CN105082117B - Gantry type double-arm truss robot and machining method for arc-shaped plate - Google Patents
Gantry type double-arm truss robot and machining method for arc-shaped plate Download PDFInfo
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Abstract
龙门式双臂桁架机器人及弧形板加工方法,属于异形板加工设备领域。龙门框架的上部具有Y轴横梁(2),机械臂的下端设有加工装置和定位装置,其中加工装置加工机械臂下方的待加工件(10),定位装置检测加工装置与待加工件(10)之间的间距,机械臂与Y轴横梁(2)之间设有驱动机械臂绕平行于Y轴横梁(2)的轴线摆动的机械臂摆动机构,机械臂还连接有带动其升降的机械臂升降机构,机械臂包括对称设置在Y轴横梁(2)上的左机械臂(9‑1)和右机械臂(9‑2),左机械臂(9‑1)和右机械臂(9‑2)分别与Y轴横梁(2)之间设有驱动其沿Y轴横梁(2)横向移动的机械臂横移机构。弧形板加工方法可以自动对弧形板进行钻孔加工。
The invention relates to a gantry-type double-arm truss robot and a method for processing curved plates, belonging to the field of special-shaped plate processing equipment. The upper part of the gantry frame has a Y-axis beam (2), and the lower end of the mechanical arm is provided with a processing device and a positioning device, wherein the processing device processes the workpiece (10) under the mechanical arm, and the positioning device detects the processing device and the workpiece (10) ), between the mechanical arm and the Y-axis beam (2), there is a mechanical arm swing mechanism that drives the mechanical arm to swing around the axis parallel to the Y-axis beam (2), and the mechanical arm is also connected with a mechanical mechanism that drives it up and down. Arm lifting mechanism, the mechanical arm includes the left mechanical arm (9-1) and the right mechanical arm (9-2) symmetrically arranged on the Y-axis beam (2), the left mechanical arm (9-1) and the right mechanical arm (9-2) ‑2) A mechanical arm traversing mechanism that drives them to move laterally along the Y-axis beam (2) is provided between them and the Y-axis beam (2). The curved plate processing method can automatically perform drilling on the curved plate.
Description
技术领域technical field
龙门式双臂桁架机器人及弧形板加工方法,属于异形板加工设备领域。The invention relates to a gantry-type double-arm truss robot and a method for processing curved plates, belonging to the field of special-shaped plate processing equipment.
背景技术Background technique
在对异形板进行加工时,由于其表面为弧形,现有设备无法适应期弧形曲面,例如在粮食仓储生产线上,经常需要在挡粮门上钻孔,由于挡粮门是圆弧形结构,圆弧面上钻孔非常困难。目前市面上大都采用人工钻孔,容易对从业人员造成人身伤害,生产效率低下,而且工作人员工作量大,并且位置精度和尺寸精度都没有保证。When processing special-shaped plates, due to the curved surface, the existing equipment cannot adapt to the long-term curved surface. For example, in the grain storage production line, it is often necessary to drill holes on the grain retaining door, because the grain retaining door is arc-shaped structure, it is very difficult to drill holes on the arc surface. At present, most of the holes on the market are manually drilled, which is easy to cause personal injury to the practitioners, low production efficiency, and the workload of the staff is heavy, and the positional accuracy and dimensional accuracy are not guaranteed.
发明内容Contents of the invention
本发明要解决的技术问题是:克服现有技术的不足,提供一种能够对异形板进行钻孔,减轻作业强度、提高作业效率、降低加工成本、提高钻孔精度的龙门式双臂桁架机器人及弧形板加工方法。The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a gantry-type double-arm truss robot capable of drilling special-shaped plates, reducing work intensity, improving work efficiency, reducing processing costs, and improving drilling precision. And arc plate processing method.
