CN107081772B - Flexible curved surface milling production device of robot - Google Patents
Flexible curved surface milling production device of robot Download PDFInfo
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- CN107081772B CN107081772B CN201710464259.5A CN201710464259A CN107081772B CN 107081772 B CN107081772 B CN 107081772B CN 201710464259 A CN201710464259 A CN 201710464259A CN 107081772 B CN107081772 B CN 107081772B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/13—Surface milling of plates, sheets or strips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a robot flexible curved surface milling production device, which comprises: go up feed bin, lower feed bin, workstation, tool support, industrial robot subassembly and control system. The upper bin and the lower bin are used for storing blanks and workpieces, the workbench is used for clamping the workpieces and completing processing tasks, and the tool support is used for placing the electric spindle and the vacuum chuck; the industrial robot realizes automatic feeding and discharging of workpieces with multiple specifications through the vacuum chuck, and finishes curved surface milling through the electric spindle. Go up feed bin, lower feed bin, instrument support and workstation and regard robot as center evenly distributed, improved space utilization. The invention realizes the operations of automatic feeding and discharging of workpieces, automatic replacement of tools and the like based on the electromechanical integration principle, simplifies the production process, optimizes the production beat and greatly improves the production efficiency.
Description
Technical Field
The invention relates to a robot machining production line, in particular to a robot flexible curved surface milling production device with a quick-change device.
Background
The traditional plate processing is generally carried out on an engraving machine, the processing range is smaller, meanwhile, workers are required to carry out manual feeding and discharging and clamping, and the problems of low efficiency, high labor intensity, unsafe performance and the like exist.
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field, has the characteristics of wide processing range, low cost, high flexibility and the like, and the tail end of the industrial robot is provided with an electric spindle to replace a carving machine to finish a plate processing task. In general, the clamping tool fixed at the tail end of the robot can complete a single task, and when the milling task is completed, the loading and unloading task is difficult to complete by the same robot, and if loading and unloading and processing are respectively realized by two robots, the production cost can be greatly increased.
Disclosure of Invention
In order to solve the problems in the technical background, the invention provides the robot flexible curved surface milling production line, which can realize the functions of automatic feeding and discharging of workpieces, curved surface milling, automatic fixture and cutter replacement and the like through one robot, improves the production efficiency, reduces the production cost and simplifies the processing technology.
The technical scheme adopted by the invention is as follows:
the utility model provides a flexible curved surface milling process apparatus for producing of robot, includes industrial robot subassembly, and around workstation, tool support, last feed bin, lower feed bin and the control system that industrial robot subassembly dispersedly arranged, industrial robot subassembly includes industrial robot, force transducer and robot side quick change, industrial robot is connected to force transducer one end, and robot side quick change is connected to the other end, the workstation includes the workstation counter, be equipped with positioner and blowing device on the workstation counter, the tool support includes base, support frame and knife rest, the support frame is fixed on the base, the knife rest with the support frame is connected, be equipped with main shaft quick change assembly and sucking disc quick change assembly on the support frame.
Preferably, the sucking disc quick change assembly comprises a sucking disc quick change, a sucking disc mounting bottom plate, a sucking disc, a quick change locating plate, a quick change locating pin, a guide pin, a quick change fixed side mounting plate, a quick change movable side mounting plate, a sensor seat, a sensor, a sucking disc mounting side plate and a sucking disc clamp mounting plate, wherein the quick change fixed side mounting plate is connected with the support frame, the quick change locating plate is connected with the quick change movable side mounting plate, the quick change locating pin is connected with the quick change fixed side mounting plate, a through hole matched with the guide pin is formed in the quick change movable side mounting plate, the sucking disc is connected with the sucking disc mounting bottom plate, the sucking disc mounting bottom plate is connected with the sucking disc mounting side plate, the sucking disc mounting side plate is connected with the sucking disc clamp mounting plate, the sucking disc clamp is connected with the lower part of the quick change movable side mounting plate, the sensor seat is connected with the quick change fixed side mounting plate, and the sensor is mounted on the sensor seat, and the sensor is located below the quick change locating pin.
