463 material Substances 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000001737 promoting effect Effects 0.000 claims abstract description 4
- 210000002683 foot Anatomy 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 10
- 238000003754 machining Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000009423 ventilation Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 8
- 238000004904 shortening Methods 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 7
- 238000010521 absorption reaction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Machine Tool Units (AREA)
Abstract
The utility model discloses intelligent spider formula robot ambulation machining center, include for stone material to be processed workbench placed thereon, the fixing device being fixed for treating processing stone material is provided with the workbench, further include the spider-type robot that all directions on above-mentioned table surface are arbitrarily creeped, the spider-type robot includes organisation of working and the walking mechanism for promoting the organisation of working movement to process for treating that processing stone material is processed, and the organisation of working is fixed in the walking mechanism.Compared with prior art, the utility model intelligent spider formula robot ambulation machining center, it can improve work efficiency, and required time when shortening processing, reduces the working strength of operating personnel, reduce cost.
Description
Technical field
The utility model is related to stone processing technical field, and in particular to be intelligent spider formula robot ambulation processing in
The heart.
Background technology
The existing CNC numerical control machining centers for processing of stone, generally comprise organic frame, workbench and crossbeam, pass through
Crossbeam and the movement of the graver being installed on crossbeam and water knife, realize the processing to three axis of stone material.That is, X-axis, Y-axis, Z axis side
To processing.However, these tradition CNC numerical control machining centers all have a general character, it is required for realizing processing, institute by crossbeam
It is all bigger with floor space and occupied space.In order to X-axis, Y-axis, Z-direction is mobile and processes, so driving member ratio
More, when work, also compares energy consumption.During work, there is also certain limitation, movement is slower during processing, causes work for each axis movement
It is low to make efficiency.
In consideration of it, inventor furthers investigate the above problem, there is this case generation then.
Utility model content
The purpose of this utility model is to provide intelligent spider formula robot ambulation machining center, it can improve work effect
Rate, required time when shortening processing, reduces the working strength of operating personnel, reduces cost.
To achieve these goals, the utility model adopts the following technical solution：
Intelligent spider formula robot ambulation machining center, includes for stone material to be processed workbench placed thereon, institute
The fixing device for being provided with workbench and being fixed for treating processing stone material is stated, has been further included on above-mentioned table surface
The spider-type robot that all directions are arbitrarily creeped, the spider-type robot, which includes, treats the processing that processing stone material is processed
Mechanism and the walking mechanism for promoting the organisation of working movement processing, the organisation of working are fixed on the walking mechanism
On.
Preferably, the organisation of working, which includes, is sequentially connected the housing that surrounds by four side plates and for automatic tool changer
Main shaft, is vertically equiped with line slideway on the case inside wall, is provided with the line slideway along above and below line slideway
The installing plate of slip, the main shaft are vertically arranged on the installing plate, and towards stone material to be processed；Is provided with institute's housing
One drives motor, and feed screw nut is installed with the installing plate, and the feed screw nut is ordinatedly equiped with for driving institute
The screw that installing plate is slided in the line slideway is stated, the output shaft of the first driving motor is through shaft coupling and the screw
One end is fixedly connected.
Preferably, the line slideway is two, and interval is installed on the madial wall of the housing side by side；Each line slideway
On coordinate sliding block is installed, the sliding block is fixed on the installing plate.
Preferably, the walking mechanism includes two rows of support feets for drive shell walking, two rows of support feet difference
It is correspondingly arranged on the opposite sides plate of housing, often arranges support feet and be made of some movable supporters being arranged side by side that are spaced, institute
State and be equiped with what is swung laterally for driving movable supporter corresponding to one-to-one corresponding on the position of each movable supporter on housing
Second driving motor, the second driving motor are both secured on the lateral wall of the housing into vertically arranged；Above-mentioned activity
Support feet includes head rod, the second connecting rod and the 3rd connecting rod, and head rod accumbency is in the second connecting rod
Top, the second connecting rod and the 3rd connecting rod are vertically obliquely installed, and the 3rd connecting rod is in the lower section of the second connecting rod, institute
The first end for stating head rod is fixed on the output shaft of the second driving motor, the second end of head rod and described second
The upper end of connecting rod is flexibly connected, and the lower end of second connecting rod is flexibly connected with the upper end of the 3rd connecting rod, described
The sucker easy to walking is provided with the lower end of 3rd connecting rod；It is provided with the head rod and drives the 3rd connecting rod
Lower end is lifted up and down puts the lift of action and puts driving device；Control sucker is installed in the housing and inhales the vacuum extractor put.
