CN113814450A

CN113814450A - Milling equipment for support plate of track inspection robot

Info

Publication number: CN113814450A
Application number: CN202111171974.2A
Authority: CN
Inventors: 华吉; 华胜
Original assignee: Ningbo Huayuan Jingte Metal Products Co ltd
Current assignee: Ningbo Huayuan Jingte Metal Products Co ltd
Priority date: 2021-10-08
Filing date: 2021-10-08
Publication date: 2021-12-21

Abstract

The invention relates to the field of machining equipment, in particular to milling equipment for a support plate of a track inspection robot, which comprises a rack, and a machining table, a positioning mechanism, a clamping mechanism, a double-shaft driving mechanism and a milling mechanism which are positioned on the rack, wherein the double-shaft driving mechanism comprises a cross beam, the milling mechanisms are provided with two groups, and the milling equipment also comprises an interval adjusting mechanism and a tool changing mechanism, the tool changing mechanism comprises a tool changing manipulator and a tool storage bin, the tool changing manipulator is arranged on one side of the tool storage bin, which is close to the machining table, the milling mechanism comprises a rotary driving assembly, a tool clamping device and a milling tool, and the axis of the milling tool is collinear with the output shaft of the rotary driving assembly. The milling equipment can mill the long groove of the support plate of the track inspection robot quickly and accurately, synchronous milling operation can be achieved, the processing requirements of the support plate of the track inspection robot in different models can be met, and the processing precision and the application range of the equipment are improved.

Description

Milling equipment for support plate of track inspection robot

Technical Field

The invention relates to the field of machining equipment, in particular to milling equipment for a support plate of a track inspection robot.

Background

At present, when a metal plate is machined, especially when long-stroke slotting milling is carried out on the plate, most of milling equipment needs manual operation, and many existing milling equipment have the functions of quickly and automatically replacing a tool bit and synchronously milling a long groove, so that tool changing operation needs to be carried out manually, positioning milling needs to be carried out for many times, and working efficiency and machining precision are seriously affected.

The long grooves are milled on a support plate of the track inspection robot and used for installing devices such as guide rails, and the long grooves on the support plate are generally symmetrically arranged in a double-strip mode.

Milling equipment among the prior art, which comprises a frame 1, and be located the processing platform 2 in frame 1, positioning mechanism 3, fixture 4, biax actuating mechanism 5 and milling machine 7 construct, the horizontal fixed mounting of processing platform 2 is in frame 1, positioning mechanism 3 and fixture 4 are all installed on processing platform 2, biax actuating mechanism 5 sets up along the direction of processing, biax actuating mechanism 5's output can be along two direction movements of direction of processing and vertical direction, biax actuating mechanism 5 is equipped with along the crossbeam 5a that the perpendicular to direction of processing set up, milling machine 7 constructs with crossbeam 5a transmission is connected.

Therefore, there is a need to design a milling device for a track inspection robot support plate to solve the above problems.

Disclosure of Invention

In order to solve the technical problem, the milling equipment for the support plate of the track inspection robot is provided.

In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:

the application provides milling equipment of a support plate of a track inspection robot, which comprises a rack, a processing table, a positioning mechanism, a clamping mechanism, a double-shaft driving mechanism and a milling mechanism, wherein the processing table, the positioning mechanism, the clamping mechanism, the double-shaft driving mechanism and the milling mechanism are positioned on the rack, the double-shaft driving mechanism comprises a cross beam, two groups of milling mechanisms are arranged, the double-shaft driving mechanism also comprises an interval adjusting mechanism and a tool changing mechanism, the interval adjusting mechanism is horizontally arranged on the cross beam, the interval adjusting mechanism comprises two output ends which are synchronously and reversely adjusted, the two groups of milling mechanisms are respectively arranged on the two output ends of the interval adjusting mechanism, the tool changing mechanism is arranged on the rack, the tool changing mechanism comprises a tool changing manipulator and a tool storage, the tool changing manipulator is arranged on one side of the tool storage, which is close to the processing table, the milling mechanism comprises a rotary driving component, a tool clamping device and a milling tool, the rotary driving component is vertically and fixedly arranged on the output end of the interval adjusting mechanism, the tool clamping device is mounted on the output end of the rotary driving assembly, the milling tool is mounted on the output end of the tool clamping device, and the axis of the milling tool is collinear with the output shaft of the rotary driving assembly.

