CN208914871U - Large scale engraved stone machine people - Google Patents
Large scale engraved stone machine people Download PDFInfo
- Publication number
- CN208914871U CN208914871U CN201821606849.3U CN201821606849U CN208914871U CN 208914871 U CN208914871 U CN 208914871U CN 201821606849 U CN201821606849 U CN 201821606849U CN 208914871 U CN208914871 U CN 208914871U
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- Prior art keywords
- swing arm
- large scale
- engraving machine
- driving motor
- machine people
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Abstract
The utility model discloses a kind of large scale engraved stone machine people, including pedestal, and the rotation oscillating arm mechanisms being installed on pedestal, rotate oscillating arm mechanisms end and connect moving parts connection with engraving machine, engraving machine is installed on engraving machine connection moving parts.The rotation oscillating arm mechanisms include the first driving motor being mounted on the base, and the output shaft of the first driving motor and the first swing arm connect firmly to form the first revolute pair.Second driving motor is fixed in the first swing arm, and output shaft and the second swing arm connect firmly to form the second revolute pair.Third driving motor is fixed in the second swing arm, and output shaft and third swing arm connect firmly to form third revolute pair；4th driving motor is fixed in third swing arm, and output shaft and the 5th swing arm connect firmly to form the 4th revolute pair；5th swing arm connect moving parts with engraving machine and connects firmly.The robot architecture is compact, easy to safeguard, using simple, the engraving of the autonomous completion stone material of carving may be implemented.
Description
Technical field
The utility model relates to a kind of robot technology, are particularly suitable for a kind of large scale engraved stone machine people.
Background technique
Engraved stone especially large-stone engraving has very high requirement for the level of skilled worker, however, engraving
The pollutants such as the dust, the noise that generate in the process cause the occupational diseases such as pneumoconiosis, hearing impairment multiple.Stone carving industry faces specially
The problems such as industry technician is deficient, recruitment cost increases year by year, seriously constrains the healthy long-run development of the industry.
201510268112. X of Chinese patent literature discloses a kind of six degree of freedom series parallel type water jet Sculpture robot,
Its structure includes pedestal, columns assemblies, lifting device, two-freedom rocker arm, freedom degree parallel connection knife rest and jet stream carving device.
Sink is equipped in pedestal, two-freedom rocker arm can be along column up-down, freedom degree parallel connection knife under the driving of lifting device
Frame is sleeved on two-freedom rocker arm and can be along traversing on two-freedom rocker arm, and the spray gun in jet stream carving device is mounted on three
On freedom degree parallel connection knife rest, and there is space six degrees of freedom of motion.The Sculpture robot that the patent document proposes can be realized pair
The processing operation such as the blanking cutting of acrylic product, engraving, chamfering, Lou Jing and deburring, the engraving machine which proposes
People's active force when carving operation is small, is not suitable for engraved stone.
Chinese patent literature 201220306802.1 discloses a kind of stone material multi-layer fabric decoration product Sculpture robot, structure
Including end effector and robot body.End effector includes electro spindle, attachment base, knife handle and diamond cutter；Electricity is main
Axis, attachment base, knife handle and diamond cutter are sequentially connected；Attachment base is connected with robot body end.Engraving machine human body
Including wrist, forearm, large arm, saddle and in the servo motor and speed reducer of joint；Sculpture robot wrist, forearm,
Large arm, saddle are sequentially connected, and the joint of connection is provided with servo motor and speed reducer；Sculpture robot saddle and vertical
Column lead screw pair is connected.Column lead screw pair includes ball-screw, motor, column and counterweight；Ball-screw, motor and counterweight are respectively provided with
On column, counterweight and robot body are respectively in the two sides of column.The engraving machine human body that the patent document proposes is string
It is coupled structure, rigidity is poor compared in parallel or series-parallel mechanical arm, is not suitable for the engraving of large scale stone material.
