CN-121989580-A - Multi-arm collaborative ice and snow carving robot

CN121989580ACN 121989580 ACN121989580 ACN 121989580ACN-121989580-A

Abstract

The invention discloses a multi-arm collaborative ice and snow carving robot, which relates to the technical field of ice and snow carving and comprises a base, wherein an upper arm is arranged on the upper part of the base, the lower part of the upper arm is fixedly connected with the base, the upper part of the upper arm is connected with a large arm, the end part of the large arm is connected with a small arm, the end part of the small arm is connected with a carving part, the carving part comprises a cutter head and a blowing port, the blowing port is arranged at the center of a fixing part, and the end part of the fixing part is connected with the cutter head. According to the multi-arm collaborative ice and snow carving robot, rotation and expansion of the large arm and the small arm are achieved through the synergistic effect of the motor II, the motor III, the motor IV, the air cylinder and the moving module, meanwhile, the carving part is driven to rotate through the motor I, multiple degrees of freedom are matched with each other, carving tasks of different angles and different positions can be flexibly completed, and the carving requirements of complex workpieces are adapted. The multiple cutter heads are flexibly switched, the cutter heads are not required to be detached and replaced, the engraving efficiency is effectively improved, and meanwhile the processing quality of rough engraving and refined engraving is guaranteed.

Inventors

HU CHANGSHENG
FU XINJIE
Lopakin Sergey

Assignees

苏州鼎智瑞光智能科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260323

Claims (8)

1. The multi-arm collaborative ice and snow carving robot is characterized by comprising a base, wherein an upper arm is arranged on the upper portion of the base, the lower portion of the upper arm is fixedly connected with the base, the upper portion of the upper arm is connected with a large arm, the end portion of the large arm is connected with a small arm, the end portion of the small arm is connected with a carving part, the carving part comprises a cutter head and a blowing port, the blowing port is arranged at the center of a fixing piece, and the end portion of the fixing piece is connected with the cutter head.
2. The multi-arm collaborative ice and snow carving robot according to claim 1, wherein a plurality of cutter heads are arranged, the lower parts of the plurality of cutter heads are connected with a first connecting rod and a moving rod, the end part of the moving rod is connected with a connecting table, and the end part of the connecting table is connected with the fixing piece through bolts.
3. The multi-arm collaborative ice and snow carving robot according to claim 2, wherein the end part of the movable rod is connected with a first connecting rod, the first connecting rod is connected with the end part of a fixed table, the middle part of the fixed table is connected with the air blowing port, the air blowing port is connected with a fan, the end part of the air blowing port is provided with a connecting rod, the connecting rod is fixedly connected with the fixed table, the end part of the fixed table is connected with a fixed flange plate, and the fixed flange plate is connected with a first motor.
4. The multi-arm collaborative ice and snow carving robot according to claim 1, wherein one end of the small arm is provided with a fixed plate, the other end of the small arm is connected with a sliding block, the sliding block is connected with a moving module, the end of the moving module is connected with a cylinder, the cylinder is connected with the moving module through an end plate, the lower part of the moving module is provided with a connecting plate, and the end of the connecting plate is provided with a connecting hole site connected with the end of the large arm.
5. The multi-arm collaborative ice and snow carving robot according to claim 4, wherein the end part of the big arm and the connecting hole site are connected with a motor II, a motor III is arranged at the connecting end of the big arm and the upper arm, the motor III is connected with the upper arm, the big arm and a cover plate, and the cover plate is connected with a motor triaxial cover plate.
6. The multi-arm collaborative ice and snow carving robot according to claim 5, wherein a first mounting plate is arranged at the side end of the upper portion, one end of the first mounting plate is connected with a fourth motor, the other end of the first mounting plate is connected with a fourth motor shaft cover plate and a second connecting rod, the other end of the second connecting rod is connected with a third connecting rod through a shaft, the other end of the third connecting rod is connected with a second mounting plate on the big arm, two mounting plates are arranged, and the two second mounting plates are connected with the third connecting rod.
7. The multi-arm collaborative ice and snow carving robot according to claim 1, wherein a vacuum tube sucker is arranged at the lower part of the base.
8. The multi-arm collaborative ice and snow engraving robot according to claim 2, wherein the tool bit comprises an engraving tool bit and an engraving tool bit, the lower parts of the engraving tool bit and the engraving tool bit are connected with a connecting rod I through keys, the connecting rod I is connected with a moving rod through an L-shaped rod, and the moving rod is connected with the L-shaped rod, the L-shaped rod and the connecting rod I through the keys.