Preferably, the processing bench along with the direction of processing vertical direction on seted up vertical groove, a plurality of fixed orifices has been seted up along vertical groove length direction in proper order to vertical inslot, positioning mechanism includes limiting plate and fixing base, limiting plate and fixing base all are equipped with two sets ofly, two sets of limiting plates and fixing base symmetry respectively set up in the both sides of the vertical central plane of direction of processing at the processing bench, the vertical setting of limiting plate, the length direction and the direction of processing of limiting plate are unanimous, the horizontal fixed mounting of fixing base is in the limiting plate bottom, the setting that the fixing base can slide is in vertical groove, fixing base and vertical groove pass through fixed orifices and bolt fixed connection.

Preferably, the positioning mechanism further comprises a limiting strip, the limiting strip is fixedly mounted at the top end of the processing table, the length direction of the limiting strip is perpendicular to the processing direction, and the limiting strip is located on one side, away from the interval adjusting mechanism, of the processing table.

Preferably, fixture is equipped with two sets ofly, and two sets of fixture all set up the one side of keeping away from interval adjustment mechanism at the processing platform, and two sets of fixture are located the both ends of processing platform respectively, and fixture is including connecting rod transmission, right angle grip block and support tight post, and the bottom of right angle grip block is articulated to be set up on spacing, the directional processing platform in reentrant corner side of right angle grip block, supports tight vertical fixed mounting of post on the right angle grip block, and connecting rod transmission is connected with the transmission of right angle grip block.

Preferably, the connecting rod transmission device comprises a transmission plate, an articulated connecting rod and a handle, the transmission plate is located above the processing table, one end of the transmission plate is articulated with the right-angle end part of the right-angle clamping plate, one end of the articulated connecting rod is articulated with the top end of the processing table, the other end of the articulated connecting rod is articulated with the middle part of the transmission plate, a transmission rod is further arranged on the processing table, two ends of the transmission rod are respectively fixedly connected with two transmission plates, one end of the right-angle clamping plate is far away from the two transmission plates, and the handle is horizontally and fixedly installed on the transmission plate.

Preferably, interval adjustment mechanism is including first rotary actuator, two-way threaded rod and sliding seat, two-way threaded rod level sets up directly over the crossbeam, crossbeam top both sides all upwards extend the extension board, two-way threaded rod's both ends respectively with two extension board coupling, the horizontal fixed mounting of first rotary actuator is in one of them end of crossbeam, the output of first rotary actuator is connected with the transmission of one of them end of two-way threaded rod, the sliding seat is equipped with two, two sliding seats all with two-way threaded rod threaded connection, two sliding seats symmetry respectively set up the both ends at two-way threaded rod, two sets of mechanisms of milling respectively fixed mounting are on two interval adjustment mechanisms.

Preferably, the rotary driving assembly comprises a second rotary driver and a rotating plate, the second rotary driver is vertically and fixedly installed at the output end of the distance adjusting mechanism, the rotating plate is horizontally arranged at the output end of the second rotary driver, and the cutter clamping device is fixedly arranged at the bottom end of the rotating plate.

Preferably, the cutter clamping device comprises a chuck and a cutter changing driver, the cutter changing driver is installed on the rotating plate, the chuck is arranged at the output end of the cutter changing driver, a lock nozzle is vertically installed on the chuck, and the output end of the cutter changing driver is in transmission connection with the lock nozzle.

Preferably, the tool changing manipulator comprises a displacement driving device, a rotary driving device and three-jaw chucks, the displacement driving device is fixedly installed on the rack, the rotary driving device is horizontally arranged at the output end of the displacement driving device, two tool changing arms capable of rotating are arranged on the rotary driving device, the three-jaw chucks are provided with two tool changing arms, the two three-jaw chucks are respectively and fixedly installed at the end parts of the two tool changing arms, and the axial distance between the two three-jaw chucks is equal to the axial shortest distance between the two milling tools.

Preferably, a plurality of groups of cutter placing devices are sequentially arranged on the side wall, close to the cutter changing manipulator, of the cutter storage library along the vertical direction, two pneumatic cutter mounting heads are arranged in each group of cutter placing devices, and the axial distance between the two pneumatic cutter mounting heads is consistent with the axial distance between the two three-jaw chucks.

Compared with the prior art, the application has the beneficial effects that:

1. this application can realize the synchronous tool changing operation to two sets of milling cutter through interval adjustment mechanism and tool changing mechanism to can adjust when milling and mill the interval, change according to actual demand and mill the position, mill the operation in step, improve work efficiency by a wide margin, and can promote the precision of milling, reduce the operation of fixing a position repeatedly, promote the product quality.

2. This application is through sliding the fixing base in vertical groove to through the bolt fastening to the fixed orifices in vertical groove, with the position fixing of fixing base and vertical groove, and then realized the regulation fixed function of limiting plate, make it all play prepositioning and limit function to the backup pad of equidimension not.

