Aluminum gusset plate grooving and trepanning robot and method

Abstract

The invention discloses an aluminum gusset plate grooving and trepanning robot and method, and the robot comprises a fixing mechanism which is used for fixing aluminum gusset plates of different shapes; the fixed telescopic rotating mechanism is located below the fixing mechanism and used for achieving vertical movement of the fixing mechanism; the two-axis sliding table is located below the fixed telescopic rotating mechanism and used for achieving movement of the fixing mechanism and the fixed telescopic rotating mechanism on the horizontal plane; the straight, transverse and oblique grooving mechanism is located above the fixing mechanism and used for completing the straight, transverse and oblique grooving task of the aluminum gusset plate; the trepanning device is located above the fixing mechanism and used for achieving the trepanning task of the aluminum gusset plate; the grinding mechanism is used for grinding the slotted and perforated position of the aluminum gusset plate; and the mechanical arm is installed on one side of the two-axis sliding table and used for completing the function of clamping the machining waste and putting the machining waste into the waste collecting mechanism. The machine integrates the functions of straight transverse groove forming, round hole forming, grinding and machining waste recycling, and the accuracy and efficiency in the operation process can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and in particular to a robot for making grooves and holes in aluminum gusset plates, and also to a method for making grooves and holes in aluminum gusset plates. Background Art

[0002] Aluminum gusset plates are a common building decoration material that is widely used in interior design and construction projects because of their light weight, durability and good aesthetic properties. In order to meet specific design needs or functional requirements, such as installing lamps, ventilation equipment or acoustic optimization, it is often necessary to slot or drill holes in the aluminum gusset plates. On-site treatment of aluminum gusset plates is not only inefficient, but also involves the risk of working at heights, generating a lot of metal dust, which can easily harm human health if inhaled. Because aluminum gusset plates are soft in material and are greatly affected by the workers' craftsmanship, burrs often remain after processing, so rework is often required. Traditional slotting and drilling devices are not smart enough, have a low level of automation, and have low processing efficiency for slotting and drilling, which is not conducive to the progress of the project. A device that can efficiently process aluminum gusset plates is needed. Summary of the invention

[0003] Based on the deficiencies in the above-mentioned prior art, the technical problem to be solved by the present invention is to provide a robot and method for grooving and drilling aluminum gusset plates, which takes into account the functions of opening vertical and horizontal grooves, round holes, grinding and recycling processing waste, can ensure accuracy and efficiency during the operation, adjust the cutting depth, angle and hole size according to different needs, and realize continuous operation through an automated control system, greatly improving production efficiency and finished product quality.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0005] The aluminum gusset plate grooving and hole drilling robot of the present invention comprises: a fixing mechanism, including a limiting circular ring, a driving internal gear and three driven internal gears rotatably installed in the internal cavity of the limiting circular ring and distributed in a circle, an external gear meshing with the driving internal gear and the driven internal gear and rotating in the internal cavity, four racks slidably installed on the top surface of the limiting circular ring and meshing with a driving internal gear and three driven internal gears, and a fan-shaped fixing shell bonded to the racks for fixing aluminum gusset plates of different shapes; a fixed telescopic rotating mechanism, located below the fixing mechanism, comprising a suction cup telescopic rod located at the center, and a plurality of fixing mechanism telescopic rods distributed in a circle around the suction cup telescopic rod, the telescopic extension of the suction cup telescopic rod controlling the suction cup on its top to move up and down; the suction cup telescopic rod is extended through the through hole in the middle of the limiting circular ring Inserted into the internal cavity of the limiting circular ring, the suction cup telescopic rod pushes the aluminum gusset plate upward to make it firmly close to the upper surface of the fixed shell; the top of the telescopic rod of the fixing mechanism is inserted into the groove at the bottom of the limiting circular ring to realize the up and down movement of the fixing mechanism; the two-axis slide is located below the fixed telescopic rotating mechanism, and is used to realize the movement of the fixing mechanism and the fixed telescopic rotating mechanism on the horizontal plane; the vertical, horizontal and oblique grooving mechanism is located above the fixing mechanism, and is used to complete the vertical, horizontal and oblique grooving tasks of the aluminum gusset plate; the hole opening device is located above the fixing mechanism, and is used to realize the hole opening task of the aluminum gusset plate; the smoothing mechanism is located above the fixing mechanism, and is used to smooth the position of the aluminum gusset plate after grooving and hole opening; the robotic arm is installed on one side of the two-axis slide, and is used to complete the function of clamping processing waste and putting it into the waste collection mechanism.

