CN207432196U - One kind is used for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot - Google Patents
One kind is used for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot Download PDFInfo
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- CN207432196U CN207432196U CN201721112761.1U CN201721112761U CN207432196U CN 207432196 U CN207432196 U CN 207432196U CN 201721112761 U CN201721112761 U CN 201721112761U CN 207432196 U CN207432196 U CN 207432196U
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Abstract
The utility model is related to one kind to be used for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot, it includes rotating platform, last volume coupling sleeve and is connected to lower mandrel member and rotates 5 Spindle Links arms between platform, and 5 Spindle Links arms include the rotation link arm of two groups of System of Rotating about Fixed Axis and the swing linking arm of three groups of mutual phase swinging connections being located between the rotation link arm of foregoing two groups of System of Rotating about Fixed Axis；The utility model is by setting 5 axis robot arms to control the posture of lower mandrel member, and more compared to traditional X, Y direction driving Z-direction improve degree of freedom, adjustable space and the precision with bigger, extent of amendment also bigger.
Description
Technical field
The present invention relates to Mill Technology field, more particularly to a kind of rocking material retractable milling train is online with accurate finishing plate shape
Horizontal cylinder face constructed machine people.
Background technology
A kind of metal tape of rocking material retractable milling train flexible rolling thickness periodically-varied, the band of production is due to production
It gives birth to plastic elongation and rocks resolution stress, each several part has obtained uniform residual deformation, since the mechanical precision of unit, input are defeated
Go out Minimal Tension jump when signal accuracy, Measure Precision, strain dynamic response, rolling, these influences can cause finished metal band
Material product part residual force is uneven.
It is that platen roller system diameter determines up and down by ' s ' shape during shaping on surface because there are many strip product thickness metric lattice, by
It is influenced in first, second reel assemblies precision of shaping core component ' s ' shape and spare roll system group will not get very thin etc. reasons
It all more or less influences to be to greatest extent the plate shape uniformity of plate surface, technical characterstic of the invention during band shaping
Ground improves roll change speed because the difference of band specification reduces roll change number, to ' s ' shape platen roller system's precision in finishing board shape
When have the means and method adjusted under dynamic condition.
With scientific and technological progress and industry chain upgrade, user is higher and higher to sheet metal strip surface quality, it is necessary to right
It is tighter more accurate that sheet metal strip especially wants film class surface quality of strips control to obtain.
The content of the invention
It is accurate it is a primary object of the present invention to provide a kind of online surface of rocking material retractable mill milling sheet metal strip
Finishing plate shape Horizontal cylinder face robot.
The technical solution adopted by the present invention to solve the technical problems is：
One kind is used for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom band finishing Horizontal cylinder face robot,
Including rotation platform, last volume coupling sleeve and 5 Spindle Links arms being connected between lower mandrel member and rotation platform, the 5 axis chain
Connecing arm includes the main turntable being rotationally connected on rotation platform, is set on the rotation platform there are one rotary drive motor A, institute
Main turntable is stated to be rotationally connected on rotation platform and pass through rotary drive motor A progress rotation drivings, the main turntable and rotation
It is the first rotation axis unit between platform；The 5 Spindle Links arm further includes a master pendulum arm, sets that there are one connections on main turntable
Seat, is rotatablely connected between the master pendulum arm one end and the connecting seat, rotary drive motor B is provided on the connecting seat,
For the rotation axis of the rotary drive motor B perpendicular to the axis of rotary drive motor A, it is electric that the master pendulum arm passes through rotation driving
Machine B is driven, and is the second shaft unit between the master pendulum arm and main turntable；The 5 Spindle Links arm further includes a main rotation
Pivoted arm is rotatablely connected between the one end of the main rotating arm and the end of master pendulum arm, is provided on the end of the master pendulum arm
The rotation axis of one rotary drive motor C, the rotary drive motor C are parallel to the rotation axis of rotary drive motor B, institute
It states main rotating arm to be driven by rotary drive motor C, is the 3rd rotation axis unit between the main rotating arm and master pendulum arm；
The 5 axis rotating arm further includes auxiliary rotating arm, is rotatablely connected between the auxiliary rotating arm and main rotating arm, the main rotation
It is set on arm there are one rotary drive motor D, the rotation axis of the rotary drive motor D is perpendicular to rotary drive motor C's
Rotation axis, the auxiliary rotating arm is driven by rotary drive motor D, between the auxiliary rotating arm and main rotating arm
For the 4th rotation axis unit；The 5 axis rotating arm further includes a linking arm, the company of rotation between the linking arm and main rotating arm
It connects, the end set of the main rotating arm has rotary drive motor E, and the rotation axis of the rotary drive motor E is perpendicular to rotation
Turn the rotation axis of driving motor D, the linking arm is driven by rotary drive motor E, and the main rotating arm is with being connected
It is the 5th rotation axis unit between arm；It is fixedly connected between the linking arm and last volume coupling sleeve.
