Spatial position and pose simulation mechanism for large rolling type tool

Abstract

A spatial position and pose simulation mechanism for a large rolling type tool, comprising a frame base plate, a front-back moving mechanism, a left-right moving mechanism, an up-down lifting / lowering mechanism, a rotating mechanism, and a pitching mechanism. The front-back moving mechanism is mounted on the frame base plate; the left-right moving mechanism is mounted on a square steel frame of the front-back moving mechanism; the up-down lifting / lowering mechanism is mounted on a large base plate of the left-right moving mechanism; the rotating mechanism is mounted on a lifting / lowering base plate of the up-down lifting / lowering mechanism; and the pitching mechanism is mounted on a rotating base plate of the rotating mechanism. The mechanism can adjust the front-back position, the left-right position and the up-down position of the tool in a space, can simulate the rotation angle and the pitching angle of the tool, and can fully simulate various positions and poses of the tool, so that a mechanical arm can simulate a tool changing process, thereby verifying the feasibility of autonomous tool changing.

Description

A spatial posture simulation mechanism for large rolling tool Technical Field

[0001] The present invention relates to the technical field of large-scale rolling tool replacement, and in particular to a large-scale rolling tool spatial posture simulation mechanism. Background Art

[0002] Currently, the replacement of large rolling tools still relies mainly on manual labor and some auxiliary tools, which is a cumbersome and inconvenient process. To reduce labor costs, a dedicated robotic arm is now introduced during the tool replacement process. Through visual positioning and other methods, the robotic arm can complete the autonomous replacement of large rolling tools.

[0003] In order to realize the automatic tool changing function of the robotic arm, a mechanism needs to be designed based on the various positions and postures of the tool on the original mechanism, which can fully simulate the various positions and postures of the tool, so that the robotic arm can simulate the tool changing process and verify the feasibility of autonomous tool changing.

[0004] Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a large rolling tool spatial posture simulation mechanism, which fully simulates the spatial position and posture of the large rolling tool and is used for a robotic arm to simulate the entire tool changing process.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: a large-scale rolling tool spatial posture simulation mechanism, including a frame base plate, a front and rear moving mechanism, a left and right moving mechanism, an up and down lifting mechanism, a rotation mechanism and a pitch mechanism, the front and rear moving mechanism is installed on the frame base plate; the left and right moving mechanism is installed on the square steel frame of the front and rear moving mechanism; the up and down lifting mechanism is installed on the large base plate of the left and right moving mechanism; the rotating mechanism is installed on the lifting base plate of the up and down lifting mechanism; the pitch mechanism is installed on the rotating base plate of the rotating mechanism.

[0007] Furthermore, the forward and backward moving mechanism includes a square steel frame, and rollers are installed at the bottom of the square steel frame for moving forward and backward. Side reinforcement ribs are installed on the square steel frame to increase the stability of the square steel frame. The left and right sides of the square steel frame are installed on the two side square steel frames through linear bearings and lateral guide shafts. The two side square steel frames are installed on the frame bottom plate, and the two side square steel frames are connected together through left and right connecting frames. The square steel frame can move forward and backward on the frame bottom plate through rollers, and the moving distance is limited by the lateral guide shaft, while increasing the rigidity of the overall frame.

[0008] Furthermore, the left and right moving mechanism is installed on the square steel frame through four pairs of linear guide shafts and linear bearings. The linear bearings are installed behind the large base plate of the left and right moving mechanism, and the left and right movement is achieved by moving the large base plate.

[0009] Furthermore, the up and down lifting mechanism includes a trapezoidal screw, a screw slider, a lifting base plate, an up and down movable plate, an up and down lifting guide rail slider, a guide rail base plate, a rotating wheel, and a lifting reducer. The upper and lower ends of the trapezoidal screw are equipped with bearing seats, the lower end of the trapezoidal screw is connected to the lifting reducer, the lifting reducer is connected to the rotating wheel through an extension shaft, the lifting base plate is installed on the screw slider, the lifting base plate is connected to the up and down movable plate through a side connecting block, and the up and down movable plate is installed on the guide rail base plate through four pairs of up and down lifting guide rail sliders on the left and right.

