Tooth repairing robot

Abstract

The utility model discloses a tooth repairing robot which comprises two profiling tooth bases, each profiling tooth base is provided with a frame body, a mechanical arm is movably connected between the frame bodies, the mechanical arm is provided with a monitoring head and a machining power head, and the mechanical arm, the machining power head and the monitoring head are respectively connected with a controller. The tooth surface repairing precision, efficiency and safety are greatly improved, and the labor intensity of workers is effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of gear repair devices, in particular to a tooth repair robot. Background Art

[0002] The Chinese patent "A tool for repairing the tooth surface of a large gear convex tooth" (publication number: 215392938U) published on January 4, 2022, the technical solution includes: a slide rail, a slide seat, a driving member, a spindle head and a boring and milling cutter disc. The slide rail is placed next to the gear along the axial direction of the gear, the slide seat is slidably installed on the slide rail, the slide rail is connected to the gear through a support frame, the driving member is installed on the slide rail, and its driving end is transmission-connected to the slide seat, the spindle head is installed on the slide seat, and its driving end faces the gear, the boring and milling cutter disc is coaxially fixed on the driving end of the spindle head, and the boring and milling cutter disc is in contact with the tooth surface of the convex tooth to be processed on the side to be processed of the gear, the spindle head is used to drive the boring and milling cutter disc to rotate so as to mill the tooth surface of the convex tooth to be processed on the side to be processed of the gear, and the driving member is used to drive the slide seat to drive the spindle head and the boring and milling cutter disc to move along the axial direction of the gear to mill the tooth surface of the convex tooth to be processed on the side to be processed of the gear. However, this patented technical solution can only repair the damaged tooth surface according to the preset conditions. It requires a lot of manual measurements of the damaged gear before repair, which greatly increases the labor intensity of the repair personnel. Utility Model Content

[0003] In view of the deficiencies in the above-mentioned background technology, the utility model provides a tooth repair robot, which solves the problem in the prior art that a large amount of manual measurement is required before repair.

[0004] The technical solution of the utility model is implemented as follows: it comprises: two profiling gear bases, each profiling gear base is provided with a frame body, a mechanical arm is movably connected between the frames, a monitoring head and a processing power head are provided on the mechanical arm, and the mechanical arm, the processing power head and the monitoring head are respectively connected to a controller.

[0005] Preferably, the robotic arm is provided with a transverse driving device.

[0006] Preferably, the transverse driving device includes a slide rail connected to the frame, a slider is slidably connected to the slide rail, the slider is connected to a crossbeam, the crossbeam is connected to a mechanical arm, the slider is also connected to a transverse driving motor, the transverse driving motor is connected to a transverse gear, the transverse gear meshes with a transverse rack, and the transverse rack is connected to the frame.

[0007] Preferably, the transverse drive motor is also connected to the controller.

[0008] Preferably, the monitoring head is parallel to the power head.

[0009] Preferably, at least one monitoring head is arranged on the frame, and the additional monitoring head is perpendicular to the processing power head and is also connected to the controller.

[0010] Preferably, the separately provided monitoring head and the processing power head are perpendicular to each other.

[0011] Preferably, the processing power head comprises a power head bracket, a movable part of the power head bracket is connected to the power head shaft, one end of the power head shaft is connected to the power head driving motor, and the other end of the power head shaft is replaceably connected to the tool head.

[0012] Preferably, the tool head is a plug head, a grinding head or a milling head.

[0013] Preferably, the robotic arm is a two-dimensional parallel robotic arm.

[0014] The utility model sets a monitoring head and a processing power head through a mechanical arm. When repairing the tooth surface, the monitoring head first obtains the parameters of the undamaged tooth part, and then repairs the damaged tooth part according to the obtained tooth part data. The acquisition of the repair data and the repair process are automatically realized by the controller, which greatly improves the degree of automation of the repair, greatly improves the repair accuracy, efficiency and safety, and effectively reduces the labor intensity of workers. It is especially suitable for environments with small spaces and inconvenient operations such as tunnel construction. Secondly, a monitoring head is also set on the frame to detect the vertical motion trajectory of the processing power head, so as to cooperate with the monitoring head on the processing power head to realize the detection of the three-dimensional motion trajectory of the processing power head. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a three-dimensional diagram of the utility model;

