Horizontal drilling and planting integrated machine and method for processing brush

Abstract

The application discloses a horizontal drilling and planting integrated machine and a method for processing a brush, wherein the periphery of an R-axis center rotating column is sequentially provided with feeding and discharging, drilling, planting and flattening stations; the R-axis center rotating column is provided with brush body worktables which rotate with the R-axis center rotating column and correspond to the four stations; the drilling station is provided with a drilling mechanism for drilling the brush body on the second brush body worktable; the planting station is provided with a planting mechanism for planting the brush body on the third brush body worktable; and the flattening station is provided with a flattening mechanism for flattening the brush body on the fourth brush body worktable. The method for processing the brush comprises the following steps: feeding by a three-dimensional manipulator at the feeding and discharging station, rotating the R-axis by 90 degrees for drilling, continuously rotating by 90 degrees for planting, continuously rotating by 90 degrees for flattening, and continuously rotating by 90 degrees for discharging. The application has simple structure, small size and reliable action.

Description

Technical Field

[0001] This invention relates to a brush manufacturing equipment, and more particularly to a horizontal drilling and flattening integrated machine; this invention also relates to a method for processing brushes using a horizontal drilling and flattening integrated machine, belonging to the field of brush body bristle implantation technology. Background Technology

[0002] Bristle implantation machines are widely used for drilling and implanting tufts into brush bodies of everyday brushes, industrial brushes, and other brushes. For flat brush processing, traditional tuft implantation machines have the drilling and implantation table located below, with the machine head positioned above it. The brush plate of the flat brush is clamped on the drilling and implantation table, with its length extending along the width of the table. The drilled and implanted surfaces of the brush plate face upwards. The machine head is equipped with both a drilling mechanism and a tuft implantation mechanism. The rear of the machine head is connected to a base, which extends downwards and connects to the drilling and implantation table on a common base.

[0003] When the flat brush is relatively long, the drilling and planting worktable is wide, requiring the machine head to extend a considerable distance forward. The cantilever structure results in a large overall size and weight for the tufting machine. Furthermore, the space above the drilling and planting worktable is occupied by the drilling and tufting mechanisms, making it impossible to install automatic feeding and unloading devices. Brush loading and unloading must be done manually, which is labor-intensive and somewhat dangerous. If the operator makes a mistake, such as failing to remove the tufted brush in time, interference between the tufting nozzle and the brush can occur, leading to equipment damage.

[0004] Chinese invention patent application CN 107874454A discloses a multi-station rotary worktable, including a fixed worktable center cylinder, an annular guide rail installed on the top of the worktable center cylinder, multiple workstations arranged along the circumference of the annular guide rail, a workstation rotary top plate installed on each workstation, a downwardly extending workstation rotary vertical plate connected to the outer side of each workstation rotary top plate, a workstation rotary bottom plate extending horizontally outward connected to the lower end of each workstation rotary vertical plate, a worktable support plate installed below each workstation rotary bottom plate, and a worktable rotating seat installed on each worktable support plate.

[0005] The technical solution has the following shortcomings: 1. The central cylinder of the workbench is fixed, and the ring gear ring must have a sufficiently large radius to make the rotating support move smoothly, resulting in a large overall size of the equipment, more material consumption, and high manufacturing cost.

[0006] 2. The rotary mechanism of each station not only needs to be equipped with drive gears, but also with top rollers and top ring guide rails, bottom rollers and bottom ring guide rails that cooperate with each other. It also needs to be positioned by the cooperation of V-grooves and V-rings to ensure rotation accuracy, which increases the complexity of the equipment and manufacturing cost.

[0007] 3. The rotary mechanism of each station also needs to be equipped with support rollers and lateral support ring rails to overcome the overturning moment and the centrifugal force generated by high-speed rotation. The above structure further increases the complexity of the equipment.

[0008] 4. Each workstation is equipped with its own servo motors for workstation switching, workstation rotation, worktable lifting, and brush board swinging, as well as numerous sensors and solenoid valves. The power and signal lines of the numerous servo motors, sensors, and solenoid valves at each workstation are very complex and must all rotate 360° with the worktable rotating seat, which can easily cause tangling.

[0009] 5. It cannot achieve continuous rotation and can only alternate between one forward rotation and one reverse rotation to reduce the twisting of power and signal lines. The reverse stroke is a non-working state, which reduces the production efficiency of the machine. Moreover, long-term 360° reciprocating rotation can easily cause internal breakage of signal lines due to fatigue stress, resulting in difficult-to-diagnose faults. Summary of the Invention

[0010] The primary objective of this invention is to overcome the problems existing in the prior art and provide a horizontal drilling and leveling integrated machine with a simple structure, small size, simple operation, and high reliability.