[0006] Preferably, the two-axis slide includes a longitudinally arranged Y-axis screw, a slide housing threadedly connected to the Y-axis screw, a support rod arranged parallel to the Y-axis screw and slidably connected to the slide housing, a driven screw located at both ends of the slide housing and threadedly connected to the slide housing, an X-axis screw located in the slide housing and transversely arranged, and a slide threadedly connected to the X-axis screw, and the fixed telescopic rotating mechanism is fixed on the slide.

[0007] Furthermore, the Y-axis screw is driven to rotate by a first motor, and the first motor simultaneously drives the rotation of the active pulley and drives the pulley to rotate through a belt. The pulley is fixed to the end of the driven screw and drives the driven screw to rotate.

[0008] Furthermore, the straight, horizontal and oblique slotting mechanism includes two parallel guide rails, aluminum alloy connecting blocks located at both ends of the guide rails and connected between the two guide rails, a slotting screw rod arranged parallel to the guide rails, a positioning block threadedly connected to the slotting screw rod, a slotting platform connected to the top of the positioning block, a slider fixed at both ends of the slotting platform and slidably connected to the guide rails, and a blade installed on the slotting platform.

[0009] Preferably, the hole opening device includes a circular hole opening shell, a rotating plate located above the circular hole opening shell, a hole opening motor driving the rotating plate to rotate around its center, a rotating arm rotatably connected to the four corners of the rotating plate through cylindrical pins and ball bearings, and a tool fixing block hinged to the other end of the rotating arm, and four circumferentially distributed tool guide rails are provided on the top of the circular hole opening shell, and the tool guide rails extend radially along the circular hole opening shell, and a tool slider is slidably connected to the tool guide rails, the tool fixing block is fixed above the tool slider, and a tool is fixed on the tool fixing block, and the circular hole opening shell is driven to rotate by a second motor.

[0010] Furthermore, a rectangular limiting block adapted to the groove below the rack is provided on the top of the limiting circular collar to limit the movement of the rack.

[0011] Furthermore, the grinding mechanism is a file. After the aluminum gusset plate has passed the slotting or hole-making task, it comes to the grinding mechanism. The up and down movement of the telescopic rod of the fixing mechanism and its movement on the two-axis slide table can grind the slotting or hole-making area on the file.

[0012] Correspondingly, the present invention also provides a method for slotting and opening holes in an aluminum gusset plate, the steps of which are as follows:

[0013] S1. Method for cutting vertical and horizontal oblique grooves on aluminum gusset plates: the rack drives the fixed shell to fix the aluminum gusset plate, and then reaches the slotting area through the two-axis slide, and adjusts the position of the aluminum gusset plate through the joint work of the first motor of the fixed telescopic rotating mechanism and the two-axis slide, so that the slotting position is always directly below the blade; after the position is determined, the blade motor drives the blade to rotate, and the fixed mechanism telescopic rod of the fixed telescopic mechanism extends, so that the blade cuts the aluminum gusset plate; then the slotting moving motor drives the slotting screw to rotate, and further drives the positioning block and the slotting platform to move, so as to realize straight-line slotting; then, the fixed mechanism telescopic rod is shortened, and the above operations are repeated to reposition and slot; after the slotting is completed, the suction cup telescopic rod is extended to eject the processed waste, and the two-axis slide brings the waste to the mechanical claw clamping area of ​​the robot arm for waste disposal;

[0014] S2. Method for drilling holes in aluminum gusset plates: The two-axis slide brings the aluminum gusset plate to the drilling area to ensure that the center of the aluminum gusset plate is aligned with the center of the rotating plate, and then the drilling motor is started to drive the rotating plate to rotate, causing the rotating arm to move, and finally the turning tool fixing block to move, thereby changing the drilling radius; then the second motor rotates at high speed, and the telescopic rod of the fixing mechanism slowly extends to realize the drilling of the aluminum gusset plate.