Preferably, the vacuum extractor includes the first cylinder for supplying or being vented to the sucker, and described the
One cylinder is connected with sucker ventilation.
Preferably, driving device is put in the lift includes the 3rd driving motor, movable rod and swing rod, and the swing rod, which has, to be erected
Portion and above vertical part and the transverse part vertical with vertical part, the output shaft of the 3rd driving motor and the lower end of above-mentioned vertical part connect
Connect, above-mentioned movable rod includes three motion bars, is respectively the first motion bar, the second motion bar and the 3rd motion bar；It is described
The first end of first motion bar and the free end of above-mentioned transverse part are movably hinged, and first motion bar is vertically arranged, and the described 3rd
Motion bar is vertically obliquely installed, and second motion bar is located at below the first motion bar, and the 3rd motion bar is positioned at described the
Below two motion bars, the second end of first motion bar and the first end of second motion bar are movably hinged, and described second
The second end of motion bar and the first end of the 3rd motion bar are movably hinged, and the second end of the 3rd motion bar is flexibly connected
In in the 3rd connecting rod；Be movably connected in the middle part of second motion bar second end of second connecting rod with it is described
At the first end of 3rd connecting rod.
Preferably, the fixing device includes the second cylinder and briquetting, and second cylinder is vertically arranged at the work
Make on platform, the piston rod of second cylinder is stretched out away from the table surface, and the piston rod of second cylinder is equiped with
For compressing the briquetting of stone material to be processed.
Preferably, the fixing device is two, and is located along the same line.
Preferably, the tool magazine for spider-type robot described above tool changing, the cutter are equiped with the workbench
Warehouse compartment is in the table surface edge；The tool magazine is divided into two rows, and two rows of tool magazines are located at the work respectively
On the table top of platform on one group of relative side.
Using above-mentioned technical proposal, the utility model has following beneficial effect：
The intelligent spider formula robot ambulation machining center of the utility model, at work, stone material to be processed is placed on
On table surface, and it is clamped and is fixed by fixing device；Then, spider-type robot can swash in workbench
It is dynamic, and treat processing stone material and be processed.During processing, spider-type robot can carry out on the table automatically
360 degree of steerings, without human intervention, can reduce the working strength of employee, can also improve work efficiency.Spider-type robot
Can be creeped steering, and it is quicker, convenient to turn to, and three axis while movement can be realized, so required working space smaller, right
Stone material positioning to be processed is more convenient.Save man-hour, improved processing efficiency, and then reduce processing cost.Not only overcome existing
CNC numerical control stones process equipment by is set up in housiung separator and coordinate other moving mechanisms, only can one or two axis of monoplane into
The limitation and space hold of row running fix.It can also enough avoid drop CNC numerical control stone process equipment transmission component mistakes
It is more, caused by electric energy loss；So more energy saving, environmental protection.
Therefore, the intelligent spider formula robot ambulation machining center of the utility model, it can improve work efficiency, shorten
The time required to during processing, the working strength of operating personnel is reduced, reduces cost.
Brief description of the drawings
For ease of explanation, the utility model is described in detail by following specific implementations and attached drawing.
Fig. 1 is the structure diagram for not placing spider-type robot of the utility model.
Fig. 2 is the structure diagram of the organisation of working of spider-type robot in the utility model.
Fig. 3 is the structure diagram of the cutting along A-A directions in Fig. 2.
Fig. 4 is the structure diagram of the cutting along B-B directions in Fig. 2.
Fig. 5 is the main structure diagram of the spider-type robot of the utility model.
