CN201941484U - Grinding, engraving and machining robot - Google Patents
Grinding, engraving and machining robot Download PDFInfo
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- CN201941484U CN201941484U CN2011200120607U CN201120012060U CN201941484U CN 201941484 U CN201941484 U CN 201941484U CN 2011200120607 U CN2011200120607 U CN 2011200120607U CN 201120012060 U CN201120012060 U CN 201120012060U CN 201941484 U CN201941484 U CN 201941484U
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Abstract
The utility model relates to a grinding, engraving and machining robot which comprises an industrial personal computer, a motion control card, a step motor driving system, encoders, a screw rod, a linear bearing, a grinding disc, a coupling, a bottom plate and a bracket. The robot is modeled by the industrial personal computer, and a control instruction is generated and transmitted to the motion control card to drive and control variables of respective joints and the angle of the grinding disc; position feedback is performed by the two installed encoders; a semi-closed stepping system is formed; and therefore, the robot is convenient to accurately control the grinding angle and to control the stepless speed regulation of a motor of the grinding disc so as to meet the technical requirements for rough grinding, fine grinding and polishing. The robot has two structures, wherein one structure is used for the machining of the grinding and polishing, and the other structure is used for engraving; the two structures can be conveniently replaced; and therefore the double purposes of the grinding and the engraving are achieved. The robot has the advantages of simple structure, small volume, low energy consumption, high efficiency, low noise, convenience for use and higher automation degree and control accuracy and can be applied to industries such as the grinding and engraving, moulds, lens, machining and the like.
Description
Technical field
The utility model relates to mill carving machining robot, specifically includes a kind of grinding robot, also has a kind of robot that can realize three-dimensional engraving.
Background technology
Along with China's accession to WTO, the grinding and the carving handicraft article market of China are day by day closely in line with international standards, and the handicraft jewellery industry is also developed towards diversification and personalized direction by original value of emphasizing itself merely.This just requires the equipment of handicraft processing that very high flexibility will be arranged.And China handicraft grinding numerically controlled processing equipment field almost is the sheet blank at present, and existing engraving machine engraving angle can not change on the market, so just can not satisfy the handicraft engraving of complicated shape.For the handicraft of complex models such as three-dimensional multiaspect, owing to lack advanced grinding and engraving special processing equipment, much still adopt manual processing, manual processing efficiency is low, and the cost of labor height greatly influences and has restricted the development of handicraft processing industry.Problems such as it is not accurate with the engraving angle how to overcome the grinding of manual processing technology product, and production efficiency is low, and environment is abominable have become key.The utility model mill carving machining robot of exploitation can improve grinding and Carving Machining automation and level of flexibility already, improves the quality of products, and reduces labor cost.
Summary of the invention
The utility model purpose is that to cut the angle lap degree not accurate in order to overcome in the market manually the processing technology product, production efficiency is low, and existing engraving machine is carved problems such as angle can not change and is developed a kind of mill carving machining robot with characteristics such as volume are little, power consumption is little, efficient is high, noise is low, Robotics, Numeric Control Technology are applied in grinding and the Carving Machining industry, with grinding and the engraving that satisfies complicated shape.
The utility model is that the technical scheme of taking that achieves the above object is: a kind of mill carving machining robot is provided, comprise motor, shaft coupling, mill carving fixture head, base plate, pillar, industrial computer and motion control card, described base plate is connected with four pillars by screw, be fixed with left back-up block and right back-up block by screw on the base plate, optical axis A, leading screw A are installed on left back-up block and the right back-up block by holding screw and bearing; Slide block A fixes by screw and feed screw nut A, linear bearing A; Turntable links with following slide block A by screw, and the side of turntable links to each other with the panoramic table stepper motor by flange, and turntable also is connected with bearing, optical axis B and leading screw B two ends by holding screw with the upper support piece; Slide block B is connected support arm by holding screw with taper pin, by screw pitching flange, indexing motor and encoder B and mill carving fixture head are installed on the support arm, be fixed with sticking bar and workpiece to be ground in the mill carving fixture head, the central shaft of pitching flange also connects pitching motor flange, pitching motor and encoder A by screw; Also be fixed with two bearing blocks on described base plate, the bearing in the bearing block is connected with the axle and the flange of mill motor by both sides, and the mill motor output shaft is connected with mill by shaft coupling; Mill angle motor is connected by the flange shaft of key with the mill motor; Motion control card is inserted in the industrial computer PCI slot, by lead motion control card is connected with encoder, ac adjustable speed motor interface and 6 motor drivers.That is to say that this mill carving machining robot is that the workpiece to be ground that grinds on the carving fixture head forms and the variation of the relative position of mill by being fixed on, and finishes the grinding of workpiece.
The utility model mill carving machining robot, described feed screw nut A is parallel with linear bearing A to be installed on the slide block A, leading screw A and optical axis A constitute under the support of left back-up block and right back-up block and move horizontally pair, feed screw nut B is parallel with linear bearing B to be installed on the slide block B, and leading screw B and optical axis B constitute vertical moving sets under the support of upper support piece and turntable.
Described motor is to produce powered device, has used 7 motors altogether, wherein has 6 to adopt stepper motor, also adopts 1 ac adjustable speed motor to drive mill and rotates; 5 motors, 5 movable joints of driven machine people are respectively arranged in 6 stepper motors, have 1 stepper motor to drive the mill swing.Motor adopts flange or left back-up block to be connected by screw with right back-up block with each joint, moves horizontally secondary and vertical moving sets and adopts leading screw to cooperate with linear bearing, makes it also can bear certain bending moment by the pretension leading screw.5 movable joints of robot are respectively: its 1, stepper motor drives and to move horizontally pair and move horizontally; Its 2, the top fixing vertical moving sets of turntable is also done vertical motion under a stepper motor drives; Its 3, above the slide block A of level, 1 revolution of finishing the robot waist by panoramic table stepper motor driven rotary platform of side series connection of turntable; They are 4 years old, fixing support arm on the slide block B of vertical motion, the fixing mill carving of the head of support arm fixture head, mill carving fixture head link to each other with the calibration stepper motor of afterbody by the pitching flange and realize that mill carving fixture head rotatablely moves, and feed back to realize angle by the encoder of calibration stepper motor afterbody; Its 5, the central shaft of the pitching flange of mill carving fixture head rear end is also by screw adpting flange, pitching stepper motor and encoder A, this part realizes that as the pitching joint of robot mill carves an elevating movement.And the mill motor is selected ac adjustable speed motor for use, and two bearing blocks that are fixed on the base plate support the mill motor, and the mill motor is connected with mill by shaft coupling, drives the mill rotation; Mill angle motor is connected by the flange shaft of key with the mill motor.
The utility model mill carving machining robot describedly is being equipped with encoder B and encoder A is being housed on pitching motor on the indexing motor, two encoders feed back the movement locus of mill carving scorper, constitute the semiclosed loop step-by-step system with motion control card, industrial computer.Because the feedback information of encoder can accurately be controlled the track of grinding work piece or scorper motion.
The utility model mill carving machining robot, also be fixed with two bearing blocks on the described base plate,, change into and fixedly remain the workbench of carver's part the mill motor in the described bearing block and shaft coupling that is attached thereto and mill, install scorper in the bistrique anchor clamps, constituted three-dimensional carving machine device people.That is to say that this three-dimensional carving machine device people forms and the variation that is fixed on the engraving workpiece relative position on the workbench by scorper, finishes the Carving Machining of workpiece.
The utility model adopts industrial computer to be equipped with a kind of high performance stepping/servomotor multi-axis motion control card and drives the semiclosed loop step-by-step system, multi-axis motion control card is based on the PC bus, utilize high-performance microprocessor and field programmable gate function to realize the multiaxis coordination control of a plurality of motors, rotatablely moving of motor converted to the motion change in each joint, the variation or the scorper of the final relative position that forms grinding work piece and mill and be fixed on the variation of the engraving workpiece relative position on the workbench is with grinding or the Carving Machining of finishing workpiece.
The utility model mill carving machining robot has following advantage:
1, the utility model has good angle control performance and higher automatization level compared with similar products, can lead into the track of processing by the industrial computer three-dimensional modeling automatically, the control robot track that fulfils assignment, and can the grinding-polishing engraving integrated.The utility model installs encoder additional and constitutes feedback in two joints of key, make the joint of robot angle more accurate, can process given any convex surface by six-axis linkage simultaneously,, and can carve out the handicraft of complicated shape for novel stone cuts is carried out the processing basis.
2, the utility model is simple in structure, volume is little, power consumption is little, efficient is high, noise is low, easy to use, automatization level is higher, can reduce the work that the workman repeats, and breaks away from traditional experience operation, control accuracy is higher, owing to adopt encoder to carry out position feedback, can make the machining angle of robot more accurate, can reach 0.06 °.
3, the utility model mill carving machining robot applied range, not only can realize the point-to-point motion grinding-polishing processing request of the general facet of jewel, can also the six-axis linkage grinding given convex surface arbitrarily, already bring new facility for gem processing, can be applied to the engraving of complicated shape simultaneously.This mill carving machining robot can be used for developing new cut processed goods, as be used for the accurately processing of the various handicraft jewellery of control grinding angle of needs, also can be used for accurately other engineering aspect of control grinding-polishing curved surface of needs, as be used for mechanical processing industries such as mould, eyeglass, engraving.
Description of drawings
Fig. 1 is the structural representation of the utility model mill carving machining robot.
Fig. 2 is the schematic top plan view of Fig. 1.
Fig. 3 is industrial computer, motion control card connection diagram.
Fig. 4 is a Carving Machining robot architecture schematic diagram.
Among the above-mentioned figure: 1 stepper motor, 2 upper support pieces, 3 shaft couplings, 4 optical axis B, 5 slide block B, 6 support arms, 7 indexing motors, 8 pitching flanges, 9 mill carving fixture heads, 10 mills, 11 mill angle motors, 12 encoder B, 13 bearing blocks, 14 mill ac adjustable speed motors, 15 base plates, 16 pillars, 17 left back-up blocks, 18 slide block A, 19 feed screw nut A, 20 linear bearing A, 21 leading screw B, 22 optical axis A, 23 leading screw A, 24 right back-up blocks, 25 turntables, 26 pitching motor flanges, 27 encoder A, 28 pitching motors, 29 linear bearing B, 30 feed screw nut B, 31 sticking bars, 32 grinding work pieces, 33 panoramic table stepper motors, 34 scorpers, 35 engraving workpiece, 36 workbench, the interface of 37 encoders, 38 motion control cards, 39 industrial computers, 40 motor drivers, 41 connect the ac adjustable speed motor interface.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present utility model is described in further detail.
Embodiment 1: a kind of mill carving of the utility model machining robot, its structure as shown in Figure 1, at least comprise industrial computer, motion control card, 7 motors have been adopted in addition, 2 stepper motors 1 are wherein arranged, other are as indexing motor 7, mill angle motor 11, pitching motor 28, respectively 1 in panoramic table stepper motor 33 and mill motor 14, also has shaft coupling 3, mill carving fixture head 9, mill 10, base plate 15 and pillar 16, described base plate 15 is connected with four pillars 16 by screw, left side back-up block 17 is fixed on the base plate optical axis A 22 with right back-up block 24 by screw, leading screw A 23 is installed on left back-up block and the right back-up block by holding screw and bearing; Slide block A 18 is fixing by screw and feed screw nut A 19, linear bearing A 20; Turntable 25 links with following slide block A 18 by screw, and the side of turntable links to each other with panoramic table stepper motor 33 by the flange that carries, and turntable also is connected with bearing, optical axis B 4 and leading screw B 21 two ends by holding screw with upper support piece 2; Slide block B 5 by holding screw be connected with linear bearing B 29, feed screw nut B 30, support arm 6, by screw indexing motor 7 and pitching flange 8 and mill carving fixture head 9 and encoder B 12 are installed on the support arm 6; The central shaft of pitching flange 8 is also by screw adpting flange 26, pitching motor 28 and encoder A 27; Also be fixed with two bearing blocks 13 on the base plate 15, mill motor 14 is connected with bearing in the bearing block 13 by the axle of flange and both sides, and mill motor 14 output shafts pass through shaft coupling 3 and are connected with mill 10; Mill angle motor 11 is connected by the flange shaft of key with mill motor 14.
The annexation of motion control card 38, industrial computer 39 and 6 stepper motor drivers 40 is referring to Fig. 3 in the utility model, motion control card 38 is inserted on the PCI slot of cabinet mainboard of industrial computer 39, and the interface 37 of the signal input part of the binding post of motion control card by an end and 6 stepper motor drivers and ac adjustable speed motor interface 41, two encoders links to each other; The other end of the interface 37 of ac adjustable speed motor interface 41, two encoders links to each other with ac adjustable speed motor and encoder respectively, and the output of stepper motor driver 40 links to each other with 6 stepper motors.The direction that the arrow representation signal transmits among the figure.
Mill carving machining robot of the present utility model, its course of work is: earlier the grinding work piece for the treatment of 32 is fixed on the sticking bar 31, then by industrial computer 39 modelings, and motion control card 38 is passed in the instruction of generation control track, motion control card drives 5 joint stepper motors and mill angle motor 11 by motor driver 40, and by ac adjustable speed motor interface 41 driving mill ac adjustable speed motors 14, and carry out position feedback by two encoder B 12 and the encoder A 27 that on the indexing motor 7 of key and pitching motor 28, is equipped with, constitute the semiclosed loop step-by-step system, enable the convenient grinding angle of accurately controlling, and 14 stepless speed regulations of control mill motor drive mill 10 and rotate, to realize corase grind, fine grinding, the technological requirement of polishing.Promptly the grinding work piece that grinds on carving fixture head 9, the sticking bar 31 forms and the variation of the relative position of mill by being fixed on, and finishes the grinding of workpiece.
Embodiment 2: a kind of mill carving of the utility model machining robot, as shown in Figure 4, just with among the embodiment 1 be installed in the mill ac adjustable speed motor 14 in the bearing block 13 and the shaft coupling 3 that is attached thereto, mill 10 changes workbench 36 into, load onto scorper 34 at bistrique anchor clamps 9, to carve workpiece 35 simultaneously is fixed on the workbench 36, all the other structures are constant, just constituted three-dimensional carving machine device people.This three-dimensional carving machine device people is the engraving machine people with six degree of freedom, and the engraving angle can accurately change, and more flexible with respect to the processing of in the past engraving machine, the shape that can process is abundanter.Robot among this three-dimensional carving machine device people and the embodiment 1, structure is all different with working method, and this engraving machine people forms and the variation that is fixed on the engraving workpiece relative position on the workbench by scorper, finishes the Carving Machining of workpiece.
The utility model mill carving machining robot, two kinds of structures can be changed easily, accomplish mill and carving double-purpose.The utility model robot construction is simple, and volume is little, power consumption is little, efficient is high, noise is low, easy to use, and machining angle is accurate, can reach 0.06 °.This mill carving machining robot applied range also can be used for mechanical processing industries such as mould, eyeglass, engraving, good market prospects.
Claims (4)
1. a mill is carved machining robot, comprise motor, shaft coupling, mill carving fixture head, base plate, pillar, industrial computer and motion control card, it is characterized in that: described base plate is connected with four pillars by screw, be fixed with left back-up block and right back-up block by screw on the base plate, optical axis A, leading screw A are installed on left back-up block and the right back-up block by holding screw and bearing; Slide block A fixes by screw and feed screw nut A, linear bearing A; Turntable links with following slide block A by screw, and the side of turntable links to each other with the panoramic table stepper motor by flange, and turntable also is connected with bearing, optical axis B and leading screw B two ends by holding screw with the upper support piece; Slide block B is connected support arm by holding screw with taper pin, by screw pitching flange, indexing motor and encoder B and mill carving fixture head are installed on the support arm, be fixed with sticking bar and workpiece to be ground in the mill carving fixture head, the central shaft of pitching flange also connects pitching motor flange, pitching motor and encoder A by screw; Also be fixed with two bearing blocks on described base plate, the bearing in the bearing block is connected with the axle and the flange of mill motor by both sides, and the mill motor output shaft is connected with mill by shaft coupling; Mill angle motor is connected by the flange shaft of key with the mill motor; Motion control card is inserted in the industrial computer PCI slot, by lead motion control card is connected with encoder, ac adjustable speed motor interface and 6 motor drivers.
2. mill carving machining robot according to claim 1, it is characterized in that: described feed screw nut A is parallel with linear bearing A to be installed on the slide block A, leading screw A and optical axis A constitute under the support of left back-up block and right back-up block and move horizontally pair, feed screw nut B is parallel with linear bearing B to be installed on the slide block B, and leading screw B and optical axis B constitute vertical moving sets under the support of upper support piece and turntable.
3. mill carving machining robot according to claim 1, it is characterized in that: describedly encoder B is being housed on the indexing motor and encoder A is housed on pitching motor, two encoders feed back the movement locus of mill carving scorper, constitute the semiclosed loop step-by-step system with motion control card, industrial computer.
4. mill carving machining robot according to claim 1, it is characterized in that: also be fixed with two bearing blocks on the described base plate, with the mill motor in the described bearing block and shaft coupling that is attached thereto and mill, change into and fixedly remain the workbench of carver's part, install scorper in the bistrique anchor clamps, constituted three-dimensional carving machine device people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200120607U CN201941484U (en) | 2011-01-17 | 2011-01-17 | Grinding, engraving and machining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200120607U CN201941484U (en) | 2011-01-17 | 2011-01-17 | Grinding, engraving and machining robot |
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| Publication Number | Publication Date |
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| CN201941484U true CN201941484U (en) | 2011-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200120607U Expired - Fee Related CN201941484U (en) | 2011-01-17 | 2011-01-17 | Grinding, engraving and machining robot |
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| Country | Link |
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| CN (1) | CN201941484U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102627049A (en) * | 2012-04-19 | 2012-08-08 | 吴崇豪 | Carving method and carving device |
| CN102642135A (en) * | 2012-04-13 | 2012-08-22 | 万军 | Tool position adjusting mechanism for numerical control machining equipment and numerical control machining equipment |
| CN103692837A (en) * | 2013-12-23 | 2014-04-02 | 陈熙桂 | Six-shaft stereo carving machine |
| CN105619577A (en) * | 2015-12-31 | 2016-06-01 | 黄群好 | Special engraving equipment for full-automatic ceramic surface processing |
| CN105751795A (en) * | 2016-03-03 | 2016-07-13 | 南开大学 | Robot carving method based on elastic component |
| CN105952744A (en) * | 2016-06-29 | 2016-09-21 | 中国地质大学（武汉） | Elastic connector for belt type faceted stone row grinder |
| GR1008881B (en) * | 2015-09-16 | 2016-10-19 | Νεκταριος Μενελαου Βιδακης | Sculptural mechatronic system |
| CN109334321A (en) * | 2018-11-19 | 2019-02-15 | 禹州市锦丰源瓷业有限公司 | A kind of porcelain embryo carving device |
| CN109774360A (en) * | 2017-11-14 | 2019-05-21 | 董绍光 | A kind of three coordinate angle adjustable engraving machines |
| CN110281678A (en) * | 2019-05-16 | 2019-09-27 | 郑州工程技术学院 | A kind of full-automatic engraving system of work of fine arts and its method |
-
2011
- 2011-01-17 CN CN2011200120607U patent/CN201941484U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102642135A (en) * | 2012-04-13 | 2012-08-22 | 万军 | Tool position adjusting mechanism for numerical control machining equipment and numerical control machining equipment |
| CN102627049B (en) * | 2012-04-19 | 2015-04-29 | 吴崇豪 | Carving method and carving device |
| CN102627049A (en) * | 2012-04-19 | 2012-08-08 | 吴崇豪 | Carving method and carving device |
| CN103692837A (en) * | 2013-12-23 | 2014-04-02 | 陈熙桂 | Six-shaft stereo carving machine |
| GR1008881B (en) * | 2015-09-16 | 2016-10-19 | Νεκταριος Μενελαου Βιδακης | Sculptural mechatronic system |
| CN105619577A (en) * | 2015-12-31 | 2016-06-01 | 黄群好 | Special engraving equipment for full-automatic ceramic surface processing |
| CN105619577B (en) * | 2015-12-31 | 2017-11-28 | 唐山市开平区雅风陶瓷厂 | The special texturing device of fully-automatic ceramic Surface Machining |
| CN105751795B (en) * | 2016-03-03 | 2018-06-08 | 南开大学 | Robot engraving process based on elastic element |
| CN105751795A (en) * | 2016-03-03 | 2016-07-13 | 南开大学 | Robot carving method based on elastic component |
| CN105952744A (en) * | 2016-06-29 | 2016-09-21 | 中国地质大学（武汉） | Elastic connector for belt type faceted stone row grinder |
| CN109774360A (en) * | 2017-11-14 | 2019-05-21 | 董绍光 | A kind of three coordinate angle adjustable engraving machines |
| CN109334321A (en) * | 2018-11-19 | 2019-02-15 | 禹州市锦丰源瓷业有限公司 | A kind of porcelain embryo carving device |
| CN110281678A (en) * | 2019-05-16 | 2019-09-27 | 郑州工程技术学院 | A kind of full-automatic engraving system of work of fine arts and its method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110824 Termination date: 20170117 |
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| CF01 | Termination of patent right due to non-payment of annual fee |