3. The follow-up centre gripping work to the backup pad of this application is more accurate, and makes fixture can stabilize the centre gripping and carry on spacingly to the backup pad along the ascending lateral wall of length direction, makes it add man-hour more stable, improves the machining precision.

4. This application drives the milling direction that mills the mechanism through biax actuating mechanism and moves to the one side that is close to positioning mechanism from the one side that is close to interval adjustment mechanism to provide a forward thrust to the backup pad, the right angle grip block can realize the spacing centre gripping of horizontal direction to the backup pad through the part of contradicting with it, support tight post and can fix a position the centre gripping to the vertical direction of backup pad, thereby realize that the backup pad is whole accurate to be fixed on the processing bench, improve the precision of milling.

5. This application is through handheld handle of operating personnel to press down, and then drives the synchronous downstream of driving plate at both ends through the transfer line, drives articulated connecting rod and presss from both sides the backup pad tightly downwards, realizes the driving function of centre gripping action, through the synchronous tip centre gripping with the backup pad of pressing the mode, can realize the centre gripping operation fast.

6. This application drives two-way threaded rod rotation through first rotary actuator, and two-way threaded rod drives two sliding seat of threaded connection with it and moves in opposite directions or opposite directions, and then drives two mechanisms of milling installed on the sliding seat and follows sliding seat synchronous motion, and then realizes interval regulatory function for equipment can adapt to the difference and mill the demand, improve equipment's application scope.

7. This application drives the rotor plate rotation of fixed connection with it through the output of second rotary actuator, and the rotor plate drives the synchronous rotation of the cutter clamping device of its bottom installation, and then makes the milling cutter rotation of centre gripping on the rotor plate, realizes the rotary drive function of milling operation.

8. This application drives the locking mouth unblock on the chuck through cutter tool changing driver output, takes out milling cutter from the chuck, inserts the axle head of another model milling cutter again in the chuck, removes cutter tool changing driver's drive power this moment, and the open mode is removed to the locking mouth on the chuck, and milling cutter fixed mounting is on the chuck with locking mouth locking to the locking function to milling cutter is accomplished.

9. This application can all play good centre gripping effect to the cutter of different grade type through three-jaw chuck for equipment can be with the cutter of different grade type installation to milling mechanism in, realize the accurate function of milling.

10. This application is fixed with the cutter through pneumatic cutter installation head, when needs were got and is put the sword, through the output of pneumatic cutter installation head with the cutter unblock for the joint relation is removed with tool changing mechanism to the cutter, and the going on of the tool changing work of being convenient for.

Drawings

FIG. 1 is a schematic perspective view of a first embodiment of the present invention;

FIG. 2 is a schematic perspective view of a second embodiment of the present invention;

FIG. 3 is a front view of an implementation of the present invention;

FIG. 4 is a top view of one implementation of the present invention;

FIG. 5 is a schematic perspective view of a processing table, positioning mechanism and clamping mechanism embodying the present invention;

FIG. 6 is a schematic perspective view of FIG. 5 at another angle;

FIG. 7 is a top view of FIG. 5;

FIG. 8 is a side view of FIG. 5;

FIG. 9 is a schematic perspective view of a dual-axis drive mechanism, spacing adjustment mechanism, and milling mechanism embodying the present invention;

FIG. 10 is a side view of FIG. 9;

FIG. 11 is a first perspective view of a milling mechanism embodying the present invention;

FIG. 12 is a schematic perspective view of a second milling mechanism embodying the present invention;

FIG. 13 is a schematic perspective view of a tool changing mechanism embodying the present invention;

fig. 14 is a schematic perspective view of a tool changing robot embodying the present invention;

fig. 15 is a schematic perspective view of a tool magazine according to the present invention.

The reference numbers in the figures are:

1-a frame; 2-a processing table; 3-a positioning mechanism; 4-a clamping mechanism; 5-a biaxial drive mechanism; 6-a spacing adjustment mechanism; 7-a milling mechanism; 8-a tool changing mechanism; 2 a-longitudinal grooves; 3 a-a limiting plate; 3 b-a fixed seat; 3 c-a limiting strip; 4 a-link transmission; 4a1 — drive plate; 4a 2-hinge link; 4a 3-grip; 4 b-a right angle clamping plate; 4 c-a tightening post; 5 a-a beam; 6 a-a first rotary drive; 6 b-a bidirectional threaded rod; 6 c-sliding seat; 7 a-a rotary drive assembly; 7a1 — second rotary drive; 7a 2-rotating plate; 7 b-a tool holding device; 7b 1-cartridge; 7b 2-tool changing drive; 7 c-a milling tool; 8 a-a tool changing manipulator; 8a 1-displacement drive; 8a 2-rotational drive means; 8a 3-three jaw chuck; 8 b-a tool storage; 8b 1-pneumatic knife mounting head.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.

As shown in fig. 1-4, the following preferred solutions are provided:

milling equipment of track inspection robot support plate comprises a frame 1 and

the processing table 2, the positioning mechanism 3, the clamping mechanism 4, the double-shaft driving mechanism 5 and the milling mechanism 7 are positioned on the frame 1, the processing table 2 is horizontally and fixedly arranged on the frame 1, the positioning mechanism 3 and the clamping mechanism 4 are both arranged on the processing table 2, the double-shaft driving mechanism 5 is arranged along the processing direction, the output end of the double-shaft driving mechanism 5 can move along the processing direction and the vertical direction, the double-shaft driving mechanism 5 is provided with a cross beam 5a which is arranged along the direction vertical to the processing direction, the milling mechanism 7 is in transmission connection with the cross beam 5a,

among the prior art, drive through biax actuating mechanism 5 and mill mechanism 7 and move at x axle and z axle direction, can mill the operation through milling mechanism 7 to the backup pad, process the mounting groove that the level was seted up with the top of backup pad along the direction of processing, but prior art can't carry out the synchronous of two mounting grooves and polish, does not possess the function of adjusting two cutter intervals yet, and can't accomplish automatic tool changing operation, influences work efficiency.

The milling mechanisms 7 are provided with two groups, and further comprise an interval adjusting mechanism 6 and a tool changing mechanism 8, the interval adjusting mechanism 6 is horizontally arranged on a cross beam 5a, the interval adjusting mechanism 6 comprises two output ends for synchronous reverse adjustment, the two groups of milling mechanisms 7 are respectively arranged on the two output ends of the interval adjusting mechanism 6, the tool changing mechanism 8 is arranged on the frame 1, the tool changing mechanism 8 comprises a tool changing manipulator 8a and a tool storage 8b, the tool changing manipulator 8a is arranged on one side of the tool storage 8b close to the processing table 2, the milling mechanism 7 comprises a rotary driving component 7a, a tool clamping device 7b and a milling tool 7c, the rotary driving component 7a is vertically and fixedly arranged on the output end of the interval adjusting mechanism 6, the tool clamping device 7b is arranged on the output end of the rotary driving component 7a, the milling tool 7c is arranged on the output end of the tool clamping device 7b, the axis of the milling tool 7c is collinear with the output shaft of the rotary drive assembly 7 a.

Specifically, in the embodiment provided by the present application, two sets of milling mechanisms 7 arranged on the dual-axis driving mechanism 5 can be used to open two horizontal mounting grooves at the top end of the support plate at one time, and the distance between the two sets of milling mechanisms 7 can be changed according to the difference of the required processing grooves, when the milling tool 7c needs to be replaced, the dual-axis driving mechanism 5 drives the milling mechanism 7 to ascend to the highest position and move to the tool changing station, the two distance adjusting mechanisms 6 are output by the distance adjusting mechanism 6 to move to the minimum distance position, so as to facilitate the subsequent tool changing operation, the two milling tools 7c positioned on the two sets of milling mechanisms 7 are taken out by the tool changing manipulator 8a and then put into the tool storage 8b for storage, and then the two sets of milling tools 7c to be replaced positioned in the tool storage 8b are synchronously taken out by the tool changing manipulator 8a and then inserted into the output end of the milling mechanism 7, carry out the centre gripping through the milling cutter 7c that cutter clamping device 7b will change, at the during operation, the output of rotary drive subassembly 7a drives cutter clamping device 7b and milling cutter 7c and rotates in step, milling cutter 7c mills the operation to the backup pad when rotating, can realize the synchronous tool changing operation to two sets of milling cutter 7c through interval adjustment mechanism 6 and tool changing mechanism 8, and can adjust when milling the interval, change the milling position according to actual demand, mill the operation in step, work efficiency has been improved by a wide margin, and can promote the precision of milling, reduce the operation of fixing a position repeatedly, promote the product quality.

As shown in fig. 5-8, the following preferred solutions are provided:

processing platform has been gone up along having seted up vertical groove 2a with the direction of machining vertical direction on 2, a plurality of fixed orifices has been seted up along vertical groove 2a length direction in proper order in vertical groove 2a, positioning mechanism 3 is including limiting plate 3a and fixing base 3b, limiting plate 3a and fixing base 3b all are equipped with two sets ofly, two sets of limiting plate 3a and fixing base 3b symmetry respectively set up in the both sides of processing platform 2 along the vertical central plane of direction of machining, the vertical setting of limiting plate 3a, limiting plate 3 a's length direction is unanimous with the direction of machining, the horizontal fixed mounting of fixing base 3b is in limiting plate 3a bottom, the setting that fixing base 3b can slide is in vertical groove 2a, fixing base 3b and vertical groove 2a pass through fixed orifices and bolt fixed connection.

