CN212684365U - Flexible buddha's warrior attendant wire-electrode cutting system of robot - Google Patents

Abstract

The utility model discloses a flexible buddha's warrior attendant wire-electrode cutting system of robot, rotate the arm of cutting including the cutter head and be used for driving the cutter head, the cutter head includes the cutter head frame, be fixed with main cutting motor on the cutter head frame, the output shaft and the main cutting wheel power connection of main cutting motor, the cutter head frame corresponds main cutting wheel one side and is equipped with from the cutting wheel, main cutting wheel and from the cutting wire net of having the formation of diamond wire of cover between the cutting wheel. Through combining together the arm with the multiaxis linkage and buddha's warrior attendant wire cut tool bit, realize the purpose of flexible cutting to can cut hard article with less drive power, the energy can be saved, the joint-cutting is little, the cutting material loss is low, the energy consumption is low, through setting up the drive wheel and stepping down the groove, make motor and cutting wheel disalignment setting, the cutting space of release buddha's warrior attendant wire net allows bigger material not to interfere the collision in cutting process.

Description

Flexible buddha's warrior attendant wire-electrode cutting system of robot

Technical Field

The utility model belongs to the technical field of cutting device, specifically speaking relates to a flexible buddha's warrior attendant wire-electrode cutting system of robot.

Background

The diamond wire cutting technology is an advanced cutting processing technology in the world at present, and the principle of the cutting processing technology is that a workpiece to be processed is rubbed by a diamond wire moving at a high speed, so that the cutting purpose is achieved. The diamond wire passes through the guide of guide pulley, forms the gauze between two line rollers, and after the silicon rod was fixed, the rising of gauze just can realize feeding of silicon rod with descending, and in addition the reciprocating motion of diamond wire produces cutting force to accomplish the process of cuting of silicon rod, just can realize the silicon rod cutting when being provided with a plurality of gauzes simultaneous operation and be the polylith. The traditional application field of diamond wire cutting only aims at the requirements of cutting off crystalline silicon bars such as photovoltaic and semiconductors and slicing silicon wafers. The motion mode realized is mainly single-axis linear motion, and the two-axis linkage and the three-dimensional linkage of a space curve and a curved surface cannot be realized. Therefore, in order to expand the application field of diamond wire cutting, such as meeting the multi-axis linkage processing requirements of stone materials, artware and the like, the processing equipment with the requirement of space profile flexible processing needs to be developed.

Accordingly, further developments and improvements are still needed in the art.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problems, a robot flexible diamond wire cutting system is proposed. The utility model provides a following technical scheme:

the utility model provides a flexible buddha's warrior attendant wire-electrode cutting system of robot, includes cutter head and is used for driving cutter head and rotates the arm of cutting, cutter head includes the cutter head frame, be fixed with main cutting motor on the cutter head frame, the output shaft and the main cutting wheel power connection of main cutting motor, the cutter head frame corresponds main cutting wheel one side and is equipped with from the cutting wheel, main cutting wheel and follow the cutting wire net that has the formation of annular buddha's warrior attendant wire between the cutting wheel.

Furthermore, a driving wheel is fixed on an output shaft of the main cutting motor, a connecting rod is fixed at the axis of the main cutting wheel, the connecting rod is rotatably connected with the cutting tool bit frame, and the driving wheel is in transmission connection with the connecting rod through a belt.

Furthermore, a synchronizing wheel is arranged on the connecting rod, the connecting rod penetrates through the axle center of the synchronizing wheel and is fixedly connected with the synchronizing wheel, and the synchronizing wheel is in transmission connection with the driving wheel through a belt.

Furthermore, a tension wheel is arranged on the cutting tool bit frame corresponding to the cutting wire net and fixed on the tensioning driving assembly.

Furthermore, the tensioning driving assembly comprises a tension motor for providing driving force and a tension swing rod for driving the tension wheel to swing, and the tension wheel is connected with a main shaft of the tension motor through the tension swing rod.

