CN104096915B - Creeping motion type cutting robot - Google Patents
Creeping motion type cutting robot Download PDFInfo
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- CN104096915B CN104096915B CN201410327161.1A CN201410327161A CN104096915B CN 104096915 B CN104096915 B CN 104096915B CN 201410327161 A CN201410327161 A CN 201410327161A CN 104096915 B CN104096915 B CN 104096915B
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- feeding
- cutting
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Abstract
The present invention relates to a kind of creeping motion type cutting robot, it is characterized in that: comprise driving gear I, feeding stepper-motor, feeding leading screw, crossbeam, drive-motor I, feeding central shaft I, guide rail I, main worktable, finishing limit switch, cutting stepper-motor, cutting feeding slide block, cutting direct-current machine, disc cutter, lock washer, set nut, link span, connection roller, crossbeam electro-magnet, initial limit switch, driving gear IV etc. It is for existing work piece cut robot, has periodically, volume is little, positioning precision height, structure and the feature such as control is simple, and combines the advantage of self, it is achieved creep feed on sheet material, thus the cutting of competent large-size workpiece.
Description
Technical field
The present invention relates to a kind of robot for work piece cut, in particular to a kind of creeping motion type cutting robot.
Background technology
In reality is cut, the size of workpiece is often not of uniform size, and difference is very big, therefore it is required that cutting facility has broad work range. In order to realize portable target, it is desired to equipment volume is little, can overall on workpiece advance, it is thus desirable to robot realizes simultaneously.
Summary of the invention
The present invention is by after the relative merits that compare the robots such as leg foot formula, wheeled, creeping motion type, swimming type, it provides the creepage robot of a kind of work piece cut. Its technical scheme adopted is as follows:
Creeping motion type cutting robot, comprise driving gear I, feeding stepper-motor, feeding leading screw, crossbeam, transmitting gear I, neutral gear I, drive-motor I, feeding central shaft I, driving gear II, guide rail I, guide rail II, main worktable, main worktable electro-magnet, finishing limit switch, cutting stepper-motor, cutting feeding leading screw, cutting feeding slide block, cutting direct-current machine, disc cutter, driving gear III, guide rail III, guide rail IV, lock washer, set nut, transmitting gear II, neutral gear II, drive-motor II, feeding central shaft II, link span, connect roller, crossbeam electro-magnet, initial limit switch, driving gear IV.
Described driving gear I and driving gear II is arranged on the two ends of feeding central shaft I, and the tooth bar on guide rail IV and guide rail II coordinates, described feeding stepper-motor is arranged on main worktable, and drive the slide block on crossbeam by feeding leading screw, described transmitting gear I is arranged on drive-motor I output shaft, and coordinate with neutral gear I and drive feeding central shaft I, described main worktable electro-magnet is arranged on the pillar stiffener of main worktable, and described finishing limit switch and initial limit switch are arranged on the side of main worktable. On main worktable four the main worktable electro-magnet concurrent lively work of energising, main worktable electro-magnet is attracted on steel plate, and therefore main worktable is also fixed on steel plate. Drive-motor I is energized, drive-motor I band nutating gear I rotates, transmitting gear I by with the engaging of neutral gear I, achieve the object slowed down and increase power, and then engaged with guide rail IV and guide rail II (having tooth bar above) by driving gear I and driving gear II, driving tooth bar moves forward an intrinsic stroke.After workpiece is cut, cutting stepper-motor power-off, feeding stepper-motor is energized. Feeding stepper-motor passes torque to feeding leading screw, and feeding leading screw by converting the motion of horizontal linear servo feed to coordinating of the slide block on crossbeam by rotary motion, and the slide block on crossbeam drives crossbeam and disc cutter servo feed forward, cuts out a narrow slit. When disc cutter runs to finishing limit switch from initial limit switch, show that disc cutter has been walked to be over an intrinsic stroke, therefore cut direct-current machine and cutting stepper-motor power-off, disc cutter stall.