It is specific, when carrying out the backup pad location, need carry out the centre gripping spacingly with the backup pad in the both sides of y axle perpendicular to horizontal direction promptly, carry out spacing centre gripping through the lateral wall to the backup pad along vertical both sides, make it realize preliminary location effect, and guarantee that it can not take place the skew in vertical direction in the course of working, and simultaneously, can carry out manual regulation to limiting plate 3 a's position through vertical groove 2a and fixing base 3b, when the size of the backup pad that will process changes, operating personnel is through sliding fixing base 3b in vertical groove 2a, and through the bolt fastening to in vertical groove 2 a's the fixed orifices, with fixing base 3b and vertical groove 2 a's rigidity, and then realized limiting plate 3 a's regulation fixed function, make it all play prepositioning and limit function to the backup pad of equidimension not.

As shown in fig. 5-8, the following preferred solutions are provided:

the positioning mechanism 3 further comprises a limiting strip 3c, the limiting strip 3c is fixedly installed at the top end of the processing table 2, the length direction of the limiting strip 3c is perpendicular to the processing direction, and the limiting strip 3c is located on one side, far away from the distance adjusting mechanism 6, of the processing table 2.

It is specific, when the backup pad is installed, only can carry on spacingly to the longitudinal position of backup pad through limiting plate 3a, can't accomplish to carry out accurate location to the horizontal position of backup pad, consequently, solve this problem through spacing 3c, contradict one side lateral wall and spacing 3c along length direction with the backup pad, thereby carry out prepositioning to its position in horizontal, make follow-up centre gripping work to the backup pad more accurate, and make fixture 4 can stabilize the centre gripping and carry on spacingly to the backup pad along length direction's lateral wall, make it more stable man-hour, improve the machining precision.

As shown in fig. 5-8, the following preferred solutions are provided:

fixture 4 is equipped with two sets ofly, two sets of fixture 4 all set up the one side of keeping away from interval adjustment mechanism 6 at processing platform 2, two sets of fixture 4 are located the both ends of processing platform 2 respectively, fixture 4 is including connecting rod transmission 4a, right angle grip block 4b and support tight post 4c, the articulated setting in spacing 3c of bottom of right angle grip block 4b, the directional processing platform 2 of reentrant corner side of right angle grip block 4b, support the vertical fixed mounting of tight post 4c on right angle grip block 4b, connecting rod transmission 4a is connected with right angle grip block 4b transmission.

Specifically, before the milling operation, the support plate needs to be fixed first, an operator drives a right-angle clamping plate 4b in transmission connection with the right-angle clamping plate 4b to rotate around a hinged position through a manual operation connecting rod transmission device 4a, after the right-angle clamping plate 4b rotates to a certain angle, one of the right-angle clamping plates 4b is in a vertical state and is abutted against one side of the support plate attached to the right-angle clamping plate 4b, the top end of the support plate is abutted against the bottom end of an abutting column 4c arranged on the right-angle clamping plate 4b, so that the support plate can not deviate in the horizontal and vertical directions in the milling operation process, it is worth noting that a double-shaft driving mechanism 5 drives a milling direction of a milling mechanism 7 to move from one side close to an interval adjusting mechanism 6 to one side close to a positioning mechanism 3, a forward thrust is provided for the support plate, the right-angle clamping plate 4b can realize spacing clamping in the horizontal direction through the part thereof, the abutting column 4c can position and clamp the vertical direction of the supporting plate, so that the supporting plate is integrally and accurately fixed on the machining table 2, and the milling precision is improved.

As shown in fig. 5-8, the following preferred solutions are provided:

the connecting rod transmission device 4a comprises a transmission plate 4a1, a hinged connecting rod 4a2 and a handle 4a3, the transmission plate 4a1 is positioned above the machining table 2, one end of the transmission plate 4a1 is hinged with the right-angle end part of the right-angle clamping plate 4b, one end of the hinged connecting rod 4a2 is hinged with the top end of the machining table 2, the other end of the hinged connecting rod 4a2 is hinged with the middle part of the transmission plate 4a1, a transmission rod is further arranged on the machining table 2, two ends of the transmission rod are respectively fixedly connected with one ends, far away from the right-angle clamping plate 4b, of the two transmission plates 4a1, and the handle 4a3 is horizontally and fixedly installed on the transmission plate 4a 1.