In figure：
1- workbench；2- fixing devices；
The second cylinders of 21-；22- briquettings；
3- tool magazines；7- stone materials to be processed；
41- housings；42- main shafts；
43- line slideways；44- installing plates；
45- first drives motor；46- feed screw nut；
47- screws；48- main shaft mounting bases；
49- sliding blocks；
51- second drives motor；52- the 3rd drives motor；
53- head rods；The second connecting rods of 54-；
The 3rd connecting rods of 55-；56- suckers；
The first motion bars of 61-；The second motion bars of 62-；
The 3rd motion bars of 63-.
Embodiment
In order to which the technical solution of the utility model is explained further, below by specific embodiment come to the utility model into
Row elaborates.
As shown in Figs. 1-5, the intelligent spider formula robot ambulation machining center of the utility model, includes for stone to be processed
Material workbench 1 placed thereon, is provided with the fixing device being fixed for treating processing stone material 7 on the workbench 1
2, the fixing device 2 is located on the middle part of 1 table top of workbench, has further included all directions on above-mentioned table surface and has appointed
Anticipate the spider-type robot creeped, and the spider-type robot includes organisation of working and the use for treating that processing stone material is processed
In the walking mechanism for promoting the organisation of working movement processing, the organisation of working is fixed in the walking mechanism.
More specifically, the intelligent spider formula robot ambulation machining center of the utility model has further included a control system,
Realized by the control system to spider-type robot job control.The control system can use PLC control system or control
Device.
In the utility model, it is preferred that the fixing device 2 includes the second cylinder 21 and briquetting 22, second gas
Cylinder 21 is vertically arranged on the workbench 1, and the piston rod of second cylinder 21 is stretched out away from 1 table top of workbench, institute
The piston rod for stating the second cylinder 21 is equiped with briquetting 22 for compressing stone material 7 to be processed., can here according to needs of production
Briquetting 22 is designed to arbitrary shape, it is fixed by single briquetting 22, reduces the occupied space of stone material fixed part, to the greatest extent
Amount avoids the movement of spider-type robot crawling from interfering.Specifically, the fixing device 2 in the utility model is using automatic dress
Clamp device, is stretched out or is bounced back with the piston rod of cylinder and realize the lifting of briquetting 22, and then to be added on 1 table top of workbench to being positioned over
The stone material of work is unclamped or clamped.
In the utility model, it is preferred that the fixing device 2 is two, and is located along the same line.Specifically：According to
Actual processing needs, and two briquettings 22 are in be oppositely arranged or be away from each other setting, or are set towards consistent.So can be to convenient pair
Annular stone material or slabstone are gripped.
In the utility model, it is preferred that the knife for spider-type robot described above tool changing is equiped with the workbench 1
Has storehouse 3, the tool magazine 3 is located at 1 mesa edge of workbench；The tool magazine 3 is divided for two rows, two rows of tool magazines
3 are located on the table top of the workbench 1 on one group of relative side respectively.In this way, it can avoid as far as possible to spider-type machine
People creeps to move and interferes.According to actual processing needs, tool magazine can be set on each side on the table top of the workbench 1
3.More specifically, tool magazine includes connecting plate and is arranged side by side in multiple knife rests being caught in for cutter on connecting plate.
In the utility model, it is preferred that the organisation of working includes is sequentially connected the housing 41 surrounded by four side plates
With the main shaft 42 for automatic tool changer, line slideway 43, the line slideway are vertically equiped with 41 madial wall of housing
The installing plate 44 slided up and down along line slideway is installed on 43, the main shaft 42 is vertically arranged on the installing plate 44, and
Towards stone material 7 to be processed；First driving motor 45 is installed on institute's housing 41, screw spiral shell is installed with the installing plate 44
Mother 46, the feed screw nut 46 is ordinatedly equiped with the screw for driving the installing plate 44 to be slided in the line slideway 43
47, the output shaft of the first driving motor 45 is fixedly connected through shaft coupling with the one end of the screw 47.Here, main shaft 42
It is that installing plate 44 is installed on by the main shaft mounting base 48 for installing main shaft 42.