Preferably, the main shaft quick change assembly comprises an electric main shaft, a main shaft quick change positioning plate, a main shaft mounting plate, a quick change positioning pin, a guide pin, a quick change fixed side mounting plate, a quick change movable side mounting plate, a sensor seat and a sensor, wherein the quick change fixed side mounting plate is connected with the support frame, the quick change positioning plate is connected with the quick change movable side mounting plate, the quick change positioning pin is connected below the quick change positioning plate, the guide pin is connected with the quick change fixed side mounting plate, a through hole matched with the guide pin is formed in the quick change movable side mounting plate, the main shaft is connected with the main shaft mounting plate, the main shaft mounting plate is connected with the lower part of the quick change movable side mounting plate, the sensor seat is connected with the quick change fixed side mounting plate, and the sensor is arranged on the sensor seat and positioned below the quick change positioning pin.
Preferably, the positioning device comprises a positioning angle iron A, a positioning angle iron B, a clamping cylinder, a positioning clamp and a positioning cylinder, wherein the positioning angle iron A and the positioning angle iron B are fixed on the working table chopping board, the positioning clamp is connected with the positioning cylinder, and the clamping cylinder and the positioning cylinder are both connected with the working table chopping board.
Preferably, the two clamping cylinders are respectively positioned at the left side and the right side of the table chopping board and are symmetrically arranged about the center line of the table chopping board.
Preferably, the positioning angle iron A is positioned at the front side of the table chopping board, the positioning angle iron B is positioned at the right side of the table chopping board, and the positioning cylinder is positioned at the left rear side of the table chopping board.
Preferably, the industrial robot is connected with the main shaft quick change and the sucker quick change through the robot side quick change.
Preferably, a plurality of cutters are mounted on the cutter frame.
Preferably, the sucker quick-change is positioned and clamped on the support frame through the guide pin, and meanwhile, the production line automatically detects the position information of the sucker quick-change through the positioning pin and the sensor on the sensor seat.
Preferably, the main shaft quick change is positioned and clamped on the support frame through the guide pin, and meanwhile, the production line automatically detects the position information of the main shaft quick change through the positioning pin and the sensor on the sensor seat.
The beneficial effects of the invention are as follows:
the invention provides a robot flexible curved surface milling production device, which realizes the functions of automatic feeding and discharging of workpieces, automatic switching of a robot tail end tool fixture and an electric spindle, robot machining and the like. The quick-change device is utilized to solve the problem of switching between the tool clamp and the electric spindle, and the loading and unloading and processing tasks can be completed through one robot; and the tool can be changed through the electric spindle, so that different processing technologies can be met. In this production line, the workman only need in last feed bin department be responsible for the blowing can, greatly reduced the potential safety hazard in the production process, optimized time beat, greatly improved production efficiency.
Drawings
FIG. 1 is a schematic general construction of the present invention;
FIG. 2 is a schematic view of a robot end unit;
FIG. 3 is a schematic view of the structure of the work table;
FIG. 4 is a schematic structural view of a tool holder;
FIG. 5 is a schematic structural view of a suction cup quick change assembly;
fig. 6 is a schematic structural view of the spindle quick-change assembly.
List of reference numerals:
in the figure: 100-industrial robot assembly, 101-industrial robot, 102-force sensor, 103-robot side quick change, 104-connection flange A, 105-connection flange B, 200-workstation, 201-workstation table board, 202-positioning angle iron A, 203-clamping cylinder, 204-positioning angle iron B, 205-blowing device, 206-positioning fixture, 207-positioning cylinder, 208-chip removal hole, 300-tool holder, 301-electric spindle, 302-spindle quick change, 303-quick change movable side mounting plate, 304-guide pin, 305-support frame, 306-tool holder, 307-base, 308-suction cup quick change, 309-suction cup mounting plate, 310-suction cup, 311-spindle mounting plate, 312-quick change positioning plate, 313-quick change positioning pin, 314-quick change fixed side mounting plate, 315-sensor holder, 316-sensor, 317-suction cup mounting plate, 318-suction cup mounting plate, 400-lower bin, 500-upper bin, 600-control system.