[0015] From the above, the aluminum gusset plate slotting and hole opening robot and method of the present invention have at least the following beneficial effects:

[0016] 1. Simple structure, strong portability, the machine can meet different needs through functional zoning. The fixing mechanism of the aluminum gusset plate in the machine adopts a unique internal and external gear mechanism, which fixes the aluminum gusset plate by moving the rack, and the fan-shaped fixing shell can adapt to aluminum gusset plates of different shapes. The moving mechanism uses a screw slider mechanism, and the use of a servo motor can ensure the accuracy of positioning and movement. The slotting device uses a single blade to adapt to slotting at different angles, while also reducing waste and being green and environmentally friendly. The hole opening device uses a telescopic mechanism, which enables it to open holes of different diameters, with a wider range of use, and adds a processing waste collection mechanism, which is more convenient for recycling and cleaning.

[0017] 2. High work efficiency and guaranteed quality. The machine has fast grooving and hole opening speeds and can handle waste in an orderly manner, which improves work efficiency. When in use, the machine can be controlled by programming to complete various tasks accurately with high work quality.

[0018] 3. The machine has a wide range of applicable scenarios. Its unique structure can adapt to different aluminum gussets and meet the general reprocessing of aluminum gussets.

[0019] 4. It can ensure the accuracy and efficiency during the operation, and adjust the cutting depth, angle and aperture size according to different needs. At the same time, continuous operation is achieved through the automatic control system, which greatly improves the production efficiency and finished product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0021] Figure 1 This is a schematic diagram of the overall structure of the aluminum gusset plate slotting and hole punching robot of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the fixing mechanism of the present invention;

[0023] Figure 3 is an internal schematic diagram of the fixing mechanism of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the limiting circular collar of the present invention;

[0025] Figure 5 It is a structural schematic diagram of the fixed telescopic rotating mechanism of the present invention;

[0026] Figure 6 It is a structural schematic diagram of a two-axis slide table of the present invention;

[0027] Figure 7 It is a structural schematic diagram of the straight, horizontal and oblique slotting mechanism of the present invention;

[0028] Figure 8 It is a schematic structural diagram of the hole-opening device of the present invention;

[0029] Fig. 9 It is a schematic structural diagram of the grinding mechanism of the present invention;

[0030] Fig.10 It is a schematic diagram of the structure of the mechanical arm of the present invention;

[0031] Fig.11 It is a structural schematic diagram of the waste collection mechanism of the present invention. Description of the drawings:

[0033] 1000-Fixed Mechanism:

[0034] 1001-nozzle; 1002-fixed shell; 1003-rack; 1004-limiting circular collar; 1005-driven internal gear; 1006-gear motor; 1007-driving internal gear; 1008-external gear; 1009-gear fixing piece;

[0035] 2000-Fixed telescopic rotating mechanism:

[0036] 2001-suction cup; 2002-suction cup telescopic rod; 2003-fixing mechanism telescopic rod; 2004-housing; 2005-first motor;

[0037] 3000-Two-axis slide:

[0038] 3001-first bearing; 3002-driven screw; 3003-slide; 3004-slide housing; 3005-X-axis screw; 3006-support rod; 3007-second bearing; 3008-pulley; 3009-fixed block; 3010-first motor; 3011-active pulley; 3012-belt; 3013-second motor; 3014-baffle; 3015-Y-axis screw;

[0039] 4000-Vertical, horizontal and oblique slotting mechanism:

[0040] 4001-blade; 4002-blade housing; 4003-slotting platform; 4004-aluminum alloy connecting block; 4005-slotting moving motor; 4006-positioning block; 4007-guide rail; 4008-slider; 4009-slotting bearing; 4010-slotting screw rod;

[0041] 5000-Opening device:

[0042] 5001-hole opening motor; 5002-rotating plate; 5003-cylindrical pin; 5004-rotating arm; 5005-ball bearing; 5006-turning tool; 5007-turning tool fixing block; 5008-turning tool slider; 5009-turning tool guide rail; 5010-circular hole opening housing; 5011-second motor;

[0043] 6000-Grinding mechanism:

[0044] 6001-File;

[0045] 7000-Robotic Arm:

[0046] 7001-mechanical claw; 7002-mechanical claw slide rail; 7003-cylinder; 7004-mechanical claw turntable; 7005-mechanical arm telescopic rod; 7006-mechanical arm support rod; 7007-horizontal adjustment rod; 7008-horizontal adjustment motor; 7009-horizontal turntable; 7010-base;

[0047] 8000- Waste Collection Agency:

[0048] 8001-Box; 8002-Collection cabinet. DETAILED DESCRIPTION

[0049] In order to facilitate ordinary technicians in the field to understand and implement the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0050] Next, combine Figures 1 to 11 The aluminum gusset plate slotting and hole drilling robot and method provided by the present invention are introduced in detail.

[0051] The present invention provides a robot and method for slotting and drilling holes in aluminum gusset plates, so as to solve the problems of low efficiency, poor quality and lack of intelligence in slotting and drilling holes in aluminum gusset plates.

[0052] Depend on Figure 1As shown, the aluminum gusset plate slotting and hole punching robot of the present invention comprises a fixing mechanism 1000, which is mainly responsible for fixing aluminum gusset plates of different shapes such as square and round to facilitate subsequent slotting and hole punching. The fixed telescopic rotating mechanism 2000 is connected to the fixing mechanism 1000 through the fixing mechanism telescopic rod 2003, which can realize the up and down movement of the fixing mechanism 1000 to facilitate slotting and hole punching. The first motor 2005 below it can realize the rotation of all the mechanisms above to achieve the purpose of hole punching. The two-axis slide 3000 can realize the arbitrary movement of the fixing mechanism 1000 and the fixed telescopic rotating mechanism 2000 on the horizontal plane, thereby ensuring that the aluminum gusset plate can be moved to any functional area. The vertical, horizontal and oblique slotting mechanism 4000 can complete the vertical, horizontal and oblique slotting tasks of the aluminum gusset plate, and the hole punching device 5000 realizes the hole punching task of the aluminum gusset plate. The smoothing mechanism 6000 can smooth the position of the aluminum gusset plate after slotting and hole punching. The robot arm 7000 can mainly complete the function of clamping the processing waste and placing it into the waste collection mechanism 8000.

[0053] Depend on Figure 2 As shown, the fixing mechanism 1000 mainly relies on the gear rack mechanism to complete the work, including a limiting circular collar 1004, a driving internal gear 1007 and three driven internal gears 1005 rotatably installed in the internal cavity of the limiting circular collar 1004 and distributed in a circumference, an external gear 1008 meshingly connected with the driving internal gear 1007 and the driven internal gear 1005 and rotating in the internal cavity, four racks 1003 slidably installed on the top surface of the limiting circular collar 1004 and meshingly connected with a driving internal gear 1007 and three driven internal gears 1005, and a fan-shaped fixing shell 1002 bonded to the rack 1003. The fixing shell 1002 has a positioning groove for placing an aluminum gusset plate. During operation, the gear motor 1006 drives the active internal gear 1007 to rotate, and the active internal gear 1007 drives the external gear 1008 to rotate, and the external gear 1008 drives the driven internal gear 1005 to rotate, thereby realizing the synchronous rotation of the four gears. The gear drives the rack 1003 to move, and finally realizes the synchronous movement of the fixed shell 1002 bonded to the rack 1003, and finally fixes the aluminum gusset plate through interference fit. The driven internal gear 1005 is sleeved on the gear fixing part 1009, and the driven internal gear 1005 is installed at the bottom of the internal cavity of the limiting circular ring 1004 through the gear motor 1006 and the fixing part 1009. The structure of the limiting circular ring 1004 is as shown in FIG. Figure 4 As shown, the rectangular block on the top is matched with the groove below the rack 1003, which can limit the movement of the rack 1003. The ring in the inner cavity of the limiting circular ring 1004 can install the outer gear 1008 and ensure its rotation. A nozzle 1001 is installed on the top of the fixed shell 1002. When the aluminum gusset plate is slotted and holed, the nozzle 1001 can spray water to clean the chips from the slotting and hole opening.

[0054] Depend on Figure 5 As shown, the fixed telescopic rotating mechanism 2000 is located below the fixed mechanism 1000, including a suction cup telescopic rod 2002 located at the center, and a plurality of fixed mechanism telescopic rods 2003 distributed in a circle around the suction cup telescopic rod 2002. The telescopic movement of the suction cup telescopic rod 2002 controls the suction cup 2001 at its top to move up and down. The suction cup telescopic rod 2002 extends into the internal cavity of the limiting circular ring 1004 through the through hole in the middle of the limiting circular ring 1004. The suction cup 2001 can suck the aluminum gusset plate to make the fixation more secure. At this time, the suction cup telescopic rod 2002 pushes the aluminum gusset plate upward to make it firmly close to the upper surface inside the fixed shell 1002, realizing the above-mentioned interference fit. The top of the fixed mechanism telescopic rod 2003 is inserted into the groove at the bottom of the limiting circular ring 1004, and the fixed mechanism telescopic rod 2003 can realize the up and down movement of the fixed mechanism 1000, ensuring the smooth opening of the slots and holes. The first motor 2005 can realize the rotation of all the mechanisms loaded thereon. Meanwhile, after the slotting and hole-making are completed, the suction cup telescopic rod 2002 can also push out the large waste after the slotting and hole-making. The shell 2004 protects the internal structure.