Chinese patent application 201710622724.3 discloses a kind of Sculpture robot, and structure includes engraving bar, distance
Sensor, engraving bar attachment base, connecting rod, first support arm, movable bolt, second support arm, fixing seat, third support arm, carve bar
It is connected to the rear surface of engraving bar attachment base, the inside of engraving bar attachment base is equipped with range sensor, and connecting rod is connected to carving
The right side of bar attachment base is carved, connecting rod is connected on the left of first support arm, first support arm passes through movable bolt phase with second support arm
Connection, second support arm are connected with third support arm, and third support arm is welded in the left side of fixing seat.The patent application is equipped with distance and passes
Sensor realizes the Sculpture robot and possesses the function of can detecte distance between equipment and carving, Ke Yijing when in use
The really carving depth of control equipment.But the engraving machine human body that the patent application proposes is conventional serial mechanical arm, rigidity
It is poor compared in parallel or series-parallel mechanical arm, it is not suitable for the engraving of large scale stone material.
Chinese patent application 201710058326.3 discloses a kind of engraving robot palletizer, and structure includes pedestal, consolidates
If power device on the base, by power device driving swing arm unit, be arranged in the executive device of swing arm unit front end with
And keep executive device balance balanced component, the executive device include money connect swing arm unit front end motor mount,
The actuating motor that is installed on motor mount and Suction cup assembly by actuating motor driving rotation, on the motor mount
It is additionally provided with cam plane engraving component.The patent application be designed to provide it is a kind of intelligently carried for stone slab and to stone slab into
The engraving robot palletizer of row cam plane engraving cannot complete 3 D stereo engraving.
Chinese patent application 201710525733.0 discloses a kind of intelligent engraving system with automatic loading/unloading function
System, structure include robot body, tool magazine system, fixed platform, black iron, material table, the support of table, workbench, control
Cabinet, charging and discharging mechanism, module bracket, screw type mould group, dust pelletizing system and cooling-water machine processed.Robot body is mounted on ground black iron
Surface middle part, fixed platform are fixed on the support of table, and the support of table is fixed on ground black iron upper surface, and material table is fixed on
On ground, workbench is fixed on ground black iron upper surface by the support of table, and the control cabinet is arranged on the ground, control cabinet
It is connected respectively with the power input of robot body and signal input part by power supply line and signal wire.In screw type mould group
Lead screw is horizontally disposed, and lead screw is connect with servo motor transmission, and screw type mould group and servo motor are entirely through module bracket and mould
The fixing end of group support frame connection, screw type mould group is fixed on the table by reinforcing rib, and aluminum profile is fixed by connecting plate
On the movable end of screw type mould group, aluminum profile is connect by connecting plate one with the cylinder body of cylinder, and the piston-rod lower end of cylinder is logical
It crosses connecting plate two to connect with sponge sucker, four paws centralizer is fixed on the table, and tool magazine system is solid by tool magazine support plate
It is scheduled on tool magazine support frame, dust pelletizing system is connected to by dust suction tracheae with the end effector of robot body, and cooling-water machine passes through
Water pipe is connected to the end effector of robot body.The Sculpture robot that the patent application proposes is processed suitable for woodcarving, no
It can complete the engraving task of large-stone.
Above-mentioned engraving machine cannot meet the needs of large scale engraved stone is to robot body rigidity per capita.In addition, swashing
Light engraving machine carries out Carving Machining as machining tool using laser, has certain limitation to rapidoprint, it can not process stone
The materials such as material.
Utility model content
Purpose of the utility model is to overcome the deficiencies of the above prior art and provide a kind of large scale engraved stone machines
People, the robot architecture be compact, easy to safeguard, using simple, the engraving for independently completing stone material may be implemented.
To achieve the above object, the utility model adopts the following technical solutions:
A kind of large scale engraved stone machine people, including pedestal, and the rotation oscillating arm mechanisms being installed on pedestal, rotation
Oscillating arm mechanisms end connect moving parts connection with engraving machine, and engraving machine is installed on engraving machine connection moving parts.
The rotation oscillating arm mechanisms include the first driving motor being mounted on the base, the output shaft of the first driving motor with
First swing arm connects firmly to form the first revolute pair；
Second driving motor is fixed in the first swing arm, and output shaft and the second swing arm connect firmly to form the second revolute pair；
Third driving motor is fixed in the second swing arm, and output shaft and third swing arm connect firmly to form third revolute pair；
4th driving motor is fixed in third swing arm, and output shaft and the 5th swing arm connect firmly to form the 4th revolute pair；
5th swing arm connect moving parts with engraving machine and connects firmly.