Detailed Description
The invention is further described with reference to the drawings and detailed description which follow:
as shown in fig. 1 to 6, the present invention includes: industrial robot assembly 100, workstation 200, tool holder 300, upper bin 400, lower bin 500, and control system 600; the workbench 200, the tool holder 300, the upper bin 400 and the lower bin 500 are distributed around the robot assembly 100, and the control system 600 is located on the right side of the tool holder 300;
the industrial robot assembly 100 comprises an industrial robot 101, a force sensor 102, a robot side quick-change 103, wherein one end of the force sensor is connected with the industrial robot, and the other end of the force sensor is connected with the robot side quick-change; in this example, the connection between the force sensor and the robot side quick-change and the industrial robot is realized through a connecting flange A104 and a connecting flange B105, specifically, the robot side quick-change 103 and the connecting flange A104 are positioned by pins and are in threaded connection, the connecting flange A104 is in threaded connection with the force sensor 102, the force sensor 102 is in threaded connection with the connecting flange B105, and the connecting flange B105 is in threaded connection with the industrial robot 101.
The workbench 200 comprises a workbench chopping board 201, and a positioning device and an air blowing device 205 are arranged on the workbench chopping board 201, wherein the positioning device comprises a positioning angle iron A202, a clamping cylinder 203, a positioning angle iron B204, the air blowing device 205, a positioning clamp 206 and a positioning cylinder 207. The positioning angle iron A202 and the positioning angle iron B204 are fixed on the workbench chopping board 201 through threads, the positioning clamp 206 is connected with the positioning air cylinder 207 through pins, the positioning air cylinder 207 and the clamping air cylinder 203 are connected with the workbench chopping board 201 through threads, and the air blowing device 205 is connected with the workbench chopping board 201 through threads. The two clamping cylinders 203 are respectively positioned at the left side and the right side of the table chopping board 201 and are symmetrically arranged about the center line of the table chopping board 201. The positioning angle iron A202 is positioned on the front side of the table chopping board 201, the positioning angle iron B204 is positioned on the right side of the table chopping board 201, and the positioning cylinder 207 is positioned on the left rear side of the table chopping board 201. The two positioning angle irons B204 are respectively positioned at two sides of the right clamping cylinder 203. A chip discharging hole 208 is also provided on the opposite side of the table chopping board 201 from the air blowing device 205.
The tool support comprises a base 307, a support 305 and a tool rest 306, wherein the support 305 is fixed on the base 307, the tool rest 306 is connected with the support 305 through bolts and T-shaped nuts, and a main shaft quick-change assembly and a sucking disc quick-change assembly are arranged on the support 305. The support frame 305 in this example is preferably an aluminum profile frame.
The sucking disc quick-change assembly comprises a sucking disc quick-change 308, a sucking disc mounting bottom plate 309, a sucking disc 310, a quick-change positioning plate 312, a quick-change positioning pin 313, a guide pin 304, a quick-change fixing side mounting plate 314, a quick-change movable side mounting plate 303, a sensor seat 315, a sensor 316, a sucking disc mounting side plate 317 and a sucking disc clamp mounting plate 318, wherein the quick-change fixing side mounting plate 314 is connected with a supporting frame 305 through bolts and T-shaped nuts, the quick-change positioning plate 312 is connected with the quick-change movable side mounting plate 303 through threads, the quick-change positioning pin 313 is connected with the lower part of the quick-change positioning plate 312 through threads, the guide pin 304 is connected with the quick-change fixing side mounting plate 314 through threads, a through hole matched with the guide pin 304 is formed in the quick-change movable side mounting plate 303, the sucking disc 310 is connected with the sucking disc mounting bottom plate 309 through two side nuts, the sucking disc mounting bottom plate 309 is connected with the sucking disc mounting side plate 317 through threads, the sucking disc mounting side plate 317 is connected with the sucking disc clamp mounting plate 318 through threads, the sucking disc clamp mounting plate 318 is connected with the quick-change movable side mounting plate 303 through threads, the sensor seat 315 is connected with the quick-change fixing side mounting plate 314 through threads, the sensor seat 316 is positioned below the sensor seat 313 is positioned below the sensor seat 315.
