Adjustable planing tool device based on robot machining

Abstract

The invention discloses an adjustable planing tool device based on robot machining. The adjustable planing tool device comprises a planing tool machining table, a machine base and a robot body arranged on the machine base. A mechanical arm is movably arranged on the robot body, the robot body is connected with a mounting plate through the mechanical arm, and connecting frames are fixedly connected to the two ends of the bottom of the mounting plate. According to the planing tool, a workpiece can be planed conveniently, the depth and angle of the planing tool can be adjusted according to actual machining requirements, the situation that an existing planing tool is troublesome and inconvenient to adjust manually is avoided, and therefore the using requirements of people for workpieces with specific angles and depths such as dovetail grooves and wedge faces are met conveniently; and after adjustment, the position of the planer tool can be stably positioned, so that the planer tool is prevented from loosening or angle deviation in the subsequent machining process, the machined workpiece greatly meets the machining requirement, the precision and efficiency of planing machining of the workpiece are improved, and application and popularization are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of planing tool devices, and particularly to an adjustable planing tool device based on robot processing. Background Art

[0002] In the field of modern manufacturing, especially in industries such as machining, woodworking, and mold manufacturing, planing processing, as a basic and crucial processing technology, plays a vital role in the surface quality, dimensional accuracy, and shape accuracy of workpieces. With the rapid development of industrial automation, robots are gradually widely applied to various processing scenarios, but the corresponding planing tool devices fail to fully meet the increasing complex processing requirements.

[0003] However, most of the existing traditional planing tools are simply designed and have single functions, and many limitations are exposed when processing workpieces with different shapes, sizes, and precision requirements. Firstly, for the depth adjustment of the planing tool, conventional planing tools usually rely on manual adjustment, which is rather troublesome and inconvenient, and it is extremely easy to cause workpieces to be scrapped due to human errors, seriously affecting production efficiency and product quality. Secondly, most planing tools do not have an angle adjustment function. When processing workpieces with special shapes, such as dovetail grooves, inclined wedge surfaces, etc., which have specific angle requirements, the processing personnel have to temporarily piece together various gaskets and fixtures to barely change the angle of the planing tool. This temporary adjustment method is not only cumbersome to operate and difficult to guarantee accuracy, but also extremely easy to have problems such as the planing tool loosening and angle deviation during the processing, resulting in the processed workpieces not meeting the design standards, causing waste of resources and delay of the construction period.

[0004] Therefore, in order to conform to the development trend of high-precision, high-efficiency, and intelligent planing processing in modern manufacturing, the present invention proposes an adjustable planing tool device based on robot processing. Summary of the Invention

[0005] Based on the technical problems existing in the background art, the present invention proposes an adjustable planing tool device based on robot processing.

[0006] An adjustable planing tool device based on robot processing proposed by the present invention includes a planing tool processing table, a machine base, and a robot main body provided on the machine base; a robotic arm is movably provided on the robot main body, the robot main body is connected with a mounting plate through the robotic arm, both ends of the bottom of the mounting plate are fixedly connected with connecting frames, the bottoms of the two connecting frames are fixedly connected with the same planing tool holder, a vertically arranged through groove is provided on the planing tool holder, a planing tool depth adjustment structure is provided in the through groove, and an adjustment frame is movably installed in the through groove through the planing tool depth adjustment structure; both the top and the bottom side of the adjustment frame are open, a planing tool angle adjustment structure is provided in the adjustment frame, and a planing tool for planing the workpiece is movably installed in the adjustment frame through the planing tool angle adjustment structure, and the planing tool is integrally inclined.

[0007] The planer angle adjustment structure comprises an adapter shaft rotatably installed in an adjustment frame, a semicircular adapter is fixedly connected to the middle part of the inclined bottom side of the planer, and the planer and the semicircular adapter are matched and fixedly sleeved on the adapter shaft; tooth grooves are evenly arranged on the circular arc of the semicircular adapter, a circular gear is meshed with the tooth groove on the right side of the semicircular adapter, a rotating shaft is fixedly sleeved on the circular gear, and the rotating shaft is rotatably installed in the adjustment frame, a second bevel gear is also fixedly sleeved on the rotating shaft located at the front side of the circular gear, a first stepper motor is fixedly installed on the left inner wall of the adjustment frame, an output shaft of the first stepper motor is fixedly connected to the first bevel gear, and the first bevel gear is meshed with the second bevel gear; a first positioning component for positioning the circular gear is also provided below the circular gear;

[0008] The first positioning component includes a horizontal plate fixedly installed on the bottom of the left inner wall of the adjustment frame. The horizontal plate is provided with a mounting groove, in which a first electric cylinder is fixedly installed. The output end of the first electric cylinder is fixedly connected to a first tooth positioning head for meshing and positioning the circular gear.