In the utility model, it is preferred that the line slideway 43 is two, and the interior of the housing 41 is installed at interval side by side
On side wall；Coordinate on each line slideway 43 and sliding block 49 is installed, the sliding block 49 is fixed on the installing plate 44.For reality
For existing installing plate 44 in sliding process, slip is more steady, and line slideway 43 is designed as two.Explanation is needed exist for,
It is a kind of preferable mode using two line slideways 43, can be set according to needs of production more with line slideway 43.
For example, three, four, five etc..
In the utility model, it is preferred that the walking mechanism includes the two rows of support feets walked for drive shell 41,
Two rows of support feets are correspondingly arranged on the opposite sides plate of housing 41 respectively, are often arranged support feet and are spaced the work being arranged side by side by some
Dynamic support feet is formed, and one-to-one corresponding on the position of each movable supporter is corresponded on the housing 41 and is equiped with for driving activity
Second driving motor 51 of support feet horizontal swing, the second driving motor 51 are both secured to the shell into vertically arranged
On the lateral wall of body 41.
In the utility model, above-mentioned movable supporter includes head rod 53, the second connecting rod 54 and the 3rd connection
Bar 55,53 accumbency of head rod are in the top of the second connecting rod 54, and the second connecting rod 54 and the 3rd connecting rod 55 are vertical
It is obliquely installed, and the 3rd connecting rod 55 is in the lower section of the second connecting rod 54, the first end of the head rod 53 is fixed on
On the output shaft of second driving motor 51, the second end of head rod 53 and the upper end of second connecting rod 54 are hinged, institute
The lower end and the upper end of the 3rd connecting rod 55 for stating the second connecting rod 54 are hinged, and are set on the lower end of the 3rd connecting rod 55
There is the sucker 56 easy to walking；It is provided with to lift above and below the lower end for driving the 3rd connecting rod 55 on the head rod 53 and puts action
Lift put driving device；Control sucker is installed in the housing and inhales the vacuum extractor (not provided in figure) put.So can be with
Air inlet or pumping to sucker 56, by the change of gas pressure in sucker 56 and 1 deck contact part of workbench, are realized in work
Make the absorption and removal on 1 table top of platform.
In the utility model, it is preferred that the vacuum extractor includes for the sucker 56 to supply or be vented
First cylinder (does not provide) in figure, and first cylinder is connected with the sucker 56 ventilation.
In the utility model, it is preferred that driving device is put in the lift includes the 3rd driving motor 52, movable rod and swing rod
(not provided in figure), the swing rod is with vertical part and above vertical part and the transverse part vertical with vertical part, the 3rd driving are electric
The output shaft of machine 52 is connected with the lower end of above-mentioned vertical part, and above-mentioned movable rod includes three motion bars, is respectively the first activity
Bar 61, the second motion bar 62 and the 3rd motion bar 63；The first end of first motion bar 61 is lived with the free end of above-mentioned transverse part
Dynamic hinged, first motion bar 61 is vertically arranged, and the 3rd motion bar 63 is vertically obliquely installed, second motion bar 62
Below the first motion bar, the 3rd motion bar 63 is positioned at the lower section of the second motion bar 62, first motion bar 61
Second end and the first end of second motion bar 62 be hinged, the second end of second motion bar 62 with the described 3rd activity
The first end of bar 63 is hinged, and the second end of the 3rd motion bar 63 is movably connected in the 3rd connecting rod 55.Wherein,
The second end of three motion bars 63 is articulated with below the middle part or middle part of the 3rd connecting rod 55 on the part of sucker 56；Second lives
Lever 62 is movably hinged in the hinged hinged place in the upper end of the lower end of second connecting rod 54 and the 3rd connecting rod 55, should
Hinged place is just by the middle part of the second motion bar 62, so that the second motion bar 62 can be around the middle part of the second motion bar 62
Swing.I.e., it is possible to realize that the 3rd connecting rod 55 is acted around the first end foot-up of the 3rd connecting rod 55.
In above-mentioned, the first driving motor 45, second drive motor 51 and the 3rd drive motor 52 using stepper motor or
Servomotor；Swing rod similarly equivalence replacement for turntable and around center of turntable and can be vertically installed in the turntable body of rod.