Furthermore, a fixed guide wheel for supporting the diamond wire is further arranged on the cutting wire net, and the fixed guide wheel is fixed on the cutting tool bit frame.

Furthermore, a tension sensor for monitoring the tension of the cutting wire net in real time is arranged on the fixed guide wheel.

Further, the wheel grooves of the main cutting wheel, the auxiliary cutting wheel, the tension wheel and the fixed guide wheel are all located in the same plane.

Further, the secondary cutting wheel is fixedly connected with the cutting head frame through a sliding assembly.

Furthermore, a yielding groove is arranged on the cutting head frame corresponding to the cutting position.

Furthermore, a connecting port is arranged on the cutting tool bit frame corresponding to the mounting position of the mechanical arm.

Furthermore, the mechanical arm is a five-axis linkage mechanical arm.

Has the advantages that:

through the arm with the multiaxis linkage and buddha's warrior attendant wire cut tool bit combine together, realize the purpose of flexible cutting, and can cut hard article with less drive power, the energy can be saved, with traditional milling cutter, the saw bit, the grinding etc. is compared, the joint-cutting is littleer, the cutting material loss is low, the energy consumption is low, economic type is better, and simultaneously, the cutting length of diamond wire saw is bigger, through setting up the drive wheel and the groove of stepping down, make motor and cutting wheel disalignment setting, the cutting space of release buddha's warrior attendant net, allow bigger material not to interfere the collision in the cutting process.

Drawings

Fig. 1 is a schematic diagram of a flexible diamond wire cutting blade structure of a robot according to an embodiment of the present invention;

fig. 2 is a left side view structure diagram of a flexible diamond wire cutting tool bit of a robot according to an embodiment of the present invention;

fig. 3 is a schematic front view of a flexible diamond wire cutting tool head of a robot according to an embodiment of the present invention;

fig. 4 is a schematic view of another robot flexible diamond wire cutting blade head structure according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a mechanical arm of a robot flexible diamond wire cutting system according to an embodiment of the present invention;

in the drawings:

in the drawings: 1-a cutting bit frame; 2-main cutting wheel; 3-a secondary cutting wheel; 4-a transmission wheel; 5-a tension pulley; 6-fixing a guide wheel; 7-a synchronizing wheel; 8-tension swing rod; 9-connecting port; 10-a first axis of rotation; 11-a second axis of rotation; 12-a third axis of rotation; 13-a fourth axis of rotation; 14-a fifth axis of rotation; 15-a belt; 16-a tension motor; 17-diamond wire; 18-a tension sensor; 19-a connector; 20-a drive motor; 21-cutting wheel.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the following description, together with the drawings of the present invention, clearly and completely describes the technical solution of the present invention, and based on the embodiments in the present application, other similar embodiments obtained by those skilled in the art without creative efforts shall all belong to the protection scope of the present application. In addition, directional terms such as "upper", "lower", "left", "right", etc. in the following embodiments are directions with reference to the drawings only, and thus, the directional terms are used for illustration and not for limitation of the present invention.

As shown in fig. 1-5, a flexible buddha's warrior attendant wire-electrode cutting system of robot, including cutter head and the arm that is used for driving cutter head to rotate the cutting, cutter head includes cutter head frame 1, is fixed with main cutting motor on the cutter head frame 1, and main cutting motor's output shaft and main cutting wheel 2 power connection, cutter head frame 1 corresponds main cutting wheel 2 one side and is equipped with from cutting wheel 3, and the cutting wire net that has the formation of diamond wire is overlapped between main cutting wheel 2 and the follow cutting wheel 3. Through set up the tool bit frame that has the cutting wire net on robot arm for the robot makes things convenient for control tool bit frame free rotation in three-dimensional space, thereby drives the cutting wire net and cuts at arbitrary angle, and simultaneously, this cutting tool bit does not need external force application equipment, only needs the rotation through electric drive diamond line just can accurate fly-cutting hard object.