本发明解决其技术问题所采用的技术方案是:该龙门式双臂桁架机器人,包括龙门框架和机械臂,其特征在于:龙门框架的上部具有Y轴横梁,机械臂的下端设有加工装置和定位装置,其中加工装置加工机械臂下方的待加工件,定位装置检测加工装置与待加工件之间的间距,机械臂与Y轴横梁之间设有驱动机械臂绕平行于Y轴横梁的轴线摆动的机械臂摆动机构,机械臂还连接有带动其升降的机械臂升降机构,机械臂包括对称设置在Y轴横梁上的左机械臂和右机械臂,左机械臂和右机械臂与Y轴横梁之间分别设有驱动其沿Y轴横梁横向移动的机械臂横移机构。The technical solution adopted by the present invention to solve the technical problem is: the gantry-type double-arm truss robot includes a gantry frame and a mechanical arm, and is characterized in that: the upper part of the gantry frame has a Y-axis beam, and the lower end of the mechanical arm is provided with a processing device and Positioning device, wherein the processing device processes the workpiece to be processed under the mechanical arm, the positioning device detects the distance between the processing device and the workpiece to be processed, and a driving mechanical arm is arranged between the mechanical arm and the Y-axis crossbeam around the axis parallel to the Y-axis crossbeam The swing mechanism of the mechanical arm, the mechanical arm is also connected with the lifting mechanism of the mechanical arm to drive it up and down, the mechanical arm includes the left mechanical arm and the right mechanical arm symmetrically arranged on the Y-axis beam, and the left mechanical arm and the right mechanical arm are connected to the Y-axis A mechanical arm traversing mechanism is respectively provided between the crossbeams to drive it to move laterally along the Y-axis crossbeam.
优选的,在所述左机械臂和右机械臂的下方设有水平且垂直于Y轴横梁的X轴轨道装置,X轴轨道装置上固定有工作台,在工作台上设置有工件固定机构,Y轴横梁与工作台在X轴轨道装置长度方向相对移动。Preferably, an X-axis track device that is horizontal and perpendicular to the Y-axis beam is provided below the left mechanical arm and the right mechanical arm, a workbench is fixed on the X-axis track device, and a workpiece fixing mechanism is arranged on the workbench. The Y-axis beam and the worktable move relatively in the length direction of the X-axis track device.
优选的,所述X轴轨道装置包括X轴轨道板,X轴轨道板两侧设有X轴直线导轨,所述工作台滑动设置在X轴直线导轨上,工作台与X轴轨道板之间设有驱动工作台滑动的工作台动力机构。Preferably, the X-axis track device includes an X-axis track plate, and X-axis linear guide rails are arranged on both sides of the X-axis track plate. There is a worktable power mechanism that drives the slide of the worktable.
优选的,所述工作台包括反面固定工作台,所述工件固定机构包括沿X轴轨道装置长度方向间隔固定在反面固定工作台上的第一支架和第二支架,固定在反面固定工作台上的待加工件为两端向上弯曲的弧形板,待加工件位于第一支架和第二支架之间,第一支架上端设有压持待加工件一端的反面压持机构,第二支架上端高度可调的设有夹持待加工件另一端的夹持夹具;Preferably, the workbench includes a reverse fixed workbench, and the workpiece fixing mechanism includes a first bracket and a second bracket fixed on the reverse fixed workbench at intervals along the length direction of the X-axis track device, and fixed on the reverse fixed workbench The workpiece to be processed is an arc-shaped plate with both ends bent upwards. The workpiece to be processed is located between the first bracket and the second bracket. The upper end of the first bracket is provided with a reverse pressing mechanism for pressing one end of the workpiece to be processed. Height-adjustable clamping fixture for clamping the other end of the workpiece to be processed;
工件固定机构还包括固定在工作台两侧的多个反面横向定位机构,反面横向定位机构夹持待加工件的两侧对待加工件进行横向定位。The workpiece fixing mechanism also includes a plurality of reverse lateral positioning mechanisms fixed on both sides of the workbench, and the reverse lateral positioning mechanisms clamp both sides of the workpiece to be processed for lateral positioning.