Specifically, between the milling operation, the handheld handle 4a3 of operating personnel is pressed down, and then drive the synchronous downstream of driving plate 4a1 at both ends through the transfer line, the motion track of driving plate 4a1 receives the influence of transfer line and articulated connecting rod 4a2, driving plate 4a1 rotates around articulated department, it presss from both sides the backup pad downwards to drive articulated connecting rod 4a2 of fixed connection with it, realize the drive function of centre gripping action, through the synchronous tip centre gripping with the backup pad of mode of pressing, can realize the centre gripping operation fast.

Further, in the preferred embodiment of this application, can also be in processing platform 2 and be close to the manual clamping tool of interval adjustment mechanism 6 one side installation can the adjusting distance, accomplish the centre gripping operation back at fixture 4, make it hug closely the lateral wall that fixture 4 one side was kept away from to the backup pad through the position of adjusting manual clamping tool to also carry out the centre gripping to the tip that fixture 4 one end was kept away from to the backup pad, make the backup pad more stable in the course of working, further improve the processing precision.

As shown in fig. 9-10, the following preferred solutions are provided:

spacing adjustment mechanism 6 is including first rotary actuator 6a, two-way threaded rod 6b and sliding seat 6c, two-way threaded rod 6b level sets up directly over crossbeam 5a, crossbeam 5a top both sides all upwards extend the extension board, two-way threaded rod 6 b's both ends respectively with two extension board coupling, the horizontal fixed mounting of first rotary actuator 6a is in 5a one end wherein, first rotary actuator 6 a's output and two-way threaded rod 6 b's one end transmission are connected, sliding seat 6c is equipped with two, two sliding seat 6c all with two-way threaded rod 6b threaded connection, two sliding seat 6c symmetry respectively set up the both ends at two-way threaded rod 6b, two sets of mechanisms 7 of milling respectively fixed mounting on two spacing adjustment mechanisms 6.

It is specific, when needs adjust and mill the interval, both adjusted two sets of distances of milling between the mechanism 7, mill mechanism 7 or opposite motion in opposite directions through 6 work drive of interval adjustment mechanism, interval adjustment mechanism 6 is at the during operation, it is rotatory to drive two-way threaded rod 6b through first rotary actuator 6a, two-way threaded rod 6b drives two threaded connection's sliding seat 6c or opposite motion in opposite directions with it, and then drive two of installing on sliding seat 6c and mill mechanism 7 and follow sliding seat 6c synchronous motion, and then realize interval regulatory function, make equipment can adapt to the different demands of milling, improve equipment's application scope.

As shown in fig. 11, the following preferred technical solutions are provided:

the rotary driving assembly 7a comprises a second rotary driver 7a1 and a rotating plate 7a2, the second rotary driver 7a1 is vertically and fixedly installed on the output end of the spacing adjusting mechanism 6, the rotating plate 7a2 is horizontally arranged on the output end of the second rotary driver 7a1, and the cutter clamping device 7b is fixedly arranged at the bottom end of the rotating plate 7a 2.

Specifically, when the rotary driving assembly 7a works, the second rotary driver 7a1 outputs and drives the rotating plate 7a2 fixedly connected with the second rotary driver to rotate, and the rotating plate 7a2 drives the tool clamping device 7b mounted at the bottom end of the rotating plate to synchronously rotate, so that the milling tool 7c clamped on the rotating plate 7a2 rotates, and the rotary driving function of the milling operation is realized.

As shown in fig. 12, the following preferred technical solutions are provided:

tool holder 7b includes chuck 7b1 and tool change driver 7b2, and tool change driver 7b2 is installed on rotor plate 7a2, and chuck 7b1 sets up on the output of tool change driver 7b2, and vertical lock mouth of installing on chuck 7b1, tool change driver 7b 2's output and lock mouth transmission are connected.

Specifically, when the tool clamping device 7b works, the tool changer 7b2 outputs and drives the lock nozzle on the chuck 7b1 to unlock, the milling tool 7c is taken out from the chuck 7b1, the shaft end of another type of milling tool 7c is inserted into the chuck 7b1, the driving force of the tool changer 7b2 is released, the lock nozzle on the chuck 7b1 is released from an open state, and the lock nozzle locks to fixedly mount the milling tool 7c on the chuck 7b1, so that the locking function of the milling tool 7c is completed.

As shown in fig. 13-15, the following preferred solutions are provided:

the tool changing manipulator 8a comprises a displacement driving device 8a1, a rotary driving device 8a2 and three-jaw chucks 8a3, the displacement driving device 8a1 is fixedly installed on the rack 1, the rotary driving device 8a2 is horizontally arranged at the output end of the displacement driving device 8a1, two rotatable tool changing arms are arranged on the rotary driving device 8a2, two three-jaw chucks 8a3 are arranged, the two three-jaw chucks 8a3 are respectively and fixedly installed at the end parts of the two tool changing arms, and the axial distance between the two three-jaw chucks 8a3 is equal to the shortest axial distance between the two milling tools 7 c.