Described cutting stepper-motor is arranged on the Slipper of crossbeam, and be connected with cutting feeding leading screw, drive cutting feeding slide block, described cutting direct-current machine is arranged on cutting feeding slide block, and driving disc cutter by shaft coupling, described driving gear III and driving gear IV is arranged on feeding central shaft II two ends, and coordinates with the tooth bar on guide rail III and guide rail I respectively, described lock washer is arranged on disc cutter both sides, and is fixed by set nut. Cutting direct-current machine energising, disc cutter high speed rotating gets up. Cutting stepper-motor energising, cutting stepper-motor drives cutting feeding leading screw to rotate, the rotary motion of cutting stepper-motor, by coordinating with the slide block on crossbeam, is converted into linear servo feeding movement vertically downward by cutting feeding leading screw, and disc cutter cuts workpiece downwards.
Described transmitting gear II is arranged on drive-motor II output shaft, and drive feeding central shaft II by neutral gear II, the chute that described link span is arranged on main worktable by connecting roller, and be connected with guide rail I, guide rail II, guide rail III, guide rail IV, described crossbeam electro-magnet is arranged on the pillar stiffener of crossbeam. Main worktable has been wriggled forward after an intrinsic stroke, feeding stepper-motor power-off stall. Four main worktable electro-magnet energising also actions below main worktable, thus main worktable is fixed on steel plate. Drive-motor II is energized, motor passes torque to transmitting gear II, transmitting gear II is by realizing slowing down and increasing power object with engaging of neutral gear II, neutral gear II sends power to driving gear III and driving gear IV by feeding central shaft II, driving gear III and driving gear IV engages with guide rail II and guide rail IV (having tooth bar above) respectively, and order about guide rail II and guide rail IV and wriggle forward an intrinsic stroke, make it to be positioned at below main worktable, keep normal corresponding relation. Crossbeam electro-magnet power-off on crossbeam, crossbeam departs from steel plate so that electrode wafer can move again.
Tool of the present invention has the following advantages: the motion of creepage robot has periodically, volume is little, positioning precision height, structure and the feature such as control is simple. Creepage robot combines the advantage of self, it is achieved creep feed on sheet material, thus the cutting of competent large-size workpiece.
Accompanying drawing explanation
Fig. 1: creeping motion type cutting robot structural representation;
Fig. 2: local structure schematic diagram before creeping motion type cutting robot;
Fig. 3: local structure schematic diagram after creeping motion type cutting robot;
Nomenclature
1. driving gear I, 2. feeding stepper-motor, 3. feeding leading screw, 4. crossbeam, 5. transmitting gear I, 6. neutral gear I, 7. drive-motor I, 8. feeding central shaft I, 9. driving gear II, 10. guide rail I, 11. guide rail II, 12. main worktable, 13. main worktable electro-magnet, 14. finishing limit switch, 15. cutting stepper-motors, 16. cutting feeding leading screws, 17. cutting feeding slide blocks, 18. cutting direct-current machine, 19. disc cutters, 20. driving gear III, 21. guide rail III, 22. guide rail IV, 23. lock washers, 24. set nuts, 25. transmitting gear II, 26. neutral gear II, 27. drive-motor II, 28. feeding central shaft II, 29. link spans, 30. connection rollers, 31. crossbeam electro-magnet, 32. initial limit switches, 33. driving gear IV.