[0011] To solve the above technical problems, the present invention provides a horizontal drilling, planting, and leveling integrated machine, comprising a combined frame, with an R-axis central rotating column installed at the center of the combined frame. The outer periphery of the R-axis central rotating column has four phases sequentially arranged with loading / unloading stations, a drilling station, a bristle planting station, and a bristle leveling station. A brush body worktable is installed on the R-axis central rotating column, rotating with it and corresponding to the four worktables. The drilling station is equipped with a drilling mechanism for drilling holes in the brushes on the second brush body worktable. The bristle planting station is equipped with a bristle planting mechanism for planting bristles in the brushes on the third brush body worktable. The bristle leveling station is equipped with a bristle leveling mechanism for leveling the bristles in the brushes on the fourth brush body worktable.

[0012] As an improvement of the present invention, the combined frame is assembled and connected by a bottom frame and a top frame through columns. An R-axis base plate parallel to the bottom frame is provided above the bottom frame, and the edge of the R-axis base plate is supported on the bottom frame by a bracket. The two ends of the R-axis center column are respectively supported by bearings at the center of the top frame and the R-axis base plate.

[0013] The lower end of the central rotating column of the R-axis is fixed with a large R-axis gear, which meshes with a small R-axis gear. The small R-axis gear is mounted on the upper end of the output shaft of the R-axis reducer. The R-axis reducer is mounted below the R-axis base plate, and the input end of the R-axis reducer is driven by an R-axis servo motor.

[0014] As a further improvement of the present invention, a circular upper seat is fixed on the upper part of the R-axis central rotating column, and an A-axis drive mechanism for driving the brush body worktable to rotate on the A-axis is installed at the four work positions on the circumference of the circular upper seat.

[0015] The A-axis drive mechanism includes an A-axis RV reducer fixed to the upper surface of the circular upper seat. The input end of the A-axis RV reducer is driven by an A-axis servo motor, and the output end of the A-axis RV reducer is provided with a downwardly extending A-axis upper rotating shaft.

[0016] The lower part of the central rotating column of the R-axis is fixed with a circular lower seat, and the circumference of the circular upper seat is symmetrically provided with four A-axis lower rotating axes, each of which is coaxial with the corresponding A-axis upper rotating axis.

[0017] As a further improvement of the present invention, a worktable rotary seat is installed between each of the upper and lower rotating axes of the A-axis. Each worktable rotary seat includes a rotary seat top plate, a rotary seat vertical plate, and a rotary seat bottom plate connected in sequence. The center of each rotary seat top plate is connected to the upper rotating axis of the A-axis and rotates with the upper rotating axis of the A-axis. The center of each rotary seat bottom plate is connected to the lower rotating axis of the A-axis.

[0018] As a further improvement of the present invention, each of the rotating seat vertical plates is fixed with a Z-axis guide rail on the side opposite to the R-axis center column. The brush body worktable is supported on the Z-axis guide rail by a slider. A Z-axis reducer is installed on the other side of each of the rotating seat vertical plates. The input end of the Z-axis reducer is driven by a Z-axis servo motor, and the output end of the Z-axis reducer drives the Z-axis lead screw to rotate. A Z-axis lead screw nut is engaged on the Z-axis lead screw, and the Z-axis lead screw nut drives the brush body worktable to move up and down.

[0019] As a further improvement of the present invention, each of the brush body worktables is provided with two sets of upper and lower clamps, the two clamps respectively clamp the brush body, the length direction of the two brush bodies extends horizontally, and they are drilled simultaneously by a double-head drilling mechanism, bristle implantation simultaneously by a double-head bristle flattening mechanism, and bristle flattening simultaneously by a double-head flattening mechanism.

[0020] Each of the brush body worktables is provided with a B-axis swing mechanism that drives two clamps to swing synchronously around the B-axis. The axis of the B-axis extends horizontally and is parallel to the axis of the brush body length direction. Each clamp is provided with a pair of grippers on its upper and lower sides, and each pair of grippers is driven by a clamp cylinder.

[0021] The air passages of each clamp cylinder are controlled by the clamp opening and closing mechanical valve, which is fixed on the outer periphery of the circular lower seat. The loading and unloading station of the R-axis base plate is fixed with a clamp opening and closing top block.

[0022] When the three-dimensional robotic arm is holding the upper and lower brush bodies in preparation for unloading, the clamp opening and closing top block pushes upward, triggering the clamp opening and closing mechanical valve to switch, and the clamp cylinder drives the gripper to separate and release the brush body.

[0023] When the three-dimensional robotic arm places two brush bodies between two pairs of grippers, the clamp opening and closing top block retracts, the clamp opening and closing mechanical valve resets, and the clamp cylinder drives the grippers to close and clamp the brush bodies.

[0024] As a further improvement of the present invention, a rotary electrical box is fixed on the top of the R-axis central rotating column and rotates with it, and an R-axis rotating electric slip ring coaxial with the R-axis central rotating column is fixed below the R-axis base plate. The rotary electrical box is powered by the R-axis rotating electric slip ring and is communicatively connected to the main control cabinet.