Furthermore, a driving wheel 4 is fixed on an output shaft of the main cutting motor, a connecting rod is fixed at the axis of the main cutting wheel 2, the connecting rod is rotatably connected with the cutting tool bit frame 1, and the driving wheel 4 is in transmission connection with the connecting rod through a belt 15. Through setting up drive wheel 4 for motor and cutting wheel disalignment set up, increased the distance between cutting wheel and the motor, and then release the cutting space of buddha's warrior attendant net, allow bigger material of waiting to cut not interfere the collision in cutting process.

Furthermore, a synchronizing wheel 7 is arranged on the connecting rod, the connecting rod penetrates through the axle center of the synchronizing wheel 7 and is fixedly connected with the synchronizing wheel 7, and the synchronizing wheel 7 is in transmission connection with the driving wheel 4 through a belt 15. The synchronizing wheel 7 and the main cutting wheel 2 are rotatably connected to the cutting head frame 1 through a connecting rod, and the synchronizing wheel 7 and the axis of the main cutting wheel 2 are fixed to the connecting rod, so that the synchronizing wheel 7 and the main cutting wheel 2 always keep synchronous rotation, and the transmission wheel 4 fixed to the output shaft of the main cutting motor transmits the rotation displacement of the motor to the synchronizing wheel 7 through the belt 15, and further transmits the rotation displacement to the main cutting wheel 2 which rotates synchronously with the synchronizing wheel 7.

Furthermore, a tension pulley 5 is arranged on the cutting bit frame 1 corresponding to the cutting wire net, and the tension pulley 5 is fixed on the tension driving component. Cutting wire net is the annular cutting line, the annular cutting line that the diamond wire encloses directly influences final cutting quality at the rate of tension on the cutting wheel, when the rate of tension is less, the annular cutting line drops from the cutting wheel easily, and can increase the area of contact between diamond wire and the cutting material in the cutting process, be unfavorable for going on of cutting action, consume of diamond wire with higher speed, when the rate of tension is too big, the annular cutting line leads to out disconnected phenomenon because of the atress is too big easily in the cutting process, suitable rate of tension is favorable to going on smoothly fast of cutting, the life of extension diamond wire, through the motion of tensioning drive assembly control tension pulley 5, change the gauze area that the annular cutting line encloses, and then adjust the rate of tension of diamond wire between main cutting wheel 2 and follow cutting wheel 3.

Furthermore, the tensioning driving assembly comprises a tension motor 16 for providing driving force and a tension swing rod 8 for driving the tension wheel 5 to swing, and the tension wheel 5 is connected with a main shaft of the tension motor 16 through the tension swing rod 8. The tension motor 16 is preferably a stepping motor, an output shaft of the stepping motor rotates in a stepping manner according to a pulse signal, so that a user can conveniently and accurately control the swinging angle of a tension swing rod 8 fixed on the output shaft, the axis of a tension wheel 5 is fixed at the free end of the tension swing rod 8, and the tension wheel 5 performs stepping circular motion around the output shaft along with the change of the swinging angle of the tension swing rod 8, so that the distance between the tension wheel 5 and the main cutting wheel 2 is adjusted, the greater the distance is, the tighter the cutting line between the tension wheel 5 and the main cutting wheel 2 is pulled, preferably, the length of the tension swing rod 8 is set according to the maximum area surrounded by the annular cutting line, the diamond wire is in a critical breaking value in the maximum area, meanwhile, the length of the tension swing rod 8 is also set according to the state that the annular cutting line can be sleeved on the cutting wheel in a normal state, when the tension swing rod, with the annular cutting line cover on each wheel, then through the position of tension motor 16 adjustment tension pulley 5 to make the annular cutting line be fixed in each and take turns to, after cutting a period, because the tensile deformation effect of annular cutting line itself can make the rate of tension diminish, through tension pulley 5 tensioning again this moment, can prolong the life of annular diamond wire.

