CN104476100A - Metal hammering machining tool applied to robotic arm - Google Patents
Metal hammering machining tool applied to robotic arm Download PDFInfo
- Publication number
- CN104476100A CN104476100A CN201410655854.3A CN201410655854A CN104476100A CN 104476100 A CN104476100 A CN 104476100A CN 201410655854 A CN201410655854 A CN 201410655854A CN 104476100 A CN104476100 A CN 104476100A
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- aluminium alloy
- direct current
- steel
- current generator
- fixed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P9/00—Treating or finishing surfaces mechanically, with or without calibrating, primarily to resist wear or impact, e.g. smoothing or roughening turbine blades or bearings; Features of such surfaces not otherwise provided for, their treatment being unspecified
- B23P9/04—Treating or finishing by hammering or applying repeated pressure
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention provides a metal hammering machining tool applied to a six-axis robotic arm. The metal hammering machining tool applied to the six-axis robotic arm is composed of an aluminum alloy supporting frame, an aluminum alloy cable clamp, a hammering head and a direct current motor. The hammering head is composed of a steel striking head, steel rods, a scotch yoke, a rotary disk, a collar, bearings and a fixed disk. The two steel rods in an upper and lower arrangement mode are connected through the Scottish yoke. The steel striking head is arranged at the bottom of the steel rods. One end of the upper steel rod is inserted into the linear bearing at the top of the aluminum alloy supporting frame. One end of the lower steel rod is inserted into the linear bearing at the bottom of the aluminum alloy supporting frame. One side of the aluminum alloy supporting frame is provided with a round hole. The direct current motor is arranged at the round hole and fixed to the aluminum alloy supporting frame through the aluminum alloy cable clamp. A rotating shaft of the direct current motor is inserted into the bearings. The bearings, the fixed disk, the collar and the rotary disk are concentrically mounted together to form a whole fixed to the aluminum alloy supporting frame through screws. An eccentric shaft of the rotary disk is inserted into the scotch yoke. The metal hammering machining tool applied to the six-axis robotic arm is simple in structure and easy to operate.
Description
Technical field
The present invention is mainly used in and uses digital control processing instrument to carry out texture manufacture field to metal material, especially a kind of metal hammering machining tool based on six shaft mechanical arms.
Background technology
Current existing metal texture processing method is mainly chemical method for etching, chemical agent is used to etch the texture of needs in metal surface, this method has the restriction of larger place, facility, technical foundation and safety measure aspect, although apply more, and dumb.Have newer technology to have laser-engraving technique at present, although this technology flexibility and security aspect more better, higher to the requirement of equipment and technical foundation, cost is also higher.
Summary of the invention
The object of the present invention is to provide one to be applied to metal hammering machining tool on six shaft mechanical arms, hammering action at a high speed can be realized.By six shaft mechanical arm actions, the present invention seeks to, by moving hammering to the quick continuous print of metallic plate, to process texture miscellaneous on a metal plate.
What the present invention proposed is applied to metal hammering machining tool on six shaft mechanical arms, by aluminium alloy post 1, aluminium alloy wire clamp 2, hammering head and direct current generator 11 form, hammering head is by steel striking head 7, steel pole 8, Scotland yoke 9, rotating disk 10, the axle collar 5, bearing 6 and fixed disc composition, wherein: steel pole 8 is two, two steel poles 8 are vertically arranged up and down, connected by Scotland yoke 9 between two steel poles 8 arranged up and down, steel striking head 7 is provided with bottom steel pole 8, the linear bearing 4 being positioned at aluminium alloy post 1 top is inserted in steel pole 8 one end being positioned at upper end, the linear bearing 4 be positioned at bottom aluminium alloy post 1 is inserted in steel pole 8 one end being positioned at lower end, aluminium alloy post 1 side has circular hole, and direct current generator 11 is positioned at described circular hole position, and is fixed on aluminium alloy post 1 by aluminium alloy wire clamp 2, the turning cylinder of direct current generator 11 is inserted in bearing 6, and bearing 6, fixed disc, the axle collar 5 and rotating disk 10 are installed together with one heart and form entirety, and described entirety is screwed on aluminium alloy post 1, eccentric shaft on described rotating disk 10 is inserted in Scotland yoke 9.