In the utility model, movable supporter is at least 4, and the movable supporter on 41 side wall of same housing is 2.
A kind of preferably as the utility model, the movable supporter can be 6,8 or 12.Here movable supporting
The number of foot can need to set according to actual production.
Using above-mentioned technical proposal, the intelligent spider formula robot ambulation machining center of the utility model, it can be improved
Work efficiency, required time when shortening processing, reduces the working strength of operating personnel, reduces cost.
The intelligent spider formula robot ambulation machining center of the utility model is by more work in spider-type robot
Dynamic support feet cooperates co-operation and realizes walking.In the process of walking, each movable supporter is how to realize horizontal hunting
Leg is vertically lifted, is described here by taking a movable supporter course of work as an example：
Original state, the sucker 56 on movable supporter are adsorbed on 1 table top of workbench.During work, by control system control
Make the second cylinder 21 to ventilate to sucker 56 so that air pressure changes in sucker 56, and then sucker 56 departs from the suction with 1 table top of workbench
It is attached；And then, the 3rd driving motor 52 of control system control turns an angle with driven fork from initial position, as swing rod turns
Dynamic to drive movable rod to pull the 3rd connecting rod 55 to be rotated around the first end of the 3rd connecting rod 55, swing rod pulls movable rod connection
It is dynamic, realize lift leg action.After leg action to be lifted is completed, the 3rd driving motor 52 of control system control is stopped.At this time, control
The second driving of system control motor 51 processed drives first end of first hinge bar from initial position around the first hinge bar to swing one
It is stopped after determining angle.The 3rd driving motor 52 of control system control is turned back to initial position with driven fork, as swing rod turns
Dynamic to drive movable rod to pull the 3rd connecting rod 55 to be rotated around the first end of the 3rd connecting rod 55, swing rod pulls movable rod connection
Dynamic, leg action is put in realization.After leg action to be put is completed, the 3rd driving motor 52 of control system control is stopped, and controls
System controls the second cylinder 21 to be vented sucker 56 so that air pressure changes in sucker 56, and then the absorption of sucker 56 and workbench 1
On face.At this time, the second driving motor 51 drives the first hinge bar around the first end of the first hinge bar again for control system control
Swing to and be stopped after initial position.It is achieved in that the first end of the first hinge bar of a support feet with respect to workbench 1
The change of position.That is, translation of the first end of the first hinge bar with respect to 1 position of workbench.
Each movable supporter cooperates co-operation and realizes promotion spider-type robot housing 41 in 1 plane of workbench
The change of position.Wherein, when not homonymy, while the movable supporter of foot-up is opposite at the same time on the housing 41 of spider-type robot
Rotary oscillation acts, and puts foot, fixes and realize the rectilinear creeping of spider-type robot.When not homonymy, while foot-up on housing 41
Movable supporter rotating Vortex wobbling action, realize spider-type robot turn to.More specifically, in order to more clearly describe spider
Zhu Shi robots are how to creep and turn to.Here by when not homonymy movable supporter on the housing 41 of spider-type robot, point
For Part I and Part II, control system control Part I movable supporter first departs from the absorption with workbench,
Control the foot-up action, and opposite direction rotating wobbling action at the same time at the same time of Part I movable supporter.At this time, the activity of Part II
Support feet absorption workbench is motionless.Control system control Part I movable supporter foot-up, swing, put foot, control system control
When Part I movable supporter processed is adsorbed in workbench again, while the movable supporter of Part II is controlled to start to work,
The movable supporter of Part II repeats the work of Part I movable supporter.(Part I movable supporter and second here
Piecemeal activity support feet swaying direction is consistent.) realize change of the spider-type machine with respect to operating position, be by controlling
System is switched fast control Part I movable supporter and the work of Part II movable supporter, realizes spider-type robot straight line
Creep.