[0055] Depend on Figure 6 As shown, the two-axis slide 3000 is located below the fixed telescopic rotating mechanism 2000, and can mainly realize the movement of the XY plane in the horizontal direction, including a Y-axis screw rod 3015 arranged longitudinally, a slide housing 3004 threadedly connected to the Y-axis screw rod 3015, a support rod 3006 arranged parallel to the Y-axis screw rod 3015 and slidably connected to the slide housing 3004, a driven screw rod 3002 located at both ends of the slide housing 3004 and threadedly connected to the slide housing 3004, an X-axis screw rod 3005 located in the slide housing 3004 and arranged horizontally, and a slide 3003 threadedly connected to the X-axis screw rod 3005. The movement in the X direction (horizontal) is realized by the joint work of the slide 3003, the slide housing 3004, the X-axis screw rod 3005, and the second motor 3013. The first motor 2005 is fixed on the slide 3003. The second motor 3013 drives the X-axis screw 3005 to rotate, and the X-axis screw 3005 can drive the slide 3003 to move in the X direction. The movement in the Y direction (longitudinal direction) is Figure 6The remaining parts shown are completed. The first motor 3010 drives the Y-axis screw rod 3015 to rotate, thereby realizing the movement of the slide housing 3004 in the Y-axis direction. At the same time, the first motor 3010 will also drive the rotation of the active pulley 3011, further driving the belt 3012 to rotate, and the rotation of the belt 3012 will drive the pulley 3008 to rotate, and then the pulley 3008 fixed at the end of the driven screw rod 3002 will drive the driven screw rod 3002 to rotate. The three screw rods ensure the reliability of the structure. The support rod 3006 passes through the slide housing 3004 and guides the movement in the Y direction. The two ends of the support rod 3006 are provided with threaded holes, which are respectively connected to the fixed block 3009 and the baffle 3014 by screws, and the fixed block 3009 and the baffle 3014 are connected to the frame body of the slotting and perforating machine of the present invention by screws. The first bearing 3001 and the second bearing 3007 are installed at both ends of the driven screw rod 3002 to ensure the stability of the driven screw rod 3002 .

[0056] Depend on Figure 7 As shown, the straight, horizontal and oblique slotting mechanism 4000 is located above the fixing mechanism 1000, and includes two parallel guide rails 4007, an aluminum alloy connecting block 4004 located at both ends of the guide rails 4007 and connected between the two guide rails 4007, a slotting screw rod 4010 arranged in parallel with the guide rails 4007, a positioning block 4006 threadedly connected to the slotting screw rod 4010, a slotting platform 4003 connected to the positioning block 4006, a slider 4008 fixed at both ends of the slotting platform 4003 and slidably connected to the guide rails 4007, and a blade 4001 installed on the slotting platform 4003, wherein the blade 4001 can realize the slotting function, the blade housing 4002 can protect the blade 4001, and the blade motor (not shown in the figure) drives the blade 4001 to rotate. The slotting platform 4003 is connected to the slider 4008 and the positioning block 4006. The slotting moving motor 4005 drives the slotting screw 4010 to rotate, and the slotting screw 4010 drives the positioning block 4006 to move, thereby realizing the movement of the slotting platform 4003 and the slider 4008. The aluminum alloy connecting block 4004 is connected to the guide rail 4007 through screws. The slotted bearing 4009 plays the role of fixing the slotting screw 4010, and it is also connected to the aluminum alloy connecting block 4004 through screws.