[0009] As a further arrangement in the present invention, the planer depth adjustment structure comprises adjustment slots arranged on the inner walls on both sides of the through slot, adjustment blocks are fixedly connected on both sides of the adjustment frame, the adjustment blocks are slidably installed in the adjustment slots along the vertical direction, a driving cavity is provided on the planer seat above the adjustment slot, a second stepper motor is fixedly installed in the driving cavity, a worm is fixedly connected to the output shaft of the second stepper motor, a worm is meshed with a worm wheel, a lead screw is fixedly sleeved on the worm wheel, the bottom end of the lead screw is rotatably installed on the bottom inner wall of the adjustment slot, and the lead screw is threadedly connected to the adjustment block; a second positioning component for positioning the lead screw is also provided in the driving cavity.

[0010] As a further configuration in the present invention, the second positioning assembly includes a second electric cylinder fixedly mounted on the side wall of the driving chamber, the output end of the second electric cylinder is fixedly connected with an arc-shaped positioning friction head, an annular friction layer is fixedly sleeved on the screw rod located below the worm gear, an arc-shaped friction groove is provided on the arc-shaped positioning friction head, and the arc-shaped positioning friction head is positioned and matched with the annular friction layer through the arc-shaped friction groove.

[0011] As a further configuration of the present invention, a mounting hole is provided on the adjusting block, a screw nut is fixedly sleeved in the mounting hole, and the screw is threadedly connected to the screw nut.

[0012] As a further configuration of the present invention, a guide slide block is provided on the adjustment block, a guide slide groove is provided on the side wall of the adjustment groove, and the guide slide block is slidably installed in the guide slide groove along the vertical direction.

[0013] As a further configuration of the present invention, a bearing is provided on the inner wall of the bottom side of the adjusting groove, and the bottom end of the screw rod is rotatably mounted on the bearing.

[0014] As a further setting in the present invention, clamping electric push rods are arranged on both sides of the top of the planing tool processing table, and the output ends of the clamping electric push rods are fixedly connected with clamping heads for clamping and fixing workpieces.

[0015] As a further setting in the present invention, a controller is arranged on the machine base, an angle sensor is arranged on the inclined lower surface of the planing tool, and a position sensor is arranged on the left inner wall of the adjustment frame. The controller is electrically connected to the angle sensor, the position sensor, the first stepping motor, the first electric cylinder, the second stepping motor, and the second electric cylinder respectively.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. In the present invention, by setting a planing tool angle adjustment structure, the first stepping motor works to drive the first bevel gear to rotate and mesh with the second bevel gear to drive the rotating shaft and the circular gear to rotate. When the circular gear rotates, it meshes with the tooth grooves on the semi-circular adapter head, and then the planing tool can be driven to rotate forward and backward around the adapter shaft, so that the planing angle of the planing tool can be adjusted according to actual needs; after adjustment, the first electric cylinder is used to drive the first tooth positioning head to move upward and engage and position the circular gear, which can prevent the circular gear, the semi-circular adapter head, and the planing tool from loosening and rotating after adjustment.

[0018] 2. In the present invention, by setting a planing tool depth adjustment structure, the second stepping motor rotates forward and backward to drive the worm to rotate and mesh with the worm gear, and then drives the lead screw to rotate, so that the adjustment block moves up and down along the lead screw through the lead screw nut. When the adjustment block moves, it drives the adjustment frame and the planing tool in the adjustment frame to be adjusted up or down as a whole, so that the depth of the planing tool can be adjusted according to actual needs; after adjustment, the second electric cylinder is used to drive the arc-shaped positioning friction head to move leftward, and the arc-shaped positioning friction head is used to abut and position the annular friction layer to complete the adjustment, which can prevent the lead screw from loosening due to rotation and causing the depth of the adjustment frame and the planing tool to be unstable after adjustment.