As a further improvement on the present invention, the last volume coupling sleeve includes the clamp arm of two rotation connections, described
Clamp arm is rotationally connected in a connected unit, is fixedly connected between connected unit and linking arm, is passed through between the clamp arm
Driving mechanism makees reciprocal open and close movement, and the clamp arm includes rotating junction and fixed part, rotating junction and fixed part it
Between be equipped with less than 180 ° of angle, be rotatablely connected between the clamp arm by rotating junction, the fixed part includes one
Roller shaft support hole, the radial direction one end in the roller shaft support hole is set to be open there are one embedded, the roller shaft
It is set between support hole and roller shaft there are one fixed interval (FI), the internal diameter of fixed interval (FI) is equal to the width of embedded opening, described
It is also set up in roller shaft support hole there are one connection circlip, the connection circlip is annular barrel structure, circumferencial direction side wall
There are one the embedded opening parallel with its axis, the axial both ends of the connection circlip are each provided with a fixed lobe for upper setting
Portion, fixing boss are embedded on the inner wall of roller shaft support hole.
As a further improvement on the present invention, connected between the fixing boss by connecting portion, in connection bump portion
Array is provided with several friction protrusions, and connecting portion is by being made elastic steel sheet punching.
As a further improvement on the present invention, the roller shaft support hole inner wall is provided with two groups of expansion slots, and two groups swollen
Parallel to each other between swollen slot, for the plane of expansion slot perpendicular to roller shaft support axially bored line, fixing boss is embedded into expansion slot
It is interior.
As a further improvement on the present invention, it is also connected on the fixed part there are one swing arm, roller shaft support is set
Swing arm end is placed in, swing arm is connected to by torsional spring on fixed part, and the swing arm of described two clamp arms is rotating
It is swung in opposite directions under the driving of spring.
As a further improvement on the present invention, described two clamp arms are connected on a rotary drive motor F real
Now reciprocal folding driving, two rotary drive motors are fixedly connected in a connected unit.
The beneficial effects of the invention are as follows：
1st, the present invention is by setting 5 axis robot arms to control the posture of lower mandrel member, compared to traditional X, Y direction
The more Z-directions of driving, improve degree of freedom, adjustable space and the precision with bigger, extent of amendment also bigger.
2nd, it is movable structure to connect pawl, and the material for being adapted to different in width carries out the replacement adjustment of lower mandrel member, general expenditure
It is wider.
3rd, the connecting portion frictional force bigger that punching is set, fixed performance are more preferable.
4th, expansion slot structure can realize the release to roller fixed position stress, while ensure the fixing-stable of clamp spring
Property.
5th, angle between rigidly connected fixed part can be corrected by swinging arm configuration, ensure the parallel of two clamp systems
Degree improves clip stability.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the schematic diagram of last volume coupling sleeve；
Fig. 3 is the schematic diagram of roller shaft support hole 4-5；
Fig. 4 is the schematic diagram of clip spring structure.
In figure：1-1, rack；1-2, rotation platform；1-3, main turntable；1-4, connecting seat；1-5, master pendulum arm；1-6, auxiliary
Rotating arm；1-7, main rotating arm；1-8, linking arm；1-9, connected unit；2-1, rotary drive motor A；2-2, rotary drive motor
B；2-3, rotary drive motor C；2-4, rotary drive motor D；2-5, rotary drive motor E；3-1, the first rotation axis unit；3-
2nd, the second rotation axis unit；3-3, the 3rd rotation axis unit；3-4, the 4th rotation axis unit；3-5, the 5th rotation axis unit；4-
1st, rotary drive motor F；4-2, rotating junction；4-3, fixed part；4-4, swing arm；4-5, roller shaft support hole；4-6、
Expansion slot；4-7, connection circlip；4-8, connecting portion；4-9, fixing boss.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows composition related to the present invention.