[0057] Depend on Figure 8As shown, the hole-opening device 5000 is located above the fixing mechanism 1000, and includes a circular hole-opening shell 5010, a rotating plate 5002 located above the circular hole-opening shell 5010, a hole-opening motor 5001 for driving the rotating plate 5002 to rotate around its center, a rotating arm 5004 rotatably connected to the four corners of the rotating plate 5002 through a cylindrical pin 5003 and a ball bearing 5005, and a tool fixing block 5007 hinged to the other end of the rotating arm 5004. Four circumferentially distributed tool guide rails 5009 are provided on the top of the circular hole-opening shell 5010. The tool guide rails 5009 extend radially along the circular hole-opening shell 5010. A tool slider 5008 is slidably connected to the tool guide rail 5009. The tool fixing block 5007 is fixed above the tool slider 5008. A tool 5006 is fixed on the tool fixing block 5007. The main function of the tool fixing block 5007 is to realize the hole-opening of the aluminum gusset plate. The turning tool 5006 is connected to the turning tool fixing block 5007 by bolts, and the turning tool fixing block 5007 is connected to the turning tool slider 5008 by bolts. The turning tool slider 5008 is installed on the turning tool guide rail 5009 and can move freely. The hole opening motor 5001 is connected to the rotating plate 5002 by a key. The rotating arm 5004 and the rotating plate 5002 are connected by a ball bearing 5005 and a cylindrical pin 5003, and the rotating arm 5004 can rotate around the cylindrical pin 5003. The other end of the rotating arm 5004 is hinged to one side of the turning tool fixing block 5007. The hole opening motor 5001 drives the rotating plate 5002 to rotate, so that the rotating arms 5004 around the rotating plate 5002 move synchronously, and then drives the four turning tool fixing blocks 5007 and the turning tool slider 5008 to move synchronously along the turning tool guide rail 5009. The circular hole opening shell 5010 protects the internal hole opening motor 5001. The circular perforated housing 5010 is driven to rotate by the second motor 5011, and the second motor 5011 can drive the rotation of all the mechanisms above.

[0058] Depend on Fig. 9 As shown, the grinding mechanism is located above the fixing mechanism 1000 and is a file 6001. After the aluminum gusset plate passes the slotting or hole-making task, it comes to the grinding mechanism 6000, and the up and down movement of the fixing mechanism telescopic rod 2003 and its movement on the two-axis slide 3000 can grind the slotting or hole-making area on the file 6001.

[0059] Depend on Fig.10As shown, the mechanical arm 7000 is installed on one side of the two-axis slide 3000, and is composed of a mechanical claw 7001, which is mainly responsible for the clamping of slotted or perforated waste. The mechanical claw 7001 can move on the mechanical claw slide rail 7002, and the mechanical claw 7001 is connected to the cylinder 7003, and the extension and contraction of the cylinder 7003 can control the tightness of the mechanical claw 7001. When the aluminum gusset plate reaches the grasping area, the suction cup telescopic rod 2002 will lift the processing waste, the suction cup 2001 stops adsorption, the mechanical claw turntable 7004 will control the mechanical claw 7001 to a vertical position, and the mechanical arm telescopic rod 7005 will extend forward to clamp the processing waste. After the mechanical claw 7001 clamps, the horizontal turntable 7009 rotates to the specified position, and the mechanical claw turntable 7004 controls the mechanical claw 7001 to a horizontal position. Release the mechanical claw 7001, and the waste will fall into the waste collection mechanism 8000. The mechanical arm support rod 7006 ensures the stability of the device. The horizontal adjustment motor 7008 is connected to the horizontal adjustment rod 7007, and the other end of the horizontal adjustment rod 7007 is connected to the mechanical arm support rod 7006. The rotation of the horizontal adjustment motor 7008 can adjust the position of the horizontal adjustment rod 7007, thereby controlling the height of the mechanical claw 7001. The entire mechanical arm 7000 is connected to the waste collection mechanism 8000 through the base 7010.

[0060] Depend on Fig.11 As shown, the waste collection mechanism 8000 is composed of a box body 8001 and a collection cabinet 8002. After the waste is put down by the mechanical claw 7001, it will fall into the collection cabinet 8002, so that the waste can be cleaned up as needed, recycled, etc.

[0061] Accordingly, the aluminum gusset plate slotting and hole-making method of the present invention comprises the following steps:

[0062] Method for cutting straight, horizontal and oblique grooves on aluminum gussets: the rack 1003 drives the fixed shell 1002 to fix the aluminum gussets, and then reaches the slotting area through the two-axis slide 3000. Since the blade 4001 of the straight, horizontal and oblique slotting mechanism 4000 can only move in a straight line, it is necessary to adjust the position of the aluminum gussets through the joint work of the first motor 2005 of the fixed telescopic rotating mechanism 2000 and the two-axis slide 3000, so that its slotting position is always located directly below the blade 4001. After the position is determined, the blade motor drives the blade 4001 to rotate, and the fixed mechanism telescopic rod 2003 of the fixed telescopic mechanism 2000 extends, so that the blade 4001 cuts the aluminum gussets. After that, the slotting moving motor 4005 drives the slotting screw 4010 to rotate, and further drives the positioning block 4006 and the slotting platform 4003 to move, thereby realizing straight slotting. After that, the fixed mechanism telescopic rod 2003 is shortened, and the above operation is repeated to reposition and slot. After the slotting is completed, the suction cup telescopic rod 2002 is extended to push out the processing waste, and the two-axis slide 3000 brings the waste to the clamping area of ​​the mechanical claw 7001 for waste disposal.