The main shaft quick change assembly comprises an electric main shaft 301, a main shaft quick change 302, a main shaft mounting plate 311, a quick change positioning plate 312, a quick change positioning pin 313, a guide pin 304, a quick change fixing side mounting plate 314, a quick change movable side mounting plate 303, a sensor seat 315 and a sensor 316, wherein the quick change fixing side mounting plate 314 is connected with a support frame 305 through bolts and T-shaped nuts, the quick change positioning plate 312 is connected with the quick change movable side mounting plate 303 through threads, the quick change positioning pin 313 is connected with the lower part of the quick change positioning plate 312 through threads, the guide pin 304 is connected with the quick change fixing side mounting plate 314 through threads, a through hole matched with the guide pin 304 is formed in the quick change movable side mounting plate 303, the electric main shaft 301 is connected with the main shaft mounting plate 311 through threads, the main shaft mounting plate 311 is connected with the quick change movable side mounting plate 303 through threads, the quick change movable side mounting plate 303 is positioned with the main shaft quick change 302 through pins and connected with the threads, the sensor seat 315 is connected with the quick change fixing side mounting plate 314 through threads, the sensor 316 is mounted on the sensor seat 315, and the sensor 316 is positioned below the quick change positioning pin 313.
Further, in the workbench 200, the positioning angle iron A202, the positioning angle iron B204, the positioning clamp 206 and the positioning cylinder 207 are used for positioning in the front-back and left-right directions, and the positioning cylinder 207 can adapt to positioning of workpieces with different sizes along the axial movement; the sucking disc quick change 308 sucks the workpiece through the vacuum sucking disc 310, can be suitable for loading and unloading of workpieces of different sizes, and loading and unloading and positioning of workpieces of different sizes are realized through the positioning angle iron A202, the positioning angle iron B204, the positioning clamp 206, the positioning cylinder 207 and the vacuum sucking disc 310.
Further, the industrial robot 101 is connected with the main shaft quick change 302 and the sucker quick change 308 through the robot side quick change 103 respectively, and further automatic feeding and discharging and milling of workpieces can be achieved through one industrial robot.
Further, a plurality of cutters are arranged on the cutter frame 306, and the industrial robot 101 can clamp different cutters through the electric spindle 301 to finish multi-procedure processing of workpieces.
Further, the spindle quick change 302 and the suction cup quick change 308 are positioned and clamped on the support frame 305 through the guide pins 304, and meanwhile, the production line automatically detects the position information of the spindle quick change 302 and the suction cup quick change 308 through the positioning pins 313 and the sensors 316 on the sensor base 315.
The specific implementation process of the invention is as follows:
the following table is a workflow in one processing cycle divided into five beats.
Preparation: initially, the industrial robot 101 is opposite to the workbench 200, and the robot-side quick change 103 at the end of the industrial robot 101 is in an empty state. The production line is started, the industrial robot 101 moves to a position opposite to the tool support 300, then the robot side quick change 103 moves to a position above the suction cup quick change 308, descends and is connected and closed with the suction cup quick change 308, and the industrial robot 101 retreats to a position opposite to the tool support 300, so that the suction cup quick change 308 is replaced.