[0025] As a further improvement of the present invention, the drilling mechanism and the bristle implantation mechanism are each provided with only a Y-axis motion mechanism. The axis of the Y-axis extends radially along the central rotating column of the R-axis to adapt to the curved surface of the brush body or the change in the depth of the holes on the brush body. The X-axis coordinate of adjacent holes in the horizontal direction on the brush body is simulated by the rotation of the R-axis and the rotation of the A-axis.

[0026] As a further improvement of the present invention, an X-axis base plate is fixed to the edge of the top frame of the flat work station, an X-axis guide rail is fixed to the X-axis base plate, the top of the X-axis slide plate is suspended below the X-axis guide rail by an X-axis slider, an X-axis reducer is installed below the X-axis base plate, the input end of the X-axis reducer is driven by an X-axis servo motor, the output end of the X-axis reducer drives the X-axis lead screw to rotate, an X-axis lead screw nut is engaged on the X-axis lead screw, and the X-axis lead screw nut is fixedly connected to the X-axis slide plate;

[0027] The bottom of the X-axis slide is fixed with a Y-axis guide rail. The top of the Y-axis slide is suspended below the Y-axis guide rail by a Y-axis slider. The bottom surface of the X-axis slide is fixed with a Y-axis reducer. The input end of the Y-axis reducer is driven by a Y-axis servo motor. The output end of the Y-axis reducer drives the Y-axis lead screw to rotate. A Y-axis lead screw nut is engaged on the Y-axis lead screw. The Y-axis lead screw nut is fixedly connected to the Y-axis slide.

[0028] A flat-blade vacuum cleaner is connected below the Y-axis slide plate. Two flat-blade blades driven by the same flat-blade motor are connected along the height direction of the flat-blade vacuum cleaner. Each flat-blade blade is equipped with a suction pipe, and the root of each suction pipe is connected to the flat-blade vacuum cleaner.

[0029] Another objective of this invention is to overcome the problems existing in the prior art and provide a method for processing brushes using a horizontal drilling and leveling integrated machine, which is simple to operate, reliable, and has high production efficiency.

[0030] To solve the above technical problems, the method for processing brushes using a horizontal drilling and leveling integrated machine of the present invention includes the following steps in sequence:

[0031] S1. The three-dimensional robot arm completes the loading and unloading at the loading and unloading station, and the brush body is clamped and fixed.

[0032] S2 and R-axis center column rotate 90° to rotate the new brush body to the drilling station, and the upper and lower brush bodies are drilled simultaneously; at the same time, the loading and unloading station continues to load materials;

[0033] S3 and R axis center column continue to rotate 90° to rotate the drilled brush body to the bristle implantation station for bristle implantation. At the same time, the drilling station drills holes in the new brush body, and the loading and unloading station continues to load materials.

[0034] S4 and R-axis center column continue to rotate 90° to rotate the bristle-planted brush body to the bristle-flattening station for bristle flattening. At the same time, the drilled brush body is rotated to the bristle-planting station for bristle planting. Simultaneously, the drilling station drills holes in the new brush body, and the loading and unloading station continues to load materials.

[0035] S5, the R-axis center column continues to rotate 90° to rotate the brush body after flattening to the loading and unloading station. After the three-dimensional robot grips the brush body, the fixture releases the brush body to complete the unloading, and then returns to step S1 to repeat.

[0036] Compared with the prior art, the present invention has achieved the following beneficial effects: 1. The independent rotation mechanism of each station is eliminated, and each station is directly fixed on the central rotating column of the R-axis and rotates with the central rotating column of the R-axis. The rotation of the central rotating column of the R-axis can make each brush body worktable reach the next station synchronously.

[0037] 2. The rotary control box rotates synchronously with the central rotating column of the R-axis, keeping the relative position between each workstation and the rotary control box constant. The power and signal lines of the servo motors, sensors, solenoid valves, etc. of each workstation connected to the rotary control box remain stationary and will not twist during workstation switching. The communication connection between the rotary control box and the main control cabinet through the R-axis rotating slip ring is also very reliable.

[0038] 3. It can rotate continuously an unlimited number of times without the need for reverse return, thus improving production efficiency.

[0039] 4. At the drilling and tufting stations, the X-axis coordinate of the hole is simulated by rotating the R-axis and A-axis together, eliminating the need for an X-axis drive mechanism.

[0040] 5. On average, the processing of two brush bodies can be completed for every 90° rotation of the R-axis center column. Drilling, bristle implantation, and bristle smoothing are carried out simultaneously. The time spent on drilling, bristle implantation, and bristle smoothing can be used to complete loading and unloading, saving the time of re-clamping, transfer, and waiting. The final product can be obtained from one machine. Attached Figure Description

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The drawings are provided for reference and illustration only and are not intended to limit the present invention.