[0019] In summary, the adjustable planing tool device based on robot processing is not only convenient for planing and processing workpieces, but also can adjust the depth and angle of the planing tool according to actual processing needs, avoiding the trouble and inconvenience of relying on manual adjustment in existing planing tools. This facilitates people's use requirements for workpieces with specific angles and depths such as dovetail grooves and inclined wedge surfaces. Moreover, after adjustment, the planing tool can be firmly positioned to prevent the planing tool from loosening or the angle from shifting during subsequent processing, so that the processed workpieces greatly meet the processing requirements, improve the accuracy and efficiency of workpiece planing processing, and are conducive to popularization and use. Description of the Drawings

[0020] Figure 1 This is a schematic structural diagram of an adjustable planing tool device based on robot processing proposed by the present invention;

[0021] Figure 2 This is a partial structural schematic diagram of the present invention;

[0022] Figure 3 For the present invention Figure 2 A magnified structural schematic diagram of part A in the present invention;

[0023] Figure 4 This is a structural schematic diagram of the inner side of the adjustment frame of the present invention;

[0024] Figure 5 This is a structural schematic diagram among the circular gear, the first electric cylinder, and the first tooth positioning head in the present invention;

[0025] Figure 6 This is a structural schematic diagram among the lead screw, the arc positioning friction head, and the annular friction layer in the present invention.

[0026] In the figure: 1. Machine base; 2. Robot main body; 3. Mounting plate; 4. Connecting frame; 5. Planer tool holder; 501. Through groove; 502. Adjustment groove; 503. Driving cavity; 6. Planing tool processing table; 7. Clamping head; 701. Clamping electric push rod; 8. Planer tool; 801. Adapter shaft; 802. Semi-circular adapter; 803. Tooth groove; 9. Second stepping motor; 10. Worm; 11. Worm gear; 12. Lead screw; 13. Lead screw nut; 14. Adjustment block; 15. Adjustment frame; 16. Guide slider; 17. Bearing; 18. Second electric cylinder; 19. Arc positioning friction head; 20. Annular friction layer; 21. First stepping motor; 22. First bevel gear; 23. Second bevel gear; 24. Rotating shaft; 25. Circular gear; 26. First electric cylinder; 27. First tooth positioning head; 28. Horizontal plate; 29. Controller; 30. Position sensor; 31. Angle sensor. Detailed implementation manners

[0027] The following further explains the present invention in combination with specific embodiments.

[0028] Embodiment

[0029] Refer to Figures 1-6, in this embodiment, an adjustable planing tool device based on robot processing is proposed, including a planing tool processing table 6, a machine base 1, and a robot main body 2 provided on the machine base 1; a robotic arm is movably arranged on the robot main body 2, the robot main body 2 is connected with a mounting plate 3 through the robotic arm, both ends of the bottom of the mounting plate 3 are fixedly connected with connecting frames 4, the bottom ends of the two connecting frames 4 are fixedly connected with the same planer tool holder 5, a vertically arranged through groove 501 is provided on the planer tool holder 5, a planer tool depth adjustment structure is arranged in the through groove 501, and an adjustment frame 15 is movably installed in the through groove 501 through the planer tool depth adjustment structure; both the top and the bottom side of the adjustment frame 15 are open, a planer tool angle adjustment structure is arranged in the adjustment frame 15, and a planer tool 8 for planing a workpiece is movably installed in the adjustment frame 15 through the planer tool angle adjustment structure, and the planer tool 8 is integrally inclined.