Similarly, the disengaging of control system control Part I movable supporter and the absorption of workbench first, in control first
The foot-up action, and rotating Vortex wobbling action at the same time of piecemeal activity support feet, at this time, the movable supporter absorption of Part II
Workbench is motionless.Control system control Part I movable supporter foot-up, swing, put foot, control system control Part I
When movable supporter is adsorbed in workbench again, while the movable supporter of Part II is controlled to start to work, Part II
Movable supporter repeats the work of Part I movable supporter.(Part I movable supporter is propped up with Part II activity here
Spike swaying direction is consistent.) realize change of the spider-type machine with respect to operating position, it is switched fast by control system
Part I movable supporter and the work of Part II movable supporter are controlled, realizes that spider-type robot turns to.
When spider-type robot creeps to position to be processed, the organisation of working of spider-type robot is started to work, tool
Body, control system control the first driving motor 45 works and then drives sliding of the installing plate 44 along line slideway 43 as treating
At the position to be processed of processing stone material, change of the main shaft 42 with respect to position height to be processed on stone material is realized.And then, control system
System control main shaft 42 works or main shaft 42 is worked at the same time with the first driving motor 45, realizes that main shaft 42 treats adding for Working position
Work.
Equally, when needing tool changing or cutter puts back to tool magazine 3, when spider-type robot creeps the tool magazine onto platform
At 3, control system control the first driving motor 45 works and then drives sliding of the installing plate 44 along line slideway 43 as knife
Deposit at the opposite position of cutter position in tool storehouse 3.The walking of control system control spider-type robot, that is, control the row of spider-type robot
Mechanism work is walked, and then cutter can be directly caught in the corresponding knife rest of tool magazine 3.Inverse process, then be spider-type robot
Knife is taken out of tool magazine 3.
The utility model utilizes advanced anti-raw technology, and spider walking principle is applied to Machining Center for stone material, is broken through
Traditional cross beam type transmission.Pneumatic suction cup 56 on each movable supporter of walking mechanism, it is adsorbable on workbench 1 it is fixed not
Dynamic or Pneumatic suction cup 56 departs from after being vented to be adsorbed on workbench 1, can ensure there is foot in spider-type robot ambulation or processing
Enough frees degree, whole head can be freely to twist in tri- dimensions of X, Y, Z.And automatic traveling mechanism occupied space is minimum,
Also the larger space that the roller movement of traditional walking robot takes has been broken away from.
The utility model uses fixed tools storehouse 3, and various cutter can be returned in 1 plane of work platform for placing what is be arranged in parallel
In tool magazine 3.When needing a certain cutter to carry out machining, spider-type robot climbs to the corresponding position of tool magazine 3, will
Cutter is automatically exchanged on main shaft 42 from tool magazine.Again by used cutter automatically spider-type machine after cutting or drilling
Tool magazine is put back on the main shaft 42 of people.This tool changing mode can coordinate turret-style tool changing mechanism to carry out tool changing when institute to avoid main shaft 42
By being limited, tool changing efficiency is also advantageously improved, saves the time.At the same time, it is possible to reduce hand labor intensity, avoids substitution work knife
During existing security risk.Further, since there is the tool magazine of independent storing cutter, be conducive to place all kinds of cutters, avoid
Different cutters, which influence each other, to be caused to take knife difficult.
The intelligent spider formula robot ambulation machining center of the utility model, changes tradition CNC numerical control stone process equipments
To realize that three axis are mobile, processing, using cruciform bracing move mode, automatically walked, tool changing and added using spider-type robot
Work.The intelligent spider formula robot ambulation machining center, can greatly shorten man-hour, reduce the working strength of operating personnel；Spider
Zhu Shi robots quickly can be moved and fixed, and improved work efficiency, reduced cost.The spider-type robot can creep automatically
At tool magazine on to workbench, and knife, tool changing are taken automatically, without manually carrying out tool changing, substantially increase processing efficiency, reduce
Worker's fatigue and tool changing operation error cause business economic to be lost.
The intelligent spider formula robot ambulation machining center of the utility model, has strong applicability, working stability is efficient
The characteristics of, realize that multifunctional all is processed, greatly shorten man-hour, reduce the working strength of operating personnel, multifunctional all,
Cost is reduced, improves mechanical convenience.
