A large-scale rolling type cutter space posture simulation mechanism

Abstract

The present application relates to a kind of large-scale rolling type cutter space pose simulation mechanism, including frame bottom plate, front and rear moving mechanism, left and right moving mechanism, up and down lifting mechanism, rotating mechanism and pitching mechanism, the front and rear moving mechanism is installed on frame bottom plate;The left and right moving mechanism is installed on the square steel frame of front and rear moving mechanism;The up and down lifting mechanism is installed on the big bottom plate of left and right moving mechanism;The rotating mechanism is installed on the lifting bottom plate of up and down lifting mechanism;The pitching mechanism is installed on the rotating bottom plate of rotating mechanism.This mechanism can adjust the front and rear, left and right, up and down position of cutter in space, and can simulate the rotation angle of cutter, pitch angle, can fully simulate the various positions and postures of cutter, to facilitate the simulation tool changing process of mechanical arm, to verify the feasibility of autonomous tool changing.

Description

Technical Field

[0001] This invention relates to the field of large rolling tool changing technology, and more specifically to a large rolling tool spatial pose simulation mechanism. Background Technology

[0002] Currently, the replacement of large rolling cutters mainly relies on manual labor and some auxiliary tools, which is cumbersome and inconvenient. In order to reduce labor costs, a dedicated robotic arm is introduced into the tool replacement process. Through vision positioning and other methods, the robotic arm can autonomously replace large rolling cutters.

[0003] To achieve the automatic tool changing function of the robotic arm, a mechanism needs to be designed based on the various positions and postures of the tool on the original mechanism. This mechanism can fully simulate the various positions and postures of the tool, so that the robotic arm can simulate the tool changing process and thus verify the feasibility of autonomous tool changing. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a large rolling tool spatial pose simulation mechanism that fully simulates the spatial position and posture of a large rolling tool for use by a robotic arm to simulate the entire tool changing process.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is: a large rolling tool spatial posture simulation mechanism, comprising a frame base plate, a front-back moving mechanism, a left-right moving mechanism, a vertical lifting mechanism, a rotation mechanism, and a pitching mechanism. The front-back moving mechanism is mounted on the frame base plate; the left-right moving mechanism is mounted on the square steel frame of the front-back moving mechanism; the vertical lifting mechanism is mounted on the large base plate of the left-right moving mechanism; the rotation mechanism is mounted on the lifting base plate of the vertical lifting mechanism; and the pitching mechanism is mounted on the rotation base plate of the rotation mechanism.

[0006] Furthermore, the forward and backward moving mechanism includes a square steel frame with rollers installed at the bottom for forward and backward movement. Side reinforcing ribs are installed on the square steel frame to increase its stability. The left and right sides of the square steel frame are mounted on two side square steel frames via linear bearings and lateral guide rails. The two side square steel frames are mounted on the frame base plate and connected together by left and right connecting frames. The square steel frame can move forward and backward on the frame base plate via rollers, and the movement distance is limited by the lateral guide rails, while increasing the overall rigidity of the frame.

[0007] Furthermore, the left and right moving mechanism is mounted on a square steel frame via four pairs of linear guide shafts and linear bearings. The linear bearings are mounted behind the large base plate of the left and right moving mechanism, and left and right movement is achieved by moving the large base plate.

[0008] Furthermore, the lifting mechanism includes a trapezoidal lead screw, a lead screw slider, a lifting base plate, a vertical moving plate, vertical lifting guide rail sliders, a guide rail base plate, a rotating wheel, and a lifting reducer. Bearing seats are installed at the upper and lower ends of the trapezoidal lead screw. The lower end of the trapezoidal lead screw is connected to the lifting reducer. The lifting reducer is connected to the rotating wheel through an extension shaft. A lifting base plate is installed on the lead screw slider. The lifting base plate is connected to the vertical moving plate through a side connecting block. The vertical moving plate is installed on the guide rail base plate through four pairs of left and right vertical lifting guide rail sliders.

[0009] Furthermore, the guide rail base plate is mounted on the large base plate via two side columns, ensuring that the load can withstand bending torque during vertical lifting and lowering, thereby increasing the stability of the vertical lifting mechanism.

[0010] Furthermore, the rotating mechanism includes a rotary reducer, a wheel, a gear, a slewing support, and a rotating base plate. The rotary reducer is mounted on the lifting base plate. The input end of the rotary reducer is connected to the wheel, and the output end of the rotary reducer is connected to the gear. The gear meshes with the slewing support. The fixed end of the slewing support is mounted on the lifting base plate, and the output end of the slewing support is connected to the rotating base plate.

[0011] Furthermore, a limit auxiliary column is installed on the lifting base plate to limit the rotation angle of the rotating mechanism and prevent accidental falls.

[0012] Furthermore, the pitch mechanism includes a pitch reducer, a rotating wheel, a pitch transmission disk, a load frame, a left pitch bearing seat, and a right pitch bearing seat. The left and right pitch bearing seats are mounted on a rotating base plate. The left pitch bearing seat is connected to the pitch reducer, the input end of which is connected to the rotating wheel, and the output end of which is connected to the pitch transmission disk. One end of the pitch transmission disk is connected to the left pitch bearing seat via a double-row tapered roller bearing, and the other end is connected to the load frame. The other side of the load frame is mounted on the upper right pitch bearing seat via a pitch support end and a tapered roller bearing. The beneficial effects of this invention are:

[0013] This invention provides a large-scale rolling tool spatial pose simulation mechanism, which can fully simulate various positions and postures of the tool, so as to enable the robotic arm to simulate the tool changing process and thus verify the feasibility of autonomous tool changing. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the tool space pose simulation mechanism of the present invention;

[0015] Figure 2 This is a schematic diagram of the forward and backward moving mechanism;

[0016] Figure 3 This is a schematic diagram of the left-right moving mechanism;

[0017] Figure 4 This is a schematic diagram of the lifting mechanism.

[0018] Figure 5 This is a schematic diagram of the rotating mechanism;

[0019] Figure 6 This is a schematic diagram of the pitch mechanism;

[0020] Figure 7 This is a sectional view of the pitch mechanism;

[0021] Explanation of reference numerals in the attached drawings: 1-Frame base plate; 2-Forward and backward moving mechanism; 3-Left and right moving mechanism; 4-Up and down lifting mechanism; 5-Rotation mechanism; 6-Pitching mechanism; 7-Square steel frame; 8-Roller; 9-Side reinforcing rib; 10-Side guide rail shaft; 11-Side square steel frames; 12-Left and right connecting frame; 13-Linear guide rail shaft; 14-Linear bearing; 15-Large base plate; 16-Trapezoidal lead screw; 17-Slider; 18-Bearing seat; 19-Lifting reducer; 20-Extension shaft; 21-... 21-Rotating wheel; 22-Lifting base plate; 23-Side connecting block; 24-Up and down moving plate; 25-Lifting guide rail slider; 26-Guide rail base plate; 27-Two side columns; 28-Rotary reducer; 29-Gear; 30-Slewing support; 31-Rotating base plate; 32-Limit auxiliary column; 33-Left pitch bearing seat; 34-Right pitch bearing seat; 35-Pitch reducer; 36-Pitch transmission plate; 37-Double row tapered roller bearing; 38-Load frame; 39-Pitch support end. Detailed Implementation

[0022] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined by the appended claims.

[0023] This invention provides a spatial pose simulation mechanism for a large rolling tool. This mechanism can fully simulate various positions and postures of a large rolling tool, so as to enable a robotic arm to simulate the tool changing process and thus verify the feasibility of autonomous tool changing.

[0024] like Figures 1 to 7 The present invention provides a large rolling tool spatial pose simulation mechanism.

[0025] Combination Figure 1 , Figure 2It can be seen that the forward and backward moving mechanism 2 is installed on the frame base plate 1. The forward and backward moving mechanism 2 is composed of a square steel frame 7. The bottom of the square steel frame 7 is equipped with rollers 8 for forward and backward movement. The square steel frame 7 is equipped with side reinforcing ribs 9 to increase the stability of the square steel frame. The left and right sides of the square steel frame 7 are installed on the two side square steel frames 11 through linear bearings and side guide rail shafts 10. The two side square steel frames 11 are installed on the frame base plate 1. The two side square steel frames 11 are connected together through left and right connecting frames 12. The square steel frame 7 can move forward and backward on the frame base plate 1 through the rollers 8. The movement distance is limited by the side guide rail shafts 10, which also increases the rigidity of the overall frame.

[0026] Combination Figure 3 It can be seen that the left and right moving mechanism 3 is mounted on the square steel frame 7 through four pairs of linear guide shafts 13 and linear bearings 14. The linear bearings 14 are mounted behind the large base plate 15 of the left and right moving mechanism, and the left and right movement is achieved by moving the large base plate 15.

[0027] Combination Figure 4 It can be seen that the vertical lifting mechanism 4 is installed on the large base plate 15 of the left and right moving mechanism 3. The vertical lifting mechanism 4 mainly achieves movement through the trapezoidal lead screw 16 and the slider 17. The upper and lower ends of the trapezoidal lead screw 16 are equipped with bearing seats 18. The lower end of the trapezoidal lead screw 16 is connected to the lifting reducer 19. The lifting reducer 19 is connected to the rotating wheel 21 through the extension shaft 20. The lifting base plate 22 is installed on the lead screw slider 17. The lifting base plate 22 is connected to the vertical moving plate 24 through the side connecting block 23. The vertical moving plate 24 is installed on the guide rail base plate 26 through four pairs of left and right vertical lifting guide rail sliders 25. The guide rail base plate 26 is installed on the large base plate 15 through the two side columns 27, which ensures that the load can withstand bending torque when lifting vertically and vertically, and increases the stability of the vertical lifting mechanism 4.

[0028] Combination Figure 5 It can be seen that the rotating mechanism 5 is installed on the lifting base plate 22, and a rotary reducer 28 is installed on the lifting base plate 22. The input end of the rotary reducer 28 is connected to the rotating wheel 21, and the output end of the rotary reducer 28 is connected to the gear 29. The gear 29 meshes with the slewing support 30. The fixed end of the slewing support 30 is installed on the lifting base plate 22, and the output end of the slewing support 30 is connected to the rotating base plate 31. A limit auxiliary column 32 is installed on the lifting base plate 22 to limit the rotation angle of the rotating mechanism 5 and prevent accidental falls.

[0029] Combination Figure 6 , Figure 7As can be seen, the pitch mechanism 6 is mounted on the rotating base plate 31. The rotating base plate 31 has a left pitch bearing housing 33 and a right pitch bearing housing 34. The left pitch bearing housing 33 is connected to the pitch reducer 35. The input end of the pitch reducer 35 is connected to the wheel 21, and the output end of the pitch reducer 35 is connected to the pitch transmission disk 36. One end of the pitch transmission disk 36 is connected to the left pitch bearing housing 33 via a double-row tapered roller bearing 37, and the other end of the pitch transmission disk 36 is connected to the load frame 38. The other side of the load frame 38 is mounted on the right pitch bearing housing 34 via a pitch support end 39 and a tapered roller bearing 37. This pitch mechanism 6 ensures that the rotation center is as close as possible to the geometric center, while strengthening the supports at both ends to ensure the reliable operation of the pitch reducer.

[0030] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core concept of the present invention. Furthermore, those skilled in the art will recognize that, based on the concept of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A large rolling tool spatial pose simulation mechanism, characterized in that: The system includes a frame base plate, a forward and backward moving mechanism, a left and right moving mechanism, a vertical lifting mechanism, a rotating mechanism, and a pitching mechanism. The forward and backward moving mechanism is mounted on the frame base plate; the left and right moving mechanism is mounted on the square steel frame of the forward and backward moving mechanism; the vertical lifting mechanism is mounted on the large base plate of the left and right moving mechanism; the rotating mechanism is mounted on the lifting base plate of the vertical lifting mechanism; and the pitching mechanism is mounted on the rotating base plate of the rotating mechanism. The forward and backward moving mechanism includes a square steel frame with rollers installed at the bottom for forward and backward movement. Side reinforcing ribs are installed on the square steel frame to increase its stability. The left and right sides of the square steel frame are mounted on two side square steel frames via linear bearings and lateral guide shafts. The two side square steel frames are mounted on the frame base plate and connected together by left and right connecting frames. The square steel frame can move forward and backward on the frame base plate via rollers, and the movement distance is limited by the lateral guide shafts, which also increase the overall rigidity of the frame. The rotation mechanism includes a rotary reducer, a wheel, a gear, a slewing support, and a rotating base plate. The rotary reducer is mounted on the lifting base plate. The input end of the rotary reducer is connected to the wheel, and the output end of the rotary reducer is connected to the gear. The gear meshes with the slewing support. The fixed end of the slewing support is mounted on the lifting base plate, and the output end of the slewing support is connected to the rotating base plate. The pitch mechanism includes a pitch reducer, a wheel, a pitch transmission disk, a load frame, a left pitch bearing seat, and a right pitch bearing seat. The left and right pitch bearing seats are mounted on the rotating base plate. The left pitch bearing seat is connected to the pitch reducer. The input end of the pitch reducer is connected to the wheel, and the output end of the pitch reducer is connected to the pitch transmission disk. One end of the pitch transmission disk is connected to the left pitch bearing seat via a double-row tapered roller bearing, and the other end of the pitch transmission disk is connected to the load frame. The other side of the load frame is mounted on the upper right pitch bearing seat via a pitch support end and a tapered roller bearing.

2. The large rolling tool spatial pose simulation mechanism according to claim 1, characterized in that: The left and right moving mechanism is mounted on a square steel frame via four pairs of linear guide shafts and linear bearings. The linear bearings are mounted behind the large base plate of the left and right moving mechanism, and left and right movement is achieved by moving the large base plate.

3. The large rolling tool spatial pose simulation mechanism according to claim 1, characterized in that: The lifting mechanism includes a trapezoidal lead screw, a lead screw slider, a lifting base plate, a vertical moving plate, vertical lifting guide rail sliders, a guide rail base plate, a rotating wheel, and a lifting reducer. Bearing seats are installed at the upper and lower ends of the trapezoidal lead screw. The lower end of the trapezoidal lead screw is connected to the lifting reducer. The lifting reducer is connected to the rotating wheel through an extension shaft. The lifting base plate is installed on the lead screw slider. The lifting base plate is connected to the vertical moving plate through side connecting blocks. The vertical moving plate is installed on the guide rail base plate through four pairs of left and right vertical lifting guide rail sliders.

4. The large rolling tool spatial pose simulation mechanism according to claim 3, characterized in that: The guide rail base plate is mounted on the large base plate via two side columns, ensuring that the load can withstand bending torque during vertical lifting and increasing the stability of the vertical lifting mechanism.

5. The large rolling tool spatial pose simulation mechanism according to claim 1, characterized in that: The lifting base plate is equipped with limit auxiliary columns to limit the rotation angle of the rotating mechanism and prevent accidental falls.

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