CN208914872U - Large scale engraved stone machine people's assembly - Google Patents
Large scale engraved stone machine people's assembly Download PDFInfo
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- CN208914872U CN208914872U CN201821610073.2U CN201821610073U CN208914872U CN 208914872 U CN208914872 U CN 208914872U CN 201821610073 U CN201821610073 U CN 201821610073U CN 208914872 U CN208914872 U CN 208914872U
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- lead screw
- carving
- pedestal
- fixed
- transverse shifting
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Abstract
The utility model discloses a kind of large scale engraved stone machine people's assemblies, including installing the mobile fixed system of carving on the ground, it is set to the engraving machine human body and a set of central controller, the mobile fixed system of central controller controls carving and engraving machine human body of the mobile fixed system opposite sides of carving；The central point of Sculpture robot body bottom portion is located at using the central point of the mobile fixed system pedestal of carving as in the reference axis of dot；Engraving machine human body includes pedestal, and the rotation oscillating arm mechanisms being installed on pedestal, and rotation oscillating arm mechanisms end connect moving parts connection with engraving machine, and engraving machine is installed on engraving machine connection moving parts.The utility model assembly structure is compact, easy to safeguard, application method is simple, and the automatic positioning of carving may be implemented, the autonomous engraving for completing stone material.
Description
Technical field
The utility model relates to a kind of robot technology, are particularly suitable for a kind of large scale engraved stone machine people's assembly.
Background technique
Engraved stone especially large-stone engraving has very high requirement for the level of skilled worker, however, engraving
The pollutants such as the dust, the noise that generate in the process cause the occupational diseases such as pneumoconiosis, hearing impairment multiple.Stone carving industry faces specially
The problems such as industry technician is deficient, recruitment cost increases year by year, seriously constrains the healthy long-run development of the industry.
Chinese patent literature 201510268112.X discloses a kind of six degree of freedom series parallel type water jet Sculpture robot,
Its structure includes pedestal, columns assemblies, lifting device, two-freedom rocker arm, freedom degree parallel connection knife rest and jet stream carving device.
Sink is equipped in pedestal, two-freedom rocker arm can be along column up-down, freedom degree parallel connection knife under the driving of lifting device
Frame is sleeved on two-freedom rocker arm and can be along traversing on two-freedom rocker arm, and the spray gun in jet stream carving device is mounted on three
On freedom degree parallel connection knife rest, and there is space six degrees of freedom of motion.The Sculpture robot that the patent document proposes can be realized pair
The processing operation such as the blanking cutting of acrylic product, engraving, chamfering, Lou Jing and deburring, the engraving machine which proposes
People's active force when carving operation is small, is not suitable for engraved stone.
Chinese patent literature 201220306802.1 discloses a kind of stone material multi-layer fabric decoration product Sculpture robot, structure
Including end effector and robot body.End effector includes electro spindle, attachment base, knife handle and diamond cutter；Electricity is main
Axis, attachment base, knife handle and diamond cutter are sequentially connected；Attachment base is connected with robot body end.Engraving machine human body
Including wrist, forearm, large arm, saddle and in the servo motor and speed reducer of joint；Sculpture robot wrist, forearm,
Large arm, saddle are sequentially connected, and the joint of connection is provided with servo motor and speed reducer；Sculpture robot saddle and vertical
Column lead screw pair is connected.Column lead screw pair includes ball-screw, motor, column and counterweight；Ball-screw, motor and counterweight are respectively provided with
On column, counterweight and robot body are respectively in the two sides of column.The Sculpture robot that the patent document proposes cannot be automatic
Determine the relative position between robot and carving.
Chinese patent application 201710622724.3 discloses a kind of Sculpture robot, and structure includes engraving bar, distance
Sensor, engraving bar attachment base, connecting rod, first support arm, movable bolt, second support arm, fixing seat, third support arm, carve bar
It is connected to the rear surface of engraving bar attachment base, the inside of engraving bar attachment base is equipped with range sensor, and connecting rod is connected to carving
The right side of bar attachment base is carved, connecting rod is connected on the left of first support arm, first support arm passes through movable bolt phase with second support arm
Connection, second support arm are connected with third support arm, and third support arm is welded in the left side of fixing seat.The patent application is equipped with distance and passes
Sensor realizes the Sculpture robot and possesses the function of can detecte distance between equipment and carving, Ke Yijing when in use
The really carving depth of control equipment.But the engraving machine human body that the patent application proposes is conventional serial mechanical arm, rigidity
With in parallel or series-parallel mechanical arm compared to slightly poor, and the Sculpture robot of patent application proposition can control carving depth but
The relative position between equipment and carving cannot be automatically determined.
Chinese patent application 201710058326.3 discloses a kind of engraving robot palletizer, and structure includes pedestal, consolidates
If power device on the base, by power device driving swing arm unit, be arranged in the executive device of swing arm unit front end with
And keep executive device balance balanced component, the executive device include money connect swing arm unit front end motor mount,
The actuating motor that is installed on motor mount and Suction cup assembly by actuating motor driving rotation, on the motor mount
It is additionally provided with cam plane engraving component.The patent application be designed to provide it is a kind of intelligently carried for stone slab and to stone slab into
The engraving robot palletizer of row cam plane engraving cannot complete 3 D stereo engraving.
Chinese patent application 201710525733.0 discloses a kind of intelligent engraving system with automatic loading/unloading function,
Its structure include robot body, tool magazine system, fixed platform, black iron, material table, the support of table, workbench, control
Cabinet, charging and discharging mechanism, module bracket, screw type mould group, dust pelletizing system and cooling-water machine.Robot body is mounted on table on ground black iron
Middle face, fixed platform are fixed on the support of table, and the support of table is fixed on ground black iron upper surface, and material table is fixed on ground
On face, workbench is fixed on ground black iron upper surface by the support of table, and on the ground, control cabinet is logical for the control cabinet setting
Power supply line and signal wire is crossed to be connected with the power input of robot body and signal input part respectively.Silk in screw type mould group
Thick stick is horizontally disposed, and lead screw is connect with servo motor transmission, and screw type mould group and servo motor are entirely through module bracket and mould group
The fixing end of support frame connection, screw type mould group is fixed on the table by reinforcing rib, and aluminum profile is fixed on by connecting plate
On the movable end of screw type mould group, aluminum profile is connect by connecting plate one with the cylinder body of cylinder, and the piston-rod lower end of cylinder passes through
Connecting plate two is connect with sponge sucker, and four paws centralizer is fixed on the table, and tool magazine system is fixed by tool magazine support plate
On tool magazine support frame, dust pelletizing system is connected to by dust suction tracheae with the end effector of robot body, and cooling-water machine passes through water
Pipe is connected to the end effector of robot body.The Sculpture robot that the patent application proposes is processed suitable for woodcarving, cannot
Complete the engraving task of large-stone.
Above-mentioned engraving machine can not achieve the large-stone engraving of carving autonomous positioning per capita.In addition, laser engraving machine
Carving Machining is carried out as machining tool using laser, there is certain limitation to rapidoprint, it can not the materials such as processing stone material.
Utility model content
Purpose of the utility model is to overcome the deficiencies of the above prior art and provide a kind of large scale engraved stone machines
People's assembly, the robot assembly structure be compact, easy to safeguard, application method is simple, and the automatic positioning of carving may be implemented, from
The main engraving for completing stone material.
To achieve the above object, the utility model adopts the following technical solutions:
A kind of large scale engraved stone machine people's assembly, it is mobile including being mounted on the carving being equipped on the ground in gutter
Fixed system, and be set to the mobile fixed system opposite sides of carving and the engraving machine human body be fixed on ground and
A set of central controller, the mobile fixed system of central controller controls carving and engraving machine human body；
The central point of Sculpture robot body bottom portion is located at using the central point of the mobile fixed system pedestal of carving as dot
Reference axis on；
The engraving machine human body includes pedestal, and the rotation oscillating arm mechanisms being installed on pedestal, rotates swing arm machine
Structure end connect moving parts connection with engraving machine, and engraving machine is installed on engraving machine connection moving parts.
The mobile fixed system of the carving includes pedestal, is provided with the parallel boss of multiple groups on pedestal along its length,
Multiple drain hole groups corresponding with land drain are provided on pedestal between every two group platform；On base length direction
It is also arranged in parallel with multiple groups transverse shifting fixed cell, is arranged in parallel with two groups on two groups of transverse shifting fixed cells of outermost
Vertically move fixed cell.
The rotation oscillating arm mechanisms include the first driving motor being mounted on the base, the output shaft of the first driving motor with
First swing arm connects firmly to form the first revolute pair；
Second driving motor is fixed in the first swing arm, and output shaft and the second swing arm connect firmly to form the second revolute pair；
Third driving motor is fixed in the second swing arm, and output shaft and third swing arm connect firmly to form third revolute pair；
4th driving motor is fixed in third swing arm, and output shaft and the 5th swing arm connect firmly to form the 4th revolute pair；
5th swing arm connect moving parts with engraving machine and connects firmly.
The engraving machine connection moving parts include the chassis connected firmly with the 5th swing arm, are along the circumferential direction uniformly divided on chassis
Cloth is fixedly connected with three kinematic mount component one end, and the other end of three kinematic mount components is respectively with support ring and positioned at branch
Top plate in the middle part of pushing out ring is connected；Kinematic mount component connect to form spherical pair with top plate.
Engraving machine is fixed on the upper surface of top plate.
Each kinematic mount component includes a L-type bottom plate, vertically-mounted on the horizontal component end of L-type bottom plate to have
One lead screw support component, the two sides of L-type floor level part along its length are respectively arranged with first straight line guide rail, wherein one
The vertical portion of block L-type bottom plate is fixed on the chassis upper surface, and kinematic mount Component driver is equipped on the lower surface of chassis
Motor, kinematic mount Component driver motor are connect with one end of the first lead screw of the vertical portion for passing through L-type bottom plate, the first lead screw
The other end the first lead screw support component on；
Supporting block is installed by screw thread on first lead screw, the first sliding block group that there are two the installations of supporting block lower part, two first
Sliding block group, which respectively corresponds, is mounted on two line slideway auxiliaries of composition on two first straight line guide rails；
It is connected by pin shaft with drive link one end in supporting block and constitutes the 5th revolute pair, the drive link other end is equipped with ball
Shape part, the spherical parts connect to form spherical pair with the top plate.
It is equipped with one on the riser side adjacent with kinematic mount Component driver motor and places the block that supporting block is hit.
The transverse shifting fixed cell shares four groups, wherein it is identical for structure to be symmetrically arranged on two groups of pedestal two sides
The second transverse shifting fixed cell, intermediate two groups are the identical first transverse shifting fixed cell of structure；
The first transverse shifting fixed cell includes that the first transverse shifting being mounted on the base by motor base is consolidated
The output shaft of order member driving motor, the first transverse shifting fixed cell driving motor passes through the second lead screw support component and second
Lead screw is coupled, and the second lead screw other end is installed in third lead screw support component；Second, third lead screw support component is both secured to
On pedestal, and second straight line guide rail both ends are located at, second straight line guide rail is located at below the second lead screw, and installs by guide rail
Pedestal is mounted on the pedestal between two boss, and there are two the second sliding blocks to form linear guide for installation on second straight line guide rail
Pair, be mounted on a transverse shifting manipulator in each sliding block group, while transverse shifting manipulator also passes through and is arranged thereon
It is threadably mounted on the second lead screw and constitutes screw pair.
The first transverse shifting manipulator is T-shaped.
Oppositely arranged on pedestal, i.e., the fixed list of two groups of the first transverse shifting of two group of first transverse shifting fixed cell
First driving motor is respectively arranged at the both ends of bottom plate convex platform.
The second transverse shifting fixed cell includes that the second transverse shifting being mounted on the base by motor base is consolidated
Order member driving motor, the output shaft of the second transverse shifting fixed cell driving motor pass through the 4th lead screw support component through clutch
Device is coupled with third lead screw, and the third lead screw other end is installed in the 5th lead screw support component；Four, the 5th lead screw support components
It is both secured on pedestal, is provided on the outer wing base of the second transverse shifting fixed cell driving motor parallel with third lead screw
Third linear guide, installation forms line slideway auxiliary there are two third sliding block in third linear guide, in each third sliding block group
Be mounted on a transverse shifting support platform, at the same Lateral mobile platform also pass through be arranged thereon be threadably mounted at third silk
Screw pair is constituted on thick stick.
Oppositely arranged on pedestal, i.e., the fixed list of two groups of the second transverse shifting of two group of second transverse shifting fixed cell
First driving motor is respectively arranged at the both ends of bottom plate.
The longitudinal movement fixed cell includes the longitudinal movement fixed cell bottom being fixed in transverse shifting support platform
, the 4th linear guide and longitudinal movement fixed cell driving device are provided on base upper surface, the longitudinal movement is fixed
Cell driving device includes the longitudinal movement driving motor for being mounted on one end on longitudinal movement fixed cell pedestal, and longitudinal movement is driven
The output shaft of dynamic motor passes through the 6th lead screw support component and is connected with the 4th lead screw one end, and the 4th lead screw other end is mounted on the 7th
In lead screw support component；On 4th lead screw by screw thread installation there are two longitudinal moving mechanical hand constitute screw pair, the 4th
There are two Four-sliders to form line slideway auxiliary for installation in linear guide, and two longitudinal moving mechanical hands are also separately fixed at correspondence
Four-slider group on.
Six, the 7th lead screw support components are concordant with the both ends of the 4th linear guide respectively.
Two groups of longitudinal movement fixed cells are oppositely arranged, i.e., two groups of longitudinal movement driving motor is located at the two of bottom plate
Side.
The drain hole group includes upper surface drain tank, lower surface drain tank and drain hole, and drain tank setting in upper surface exists
Between adjacent two boss of base upper surface；Drain tank setting in lower surface is corresponding with upper surface drain tank in base lower surface；
Drain hole is arranged between upper surface drain tank and lower surface drain tank, and is connected to upper and lower surface drain tank.
The utility model has the following characteristics that compared with prior art
(1) the utility model proposes large scale engraved stone machine people's assembly, using hybrid connected structure, robot carries energy
Power is larger, and mechanical rigid is higher.
(2) the utility model proposes large scale engraved stone machine people's assembly, the automatic positioning of carving may be implemented.
(3) the utility model proposes large scale engraved stone machine people's assembly, various sizes of stone material carving can be completed
It carves.
(4) the utility model proposes large scale engraved stone machine people's assembly, high degree of automation greatly reduces people
Work cost.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the Sculpture robot body construction schematic diagram of the utility model；
Fig. 3 is the engraving machine kinematic mount system structure diagram of the utility model；
Fig. 4 is the mobile fixed system structural schematic diagram of carving of the utility model；
Fig. 5 a is the base construction schematic diagram of the mobile fixed system of carving of the utility model；
Fig. 5 b be in Fig. 5 a A-A to sectional view；
Fig. 5 c is part B enlarged drawing in Fig. 5 b；
Fig. 6 a is the carving Y of the utility model0Direction first movement fixed system structural schematic diagram；
Fig. 6 b, Fig. 6 c are Fig. 6 a top view and left view respectively；
Fig. 7 a is the carving Y of the utility model0Move fixed system structural schematic diagram in direction second；
Fig. 7 b, Fig. 7 c are Fig. 7 a top view and left view respectively；
Fig. 8 is the carving X of the utility model0Move fixed system structural schematic diagram in direction.
Wherein, 1. engraving machine human body, the mobile fixed system of 2. carvings, 3. central controllers；
11. Sculpture robot pedestal, 12. the first revolute pairs of Sculpture robot, 13. the first swing arms of Sculpture robot, 14. carvings
Carve the second revolute pair of robot, 15. the second swing arms of Sculpture robot, 16. Sculpture robot third revolute pairs, 17. engraving machines
People's third swing arm, 18. Sculpture robots the 4th go to pair, the 5th swing arm of 19. Sculpture robot, 110. engraving machine connection component bottoms
Disk, 111. engraving machine kinematic mount systems, 112. engraving machine connection component support rings, 113. engraving machines, the connection of 114. engraving machines
Component top plate, 115. spherical pairs, the 4th driving motor of 116. Sculpture robot, 117. Sculpture robot third driving motors,
118. the second driving motor of Sculpture robot, 119. the first driving motors of Sculpture robot；
1111. engraving machine kinematic mount system drive motors, 1112. engraving machine kinematic mount system support bases, 1113.
Anticollision block, 1114. engraving machine kinematic mount system supporting blocks, 1115. engraving machine kinematic mount system drive connecting rods,
1116. first lead screws, 1117. first lead screw support components, 1118. first union ends, 1119. first straight line guide rails, 11110.
First sliding block group, 11111. the 5th revolute pairs.
21. carving moves fixed system pedestal, 22. carving Y0Direction first movement fixed system, 23. carving Y0
Move fixed system, 24. carving X in direction second0Move fixed system in direction；
211. first motor installation pedestals, 212. first guide rail installation pedestals, 213. pedestals, 214. second motors install base
Seat, 215. third guide rail installation pedestals, drain tank on 216., 217. lower drain tanks, 218. drain holes, the installation of 219. third motors
Pedestal, 2110. second guide rail installation pedestals, 2111. the 4th motor mounting bases, 2112. the 4th guide rail installation pedestals, 2113.
Boss；
221. first carving Y0Move solid mechanical hand, 222. second carving Y in direction0Solid mechanical hand is moved in direction,
223. carving Y0Direction movement solid mechanical hand-drive motor, 224. second lead screw support components, 225. second sliding blocks, 226.
Second straight line guide rail, 227. second lead screws, 228. third sliding blocks, 229. third lead screw support components；
231. carving Y0Move support platform, 232. carving Y in direction0Direction movement support platform driving motor, 233.
Clutch, 234. the 4th lead screw support components, 235. Four-slider groups, 236. the 5th sliding block groups, 237. third lead screws, 238.
Three linear guides, 239. the 5th lead screw support components；
241. first carving X0Direction movement solid mechanical hand, 242. the 6th sliding blocks, 243. the 4th linear guides, 244.
Second carving X0Move solid mechanical hand, 245. the 7th sliding blocks, 246. carving X in direction0Fixed system pedestal is moved in direction,
247. carving X0Direction movement solid mechanical hand-drive motor, 248. the 6th lead screw support components, 249. the 4th lead screws,
2410. the 7th lead screw support components.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
This specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification revealed interior
Hold, so that those skilled in the art understands and reads, is not intended to limit the utility model enforceable qualifications, therefore not
Has technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are practical new not influencing this
Under the effect of type can be generated and the purpose that can reach, it should all still fall in the revealed technology contents of the utility model and obtain and can contain
In the range of lid.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term,
It is merely convenient to being illustrated for narration, rather than to limit the enforceable range of the utility model, the change of relativeness or tune
It is whole, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the utility model.
As shown in Figure 1, a kind of large scale engraved stone machine people's assembly of the utility model includes a Sculpture robot
Ontology 1, the mobile fixed system 2 of a carving and a set of central controller 3.In 11 upper surface of Sculpture robot pedestal
Heart Or0With the mobile 21 upper surface center O of fixed system pedestal of carvingdRelative to earth axes O0X0Y0Z0Along Y0Direction is overlapped,
Along X0Direction and Z0Known to the distance of direction；The central controller installation is on the ground.
1 structure of engraving machine human body is as shown in Fig. 2, include a Sculpture robot pedestal 11, a Sculpture robot
First revolute pair 12, first swing arm of Sculpture robot 13, second revolute pair of Sculpture robot 14, an engraving machine
The second swing arm of people 15, a Sculpture robot third revolute pair 16, Sculpture robot third swing arm 17, a Sculpture robot
Four go to pair 18, the 5th swing arm 19 of Sculpture robot, an engraving machine connection component chassis 110, three engraving machine movements
Support system 111, an engraving machine connection component support ring 112, an engraving machine 113, an engraving machine connection component top plate
114, three spherical pairs 115, the 4th driving motor 116 of Sculpture robot, a Sculpture robot third driving motor
117, second driving motor of Sculpture robot 118, first driving motor of Sculpture robot 119.
The Sculpture robot pedestal 11 is mounted on level ground；119 body of the first driving motor of Sculpture robot is solid
It is scheduled on Sculpture robot pedestal 11, output shaft connects firmly to form first turn of Sculpture robot with the first swing arm of Sculpture robot 13
Dynamic pair 12；118 body of the second driving motor of Sculpture robot is fixed in the first swing arm of Sculpture robot 13, output shaft and carving
The second swing arm of robot 15 is carved to connect firmly to form the second revolute pair of Sculpture robot 14；117 machine of Sculpture robot third driving motor
Body is fixed in the second swing arm of Sculpture robot 15, and output shaft and Sculpture robot third swing arm 17 connect firmly to form engraving machine
People's third revolute pair 16；116 body of the 4th driving motor of Sculpture robot is fixed in Sculpture robot third swing arm 17, defeated
Shaft and the 5th swing arm 19 of Sculpture robot, which connect firmly, to be formed Sculpture robot the 4th and goes to pair 18；The 5th swing arm 19 of Sculpture robot
It is connected firmly with engraving machine connection component chassis 110；Three engraving machine kinematic mount 111 circular shafts of system are symmetrical, are installed in parallel and are carving
Between machine connection component chassis 110 and engraving machine connection component support ring 112；It is right in three engraving machine kinematic mount systems 111
The three engraving machine kinematic mount system drive connecting rods 1115 answered form three spherical surfaces with engraving machine connection component top plate 114 respectively
Pair 115；Engraving machine 113 is fixed on the upper surface of engraving machine connection component top plate 114.
111 structure of engraving machine kinematic mount system is as shown in figure 3, include an engraving machine kinematic mount system drive motor
1111, an engraving machine kinematic mount system support base 1112, an anticollision block 1113, an engraving machine kinematic mount
System supporting block 1114, an engraving machine kinematic mount system drive connecting rod 1115, first lead screw 1116, one first
Thick stick support component 1117, first union end 1118, two first straight line guide rails 1119, two the first sliding block groups 11110, one
A 5th revolute pair 11111.
1111 body of engraving machine kinematic mount system drive motor is fixed on the following table on engraving machine connection component chassis 110
Face；Engraving machine kinematic mount system support base 1112 is L-shaped, and vertical portion is fixed on engraving machine connection component chassis 110
Upper surface；The first union end (i.e. horizontal component end) 1118 of engraving machine kinematic mount system support base 1112 is fixed on
112 lower surface of engraving machine connection component support ring；Anticollision block 1113 is fixed on engraving machine kinematic mount system support base
On 1112 vertical portion inner wall, the first lead screw support component 1117 is fixed on engraving machine kinematic mount system support base 1112
On horizontal component end,；One end of first lead screw 1116 passes through anticollision block 1113 and engraving machine kinematic mount system supports
It is connected after 1112 vertical portion of pedestal with engraving machine kinematic mount system drive motor output shaft 1111, the other end is fixed on first
In lead screw support component 1117；Two first straight line guide rails 1119 are mounted on 1112 water of engraving machine kinematic mount system support base
The two sides of the upper surface in flat partial-length direction, two the first sliding block groups 11110 are separately mounted to two first straight line guide rails
Two line slideway auxiliaries are constituted on 1119；Engraving machine kinematic mount system supporting block 1114 is fixed on two the first sliding block groups
On 11110；Engraving machine kinematic mount system drive connecting rod 1115 and engraving machine kinematic mount system supporting block 1114 connect firmly composition
5th revolute pair 11111.
Mobile 2 structure of fixed system of carving is as shown in figure 4, include the mobile fixed system pedestal 21 of a carving, and two
A carving Y0Direction first movement fixed system 22, two carving Y0Move fixed system 23, two carvings in direction second
X0Move fixed system 24 in direction；
The pedestal 213 of the mobile fixed system pedestal 21 of the carving is mounted on the ground equipped with gutter；Two carvings
Carve object Y0Direction first movement fixed system 22 and two carving Y0The mobile fixed system 23 in direction second is installed in carving
On mobile fixed system pedestal 21；Two carving X0The mobile fixed system 24 in direction is parallel, two of them carving X0Direction is moved
Fixed system pedestal 246 is moved along X0Direction is across being fixed on two carving Y0Move fixed system 23 corresponding four in direction second
A carving X0In the mobile support platform 231 in direction.
Mobile 21 structure of fixed system pedestal of carving is as shown in Fig. 5 a, Fig. 5 b, Fig. 5 c, including a first motor installation
Pedestal 211, a first guide rail installation pedestal 212, a pedestal 213, second motor mounting base 214, a third
Guide rail installation pedestal 215, several upper surface drain tanks 216, several lower surface drain tanks 217, several drain holes 218,
One third motor mounting base 219, a second guide rail installation pedestal 2110, the 4th motor mounting base 2111, one
A 4th guide rail installation pedestal 2112, several boss 2113；
The first motor installation pedestal 211 is with third motor mounting base 219 about 213 upper surface center pair of pedestal
Claim, the two is each attached on pedestal 213；Second motor mounting base 214 and the 4th motor mounting base 2111 are about pedestal 213
Upper surface central symmetry, the two are each attached on pedestal 213；First guide rail installation pedestal 212 is fixed on the 4th on pedestal 213
Between corresponding two boss 2113 of motor mounting base 2111；Second guide rail installation pedestal 2110 is fixed on pedestal 213
Between corresponding two boss 2113 of two motor mounting base 214；Third guide rail installation pedestal 215 is mounted on third on pedestal 213
The outside of motor mounting base 219；4th guide rail installation pedestal 2112 is mounted on first motor installation pedestal 211 on pedestal 213
Outside；The boss 2113 is fixed on pedestal 213, for placing carving；Upper surface drain tank 216 is arranged in pedestal
Between adjacent two boss 2113 of 213 upper surfaces；The setting of lower surface drain tank 217 sluices in 213 lower surface of pedestal and upper surface
Slot 216 is corresponding；Drain hole 218 is arranged between upper surface drain tank 216 and lower surface drain tank 217, and is connected to upper following table
Face drain tank.
Carving Y0First movement fixed system 22 structure in direction is as shown in Fig. 6 a, Fig. 6 b, Fig. 6 c, including one first carving
Carve object Y0Move solid mechanical hand 221, a second carving Y in direction0Move solid mechanical hand 222, a carving Y in direction0
Solid mechanical hand-drive motor 223 is moved in direction, a second lead screw support component 224, second sliding block 225, and one piece the
Two linear guides 226, second lead screw 227, a third sliding block 228, a third lead screw support component 229；
Described two carving Y0Corresponding two carving Y in direction first movement fixed system 220Direction is mobile to be fixed
Robot drives motor 223 is separately mounted on the second motor mounting base 214 and the 4th motor mounting base 2111；It is corresponding
Second straight line guide rail 226 is separately mounted in the second guide rail installation pedestal 2110 and the first guide rail installation pedestal 212；Second sliding block
225 and third sliding block 228 be mounted on second straight line guide rail 226 two line slideway auxiliaries of composition；Second lead screw support component 224
It is each attached on pedestal 213 with third lead screw support component 229, is located at the both ends of second straight line guide rail 226；Second lead screw
227 one end passes through the second lead screw support component 224 and carving Y0The output of the mobile solid mechanical hand-drive motor 223 in direction
Axis connects firmly, and the other end is mounted in third lead screw support component 229；First carving Y0Move 221 He of solid mechanical hand in direction
Second carving Y0The mobile solid mechanical hand 222 in direction is separately fixed on third sliding block 228 and the second sliding block 225, then instead
Two screw pairs are constituted to being mounted on the second lead screw 227.
Carving Y0Mobile 23 structure of fixed system in direction second is as shown in Fig. 7 a, Fig. 7 b, Fig. 7 c, including two carvings
X0Move support platform 231, a carving X in direction0Direction movement support platform driving motor 232, a clutch 233, one
A 4th lead screw support component 234, a Four-slider group 235, a 5th sliding block group 236, a third lead screw 237, one
A third linear guide 238, a 5th lead screw support component 239；
Described two carving Y0Carving X in the mobile fixed system 23 in direction second0The mobile support platform driving in direction
Motor 232 is separately fixed in first motor installation pedestal 211 and third motor mounting base 219；Corresponding third straight line is led
Rail 238 is fixed in third guide rail installation pedestal 215 and the 4th guide rail installation pedestal 2112；Four-slider group 235 and the 5th is slided
Block group 236 is mounted on two line slideway auxiliaries of composition in third linear guide 238；4th lead screw support component 234 and the 5th
Thick stick support component 239 is each attached on pedestal 213, and with carving X0Move 232 output shaft of support platform driving motor in direction
With one heart；One end of third lead screw 237 passes through the 4th lead screw support component 234, passes through clutch 233 and carving X0Direction is mobile
Support platform driving motor 232 connects firmly, and the other end is fixed in the 5th lead screw support component 239；Two carving X0Direction is moved
Dynamic support platform 231 is separately fixed in Four-slider group 235 and the 5th sliding block group 236, is then reversibly mounted on third lead screw
On 237, two screw pairs are constituted.
Carving X0The mobile fixed system 24 in direction is as shown in figure 8, include a first carving X0The mobile fixed machine in direction
Tool hand 241, the 6th sliding block 242, the 4th linear guide 243, a second carving X0Move solid mechanical in direction
Hand 244, the 7th sliding block 245, a carving X0Move fixed system pedestal 246, a carving X in direction0Direction is mobile
Solid mechanical hand-drive motor 247, a 6th lead screw support component 248, the 4th lead screw 249, a 7th lead screw branch
Support component 2410.
Described two carving X0The mobile fixed system pedestal 246 in direction is parallel, along X0Direction is across being fixed on two engravings
Object Y0Move the corresponding carving X of fixed system 23 in direction second0In the mobile support platform 231 in direction；Two carving X0Direction
Mobile solid mechanical hand-drive motor 247 is mounted on two carving X in opposite directions0On the mobile fixed system pedestal 246 in direction；It is corresponding
The 4th linear guide 243 close to carving X0Solid mechanical hand-drive motor 247 is moved in direction, is fixed on carving X0Direction
On mobile fixed system pedestal 246；6th sliding block 242 and the 7th sliding block 245, which are mounted in the 4th linear guide 243, constitutes two
Line slideway auxiliary；6th lead screw support component 248 and the 7th lead screw support component 2410 are held level with both hands with the two of the 4th linear guide 243
Together, and with carving X0Mobile 247 output shafts of solid mechanical hand-drive motor in direction are concentric, are fixed on carving X0Direction is mobile
On fixed system pedestal 246；One end of 4th lead screw 249 passes through the 6th lead screw support component 248 and carving X0Direction is mobile
The output shaft of solid mechanical hand-drive motor 247 connects firmly, and the other end is fixed in the 7th lead screw support component 2410；First engraving
Object X0The mobile solid mechanical hand 241 in direction and the second carving X0It is sliding that the mobile solid mechanical hand 244 in direction is separately fixed at the 6th
On block 242 and the 7th sliding block 245, it is then reversibly mounted on two screw pairs of composition on the 4th lead screw 249.
Automatic positioning, the incised work of a kind of large scale engraved stone machine people's assembly carving of described the utility model
Process mainly includes following five step:
Carving is placed on the boss 2113 of the mobile fixed system pedestal 21 of carving by the first step；
Second step, two carving X0Two X in the mobile fixed system 24 in direction0Move solid mechanical hand-drive in direction
Motor 247 rotates in the forward direction simultaneously, so that two the first carving X0The mobile solid mechanical hand 241 in direction and two the second carvings
X0Movement solid mechanical hand 244 in direction is simultaneously along X0Direction moves toward one another, and carving is moved to the mobile fixed system base of carving
21 boss 2113X of seat0The center in direction and clamping；
Third step, two carving Y0Two clutches 233 in fixed system 23 are moved by carving Y in direction second0Side
It is disconnected to mobile solid mechanical hand-drive motor 223 and the second lead screw 227；
4th step, two carving Y0Two carving Y in direction first movement fixed system 220Direction is mobile to be fixed
When robot drives motor 223 rotates in the forward direction simultaneously, corresponding two the first carving Y0Move 221 He of solid mechanical hand in direction
Two the second carving Y0The mobile solid mechanical hand 222 in direction pushes carving and two carving X0Move fixed system in direction
24 along Y0Direction moves toward one another, and carving is moved to the mobile 21 boss 2113X of fixed system pedestal of carving0The center in direction
Position simultaneously clamps；
At this point, the bottom center of carving and the mobile 21 upper surface center O of fixed system pedestal of carvingdIt is overlapped.Due to
The 11 upper surface center O of Sculpture robot pedestalr0With the mobile 21 upper surface center O of fixed system pedestal of carvingdRelative to
Earth axes O0X0Y0Z0Along Y0Direction is overlapped, along X0Direction and Z0Direction distance is it is known that carving and Sculpture robot pedestal
11 upper surface center Or0Relative position is it is known that automatic positioning operation is completed.
5th step, according to the size of carving, shape-designing, central controller 3 issues control signal, drives engraving machine
Human body 1 acts, and completes engraving operation.
After the completion of carving operation, firstly, two carving Y0Two carving Y in direction first movement fixed system 220
The mobile solid mechanical hand-drive motor 223 in direction reversely rotates, corresponding two the first carving Y0Move solid mechanical in direction
Hand 221 and two the second carving Y0The mobile solid mechanical hand 222 in direction moves in the opposite direction；Secondly, two carving Y0
Two clutches 233 in fixed system 23 are moved by carving Y in direction second0Move solid mechanical hand-drive motor in direction
223 connect with the second lead screw 227；Then, two carving X0Two X in the mobile fixed system 24 in direction0Direction is mobile to be fixed
Robot drives motor 247 reversely rotates simultaneously, so that two the first carving X0Move solid mechanical hand 241 and two in direction
Second carving X0The mobile solid mechanical hand 244 in direction moves in the opposite direction simultaneously；Finally, two carving Y0Direction
Carving X in two mobile fixed systems 230The mobile support platform driving motor 232 in direction reversely rotates simultaneously, so that two
Carving X0The mobile support platform 231 in direction moves in the opposite direction, and carving carving is released.
It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but it is not practical new to this
The limitation of type protection scope, those skilled in the art should understand that, based on the technical solution of the present invention, ability
Field technique personnel do not need to make the creative labor the various modifications or changes that can be made still in the protection model of the utility model
Within enclosing.
Claims (10)
1. a kind of large scale engraved stone machine people's assembly, characterized in that including being mounted on the carving being equipped on the ground in gutter
The mobile fixed system of object is carved, and is set to the mobile fixed system opposite sides of carving and is fixed on the engraving machine on ground
Human body and a set of central controller, the mobile fixed system of central controller controls carving and engraving machine human body；
The central point of Sculpture robot body bottom portion is located at using the central point of the mobile fixed system pedestal of carving as the seat of dot
On parameter；
The engraving machine human body includes pedestal, and the rotation oscillating arm mechanisms being installed on pedestal, rotation oscillating arm mechanisms end
End connect moving parts connection with engraving machine, and engraving machine is installed on engraving machine connection moving parts；
The mobile fixed system of the carving includes pedestal, is provided with the parallel boss of multiple groups on pedestal along its length, and every two
Multiple drain hole groups corresponding with land drain are provided on pedestal between group platform；It is also flat on base length direction
Row is provided with multiple groups transverse shifting fixed cell, and two groups of longitudinal directions are arranged in parallel on two groups of transverse shifting fixed cells of outermost
Mobile fixed cell.
2. a kind of large scale engraved stone machine people's assembly as described in claim 1, characterized in that the rotation oscillating arm mechanisms
Including the first driving motor being mounted on the base, the output shaft of the first driving motor and the first swing arm connect firmly to form the first rotation
It is secondary；
Second driving motor is fixed in the first swing arm, and output shaft and the second swing arm connect firmly to form the second revolute pair；
Third driving motor is fixed in the second swing arm, and output shaft and third swing arm connect firmly to form third revolute pair；
4th driving motor is fixed in third swing arm, and output shaft and the 5th swing arm connect firmly to form the 4th revolute pair；
5th swing arm connect moving parts with engraving machine and connects firmly.
3. a kind of large scale engraved stone machine people's assembly as claimed in claim 2, characterized in that the engraving machine connection fortune
Dynamic component includes the chassis connected firmly with the 5th swing arm, is distributed uniformly and circumferentially on chassis and is fixedly connected with three kinematic mount groups
Part one end, top plate of the other end of three kinematic mount components respectively with support ring and in the middle part of support ring are connected；Movement
Support component connect to form spherical pair with top plate；Engraving machine is fixed on the upper surface of top plate.
4. a kind of large scale engraved stone machine people's assembly as claimed in claim 3, characterized in that each kinematic mount component
It include a L-type bottom plate, it is vertically-mounted on the horizontal component end of L-type bottom plate to have the first lead screw support component, L-type Floor water
The two sides of flat part along its length are respectively arranged with first straight line guide rail, and the vertical portion of one of L-type bottom plate is fixed
In on the chassis upper surface, being equipped with kinematic mount Component driver motor on the lower surface of chassis, kinematic mount Component driver is electric
Machine is connect with one end of the first lead screw of the vertical portion for passing through L-type bottom plate, the other end the first lead screw support group of the first lead screw
On part；
Supporting block is installed by screw thread on first lead screw, there are two the first sliding block group, two the first sliding blocks for the installation of supporting block lower part
Group, which respectively corresponds, is mounted on two line slideway auxiliaries of composition on two first straight line guide rails；
It is connected by pin shaft with drive link one end in supporting block and constitutes the 5th revolute pair, the drive link other end is equipped with spherical shape
Part, the spherical parts connect to form spherical pair with the top plate.
5. a kind of large scale engraved stone machine people's assembly as claimed in claim 4, characterized in that driven with kinematic mount component
One, which is equipped with, on the adjacent riser side of dynamic motor places the block that supporting block is hit.
6. a kind of large scale engraved stone machine people's assembly as described in claim 1, characterized in that the transverse shifting is fixed
Unit shares four groups, wherein and two groups for being symmetrically arranged on pedestal two sides are the identical second transverse shifting fixed cell of structure, in
Between two groups be the identical first transverse shifting fixed cell of structure.
7. a kind of large scale engraved stone machine people's assembly as claimed in claim 6, characterized in that first transverse shifting
Fixed cell includes the first transverse shifting fixed cell driving motor being mounted on the base by motor base, and first laterally moves
The output shaft of dynamic fixed cell driving motor passes through the second lead screw support component and is coupled with the second lead screw, second lead screw other end peace
Loaded in third lead screw support component；Second, third lead screw support component is both secured on pedestal, and is located at second straight line
Guide rail both ends, second straight line guide rail is located at below the second lead screw, and is mounted between two boss by guide rail installation pedestal
On pedestal, there are two the second sliding blocks to form line slideway auxiliary for installation on second straight line guide rail, is mounted on one in each sliding block group
A transverse shifting manipulator, while transverse shifting manipulator also passes through being threadably mounted on the second lead screw of being arranged thereon and constitutes silk
Thick stick pair of nut；
The first transverse shifting manipulator is T-shaped；
Oppositely arranged on pedestal, i.e., two groups of the first transverse shifting fixed cell drive of two group of first transverse shifting fixed cell
Dynamic motor is respectively arranged at the both ends of bottom plate convex platform.
8. a kind of large scale engraved stone machine people's assembly as claimed in claim 6, characterized in that second transverse shifting
Fixed cell includes the second transverse shifting fixed cell driving motor being mounted on the base by motor base, and second laterally moves
The output shaft of dynamic fixed cell driving motor passes through the 4th lead screw support component and is coupled through clutch with third lead screw, third lead screw
The other end is installed in the 5th lead screw support component；Four, the 5th lead screw support components are both secured on pedestal, and second laterally moves
The third linear guide parallel with third lead screw, third linear guide are provided on the outer wing base of dynamic fixed cell driving motor
There are two third sliding blocks to form line slideway auxiliary for upper installation, and it is flat that a transverse shifting support is mounted in each third sliding block group
Platform, while Lateral mobile platform also passes through being threadably mounted on third lead screw of being arranged thereon and constitutes screw pair；
Oppositely arranged on pedestal, i.e., two groups of the second transverse shifting fixed cell drive of two group of second transverse shifting fixed cell
Dynamic motor is respectively arranged at the both ends of bottom plate.
9. a kind of large scale engraved stone machine people's assembly as claimed in claim 8, characterized in that the longitudinal movement is fixed
Unit includes the longitudinal movement fixed cell pedestal being fixed in transverse shifting support platform, is provided with the 4th on base upper surface
Linear guide and longitudinal movement fixed cell driving device, the longitudinal movement fixed cell driving device include being mounted on longitudinal direction
The longitudinal movement driving motor of one end on mobile fixed cell pedestal, the output shaft for vertically moving driving motor pass through the 6th lead screw
Support component is connected with the 4th lead screw one end, and the 4th lead screw other end is mounted in the 7th lead screw support component；On 4th lead screw
By screw thread installation, there are two longitudinal moving mechanical hands to constitute screw pair, and installation is sliding there are two the 4th in the 4th linear guide
Block forms line slideway auxiliary, and two longitudinal moving mechanical hands are also separately fixed in corresponding Four-slider group.
10. a kind of large scale engraved stone machine people's assembly as claimed in claim 9, characterized in that the six, the 7th lead screw branch
Support component is concordant with the both ends of the 4th linear guide respectively；Two groups of longitudinal movement fixed cells are oppositely arranged, i.e., two groups of longitudinal direction
Mobile driving motor is located at the two sides of bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821610073.2U CN208914872U (en) | 2018-09-30 | 2018-09-30 | Large scale engraved stone machine people's assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821610073.2U CN208914872U (en) | 2018-09-30 | 2018-09-30 | Large scale engraved stone machine people's assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208914872U true CN208914872U (en) | 2019-05-31 |
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ID=66707993
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821610073.2U Expired - Fee Related CN208914872U (en) | 2018-09-30 | 2018-09-30 | Large scale engraved stone machine people's assembly |
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| Country | Link |
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| CN (1) | CN208914872U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108973478A (en) * | 2018-09-30 | 2018-12-11 | 山东交通学院 | Large scale engraved stone machine people assembly and its method for carving stone material |
| CN113084203A (en) * | 2021-04-01 | 2021-07-09 | 安徽东风机电科技股份有限公司 | Primary elastomer part rough turning processing equipment and processing technology thereof |
-
2018
- 2018-09-30 CN CN201821610073.2U patent/CN208914872U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108973478A (en) * | 2018-09-30 | 2018-12-11 | 山东交通学院 | Large scale engraved stone machine people assembly and its method for carving stone material |
| CN113084203A (en) * | 2021-04-01 | 2021-07-09 | 安徽东风机电科技股份有限公司 | Primary elastomer part rough turning processing equipment and processing technology thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20190531 Termination date: 20200930 |