Specifically, when carrying out the tool changing operation, take out the cutter that will be arranged in cutter storage 8b through tool changing manipulator 8a, and install the cutter on interval adjustment mechanism 6, sideslip and the vertical displacement of three-jaw chuck 8a3 are realized through displacement drive device 8a1, can drive three-jaw chuck 8a3 rotation through rotary drive device 8a2, so that three-jaw chuck 8a3 switch and get material station and tool changing station, three-jaw chuck 8a3 can all play good clamping effect to the cutter of different grade type, make equipment can install the cutter of different grade type to milling mechanism 7 in, realize the accurate milling function.

As shown in fig. 13-15, the following preferred solutions are provided:

a plurality of groups of cutter placing devices are sequentially arranged on the side wall of the cutter storage 8b close to the cutter changing manipulator 8a along the vertical direction, two pneumatic cutter mounting heads 8b1 are arranged in each group of cutter placing devices, and the axial distance between the two pneumatic cutter mounting heads 8b1 is consistent with the axial distance between the two three- jaw chucks 8a 3.

Specifically, in the process of taking and placing the cutter by the cutter changing mechanism 8, the cutter storage 8b places the cutter on the cutter storage through a plurality of groups of cutter placing devices arranged on the cutter storage, the cutter is fixed through the pneumatic cutter mounting head 8b1, and when the cutter needs to be taken and placed, the cutter is unlocked through the output of the pneumatic cutter mounting head 8b1, so that the clamping relation between the cutter and the cutter changing mechanism 8 is removed, and the cutter changing work is facilitated.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A milling device of a support plate of a track inspection robot comprises a rack (1), a processing table (2), a positioning mechanism (3), a clamping mechanism (4), a double-shaft driving mechanism (5) and a milling mechanism (7), wherein the processing table (2), the positioning mechanism (3), the clamping mechanism (4), the double-shaft driving mechanism (5) and the milling mechanism (7) are positioned on the rack (1), the double-shaft driving mechanism (5) comprises a cross beam (5a), the milling mechanism (7) is provided with two groups, the milling mechanism further comprises an interval adjusting mechanism (6) and a cutter changing mechanism (8), the interval adjusting mechanism (6) is horizontally arranged on the cross beam (5a), the interval adjusting mechanism (6) comprises two output ends which are synchronously and reversely adjusted, the two groups of milling mechanisms (7) are respectively arranged on two output ends of the interval adjusting mechanism (6), the cutter changing mechanism (8) is arranged on the rack (1), the cutter changing mechanism (8) comprises a cutter changing manipulator (8a) and a cutter storage warehouse (8b), the tool changing manipulator (8a) is arranged on one side, close to the machining table (2), of the tool storage (8b), the milling mechanism (7) comprises a rotary driving assembly (7a), a tool clamping device (7b) and a milling tool (7c), the rotary driving assembly (7a) is vertically and fixedly installed on the output end of the distance adjusting mechanism (6), the tool clamping device (7b) is installed on the output end of the rotary driving assembly (7a), the milling tool (7c) is installed on the output end of the tool clamping device (7b), and the axis of the milling tool (7c) is collinear with the output shaft of the rotary driving assembly (7 a).

2. The milling equipment for the support plate of the track inspection robot according to claim 1, wherein the processing table (2) is provided with longitudinal grooves (2a) along a direction perpendicular to the processing direction, the longitudinal grooves (2a) are sequentially provided with a plurality of fixing holes along the length direction of the longitudinal grooves (2a), the positioning mechanism (3) comprises two limiting plates (3a) and two fixing seats (3b), the two limiting plates (3a) and the fixing seats (3b) are respectively and symmetrically arranged at two sides of the vertical central plane of the processing table (2) along the processing direction, the limiting plates (3a) are vertically arranged, the length direction of the limiting plates (3a) is consistent with the processing direction, the fixing seats (3b) are horizontally and fixedly arranged at the bottom ends of the limiting plates (3a), and the fixing seats (3b) can be arranged in the longitudinal grooves (2a) in a sliding manner, the fixed seat (3b) is fixedly connected with the longitudinal groove (2a) through a fixed hole and a bolt.

3. The milling equipment of the support plate of the track inspection robot according to claim 2, wherein the positioning mechanism (3) further comprises a limiting strip (3c), the limiting strip (3c) is fixedly installed at the top end of the processing table (2), the length direction of the limiting strip (3c) is perpendicular to the processing direction, and the limiting strip (3c) is located on one side, away from the distance adjusting mechanism (6), of the processing table (2).