[0063] Aluminum gusset plate hole punching method: The two-axis slide 3000 brings the aluminum gusset plate to the hole punching area, ensures that the center of the aluminum gusset plate is aligned with the center of the rotating plate 5002, and then starts the hole punching motor 5001 to drive the rotating plate 5002 to rotate. At this time, the cylindrical pin 5003 will also rotate, causing the rotating arm 5004 to move, and finally the turning tool fixing block 5007 to move, so that the hole punching radius can be changed. Then the second motor 5011 rotates at a high speed, and the fixing mechanism telescopic rod 2003 slowly extends to realize the hole punching of the aluminum gusset plate.

[0064] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. A robot for slotting and drilling aluminum gusset plates, characterized in that: include: The fixing mechanism (1000) comprises a limiting circular collar (1004), a driving internal gear (1007) and three driven internal gears (1005) rotatably mounted in an internal cavity of the limiting circular collar (1004) and distributed in a circumferential manner, an external gear (1008) meshingly connected with the driving internal gear (1007) and the driven internal gear (1005) and rotating in the internal cavity, four racks (1003) slidably mounted on the top surface of the limiting circular collar (1004) and meshingly connected with a driving internal gear (1007) and the three driven internal gears (1005), and a fan-shaped fixing shell (1002) bonded to the racks (1003), and is used to fix aluminum gussets of different shapes; The fixed telescopic rotating mechanism (2000) is located below the fixed mechanism (1000), and comprises a suction cup telescopic rod (2002) located at the center, and a plurality of fixed mechanism telescopic rods (2003) distributed in a circumference around the suction cup telescopic rod (2002); the telescopic movement of the suction cup telescopic rod (2002) controls the suction cup (2001) at the top thereof to move up and down; the suction cup telescopic rod (2002) extends into the internal cavity of the limiting circular ring (1004) through the through hole in the middle of the limiting circular ring (1004); the suction cup telescopic rod (2002) pushes the aluminum gusset plate upwards to make it firmly close to the upper surface of the fixed shell (1002); the top of the fixed mechanism telescopic rod (2003) is inserted into the groove at the bottom of the limiting circular ring (1004) to realize the up and down movement of the fixed mechanism (1000); A two-axis slide (3000), located below the fixed telescopic rotating mechanism (2000), and used to realize the movement of the fixed mechanism (1000) and the fixed telescopic rotating mechanism (2000) on a horizontal plane; A vertical, horizontal and oblique slotting mechanism (4000), located above the fixing mechanism (1000), is used to complete the vertical, horizontal and oblique slotting task of the aluminum gusset plate; A hole-opening device (5000), located above the fixing mechanism (1000), is used to realize the task of opening holes in the aluminum gusset plate; A grinding mechanism (6000), located above the fixing mechanism (1000), is used to grind the position of the aluminum gusset plate after the grooves and holes are opened; The robot arm (7000) is installed on one side of the two-axis slide (3000) and is used to complete the function of clamping the processing waste and placing it into the waste collection mechanism (8000).

2. The aluminum gusset plate slotting and hole drilling robot according to claim 1 is characterized in that: The two-axis slide (3000) includes a Y-axis screw rod (3015) arranged longitudinally, a slide housing (3004) threadedly connected to the Y-axis screw rod (3015), a support rod (3006) arranged parallel to the Y-axis screw rod (3015) and slidably connected to the slide housing (3004), a driven screw rod (3002) located at both ends of the slide housing (3004) and threadedly connected to the slide housing (3004), an X-axis screw rod (3005) located in the slide housing (3004) and arranged transversely, and a slide (3003) threadedly connected to the X-axis screw rod (3005), and the fixed telescopic rotation mechanism (2000) is fixed on the slide (3003).