Embodiment
Below in conjunction with accompanying drawing and example, the invention will be further described:
As shown in Figure 1, creeping motion type cutting robot, comprise driving gear I1, feeding stepper-motor 2, feeding leading screw 3, crossbeam 4, transmitting gear I5, neutral gear I6, drive-motor I7, feeding central shaft I8, driving gear II9, guide rail I10, guide rail II11, main worktable 12, main worktable electro-magnet 13, finishing limit switch 14, cutting stepper-motor 15, cutting feeding leading screw 16, cutting feeding slide block 17, cutting direct-current machine 18, disc cutter 19, driving gear III20, guide rail III21, guide rail IV22, lock washer 23, set nut 24, transmitting gear II25, neutral gear II26, drive-motor II27, feeding central shaft II28, link span 29, connect roller 30, crossbeam electro-magnet 31, initial limit switch 32, driving gear IV33. described driving gear I1 and driving gear II9 is arranged on the two ends of feeding central shaft I8, and the tooth bar on guide rail IV22 and guide rail II11 coordinates, described feeding stepper-motor 2 is arranged on main worktable 12, and drive the slide block on crossbeam 4 by feeding leading screw 3, described transmitting gear I5 is arranged on drive-motor I7 output shaft, and coordinate with neutral gear I6 and drive feeding central shaft I8, described main worktable electro-magnet 13 is arranged on the pillar stiffener of main worktable 12, described finishing limit switch 14 and initial limit switch 32 are arranged on the side of main worktable 12, described cutting stepper-motor 15 is arranged on the Slipper of crossbeam 4, and be connected with cutting feeding leading screw 16, drive cutting feeding slide block 17, described cutting direct-current machine 18 is arranged on cutting feeding slide block 17, and drive disc cutter 19 by shaft coupling, described driving gear III20 and driving gear IV33 is arranged on feeding central shaft II28 two ends, and coordinate with the tooth bar on guide rail III21 and guide rail I10 respectively, described lock washer 23 is arranged on disc cutter 19 both sides, and fixed by set nut 24, described transmitting gear II25 is arranged on drive-motor II27 output shaft, and drive feeding central shaft II28 by neutral gear II26, the chute that described link span 29 is arranged on main worktable 12 by connecting roller 30, and with guide rail I10, guide rail II11, guide rail III21, guide rail IV22 is connected, described crossbeam electro-magnet 31 is arranged on the pillar stiffener of crossbeam 4.
Creepage robot is placed on sheet material, and the main worktable electro-magnet 13 of four on main worktable 12 is energized concurrent lively work, and main worktable electro-magnet 13 is attracted on steel plate, and therefore main worktable 12 is also fixed on steel plate. Drive-motor I7 is energized, drive-motor I7 band nutating gear I5 rotates, transmitting gear I5 by with the engaging of neutral gear I6, achieve the object slowed down and increase power, and then engaged with guide rail IV22 and guide rail II11 (having tooth bar above) by driving gear I1 and driving gear II9, driving tooth bar moves forward an intrinsic stroke. Cutting direct-current machine 18 is energized, and disc cutter 19 high speed rotating gets up. Cutting stepper-motor 15 is energized, cutting stepper-motor 15 drives cutting feeding leading screw 16 to rotate, the rotary motion of cutting stepper-motor 15, by coordinating with the slide block on crossbeam 4, is converted into linear servo feeding movement vertically downward by cutting feeding leading screw 16, and disc cutter 19 cuts workpiece downwards. After workpiece is cut, cutting stepper-motor 15 power-off, feeding stepper-motor 2.Feeding stepper-motor 2 passes torque to feeding leading screw 3, feeding leading screw 3 by converting the motion of horizontal linear servo feed to coordinating of the slide block on crossbeam 4 by rotary motion, slide block on crossbeam 4 drives crossbeam 4 and disc cutter 19 servo feed forward, cuts out a narrow slit. When disk cutting electrode runs to finishing limit switch 14 from initial limit switch 32, show that disc cutter 19 has been walked to be over an intrinsic stroke, therefore cut direct-current machine 18 and cutting stepper-motor 15 power-off, disc cutter 19 stall. Crossbeam