Furthermore, a fixed guide wheel 6 for supporting the diamond wire is arranged on the cutting wire net, and the fixed guide wheel 6 is fixed on the cutting head frame 1. Through setting up fixed guide pulley 6, pull open the distance that lies in between main cutting wheel 2 and the upper and lower diamond wire of annular cut line from between the cutting wheel 3, make things convenient for going on of cutting operation, the diamond wire of top carries out the secondary cutting to the part of having cut when avoiding deep into the cutting, prevents the emergence of mistake cutting phenomenon.

Furthermore, a tension sensor 18 for monitoring the tension of the wire mesh in real time is arranged on the fixed guide wheel 6. The tension sensor 18 is arranged on a rotating shaft of the fixed guide wheel 6, the tension of the annular cutting line received by the fixed guide wheel 6 is tested, the tension sensor 18 is additionally arranged and is connected with the control system, the tension state of the annular cutting line can be monitored in real time, and the tension motor 16 is controlled by the control system to adjust in time when the tension state is not suitable for cutting, so that the annular cutting line is in the optimal cutting state.

Further, the wheel grooves of the main cutting wheel 2, the auxiliary cutting wheel 3, the tension wheel 5 and the fixed guide wheel 6 are all positioned in the same plane. Set up 4 cutting wheels that are in same horizontal plane for the cutting wire net that finally forms also is in on the same horizontal plane, is favorable to the precision of buddha's warrior attendant line control cutting process when the cutting, and tension pulley 5 and fixed guide pulley 6 divide belong to different fixed directions, have enlarged the cutting space of stepping down that the annular cutting line encloses, are favorable to deep cutting.

Further, the cutting wheel 3 and the cutting head frame 1 are fixedly connected through a sliding assembly. The sliding component comprises a sliding block and a sliding rail arranged corresponding to the sliding block, the rotating shaft of the cutting wheel 3 is fixed on the sliding block, the sliding block makes linear motion in the sliding rail, the sliding rail is fixed on the cutter head frame,

be fixed in the fixing base on the tool bit frame, both ends through bearing fixed connection lead screw on the fixing base, bearing fixed connection servo motor is passed through to the one end of lead screw, a rotation for controlling the lead screw, spiro union screw seat on the lead screw, screw seat both sides are equipped with the limiting plate, two limiting plates are fixed in and form the spacing groove on the fixing base, slide connection about the screw seat is at the spacing inslot, fixedly connected with follows cutting wheel 3 on the screw seat, the rotation of lead screw is driven through servo motor, and then drive the motion of screw seat, because the limiting displacement of spacing groove makes the screw seat can only be along the up-and-down motion of spacing groove direction, and keep having the one side from cutting wheel 3 outwards. Through setting up sliding assembly, make from cutting wheel 3 can slide from top to bottom, cooperation tension pulley 5's adjustment, make the cutting position can become the tilt state from the horizontality, and then increase the space of stepping down of cutting, be favorable to the increase of depth of cut, and simultaneously, make the cutting tool bit can only carry out the cutting of different degree of depth levels through adjustment sliding assembly and tension pulley 5 under the motionless condition of arm through setting up sliding assembly, increase the cutting degree of freedom, reduce the rotation adjustment of arm, convenient and fast.

Furthermore, a yielding groove is arranged on the cutting head frame 1 corresponding to the cutting position. The main cutting wheel 2 and the gauze from between the cutting wheel 3 form the cutting position, and the groove of stepping down sets up on being close to the tool bit frame of cutting position department, reduces the influence of tool bit frame to cutting direction and degree of depth through setting up the groove of stepping down. The cutting tool bit frame 1 is provided with a hollow structure. Hollow out construction when guaranteeing cutting tool head structure intensity, has alleviateed cutting tool bit frame 1's overall weight, is of value to and installs the sensitivity of back action on the robot arm, reduces the bearing strength of arm, prolongs the life of arm. Meanwhile, the hollow structure is beneficial to heat dissipation of the main cutting motor and the tension motor 16, and the service life of the main cutting motor and the service life of the tension motor 16 are prolonged.