[0030] The planer tool angle adjustment structure includes a transfer shaft 801 rotatably installed in the adjustment frame 15, a semicircular adapter 802 is fixedly connected to the middle of the inclined bottom side of the planer tool 8, and the planer tool 8 and the semicircular adapter 802 are fixedly sleeved on the transfer shaft 801 in cooperation; tooth grooves 803 are uniformly arranged on the arc of the semicircular adapter 802, a circular gear 25 is meshed with the right side of the semicircular adapter 802 through the tooth grooves 803, a rotating shaft 24 is fixedly sleeved on the circular gear 25, and the rotating shaft 24 is rotatably installed in the adjustment frame 15. A second bevel gear 23 is also fixedly sleeved on the rotating shaft 24 in front of the circular gear 25. A first stepping motor 21 is fixedly installed on the left inner wall of the adjustment frame 15, an output shaft of the first stepping motor 21 is fixedly connected with a first bevel gear 22, and the first bevel gear 22 is meshed with the second bevel gear 23; a first positioning component is also arranged below the circular gear 25 for positioning the circular gear 25.

[0031] Among them, the first positioning component includes a cross plate 28 fixedly installed at the bottom of the left inner wall of the adjustment frame 15, an installation groove is provided on the cross plate 28, a first electric cylinder 26 is fixedly installed in the installation groove, and an output end of the first electric cylinder 26 is fixedly connected with a first tooth positioning head 27 for meshing and positioning the circular gear 25.

[0032] In this embodiment, the planer depth adjustment structure includes an adjustment slot 502 provided on the inner walls on both sides of the through slot 501, and adjustment blocks 14 are fixedly connected to both sides of the adjustment frame 15. The adjustment blocks 14 are slidably installed in the adjustment slot 502 along the vertical direction. A driving cavity 503 is provided on the planer seat 5 located above the adjustment slot 502, and a second stepper motor 9 is fixedly installed in the driving cavity 503. The output shaft of the second stepper motor 9 is fixedly connected to a worm 10, and a worm wheel 11 is meshed on the worm 10. A screw rod 12 is fixedly sleeved on the worm wheel 11, and the bottom end of the screw rod 12 is rotatably installed on the bottom inner wall of the adjustment slot 502, and the screw rod 12 is threadedly connected to the adjustment block 14; a second positioning component for positioning the screw rod 12 is also provided in the driving cavity 503.

[0033] Among them, the second positioning component includes a second electric cylinder 18 fixedly installed on the side wall of the driving chamber 503, the output end of the second electric cylinder 18 is fixedly connected to an arc-shaped positioning friction head 19, an annular friction layer 20 is fixedly sleeved on the screw rod 12 located below the worm gear 11, an arc-shaped friction groove is provided on the arc-shaped positioning friction head 19, and the arc-shaped positioning friction head 19 is positioned in contact with the annular friction layer 20 through the arc-shaped friction groove.

[0034] Among them, a mounting hole is provided on the adjustment block 14, a screw nut 13 is fixedly sleeved in the mounting hole, and the screw 12 is threadedly connected to the screw nut 13; a guide slider 16 is provided on the adjustment block 14, and a guide slot is provided on the side wall of the adjustment groove 502, and the guide slider 16 is slidably installed in the guide slot along the vertical direction; a bearing 17 is provided on the inner wall of the bottom side of the adjustment groove 502, and the bottom end of the screw 12 is rotatably installed on the bearing 17.

[0035] In this embodiment, clamp electric push rods 701 are provided on both sides of the top of the planer processing table 6, and the output end of the clamp electric push rod 701 is fixedly connected to a clamp head 7 for clamping and fixing the workpiece; a controller 29 is provided on the machine base 1, an angle sensor 31 is provided on the inclined lower surface of the planer 8, and a position sensor 30 is provided on the left inner wall of the adjustment frame 15, and the controller 29 is electrically connected to the angle sensor 31, the position sensor 30, the first stepper motor 21, the first electric cylinder 26, the second stepper motor 9 and the second electric cylinder 18 respectively.

[0036] like Figures 1-6An adjustable planing tool device based on robot processing is shown. In specific processing, the workpiece to be planed is placed on the planing tool processing table 6, and the clamp head 7 is pushed by the clamp electric push rod 601 to clamp and fix the workpiece. First, the controller 29 initializes the depth and angle of the planing tool according to preset parameters, and then the robot drives the planing tool 8 at the bottom side of the planing tool seat 5 to move left and right back and forth, and then the workpiece can be planed. During the planing process, by setting the position sensor 30 and the angle sensor 31, the position and angle parameters of the planing tool 8 can be monitored in real time, and the sensed data is transmitted to the controller 29, and the controller 29 dynamically adjusts the state of the planing tool accordingly to ensure the planing accuracy.

[0037] As a further specific example, by setting a planing tool angle adjustment structure, when adjusting the angle position of the planing tool 8, first use the first electric cylinder 26 to drive the first tooth-locking positioning head 27 to move downward to release the meshing positioning of the first tooth-locking positioning head 27 on the circular gear 25; then use the first stepping motor 21 to work, drive the first bevel gear 22 to rotate and mesh with the second bevel gear 23 to drive the rotating shaft 24 and the circular gear 25 to rotate. When the circular gear 25 rotates, it meshes with the tooth groove 803 on the semi-circular adapter 802, and then the planing tool 8 can be driven to rotate forward and backward around the adapter shaft 801 as the center, so that the planing angle of the planing tool 8 can be adjusted according to actual needs; after adjustment, then use the first electric cylinder 26 to drive the first tooth-locking positioning head 27 to move upward and mesh with the circular gear 25 for positioning, so as to prevent the circular gear 25, the semi-circular adapter 802 and the planing tool 8 from loosening during rotation after adjustment.

[0038] As a further implementation, by setting a planing tool depth adjustment structure, when the depth of the planing tool 8 needs to be adjusted, use the second electric cylinder 18 to drive the arc-shaped positioning friction head 19 to move to the right to release the contact positioning of the arc-shaped positioning friction head 19 on the annular friction layer 20; then use the second stepping motor 9 to rotate forward and backward to drive the worm 10 to rotate and mesh with the worm gear 11, and then drive the lead screw 12 to rotate, so that the adjustment block 14 moves up and down along the lead screw 12 through the lead screw nut 13. When the adjustment block 14 moves, it drives the adjustment frame 15 and the planing tool 8 inside the adjustment frame 15 to be adjusted up or down as a whole, so that the depth of the planing tool 8 can be adjusted according to actual needs; after adjustment, then use the second electric cylinder 18 to drive the arc-shaped positioning friction head 19 to move to the left and make the arc-shaped positioning friction head 19 contact and position the annular friction layer 20 to complete the adjustment, so as to prevent the lead screw 12 from loosening during rotation and causing the depth of the adjustment frame 15 and the planing tool 8 to be unstable after adjustment.

[0039] In summary, the present invention not only facilitates the planing process of workpieces, but also can adjust the depth and angle of the planer tool according to actual processing requirements, avoiding the cumbersome and inconvenient situation that existing planing tools still rely on manual adjustment. This meets the usage requirements of people for workpieces with specific angles and depths such as dovetail grooves and inclined wedge surfaces. Moreover, after adjustment, the planer tool 8 can be firmly positioned to prevent the planer tool 8 from loosening or shifting in angle during subsequent processing, enabling the processed workpieces to greatly meet the processing requirements, improving the precision and efficiency of the planing process of workpieces, and being conducive to popularization and use.

[0040] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An adjustable planing tool device based on robot processing, comprising a planing tool processing table (6), a machine base (1), and a robot main body (2) arranged on the machine base (1); characterized in that, The robot body (2) is movably provided with a mechanical arm, the robot body (2) is connected to a mounting plate (3) via the mechanical arm, both ends of the bottom of the mounting plate (3) are fixedly connected to connecting frames (4), the bottom ends of the two connecting frames (4) are fixedly connected to the same planer seat (5), a vertically arranged through slot (501) is provided on the planer seat (5), a planer depth adjustment structure is provided in the through slot (501), an adjustment frame (15) is movably installed in the through slot (501) via the planer depth adjustment structure; the top and bottom sides of the adjustment frame (15) are both opened, a planer angle adjustment structure is provided in the adjustment frame (15), a planer (8) for planing a workpiece is movably installed in the adjustment frame (15) via the planer angle adjustment structure, and the planer (8) is arranged to be tilted as a whole; The planer blade angle adjustment structure comprises an adapter shaft (801) rotatably mounted in an adjustment frame (15); a semicircular adapter (802) is fixedly connected to the middle of the inclined bottom side of the planer blade (8); the planer blade (8) and the semicircular adapter (802) are matched and fixedly sleeved on the adapter shaft (801); tooth grooves (803) are evenly arranged on the circular arc of the semicircular adapter (802); a circular gear (25) is meshed with the tooth groove (803) on the right side of the semicircular adapter (802); a rotating shaft (25) is fixedly sleeved on the circular gear (25); 4), and the rotating shaft (24) is rotatably mounted in the adjusting frame (15), a second bevel gear (23) is fixedly sleeved on the rotating shaft (24) located in front of the circular gear (25), a first stepper motor (21) is fixedly mounted on the left inner wall of the adjusting frame (15), an output shaft of the first stepper motor (21) is fixedly connected to the first bevel gear (22), and the first bevel gear (22) is meshed with the second bevel gear (23); a first positioning assembly for positioning the circular gear (25) is also provided below the circular gear (25); The first positioning assembly comprises a transverse plate (28) fixedly mounted on the bottom of the left inner wall of the adjustment frame (15); the transverse plate (28) is provided with a mounting groove, a first electric cylinder (26) is fixedly mounted in the mounting groove, and an output end of the first electric cylinder (26) is fixedly connected to a first tooth positioning head (27) for meshing and positioning the circular gear (25).