As depicted in figs. 1 and 2, the present invention is used for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom band to be a kind of
Finishing Horizontal cylinder face robot including rotation platform 1-2, last volume coupling sleeve and is connected to lower mandrel member and rotation platform
5 Spindle Links arms between 1-2, rotation platform 1-2 are fixed on rack 1-1, and the 5 Spindle Links arm includes being rotationally connected with rotation
Rotary drive motor A2-1, the main turntable 1- there are one being set on main turntable 1-3, the rotation platform 1-2 on platform 1-2
3 are rotationally connected on rotation platform 1-2 and pass through rotary drive motor A2-1 progress rotation drivings, the main turntable 1-3 and rotation
Turn between platform 1-2 as the first rotation axis unit 3-1；The 5 Spindle Links arm further includes a master pendulum arm 1-5, on main turntable 1-3
It sets there are one connecting seat 1-4, is rotatablely connected between the master pendulum arm 1-5 one ends and the connecting seat 1-4, the connecting seat
Rotary drive motor B2-2 is provided on 1-4, the rotation axis of the rotary drive motor B2-2 is perpendicular to rotary drive motor
The axis of A2-1, the master pendulum arm 1-5 are driven by rotary drive motor B2-2, the master pendulum arm 1-5 and main turntable 1-3
Between be the second shaft unit；The 5 Spindle Links arm 1-8 further includes a main rotating arm 1-7, and the one of the main rotating arm 1-7
It is rotatablely connected between end and the end of master pendulum arm 1-5, there are one rotary drive motors for setting on the end of the master pendulum arm 1-5
The rotation axis of C2-3, the rotary drive motor C2-3 are parallel to the rotation axis of rotary drive motor B2-2, the main rotation
Pivoted arm 1-7 is driven by rotary drive motor C2-3, is the 3rd rotation between the main rotating arm 1-7 and master pendulum arm 1-5
Axis unit 3-3；The 5 axis rotating arm is further included between auxiliary rotating arm 1-6, the auxiliary rotating arm 1-6 and main rotating arm 1-7
It is rotatablely connected, there are one rotary drive motor D2-4, the rotations of the rotary drive motor D2-4 for setting on the main rotating arm 1-7
For shaft axis perpendicular to the rotation axis of rotary drive motor C2-3, the auxiliary rotating arm 1-6 passes through rotary drive motor D2-4
It is driven, is the 4th rotation axis unit 3-4 between the auxiliary rotating arm 1-6 and main rotating arm 1-7；The 5 axis rotating arm
A linking arm 1-8 is further included, is rotatablely connected between the linking arm 1-8 and main rotating arm 1-7, the main rotating arm 1-7's
End set has rotary drive motor E2-5, and the rotation axis of the rotary drive motor E2-5 is perpendicular to rotary drive motor
The rotation axis of D2-4, the linking arm 1-8 are driven by rotary drive motor E2-5, the main rotating arm 1-7 and company
It connects between arm 1-8 as the 5th rotation axis unit 3-5；It is fixedly connected between the linking arm 1-8 and last volume coupling sleeve.
As in Figure 2-4, the last volume coupling sleeve includes the clamp arm of two rotation connections, described two clampings
Arm, which is connected on a rotary drive motor F4-1, realizes reciprocal folding driving, and two rotary drive motor F4-1 are fixed
It is connected on foregoing connected unit 1-9, the clamp arm, which includes rotating junction 4-2 and fixed part 4-3, the clamp arm, to be included
Connecting portion 4-2 and fixed part 4-3, is equipped with the angle less than 180 ° between connecting portion 4-2 and fixed part 4-3, the clamp arm leads to
Connecting portion 4-2 rotation connections are crossed, are also connected on the fixed part 4-3 there are one swing arm 4-4, roller shaft support is arranged at pendulum
Swing arm 4-4 ends, swing arm 4-4 are connected to by torsional spring on fixed part 4-3, the swing arm 4-4 of described two clamp arms
It is swung in opposite directions under the driving of torsional spring, there are one roller shaft support hole 4-5, the rollings for setting on the swing arm 4-4
The radial direction one end of cylinder shaft support hole 4-5 is set to be open there are one embedded, the roller shaft support hole 4-5 and roller shaft
Between set there are one fixed interval (FI), the internal diameter of fixed interval (FI) is equal to the width of embedded opening, the roller shaft support hole 4-5
It inside also sets up there are one connection circlip 4-7, the connection circlip 4-7 is annular barrel structure, is provided on circumferencial direction side wall
One embedded opening parallel with its axis, the axial both ends of the connection circlip 4-7 are each provided with a fixing boss 4-
It is connected between 9, the fixing boss 4-9 by connecting portion 4-8, is densely covered with to increase the convex of frictional force on connecting portion 4-8
Rise particle, connecting portion 4-8 by the way that elastic steel sheet punching is made, the roller shaft support hole 4-5 inner walls be provided with two groups it is swollen
It is parallel to each other between swollen slot 4-6, two groups of expansion slot 4-6, the plane of expansion slot 4-6 perpendicular to roller shaft support hole 4-5 axis,
Fixing boss 4-9 is embedded into expansion slot 4-6.