3. The aluminum gusset plate slotting and hole drilling robot according to claim 2 is characterized in that: The Y-axis screw rod (3015) is driven to rotate by the first motor (3010), and the first motor (3010) simultaneously drives the active pulley (3011) to rotate, and drives the pulley (3008) to rotate through the belt (3012), and the pulley (3008) is fixed to the end of the driven screw rod (3002) and drives the driven screw rod (3002) to rotate.

4. The aluminum gusset plate slotting and hole drilling robot according to claim 1 is characterized in that: The vertical, horizontal and oblique slotting mechanism (4000) comprises two parallel guide rails (4007), an aluminum alloy connecting block (4004) located at both ends of the guide rails (4007) and connected between the two guide rails (4007), a slotting screw rod (4010) arranged parallel to the guide rails (4007), a positioning block (4006) threadedly connected to the slotting screw rod (4010), a slotting platform (4003) connected above the positioning block (4006), a sliding block (4008) fixed at both ends of the slotting platform (4003) and slidably connected to the guide rails (4007), and a blade (4001) mounted on the slotting platform (4003).

5. The aluminum gusset plate slotting and hole drilling robot according to claim 1, characterized in that: The hole-opening device (5000) comprises a circular hole-opening housing (5010), a rotating plate (5002) located above the circular hole-opening housing (5010), a hole-opening motor (5001) driving the rotating plate (5002) to rotate around its center, a rotating arm (5004) connected to the four corners of the rotating plate (5002) through a cylindrical pin (5003) and a ball bearing (5005), and a turning tool fixing block (5007) hinged to the other end of the rotating arm (5004); The top of the circular perforated shell (5010) is provided with four circumferentially distributed turning tool guide rails (5009), the turning tool guide rails (5009) extend radially along the circular perforated shell (5010), a turning tool slider (5008) is slidably connected in the turning tool guide rails (5009), the turning tool fixing block (5007) is fixed above the turning tool slider (5008), a turning tool (5006) is fixed on the turning tool fixing block (5007), and the circular perforated shell (5010) is driven to rotate by a second motor (5011).

6. The aluminum gusset plate slotting and hole drilling robot according to claim 1, characterized in that: A rectangular limiting block is provided on the top of the limiting circular collar (1004) and is matched with a groove below the rack (1003) to limit the movement of the rack (1003).

7. The aluminum gusset plate slotting and hole drilling robot according to claim 1, characterized in that: The grinding mechanism is a file (6001). After the aluminum gusset plate has been slotted or holed, it comes to the grinding mechanism (6000). The up and down movement of the telescopic rod (2003) of the fixing mechanism and its movement on the two-axis slide (3000) can grind the slotted or holed area on the file (6001).

8. A method for slotting and drilling aluminum gusset plates using the robot according to any one of claims 1 to 7, characterized in that: The steps are: S1. Method for cutting vertical and horizontal oblique grooves in an aluminum gusset plate: the rack (1003) drives the fixed shell (1002) to fix the aluminum gusset plate, and then reaches the slotting area through the two-axis slide (3000), and adjusts the position of the aluminum gusset plate through the joint operation of the first motor (2005) of the fixed telescopic rotating mechanism (2000) and the two-axis slide (3000), so that the slotting position is always located directly below the blade (4001); after the position is determined, the blade motor drives the blade (4001) to rotate, and the fixed mechanism telescopic rod (2003) of the fixed telescopic mechanism (2000) is extended, The blade (4001) cuts the aluminum gusset plate; then the slotting moving motor (4005) drives the slotting screw (4010) to rotate, further driving the positioning block (4006) and the slotting platform (4003) to move, thereby realizing linear slotting; then, the fixing mechanism telescopic rod (2003) is shortened, and the above operation is repeated to reposition and slot; after the slotting is completed, the suction cup telescopic rod (2002) is extended to eject the processed waste, and the two-axis slide (3000) brings the waste to the gripping area of ​​the mechanical claw (7001) of the mechanical arm (7000) for waste processing; S2. Method for drilling holes in aluminum gusset plates: The two-axis slide (3000) brings the aluminum gusset plate to the drilling area to ensure that the center of the aluminum gusset plate is aligned with the center of the rotating plate (5002), and then the drilling motor (5001) is started to drive the rotating plate (5002) to rotate, causing the rotating arm (5004) to move, and finally the turning tool fixing block (5007) to move, thereby changing the drilling radius; then the second motor (5011) rotates at high speed, and the telescopic rod (2003) of the fixing mechanism slowly extends to achieve the drilling of the aluminum gusset plate.

Images