First beat: and (5) feeding. The feeding is divided into two steps of sucking the workpiece and clamping the workpiece. The industrial robot 101 moves to a position facing the upper bin 500 so that the suction cups 310 horizontally fit the blank. Suction cups 310 work to pick up the blanks, and industrial robot 101 transports the blanks to work table 200 for placement along positioning angle a202 and positioning angle B204. Then, the industrial robot 101 is retracted to the initial position facing the table. The positioning fixture 206 pushes the blank under the action of the positioning cylinder 207, and the workpiece is positioned under the limiting action of the positioning angle iron A202 and the positioning angle iron B204. Finally, the clamping cylinder 203 acts to compress the blank, the positioning cylinder 207 retreats, and the workpiece clamping is completed.
Second beat: and (5) changing a cutter. The tool changing is divided into two steps of spindle changing and tool clamping. First, the industrial robot 101 moves to a position facing the tool holder 300, and the suction cup quick change 308 is placed to the initial position. Then the robot side quick change 103 moves to the position above the main shaft quick change 302, descends and is connected with the main shaft quick change 302 to be closed, and the quick change of the electric main shaft 301 is completed. Then the tail end of the motorized spindle 301 moves to a position opposite to the knife handle of the knife rest 306, descends to the attaching position and then closes, and clamping of the knife is completed. Finally, the industrial robot 101 is retracted to a position facing the tool holder 300. The tool change is completed.
Third beat: and (5) processing. The industrial robot 101 drives the motorized spindle 301 to move to a position right above the blank, and the industrial robot 101 processes the workpiece according to a predetermined processing track. During processing, the force sensor 102 feeds back the acquired data to the control system 600. According to the processing requirement of the workpiece, the cutter handle can be replaced after one processing process is finished, and the next working procedure is performed until the processing of the workpiece is finished.
Fourth beat: and (5) replacing the sucking disc. After the machining is completed, the industrial robot 101 drives the motorized spindle 301 to move to an initial position facing the table 200. Then the industrial robot 101 puts the main shaft quick change 302 to the initial position, then the robot side quick change 103 moves to the position above the suction cup quick change 308, descends and is connected and closed with the suction cup quick change 308, and the quick change of the suction cup quick change 308 is completed. Finally, the industrial robot 101 is retracted to a position facing the tool holder 300. So far, the suction cup replacement is completed.
Fifth beat: and (5) blanking. The industrial robot 101 moves to a position facing the table 200. The clamping cylinder 203 returns and the workpiece is released. The suction cup quick change 308 removes and places the machined part to a blanking magazine location. The industrial robot 101 is then retracted to a position facing the tool holder 300.
Thus, one curved surface milling cycle is completed.
The design principle of the invention is as follows:
the invention starts from the mechanical-electrical integration thought, realizes the automatic loading and unloading and processing of the plate, simplifies the production process, saves the cost and improves the production efficiency. In the whole process, the robot assembly 100 utilizes a quick-change device to replace the sucker quick-change 308 and the main shaft quick-change 302, so that the switching of feeding and discharging and processing actions is completed. Different tool shanks are replaced through the electric spindle 301, and the processing technology requirements of the workpiece are met. And an off-line program is generated by using off-line programming software, so that the curved surface milling of the workpiece is realized. The force sensor 102 is used for collecting processing data, the force and moment with continuously changing magnitude and direction are monitored, and feedback control of milling force is realized.