Furthermore, a connecting port 9 is arranged on the cutting bit frame 1 corresponding to the mounting position of the mechanical arm. Further, the cutting tool bit passes through connector 9 fixed connection with the arm of robot, and the arm front end is outstanding to be equipped with the fixed axle, is equipped with mounting flange on the fixed axle, connects arm front end and tool bit frame through mounting flange, and this connector 9 sets up in the top of tool bit frame, and the cutting position that corresponds the annular cutting line sets up in the front side of tool bit frame, and connector 9 periphery corresponds the flange and is equipped with a plurality of screw holes.

Further, the mechanical arm is a five-axis linkage mechanical arm. The five-axis linkage mechanical arm comprises a first mechanical arm fixed above a base, the top of the first mechanical arm is rotatably connected with the bottom of a second mechanical arm through a first rotating shaft 10, so that a mechanical arm driving tool bit is freely positioned in the horizontal direction with the first rotating shaft 10 as an axis, the top side of the second mechanical arm is rotatably connected with the bottom side of a third mechanical arm through a second rotating shaft 11, so that the mechanical arm driving tool bit is freely positioned in the vertical direction with the second rotating shaft 11 as the axis, the top side of the third mechanical arm is rotatably connected with the bottom side of a fourth mechanical arm through a third rotating shaft 12, so that the mechanical arm driving tool bit is freely positioned in the vertical direction with the third rotating shaft 12 as the axis, the top of the fourth mechanical arm is rotatably connected with the bottom of a fifth mechanical arm through a fourth rotating shaft 13, so that the mechanical arm driving tool bit is freely rotatably positioned in the direction with the fourth rotating shaft 13 as the axis, the top of the fifth mechanical arm is in a forked arrangement, the interior of the fork is rotatably connected with the two sides of the bottom of the sixth mechanical arm through a fifth rotating shaft 14, so that the mechanical arm drives the cutter head to be freely positioned in the vertical direction with the fifth rotating shaft 14 as an axis, a connector 19 is arranged at the top of the sixth mechanical arm, and the connector 19 is fixedly connected with a connecting port 9 of the cutting cutter head. The first rotation shaft 10, the second rotation shaft 11, the third rotation shaft 12, the fourth rotation shaft 13, and the fifth rotation shaft 14 are controlled in rotation angle by air cylinders.

In another preferred embodiment, as shown in fig. 4, the cutter head frame 1 is a light weight cutter head frame, the frame extends downwards to form two supporting arms, the cutter head forms a large abdicating space by means of the two supporting arms, two cutting wheels 21 are arranged at the end parts of the two supporting arms, a tension wheel 5 and a fixed guide wheel 6 are further arranged on the cutter head frame 1, the diamond wire 17 is an annular diamond wire surrounding the tension wheel, the fixed guide wheel and the outer side of the cutting wheel, the axial center of the tension wheel 5 is connected with the output shaft of the tension motor 16 through a tension swing rod for adjusting the tension of the annular diamond wire mesh, so that the annular diamond wire mesh can smoothly perform cutting action without slipping off, meanwhile, the tensioned diamond wire mesh can perform wire cutting process only by means of the fixed guide wheel 6, the axial center of the fixed guide wheel 6 is fixed on the output shaft of the driving motor 20, the fixed guide wheel 6 is driven to rotate along with, thereby driving the diamond wire net wound on the fixed guide wheel 6 to move.