[0010] Furthermore, the guide rail base plate is mounted on the large base plate via columns on both sides, ensuring that the load is subjected to bending torque when lifting up and down, thereby increasing the stability of the lifting mechanism.

[0011] Furthermore, the rotating mechanism includes a rotary reducer, a rotating wheel, a gear, a slewing support, and a rotating base plate. The rotary reducer is installed on the lifting base plate, the input end of the rotary reducer is connected to the rotating wheel, the output end of the rotary reducer is connected to the gear, the gear is engaged with the slewing support, the fixed end of the slewing support is installed on the lifting base plate, and the output end of the slewing support is connected to the rotating base plate.

[0012] Furthermore, a limiting auxiliary column is installed on the lifting base plate to limit the rotation angle of the rotating mechanism and avoid falling in accidental circumstances.

[0013] Furthermore, the pitch mechanism includes a pitch reducer, a rotating wheel, a pitch transmission plate, a load frame, a left pitch bearing seat, and a right pitch bearing seat. The left and right pitch bearing seats are mounted on a rotating base plate. The left pitch bearing seat is connected to the pitch reducer, the input end of the pitch reducer is connected to the rotating wheel, and the output end of the pitch reducer is connected to the pitch transmission plate. One end of the pitch transmission plate is connected to the left pitch bearing seat via a double-row tapered roller bearing, and the other end of the pitch transmission plate is connected to the load frame. The other side of the load frame is mounted on the upper right pitch bearing seat via a pitch support end and a tapered roller bearing. The beneficial effects of the present invention are:

[0014] The present invention provides a large-scale rolling tool spatial posture simulation mechanism, which can fully simulate various positions and postures of the tool, so that the robot arm can simulate the tool changing process, thereby verifying the feasibility of autonomous tool changing. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] FIG1 is a schematic diagram of a tool space posture simulation mechanism of the present invention;

[0016] Figure 2 is a schematic diagram of the forward and backward movement mechanism;

[0017] Figure 3 is a schematic diagram of the left and right moving mechanism;

[0018] Figure 4 is a schematic diagram of the up and down lifting mechanism;

[0019] Figure 5 is a schematic diagram of a rotating mechanism;

[0020] Figure 6 is a schematic diagram of the pitch mechanism;

[0021] Figure 7 is a cross-sectional view of the pitch mechanism;

[0022] Explanation of reference numerals: 1-frame base plate; 2-front and rear moving mechanism; 3-left and right moving mechanism; 4-up and down lifting mechanism; 5-rotation mechanism; 6-pitch mechanism; 7-square steel frame; 8-roller; 9-side reinforcement rib; 10-lateral guide shaft; 11-side square steel frames; 12-left and right connecting frames; 13-linear guide shaft; 14-linear bearing; 15-large base plate; 16-trapezoidal screw; 17-slider; 18-bearing seat; 19-lifting reducer; 20-extension shaft; 21 -wheel; 22-lifting base plate; 23-side connecting block; 24-up and down moving plate; 25-lifting guide rail slider; 26-guide rail base plate; 27-side columns; 28-rotating reducer; 29-gear; 30-slewing support; 31-rotating base plate; 32-limiting auxiliary column; 33-pitch bearing seat left; 34-pitch bearing seat right; 35-pitch reducer; 36-pitch transmission plate; 37-double-row tapered roller bearing; 38-load frame; 39-pitch support end. DETAILED DESCRIPTION

[0023] Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiments are only used to illustrate the present invention and are not used in limiting the scope of the present invention.In addition, should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall equally within the scope limited by the appended claims of the application.

[0024] The present invention provides a large-scale rolling tool spatial posture simulation mechanism, which can fully simulate various positions and postures of the large-scale rolling tool, so that the robot arm can simulate the tool changing process, thereby verifying the feasibility of autonomous tool changing.