electro-magnet 31 on crossbeam 2 is energized, crossbeam 4 is attracted on steel plate, therefore cutting feeding slide block 17, vertical servo control mechanism, cutting direct-current machine 18 and disc cutter 19 all to be maintained static, disc cutter 19 remains in joint-cutting (can improve the positioning precision of cutting) like this. Four main worktable electro-magnet 13 power-off on main worktable 12 subsequently, departs from steel plate, and main worktable 12 becomes moveable. Feeding stepper-motor 2 is energized and reverses, feeding leading screw 3 rotates and matches with the slide block on crossbeam 4, rotary motion is still converted into translational motion, but owing to the slide block on now crossbeam 4 and crossbeam are fixed on steel plate not move, therefore can only be that feeding leading screw 3 moves forward relative to the slide block level on crossbeam 4. Again because feeding leading screw 3 and feeding stepper-motor 2 link together, and connecting on the table, leading screw just drives the motion forward of worktable. Now feeding stepper-motor 2 is the propulsion source that worktable moves forward. Main worktable 12 moves forward and utilizes driving gear I1, driving gear II9, driving gear III20, driving gear IV33 scrolling realization on guide rail I10 and guide rail III21, after driving gear I1, driving gear II9, driving gear III20, driving gear IV33 cross guide rail I10 and guide rail III21, then it is transformed on guide rail II11 and guide rail IV22 and continues to roll and advance. Main worktable 12 has been wriggled forward after an intrinsic stroke, feeding stepper-motor 2 power-off stall. Main worktable 12 is four main worktable electro-magnet 13 energising also actions below, thus main worktable 12 is fixed on steel plate. Drive-motor II27 is energized, motor passes torque to transmitting gear II25, transmitting gear II25 is by realizing slowing down and increasing power object with engaging of neutral gear II26, neutral gear II26 sends power to driving gear III20 and driving gear IV33 by feeding central shaft II28, driving gear III20 and driving gear IV33 engages with guide rail II11 and guide rail IV22 (having tooth bar above) respectively, and order about guide rail II11 and guide rail IV22 and wriggle forward an intrinsic stroke, make it to be positioned at below main worktable 12, keep normal corresponding relation. Crossbeam electro-magnet 31 power-off on crossbeam 4, crossbeam 4 departs from steel plate so that disc cutter 19 can move again.
Describing the present invention by way of example above, but the invention is not restricted to above-mentioned specific embodiment, all any changes of doing based on the present invention or modification all belong to the scope of protection of present invention.
Claims (3)
1. creeping motion type cutting robot, it is characterised in that: comprise driving gear I (1), feeding stepper-motor (2), feeding leading screw (3), crossbeam (4), transmitting gear I (5), neutral gear I (6), drive-motor I (7), feeding central shaft I (8), driving gear II (9), guide rail I (10), guide rail II (11), main worktable (12), main worktable electro-magnet (13), finishing limit switch (14), cutting stepper-motor (15), cutting feeding leading screw (16), cutting feeding slide block (17), cutting direct-current machine (18), disc cutter (19), driving gear III (20), guide rail III (21), guide rail IV (22), lock washer (23), set nut (24), transmitting gear II (25), neutral gear II (26), drive-motor II (27), feeding central shaft II (28), link span (29), connect roller (30), crossbeam electro-magnet (31), initial limit switch (32), driving gear IV (33), described driving gear I (1) and driving gear II (9) are arranged on the two ends of feeding central shaft I (8), and the tooth bar on guide rail IV (22) and guide rail II (11) coordinates, feeding stepper-motor (2) is arranged on main worktable (12), and drive the slide block on crossbeam (4) by feeding leading screw (3), transmitting gear I (5) is arranged on drive-motor I (7) output shaft, and coordinate with neutral gear I (6) and drive feeding central shaft I (8), main worktable electro-magnet (13) is arranged on the pillar stiffener of main worktable (12), finishing limit switch (14) and initial limit switch (32) are arranged on the side of main worktable (12).