In use, this structure realizes the control of various dimensions by the driving of each swing arm；Traditional X, Y can be mainly replaced to move
In motivation structure.
During installation, the angle of two clamp arms is adjusted first, then swings swing arm 4-4 manually, and by the rotation of lower mandrel member
Shaft both ends are pushed into embedded opening, and by pressure, drop rotation axis is embedded into roller shaft support hole 4-5 by embedded opening
Connection circlip 4-7 in, and pass through clamp spring and clamp swing arm 4-4.
Using above-mentioned desirable embodiment according to the invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determine its technical scope according to right.
Claims (6)
1. one kind is used for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot, it is characterized in that：It is included rotatably
Platform（1-2）, last volume coupling sleeve and be connected to lower mandrel member and rotation platform（1-2）Between 5 Spindle Links arms, the 5 axis chain
Connecing arm includes being rotationally connected with rotation platform（1-2）On main turntable（1-3）, the rotation platform（1-2）There are one upper settings
Rotary drive motor A（2-1）, the main turntable（1-3）It is rotationally connected with rotation platform（1-2）It goes up and passes through rotary drive motor
A（2-1）Carry out rotation driving, the main turntable（1-3）With rotating platform（1-2）Between be the first rotation axis unit（3-1）；Institute
It states 5 Spindle Links arms and further includes a master pendulum arm（1-5）, main turntable（1-3）There are one connecting seats for upper setting（1-4）, the main pendulum
Arm（1-5）One end and the connecting seat（1-4）Between be rotatablely connected, the connecting seat（1-4）On be provided with rotation driving electricity
Machine B（2-2）, the rotation axis of the rotary drive motor B2-2 is perpendicular to rotary drive motor A（2-1）Axis, the master
Swing arm（1-5）Pass through rotary drive motor B（2-2）It is driven, the master pendulum arm（1-5）With main turntable（1-3）Between for the
Two shaft units（3-2）；The 5 Spindle Links arm（1-8）Further include a main rotating arm（1-7）, the main rotating arm（1-7）'s
One end and master pendulum arm（1-5）End between be rotatablely connected, the master pendulum arm（1-5）End on set there are one rotation drive
Dynamic motor C（2-3）, the rotary drive motor C（2-3）Rotation axis parallel to rotary drive motor B（2-2）Rotation axis
Line, the main rotating arm（1-7）Pass through rotary drive motor C（2-3）It is driven, the main rotating arm（1-7）With master pendulum arm
（1-5）Between be the 3rd rotation axis unit（3-3）；The 5 axis rotating arm further includes auxiliary rotating arm（1-6）, the auxiliary rotation
Pivoted arm（1-6）With main rotating arm（1-7）Between be rotatablely connected, the main rotating arm（1-7）There are one rotation driving electricity for upper setting
Machine D（2-4）, the rotary drive motor D（2-4）Rotation axis perpendicular to rotary drive motor C（2-3）Rotation axis,
The auxiliary rotating arm（1-6）Pass through rotary drive motor D（2-4）It is driven, the auxiliary rotating arm（1-6）With main rotation
Arm（1-7）Between be the 4th rotation axis unit（3-4）；The 5 axis rotating arm further includes a linking arm（1-8）, the connection
Arm（1-8）With main rotating arm（1-7）Between be rotatablely connected, the main rotating arm（1-7）End set have rotary drive motor E
（2-5）, the rotary drive motor E（2-5）Rotation axis perpendicular to rotary drive motor D（2-4）Rotation axis, it is described
Linking arm（1-8）Pass through rotary drive motor E（2-5）It is driven, the main rotating arm（1-7）With linking arm（1-8）Between
For the 5th rotation axis unit（3-5）；The linking arm（1-8）It is fixedly connected between last volume coupling sleeve.