The engraving machine connection moving parts include the chassis connected firmly with the 5th swing arm, are along the circumferential direction uniformly divided on chassis
Cloth is fixedly connected with three kinematic mount component one end, and the other end of three kinematic mount components is respectively with support ring and positioned at branch
Top plate in the middle part of pushing out ring is connected；Kinematic mount component connect to form spherical pair with top plate.
Engraving machine is fixed on the upper surface of top plate.
Each kinematic mount component includes a L-type bottom plate, vertically-mounted on the horizontal component end of L-type bottom plate to have
One lead screw support component, the two sides of L-type floor level part along its length are respectively arranged with first straight line guide rail, wherein one
The vertical portion of block L-type bottom plate is fixed on the chassis upper surface, and kinematic mount Component driver is equipped on the lower surface of chassis
Motor, kinematic mount Component driver motor are connect with one end of the first lead screw of the vertical portion for passing through L-type bottom plate, the first lead screw
The other end the first lead screw support component on；
Supporting block is installed by screw thread on first lead screw, the first sliding block group that there are two the installations of supporting block lower part, two first
Sliding block group, which respectively corresponds, is mounted on two line slideway auxiliaries of composition on two first straight line guide rails；
It is connected by pin shaft with drive link one end in supporting block and constitutes the 5th revolute pair, the drive link other end is equipped with ball
Shape part, the spherical parts connect to form spherical pair with the top plate.
It is equipped with one on the riser side adjacent with kinematic mount Component driver motor and places the block that supporting block is hit.
The utility model has the following characteristics that compared with prior art
(1) the utility model proposes large scale engraved stone machine people, using hybrid connected structure, robot bearing capacity
Larger, mechanical rigid is higher.
(2) the utility model proposes large scale engraved stone machine people, various sizes of engraved stone can be completed.
(3) the utility model proposes large scale engraved stone machine people, high degree of automation greatly reduces artificial
Cost.
Detailed description of the invention
Fig. 1 is the Sculpture robot body construction schematic diagram of the utility model；
Fig. 2 be in Fig. 1 A-A to sectional view；
Fig. 3 is the engraving machine kinematic mount system structure diagram of the utility model；
Wherein, 11. Sculpture robot pedestal, 12. the first revolute pairs of Sculpture robot, 13. Sculpture robots first pendulum
Arm, 14. the second revolute pairs of Sculpture robot, 15. the second swing arms of Sculpture robot, 16. Sculpture robot third revolute pairs,
17. Sculpture robot third swing arm, 18. Sculpture robots the 4th go to pair, the 5th swing arm of 19. Sculpture robot, 110.
Engraving machine connection component chassis, 111. engraving machine kinematic mount systems, 112. engraving machine connection component support rings, 113. carvings
Quarter machine, 114. engraving machine connection component top plates, 115. spherical pairs, the 4th driving motor of 116. Sculpture robot, 117. engraving machines
Device people's third driving motor, 118. the second driving motors of Sculpture robot, 119. the first driving motors of Sculpture robot；
1111. engraving machine kinematic mount system drive motors, 1112. engraving machine kinematic mount system support bases,
1113. anticollision blocks, 1114. engraving machine kinematic mount system supporting blocks, 1115. engraving machine kinematic mount system drives
Connecting rod, 1116. first lead screws, 1117. first lead screw support components, 1118. engraving machine kinematic mount system support bases
One union end, 1119. first straight line guide rails, 11110. first sliding block groups, 11111. the 5th revolute pairs.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
This specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification revealed interior
Hold, so that those skilled in the art understands and reads, is not intended to limit the utility model enforceable qualifications, therefore not
Has technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are practical new not influencing this
Under the effect of type can be generated and the purpose that can reach, it should all still fall in the revealed technology contents of the utility model and obtain and can contain
In the range of lid.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term,
It is merely convenient to being illustrated for narration, rather than to limit the enforceable range of the utility model, the change of relativeness or tune
It is whole, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the utility model.
