Maintenance robot for numerical control machine tool

Abstract

The invention discloses a numerical control machine tool maintenance robot which comprises a bearing mechanism, an adjusting mechanism and a maintenance mechanism, the adjusting mechanism is movably connected to the surface of the bearing mechanism, and the maintenance mechanism is movably connected to the bottom of the adjusting mechanism. The bearing mechanism is composed of a bottom frame, a supporting frame, a locking adjusting block, rolling wheels, a top frame, a lower sliding rod, an upper sliding rod and a transmission rack rod. According to the robot, through the design of the multiple mechanical arms, each mechanical arm has the multi-degree-of-freedom movement capacity and the independent adjusting capacity, each mechanical arm can independently execute different tasks, waiting time and invalid actions are reduced, and therefore the overall working efficiency is improved, different tools can be installed at the tail end of each mechanical arm, and the mechanical arms are convenient to use. The numerical control machine tool can adapt to different working environments and task types, and can enter the numerical control machine tool more flexibly in cooperation with the mechanical arm which is designed in an inclined stretching mode to repair and maintain areas which are difficult to reach, so that the accessibility and the maintenance efficiency are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of numerical control machine tool maintenance, in particular to a numerical control machine tool maintenance robot. Background Art

[0002] CNC machine tools are one of the most widely used CNC machine tools at present. They are mainly used for cutting inner and outer cylindrical surfaces of shaft parts or disk parts, inner and outer conical surfaces of arbitrary taper angles, complex rotating inner and outer curved surfaces, cylindrical and conical threads, etc., and can perform grooving, drilling, reaming, reaming and boring, etc. CNC machine tools automatically process the parts to be processed according to a pre-compiled processing program. We compile the processing route, process parameters, tool motion trajectory, displacement, cutting parameters and auxiliary functions of the parts into a processing program sheet according to the instruction code and program format specified by the CNC machine tool, and then record the contents of this program sheet on the control medium, and then input it into the CNC device of the CNC machine tool, thereby commanding the machine tool to process parts. The CNC machine tool maintenance robot is an intelligent equipment used for the maintenance of CNC machine tools, and is used for the repair and maintenance of CNC machine tools.

[0003] The prior art application number is: 201910612525.3, which is a CNC machine tool maintenance robot, including: a fixed base, a detection host computer, an adjustment robot arm and a maintenance detection head. A combined support frame is spirally fixed at the four corner positions of the bottom of the fixed base, and a push handle is connected to one side of the top of the fixed base. In this application, a laser displacement sensor is connected to the tail end of the maintenance detection head through a connecting frame. The laser displacement sensor can measure precise geometric measurements such as displacement, thickness, vibration, distance, and diameter. The laser displacement sensor can be used to detect the installation accuracy of the components after the maintenance and installation of the CNC machine tool, so that the CNC machine tool maintenance robot can not only realize the maintenance of the CNC machine tool, but also assist in the automatic detection of the CNC machine tool after maintenance. It does not need to be used alternately with other detection equipment for maintenance, which improves work efficiency and makes the CNC machine tool maintenance robot more complete.

[0004] However, the prior art still has the following deficiencies. First, the above-mentioned existing device is connected to a laser displacement sensor at the tail end of the maintenance detection head, so that the CNC machine tool maintenance robot can not only repair the CNC machine tool but also assist in automatic detection of the CNC machine tool after maintenance. However, when the above-mentioned device is in use, the maintenance work is performed by a single maintenance robot arm. When facing a changing production environment or complex tasks, the single robot arm often needs to be reprogrammed and adjusted to adapt to new work requirements. This reprogramming and adjustment process may be complicated and time-consuming, making it difficult for the robot arm to quickly adapt to a rapidly changing production line. Therefore, it is very necessary to design a CNC machine tool maintenance robot with strong practicality and adaptability. Summary of the invention

[0005] The object of the present invention is to provide a CNC machine tool maintenance robot to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a CNC machine tool maintenance robot, comprising a supporting mechanism, an adjusting mechanism and a maintenance mechanism, wherein the adjusting mechanism is movably connected to the surface of the supporting mechanism, and the maintenance mechanism is movably connected to the bottom of the adjusting mechanism.

[0007] The bearing mechanism consists of a base frame, a support frame, a locking adjustment block, a roller, a top frame, a lower sliding rod, an upper sliding rod and a transmission rack rod. The support frame is fixedly connected to the top of the base frame, the locking adjustment block is movably connected to the top of the base frame, the roller is rotatably connected to the bottom of the base frame, the top frame is fixedly connected to the top of the support frame, the lower sliding rod is fixedly connected to the bottom of the top frame, the upper sliding rod is fixedly connected to the top of the top frame, and the transmission rack rod is fixedly connected to the inside of the top frame, which plays the main purpose of bearing and moving, and the wide design makes it convenient to cover various types of CNC machine tools, so that the maintenance organization can perform reach-in maintenance.