优选的,所述夹持夹具包括夹具固定座、快速夹头、连杆以及推动连杆摆动的连杆驱动单元,夹具固定座高度可调的固定在第二支架上,快速夹头的一端和连杆驱动单元的一端分别铰接在夹具固定座上,连杆的一端与连杆驱动单元的输出端转动连接,连杆的另一端与快速夹头的中部转动连接,连杆驱动单元通过连杆带动快速夹头摆动,快速夹头的另一端压紧在待加工件的端部上侧。Preferably, the clamping fixture includes a clamp fixing base, a quick chuck, a connecting rod and a connecting rod drive unit that pushes the connecting rod to swing, the clamp fixing base is fixed on the second bracket with an adjustable height, one end of the quick chuck and One end of the connecting rod drive unit is respectively hinged on the fixture fixing seat, one end of the connecting rod is rotatably connected with the output end of the connecting rod drive unit, the other end of the connecting rod is rotatably connected with the middle part of the quick chuck, and the connecting rod drive unit passes through the connecting rod The quick chuck is driven to swing, and the other end of the quick chuck is pressed against the upper side of the end of the workpiece to be processed.
优选的,所述工作台还包括正面固定工作台,固定在正面固定工作台上的待加工件为两端向下弯曲的弧形板,所述工件固定机构还包括正面纵向定位机构和正面横向定位机构,其中正面纵向定位机构包括沿X轴轨道装置长度方向间隔固定在正面固定工作台上的两个固定块,固定块上固定有正面纵向定位气缸,至少一个固定块沿X轴轨道装置长度方向可滑动的设置在正面固定工作台上,所述待加工件固定在两个固定块之间;正面横向定位机构固定在正面固定工作台的两侧,夹持待加工件的两侧对待加工件进行横向定位。Preferably, the workbench also includes a front fixed workbench, and the workpiece to be processed fixed on the front fixed workbench is an arc-shaped plate with both ends bent downward, and the workpiece fixing mechanism also includes a front longitudinal positioning mechanism and a front transverse positioning mechanism. The positioning mechanism, wherein the front longitudinal positioning mechanism includes two fixed blocks fixed on the front fixed worktable at intervals along the length direction of the X-axis track device, the fixed blocks are fixed with a front longitudinal positioning cylinder, and at least one fixed block is fixed along the length of the X-axis track device. The direction can be slidably set on the front fixed workbench, and the workpiece to be processed is fixed between two fixed blocks; the front lateral positioning mechanism is fixed on both sides of the front fixed workbench, and the two sides of the workpiece to be processed are clamped to be processed The component is positioned laterally.
优选的,所述定位装置包括定位滚轮和电子尺,电子尺竖向固定在机械臂上,定位滚轮通过磁铁吸合机构与电子尺下端的伸缩测距单元连接。Preferably, the positioning device includes a positioning roller and an electronic ruler, the electronic ruler is vertically fixed on the mechanical arm, and the positioning roller is connected to the telescopic distance measuring unit at the lower end of the electronic ruler through a magnetic attraction mechanism.
优选的,所述磁铁吸合机构包括强力磁铁、滚轮安装座和磁铁固定座,定位滚轮滚动设置在滚轮安装座上,滚轮安装座通过所述强力磁铁与磁铁固定座吸合;Preferably, the magnet attraction mechanism includes a powerful magnet, a roller mounting seat and a magnet fixing seat, the positioning roller is rolled and arranged on the roller mounting seat, and the roller mounting seat is attracted to the magnet fixing seat through the powerful magnet;
所述伸缩测距单元包括小型滑枕和直线导轨副,小型滑枕通过弹簧连接在电子尺的下端,小型滑枕滑动设置在直线导轨副上,磁铁固定座固定在直线导轨副上并推动小型滑枕升降。The telescopic ranging unit includes a small ram and a linear guide pair, the small ram is connected to the lower end of the electronic scale through a spring, the small ram is slidably arranged on the linear guide pair, and the magnet fixing seat is fixed on the linear guide pair and pushes the small Ram lift.