The technical means disclosed by the scheme of the invention is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (8)
1. The utility model provides a flexible curved surface milling process apparatus for producing of robot, its characterized in that includes industrial robot subassembly, and around workstation, tool support, last feed bin, lower feed bin and the control system of industrial robot subassembly dispersion arrangement, industrial robot subassembly includes industrial robot, force transducer and robot side quick change, industrial robot is connected to force transducer one end, and robot side quick change is connected to the other end, the workstation includes the workstation chopping board, be equipped with positioner and blowing device on the workstation chopping board, the tool support includes base, support frame and knife rest, the support frame is fixed on the base, the knife rest with the support frame is connected, be equipped with main shaft quick change subassembly and sucking disc quick change subassembly on the support frame;
the sucker quick-change assembly comprises a sucker quick-change, a sucker mounting bottom plate, a sucker, a quick-change positioning plate, a quick-change positioning pin, a guide pin, a quick-change fixed side mounting plate, a quick-change movable side mounting plate, a sensor seat, a sensor, a sucker mounting side plate and a sucker clamp mounting plate, wherein the quick-change fixed side mounting plate is connected with the support frame, the quick-change positioning plate is connected with the quick-change movable side mounting plate, the quick-change positioning pin is connected below the quick-change positioning plate, the guide pin is connected with the quick-change fixed side mounting plate, the quick-change movable side mounting plate is provided with a through hole matched with the guide pin, the sucker is connected with the upper part of the quick-change movable side mounting plate, the sucker is connected with the sucker mounting bottom plate, the sucker mounting side plate is connected with the clamp mounting plate, the sucker clamp mounting plate is connected with the lower part of the quick-change movable side mounting plate, the sensor seat is connected with the quick-change fixed side mounting plate, and the sensor is mounted on the sensor seat, and the sensor is positioned below the quick-change positioning pin;
the main shaft quick change subassembly includes electric main shaft, main shaft quick change, main shaft mounting panel, quick change locating plate, quick change locating pin, guide pin, quick change fixed side mounting panel, quick change movable side mounting panel, sensor seat and sensor, quick change fixed side mounting panel with the support frame is connected, the quick change locating plate with quick change movable side mounting panel is connected, quick change locating pin is connected to quick change locating plate below, the guide pin with quick change fixed side mounting panel is connected, be equipped with on the quick change movable side mounting panel with guide pin matched with through-hole, main shaft quick change is connected with quick change movable side mounting panel upper portion, electric main shaft is connected with the main shaft mounting panel, main shaft mounting panel is connected with quick change movable side mounting panel lower part, the sensor seat is connected with quick change fixed side mounting panel, the sensor is installed on the sensor seat, the sensor is located quick change locating pin below.
2. The robot flexible curved surface milling production device according to claim 1, wherein the positioning device comprises a positioning angle iron A, a positioning angle iron B, a clamping cylinder, a positioning clamp and a positioning cylinder, wherein the positioning angle iron A and the positioning angle iron B are fixed on the table chopping board, the positioning clamp is connected with the positioning cylinder, and the clamping cylinder and the positioning cylinder are both connected with the table chopping board.
3. The robot flexible curved surface milling production device according to claim 2, wherein two clamping cylinders are respectively positioned at the left side and the right side of the table chopping board and are symmetrically arranged about the center line of the table chopping board.
4. The robot flexible curved surface milling production device of claim 3, wherein the positioning angle iron A is positioned at the front side of the table chopping board, the positioning angle iron B is positioned at the right side of the table chopping board, and the positioning cylinder is positioned at the left rear side of the table chopping board.
5. The robot flexible curved surface milling production device according to claim 1, wherein the industrial robot is connected with the main shaft quick-change assembly and the suction cup quick-change assembly through robot side quick-change respectively.
6. The robotic flexible curved surface milling production device of claim 1, wherein the tool holder has a plurality of tools mounted thereon.
7. The robot flexible curved surface milling production device of claim 1, wherein the quick change of the sucker is realized by positioning and clamping on the support frame through the guide pin, and the production line automatically detects the position information of the quick change of the sucker through the positioning pin and the sensor on the sensor seat.
8. The robot flexible curved surface milling production device of claim 1, wherein the spindle quick change is positioned and clamped on the support frame through the guide pin, and the production line automatically detects the position information of the spindle quick change through the positioning pin and the sensor on the sensor seat.
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| CN201710464259.5A CN107081772B (en) | 2017-06-19 | 2017-06-19 | Flexible curved surface milling production device of robot |
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| CN201710464259.5A CN107081772B (en) | 2017-06-19 | 2017-06-19 | Flexible curved surface milling production device of robot |
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