[0025] As shown in FIG1 to FIG7 , the present invention provides a large-scale rolling tool spatial posture simulation mechanism.

[0026] Combined with Figure 1 and Figure 2, it can be seen that the forward and backward moving mechanism 2 is installed on the frame base plate 1. The forward and backward moving mechanism 2 is composed of a square steel frame 7. Rollers 8 are installed at the bottom of the square steel frame 7 for moving forward and backward. Side reinforcing ribs 9 are installed on the square steel frame 7 to increase the stability of the square steel frame. The left and right sides of the square steel frame 7 are installed on the two side square steel frames 11 through linear bearings and lateral guide shafts 10. The two side square steel frames 11 are installed on the frame base plate 1. The two side square steel frames 11 are connected together through left and right connecting frames 12. The square steel frame 7 can move forward and backward on the frame base plate 1 through the rollers 8. The moving distance is limited by the lateral guide shafts 10, while increasing the rigidity of the overall frame.

[0027] 3 , the left-right moving mechanism 3 is mounted on the square steel frame 7 through four pairs of linear guide shafts 13 and linear bearings 14 . The linear bearings 14 are mounted behind the large base plate 15 of the left-right moving mechanism, and the left-right movement is achieved by moving the large base plate 15 .

[0028] 4 , it can be seen that the up and down lifting mechanism 4 is installed on the large base plate 15 of the left and right moving mechanism 3. The up and down lifting mechanism 4 mainly realizes movement through the trapezoidal lead screw 16 and the slider 17. The upper and lower ends of the trapezoidal lead screw 16 are equipped with bearing seats 18. The lower end of the trapezoidal lead screw 16 is connected to the lifting reducer 19. The lifting reducer 19 is connected to the rotating wheel 21 through the extension shaft 20. The lifting base plate 22 is installed on the lead screw slider 17. The lifting base plate 22 is connected to the up and down moving plate 24 through the side connecting block 23. The up and down moving plate 24 is installed on the guide rail base plate 26 through four pairs of up and down lifting guide rail sliders 25 on the left and right. The guide rail base plate 26 is installed on the large base plate 15 through the two side columns 27, which ensures that the load is subjected to bending torque when lifting up and down, thereby increasing the stability of the up and down lifting mechanism 4.

[0029] 5 , it can be seen that the rotating mechanism 5 is mounted on the lifting base plate 22 , and a rotating reducer 28 is mounted on the lifting base plate 22 . The input end of the rotating reducer 28 is connected to the rotating wheel 21 , and the output end of the rotating reducer 28 is connected to a gear 29 , which is engaged with a slewing support 30 . The fixed end of the slewing support 30 is mounted on the lifting base plate 22 , and the output end of the slewing support 30 is connected to the rotating base plate 31 . A limiting auxiliary column 32 is mounted on the lifting base plate 22 to limit the rotation angle of the rotating mechanism 5 and prevent it from falling in an accidental situation.

[0030] As shown in Figures 6 and 7 , the pitch mechanism 6 is mounted on a rotating baseplate 31, on which a left pitch bearing block 33 and a right pitch bearing block 34 are mounted. The left pitch bearing block 33 is connected to a pitch reducer 35, the input of which is connected to the runner 21, and the output of which is connected to a pitch transmission plate 36. One end of the pitch transmission plate 36 is connected to the left pitch bearing block 33 via a double-row tapered roller bearing 37, while the other end of the pitch transmission plate 36 is connected to a load frame 38. The other end of the load frame 38 is mounted on the right pitch bearing block 34 via a pitch support 39 and a tapered roller bearing 37. This pitch mechanism 6 ensures that the center of rotation is as close to the geometric center as possible, while also strengthening the support at both ends, ensuring reliable operation of the pitch reducer.