[0008] According to the above technical solution, the adjustment mechanism is composed of a hydraulic component, a slider, a drive motor, a hydraulic cylinder and a telescopic rod. The hydraulic component is movably connected to the surface of the transmission rack rod, the slider is fixedly connected to the top of the hydraulic component, the drive motor is fixedly connected to the side of the slider, the hydraulic cylinder is fixedly connected to the bottom of the hydraulic component, and the telescopic rod is movably connected to the bottom of the hydraulic cylinder, which is convenient for adjusting different positions and heights, which greatly improves the multiple degrees of freedom and flexibility.

[0009] According to the above technical solution, the maintenance mechanism is composed of a connecting plate, a connecting frame, a first adjusting motor, a first adjusting arm, a rotating shaft connecting plate, a second adjusting motor, a second adjusting arm, a third adjusting motor, a third adjusting arm, a fourth adjusting motor, a collision detection sensor, a mounting frame and a mounting hole. The connecting plate is fixedly connected to the extended end of the telescopic rod, the connecting frame is fixedly connected to the bottom of the connecting plate, the first adjusting motor is rotatably connected to the inside of the connecting frame, the first adjusting arm is fixedly connected to the surface of the first adjusting motor, the rotating shaft connecting plate is fixedly connected to the side of the first adjusting arm, the second adjusting motor is rotatably connected to the inside of the rotating shaft connecting plate, and the second adjusting arm is fixedly connected The robot is connected to the surface of the second adjusting motor, the third adjusting motor is rotatably connected to the inside of the second adjusting arm, the third adjusting arm is fixedly connected to the output end of the third adjusting motor, the fourth adjusting motor is rotatably connected to the inside of the third adjusting arm, the collision detection sensor is fixedly connected to the surface of the fourth adjusting motor, the mounting bracket is fixedly connected to the surface of the fourth adjusting motor, and the mounting hole is opened on the surface of the mounting bracket. Through precise control systems and advanced positioning technology, high-precision operation can be achieved. High-precision operation can ensure maintenance quality and reduce errors caused by human factors. At the same time, the robot has high reliability, can operate stably for a long time, and reduce the failure rate.

[0010] According to the above technical solution, the output gear of the driving motor is meshed with the surface of the transmission rack rod, and is driven by the driving motor to drive the maintenance mechanism to perform lateral adjustment.

[0011] According to the above technical solution, the hydraulic assembly slides between the lower slide bar and the upper slide bar, so as to achieve the supporting and limiting functions and improve the stability of the hydraulic assembly when moving.

[0012] According to the above technical solution, the maintenance mechanism, hydraulic cylinders and telescopic rods are arranged in four groups, and each group of hydraulic cylinders is connected to the hydraulic components through a separate hydraulic oil pipe, so that the robot has a multiple mechanical arm design, each mechanical arm has multi-degree-of-freedom movement capabilities, and can achieve multi-angle movement and adjustment in a complex space. This design enables the robot to easily reach every corner of the CNC machine tool and perform precise repair and maintenance work.

[0013] According to the above technical solution, the top frame and the surface movable adjustment mechanism and maintenance mechanism are all inclined in design, which makes it easy for the multiple maintenance mechanisms of the device to reach into the interior of the machine tool for disassembly and maintenance through the inclined design. The robotic arm with an inclined insertion design can more flexibly enter the interior of the CNC machine tool to repair and maintain areas that are difficult to reach, greatly improving accessibility and maintenance efficiency.

[0014] According to the above technical solution, a pressing plate is designed on the bottom surface of the locking adjustment block, and the locking adjustment block is movably clamped inside the base frame. When the clamping position of the locking adjustment block is at the bottom, the pressing plate is pressed on the surface of the roller to limit the rotation of the roller, making it easier for the limit device to be located in a fixed position to prevent movement or shaking.

[0015] According to the above technical solution, the installation holes are provided with eight threaded connection holes, and are distributed on the surface of the connecting frame, so that a plurality of holes can be set to facilitate the adaptation and installation of a variety of maintenance tools, and different maintenance tools can be installed according to different maintenance situations.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0017] 1. The present invention is provided with a multi-manipulator design, and each manipulator has multi-degree-of-freedom movement capabilities, which can achieve multi-angle movement and adjustment in a complex space. This design enables the robot to easily reach every corner of the CNC machine tool, perform precise repair and maintenance work, and complete more arduous and complex maintenance tasks.

[0018] 2. The present invention, by providing a multi-robot design, and each robot arm has the ability to adjust independently, so that the entire system can be flexibly operated in a complex spatial layout and working environment. Different robot arms can be accurately positioned and adjusted for specific work areas or workpieces to meet diverse work needs. By operating multiple robot arms simultaneously or in parallel, the execution speed of work tasks can be significantly improved, especially in tasks such as assembly and handling that require multiple steps or the simultaneous processing of multiple workpieces. The independent adjustment capability allows each robot arm to independently perform different tasks, reducing waiting time and invalid actions, thereby improving overall work efficiency.

[0019] 3. The present invention is provided with multiple robotic arms, and different tools can be installed at the end of each robotic arm. This means that the system can flexibly change tools according to task requirements, thereby adapting to different working environments and task types. This flexibility enables the multi-robotic arm system to handle a wider range of tasks, including assembly, handling, welding, cutting and other operations, meeting the rapidly changing and diversified needs of modern manufacturing.

[0020] 4. The present invention, by providing a robotic arm with an inclined insertion design, can more flexibly enter the interior of the CNC machine tool to repair and maintain the hard-to-reach areas, greatly improving accessibility and maintenance efficiency. The robotic arm with an inclined insertion design combined with an advanced control system can ensure high-precision operation during the maintenance process and reduce errors caused by human factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 It is a schematic diagram of the appearance structure of the present invention;

[0023] Figure 2 It is a side structural schematic diagram of the present invention;

[0024] Figure 3 The present invention Figure 2 The enlarged structural diagram at A in the middle;

[0025] Figure 4 It is a schematic diagram of the structure of the present invention when viewed from above;

[0026] Figure 5 The present invention Figure 4 The enlarged structural diagram at B in the middle;

[0027] Figure 6 It is a schematic diagram of the maintenance mechanism structure of the present invention.

[0028] In the figure: 1. bearing mechanism; 101. bottom frame; 102. supporting frame; 103. locking adjustment block; 104. roller; 105. top frame; 106. lower slide bar; 107. upper slide bar; 108. transmission rack bar; 2. adjustment mechanism; 201. hydraulic assembly; 202. slider; 203. drive motor; 204. hydraulic cylinder; 205. telescopic rod; 3. maintenance mechanism; 301. connecting plate; 302. connecting frame; 303. first adjustment motor; 304. first adjustment arm; 305. rotating shaft connecting plate; 306. second adjustment motor; 307. second adjustment arm; 308. third adjustment motor; 309. third adjustment arm; 310. fourth adjustment motor; 311. collision detection sensor; 312. mounting frame; 313. mounting hole position. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-6 The present invention provides a technical solution: a CNC machine tool maintenance robot, including a supporting mechanism 1, an adjusting mechanism 2 and a maintenance mechanism 3, the adjusting mechanism 2 is movably connected to the surface of the supporting mechanism 1, and the maintenance mechanism 3 is movably connected to the bottom of the adjusting mechanism 2.

[0031] The bearing mechanism 1 is composed of a base frame 101, a support frame 102, a locking adjustment block 103, a roller 104, a top frame 105, a lower slide bar 106, an upper slide bar 107 and a transmission rack bar 108. The support frame 102 is fixedly connected to the top of the base frame 101, the locking adjustment block 103 is movably connected to the top of the base frame 101, and the roller 104 is rotatably connected to the bottom of the base frame 101. The bottom surface of the locking adjustment block 103 is designed with a pressing plate, and the locking adjustment block 103 is movably connected to the inside of the base frame 101. When the locking adjustment block 103 is located at the bottom, the locking adjustment block 103 is locked. When the roller 104 is moved, the pressing plate is pressed against the surface of the roller 104 to limit the rotation of the roller 104, so that the limit device is located in a fixed position to prevent movement or shaking. The top frame 105 is fixedly connected to the top of the support frame 102, the lower slide bar 106 is fixedly connected to the bottom of the top frame 105, the upper slide bar 107 is fixedly connected to the top of the top frame 105, and the transmission rack rod 108 is fixedly connected to the inside of the top frame 105, which plays the main purpose of bearing and movement, and the wide design makes it convenient to cover various types of CNC machine tools, so that the maintenance mechanism 3 can perform reach-in maintenance.

[0032] The adjusting mechanism 2 is composed of a hydraulic component 201, a slider 202, a drive motor 203, a hydraulic cylinder 204 and a telescopic rod 205. The hydraulic component 201 is movably connected to the surface of the transmission rack rod 108. The hydraulic component 201 is located between the lower slide rod 106 and the upper slide rod 107 and slides, so as to achieve the supporting and limiting functions, thereby improving the stability of the hydraulic component 201 when moving. The slider 202 is fixedly connected to the top of the hydraulic component 201, and the drive motor 203 is fixedly connected to the side of the slider 202. The output gear of the drive motor 203 is engaged with the surface of the transmission rack rod 108, and is driven by the drive motor 203, thereby driving the maintenance mechanism 3 to perform lateral adjustment. The hydraulic cylinder 204 is fixedly connected to the bottom of the hydraulic component 201, and the telescopic rod 205 is movably connected to the bottom of the hydraulic cylinder 204, so as to facilitate the adjustment of different positions and heights, which greatly improves the multi-degree of freedom and flexibility.

[0033] The maintenance mechanism 3 is composed of a connecting plate 301, a connecting frame 302, a first adjusting motor 303, a first adjusting arm 304, a rotating shaft connecting plate 305, a second adjusting motor 306, a second adjusting arm 307, a third adjusting motor 308, a third adjusting arm 309, a fourth adjusting motor 310, a collision detection sensor 311, a mounting frame 312 and a mounting hole 313. The connecting plate 301 is fixedly connected to the extended end of the telescopic rod 205, the connecting frame 302 is fixedly connected to the bottom of the connecting plate 301, the first adjusting motor 303 is rotatably connected to the inside of the connecting frame 302, the first adjusting arm 304 is fixedly connected to the surface of the first adjusting motor 303, and the rotating shaft is connected to the connecting plate 301. The plate 305 is fixedly connected to the side of the first adjustment arm 304, the second adjustment motor 306 is rotatably connected to the inside of the rotating shaft connecting plate 305, the second adjustment arm 307 is fixedly connected to the surface of the second adjustment motor 306, the third adjustment motor 308 is rotatably connected to the inside of the second adjustment arm 307, the third adjustment arm 309 is fixedly connected to the output end of the third adjustment motor 308, the fourth adjustment motor 310 is rotatably connected to the inside of the third adjustment arm 309, the collision detection sensor 311 is fixedly connected to the surface of the fourth adjustment motor 310, the mounting bracket 312 is fixedly connected to the surface of the fourth adjustment motor 310, and the mounting hole 313 is opened on the mounting bracket 312. The surface of the robot 310 is provided with eight threaded connection holes at the installation hole position 313, and the holes are distributed on the surface of the mounting frame 312, so that a variety of maintenance tools can be adapted and installed by setting a plurality of holes, and different maintenance tools can be installed according to different maintenance situations. Through the precise control system and advanced positioning technology, high-precision operation can be achieved, and high-precision operation can ensure the maintenance quality and reduce the error caused by human factors. At the same time, the robot has a high degree of reliability, can operate stably for a long time, and reduce the failure rate. The maintenance mechanism 3 and the hydraulic cylinder 204 and the telescopic rod 205 are provided with four groups, and each group of hydraulic cylinders 204 are connected by a separate hydraulic oil pipe. The hydraulic component 201 enables the robot to have a multiple mechanical arm design, each of which has multi-degree-of-freedom movement capabilities and can achieve multi-angle movement and adjustment in a complex space. This design enables the robot to easily reach every corner of the CNC machine tool and perform precise repair and maintenance work. The top frame 105 and the surface-active adjustment mechanism 2 and maintenance mechanism 3 are all inclined designs, which makes it easy for the multiple maintenance mechanisms 3 of the device to be easily extended into the interior of the machine tool for disassembly and maintenance work through the inclined design. The mechanical arm with an inclined extension design can more flexibly enter the interior of the CNC machine tool and perform repair and maintenance on hard-to-reach areas, greatly improving accessibility and maintenance efficiency.

[0034] When in use, different maintenance tools are installed on the surface of each mounting frame 312, and after the maintenance or repair program is preset, the supporting mechanism 1 is pushed to move the entire device to the side of the CNC machine tool that needs to be repaired or maintained, and the four sets of maintenance mechanical arms are extended to the interior of the CNC machine tool. Finally, after the roller 104 is locked, the CNC machine tool is repaired or maintained by driving the preset program.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A CNC machine tool maintenance robot, comprising a carrying mechanism (1), an adjustment mechanism (2) and a maintenance mechanism (3), characterized in that: The adjusting mechanism (2) is movably connected to the surface of the carrying mechanism (1), and the maintenance mechanism (3) is movably connected to the bottom of the adjusting mechanism (2); The bearing mechanism (1) is composed of a base frame (101), a support frame (102), a locking adjustment block (103), a roller (104), a top frame (105), a lower slide bar (106), an upper slide bar (107) and a transmission rack bar (108); the support frame (102) is fixedly connected to the top of the base frame (101); the locking adjustment block (103) is movably connected to the top of the base frame (101); the roller (104) is rotatably connected to the bottom of the base frame (101); the top frame (105) is fixedly connected to the top of the support frame (102); the lower slide bar (106) is fixedly connected to the bottom of the top frame (105); the upper slide bar (107) is fixedly connected to the top of the top frame (105); and the transmission rack bar (108) is fixedly connected to the inside of the top frame (105).

2. A CNC machine tool maintenance robot according to claim 1, characterized in that: The adjusting mechanism (2) is composed of a hydraulic component (201), a slider (202), a drive motor (203), a hydraulic cylinder (204) and a telescopic rod (205); the hydraulic component (201) is movably connected to the surface of a transmission rack rod (108); the slider (202) is fixedly connected to the top of the hydraulic component (201); the drive motor (203) is fixedly connected to the side of the slider (202); the hydraulic cylinder (204) is fixedly connected to the bottom of the hydraulic component (201); and the telescopic rod (205) is movably connected to the bottom of the hydraulic cylinder (204).

3. A CNC machine tool maintenance robot according to claim 2, characterized in that: The maintenance mechanism (3) is composed of a connecting plate (301), a connecting frame (302), a first adjusting motor (303), a first adjusting arm (304), a rotating shaft connecting plate (305), a second adjusting motor (306), a second adjusting arm (307), a third adjusting motor (308), a third adjusting arm (309), a fourth adjusting motor (310), a collision detection sensor (311), a mounting frame (312) and a mounting hole (313); the connecting plate (301) is fixedly connected to the extended end of the telescopic rod (205); the connecting frame (302) is fixedly connected to the bottom of the connecting plate (301); the first adjusting motor (303) is rotatably connected to the inside of the connecting frame (302); the first adjusting arm (304) is fixedly connected to the surface of the first adjusting motor (303); the rotating shaft connecting plate (305) is fixedly connected to the bottom of the connecting plate (301); the first adjusting motor (303) is rotatably connected to the inside of the connecting frame (302); the first adjusting arm (304) is fixedly connected to the surface of the first adjusting motor (303); the The connecting plate (305) is fixedly connected to the side of the first adjusting arm (304); the second adjusting motor (306) is rotatably connected to the inside of the rotating shaft connecting plate (305); the second adjusting arm (307) is fixedly connected to the surface of the second adjusting motor (306); the third adjusting motor (308) is rotatably connected to the inside of the second adjusting arm (307); the third adjusting arm (309) is fixedly connected to the output end of the third adjusting motor (308); the fourth adjusting motor (310) is rotatably connected to the inside of the third adjusting arm (309); the collision detection sensor (311) is fixedly connected to the surface of the fourth adjusting motor (310); the mounting bracket (312) is fixedly connected to the surface of the fourth adjusting motor (310); and the mounting hole (313) is opened on the surface of the mounting bracket (312).

4. A CNC machine tool maintenance robot according to claim 3, characterized in that: The output gear of the driving motor (203) is meshed with the surface of the transmission rack rod (108).

5. A CNC machine tool maintenance robot according to claim 4, characterized in that: The hydraulic assembly (201) is located and slides between the lower sliding rod (106) and the upper sliding rod (107).

6. A CNC machine tool maintenance robot according to claim 5, characterized in that: The maintenance mechanism (3), the hydraulic cylinder (204) and the telescopic rod (205) are provided in four groups, and each group of hydraulic cylinders (204) is connected to the hydraulic assembly (201) via a separate hydraulic oil pipe.

7. A CNC machine tool maintenance robot according to claim 6, characterized in that: The top frame (105) and the surface movable adjustment mechanism (2) and maintenance mechanism (3) are all designed to be inclined.

8. A CNC machine tool maintenance robot according to claim 7, characterized in that: The bottom surface of the locking adjustment block (103) is provided with a pressing plate, and the locking adjustment block (103) is movably clamped inside the base frame (101); when the clamping position of the locking adjustment block (103) is located at the bottom, the pressing plate is pressed against the surface of the roller (104) to limit the rotation of the roller (104).

9. A CNC machine tool maintenance robot according to claim 8, characterized in that: The mounting hole position (313) is provided with eight threaded connection holes distributed on the surface of the mounting frame (312).

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