一种弧形板加工方法,包括上述的龙门式双臂桁架机器人,其特征在于:包括以下步骤:A method for processing arc-shaped plates, including the above-mentioned gantry-type double-arm truss robot, is characterized in that it includes the following steps:
步骤1),开机,系统回零;Step 1), power on, the system returns to zero;
步骤2),将待加工件固定在左机械臂和右机械臂下方,如果需要编程进入步骤3),否则进入步骤5);Step 2), fix the workpiece to be processed under the left and right robotic arms, if programming is required, go to step 3), otherwise go to step 5);
步骤3),编程,设定左机械臂和右机械臂的摆动轨迹,设定工作台的纵向移动速度和行程,机械臂横移机构调整左机械臂和右机械臂的间距;Step 3), programming, setting the swing trajectory of the left and right robotic arms, setting the longitudinal movement speed and stroke of the worktable, and adjusting the distance between the left and right robotic arms by the mechanical arm traverse mechanism;
步骤4),左机械臂和右机械臂空走,如果机械臂能够带动加工装置在待加工件的待加工位置进行加工,进入步骤5),否则返回步骤3);Step 4), the left robotic arm and the right robotic arm are idling, if the robotic arm can drive the processing device to process the workpiece at the position to be processed, go to step 5), otherwise return to step 3);
步骤5),自动运行,工作台带动待加工件纵向移动,机械臂沿待加工件表面曲率进行摆动,机械臂升降机构分别带动左机械臂和右机械臂升降,定位装置与待加工件上表面接触,检测加工装置与待加工件表面的垂直距离,加工装置对待加工件进行加工;Step 5), automatic operation, the worktable drives the workpiece to be processed to move longitudinally, the mechanical arm swings along the surface curvature of the workpiece to be processed, the lifting mechanism of the mechanical arm drives the left mechanical arm and the right mechanical arm to lift respectively, the positioning device and the upper surface of the workpiece to be processed Contact, detecting the vertical distance between the processing device and the surface of the workpiece to be processed, and the processing device processes the workpiece to be processed;
步骤6),加工完成,将工件拆下。Step 6), the processing is completed, and the workpiece is removed.
优选的,所述加工装置包括依次连接的伺服驱动器、钻孔伺服电机、减速机和钻头,伺服驱动器与控制器连接;定位装置与控制器连接;Preferably, the processing device includes a servo driver, a drilling servo motor, a reducer and a drill bit connected in sequence, the servo driver is connected to the controller; the positioning device is connected to the controller;
步骤5)中在加工装置对待加工件进行钻孔过程中,定位装置将检测到的数据发送至控制器,同时伺服驱动器检测钻孔伺服电机的电流并反馈给控制器,控制器根据钻孔伺服电机的电流判断钻头的受力情况,并通过伺服驱动器相应的改变钻孔伺服电机的转速。Step 5) In the process of drilling the workpiece to be processed by the processing device, the positioning device sends the detected data to the controller, and at the same time, the servo driver detects the current of the drilling servo motor and feeds it back to the controller. The current of the motor judges the force of the drill bit, and the speed of the drilling servo motor is changed accordingly through the servo driver.
与现有技术相比,本发明所具有的有益效果是:Compared with prior art, the beneficial effect that the present invention has is:
1、本发明通过通过机械臂横移机构可以带动左机械臂和右机械臂相互独立的横向移动,可以同时加工两列孔,而且可以适应不同间距的两列孔,甚至可以同时加工两个待加工件,提高加工效率,通过定位装置实时检测加工装置与待加工件之间的垂直距离,利用机械臂升降机构带动加工装置升降,保证加工装置与待加工件之间具有恒定的距离,然后利用机械臂摆动机构带动机械臂摆动,适应弧形的待加工件,使加工装置能够垂直于待加工件进行加工。1. The present invention can drive the left mechanical arm and the right mechanical arm to move laterally independently through the lateral movement mechanism of the mechanical arm, and can process two rows of holes at the same time, and can adapt to two rows of holes with different spacings, and can even process two rows of holes to be processed at the same time. Processed parts, improve processing efficiency, detect the vertical distance between the processing device and the workpiece to be processed in real time through the positioning device, use the mechanical arm lifting mechanism to drive the processing device up and down, ensure a constant distance between the processing device and the workpiece to be processed, and then use The mechanical arm swing mechanism drives the mechanical arm to swing, adapting to the arc-shaped workpiece to be processed, so that the processing device can be processed perpendicular to the workpiece to be processed.