2. The adjustable planing tool device based on robot processing according to claim 1, characterized in that, The planer depth adjustment structure comprises an adjustment slot (502) arranged on the inner walls of both sides of the through slot (501), an adjustment block (14) is fixedly connected to both sides of the adjustment frame (15), the adjustment block (14) is slidably installed in the adjustment slot (502) along the vertical direction, a drive cavity (503) is provided on the planer seat (5) located above the adjustment slot (502), a second stepping motor (9) is fixedly installed in the drive cavity (503), a worm (10) is fixedly connected to the output shaft of the second stepping motor (9), a worm gear (11) is meshed on the worm gear (10), a screw rod (12) is fixedly sleeved on the worm gear (11), the bottom end of the screw rod (12) is rotatably installed on the bottom inner wall of the adjustment slot (502), and the screw rod (12) is threadedly connected to the adjustment block (14); a second positioning component for positioning the screw rod (12) is also provided in the drive cavity (503).

3. An adjustable planing tool device based on robot processing according to claim 2, characterized in that, The second positioning assembly comprises a second electric cylinder (18) fixedly mounted on the side wall of the driving chamber (503); an arc-shaped positioning friction head (19) is fixedly connected to the output end of the second electric cylinder (18); an annular friction layer (20) is fixedly sleeved on the lead screw (12) located below the worm gear (11); an arc-shaped friction groove is provided on the arc-shaped positioning friction head (19); and the arc-shaped positioning friction head (19) is positioned in abutment with the annular friction layer (20) through the arc-shaped friction groove.

4. An adjustable planing tool device based on robot processing according to claim 2, characterized in that, The adjusting block (14) is provided with a mounting hole, a screw nut (13) is fixedly sleeved in the mounting hole, and the screw (12) is threadedly connected to the screw nut (13).

5. An adjustable planing tool device based on robot processing according to claim 2, characterized in that, The adjusting block (14) is provided with a guide slide block (16), and the side wall of the adjusting groove (502) is provided with a guide slide block, and the guide slide block (16) is slidably installed in the guide slide block along the vertical direction.

6. The adjustable planing tool device based on robot processing according to claim 2, wherein, A bearing (17) is provided on the inner wall of the bottom side of the adjustment groove (502), and the bottom end of the screw rod (12) is rotatably mounted on the bearing (17).

7. An adjustable planing tool device based on robot processing according to claim 1, characterized in that, Both sides of the top of the planing tool processing table (6) are provided with clamp electric push rods (701), and the output end of the clamp electric push rod (701) is fixedly connected to a clamp head (7) for clamping and fixing the workpiece.

8. An adjustable planing tool device based on robot processing according to claim 1, characterized in that, A controller (29) is arranged on the machine base (1), an angle sensor (31) is arranged on the inclined lower surface of the planer (8), a position sensor (30) is arranged on the left inner wall of the adjustment frame (15), and the controller (29) is electrically connected to the angle sensor (31), the position sensor (30), the first stepper motor (21), the first electric cylinder (26), the second stepper motor (9) and the second electric cylinder (18) respectively.

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