In the present invention, described aluminium alloy post 1 opposite side inwall is provided with two backing metals 3, for Scotland yoke 9 regularly
position, prevent steel pole 8 in hammering process from rotating.
In the present invention, described aluminium alloy post 1 opposite side outer wall is connected and fixed ground KUKA six shaft mechanical arm 13 by screw.
In the present invention, described aluminium alloy wire clamp 2 is by two Al alloy blocks, and two resin cushion blocks and two silk axles form, and resin cushion block is through on an axle, is fixed by nut, and silk axle is fixed on aluminium alloy post 1 by nut again; Al alloy block, while perforation, is screwed on direct current generator 11, clamps the Al alloy block be arranged on direct current generator 11, play the effect of fixing direct current generator when installing direct current generator 11 with two resin cushion blocks be fixed on an axle.
The course of work of the present invention is as follows: direct current generator drives
rotating diskhigh Rotation Speed,
rotating diskon eccentric shaft be inserted in the level trough of Scotland yoke, thus the circumference spinning movement of direct current generator be converted into move up and down action, drive the striking head of steel to carry out move up and down (as shown in Figure 2).This instrument can be connected on six shaft mechanical arms by aluminium alloy post, and mechanical arm controls this instrument and moves along desired guiding trajectory, knocks metallic plate simultaneously.Knocked by so repeatedly quick continuous print, process the texture wanted on a metal plate.
Beneficial effect of the present invention is:
1, pure Physical Processing mode, without any harmful side product in process; 2, structure is succinct, with low cost, takes up room little; 3, the texture processing of high accuracy high-freedom degree can be realized by the action of KUKA six shaft mechanical arm.
Accompanying drawing explanation
Fig. 1 is each part disassembly diagram of the present invention.
Fig. 2 is the working state figure of Scotland yoke.
Fig. 3 is of the present inventionly connected to KUKA
six shaft mechanical armsworking state figure.
Number in the figure: 1 is aluminium alloy post; 2 is aluminium alloy wire clamp; 3 is backing metal; 4 is linear bearing; 5 is the axle collar; 6 is bearing; 7 is steel striking head; 8 is steel pole; 9 is Scotland yoke; 10 is rotating disk; 11 is direct current generator; 12 is KUKA six shaft mechanical orbit arm; 13 is KUKA six shaft mechanical arm; 14 knock instrument (the present invention) for metal; 15 for needing the metallic plate of processing; 16 is sandbox.
Detailed description of the invention
The present invention is further illustrated below in conjunction with accompanying drawing.
Embodiment 1:
According to Fig. 1-Fig. 3, the present invention is made up of aluminium alloy post 1, aluminium alloy wire clamp 2, hammering head and direct current generator 11.Aluminium alloy post 1 customizes processing by aluminium alloy material and obtains, and screw hole is reserved in its both sides, and side is for connecting KUKA six shaft mechanical arm 13, and opposite side is for connecting direct current generator 11, and aluminium alloy post 1 top and bottom perforated, be respectively used to install linear bearing 4; Aluminium alloy post 1 inwall is used for fixing the position of Scotland yoke 9 near the backing metal 3 that KUKA six shaft mechanical arm side adopts two metal derbies to do.Aluminium alloy wire clamp 2 is by two Al alloy blocks, and two resin cushion blocks and two silk axles form, and resin cushion block is through on an axle, is fixed by nut, and silk axle is fixed on aluminium alloy post 1 by nut again; Al alloy block, while perforation, is screwed on direct current generator 11, clamps the Al alloy block be arranged on direct current generator 11, play the effect of fixing direct current generator when installing direct current generator 11 with two resin cushion blocks be fixed on an axle.Direct current generator 11 is fixed on aluminium alloy post 1 by aluminium alloy wire clamp 2, direct current generator 11 model is Makita DA3010, rotating speed is 0-2400r/min, the turning end of direct current generator 11 is inserted in bearing 6, bearing 6 and fixed disc, the axle collar 5, rotating disk 10 concentric are installed together, and then entirety is screwed on aluminium alloy post 1.Hammering head is made up of steel striking head 7, steel pole 8, Scotland yoke 9, rotating disk 10, the axle collar 5, bearing 6 and fixed disc, hammering head is inserted in two linear bearings 4 of aluminium alloy post about 1 by two steel poles 8, and two steel poles 8 arranged up and down are connected by Scotland yoke 9.Eccentric shaft on rotating disk 10 is inserted in Scotland yoke 9.Last instrument integral installation is on KUKA six shaft mechanical arm 13.