[0031] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A large rolling tool spatial posture simulation mechanism, characterized in that: It includes a frame bottom plate, a front-and-back moving mechanism, a left-and-right moving mechanism, an up-and-down lifting mechanism, a rotating mechanism and a pitching mechanism. The front-and-back moving mechanism is installed on the frame bottom plate; the left-and-right moving mechanism is installed on the square steel frame of the front-and-back moving mechanism; the up-and-down lifting mechanism is installed on the large bottom plate of the left-and-right moving mechanism; the rotating mechanism is installed on the lifting bottom plate of the up-and-down lifting mechanism; and the pitching mechanism is installed on the rotating bottom plate of the rotating mechanism.

2. A large rolling tool spatial posture simulation mechanism according to claim 1, characterized in that: The forward and backward moving mechanism includes a square steel frame, and rollers are installed at the bottom of the square steel frame for moving forward and backward. Side reinforcing ribs are installed on the square steel frame to increase the stability of the square steel frame. The left and right sides of the square steel frame are installed on the two side square steel frames through linear bearings and lateral guide shafts. The two side square steel frames are installed on the frame bottom plate, and the two side square steel frames are connected together through left and right connecting frames. The square steel frame can move forward and backward on the frame bottom plate through rollers, and the moving distance is limited by the lateral guide shaft, while increasing the rigidity of the overall frame.

3. The large-scale rolling tool spatial posture simulation mechanism according to claim 1, characterized in that: The left-right moving mechanism is installed on a square steel frame through four pairs of linear guide shafts and linear bearings. The linear bearings are installed behind a large bottom plate of the left-right moving mechanism. The left-right movement is achieved by moving the large bottom plate.

4. The large-scale rolling tool spatial posture simulation mechanism according to claim 1, characterized in that: The up and down lifting mechanism includes a trapezoidal lead screw, a lead screw slider, a lifting base plate, an up and down movable plate, an up and down lifting guide rail slider, a guide rail base plate, a rotating wheel, and a lifting reducer. The upper and lower ends of the trapezoidal lead screw are equipped with bearing seats, the lower end of the trapezoidal lead screw is connected to the lifting reducer, the lifting reducer is connected to the rotating wheel through an extension shaft, the lead screw slider is equipped with a lifting base plate, the lifting base plate is connected to the up and down movable plate through a side connecting block, and the up and down movable plate is installed on the guide rail base plate through four pairs of up and down lifting guide rail sliders on the left and right.

5. The large-scale rolling tool spatial posture simulation mechanism according to claim 4, characterized in that: The guide rail base plate is installed on the large base plate through the columns on both sides, which ensures that the load is subjected to bending torque when lifting up and down, thereby increasing the stability of the up and down lifting mechanism.

6. The large-scale rolling tool spatial posture simulation mechanism according to claim 1, characterized in that: The rotating mechanism includes a rotating reducer, a rotating wheel, a gear, a slewing support, and a rotating base plate. The rotating reducer is installed on the lifting base plate, the input end of the rotating reducer is connected to the rotating wheel, the output end of the rotating reducer is connected to the gear, the gear is meshed with the slewing support, the fixed end of the slewing support is installed on the lifting base plate, and the output end of the slewing support is connected to the rotating base plate.

7. A large rolling tool spatial posture simulation mechanism according to claim 6, characterized in that: A limited auxiliary column is installed on the lifting base plate to limit the rotation angle of the rotating mechanism and avoid falling in unexpected situations.

8. The large-scale rolling tool spatial posture simulation mechanism according to claim 1, characterized in that: The pitch mechanism includes a pitch reducer, a rotating wheel, a pitch transmission disk, a load frame, a left pitch bearing seat and a right pitch bearing seat. The left pitch bearing seat and the right pitch bearing seat are installed on a rotating base plate. The left pitch bearing seat is connected to the pitch reducer, the input end of the pitch reducer is connected to the rotating wheel, the output end of the pitch reducer is connected to the pitch transmission disk, one end of the pitch transmission disk is connected to the left pitch bearing seat through a double-row tapered roller bearing, the other end of the pitch transmission disk is connected to the load frame, and the other side of the load frame is installed on the upper right pitch bearing seat through a pitch support end and a tapered roller bearing.

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