A kind of large scale engraved stone machine people of the utility model, structure is as shown in Figure 1 and Figure 2, including an engraving machine
Device people pedestal 11, first revolute pair of Sculpture robot 12, first swing arm of Sculpture robot 13, a Sculpture robot
Second revolute pair 14, second swing arm of Sculpture robot 15, a Sculpture robot third revolute pair 16, Sculpture robot
Three swing arms 17, a Sculpture robot the 4th go to pair 18, the 5th swing arm 19 of Sculpture robot, an engraving machine connection group
Part chassis 110, three engraving machine kinematic mount systems 111, an engraving machine connection component support ring 112, an engraving machine
113, an engraving machine connection component top plate 114, three spherical pairs 115, the 4th driving motor 116 of Sculpture robot, one
A Sculpture robot third driving motor 117, second driving motor of Sculpture robot 118, a Sculpture robot first
Driving motor 119.
Sculpture robot pedestal 11 is mounted on level ground；119 body of the first driving motor of Sculpture robot is fixed on
On Sculpture robot pedestal 11, output shaft and the first swing arm of Sculpture robot 13 connect firmly to form the first revolute pair of Sculpture robot
12；118 body of the second driving motor of Sculpture robot is fixed in the first swing arm of Sculpture robot 13, output shaft and engraving machine
The second swing arm of device people 15 connects firmly to form the second revolute pair of Sculpture robot 14；117 body of Sculpture robot third driving motor is solid
It is scheduled in the second swing arm of Sculpture robot 15, output shaft and Sculpture robot third swing arm 17 connect firmly to form Sculpture robot the
Three revolute pairs 16；116 body of the 4th driving motor of Sculpture robot is fixed in Sculpture robot third swing arm 17, output shaft
Connected firmly with the 5th swing arm 19 of Sculpture robot to be formed Sculpture robot the 4th go to pair 18；The 5th swing arm 19 of Sculpture robot and carving
Quarter machine connection component chassis 110 connects firmly；Three engraving machine kinematic mount 111 circular shafts of system are symmetrical, are installed in parallel and connect in engraving machine
Between connected components chassis 110 and engraving machine connection component support ring 112；It is corresponding in three engraving machine kinematic mount systems 111
Three engraving machine kinematic mount system drive connecting rods 1115 form three spherical pairs with engraving machine connection component top plate 114 respectively
115；Engraving machine 113 is fixed on the upper surface of engraving machine connection component top plate 114.
111 structure of engraving machine kinematic mount system is as shown in figure 3, include an engraving machine kinematic mount system drive motor
1111, an engraving machine kinematic mount system support base 1112, an anticollision block 1113, an engraving machine kinematic mount
System supporting block 1114, an engraving machine kinematic mount system drive connecting rod 1115, first lead screw 1116, one first
Thick stick support component 1117, first union end of engraving machine kinematic mount system support base 1118, two first straight line guide rails
1119, two the first sliding block groups 11110, the 5th revolute pair 11111.
1111 body of engraving machine kinematic mount system drive motor is fixed on the following table on engraving machine connection component chassis 110
Face；Engraving machine kinematic mount system support base 1112 is L-shaped, and vertical portion is fixed on engraving machine connection component chassis 110
Upper surface；The first union end (i.e. horizontal component end) 1118 of engraving machine kinematic mount system support base 1112 is fixed on
112 lower surface of engraving machine connection component support ring；Anticollision block 1113 is fixed on engraving machine kinematic mount system support base
On 1112 vertical portion inner wall, the first lead screw support component 1117 is fixed on engraving machine kinematic mount system support base 1112
On horizontal component end,；One end of first lead screw 1116 passes through anticollision block 1113 and engraving machine kinematic mount system supports
It is connected after 1112 vertical portion of pedestal with engraving machine kinematic mount system drive motor output shaft 1111, the other end is fixed on first
In lead screw support component 1117；Two first straight line guide rails 1119 are mounted on 1112 water of engraving machine kinematic mount system support base
The two sides of the upper surface in flat partial-length direction, two the first sliding block groups 11110 are separately mounted to two first straight line guide rails
Two line slideway auxiliaries are constituted on 1119；Engraving machine kinematic mount system supporting block 1114 is fixed on two the first sliding block groups
On 11110；Engraving machine kinematic mount system drive connecting rod 1115 and engraving machine kinematic mount system supporting block 1114 connect firmly composition
5th revolute pair 11111.
11 upper surface center of Sculpture robot pedestal and the mobile fixed system pedestal upper surface center of carving are relative to ground
Areal coordinate system is overlapped along direction, along known to direction and direction distance.