[0017] Figure 2 The rear view is 1; DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0019] like Figure 1 and 2The utility model shown includes: two profiling gear bases 1, each profiling gear base 1 is provided with a frame 2, and a mechanical arm 5 is movably connected between the frames 2. The mechanical arm 5 is a two-dimensional parallel mechanical arm, which greatly improves the flexibility and accuracy of its movement. A monitoring head 7 and a processing power head are provided on the mechanical arm 5, and the mechanical arm 5, the processing power head and the monitoring head 7 are respectively connected to the controller. The monitoring head is parallel to the power head, and this monitoring head is used to obtain tooth shape information before repair, and to monitor the working trajectory of the processing power head during the tooth repair process, compare the repaired working trajectory with the tooth shape information obtained before repair, and correct the working trajectory of the processing power head in real time, thereby effectively improving the accuracy of tooth repair. Another monitoring head is provided on the frame, and the other monitoring head is also connected to the controller, and the other monitoring head and the processing power head are perpendicular to each other.

[0020] The mechanical arm 5 is also provided with a transverse driving device, which includes: slide rails respectively connected to the two frames, sliders slidably connected to the slide rails, a crossbeam connected between the two sliders, the mechanical arm 5 connected to the crossbeam, each slider connected to the transverse driving motor 3, the transverse driving motor 3 connected to the transverse gear, the transverse gear meshes with the transverse rack, the transverse rack is connected to the frame 2, and the transverse driving motor 3 is also connected to the controller. The controller controls the forward or reverse rotation of the transverse driving motor 3 according to the tooth shape information obtained before the repair, so as to adjust the position of the slider on the slide rail with the cooperation of the transverse rack.

[0021] The processing power head comprises a power head bracket, a movable part on the power head bracket is connected to the power head shaft, one end of the power head shaft is connected to the power head driving motor, and the other end of the power head shaft is replaceably connected to a tool head. The tool head is a plug connector, a grinding head or a milling head. The tool head is connected to the power head shaft through a chuck.

[0022] The utility model firstly collects the image information of the undamaged tooth part through the monitoring head on the robot arm, and then the controller converts the impact information into the shape data information of the tooth part, and then the controller increases the processing allowance according to the shape data information of the tooth part and performs the surfacing operation on the damaged tooth part, and then the conversion tool head cuts or grinds the surfacing according to the shape data of the tooth part to finally complete the repair operation.

[0023] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A tooth repair robot, comprising: Two profiling gear bases (1), each profiling gear base (1) is provided with a frame (2), characterized in that a mechanical arm (5) is movably connected between the frames (2), a monitoring head (7) and a processing power head are provided on the mechanical arm (5), and the mechanical arm (5), the processing power head and the monitoring head (7) are respectively connected to a controller.

2. The tooth repair robot according to claim 1, characterized in that: The mechanical arm (5) is provided with a transverse movement driving device.

3. A tooth repair robot according to claim 2, characterized in that: The transverse drive device comprises a slide rail connected to a frame, a slider slidably connected to the slide rail, a crossbeam connected to the slider, a mechanical arm connected to the crossbeam, and a transverse drive motor (3) connected to the slider. The transverse drive motor (3) is connected to a transverse gear, the transverse gear meshes with a transverse rack, and the transverse rack is connected to the frame (2).

4. A tooth repair robot according to claim 3, characterized in that: The transverse driving motor is also connected to the controller.

5. A tooth repair robot according to claim 1, 2 or 3, characterized in that: The monitoring head is parallel to the power head.

6. A tooth repair robot according to claim 1, 2 or 3, characterized in that: The frame is provided with more than one monitoring head, and the monitoring head is perpendicular to the processing power head and is also connected to the controller.

7. The tooth repair robot according to claim 6, characterized in that: The separately arranged monitoring head and the processing power head are perpendicular to each other.

8. A tooth repair robot according to claim 1, 2, 3 or 7, characterized in that: The processing power head comprises a power head bracket, a movable part on the power head bracket is connected to the power head shaft, one end of the power head shaft is connected to the power head driving motor, and the other end of the power head shaft is replaceably connected to the tool head.

9. The tooth repair robot according to claim 8, characterized in that: The tool head is a plug head, a grinding head or a milling head.

10. A tooth repair robot according to claim 1, 2, 3, 7 or 9, characterized in that: The robotic arm is a two-dimensional parallel robotic arm.

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