[0042] Figure 1 This is a front view of the horizontal drilling and planting integrated machine of the present invention;

[0043] Figure 2 for Figure 1 The left view;

[0044] Figure 3 for Figure 1 Top view;

[0045] Figure 4 for Figure 1 A three-dimensional image;

[0046] Figure 5 This is a front view of the central rotary table in this invention;

[0047] Figure 6 This is a perspective view of the central rotating worktable in this invention;

[0048] Figure 7 This is a three-dimensional enlarged view of the flattening mechanism in this invention;

[0049] In the diagram: 1. Combined frame; 1a. R-axis base plate;

[0050] 2. R-axis center column; 2a. Circular upper seat; 2b. Circular lower seat; 2c. R-axis large gear;

[0051] 3a. R-axis servo motor; 3b. R-axis pinion;

[0052] 4a. A-axis servo motor; 4b. A-axis RV reducer; 4c. Upper A-axis rotary axis; 4d. Lower A-axis rotary axis;

[0053] 5. Rotary table; 6a. Z-axis servo motor; 6b. Z-axis lead screw; 6c. Z-axis lead screw nut; 6d. Z-axis guide rail;

[0054] 7. Brush body worktable; 7a. B-axis swing mechanism; 7b. Gripper; 7c. Gripper cylinder;

[0055] 8a. Clamp opening and closing mechanical valve; 8b. Clamp opening and closing top block;

[0056] 9. Rotary electrical box; 9a. R-axis rotating slip ring;

[0057] 10. Drilling mechanism; 11. tufting mechanism;

[0058] 12a. X-axis servo motor; 12b. X-axis lead screw; 12c. X-axis slide plate; 12d. X-axis guide rail; 12e. X-axis base plate;

[0059] 13a. Y-axis servo motor; 13b. Y-axis lead screw; 13c. Y-axis slide block; 13d. Y-axis guide rail;

[0060] 14. Flattening mechanism; 14a. Flattening motor; 14b. Flattening blade; 14c. Flattening vacuum cleaner; 15. Operation control box. Implementation

[0061] In the following description of the present invention, the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not mean that the device must have a specific orientation.

[0062] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention.

[0064] like Figures 1 to 7 As shown, the horizontal drilling, implantation, and leveling integrated machine of the present invention includes a combined frame 1, a central rotating worktable, and three-dimensional manipulators, a drilling mechanism 10, an implantation mechanism 11, and a leveling mechanism 14 located around the perimeter. The combined frame 1 is assembled from a bottom frame and a top frame connected by columns. An R-axis base plate 1a parallel to the bottom frame is provided above it, and the edge of the R-axis base plate 1a is supported on the bottom frame by a bracket. The upper part of the R-axis central rotating column 2 is supported at the center of the top frame by a bearing, and the lower end of the R-axis central rotating column 2 is supported at the center of the R-axis base plate 1a by a bearing.

[0065] The outer periphery of the R-axis central rotating column 2 has four phases, which are arranged in sequence as loading and unloading stations, drilling stations, bristle implantation stations, and flattening stations; the R-axis central rotating column 2 is equipped with a brush body worktable 7 that rotates with it and corresponds to the four stations. The loading and unloading stations are equipped with a three-dimensional robot arm to unload and load the first brush body worktable.

[0066] The drilling station is equipped with a drilling mechanism 10, which has two drill bits, one above the other, to drill the two brushes on the second brush body worktable simultaneously. The two drill bits rotate at high speed, drill the brushes simultaneously on the brush body surface and then retract. Then the brushes are moved to drill the next pair of holes.

[0067] The tufting station is equipped with a tufting mechanism 11, which has two tufting nozzles, upper and lower, to simultaneously tuft the tufts into the holes of the upper and lower brush bodies on the third brush body worktable.

[0068] The brush trimming station is equipped with a brush trimming mechanism 14, which simultaneously trims and flattens the upper and lower brushes on the fourth brush body worktable. The bases of the three-dimensional robot, drilling mechanism 10, and tufting mechanism 11 are all fixed on the combined frame 1 or assembled and connected to the combined frame 1.

[0069] A circular upper seat 2a, coaxial with the central rotating column 2 of the R-axis, is fixed to the upper part, and a circular lower seat 2b, coaxial with the central rotating column 2 of the R-axis, is fixed to the lower part. Multiple workstations are symmetrically arranged on the outer circumference of the circular upper seat 2a, and the same applies to the outer circumference of the circular lower seat 2b.

[0070] Each workstation is equipped with an A-axis drive mechanism, which includes an A-axis servo motor 4a, an A-axis RV reducer 4b, an upper A-axis rotating shaft 4c, and a lower A-axis rotating shaft 4d. The A-axis RV reducer 4b is fixed to the upper surface of the circular upper seat 2a, and its input end is driven by the A-axis servo motor 4a. The output end of the A-axis RV reducer 4b drives the upper A-axis rotating shaft 4c, which passes through the circular upper seat 2a and extends downward. The lower A-axis rotating shaft 4d is symmetrically mounted on the circumference of the circular lower seat 2b and is coaxial with the corresponding upper A-axis rotating shaft 4c.

[0071] A table rotary seat 5 is installed between the upper A-axis rotary shaft 4c and the lower A-axis rotary shaft 4d. Each table rotary seat 5 includes a rotary seat top plate, a rotary seat vertical plate, and a rotary seat bottom plate connected in sequence. The table rotary seat 5 opens outward, that is, the rotary seat vertical plate is close to the R-axis center column 2. The lower end of the upper A-axis rotary shaft 4c is fixedly connected to the center of the rotary seat top plate, and the upper end of the lower A-axis rotary shaft 4d is fixedly connected to the center of the rotary seat bottom plate. When the A-axis servo motor 4a drives the A-axis RV reducer 4b, the A-axis RV reducer 4b drives the table rotary seat 5 and the lower A-axis rotary shaft 4d to rotate around the A-axis through the upper A-axis rotary shaft 4c.

[0072] The rotating base vertical plate is fixed with Z-axis guide rails 6d on the side opposite to the R-axis center column 2. The brush body worktable 7 is supported on the Z-axis guide rails 6d by a slider and can move up and down. The brush body worktable 7 is equipped with two clamps, upper and lower, to facilitate the simultaneous drilling or bristle implantation of two brushes.

[0073] The R-axis drive mechanism includes an R-axis servo motor 3a, an R-axis reducer, an R-axis pinion 3b, and an R-axis gear 2c. The R-axis gear 2c is fixed at the lower end of the R-axis central rotating column 2, located above the R-axis base plate 1a and below the circular lower seat 2b. The R-axis reducer is installed below the R-axis base plate 1a, and its input end is driven by the R-axis servo motor 3a. The upper end of the output shaft of the R-axis reducer passes through the R-axis base plate 1a and is fitted with the R-axis pinion 3b, which meshes with the R-axis gear 2c. The R-axis servo motor 3a drives the R-axis pinion 3b to rotate via the R-axis reducer, and the R-axis pinion 3b drives the R-axis central rotating column 2 to rotate via the R-axis gear 2c.

[0074] A rotary electrical box 9 is fixed on the top of the R-axis center column 2 and rotates with it. An R-axis rotary electric slip ring 9a, coaxial with the R-axis center column 2, is fixed below the R-axis base plate 1a. The rotary electrical box 9 is powered by the R-axis rotary electric slip ring 9a and is connected to the main control cabinet. The operation control box 15, used for on-site operation, is connected to the combined frame 1 via a universal arm and is also connected to the main control cabinet.

[0075] Each rotating seat vertical plate has a Z-axis reducer installed on the other side. The input end of the Z-axis reducer is driven by the Z-axis servo motor 6a, and the output end of the Z-axis reducer drives the Z-axis lead screw 6b to rotate. The Z-axis lead screw 6b is meshed with a Z-axis lead screw nut 6c, which drives the brush body worktable to move up and down.

[0076] Once a row of holes at the same height is drilled or bristles are implanted, the Z-axis servo motor 6a drives the Z-axis reducer to rotate, which in turn drives the Z-axis lead screw 6b to rotate. This causes the Z-axis lead screw nut 6c to pull the brush body worktable up and down, allowing for drilling or bristle implantation of the next row. This process can complete drilling and bristle implantation across the entire width of the brush body.

[0077] Each brush body workbench is equipped with two sets of clamps, one upper and one lower. The two clamps hold the brush body respectively. The length of the two brush bodies extends horizontally. The upper and lower brush bodies are drilled simultaneously by the double-head drilling mechanism 10, bristle implantation is performed simultaneously by the double-head bristle leveling mechanism 11, and bristle leveling is performed simultaneously by the double-head bristle leveling mechanism.

[0078] Each brush body worktable is equipped with a B-axis swing mechanism 7a. The axis of the B-axis extends horizontally and is parallel to the axis of the brush body length. The B-axis swing mechanism 7a can drive the two clamps to swing synchronously around the B-axis, which facilitates the creation of an arc surface in the width direction of the brush body and the implantation of bristles that radiate outwards in a fan shape in the width direction of the brush body.

[0079] Each clamp has a pair of grippers 7b on its upper and lower sides, and each pair of grippers 7b is driven by a clamping cylinder 7c. After the brush body is placed between the two grippers 7b, the piston rod of the clamping cylinder 7c retracts, driving the grippers 7b on both sides to move towards each other, thus clamping and fixing the brush body. After the brush body is drilled, bristles are implanted, and the bristles are smoothed, the piston rod of the clamping cylinder 7c extends, driving the grippers 7b on both sides to separate and release the brush body.

[0080] The air passages of each clamp cylinder 7c are jointly controlled by the clamp opening and closing mechanical valve 8a. The clamp opening and closing mechanical valve 8a is fixed on the outer periphery of the circular lower seat, and the clamp opening and closing top block 8b is fixed at the loading and unloading station of the R-axis base plate 1a.

[0081] When the three-dimensional robotic arm is holding the upper and lower brush bodies in preparation for unloading, the clamp opening and closing top block 8b pushes upward, triggering the clamp opening and closing mechanical valve 8a to switch direction. Compressed air enters the rodless chamber of the clamp cylinder 7c, and its piston rod extends, driving the gripper 7b to separate and release the brush body.

[0082] When the three-dimensional robot places two brush bodies between two pairs of grippers 7b, the gripper opening and closing top block 8b retracts, the gripper opening and closing mechanical valve 8a resets under the action of the spring, compressed air enters the rod chamber of the gripper cylinder 7c, its piston rod retracts, driving the grippers 7b to move closer and clamp the brush bodies.

[0083] The drilling mechanism 10 and the bristle implantation mechanism 11 each only need to be equipped with a Y-axis motion mechanism, and the axis of the Y-axis extends radially along the central rotating column 2 of the R-axis. When the brush body is clamped at the loading and unloading station, the drilling mechanism 10, the bristle implantation mechanism 11, and the bristle flattening mechanism 14 respectively perform point preparation.

[0084] When the R-axis center column 2 rotates 90° to change the working position, on the one hand, the drilling mechanism 10, the bristle implantation mechanism 11, and the bristle smoothing mechanism 14 move along the Y-axis towards the brush body, and then simultaneously perform drilling, bristle implantation, and bristle smoothing actions; on the other hand, the movement along the Y-axis can also enable the drill bit and bristle implantation nozzle to adapt to the curved surface of the brush body or the change in the depth of the holes on the brush body; and enable the bristle smoothing cutter 14b to adapt to the change in bristle height.

[0085] After all the holes are drilled, the drilling mechanism 10 retracts along the Y-axis away from the brush body; at this time, the bristle implantation nozzle completes the bristle implantation in all the holes simultaneously, and the bristle implantation mechanism 11 retracts along the Y-axis away from the brush body at the same time; the flat bristle mechanism 14 also retracts along the Y-axis away from the brush body at the same time, waiting for the R-axis center column 2 to continue rotating 90° to change the working position.

[0086] The X-axis coordinates of adjacent holes in the horizontal direction on the brush body are simulated by the rotation of the R-axis and the A-axis. This eliminates the need for the X-axis motion mechanism, and still allows drilling and bristle implantation to be completed along the entire length of the brush body.

[0087] Because many brushes, after being implanted with bristles, spread out in a divergent pattern, the area of ​​the bristle crown is much larger than the surface area of ​​the brush body's holes. Therefore, the X-axis coordinate of the bristle crown edge along the brush body's length exceeds the maximum X-axis travel that can be simulated by the combined rotation of the R-axis and A-axis. Thus, an X-axis motion mechanism needs to be added to the brush flattening station.

[0088] An X-axis base plate 12e is fixed to the edge of the top frame of the flat workstation. An X-axis guide rail 12d is fixed on the X-axis base plate 12e. The top of the X-axis slide plate 12c is suspended below the X-axis guide rail 12d by an X-axis slider. An X-axis reducer is installed below the X-axis base plate 12e. The input end of the X-axis reducer is driven by the X-axis servo motor 12a. The output end of the X-axis reducer drives the X-axis lead screw 12b to rotate. An X-axis lead screw nut is engaged on the X-axis lead screw 12b. The X-axis lead screw nut is fixedly connected to the X-axis slide plate 12c.

[0089] X-axis servo motor 12a drives X-axis reducer to run, X-axis reducer drives X-axis lead screw 12b to rotate, X-axis lead screw nut translates along X-axis lead screw 12b, and through X-axis slide plate 12c drives the entire flat bristle Y-axis mechanism to translate along the length of the brush body, thus completing the trimming of the bristles along the entire length.

[0090] A Y-axis guide rail 13d is fixed below the X-axis slide plate 12c. The top of the Y-axis slide plate 13c is suspended below the Y-axis guide rail 13d by a Y-axis slider. A Y-axis reducer is fixed to the lower end face of the X-axis slide plate 12c. The input end of the Y-axis reducer is driven by the Y-axis servo motor 13a. The output end of the Y-axis reducer drives the Y-axis lead screw 13b to rotate. A Y-axis lead screw nut is engaged on the Y-axis lead screw 13b. The Y-axis lead screw nut is fixedly connected to the Y-axis slide plate 13c.

[0091] Below the Y-axis slide plate 13c is a flat-blade vacuum cleaner 14c. Two flat-blade blades 14b are connected along the height of the flat-blade vacuum cleaner 14c. The flat-blade blades can rotate in one direction. The blade shafts of the upper and lower flat-blade blades 14b are connected by a connecting shaft, so that the same flat-blade motor 14a drives the two flat-blade blades 14b.

[0092] To accommodate different requirements for the trimming length, i.e., the bristle height, the Y-axis servo motor 13a drives the Y-axis reducer to rotate, which in turn drives the Y-axis lead screw 13b to rotate. The Y-axis lead screw nut moves along the Y-axis lead screw 13b, which in turn moves the flat bristle vacuum cleaner 14c and the two flat bristle blades 14b along the Y direction to trim the bristles into an arc shape or other shapes.

[0093] Each of the two brush trimmers 14b is equipped with a suction branch pipe, the base of which is connected to the brush trimmer vacuum cleaner 14c. The trimmed hair clippings are sucked into the brush trimmer vacuum cleaner 14c through the suction branch pipe and discharged, keeping the work area clean.

[0094] The method for processing brushes using a horizontal drilling and leveling integrated machine of the present invention comprises the following steps in sequence:

[0095] S1. At the loading and unloading station, the three-dimensional robot arm completes the loading of the two brush bodies, and the two brush bodies are respectively clamped and fixed by the gripper 7b.

[0096] S2 and R-axis center column 2 rotate 90° to rotate the new brush body to the drilling station, and the drilling mechanism 10 drills the upper and lower brush bodies simultaneously; at the same time, the loading and unloading station continues to load materials.

[0097] S3, R-axis center column 2 continues to rotate 90° to rotate the drilled brush body to the bristle planting station. The bristle planting mechanism 11 simultaneously plants bristles on the holes on the upper and lower brush bodies. At the same time, the drilling station drills holes in the new brush body, and the loading and unloading station continues to load materials.

[0098] S4, R-axis center column 2 continues to rotate 90° to rotate the bristle-planted brush body to the bristle-flattening station for bristle flattening. At the same time, the drilled brush body is rotated to the bristle-planting station for bristle planting. Simultaneously, the drilling station drills holes in the new brush body, and the loading and unloading station continues to load materials.

[0099] S5, the R-axis center column 2 continues to rotate 90° to rotate the brush body after flattening to the loading and unloading station. After the three-dimensional robot grips the brush body, the fixture releases the brush body to complete the unloading, and then returns to step S1 to repeat.

[0100] For every 90° rotation of the R-axis center column 2, two finished brushes are unloaded, and two new brush bodies are loaded.

[0101] The above description is merely a preferred embodiment of the present invention, showing and describing the basic principles, main features, and advantages of the present invention. It is not intended to limit the scope of patent protection of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. In addition to the above embodiments, the present invention may have other implementations without departing from the spirit and scope of the invention. Various changes and modifications to the present invention are possible, and all technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents. Technical features not described in the present invention can be implemented by or using existing technology, and will not be elaborated here.

Claims

1. A horizontal drilling and leveling integrated machine, comprising a combined frame, characterized in that, The combined frame has an R-axis central rotating column installed at its center. The outer periphery of the R-axis central rotating column has four phases with loading and unloading stations, drilling stations, tufting stations, and flattening stations in sequence. The R-axis central rotating column is equipped with brush body worktables that rotate with it and correspond to the four worktables. The drilling station is equipped with a drilling mechanism for drilling holes in the brush bodies on the second brush body worktable. The tufting station is equipped with a tufting mechanism for tufting brush bodies on the third brush body worktable. The flattening station is equipped with a flattening mechanism for flattening brush bodies on the fourth brush body worktable. The combined frame is assembled from a bottom frame and a top frame by columns. An R-axis base plate is provided above the bottom frame and parallel to it. The edge of the R-axis base plate is supported on the bottom frame by brackets. The two ends of the R-axis center column are supported at the center of the top frame and the R-axis base plate by bearings, respectively. The lower end of the central rotating column of the R-axis is fixed with a large R-axis gear, which meshes with a small R-axis gear. The small R-axis gear is installed on the upper end of the output shaft of the R-axis reducer. The R-axis reducer is installed below the R-axis base plate. The input end of the R-axis reducer is driven by an R-axis servo motor. A circular upper seat is fixed on the upper part of the central rotating column of the R-axis, and an A-axis drive mechanism for driving the brush body worktable to rotate on the A-axis is installed at the four work positions on the circumference of the circular upper seat. The A-axis drive mechanism includes an A-axis RV reducer fixed to the upper surface of the circular upper seat. The input end of the A-axis RV reducer is driven by an A-axis servo motor, and the output end of the A-axis RV reducer is provided with a downwardly extending A-axis upper rotating shaft. The lower part of the central rotating column of the R-axis is fixed with a circular lower seat, and the circumference of the circular upper seat is symmetrically provided with four A-axis lower rotating axes, each of which is coaxial with the corresponding A-axis upper rotating axis. The drilling mechanism and the bristle implantation mechanism are each equipped with only a Y-axis motion mechanism. The axis of the Y-axis extends radially along the central rotating column of the R-axis to adapt to the curved surface of the brush body or the change in the depth of the holes on the brush body. The X-axis coordinate of adjacent holes in the horizontal direction on the brush body is simulated by the rotation of the R-axis and the rotation of the A-axis.

2. The horizontal drilling and leveling integrated machine according to claim 1, characterized in that: Each of the aforementioned upper and lower rotating axes of A-axis is equipped with a worktable rotating seat. Each worktable rotating seat includes a rotating seat top plate, a rotating seat vertical plate, and a rotating seat bottom plate connected in sequence. The center of each rotating seat top plate is connected to the upper rotating axis of A-axis and rotates with the upper rotating axis of A-axis. The center of each rotating seat bottom plate is connected to the lower rotating axis of A-axis.

3. The horizontal drilling and leveling integrated machine according to claim 2, characterized in that: Each of the rotating seat vertical plates has a Z-axis guide rail fixed on the side opposite to the R-axis center column. The brush body worktable is supported on the Z-axis guide rail by a slider. A Z-axis reducer is installed on the other side of each of the rotating seat vertical plates. The input end of the Z-axis reducer is driven by a Z-axis servo motor, and the output end of the Z-axis reducer drives the Z-axis lead screw to rotate. A Z-axis lead screw nut is engaged on the Z-axis lead screw, and the Z-axis lead screw nut drives the brush body worktable to move up and down.

4. The horizontal drilling and leveling integrated machine according to claim 1, characterized in that: Each brush body workbench is provided with two sets of clamps, one upper and one lower. The two clamps hold the brush body respectively. The length direction of the two brush bodies extends horizontally. They are drilled simultaneously by a double-head drilling mechanism, bristle implantation simultaneously by a double-head bristle flattening mechanism, and bristle flattening simultaneously by a double-head bristle flattening mechanism. Each of the brush body worktables is provided with a B-axis swing mechanism that drives two clamps to swing synchronously around the B-axis. The axis of the B-axis extends horizontally and is parallel to the axis of the brush body length direction. Each clamp is provided with a pair of grippers on its upper and lower sides, and each pair of grippers is driven by a clamp cylinder. The air passages of each clamp cylinder are controlled by the clamp opening and closing mechanical valve, which is fixed on the outer periphery of the circular lower seat. The loading and unloading station of the R-axis base plate is fixed with a clamp opening and closing top block. When the three-dimensional robotic arm is holding the upper and lower brush bodies in preparation for unloading, the clamp opening and closing top block pushes upward, triggering the clamp opening and closing mechanical valve to switch, and the clamp cylinder drives the gripper to separate and release the brush body. When the three-dimensional robotic arm places two brush bodies between two pairs of grippers, the clamp opening and closing top block retracts, the clamp opening and closing mechanical valve resets, and the clamp cylinder drives the grippers to close and clamp the brush bodies.

5. The horizontal drilling and leveling integrated machine according to claim 1, characterized in that: A rotary electrical box is fixed to the top of the R-axis central rotating column and rotates with it. An R-axis rotating electric slip ring coaxial with the R-axis central rotating column is fixed to the bottom of the R-axis base plate. The rotary electrical box is powered by the R-axis rotating electric slip ring and is communicatively connected to the main control cabinet.

6. The horizontal drilling and leveling integrated machine according to claim 1, characterized in that: An X-axis base plate is fixed to the edge of the top frame of the flattening station. An X-axis guide rail is fixed to the X-axis base plate. The top of the X-axis slide plate is suspended below the X-axis guide rail by an X-axis slider. An X-axis reducer is installed below the X-axis base plate. The input end of the X-axis reducer is driven by an X-axis servo motor. The output end of the X-axis reducer drives the X-axis lead screw to rotate. An X-axis lead screw nut is engaged on the X-axis lead screw. The X-axis lead screw nut is fixedly connected to the X-axis slide plate. The bottom of the X-axis slide is fixed with a Y-axis guide rail. The top of the Y-axis slide is suspended below the Y-axis guide rail by a Y-axis slider. The bottom surface of the X-axis slide is fixed with a Y-axis reducer. The input end of the Y-axis reducer is driven by a Y-axis servo motor. The output end of the Y-axis reducer drives the Y-axis lead screw to rotate. A Y-axis lead screw nut is engaged on the Y-axis lead screw. The Y-axis lead screw nut is fixedly connected to the Y-axis slide. A flat-blade vacuum cleaner is connected below the Y-axis slide plate. Two flat-blade blades driven by the same flat-blade motor are connected along the height direction of the flat-blade vacuum cleaner. Each flat-blade blade is equipped with a suction pipe, and the root of each suction pipe is connected to the flat-blade vacuum cleaner.

7. A method for processing brushes using the horizontal drilling and leveling integrated machine as described in claim 4, characterized in that, The steps are as follows: S1. The three-dimensional robot arm completes the loading and unloading at the loading and unloading station, and the brush body is clamped and fixed. S2 and R-axis center column rotate 90° to rotate the new brush body to the drilling station, and the upper and lower brush bodies are drilled simultaneously; at the same time, the loading and unloading station continues to load materials; S3 and R axis center column continue to rotate 90° to rotate the drilled brush body to the bristle implantation station for bristle implantation. At the same time, the drilling station drills holes in the new brush body, and the loading and unloading station continues to load materials. S4 and R-axis center column continue to rotate 90° to rotate the bristle-planted brush body to the bristle-flattening station for bristle flattening. At the same time, the drilled brush body is rotated to the bristle-planting station for bristle planting. Simultaneously, the drilling station drills holes in the new brush body, and the loading and unloading station continues to load materials. S5, the R-axis center column continues to rotate 90° to rotate the brush body after flattening to the loading and unloading station. After the three-dimensional robot grips the brush body, the fixture releases the brush body to complete the unloading, and then returns to step S1 to repeat.

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