Description

Multi-arm collaborative ice and snow carving robot Technical Field The invention relates to the technical field of ice and snow carving, in particular to a multi-arm collaborative ice and snow carving robot. Background In the prior art of engraving equipment, the traditional engraving mechanical arm has the problems of single structure and insufficient degree of freedom, so that the engraving operation range is limited, and the engraving task of complex curved surfaces or multiple angles is difficult to complete. Meanwhile, most carving mechanical arms are only provided with a single tool bit, and can not rapidly switch different processing modes such as fine carving, coarse carving and the like according to carving requirements, so that the processing efficiency is low. In addition, a large amount of fragments can be produced in the engraving process, and the fragments are easy to adhere to the surfaces of the tool bit and the processed workpiece, so that the engraving precision can be affected, the tool bit can be worn, and the service life of equipment is reduced. Some of the existing equipment is provided with a cleaning structure, but the cleaning structure is unreasonable in layout, poor in cleaning effect and poor in cooperation with the cutter head, and quality and efficiency of engraving operation are further restricted. Disclosure of Invention The invention aims to provide a multi-arm collaborative ice and snow carving robot, which solves the problem of low processing efficiency caused by inconvenient switching in the prior art. In order to achieve the above purpose, the invention provides a multi-arm collaborative ice and snow carving robot, which comprises a base, wherein an upper arm is arranged at the upper part of the base, the lower part of the upper arm is fixedly connected with the base, the upper part of the upper arm is connected with a large arm, the end part of the large arm is connected with a small arm, the end part of the small arm is connected with a carving part, the carving part comprises a cutter head and a blowing port, the blowing port is arranged at the center of a fixing piece, and the end part of the fixing piece is connected with the cutter head. Preferably, the cutter head is provided with a plurality of cutter heads, the lower parts of the plurality of cutter heads are connected with the first connecting rod and the movable rod, the end parts of the movable rod and the movable rod are connected with the connecting table, and the end parts of the connecting table and the fixing piece are connected through bolts. Preferably, the end of the movable rod is connected with a first connecting rod, the first connecting rod is connected with the end of the fixed table, the middle of the fixed table is connected with the air blowing port, the air blowing port is connected with the fan, the end of the air blowing port is provided with a connecting rod, the connecting rod is fixedly connected with the fixed table, the end of the fixed table is connected with a fixed flange plate, and the fixed flange plate is connected with a first motor. Preferably, one end of the small arm is provided with a fixed plate, the other end of the small arm is connected with a sliding block, the sliding block is connected with a movable module, the end of the movable module is connected with a cylinder, the cylinder is connected with the movable module through an end plate, the lower part of the movable module is provided with a connecting plate, and the end of the connecting plate is provided with a connecting hole site and is connected with the end of the large arm. Preferably, the end part of the big arm is connected with the second motor, the connecting end of the big arm is provided with the third motor, the third motor is connected with the upper arm, the big arm and the cover plate, and the cover plate is connected with the three-shaft cover plate of the motor. Preferably, the side end on upper portion is provided with the mounting panel one, the one end and the motor of mounting panel are four-bar linkage, the other end and the motor four-axis apron of mounting panel are connected with the connecting rod two, the other end of connecting rod two is connected with the connecting rod three through the axle, the other end of connecting rod three with mounting panel two on the big arm are connected, mounting panel two is provided with two, two mounting panel two with the connecting rod three is connected. Preferably, a vacuum tube sucker is arranged at the lower part of the base. Preferably, the tool bit includes cnc engraving tool bit and cnc engraving tool bit, cnc engraving tool bit with cnc engraving tool bit's lower part all pass through the key with connecting rod one, be connected through L type pole between the connecting rod one, L type pole with the movable rod is connected, the movable rod with L type pole, L type pole with all pass through between the connecting rod one the key connection