In the traditional linear cutting, a wire mesh is formed between a guide wheel or a cutting roller through a fixed cutting wheel system, and a workpiece to be processed moves relative to the wire mesh to realize cutting, so that only a geometric body with a simple and regular cutting shape can be fixed, the processing molded surface is single, and the method cannot be applied to a complex three-dimensional body; the traditional robot is characterized in that a hollow seat space is three-dimensional, multi-axis processing can be realized, flexibility is high, and the defects that the robot processing can be influenced by the precision of the robot, and the robot is low in rigidity and not suitable for processing a large-load working condition. Through research and improvement, a cutting system is researched and developed on the basis of a cutting principle, a traditional tool bit fixing mode is changed into a tool bit variable mode, a multi-axis linkage mechanical arm is combined with a diamond wire cutting tool bit, the purpose of flexible cutting is achieved, hard objects can be cut by using smaller driving force, energy is saved, a workpiece processing area cannot be fused and deformed and re-solidified compared with laser cutting, as the diamond wire can be selected from a diamond wire with the diameter of 0.05-0.25 mm, a cutting seam is smaller, residual stress and a thermal structure after the workpiece is processed cannot be damaged, and lasers with higher cost such as optical fibers and the like are not needed; compared with the traditional water cutting, the water consumption is much less, free abrasive is not needed, and a water supply and a water pressure device are not needed; the cutting machine belongs to a contact type cutting mode in principle, a robot drives a cutter head to rotate for cutting, compared with a traditional milling cutter, a saw blade, grinding and the like, a cutting seam is smaller, the wire diameter of a diamond wire is far smaller than 1mm, and the equal diameter of the milling cutter is much larger than 1 mm; the diamond wire saw has low cost, low loss of cutting materials, low energy consumption and better economy; meanwhile, the cutting length of the diamond wire saw is larger than that of a milling cutter and a saw blade.

The above detailed description of the present invention is only a preferred embodiment of the present invention, but not intended to limit the scope of the present invention, and all equivalent changes and modifications made in accordance with the scope of the present invention should be covered by the present invention.

Claims (10)

1. The utility model provides a flexible buddha's warrior attendant wire-electrode cutting system of robot which characterized in that: including the cutter head and be used for driving the cutter head and rotate the arm of cutting, the cutter head includes the cutter head frame, be fixed with main cutting motor on the cutter head frame, main cutting motor's output shaft and main cutting wheel power connection, the cutter head frame corresponds main cutting wheel one side and is equipped with from the cutting wheel, main cutting wheel and from the cutting wire net of encircleing between the cutting wheel and having the formation of diamond line.

2. A robotic flexible diamond wire cutting system according to claim 1, wherein: the cutting machine is characterized in that a driving wheel is fixed on an output shaft of the main cutting motor, a connecting rod is fixed at the axis of the main cutting wheel, the connecting rod is rotatably connected with the cutting tool bit frame, and the driving wheel is in transmission connection with the connecting rod through a belt.

3. A robotic flexible diamond wire cutting system according to claim 2, wherein: the connecting rod is provided with a synchronizing wheel, penetrates through the axle center of the synchronizing wheel and is fixedly connected with the synchronizing wheel, and the synchronizing wheel is in transmission connection with the driving wheel through a belt.

4. A robotic flexible diamond wire cutting system according to claim 1, wherein: the cutting tool bit frame is provided with a tension pulley corresponding to the cutting wire net, and the tension pulley is fixed on the tensioning driving assembly.

5. A robotic flexible diamond wire cutting system according to claim 4, wherein: the tensioning driving assembly comprises a tension motor for providing driving force and a tension swing rod for driving a tension wheel to swing, and the tension wheel is connected with a main shaft of the tension motor through the tension swing rod.

6. A robotic flexible diamond wire cutting system according to claim 4, wherein: and the cutting wire net is also provided with a fixed guide wheel for supporting the diamond wire, and the fixed guide wheel is fixed on the cutting tool bit frame.

7. A robotic flexible diamond wire cutting system according to claim 6, wherein: and a tension sensor for monitoring the tension of the cutting wire net in real time is arranged on the fixed guide wheel.

8. A robotic flexible diamond wire cutting system according to claim 6, wherein: the wheel grooves of the main cutting wheel, the auxiliary cutting wheel, the tension wheel and the fixed guide wheel are all located in the same plane.

9. A robotic flexible diamond wire cutting system according to claim 1, wherein: the secondary cutting wheel is fixedly connected with the cutting tool bit frame through a sliding assembly.

10. A robotic flexible diamond wire cutting system according to claim 1, wherein: the cutter head frame is provided with a abdicating groove corresponding to the cutting position, the cutting head frame is provided with a connecting port corresponding to the mounting position of the mechanical arm, and the mechanical arm is a five-axis linkage mechanical arm.

Images