When doing intermetallic composite coating, first get out sandbox 16, the inside is paved with sand, and the metallic sheet material 15 then will processed is fixed on sandbox 16.The effect of the sand in sandbox 16 is played a supporting role when fullering tool hammering metallic plate.After the metallic plate 15 processed fixes, the robotic arm path file preset is input in KUKA six shaft mechanical arm, then direct current generator 11 power supply is connected, be adjusted to by direct current generator and want rotating speed (determining according to needing the texture of processing), then control KUKA six shaft mechanical arm moves along the path of presetting.Fullering tool is fixed on six shaft mechanical arms, moves while hammering goes out lines on a metal plate.
Claims (4)
1. one kind is applied to metal hammering machining tool on six shaft mechanical arms, by aluminium alloy post (1), aluminium alloy wire clamp (2), hammering head and direct current generator (11) composition, hammering head is by steel striking head (7), steel pole (8), Scotland yoke (9), rotating disk (10), the axle collar (5), bearing (6) and fixed disc composition, it is characterized in that: steel pole (8) is two, two steel poles (8) are vertically arranged up and down, connected by Scotland yoke (9) between two steel poles (8) of arranging up and down, steel pole (8) bottom is provided with steel striking head (7), the linear bearing (4) being positioned at aluminium alloy post (1) top is inserted in steel pole (8) one end being positioned at upper end, the linear bearing (4) being positioned at aluminium alloy post (1) bottom is inserted in steel pole (8) one end being positioned at lower end, aluminium alloy post (1) side has circular hole, and direct current generator (11) is positioned at described circular hole position, and is fixed on aluminium alloy post (1) by aluminium alloy wire clamp (2), the turning cylinder of direct current generator (11) is inserted in bearing (6), bearing (6), fixed disc, the axle collar (5) and rotating disk (10) are installed together with one heart and form entirety, and described entirety is screwed on aluminium alloy post (1), eccentric shaft on described rotating disk (10) is inserted in Scotland yoke (9).
2. be according to claim 1ly applied to metal hammering machining tool on six shaft mechanical arms, it is characterized in that described aluminium alloy post (1) opposite side inwall is provided with two backing metals (3), for the position in fixing Scotland yoke (9).
3. be according to claim 1ly applied to metal hammering machining tool on six shaft mechanical arms, it is characterized in that described aluminium alloy post (1) opposite side outer wall is connected and fixed ground KUKA six shaft mechanical arm 1 (3) by screw.