2. creeping motion type cutting robot according to claim 1, it is characterized in that: cutting stepper-motor (15) is arranged on the Slipper of crossbeam (4), and be connected with cutting feeding leading screw (16), drive cutting feeding slide block (17), cutting direct-current machine (18) is arranged in cutting feeding slide block (17), and drive disc cutter (19) by shaft coupling, driving gear III (20) and driving gear IV (33) is arranged on feeding central shaft II (28) two ends, and coordinate with the tooth bar on guide rail III (21) and guide rail I (10) respectively, lock washer (23) is arranged on disc cutter (19) both sides, and fixed by set nut (24).
3. creeping motion type cutting robot according to claim 1, it is characterized in that: transmitting gear II (25) is arranged on drive-motor II (27) output shaft, and drive feeding central shaft II (28) by neutral gear II (26), the chute that link span (29) is arranged on main worktable (12) by connecting roller (30), and be connected with guide rail I (10), guide rail II (11), guide rail III (21), guide rail IV (22), crossbeam electro-magnet (31) is arranged on the pillar stiffener of crossbeam (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410327161.1A CN104096915B (en) | 2014-07-10 | 2014-07-10 | Creeping motion type cutting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410327161.1A CN104096915B (en) | 2014-07-10 | 2014-07-10 | Creeping motion type cutting robot |
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| Publication Number | Publication Date |
|---|---|
| CN104096915A CN104096915A (en) | 2014-10-15 |
| CN104096915B true CN104096915B (en) | 2016-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410327161.1A Expired - Fee Related CN104096915B (en) | 2014-07-10 | 2014-07-10 | Creeping motion type cutting robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105252070B (en) * | 2015-10-10 | 2018-04-06 | 中国石油天然气集团公司 | A kind of axially cutting device |
| CN106363784A (en) * | 2016-11-11 | 2017-02-01 | 江苏天元智能装备股份有限公司 | Cutting system |
| CN110006772A (en) * | 2019-04-17 | 2019-07-12 | 永康市磨鹰磨具有限公司 | Automate grinding wheel performance detection apparatus |
| CN113020937B (en) * | 2021-03-29 | 2022-09-27 | 武汉理工大学 | Peristaltic installation robot with variable-rigidity cloth clips and control method of peristaltic installation robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1411949A (en) * | 2002-11-28 | 2003-04-23 | 上海交通大学 | Portal frame feeding and precision indexing device of machine tool for making large screen template |
| CN1411948A (en) * | 2002-11-28 | 2003-04-23 | 上海交通大学 | Multifunctional machine tool for making large screen template |
| CN101554738A (en) * | 2008-04-09 | 2009-10-14 | 沈阳奥拓福高压水射流技术有限公司 | Numerical control five-axle linkage super-high pressure water jet cutting machine |
| CN202571445U (en) * | 2012-04-23 | 2012-12-05 | 北京首融汇科技发展有限公司 | Plate ring shearing machine |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6798088B2 (en) * | 2002-11-07 | 2004-09-28 | Industrial Technology Research Institute | Structure for symmetrically disposed linear motor operated tool machine |
| WO2009093877A2 (en) * | 2008-01-25 | 2009-07-30 | Complex machining center |
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2014
- 2014-07-10 CN CN201410327161.1A patent/CN104096915B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1411949A (en) * | 2002-11-28 | 2003-04-23 | 上海交通大学 | Portal frame feeding and precision indexing device of machine tool for making large screen template |
| CN1411948A (en) * | 2002-11-28 | 2003-04-23 | 上海交通大学 | Multifunctional machine tool for making large screen template |
| CN101554738A (en) * | 2008-04-09 | 2009-10-14 | 沈阳奥拓福高压水射流技术有限公司 | Numerical control five-axle linkage super-high pressure water jet cutting machine |
| CN202571445U (en) * | 2012-04-23 | 2012-12-05 | 北京首融汇科技发展有限公司 | Plate ring shearing machine |
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| CN104096915A (en) | 2014-10-15 |
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Granted publication date: 20160608 Termination date: 20170710 |