It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but it is not practical new to this
The limitation of type protection scope, those skilled in the art should understand that, based on the technical solution of the present invention, ability
Field technique personnel do not need to make the creative labor the various modifications or changes that can be made still in the protection model of the utility model
Within enclosing.
Claims (10)
1. a kind of large scale engraved stone machine people, characterized in that including pedestal, and the rotation swing arm machine being installed on pedestal
Structure, rotation oscillating arm mechanisms end connect moving parts connection with engraving machine, and engraving machine is installed on engraving machine connection moving parts.
2. large scale engraved stone machine people as described in claim 1, characterized in that the rotation oscillating arm mechanisms include installation
The first driving motor on pedestal, the output shaft of the first driving motor and the first swing arm connect firmly to form the first revolute pair.
3. large scale engraved stone machine people as claimed in claim 2, characterized in that the second driving motor is fixed on the first pendulum
On arm, output shaft and the second swing arm connect firmly to form the second revolute pair.
4. large scale engraved stone machine people as claimed in claim 3, characterized in that third driving motor is fixed on the second pendulum
On arm, output shaft and third swing arm connect firmly to form third revolute pair.
5. large scale engraved stone machine people as claimed in claim 4, characterized in that the 4th driving motor is fixed on third pendulum
On arm, output shaft and the 5th swing arm connect firmly to form the 4th revolute pair.
6. large scale engraved stone machine people as claimed in claim 5, characterized in that the 5th swing arm connect movement with engraving machine
Component connects firmly.
7. large scale engraved stone machine people as claimed in claim 6, characterized in that the engraving machine connects moving parts packet
The chassis connected firmly with the 5th swing arm is included, is distributed uniformly and circumferentially on chassis and is fixedly connected with three kinematic mount component one end,
Top plate of the other end of three kinematic mount components respectively with support ring and in the middle part of support ring is connected；Kinematic mount component
It connect to form spherical pair with top plate；Engraving machine is fixed on the upper surface of top plate.
8. large scale engraved stone machine people as claimed in claim 7, it is characterized in that each kinematic mount component includes one
A L-type bottom plate, it is vertically-mounted on the horizontal component end of L-type bottom plate to have the first lead screw support component, L-type floor level part edge
The two sides of its length direction are respectively arranged with first straight line guide rail, and the vertical portion of one of L-type bottom plate is fixed on the bottom
On disk upper surface, kinematic mount Component driver motor is installed on the lower surface of chassis, kinematic mount Component driver motor with pass through L
One end of first lead screw of the vertical portion of type bottom plate connects, in the other end the first lead screw support component of the first lead screw；
Supporting block is installed by screw thread on first lead screw, there are two the first sliding block group, two the first sliding blocks for the installation of supporting block lower part
Group, which respectively corresponds, is mounted on two line slideway auxiliaries of composition on two first straight line guide rails.
9. large scale engraved stone machine people as claimed in claim 8, characterized in that connected in supporting block by pin shaft and driving
Bar one end, which is connected, constitutes the 5th revolute pair, and the drive link other end is equipped with spherical parts, which connect to be formed with the top plate
Spherical pair.
10. large scale engraved stone machine people as claimed in claim 8, characterized in that with kinematic mount Component driver motor
It is equipped with one on adjacent riser side and places the block that supporting block is hit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821606849.3U CN208914871U (en) | 2018-09-30 | 2018-09-30 | Large scale engraved stone machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821606849.3U CN208914871U (en) | 2018-09-30 | 2018-09-30 | Large scale engraved stone machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208914871U true CN208914871U (en) | 2019-05-31 |
Family
ID=66707915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821606849.3U Expired - Fee Related CN208914871U (en) | 2018-09-30 | 2018-09-30 | Large scale engraved stone machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208914871U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828885A (en) * | 2020-12-30 | 2021-05-25 | 诺创智能医疗科技(杭州)有限公司 | Hybrid master-slave mapping method, mechanical arm system and computer equipment |
-
2018
- 2018-09-30 CN CN201821606849.3U patent/CN208914871U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828885A (en) * | 2020-12-30 | 2021-05-25 | 诺创智能医疗科技(杭州)有限公司 | Hybrid master-slave mapping method, mechanical arm system and computer equipment |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190531 Termination date: 20200930 |
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| CF01 | Termination of patent right due to non-payment of annual fee |