The product form and style of above-described embodiment and schema and non-limiting the utility model, any technical field
The appropriate change or modification that those of ordinary skill does it, all should be regarded as not departing from the patent category of the utility model.
Claims (9)
1. intelligent spider formula robot ambulation machining center, includes for stone material to be processed workbench placed thereon, it is special
Sign is：The fixing device being fixed for treating processing stone material is provided with the workbench, has been further included in above-mentioned work
Make the spider-type robot that all directions on platform table top are arbitrarily creeped, the spider-type robot, which includes, treats processing stone material progress
The organisation of working of processing and the walking mechanism for promoting the organisation of working movement processing, the organisation of working is fixed on described
In walking mechanism.
2. intelligent spider formula robot ambulation machining center according to claim 1, it is characterised in that：The organisation of working
Include and be sequentially connected the housing surrounded and the main shaft for automatic tool changer by four side plates, on the case inside wall vertically
Line slideway is equiped with, the installing plate slided up and down along line slideway is installed on the line slideway, the main shaft is pacified vertically
Loaded on the installing plate, and towards stone material to be processed；First driving motor is installed on institute's housing, is fixed on the installing plate
Feed screw nut is installed, the feed screw nut is ordinatedly equiped with what is slided for driving the installing plate in the line slideway
Screw, the output shaft of the first driving motor are fixedly connected through shaft coupling with the one end of the screw.
3. intelligent spider formula robot ambulation machining center according to claim 2, it is characterised in that：The line slideway
For two, and interval is installed on the madial wall of the housing side by side；Coordinate on each line slideway and sliding block, the sliding block are installed
It is fixed on the installing plate.
4. intelligent spider formula robot ambulation machining center according to claim 2, it is characterised in that：The walking mechanism
Include two rows of support feets for drive shell walking, two rows of support feets are correspondingly arranged at the opposite sides plate of housing respectively
On, often arrange support feet and be made of some movable supporters being arranged side by side that are spaced, each movable supporter is corresponded on the housing
Position on correspond be equiped with for drive movable supporter swing laterally second driving motor, it is described second driving electricity
Machine is both secured on the lateral wall of the housing into vertically arranged；Above-mentioned movable supporter includes head rod, second
Connecting rod and the 3rd connecting rod, head rod accumbency are in the top of the second connecting rod, the second connecting rod and the 3rd connecting rod
Vertically it is obliquely installed, and the 3rd connecting rod is in the lower section of the second connecting rod, the first end of the head rod is fixed on
On the output shaft of second driving motor, the second end of head rod is flexibly connected with the upper end of second connecting rod, described
The lower end of second connecting rod is flexibly connected with the upper end of the 3rd connecting rod, is provided with just on the lower end of the 3rd connecting rod
In the sucker of walking；It is provided with the head rod and drives the lower end of the 3rd connecting rod to lift up and down to put the lift of action and put driving
Device；Control sucker is installed in the housing and inhales the vacuum extractor put.
5. intelligent spider formula robot ambulation machining center according to claim 4, it is characterised in that：The vacuum means
The first cylinder included for supplying or being vented to the sucker is put, first cylinder is connected with sucker ventilation.
6. intelligent spider formula robot ambulation machining center according to claim 5, it is characterised in that：Driving is put in the lift
Device includes the 3rd driving motor, movable rod and swing rod, and the swing rod has vertical part and hangs down above vertical part and with vertical part
Straight transverse part, the output shaft of the 3rd driving motor are connected with the lower end of above-mentioned vertical part, and above-mentioned movable rod includes three
Motion bar, is respectively the first motion bar, the second motion bar and the 3rd motion bar；The first end of first motion bar and above-mentioned horizontal stroke
The free end in portion is movably hinged, and first motion bar is vertically arranged, and the 3rd motion bar is vertically obliquely installed, and described second
Motion bar is located at below the first motion bar, and the 3rd motion bar is located at below second motion bar, first motion bar
The first end of second end and second motion bar be movably hinged, the second end of second motion bar and the described 3rd activity
The first end of bar is movably hinged, and the second end of the 3rd motion bar is movably connected in the 3rd connecting rod；Described second
It is movably connected in the middle part of motion bar at the second end of second connecting rod and the first end of the 3rd connecting rod.
7. according to claim 1-6 any one of them intelligent spider formula robot ambulation machining centers, it is characterised in that：It is described
Fixing device includes the second cylinder and briquetting, and second cylinder is vertically arranged on the workbench, second cylinder
Piston rod stretched out away from the table surface, the piston rod of second cylinder is equiped with for compressing stone material to be processed
Briquetting.
8. according to claim 1-6 any one of them intelligent spider formula robot ambulation machining centers, it is characterised in that：It is described
Fixing device is two, and is located along the same line.
9. intelligent spider formula robot ambulation machining center according to claim 1, it is characterised in that：On the workbench
The tool magazine for spider-type robot described above tool changing is equiped with, the tool magazine is located at the table surface edge；
The tool magazine is divided into two rows, and two rows of tool magazines are respectively on one group of relative side on the table top of the workbench.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720751275.8U CN207290543U (en) | 2017-06-26 | 2017-06-26 | Intelligent spider formula robot ambulation machining center |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720751275.8U CN207290543U (en) | 2017-06-26 | 2017-06-26 | Intelligent spider formula robot ambulation machining center |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207290543U true CN207290543U (en) | 2018-05-01 |
Family
ID=62450265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720751275.8U Withdrawn - After Issue CN207290543U (en) | 2017-06-26 | 2017-06-26 | Intelligent spider formula robot ambulation machining center |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207290543U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160566A (en) * | 2017-06-26 | 2017-09-15 | 达秦智能科技（上海）股份有限公司 | Intelligent spider formula robot ambulation machining center |
-
2017
- 2017-06-26 CN CN201720751275.8U patent/CN207290543U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160566A (en) * | 2017-06-26 | 2017-09-15 | 达秦智能科技（上海）股份有限公司 | Intelligent spider formula robot ambulation machining center |
| CN107160566B (en) * | 2017-06-26 | 2019-05-21 | 达秦智能科技（上海）股份有限公司 | Intelligent spider formula robot ambulation machining center |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205471605U (en) | A unloader and robot in automation for processing of glass board | |
| CN211643860U (en) | Automatic plate feeding manipulator | |
| CN107553116A (en) | A kind of rotating disc type feeding lock pays device | |
| CN109702237A (en) | Automatic drilling device of turning | |
| CN207290543U (en) | Intelligent spider formula robot ambulation machining center | |
| CN203887099U (en) | Manipulator | |
| CN218433725U (en) | Flexible transmission system for skylight glass | |
| CN106078926B (en) | A kind of portable small-sized timber cutting equipment | |
| CN105014164B (en) | Automatic servo tooth machining unit and its system | |
| CN107160566B (en) | Intelligent spider formula robot ambulation machining center | |
| CN212019162U (en) | Rotating table structure and pipe expander with same | |
| CN204747834U (en) | Automatic frame is used in welding of large -scale drum | |
| CN204747818U (en) | Passenger car axle housing welds with reinforcing ring automatic feeding device with reinforcing ring | |
| CN107283645B (en) | Walking control system and control method of intelligent spider robot | |
| CN103817725B (en) | The processing unit (plant) of processing guitar handle | |
| CN109263381A (en) | A kind of environmental protection vertical 3 D numerical controlled carving rope saw all-in-one machine | |
| CN210937886U (en) | Welding platform for welding robot | |
| CN114714332A (en) | Adjusting device for industrial robot | |
| CN107877048A (en) | A kind of solar energy lamp automatic assembling | |
| CN210633254U (en) | Automatic truss type two-axis manipulator processing equipment | |
| CN204322209U (en) | A kind of multi-pore drilling machine processing seat support plank | |
| CN206046898U (en) | A kind of loading and unloading manipulator for automatic press Intelligent Production System | |
| CN223748695U (en) | Engraving and milling machine | |
| CN208247207U (en) | A kind of stone pot processing machine | |
| CN224043230U (en) | A gantry machining center with automatic unloading |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180501 Effective date of abandoning: 20190521 |