2. it is as described in claim 1 a kind of for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot, it is special
Sign is：The last volume coupling sleeve includes the clamp arm of two rotation connections, and the clamp arm is rotationally connected with a connection
Platform（1-9）On, connected unit（1-9）With linking arm（1-8）Between be fixedly connected, made between the clamp arm by driving mechanism past
Multiple open and close movement, the clamp arm include rotating junction（4-2）And fixed part（4-3）, rotating junction（4-2）And fixed part
（4-3）Between be equipped with less than 180 ° of angle, pass through rotating junction between the clamp arm（4-2）Rotation connection, it is described solid
Determine portion（4-3）Including a roller shaft support hole（4-5）, the roller shaft support hole（4-5）Radial direction one end set
There are one embedded opening, the roller shaft support holes（4-5）It is set between roller shaft there are one fixed interval (FI), between fixed
The internal diameter of gap is equal to the width of embedded opening, the roller shaft support hole（4-5）Connection circlip there are one inside also setting up（4-
7）, the connection circlip（4-7）Set that there are one the insertions parallel with its axis for annular barrel structure, on circumferencial direction side wall
Opening, the connection circlip（4-7）Axial both ends be each provided with a fixing boss（4-9）, fixing boss（4-9）It is embedding
Enter to roller shaft support hole（4-5）On inner wall.
3. it is as claimed in claim 2 a kind of for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot, it is special
Sign is：The fixing boss（4-9）Between pass through connecting portion（4-8）Connection, if array is provided with unlubricated friction in connection bump portion
Wipe protrusion, connecting portion（4-8）By the way that elastic steel sheet punching is made.
4. it is as claimed in claim 2 a kind of for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot, it is special
Sign is：The roller shaft support hole（4-5）Inner wall is provided with two groups of expansion slots（4-6）, two groups of expansion slots（4-6）Between mutually
It is parallel, expansion slot（4-6）Plane perpendicular to roller shaft support hole（4-5）Axis, fixing boss（4-9）It is embedded into expansion
Slot（4-6）It is interior.
5. it is as claimed in claim 2 a kind of for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot, it is special
Sign is：The fixed part（4-3）On be also connected with there are one clamp arm, roller shaft support is arranged at swing arm（4-4）End, pendulum
Swing arm（4-4）Fixed part is connected to by torsional spring（4-3）On, the swing arm of described two clamp arms（4-4）In rotating missile
It is swung in opposite directions under the driving of spring.
6. it is as claimed in claim 2 a kind of for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot, it is special
Sign is：Described two clamp arms are connected to a rotary drive motor F（4-1）It is upper to realize reciprocal folding driving, two rotations
Turn driving motor F（4-1）It is fixedly connected in connected unit（1-9）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721112761.1U CN207432196U (en) | 2017-09-01 | 2017-09-01 | One kind is used for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721112761.1U CN207432196U (en) | 2017-09-01 | 2017-09-01 | One kind is used for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot |
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| Publication Number | Publication Date |
|---|---|
| CN207432196U true CN207432196U (en) | 2018-06-01 |
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ID=62301222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721112761.1U Active CN207432196U (en) | 2017-09-01 | 2017-09-01 | One kind is used for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot |
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| Country | Link |
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| CN (1) | CN207432196U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398892A (en) * | 2017-09-01 | 2017-11-28 | 江苏昆仑光源材料有限公司 | One kind is used for the joint space degree of freedom robot of 5 axle of rocking material retractable milling train 4 |
-
2017
- 2017-09-01 CN CN201721112761.1U patent/CN207432196U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398892A (en) * | 2017-09-01 | 2017-11-28 | 江苏昆仑光源材料有限公司 | One kind is used for the joint space degree of freedom robot of 5 axle of rocking material retractable milling train 4 |
| CN107398892B (en) * | 2017-09-01 | 2023-08-08 | 江苏昆仑光源材料有限公司 | 5-axis 4-joint space degree-of-freedom robot for shaking type collecting and discharging rolling mill |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Five-axis four-joint spatial freedom degree robot for shaking type takeup and discharge rolling mill Effective date of registration: 20181024 Granted publication date: 20180601 Pledgee: Bank of China Limited by Share Ltd Taizhou Gaogang sub branch Pledgor: JIANGSU LIGHTING MATERIAL CO., LTD. Registration number: 2018320000242 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |