Industrial robot tool with force feedback and used for stone plate forming machining

Abstract

The invention relates to the technical field of industrial robots, in particular to an industrial robot tool with force feedback for slabstone forming machining, which comprises a torque sensor, an electric spindle, a water jet cutter assembly and the like, one end of the torque sensor is connected with a flange at the tail end of an industrial robot, and the other end is connected with a mounting seat; an electric spindle is fixed to the middle section of the mounting base and drives a tool bit to conduct arc cutting. A cutting motor is fixed at the tail end of the mounting seat, and drives the saw blade to perform linear cutting and drives the tapper to perform drilling action; the water jet cutter assembly is fixed on the mounting seat and is used for carrying out special-shaped cutting on the stone plate; a visual detection mechanism is fixed below the motorized spindle, and a thickness detection sensor is fixed on the cutting motor; according to the invention, the stone plate does not need to be repeatedly calibrated and positioned on different processing beds in the processing process, so that the continuous operation of the industrial robot is not interrupted in the stone plate loading and unloading process, the operation flow of the industrial robot is simplified, the stone plate processing efficiency is improved, and the cost is reduced.

Description

[Technical field]

[0001] The invention relates to the technical field of industrial robots, in particular to an industrial robot tool with force feedback and containing a saw blade motor, a water jet and an electric spindle for stone slab forming processing, and an industrial robot comprising the same. [Background Technology]

[0002] At present, the main models of slate cutting machines on the market are truss-type water jet machines and bridge cutting machines. Among them, water jet machines are good at handling complex cutting tasks on slates, such as carving smooth arcs and curves, with their high-pressure water flow mixed with abrasives and equipped with a truss-type multi-axis moving system; while bridge cutting machines, with their sharp saw blades and similar truss-type moving structure, specialize in precise cutting of straight lines to ensure that the edges of slates are straight and neat.

[0003] In actual operation, stone slab cutting often requires both straight-line processing and curved processing, so the usual practice is to use a bridge cutter to complete the straight-line part first, and then transfer the semi-finished product to a water jet machine to carve the curve. However, this process is not perfect, because it is necessary to rely on a CNC machine equipped with an electric spindle to carefully polish the edges of the stone slab to achieve the final perfect effect. In this series of processes, the very heavy stone slabs need to be moved and repositioned many times, which is not only time-consuming and labor-intensive, but also affects the overall production efficiency. [Summary of the invention]

[0004] The purpose of the present invention is to solve the above-mentioned shortcomings and provide an industrial robot tool with force feedback for stone slab forming processing, so that the stone slabs do not need to be repeatedly calibrated and positioned on different processing beds during the processing, ensuring that the process of loading and unloading stone slabs will not interrupt the continuous operation of the industrial robot. It not only simplifies the operation process, but also significantly improves the stone slab processing efficiency, reduces costs, and improves the overall production efficiency of industrial robot processing.

[0005] In order to achieve the above purpose, an industrial robot tool with force feedback for stone slab forming processing is designed, including a mounting seat 1, a torque sensor 2, an electric spindle 3, a cutter head 4, a hole opener 7, a saw blade 8, a visual detection mechanism 11, a cutting motor 12, a thickness detection sensor 13, a hard high-pressure coil 14 and a water jet assembly 15; wherein:

[0006] One end of the torque sensor 2 is fixedly connected to the end flange of the industrial robot by bolts, and the other end of the torque sensor 2 is fixedly connected to the mounting base 1 by bolts;

[0007] The electric spindle 3 is fixed to the middle of the mounting seat 1 by bolts, and the cutter head 4 is tightened to the output end of the electric spindle 3 by a disc spring, and performs arc cutting under the drive of the electric spindle 3;

[0008] A cutting motor 12 is fixed to the rear end of the mounting seat 1 by bolts, and a saw blade 8 is fixed to the output shaft of the cutting motor 12. The saw blade 8 performs a linear cutting action under the drive of the cutting motor 12.

[0009] The output shaft end of the cutting motor 12 is fixed with a hole opener 7 via a nut, and the cutting motor 12 drives the hole opener 7 to drill holes in the stone slab;

[0010] The water jet assembly 15 is fixed to the mounting base 1 by bolts and is used to perform special-shaped cutting on the stone slab. The water jet assembly 15 is connected to the straight pipe part of the hard high-pressure coil 14, and the curved pipe part of the hard high-pressure coil 14 is arranged around the electric spindle 3;

[0011] A visual detection mechanism 11 is fixed below the electric spindle 3, and the visual detection mechanism 11 is used to detect the actual position of the stone slab in the length and width directions. A thickness detection sensor 13 is fixed to the cutting motor 12 by bolts, and the thickness detection sensor 13 is used to detect the actual position of the stone slab in the thickness direction.

[0012] Furthermore, the axial direction of the electric spindle 3 is arranged in an orthogonal manner to the output shaft direction of the cutting motor 12, the axial direction of the electric spindle 3 is arranged in an orthogonal manner to the water jet assembly 15, and the output shaft direction of the cutting motor 12 is arranged obliquely to the water jet assembly 15. This innovative structural design embodies excellent integration and outstanding compact structure, which makes the industrial robot simpler and more efficient when cutting different types of stone slabs with complex shapes.

[0013] Furthermore, an annular cutter head cooling duct 5 is arranged on the shaft body of the electric spindle 3, and the annular nozzle top of the cutter head cooling duct 5 is tightly attached to the electric spindle 3. The cooling water flowing through the cutter head cooling duct 5 is discharged to the cutter head 4 and cools the cutter head 4, thereby greatly extending the service life of the cutter head 4 and reducing the diffusion of dust.

[0014] Furthermore, a protective cover 10 is arranged around the saw blade 8, and the protective cover 10 is fixed to the cutting motor 12 by bolts. A saw blade cooling device 6 for spraying water on the saw blade 8 is installed on the protective cover 10, and the nozzle of the saw blade cooling device 6 is fixed to the protective cover 10 by bolts. A water baffle 9 is fixed to the bottom end of the protective cover 10 by bolts, and the water baffle 9 is used to prevent the splashing of particles and liquids during the cutting process.

[0015] Furthermore, the mounting base 1 includes a base body 101, and the base body 101 is gradually inclined to one side from the bottom end to the top end. The top and bottom ends of the base body 101 are respectively provided with a sensor mounting flange 102 and a motor mounting flange 103, the sensor mounting flange 102 is arranged vertically, and the motor mounting flange 103 is arranged horizontally. An electric spindle mounting hole 104 is opened at the middle position of the base body 101, and electric spindle mounting flanges 105 are arranged at both ends of the electric spindle mounting hole 104. Bolt mounting holes are evenly distributed on the sensor mounting flange 102, the motor mounting flange 103 and the electric spindle mounting flange 105 along the circumferential direction. The mounting base 1 is an integral part formed by integral casting. The structural design of the mounting base 1 not only has good shock absorption effect, reasonable structural arrangement, and convenient adjustment of the center of gravity of the tool, but also is low in price and simple to process.

[0016] Furthermore, the water jet assembly 15 includes a water jet head mounting seat 1501, a U-shaped seat 1502, a water jet head clamping seat 1503 and a water jet head 1504. One side of the water jet head mounting seat 1501 is fixed to the mounting seat 1 by bolts, and the other side of the water jet head mounting seat 1501 is connected to the U-shaped seat 1502 by a hinge. The other end of the U-shaped seat 1502 is fixed with a water jet head clamping seat 1503, and the water jet head 1504 is clamped in the water jet head clamping seat 1503. The water jet head 1504 can be adjusted to a variety of postures through the water jet head mounting seat 1501, the U-shaped seat 1502 and the water jet head clamping seat 1503, and can achieve more precise and fast cutting of special-shaped stone slabs.

[0017] Furthermore, an automatic tool-changing handle is used at the end of the electric spindle 3, and the tool head 4 is replaced with a milling cutter head or a grinding head by the automatic tool-changing handle, so as to facilitate the processing of different stones; the thickness detection sensor 13 identifies the actual thickness and flatness of the stone slab and fits the virtual plane of the stone slab, so that the whole set of cutting tools has stronger adaptability to stone slabs of different specifications.

[0018] Furthermore, the visual inspection mechanism 11 includes a housing 1101, a cylinder 1102, a blowing device 1103, a cover plate 1104, an industrial camera 1105 and a wire clamp 1106. The cylinder 1102 and the blowing device 1103 are fixedly connected to one side of the housing 1101. The other end of the blowing device 1103 is connected to an air pipe. The blowing device 1103 inputs compressed air to prevent dust accumulation during cutting from affecting the industrial camera 1105. The output end of the cylinder 1102 is connected to the cover plate 1104 through a hinge. In the middle of the top, one side of the top of the cover plate 1104 is connected to the cover shell 1101 by a hinge, and the cylinder 1102 drives the cover plate 1104 to open and close to ensure that the industrial camera 1105 does not interfere with each other in working and standby states. The industrial camera 1105 is fixed to the bottom of the cover shell 1101 with bolts, and the other side of the cover shell 1101 is fixed with a wire clamp 1106 by bolts. The wire clamp 1106 is used to effectively avoid the risk of the connector falling off and being damaged due to frequent bending of the cable during the cutting movement and posture change of the whole set of tools.

[0019] Furthermore, the industrial camera 1105 adopts a dustproof and waterproof design, and low-pressure air is passed through its interior. The camera dust cover of the industrial camera 1105 is closed when there is no signal and the power is off. The camera dust cover of the industrial camera 1105 opens and starts taking pictures when receiving an instruction in the standby state; the cover shell 1101 is made of national standard 6061 aluminum material as a whole, which is light and sturdy, thereby ensuring the safety and stability of the internal industrial camera 1105; the protective cover 10 is made of stainless steel spray paint, which is not only beautiful in appearance, but also corrosion-resistant, durable, safe and reliable.

[0020] The present invention also provides an industrial robot, which includes the above-mentioned industrial robot tool with force feedback for stone slab forming processing.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] (1) The present invention uses a serial structure design of the industrial robot to enable it to provide services for two or more processing beds at the same time, ensuring that the process of loading and unloading the stone slabs will not interrupt the continuous operation of the industrial robot, thereby achieving a significant improvement of more than twice the traditional stone slab processing efficiency;

[0023] (2) With the help of real-time data provided by the torque sensor, the present invention enables the industrial robot to intelligently adjust the cutting speed, effectively avoiding uncertain losses such as breakage of the tool due to excessive stress, and improving the accuracy and safety of the operation;

[0024] (3) The present invention realizes that the stone slab does not need to be repeatedly calibrated and positioned on different processing beds during the processing. This improvement not only simplifies the operation process, but also reduces the investment demand for additional hardware, significantly reduces costs, and improves production efficiency;

[0025] (4) The present invention utilizes the spatial flexibility of the six-axis industrial robot during movement, arranges the electric spindle and the cutting motor in an orthogonal manner, the electric spindle and the water jet in an orthogonal manner, and the cutting motor and the water jet at a certain angle, and integrates a series of sensors and detection feedback devices into one, so that the industrial robot can cut complex shapes of different types of stone slabs more simply and efficiently;

[0026] (5) The mounting seat of the present invention adopts an integrally cast one-piece structure, which has good shock absorption effect, reasonable structural layout, convenient adjustment of the center of gravity of the tool, low price and simple processing;

[0027] (6) The present invention can simultaneously realize various functions such as positioning detection of stone slabs, straight-line cutting, curve cutting, hole opening, T-type milling, edge grinding, etc., greatly improving the production efficiency of stone forming, and using force feedback to detect the six-dimensional force exerted on the tool head in real time to achieve the lowest cutting cost and the best cutting efficiency;

[0028] (7) The end of the electric spindle of the present invention adopts an automatic tool changer, so that different stone processing tools (milling cutters, grinding heads, etc.) can be automatically replaced, thereby improving the overall production efficiency of industrial robot processing;

[0029] (8) Compared with the traditional truss structure, the innovative design of the present invention exhibits excellent integration, compact structure and lighter weight. These features greatly promote the rapid transportation, layout and production planning flexibility of industrial robot equipment, and are worthy of popularization and application. [Drawings]

[0030] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0031] Figure 2 It is a front structural schematic diagram of the present invention;

[0032] Figure 3 It is a three-dimensional structural schematic diagram of the visual detection mechanism of the present invention;

[0033] Figure 4 It is a front structural schematic diagram of the visual detection mechanism of the present invention;

[0034] Figure 5 It is a schematic diagram of the three-dimensional structure of the mounting seat of the present invention;

[0035] Figure 6It is a schematic diagram of the internal structure of the mounting base of the present invention;

[0036] Figure 7 It is a schematic structural diagram of the water jet assembly of the present invention;

[0037] In the figure: 1. mounting base; 2. torque sensor; 3. electric spindle; 4. cutter head; 5. cutter head cooling duct; 6. saw blade cooling device; 7. hole opener; 8. saw blade; 9. water baffle; 10. protective cover; 11. visual inspection mechanism; 12. cutting motor; 13. thickness detection sensor; 14. hard high-pressure coil; 15. water jet assembly; 101. seat; 102. sensor mounting flange; 103. motor mounting flange; 104. electric spindle mounting hole; 105. electric spindle mounting flange; 1101. cover; 1102. cylinder; 1103. blowing device; 1104. cover plate; 1105. industrial camera; 1106. wire clamp; 1501. water jet head mounting base; 1502. U-shaped base; 1503. water jet head clamp base; 1504. water jet head. [Specific implementation method]

[0038] As attached Figure 1 and attached Figure 2 As shown, the present invention provides an industrial robot tool with force feedback and containing a saw blade motor, a water jet and an electric spindle for stone slab forming processing, comprising a mounting seat 1, a torque sensor 2, an electric spindle 3, a cutter head 4, a cutter head cooling pipe 5, a saw blade cooling device 6, a hole opener 7, a saw blade 8, a water baffle 9, a protective cover 10, a visual detection mechanism 11, a cutting motor 12, a thickness detection sensor 13, a hard high-pressure coil 14 and a water jet assembly 15; wherein, one end of the torque sensor 2 is fixedly connected to the end flange of the industrial robot by bolts, and the other end of the torque sensor 2 is fixedly connected to the mounting seat 1 by bolts; the electric spindle 3 is fixedly connected to the middle section of the mounting seat 1 by bolts, and the cutter head 4 is tightened to the output end of the electric spindle 3 by a disc spring, and performs arc cutting action under the drive of the electric spindle 3; the tail end of the mounting seat 1 is fixedly connected to the end flange of the industrial robot by bolts. A cutting motor 12 is fixed with bolts, and a saw blade 8 is fixed on the output shaft of the cutting motor 12. The saw blade 8 performs a straight cutting action under the drive of the cutting motor 12; a hole opener 7 is fixed to the end of the output shaft of the cutting motor 12 through a nut, and the cutting motor 12 drives the hole opener 7 to drill holes in the stone slab; a water jet assembly 15 is fixed to the mounting seat 1 by bolts, and is used to perform special-shaped cutting on the stone slab, the water jet assembly 15 is connected to the straight pipe part of the hard high-pressure coil 14, and the curved pipe part of the hard high-pressure coil 14 is arranged around the electric spindle 3; a visual detection mechanism 11 is fixed under the electric spindle 3, and the visual detection mechanism 11 is used to detect the actual position of the stone slab in the length and width directions; a thickness detection sensor 13 is fixed to the cutting motor 12 by bolts, and the thickness detection sensor 13 is used to detect the actual position of the stone slab in the thickness direction.

[0039] In the present invention, the axial direction of the electric spindle 3 is arranged orthogonally to the output axis direction of the cutting motor 12, the axial direction of the electric spindle 3 is arranged orthogonally to the water jet assembly 15, and the output axis direction of the cutting motor 12 is arranged obliquely to the water jet assembly 15. This innovative structural design reflects excellent integration and outstanding compact structure, making the industrial robot simpler and more efficient when cutting different types of stone slabs with complex shapes. An annular cutter head cooling pipe 5 is arranged on the shaft body of the electric spindle 3, and the annular spray top of the cutter head cooling pipe 5 is tightly attached to the electric spindle 3. The cooling water flowing through the cutter head cooling pipe 5 is discharged to the cutter head 4, and the cutter head 4 is cooled, thereby greatly extending the service life of the cutter head 4 and reducing the diffusion of dust; the end of the electric spindle 3 adopts an automatic tool change handle, and the automatic tool change handle is used to replace the cutter head 4 with a milling cutter head or a grinding head, so as to facilitate the processing of different stones. A protective cover 10 is provided around the saw blade 8, and the protective cover 10 is fixed to the cutting motor 12 by bolts. A saw blade cooling device 6 for spraying water on the saw blade 8 is installed on the protective cover 10, and the nozzle of the saw blade cooling device 6 is fixed to the protective cover 10 by bolts. A water baffle 9 is fixed to the bottom of the protective cover 10 by bolts, and the water baffle 9 is used to prevent particles and liquids from splashing during the cutting process. The thickness detection sensor 13 identifies the actual thickness and flatness of the stone slab and fits the virtual plane of the stone slab, so that the whole set of cutting tools has a stronger adaptability to stone slabs of different specifications.

[0040] As attached Figure 3 and attached Figure 4As shown, the visual inspection mechanism 11 includes a housing 1101, a cylinder 1102, a blowing device 1103, a cover plate 1104, an industrial camera 1105 and a wire clamp 1106. The cylinder 1102 and the blowing device 1103 are fixedly connected to one side of the housing 1101. The other end of the blowing device 1103 is connected to the air pipe. The blowing device 1103 inputs compressed air to prevent dust accumulation during the cutting process from affecting the industrial camera 1105. The output end of the cylinder 1102 is connected to the top of the cover plate 1104 through a hinge. In the middle, one side of the top of the cover 1104 is connected to the cover shell 1101 by a hinge, and the cylinder 1102 drives the cover 1104 to open and close to ensure that the industrial camera 1105 does not interfere with each other in working and standby states. The industrial camera 1105 is fixed to the bottom of the cover shell 1101 with bolts, and the wire clamp 1106 is fixed to the other side of the cover shell 1101 with bolts. The wire clamp 1106 is used to effectively avoid the risk of the connector falling off and being damaged due to frequent bending of the cable during the cutting movement and posture change of the whole set of tools. The industrial camera 1105 adopts a dustproof and waterproof design, and low-pressure air is passed through its interior. The camera dust cover of the industrial camera 1105 is closed when there is no signal and the power is off. The camera dust cover of the industrial camera 1105 opens and starts taking pictures when receiving a command in the standby state; the cover 1101 is made of national standard 6061 aluminum material as a whole, which is light and strong, thereby ensuring the safety and stability of the internal industrial camera 1105; the protective cover 10 is made of stainless steel spray paint, which is not only beautiful in appearance, but also corrosion-resistant, durable, safe and reliable.

[0041] As attached Figure 5 and attached Figure 6 As shown, the mounting base 1 includes a base body 101, which gradually tilts to one side from the bottom end to the top end, and a sensor mounting flange 102 and a motor mounting flange 103 are respectively provided at the top and bottom ends of the base body 101, the sensor mounting flange 102 is arranged vertically, and the motor mounting flange 103 is arranged horizontally, and an electric spindle mounting hole 104 is opened at the middle position of the base body 101, and electric spindle mounting flanges 105 are provided at both ends of the electric spindle mounting hole 104, and bolt mounting holes are evenly distributed on the sensor mounting flange 102, the motor mounting flange 103 and the electric spindle mounting flange 105 along the circumferential direction, and the mounting base 1 is an integrally cast one-piece, and the structural design of the mounting base 1 not only has good shock absorption effect, reasonable structural arrangement, and convenient adjustment of the center of gravity of the tool, but also has low price and simple processing.

[0042] As attached Figure 7As shown, the water jet assembly 15 includes a water jet head mounting seat 1501, a U-shaped seat 1502, a water jet head clamping seat 1503 and a water jet head 1504. One side of the water jet head mounting seat 1501 is fixed to the mounting seat 1 by bolts, and the other side of the water jet head mounting seat 1501 is connected to the U-shaped seat 1502 by a hinge. The other end of the U-shaped seat 1502 is fixed with a water jet head clamping seat 1503, and the water jet head 1504 is clamped in the water jet head clamping seat 1503. The water jet head 1504 can be adjusted to a variety of postures through the water jet head mounting seat 1501, the U-shaped seat 1502 and the water jet head clamping seat 1503, and can achieve more precise and fast cutting of special-shaped stone slabs.

[0043] The working process of the present invention is as follows: the industrial robot drives the entire device to move above the stone cutting table through the mounting seat 1 and the torque sensor 2, uses the industrial camera 1105 to detect the actual precise position of the stone in the length and width directions, and uses the thickness detection sensor 13 to detect the actual precise position of the stone in the thickness direction. According to the requirements of the drawing, the cutting motor 12 drives the saw blade 8 to perform straight line cutting. After completion, the robot changes its posture and drives the tool head 4 (such as a milling cutter head) to perform arc cutting with the electric spindle 3 according to the requirements of the drawing. After completion, the robot changes its posture and drives the hole opener 7 to drill holes in the stone slab with the cutting motor 12 according to the requirements of the drawing. After completion, the robot changes its posture and uses the water jet assembly 15 to perform precise special-shaped cutting on the stone slab according to the requirements of the drawing.

[0044] The present invention is used in combination with a six-axis industrial robot, making full use of the flexible characteristics of the multi-degree-of-freedom motion of the industrial robot, and perfectly integrating several important components in stone slab processing into one through a compact structure (including saw blade motor, water jet, electric spindle, camera, plate thickness detection sensor and torque sensor), which can simultaneously realize the positioning detection, straight line cutting, curve cutting, hole opening, T-type table milling, edge grinding and other functions of the stone slab, greatly improving the production efficiency of stone forming. Among them, force feedback can detect the six-dimensional force on the tool head in real time. Due to the different hardness and strength of various types of stone materials, the cutting process parameters (rotation speed, feed speed, cutting amount, etc.) can be adjusted in real time according to the force of the end tool, so as to achieve the lowest cutting cost and the best cutting efficiency. The industrial camera adopts a dustproof and waterproof design, and low-pressure air is passed inside. When there is no signal and the power is off, the dust cover of the camera is closed. Only when the command is received in the standby state will the dust cover be opened to start taking pictures; the end of the electric spindle adopts an automatic tool change handle, so that different stone processing tools (milling cutter, grinding head, etc.) can be automatically replaced.

[0045] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments:

[0046] The present invention provides a tool for cutting stone slabs, which contains a saw blade and an electric spindle. The tool comprises a mounting seat 1, a torque sensor 2, an electric spindle 3, a cutter head 4, a cutter head cooling pipe 5, a saw blade cooling device 6, a hole opener 7, a saw blade 8, a water baffle 9, a protective cover 10, a visual detection mechanism 11, a cutting motor 12, a thickness detection sensor 13, a hard high-pressure coil 14 and a water jet assembly 15. One end of the torque sensor 2 is fixedly connected to the end flange of the industrial robot by bolts, and the other end is fixedly connected to the mounting seat 1 by bolts. The electric spindle 3 is fixed to the middle section of the mounting seat 1 by bolts. The cutter head 4 is tightened on the electric spindle 3 by a disc spring, and the annular spray top of the cutter head cooling pipe 5 is tightened on the electric spindle 3. On the main shaft 3; the cutting motor 12 is fixed to the tail end position of the mounting base 1 by bolts, the hole opener 7 is fixed to the cutting motor 12 by nuts, the saw blade 8 is fixed to the cutting motor 12 by nuts, and the protective cover 10 is fixed to the cutting motor 12 by bolts; the water baffle 9 is fixed to the protective cover 10 by bolts, and the nozzle of the saw blade cooling device 6 is fixed to the protective cover 10 by bolts; the visual detection mechanism 11 is fixed to the electric spindle 3 by bolts, the thickness detection sensor 13 is fixed to the cutting motor 12 by bolts, the curved pipe part of the hard high-pressure coil 14 surrounds the electric spindle 3, and the straight pipe part is connected to the water jet assembly 15, and the water jet assembly 15 is fixed to the mounting base 1 by bolts.

[0047] The present invention utilizes the spatial flexibility of the six-axis industrial robot during movement, arranges the electric spindle and the cutting motor as orthogonal as shown in the figure, the electric spindle and the water jet as orthogonal as shown in the figure, and the cutting motor and the water jet at a certain angle, and integrates a series of sensors and detection feedback devices into one, so that the industrial robot can move more simply and efficiently when cutting different types of stone slabs with complex shapes.

[0048] The visual inspection mechanism 11 includes a housing 1101, a cylinder 1102, an air blowing device 1103, a cover plate 1104, a camera 1105 and a wire clamp 1106. One end of the cylinder 1102 is connected to the housing 1101 through a hinge, and the other end is connected to the cover plate 1104 through a hinge; one end of the air blowing device 1103 is connected to the air pipe, and the other end is fixed to the housing 1101 through a thread; one side of the cover plate 1104 is connected to the cylinder 1102 through a hinge, and the other side is connected to the housing 1101 through a hinge; the camera 1105 is fixed inside the housing 1101 with bolts; and the wire clamp 1106 is fixed to the housing 1101 with bolts. The visual inspection mechanism 11 is conducive to quickly and accurately locating the placement position of the stone slab, improving the cutting accuracy, and is also conducive to reading the barcode and QR code of the stone slab.

[0049] As a further embodiment, the cover shell 1101 is made of national standard 6061 aluminum material, which is light and strong, ensuring the safety and stability of the internal camera 1105; the cylinder 1102 is automatically controlled by compressed air to drive the opening and closing of the cover 1104 to ensure that the industrial camera 1105 does not interfere with each other in working and standby states; compressed air is input through the blowing device 1103 to avoid the accumulation of dust during the cutting process to affect the industrial camera 1105; the wire clamp 1106 will effectively avoid the risk of the connector falling off and being damaged due to frequent bending of the cable during the cutting movement and posture change of the whole set of tools.

[0050] The mounting seat 1 is integrally cast, has good shock absorption effect, reasonable structural arrangement, convenient adjustment of the center of gravity of the tool, low price and simple processing.

[0051] The torque sensor 2 can adjust the cutting process parameters including rotation speed, feed speed and cutting depth in real time and flexibly according to the force feedback when cutting stone slabs of different materials, thereby significantly reducing cutting costs and improving cutting efficiency. In addition, the torque sensor can also closely monitor the strong extrusion that tools, especially saw blades and milling cutters, may suffer, effectively preventing problems such as tool damage, saw blade breakage or tool breakage.

[0052] The electric spindle 3 can automatically and quickly replace different processing tools to meet various processing requirements for stone slabs, such as edge grinding, polishing, milling grooves, etc., and can change the rotation speed to adapt to stone slabs of different materials and thicknesses.

[0053] The tool head cooling duct 5 and the saw blade cooling device 6 can greatly extend the service life of the tool and reduce the diffusion of dust.

[0054] The hole opener 7 and the saw blade 8 utilize the high torque characteristic of the cutting motor 12 to realize the processing of simple straight holes and straight lines on the stone slab, thereby improving production efficiency.

[0055] The water baffle 9 can effectively prevent the splashing of particles and liquid during the cutting process.

[0056] The protective cover 10 is made of stainless steel spray-painted, and has a beautiful appearance, is corrosion-resistant and durable, and is safe and reliable.

[0057] The cutting motor 12 can support the connection and use of cutting tools of various specifications at the end to achieve efficient processing.

[0058] The thickness detection sensor 13 can quickly identify the actual thickness and flatness of the stone slab and fit the virtual plane of the stone slab, so that the whole set of cutting tools has a stronger adaptability to stone slabs of different specifications.

[0059] The water jet head of the water jet assembly 15 can be conveniently adjusted to various postures by combining multiple brackets, and can achieve more precise and fast cutting of special shapes of stone slabs.

[0060] As another embodiment of the present invention, the present invention further provides an industrial robot, which includes the aforementioned industrial robot tool with force feedback for stone slab forming processing.

[0061] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in the field. The standard parts used can be purchased from the market, and special-shaped parts can be customized according to the records in the specification and drawings. The specific connection methods of each part adopt mature conventional means such as bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0062] The present invention is not limited to the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention shall be equivalent replacement methods and shall be included in the protection scope of the present invention.

Claims

1. An industrial robot tool with force feedback for stone slab forming processing, characterized in that: It comprises a mounting base (1), a torque sensor (2), an electric spindle (3), a cutter head (4), a hole opener (7), a saw blade (8), a visual detection mechanism (11), a cutting motor (12), a thickness detection sensor (13), a hard high-pressure coil (14) and a water jet assembly (15); One end of the torque sensor (2) is fixedly connected to the end flange of the industrial robot by means of bolts, and the other end of the torque sensor (2) is fixedly connected to the mounting base (1) by means of bolts; An electric spindle (3) is fixed to the middle of the mounting seat (1) by means of bolts, and the cutter head (4) is tightened to the output end of the electric spindle (3) by means of a disc spring, and performs arc cutting action under the drive of the electric spindle (3); A cutting motor (12) is fixed to the rear end of the mounting seat (1) by means of bolts, a saw blade (8) is fixed to the output shaft of the cutting motor (12), and the saw blade (8) performs a linear cutting action under the drive of the cutting motor (12); The output shaft end of the cutting motor (12) is fixed with a hole opener (7) via a nut, and the cutting motor (12) drives the hole opener (7) to drill holes in the stone slab; The water jet assembly (15) is fixed to the mounting seat (1) by means of bolts and is used to perform special-shaped cutting on the stone slab. The water jet assembly (15) is connected to the straight pipe portion of the hard high-pressure coil (14), and the curved pipe portion of the hard high-pressure coil (14) is arranged around the electric spindle (3); A visual detection mechanism (11) is fixed below the electric spindle (3), and the visual detection mechanism (11) is used to detect the actual position of the stone slab in the length and width direction. A thickness detection sensor (13) is fixed to the cutting motor (12) by bolts, and the thickness detection sensor (13) is used to detect the actual position of the stone slab in the thickness direction.

2. The industrial robot tool with force feedback for stone slab forming processing as claimed in claim 1, characterized in that: The axial direction of the electric spindle (3) is arranged orthogonally to the output axis direction of the cutting motor (12), the axial direction of the electric spindle (3) is arranged orthogonally to the water jet assembly (15), and the output axis direction of the cutting motor (12) is arranged obliquely to the water jet assembly (15).

3. The industrial robot tool with force feedback for stone slab forming processing as claimed in claim 1, characterized in that: An annular cutter head cooling pipe (5) is arranged on the shaft body of the electric spindle (3); the annular nozzle of the cutter head cooling pipe (5) is tightly attached to the electric spindle (3); cooling water flowing through the cutter head cooling pipe (5) is discharged to the cutter head (4) to cool the cutter head (4).

4. The industrial robot tool with force feedback for stone slab forming processing as claimed in claim 1, characterized in that: A protective cover (10) is arranged on the periphery of the saw blade (8), and the protective cover (10) is fixed to the cutting motor (12) by bolts. A saw blade cooling device (6) for spraying water on the saw blade (8) is installed on the protective cover (10), and the nozzle of the saw blade cooling device (6) is fixed to the protective cover (10) by bolts. A water baffle (9) is fixed to the bottom end of the protective cover (10) by bolts, and the water baffle (9) is used to prevent the splashing of particles and liquid during the cutting process.

5. The industrial robot tool with force feedback for stone slab forming processing as claimed in claim 1, characterized in that: The mounting seat (1) comprises a seat body (101), the seat body (101) is gradually inclined to one side from the bottom end to the top end, the top end and the bottom end of the seat body (101) are respectively provided with a sensor mounting flange (102) and a motor mounting flange (103), the sensor mounting flange (102) is arranged vertically, and the motor mounting flange (103) is arranged horizontally, an electric spindle mounting hole (104) is opened at the middle position of the seat body (101), and electric spindle mounting flanges (105) are arranged at both ends of the electric spindle mounting hole (104), and bolt mounting holes are evenly distributed along the circumference on the sensor mounting flange (102), the motor mounting flange (103) and the electric spindle mounting flange (105), and the mounting seat (1) is an integrally cast one-piece.

6. The industrial robot tool with force feedback for stone slab forming processing as claimed in claim 1, characterized in that: The water jet assembly (15) comprises a water jet head mounting seat (1501), a U-shaped seat (1502), a water jet head clamping seat (1503) and a water jet head (1504); one side of the water jet head mounting seat (1501) is fixed to the mounting seat (1) by means of bolts; the other side of the water jet head mounting seat (1501) is connected to the U-shaped seat (1502) by means of a hinge; the other end of the U-shaped seat (1502) is fixed with a water jet head clamping seat (1503); the water jet head (1504) is clamped in the water jet head clamping seat (1503); the water jet head (1504) is adjusted to a variety of postures through the water jet head mounting seat (1501), the U-shaped seat (1502) and the water jet head clamping seat (1503) to achieve special-shaped cutting of stone slabs.

7. The industrial robot tool with force feedback for stone slab forming processing as claimed in claim 1, characterized in that: The end of the electric spindle (3) adopts an automatic tool change handle, and the tool head (4) is replaced with a milling cutter head or a grinding head by using the automatic tool change handle; the thickness detection sensor (13) identifies the actual thickness and flatness of the stone slab and fits the virtual plane of the stone slab.

8. The industrial robot tool with force feedback for stone slab forming processing as claimed in claim 1, characterized in that: The visual inspection mechanism (11) comprises a housing (1101), a cylinder (1102), an air blowing device (1103), a cover plate (1104), an industrial camera (1105) and a wire clamp (1106); the cylinder (1102) and the air blowing device (1103) are fixedly connected to one side of the housing (1101); the other end of the air blowing device (1103) is connected to an air pipe; the air blowing device (1103) inputs compressed air to prevent dust accumulation during cutting from affecting the industrial camera (1105). The output end of the cylinder (1102) is connected to the middle of the top of the cover plate (1104) through a hinge, and one side of the top of the cover plate (1104) is connected to the cover shell (1101) through a hinge. The cylinder (1102) drives the cover plate (1104) to open and close to ensure that the industrial camera (1105) does not interfere with each other in working and standby states. The industrial camera (1105) is fixed to the bottom of the cover shell (1101) by bolts, and the other side of the cover shell (1101) is fixed with a wire clamp (1106) by bolts.

9. The industrial robot tool with force feedback for stone slab forming processing as claimed in claim 8, characterized in that: The industrial camera (1105) is designed to be dustproof and waterproof, and low-pressure air is passed through its interior. The camera dust cover of the industrial camera (1105) is closed when there is no signal and the power is off. The camera dust cover of the industrial camera (1105) opens and starts taking pictures when receiving an instruction in the standby state. The cover (1101) is made of national standard 6061 aluminum material as a whole, and the protective cover (10) is made of stainless steel spray paint.

10. An industrial robot, characterized in that: An industrial robot tool for stone slab forming processing with force feedback as claimed in any one of claims 1 to 9.

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