4. be according to claim 1ly applied to metal hammering machining tool on six shaft mechanical arms, it is characterized in that described aluminium alloy wire clamp (2) is by two Al alloy blocks, two resin cushion blocks and two silk axle compositions, resin cushion block is through on an axle, fixed by nut, silk axle is fixed on aluminium alloy post (1) by nut again; Al alloy block is while perforation, be screwed on direct current generator (11), clamp with two resin cushion blocks be fixed on an axle Al alloy block be arranged on direct current generator (11) when direct current generator (11) are installed, play fixing direct current generator effect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410655854.3A CN104476100B (en) | 2014-11-18 | 2014-11-18 | One is applied to metal hammering machining tool on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410655854.3A CN104476100B (en) | 2014-11-18 | 2014-11-18 | One is applied to metal hammering machining tool on mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104476100A true CN104476100A (en) | 2015-04-01 |
| CN104476100B CN104476100B (en) | 2016-11-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410655854.3A Active CN104476100B (en) | 2014-11-18 | 2014-11-18 | One is applied to metal hammering machining tool on mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104476100B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105964779A (en) * | 2016-07-19 | 2016-09-28 | 厦门理工学院 | Mechanical hammering flattening device |
| CN107443596A (en) * | 2017-08-31 | 2017-12-08 | 浙江昊能光电有限公司 | A kind of manual polysilicon chip perforating press |
| CN108188653A (en) * | 2018-01-24 | 2018-06-22 | 连雪芳 | A kind of and matching used metal texture machining tool of mechanical arm |
| PL423101A1 (en) * | 2017-10-09 | 2019-04-23 | Politechnika Slaska Im Wincent | Device for strengthening rotary picks of mechanical coal miners |
| CN112953305A (en) * | 2021-04-26 | 2021-06-11 | 长春工业大学 | Novel magnetic excitation rotary piezoelectric power generation device |
| CN117481071A (en) * | 2024-01-02 | 2024-02-02 | 中国农业大学 | Fish tank descaling robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3623035C1 (en) * | 1986-07-09 | 1987-12-03 | Kocher & Beck Gravieranstalt | Method and device for producing a punch having a sharp cutting edge |
| CN2401291Y (en) * | 1999-11-19 | 2000-10-18 | 南京金海铜箔有限公司 | Automatic metal foil hammering machine |
| CN2494716Y (en) * | 2001-07-27 | 2002-06-12 | 施守财 | Full-automatic foil-processing machine |
| CN2621855Y (en) * | 2003-04-18 | 2004-06-30 | 陈思金 | Farm hammer |
-
2014
- 2014-11-18 CN CN201410655854.3A patent/CN104476100B/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105964779A (en) * | 2016-07-19 | 2016-09-28 | 厦门理工学院 | Mechanical hammering flattening device |
| CN105964779B (en) * | 2016-07-19 | 2019-04-09 | 厦门理工学院 | A kind of mechanical hammering flattening device |
| CN107443596A (en) * | 2017-08-31 | 2017-12-08 | 浙江昊能光电有限公司 | A kind of manual polysilicon chip perforating press |
| PL423101A1 (en) * | 2017-10-09 | 2019-04-23 | Politechnika Slaska Im Wincent | Device for strengthening rotary picks of mechanical coal miners |
| CN108188653A (en) * | 2018-01-24 | 2018-06-22 | 连雪芳 | A kind of and matching used metal texture machining tool of mechanical arm |
| CN112953305A (en) * | 2021-04-26 | 2021-06-11 | 长春工业大学 | Novel magnetic excitation rotary piezoelectric power generation device |
| CN117481071A (en) * | 2024-01-02 | 2024-02-02 | 中国农业大学 | Fish tank descaling robot |
| CN117481071B (en) * | 2024-01-02 | 2024-04-26 | 中国农业大学 | Fish tank descaling robot |
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| Publication number | Publication date |
|---|---|
| CN104476100B (en) | 2016-11-02 |
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Effective date of registration: 20190716 Address after: Room 301-02, Building 3, 18, No. 1277 Yixian Road, Baoshan District, Shanghai, 200439 Patentee after: SHANGHAI YIZAO BUILDING INTELLIGENT ENGINEERING CO., LTD. Address before: 200092 Shanghai City, Yangpu District Siping Road No. 1239 Co-patentee before: SHANGHAI ARCHI-UNION INTERNATIONAL ARCHITECTURAL DESIGN CO., LTD. Patentee before: Tongji University |
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Address after: 200439 room 301-02, 3 / F, building 18, No. 1277, Yixian Road, Baoshan District, Shanghai Patentee after: Shanghai yizao Technology Co.,Ltd. Address before: 200439 room 301-02, 3 / F, building 18, No. 1277, Yixian Road, Baoshan District, Shanghai Patentee before: SHANGHAI YIZAO BUILDING INTELLIGENT ENGINEERING Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |