Robotic arm open loop reciprocating diamond wire special-shaped cutting machine

Abstract

The present invention relates to a mechanical arm type open loop reciprocating diamond wire special-shaped cutting machine, comprising a workbench and a cutting mechanism for cutting a workpiece to be processed, the cutting mechanism comprising a frame, a mounting frame, a saw wire, a plurality of wire rollers, a first wire-retracting and releasing device and a second wire-retracting and releasing device, one end of the saw wire is arranged on the first wire-retracting and releasing device, the other end of the saw wire is arranged on the second wire-retracting and releasing device, the part between the two ends of the saw wire is wound on a plurality of wire rollers and forms a sawing part for sawing the workpiece to be processed, a plurality of the wire rollers are rotatably arranged on the mounting frame, the mounting frame is movably arranged on the frame and can drive the sawing part to form a curved cutting track, and also comprises a mechanical arm mounted on the frame, the mounting frame is mounted on the movable end of the mechanical arm. The present invention does not need to drive the workpiece to be cut to move, saves more energy consumption, and the movement of the sawing part is more flexible, which can improve the processing efficiency.

Description

Technical Field

[0001] The invention relates to a mechanical arm type open-loop reciprocating diamond wire special-shaped cutting machine. Background Art

[0002] Traditionally, laser cutting and flame cutting are commonly used for special-shaped cutting of hard materials, such as metal processing. However, a large amount of heat will be generated during the above two cutting processes, which will change the surface material of the workpiece and affect the performance of the finished product. Electric spark cutting uses a continuously moving thin metal wire to perform pulsed spark discharge to erode the metal of the workpiece. The cutting speed is slow and the processing size is small. For example, stone cutting often uses beaded wire saws for special-shaped cutting. The wire saw has a thick diameter of about 8-11mm, and the saw seam produced by cutting is large, which wastes materials and has low processing accuracy. Summary of the invention

[0003] The object of the present invention is to provide a mechanical arm type open-loop reciprocating diamond wire special-shaped cutting machine which can reduce energy consumption, reduce sawing seams, has better flexibility and can process more diverse shapes.

[0004] In order to achieve the above object, the present invention adopts such technical solution:

[0005] A robotic arm type open-loop reciprocating diamond wire special-shaped cutting machine comprises a workbench for placing a workpiece to be processed and a cutting mechanism for cutting the workpiece to be processed, the cutting mechanism comprises a frame, a mounting frame, a saw wire, a plurality of wire rollers, a first wire-retracting and wire-releasing device and a second wire-retracting and wire-releasing device, one end of the saw wire is arranged on the first wire-retracting and wire-releasing device, the other end of the saw wire is arranged on the second wire-retracting and wire-releasing device, the portion between the two ends of the saw wire is wound on a plurality of wire rollers and forms a sawing portion for sawing the workpiece to be processed, the plurality of wire rollers are rotatably arranged on the mounting frame, the mounting frame is movably arranged on the frame and can drive the sawing portion to form a curved cutting track, and also comprises a robotic arm mounted on the frame, and the mounting frame is mounted on the movable end of the robotic arm.

[0006] As a preferred embodiment of the present invention, the mounting frame includes a first arm, a second arm and a third arm connecting the first arm and the second arm, the first arm, the second arm and the third arm form a U-shape, one end of the first arm is connected to the third arm, one end of the second arm is connected to the third arm, a sawing space is formed between the other end of the first arm and the other end of the second arm, and the sawing part is arranged corresponding to the sawing space.

[0007] As a preferred embodiment of the present invention, the first support arm includes a first arm body and a first telescopic arm arranged on the first arm body, the first telescopic arm is arranged on the first arm body in a telescopic manner, and a first telescopic driving mechanism for driving the first telescopic arm to be telescopic is provided on the first arm body, the second support arm includes a second arm body and a second telescopic arm arranged on the second arm body, the second telescopic arm is arranged on the second arm body in a telescopic manner, and a second telescopic driving mechanism for driving the second telescopic arm to be telescopic is provided on the second arm body, and the line roller is provided on both the first telescopic arm and the second telescopic arm.

[0008] As a preferred embodiment of the present invention, a slide plate is provided on the robot arm, and the third arm includes a first movable arm and a second movable arm, the first arm is connected to the first movable arm, the second arm is connected to the second movable arm, the first movable arm is arranged on the slide plate in a manner that can slide along the length direction of the slide plate, and also includes a first power mechanism for driving the first movable arm to slide, the second movable arm is arranged on the slide plate in a manner that can slide along the length direction of the slide plate, and also includes a second power mechanism for driving the second movable arm to slide.

[0009] As a preferred embodiment of the present invention, the robotic arm includes a rotating base rotatably arranged on the frame, a first swing arm rotatably arranged on the rotating base, a second swing arm rotatably arranged on the first swing arm, a telescopic movable arm telescopically arranged on the second swing arm, and a third swing arm arranged on the telescopic movable arm, and the slide is arranged on the third swing arm.

[0010] As a preferred embodiment of the present invention, the first wire-reeling device and the second wire-reeling device are both arranged on the frame, and a main motor is also provided on the frame, a power wheel is provided on the main motor, and a plurality of automatic centering guide wheel devices are provided on the robotic arm, and part of the saw wire between the first wire-reeling device and the second wire-reeling device is diffracted on the automatic centering guide wheel device, the wire roller and the power wheel.

[0011] As a preferred embodiment of the present invention, the automatic self-aligning guide wheel device includes a wheel body, a first mounting block, a second mounting block, a U-shaped adjustment frame, a first limit rotating shaft, a second limit rotating shaft, a first pressure spring and a second pressure spring, the two ends of the U-shaped adjustment frame are respectively mounted on the first limit rotating shaft and the second limit rotating shaft, the first limit rotating shaft is rotatably mounted on the first mounting block, and the second limit rotating shaft is rotatably mounted on the second mounting block, a wire passing groove is provided on the wheel body, the first limit rotating shaft and the second limit rotating shaft are arranged corresponding to the wire passing groove, the first pressure spring is sleeved on the first limit rotating shaft and is located between the first mounting block and the U-shaped adjustment frame, and the second pressure spring is sleeved on the second limit rotating shaft and is located between the second mounting block and the U-shaped adjustment frame.

[0012] As a preferred embodiment of the present invention, a winding groove is provided on each wire roller, or a plurality of winding grooves are provided on each wire roller, and the plurality of winding grooves are arranged along the axial direction of the wire roller.

[0013] As a preferred embodiment of the present invention, it also includes a guide rail, the workbench can be slidably set on the guide rail, and also includes a sliding mechanism for driving the workbench to slide. The workbench is provided with a second rotating table, and also includes a second rotating drive mechanism for driving the second rotating table to rotate. It also includes a second support platform arranged on the second rotating table, the second support platform can be raised and lowered on the second rotating table, and also includes a second lifting mechanism for driving the second support platform to move up and down.

[0014] After adopting the technical solution of the present invention, a mechanical arm is provided on the frame, and a mounting frame is installed on the movable end of the mechanical arm. The mounting frame can drive the sawing part to form a curved cutting track, and use the movement of the sawing part to perform special-shaped cutting. During the cutting process, there is no need to drive the object to be cut to move, which saves more energy consumption. The movement of the sawing part is more flexible, which can improve the processing efficiency. Furthermore, the third arm includes a first movable arm and a second movable arm, and the first movable arm and the second movable arm can be movably arranged on the slide, so that the distance between the first arm and the second arm can be adjusted, thereby adjusting the cutting span, adapting to different specifications of objects to be cut, and the machine is more flexible. Furthermore, the first arm and the second arm both adopt a telescopic arm structure, so that the maximum feed amount of the sawing part can be adjusted, adapting to more specifications of objects to be cut, and the machine is more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic structural diagram of the first embodiment of the present invention.

[0016] Figure 2 This is a schematic structural diagram of the first embodiment of the present invention from another angle (the saw lines are not shown in the figure).

[0017] Figure 3 It is a schematic structural diagram of a second embodiment of the present invention.

[0018] Figure 4 It is a schematic structural diagram of a third embodiment of the present invention.

[0019] Figure 5 This is a schematic structural diagram from another angle of the third embodiment of the present invention (the saw lines are not shown in the figure).

[0020] Figure 6 It is a schematic structural diagram of the skateboard of the present invention in cooperation with the first movable arm and the second movable arm.

[0021] Figure 7This is a schematic diagram of the first structure of the centerline roller of the present invention.

[0022] Figure 8 This is a schematic structural diagram of the second type of centerline roller of the present invention.

[0023] Fig. 9 It is a schematic structural diagram of the automatic self-aligning guide wheel device of the present invention.

[0024] Fig.10 It is a schematic diagram of the structure of the tension control device in the present invention.

[0025] In the figure:

[0026] Rack 10

[0027] Workbench 20 Guide rail 21

[0028] Sliding mechanism 22 Second rotating platform 23

[0029] Second support platform 24

[0030] Object to be cut 30

[0031] The first wire-retracting and unwinding device 41 The second wire-retracting and unwinding device 42

[0032] Main motor 43 Power wheel 44

[0033] Guide wheel 45

[0034] First mounting block 451 Second mounting block 452

[0035] The first limit rotation shaft 453 The second limit rotation shaft 454

[0036] First pressing spring 455 Second pressing spring 456

[0037] U-shaped adjustment frame 457 wheel body 458

[0038] Wire slot 459

[0039] Wire roller 50 Wire winding groove 51

[0040] Saw wire 52

[0041] First rotating platform 61 First supporting platform 62

[0042] First beam 63 First body 631

[0043] First boom 632 Second beam 64

[0044] Second body 641 Second movable arm 642

[0045] Connecting column 65

[0046] Mounting platform 71 Lifting mechanism 72

[0047] Rotating shaft 73 First column 74

[0048] First column 741 First guide arm 742

[0049] Second column 75 Second column 751

[0050] The second guide arm 752 connects the cross beam 76

[0051] Auxiliary frame 77 Support shaft 78

[0052] Sliding shaft 79 Limiting shaft 710

[0053] Sleeve part 741 Slider part 761

[0054] First swing arm 801 Second swing arm 802

[0055] The third swing arm 803 telescopic movable arm 804

[0056] Rotating base 805 First arm 806

[0057] First telescopic arm 807 First support arm 808

[0058] Second arm body 809 Second telescopic arm 810

[0059] Second support arm 811 First movable arm 812

[0060] The second movable arm 813 The third supporting arm 814

[0061] Slide plate 815 First screw motor 816

[0062] First screw motor 817 First slide plate 818

[0063] Second screw motor 819 Second screw 820

[0064] Second skateboard 821

[0065] Support plate 1000 First swing arm 1001

[0066] Second swing arm 1002 Pushing mechanism 1003

[0067] Coupling 1004 Tension wheel 1005

[0068] The first limiting column 1006 The second limiting column 1007

[0069] Encoder 1008 DETAILED DESCRIPTION

[0070] In order to further explain the technical solution of the present invention, it is described in detail below with reference to the accompanying drawings.

[0071] Reference Figures 1 to 10 The present invention proposes an open-loop reciprocating diamond wire special-shaped cutting machine, including a workbench 20 for placing the object to be processed and a cutting mechanism for cutting the object to be processed. The object to be processed in the present invention can be a hard object such as stone, metal, etc. The present invention takes stone as an example, especially a larger stone.

[0072] The cutting mechanism includes a frame 10, a mounting frame, a saw wire 52, a plurality of wire rollers 50, a first wire-retracting and unwinding device 41, and a second wire-retracting and unwinding device 42. One end of the saw wire 52 is arranged on the first wire-retracting and unwinding device 41, and the other end of the saw wire 52 is arranged on the second wire-retracting and unwinding device 42. The first wire-retracting and unwinding device 41 includes a first winding wheel and a first wire-retracting and unwinding motor driven by the first winding wheel. The second wire-retracting and unwinding device 42 includes a second winding wheel and a second wire-retracting and unwinding motor driven by the second winding wheel. The first wire-retracting and unwinding motor and the second wire-retracting and unwinding motor are arranged on the mounting frame. In the present invention, the saw wire 52 adopts an electroplated diamond wire, and the saw wire 52 is a single wire. One end of the saw wire 52 is connected to the first winding wheel, and the other end of the saw wire 52 is connected to the second winding wheel. The portion between the two ends of the saw wire 52 is wound on a plurality of wire rollers 50 and forms a sawing portion for sawing the workpiece to be processed. During operation, the first wire-reeling device 41 pays out the wire, and the second wire-reeling device 42 takes up the wire, in coordination with the feeding of the workpiece to be processed or the feeding of the cutting mechanism, thereby driving the sawing portion to saw the workpiece to be processed. When the saw wire 52 on the first wire-reeling device 41 is fully paid out, the second wire-reeling device 42 pays out the wire, and the first wire-reeling device 41 takes up the wire, thereby realizing the repeated movement of the saw wire 52. Compared with a closed-loop cutting wire, the saw wire 52 of the present invention is taken up and released by the first wire-reeling device 41 and the second wire-reeling device 42. Under the same equipment specifications, the saw wire 52 can be longer, and the wire storage amount can be increased or decreased as needed, thereby processing workpieces of different areas. The first wire-retracting device 41 and the second wire-retracting device 42 of the present invention can drive the saw wire 52 to move. In order to better drive the saw wire 52 to move, a main motor 43 is also provided on the frame 10, and a power wheel 44 is provided on the main motor 43. The saw wire 52 is wound around the power wheel 44. The power wheel 44 rotates to further pull the saw wire 52 to move.

[0073] In the present invention, the plurality of wire rollers 50 are rotatably disposed on the mounting frame, and the mounting frame is movably disposed on the frame 10 and can drive the sawing portion to form a curved cutting track to achieve special-shaped cutting.

[0074] In order to guide the movement of the saw wire 52 , in the present invention, a plurality of guide wheels 45 are provided between the first wire-retracting and -releasing device 41 and the second wire-retracting and -releasing device 42 , so as to guide the sliding of the saw wire 52 and change the direction of the saw wire 52 .

[0075] Preferably, the guide wheel 45 adopts an automatic centering guide wheel device 45 , and the portion of the saw wire 52 between the first wire-reeling device 41 and the second wire-reeling device 42 is diffracted on the automatic centering guide wheel device, the wire roller 50 and the power wheel 44 .

[0076] Specifically, the automatic self-aligning guide wheel device includes a wheel body 458, a first mounting block 451, a second mounting block 452, a U-shaped adjustment frame 457, a first limiting rotating shaft 453, a second limiting rotating shaft 454, a first pressing spring 455 and a second pressing spring 456. The first mounting block 451 and the second mounting block 452 are fixed at corresponding positions of the robot arm, and the two ends of the U-shaped adjustment frame 457 (specifically, the two free ends of the U-shaped adjustment frame 457) are respectively mounted on the first limiting rotating shaft 453 and the second limiting rotating shaft 454. The first limiting rotating shaft 453 is rotatably mounted on the first mounting block 451. The second limiting rotating shaft 454 is The rotating shaft 454 is rotatably mounted on the second mounting block 452, the first limiting rotating shaft 453 and the second limiting rotating shaft 454 are coaxially arranged, the wheel body 458 is provided with a wire passing groove 459, the wire passing groove 459 is opened along the circumference of the wheel body 458, the first limiting rotating shaft 453 and the second limiting rotating shaft 454 are arranged corresponding to the wire passing groove 459, the first pressing spring 455 is sleeved on the first limiting rotating shaft 453 and is located between the first mounting block 451 and the U-shaped adjustment frame 457, the second pressing spring 456 is sleeved on the second limiting rotating shaft 454 and is located between the second mounting block 452 and the U-shaped adjustment frame 457. By adopting the structure of the present invention, when the diamond wire passes through the wheel body 458, when the movement angle of other mechanisms (cutting mechanism and mounting frame, etc.) changes, the diamond wire will generate an axial force on the wheel body 458, so that the wheel body 458 automatically generates a deflection angle, thereby automatically adjusting to adapt to the direction of wire cutting, ensuring that the saw wire 52 is always in the wire groove 459.

[0077] The number and position of the automatic self-aligning guide wheel device are set according to the specific structure of the machine, such as Figure 2 Middle A, Figure 3 Middle B, Figure 4 Center C, Figure 4 D and Figure 4 The guide wheel at the middle E can all use an automatic self-aligning guide wheel device.

[0078] In order to enable the saw wire 52 to maintain a relatively constant tension and prevent the saw wire 52 from loosening or breaking, the present invention also includes a tension control device, which includes a support plate 1000, a first swing arm 1001, a second swing arm 1002, a connecting shaft 1004 and a pushing mechanism 1003. The support plate 1000 is fixed on the frame 10 or the mounting frame, one end of the first swing arm 1001 is vertically mounted on the connecting shaft 1004, and the other end is connected to the pushing mechanism 1003, one end of the second swing arm 1002 is vertically mounted on the connecting shaft 1004, and the other end is equipped with a tension wheel 1005 for winding the diamond wire, the connecting shaft 1004 is rotatably mounted on the support plate 1000, and the pushing mechanism 1003 is mounted on the support plate 1000. Specifically, the first swing arm 1001, the second swing arm 1002 and the support plate 1000 are all arranged in the vertical direction, and the pushing mechanism 1003 adopts a cylinder, an electric push rod or other transmission mechanism. For example, an electric push rod can be used, and the electric push rod is hinged on the support plate 1000. The telescopic end of the electric push rod is hinged to the lower end of the first swing arm 1001. The upper end of the first swing arm 1001 is fixed on the connecting shaft 1004, and the connecting shaft 1004 extends in the horizontal direction. The upper end of the second swing arm 1002 is fixed on the connecting shaft 1004, and the lower end of the second swing arm 1002 is installed with a tension wheel 1005, and the tension wheel 1005 is rotatably installed on the lower end of the second swing arm 1002. In order to limit the stroke of the second swing arm 1002, a first limit shaft 1006 and a second limit shaft 1007 are respectively provided on both sides of the second swing arm 1002, and the first limit shaft 1006 and the second limit shaft 1007 are both fixed on the support plate 1000. The tension control device of the present invention is preferably used between the wire-reeling device and the wire roller 50 to adjust the tension of the diamond wire. The diamond wire coming out of the wire-reeling device is tension-adjusted by the tension wheel 1005 and then enters each wire roller 50, so that the diamond wire has a suitable tension in the wire roller 50, and the diamond wire is not easy to break, ensuring stable cutting of hard objects such as stone. In order to sense the rotation angle of the connecting shaft 1004, an encoder 1008 can also be installed on the support plate 1000. The encoder 1008 is arranged corresponding to the connecting shaft 1004, and a tension sensor is arranged on the guide wheel 45. The encoder 1008, the tension sensor and the pushing mechanism 1003 are all connected to the controller, and the constant tension adjustment of the diamond wire is realized through the controller to ensure stable cutting of stone. When the tension is adjusted, the pushing mechanism 1003 is extended and retracted, thereby driving the first swing arm 1001 to swing, and the first swing arm 1001 drives the second swing arm 1002 to swing through the connecting shaft 1004, thereby realizing the swing of the tension wheel 1005.

[0079] On the basis of the general concept of the present invention, the present invention proposes three types of cutting mechanisms of knots to form three types of open-loop reciprocating diamond wire special-shaped cutting machines.

[0080] The first type is a vertical open-loop reciprocating diamond wire profile cutting machine. In the vertical open-loop reciprocating diamond wire profile cutting machine, the sawing part is arranged along the vertical plane, specifically, the diamond wire at the stone sawing part extends in a straight direction, and during cutting, the sawing part maintains a direction perpendicular to the horizontal.

[0081] In this embodiment, the mounting frame includes a first rotating table 61 and a support frame arranged on the first rotating table 61. The line roller 50 is arranged on the support frame and also includes a first rotating drive mechanism for driving the first rotating table 61 to rotate. The first rotating drive mechanism can, for example, be a motor, and the output shaft of the motor is transmission-connected to the rotating shaft of the first rotating table 61.

[0082] As a preferred embodiment of the present invention, it also includes a first support platform 62 arranged on the first rotating platform 61, the first support platform 62 can be raised and lowered on the first rotating platform 61, and also includes a first lifting mechanism for driving the first support platform 62 to rise and fall. The first lifting mechanism can, for example, use multiple oil cylinders, the cylinder bodies of the oil cylinders are installed on the first rotating platform 61, and the piston rods of the oil cylinders are installed at the lower end of the first support platform 62. The first lifting mechanism is not limited to using oil cylinders, and can also use a screw motor and a screw for transmission. The present invention adjusts the position of the sawing part through the rotation of the first rotating platform 61 and the lifting of the first lifting mechanism, so as to adapt to stones of different sizes.

[0083] As a preferred embodiment of the invention, the support frame is arranged on the first support platform 62 in a manner that it can move along the length direction of the first support platform 62, and also includes a transverse movement mechanism for driving the support frame to move along the length direction of the first support platform 62. The transverse movement mechanism can be, for example, a cylinder, the cylinder body of the cylinder is installed on the first support platform 62, and the piston rod of the cylinder is installed on the support frame. The transverse movement mechanism can also be an electric push rod or a screw motor, a screw rod and other structures. Preferably, the screw motor and the screw rod are driven, and the transmission is more precise. In order to guide the support frame to perform linear motion, a corresponding slide rail can be set on the first support platform 62, and a slide groove can be set on the corresponding slide rail on the support frame. As a preferred embodiment of the present invention, the support frame includes a first crossbeam 63, a second crossbeam 64 and a connecting column 65. The first crossbeam 63 and the second crossbeam 64 are arranged in parallel and in the horizontal direction. The connecting column 65 is arranged in the vertical direction. The upper end of the connecting column 65 is connected to one end of the first crossbeam 63, and the lower end of the connecting column 65 is connected to one end of the second crossbeam 64. The other end of the first crossbeam 63 and the other end of the second crossbeam 64 form a sawing space. The entire support frame is an inverted U-shaped structure. The sawing part is arranged corresponding to the sawing space. The spacing between the line roller 50 on the first crossbeam 63 and the line roller 50 between the second crossbeam 64 forms a cutting span, which is greater than the thickness of the stone sawing part. As a preferred embodiment of the present invention, the first crossbeam 63 is arranged on the connecting column 65 in a manner that it can move up and down relative to the connecting column 65, and also includes a crossbeam driving mechanism for driving the first crossbeam 63 to move up and down. The crossbeam driving mechanism can be, for example, a cylinder, for example, multiple cylinders, the cylinder body of the cylinder is installed on the connecting column 65, and the piston rod of the cylinder is installed on the first crossbeam 63. The crossbeam driving mechanism can also be a power mechanism such as a screw motor, a screw, etc. that can drive the first crossbeam 63 to move up and down. With this structure, the spacing between the first crossbeam 63 and the second crossbeam 64 can be adjusted by the crossbeam driving mechanism, thereby adjusting the cutting span to meet the processing requirements of stones of different specifications.

[0084] As a preferred embodiment of the present invention, the first crossbeam 63 includes a first main body 631, a first movable arm 632 telescopically arranged on the first main body 631, and a first movable arm driving mechanism for driving the first movable arm 632 to be telescopic, the second crossbeam 64 includes a second main body 641, a second movable arm 642 telescopically arranged on the second main body 641, and a second movable arm driving mechanism for driving the second movable arm 642 to be telescopic, and the first movable arm 632 and the second movable arm 642 are both provided with the line roller 50. The first movable arm driving mechanism and the second movable arm driving mechanism can be a linear driving mechanism such as an oil cylinder, an electric push rod, a screw motor and a screw. When the first crossbeam 63 and the second crossbeam 64 are not synchronously telescopic, the four line rollers 50 become irregular quadrilaterals, and a conical curved surface can be cut out.

[0085] As a preferred embodiment of the present invention, there are four line rollers 50, two of which are arranged at the two ends of the first beam 63, and two of which are arranged at the two ends of the second beam 64. Specifically, the line rollers 50 are arranged on the side surfaces of the first beam 63 and the second beam 64, and the four line rollers 50 are arranged in a rectangular shape, and the axis of each line roller 50 is arranged in the horizontal direction.

[0086] During sawing, the present invention drives the saw wire 52 to form a curved surface of a predetermined shape by rotating the first rotating table 61 and moving the support frame along the first bracket 62. When the first rotating table 61 does not rotate, the support frame can move along the first bracket 62 to saw a plane on the stone.

[0087] The second type is a horizontal open-loop reciprocating diamond wire profile cutting machine. In this embodiment, the sawing part is arranged in the horizontal direction, that is, during the sawing process, the saw wire 52 at the corresponding position extends in the horizontal direction.

[0088] In this embodiment, the mounting frame includes a mounting platform 71 and a cutting frame arranged on the mounting platform 71, the mounting platform 71 can be arranged on the frame 10 to be lifted up and down, and also includes a lifting mechanism 72 for driving the mounting platform 71 to be lifted up and down, and the lifting mechanism 72 can be, for example, a plurality of oil cylinders, the cylinder bodies of the oil cylinders are mounted on the frame 10, and the piston rods of the oil cylinders are mounted at the lower end of the mounting platform 71. The lifting mechanism 72 is not limited to using oil cylinders, and can also be driven by a screw motor and a screw.

[0089] As a preferred embodiment of the present invention, the cutting frame is rotatably arranged on the mounting platform 71 via a horizontally arranged rotating shaft 73, and also includes a first horizontal rotating mechanism for driving the rotating shaft 73 to rotate. The first horizontal rotating mechanism, for example, adopts a motor, which drives the rotating shaft 73 to rotate, thereby driving the cutting frame to rotate as a whole. In this embodiment, the axis of the wire roller 50 is arranged in the horizontal direction and is perpendicular to the axis of the rotating shaft 73.

[0090] As a preferred embodiment of the present invention, the cutting frame includes a first column 74, a second column 75, and a connecting beam 76 connecting the first column 74 and the second column 75. The first column 74 and the second column 75 are arranged in the vertical direction, and the connecting beam 76 is arranged in the horizontal direction. The first column 74, the second column 75, and the connecting beam 76 form a gate shape. The lower end of the first column 74 is connected to the rotating shaft, the upper end of the first column 74 is connected to one end of the connecting beam 76, and the upper end of the second column 75 is connected to the other end of the connecting beam 76. A sawing space is formed between the lower end of the first column 74 and the lower end of the second column 75. The sawing portion is arranged corresponding to the sawing space, that is, the saw wire 52 forms a sawing portion at the position between the lower end of the first column 74 and the lower end of the second column 75.

[0091] As a preferred embodiment of the present invention, the connecting crossbeam 76 is arranged on the first column 74 in a manner that it can move along the length direction of the connecting crossbeam 76, and also includes a translation mechanism for driving the connecting crossbeam 76 to move. The translation mechanism can use a cylinder, or a screw motor and a screw structure. In order to make the connecting crossbeam 76 move more smoothly, a sleeve portion 741 extending horizontally is formed at the upper end of the first column 74, and a slider portion 761 is provided on the connecting crossbeam 76, and the slider portion 761 is inserted in the sleeve portion 741. By setting the translation mechanism, the spacing between the first column 74 and the second column 75 can be adjusted, thereby realizing the adjustment of the cutting span to adapt to stones of different specifications.

[0092] Preferably, the first column 74 and the second column 75 in the present invention are configured as a retractable structure, wherein the first column 74 includes a first column 741, a first guide arm 742 retractably arranged on the first column 741, and a first guide arm driving mechanism for driving the first guide arm 742 to retract, and the second column 75 includes a second column 751, a second guide arm 752 retractably arranged on the second column 751, and a second guide arm driving mechanism for driving the second guide arm 752 to retract, and the first guide arm 742 and the second guide arm 752 are both provided with the line roller 50. The first guide arm driving mechanism and the second guide arm driving mechanism can be a linear driving mechanism such as an oil cylinder, an electric push rod, a screw motor, and a screw.

[0093] As a preferred embodiment of the present invention, a support shaft 78 is provided on the second column 75 corresponding to the rotating shaft 73, and an auxiliary frame 77 is also included. Preferably, the auxiliary frame 77 is configured as a liftable structure, which is lifted and lowered synchronously with the mounting platform 71. The auxiliary frame 77 is provided with a horizontally arranged limit shaft 710, and the limit shaft 710 is arranged corresponding to the support shaft 78. Specifically, the limit shaft 710 is coaxially arranged with the support shaft 78. The limit shaft 710 is retractably and rotatably arranged on the auxiliary frame 77. For example, an oil cylinder can be arranged in the auxiliary frame 77, and a sliding shaft 79 is connected to the piston rod of the oil cylinder. The limit shaft 710 is rotatably installed on the sliding shaft 79. The sliding shaft 79 and the limit shaft 710 can be driven to retract and retract through the oil cylinder to cooperate with the displacement of the second column 75. The limit shaft 710 abuts against the support shaft 78. During cutting, the support shaft 78 and the rotating shaft 73 will limit the two ends of the cutting frame, so that the cutting frame can stably rotate around the axis of the rotating shaft 73 to achieve stable sawing. With this structure, the entire machine body is relatively stable and can process materials of relatively large specifications.

[0094] As a preferred embodiment of the present invention, there are four wire rollers 50, two of which are arranged at the two ends of the first column 74, two of which are arranged at the two ends of the second column 75, and the four wire rollers 50 are arranged in a rectangular shape. In the present invention, the sawing part (the saw wire 52 forms the sawing part at the position between the lower end of the first column 74 and the lower end of the second column 75) does not coincide with the axis of the rotating shaft 73, and when the rotating shaft 73 rotates, the sawing part can move along the curved track.

[0095] The third type is a vertical open-loop reciprocating diamond wire profile cutting machine. In this embodiment, it also includes a mechanical arm installed on the frame 10, and the mounting frame is installed on the movable end of the mechanical arm.

[0096] In an embodiment of the present invention, the mounting frame includes a first arm 808, a second arm 811, and a third arm 814 connecting the first arm 808 and the second arm 811. The first arm 808, the second arm 811, and the third arm 814 form a U-shape. One end of the first arm 808 is connected to the third arm 814, one end of the second arm 811 is connected to the third arm 814, and a sawing space is formed between the other end of the first arm 808 and the other end of the second arm 811, and the sawing part is arranged corresponding to the sawing space.

[0097] As a preferred embodiment of the present invention, the first support arm 808 includes a first arm body 806 and a first telescopic arm 807 arranged on the first arm body 806. The first telescopic arm 807 is arranged on the first arm body 806 in a telescopic manner. The line roller 50 is provided on the first telescopic arm 807. The first arm body 806 is provided with a first telescopic driving mechanism for driving the first telescopic arm 807 to telescope. The first telescopic driving mechanism can adopt a conventional linear driving mechanism such as an oil cylinder, an electric push rod or a screw motor.

[0098] In the present invention, the second support arm 811 includes a second arm body 809 and a second telescopic arm 810 arranged on the second arm body 809. The second telescopic arm 810 is arranged on the second arm body 809 in a telescopic manner. The second telescopic arm 810 is provided with the wire roller 50. The second arm body 809 is provided with a second telescopic driving mechanism for driving the second telescopic arm 810 to telescope. The second telescopic driving mechanism can adopt a conventional linear driving mechanism such as an oil cylinder, an electric push rod or a screw motor.

[0099] As a preferred embodiment of the present invention, a slide plate 815 is provided on the robot arm, and the third arm 814 includes a first movable arm 812 and a second movable arm 813, the first movable arm 812 and the second movable arm 813 are arranged on the same straight line, the first arm 808 is connected to the first movable arm 812, the second arm 811 is connected to the second movable arm 813, the first movable arm 812 is arranged on the slide plate 815 in a manner that it can slide along the length direction of the slide plate 815, and also includes a first power mechanism for driving the first movable arm 812 to slide, the second movable arm 813 is arranged on the slide plate 815 in a manner that it can slide along the length direction of the slide plate 815, and also includes a second power mechanism for driving the second movable arm 813 to slide, and the first power mechanism and the second power mechanism can adopt conventional linear drive mechanisms such as oil cylinders, electric push rods or screw motors. With this structure, the spacing between the first arm 808 and the second arm 811 can be changed through the movement of the first movable arm 812 and the second movable arm 813, thereby adjusting the sawing span. Specifically, a first screw motor 816 is provided on the slide plate 815, and a first screw rod 817 is connected to the output shaft of the first screw motor 816, and a first screw rod 817 is matched with a first screw rod nut (not shown in the figure), and a first slide plate 818 is installed on the first screw rod nut, and the first movable arm 812 is installed on the first slide plate 818, and the first screw rod 817 is arranged in the vertical direction. A second screw motor 819 is provided on the slide plate 815, and a second screw rod 820 is connected to the output shaft of the second screw motor 819, and a second screw rod 820 is matched with a second screw rod nut (not shown in the figure), and a second slide plate 821 is installed on the second screw rod nut, and the second movable arm 813 is installed on the second slide plate 821, and the second screw rod 820 is arranged in the vertical direction.

[0100] In the present invention, the robot arm adopts a 5-axis robot, which includes a rotating base 805 rotatably arranged on the frame 10, a first swing arm 801 rotatably arranged on the rotating base 805, a second swing arm 802 rotatably arranged on the first swing arm 801, a telescopic movable arm 804 telescopically arranged on the second swing arm 802, and a third swing arm 803 arranged on the telescopic movable arm 804, the slide plate 815 is arranged on the third swing arm 803, and a driving mechanism for driving the rotating base 805 to rotate is correspondingly provided on the frame 10, a driving mechanism for driving the first swing arm 801 to swing is provided on the rotating base 805, a driving mechanism for driving the second swing arm 802 to swing is provided on the first swing arm 801, a telescopic mechanism for driving the telescopic movable arm 804 to swing is provided on the second swing arm 802, and a driving mechanism for driving the third swing arm 803 to swing or rotate is provided on the telescopic movable arm 804, each driving mechanism can be, for example, a motor, and the telescopic mechanism can be, for example, a cylinder or an oil cylinder. By adopting the technical solution of the present invention, the mounting frame can be flexibly moved and rotated with the help of a mechanical arm, thereby realizing the change of the position and direction of the sawing part, thereby cutting various curved surfaces on the stone.

[0101] In order to ensure that the saw wire 52 can be stably wound on the wire roller 50 during the flexible movement of the robot arm, a plurality of guide wheels 45 are provided on the robot arm.

[0102] In this embodiment, the main motor, the first wire-reeling device 41 and the second wire-reeling device 42 are all arranged on the frame 10, thereby reducing the load of the mounting frame, making the mounting frame more flexible, and improving the processing efficiency. During the movement of the joints of the robot arm (swing arm, telescopic arm and rotating base), the first wire-reeling device 41 and the second wire-reeling device 42 can adjust the wire-reeling speed of the saw wire according to the tension of the saw wire, thereby changing the length of the wire to adapt to the movement of the joints.

[0103] In the above three structures, a winding groove 51 may be provided on each wire roller 50 , and the winding groove 51 is provided along the circumferential direction of the wire roller 50 .

[0104] In the above three structures, a plurality of winding grooves 51 can be opened on each of the wire rollers 50, and the winding grooves 51 are opened along the circumferential direction of the wire roller 50. The plurality of winding grooves 51 are arranged along the axial direction of the wire roller 50. With this structure, multiple cuts can be cut on the stone at the same time, thereby improving the cutting efficiency.

[0105] In the present invention, the mounting frame may be provided with two wire rollers 50, three wire rollers 50, four wire rollers 50 or more wire rollers 50. Preferably, the wire roller 50 may be optionally provided with a power motor, and the power motor drives the wire roller 50 to rotate.

[0106] As a further improvement of the present invention, the present invention also includes a guide rail 21, and the workbench 20 can be slidably arranged on the guide rail 21, and the workbench 20 is guided to perform linear motion by the guide rail 21. The present invention also includes a sliding mechanism 22 for driving the workbench 20 to slide. The transverse mechanism can be, for example, a cylinder, or a screw motor and a screw. In the embodiment, a screw motor and a screw are used, and a screw nut is arranged on the screw. The workbench 20 is installed on the screw nut and moves back and forth with the screw nut. A second rotating table 23 is provided on the workbench 20, and also includes a second rotating drive mechanism for driving the second rotating table 23 to rotate. The second rotating drive mechanism can be, for example, a motor, and the output shaft of the motor is connected to the rotating shaft of the second rotating table 23 to drive the second rotating table 23 to rotate. The present invention also includes a second support 24 disposed on the second rotating platform 23, the second support 24 can be lifted and lowered on the second rotating platform 23, and also includes a second lifting mechanism for driving the second support 24 to lift and lower. The second lifting mechanism can, for example, use multiple oil cylinders, the cylinder bodies of the oil cylinders are installed on the second rotating platform 23, and the piston rods of the oil cylinders are installed at the lower end of the second support 24. The second lifting mechanism is not limited to using oil cylinders, and can also use a screw motor and a screw for transmission. By adopting the technical solution of the present invention, before cutting, the stone is moved to a suitable position and angle through the workbench, so that the cutting mechanism can feed and cut more quickly and accurately.

[0107] The product form of the present invention is not limited to the illustrations and embodiments of this case. Any appropriate changes or modifications made by anyone with similar ideas should be deemed to be within the patent scope of the present invention.

Claims

1. A mechanical arm type open loop reciprocating diamond wire special-shaped cutting machine, comprising a workbench for placing a workpiece to be processed and a cutting mechanism for cutting the workpiece to be processed, the cutting mechanism comprising a frame, a mounting frame, a saw wire, a plurality of wire rollers, a first wire-reeling device and a second wire-reeling device, one end of the saw wire is arranged on the first wire-reeling device, the other end of the saw wire is arranged on the second wire-reeling device, the portion between the two ends of the saw wire is wound on a plurality of wire rollers and forms a sawing portion for sawing the workpiece to be processed, characterized in that: The plurality of wire rollers are rotatably arranged on the mounting frame, the mounting frame is movably arranged on the frame and can drive the sawing part to form a curved cutting track, and also includes a mechanical arm mounted on the frame, the mounting frame is mounted on the movable end of the mechanical arm; The first wire-reeling device and the second wire-reeling device are both arranged on the frame, a main motor is also arranged on the frame, a power wheel is arranged on the main motor, a plurality of automatic centering guide wheel devices are arranged on the mechanical arm, and the portion of the saw wire between the first wire-reeling device and the second wire-reeling device is diffracted on the automatic centering guide wheel device, the wire roller and the power wheel; The automatic self-aligning guide wheel device includes a wheel body, a first mounting block, a second mounting block, a U-shaped adjustment frame, a first limit rotating shaft, a second limit rotating shaft, a first pressure spring and a second pressure spring, two ends of the U-shaped adjustment frame are respectively mounted on the first limit rotating shaft and the second limit rotating shaft, the first limit rotating shaft is rotatably mounted on the first mounting block, and the second limit rotating shaft is rotatably mounted on the second mounting block, a wire passing groove is provided on the wheel body, and the first limit rotating shaft and the second limit rotating shaft are arranged corresponding to the wire passing groove, the first pressure spring is sleeved on the first limit rotating shaft and is located between the first mounting block and the U-shaped adjustment frame, and the second pressure spring is sleeved on the second limit rotating shaft and is located between the second mounting block and the U-shaped adjustment frame.

2. The mechanical arm type open loop reciprocating diamond wire special-shaped cutting machine as claimed in claim 1, characterized in that: The mounting frame includes a first arm, a second arm, and a third arm connecting the first arm and the second arm, the first arm, the second arm, and the third arm form a U-shape, one end of the first arm is connected to the third arm, one end of the second arm is connected to the third arm, and a sawing space is formed between the other end of the first arm and the other end of the second arm, and the sawing part is arranged corresponding to the sawing space.

3. The mechanical arm type open loop reciprocating diamond wire special-shaped cutting machine as claimed in claim 2, characterized in that: The first support arm includes a first arm body and a first telescopic arm arranged on the first arm body, the first telescopic arm is arranged on the first arm body in a telescopic manner, and a first telescopic driving mechanism for driving the first telescopic arm to be telescopic is provided on the first arm body. The second support arm includes a second arm body and a second telescopic arm arranged on the second arm body, the second telescopic arm is arranged on the second arm body in a telescopic manner, and a second telescopic driving mechanism for driving the second telescopic arm to be telescopic is provided on the second arm body. The line roller is provided on both the first telescopic arm and the second telescopic arm.

4. The mechanical arm type open loop reciprocating diamond wire special-shaped cutting machine as claimed in claim 3, characterized in that: A slide plate is provided on the robotic arm, and the third arm includes a first movable arm and a second movable arm, the first arm is connected to the first movable arm, the second arm is connected to the second movable arm, the first movable arm is arranged on the slide plate in a manner that it can slide along the length direction of the slide plate, and also includes a first power mechanism for driving the first movable arm to slide, the second movable arm is arranged on the slide plate in a manner that it can slide along the length direction of the slide plate, and also includes a second power mechanism for driving the second movable arm to slide.

5. The mechanical arm type open loop reciprocating diamond wire special-shaped cutting machine as claimed in claim 4, characterized in that: The robotic arm includes a rotating base rotatably arranged on the frame, a first swing arm rotatably arranged on the rotating base, a second swing arm rotatably arranged on the first swing arm, a telescopic movable arm telescopically arranged on the second swing arm, and a third swing arm arranged on the telescopic movable arm, and the slide plate is arranged on the third swing arm.

6. The mechanical arm type open loop reciprocating diamond wire special-shaped cutting machine as claimed in claim 1, characterized in that: A winding groove is provided on each of the wire rollers, or a plurality of winding grooves are provided on each of the wire rollers, and the plurality of winding grooves are arranged along the axial direction of the wire rollers.

7. The mechanical arm type open loop reciprocating diamond wire special-shaped cutting machine as claimed in claim 1, characterized in that: It also includes a guide rail, the workbench can be slidably arranged on the guide rail, and also includes a sliding mechanism for driving the workbench to slide. The workbench is provided with a second rotating table, and also includes a second rotating drive mechanism for driving the second rotating table to rotate. It also includes a second support platform arranged on the second rotating table, the second support platform can be raised and lowered on the second rotating table, and also includes a second lifting mechanism for driving the second support platform to move up and down.

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