4. The milling equipment of track inspection robot backup pad according to claim 3, characterized in that, fixture (4) are equipped with two sets, two sets of fixture (4) all set up in processing platform (2) keep away from one side of interval adjustment mechanism (6), two sets of fixture (4) are located the both ends of processing platform (2) respectively, fixture (4) are including connecting rod transmission (4a), right angle grip block (4b) and support tight post (4c), the articulated setting in spacing (3c) in bottom of right angle grip block (4b), the directional processing platform (2) of reentrant corner side of right angle grip block (4b), support tight post (4c) vertical fixed mounting on right angle grip block (4b), connecting rod transmission (4a) and right angle grip block (4b) transmission are connected.

5. The milling equipment for the support plate of the track inspection robot according to claim 4, wherein the connecting rod transmission device (4a) comprises a transmission plate (4a1), a hinged connecting rod (4a2) and a handle (4a3), the transmission plate (4a1) is located above the processing table (2), one end of the transmission plate (4a1) is hinged to the right-angle end of the right-angle clamping plate (4b), one end of the hinged connecting rod (4a2) is hinged to the top end of the processing table (2), the other end of the hinged connecting rod (4a2) is hinged to the middle of the transmission plate (4a1), a transmission rod is further arranged on the processing table (2), two ends of the transmission rod are fixedly connected with one ends, far away from the right-angle clamping plate (4b), of the two transmission plates (4a1), and the handle (4a3) is horizontally and fixedly installed on the transmission plate (4a 1).

6. The milling equipment for the supporting plate of the track inspection robot according to claim 1, wherein the spacing adjusting mechanism (6) comprises a first rotary driver (6a), a two-way threaded rod (6b) and two sliding seats (6c), the two-way threaded rod (6b) is horizontally arranged right above a cross beam (5a), extension plates are upwards extended from two sides of the top end of the cross beam (5a), two ends of the two-way threaded rod (6b) are respectively connected with the two extension plates in a shaft mode, the first rotary driver (6a) is horizontally and fixedly installed at one end of the cross beam (5a), the output end of the first rotary driver (6a) is in transmission connection with one end of the two-way threaded rod (6b), the two sliding seats (6c) are respectively in threaded connection with the two-way threaded rod (6b), the two sliding seats (6c) are respectively and symmetrically arranged at two ends of the two-way threaded rod (6b), two groups of milling mechanisms (7) are respectively and fixedly arranged on the two distance adjusting mechanisms (6).

7. The milling equipment of the track inspection robot support plate according to the claim 1, characterized in that the rotary driving assembly (7a) comprises a second rotary driver (7a1) and a rotating plate (7a2), the second rotary driver (7a1) is vertically and fixedly installed on the output end of the spacing adjusting mechanism (6), the rotating plate (7a2) is horizontally arranged on the output end of the second rotary driver (7a1), and the cutter clamping device (7b) is fixedly arranged at the bottom end of the rotating plate (7a 2).

8. The milling equipment of track inspection robot support plate of claim 7, characterized in that cutter clamping device (7b) includes chuck (7b1) and cutter tool changing driver (7b2), cutter tool changing driver (7b2) is installed on rotating plate (7a2), chuck (7b1) sets up on the output of cutter tool changing driver (7b2), lock mouth is installed vertically on chuck (7b1), the output and the lock mouth transmission of cutter tool changing driver (7b2) are connected.

9. The milling equipment of the track inspection robot supporting plate according to the claim 1, characterized in that the tool changing manipulator (8a) comprises a displacement driving device (8a1), a rotation driving device (8a2) and a three-jaw chuck (8a3), the displacement driving device (8a1) is fixedly installed on the rack (1), the rotation driving device (8a2) is horizontally arranged at the output end of the displacement driving device (8a1), two rotatable tool changing arms are arranged on the rotation driving device (8a2), the number of the three-jaw chucks (8a3) is two, the two three-jaw chucks (8a3) are respectively and fixedly installed at the end parts of the two tool changing arms, and the shortest distance between the two three-jaw chucks (8a3) and the shortest distance between the two milling tools (7c) is equal.

10. The milling equipment for the support plate of the track inspection robot according to the claim 9, characterized in that a plurality of groups of cutter placing devices are sequentially arranged on the side wall of the cutter storage warehouse (8b) close to the cutter changing manipulator (8a) along the vertical direction, each group of cutter placing devices is provided with two pneumatic cutter mounting heads (8b1), and the axial distance between the two pneumatic cutter mounting heads (8b1) is consistent with the axial distance between the two three-jaw chucks (8a 3).