2、通过X轴轨道装置和工作台装载待加工件,便于对待加工件进行定位,提高加工精度,Y轴横梁与工作台相对移动,从而使加工装置沿纵向对待加工件进行加工,实现了自动对异形板状的待加工件的加工,减轻作业强度、提高作业效率、降低加工成本、提高加工精度。2. The workpiece to be processed is loaded through the X-axis track device and the worktable, which facilitates the positioning of the workpiece to be processed and improves the processing accuracy. The Y-axis beam and the worktable move relatively, so that the processing device can process the workpiece along the longitudinal direction, realizing automatic For the processing of special-shaped plate-shaped parts to be processed, the operation intensity is reduced, the operation efficiency is improved, the processing cost is reduced, and the processing accuracy is improved.
3、定位滚轮通过磁铁吸合机构与电子尺下端的伸缩测距单元连接,待加工件的表面往往比较粗糙,有时表面还会有一些凸起或凹陷的部分,尤其是弧形板,定位滚轮在行走过程容易受到冲击,通过磁铁吸合机构吸合定位滚轮与伸缩测距单元,能够在发生意外碰撞时使定位滚轮与伸缩测距单元分离,从而防止损坏零部件,尤其是价格较高的电子尺,降低运行成本,运行更加可靠。3. The positioning roller is connected to the telescopic distance measuring unit at the lower end of the electronic ruler through the magnetic attraction mechanism. The surface of the workpiece to be processed is often rough, and sometimes there are some raised or sunken parts on the surface, especially the curved plate. The positioning roller It is easy to be impacted during the walking process. The positioning roller and the telescopic distance measuring unit are attracted by the magnet suction mechanism, which can separate the positioning roller from the telescopic distance measuring unit in the event of an accidental collision, thereby preventing damage to parts, especially the higher priced ones. Electronic ruler reduces operating cost and makes operation more reliable.
4、工作台与X轴轨道板之间设有驱动工作台滑动的工作台动力机构,通过试验证实,将工作台设置为滑动的,在加工过程中移动工作台相对于移动龙门框架来说要简单,首先减少了所需要的空间,而且能够减少机械臂因为移动产生的误差,提高加工精度。4. There is a worktable power mechanism between the workbench and the X-axis track plate to drive the slide of the workbench. It has been proved by the test that the workbench is set to slide, and it is easier to move the workbench during the processing than to move the gantry frame. , First of all, the required space is reduced, and the error caused by the movement of the mechanical arm can be reduced, and the machining accuracy can be improved.
5、第一支架上端设有压持待加工件一端的反面压持机构,第二支架上端高度可调的设有夹持待加工件另一端的夹持夹具,在一端利用反面压持机构对待加工件进行定位,另一端通过夹持夹具进行定位,避免了两端同时利用动作部件进行定位是发生相互干涉或者存在应力的情况,而且结构简单,成本低。5. The upper end of the first bracket is provided with a reverse clamping mechanism for clamping one end of the workpiece to be processed, and the upper end of the second bracket is adjustable in height with a clamping fixture for clamping the other end of the workpiece to be processed. The workpiece is positioned, and the other end is positioned by the clamping fixture, which avoids mutual interference or stress at both ends when the moving parts are used for positioning at the same time, and the structure is simple and the cost is low.
6、当电流增大时,说明此处的待加工件材质较硬,钻头受到了较大的阻力,此时控制器通过伺服驱动器可以控制钻孔伺服电机的转速降低,从而可以有效的避免钻头受损甚至是直接断裂,同样,当电流减小时,说明此处的待加工件材质相对较软,钻头受到的阻力较小,此时控制器可以通过伺服驱动器控制钻孔伺服电机的转速提高,从而可以提高加工效率。6. When the current increases, it means that the material of the workpiece to be processed here is relatively hard, and the drill bit is subjected to greater resistance. At this time, the controller can control the rotation speed of the drilling servo motor to decrease through the servo driver, so that the drill bit can be effectively avoided. Damaged or even directly broken. Similarly, when the current decreases, it means that the material of the workpiece to be processed here is relatively soft, and the resistance of the drill bit is small. At this time, the controller can control the speed of the drilling servo motor to increase through the servo driver. Thereby, processing efficiency can be improved.
附图说明Description of drawings
图1为该龙门式双臂桁架机器人实施例1的结构示意图。FIG. 1 is a schematic structural view of Embodiment 1 of the gantry-type double-arm truss robot.
图2为图1中A处的局部放大图。FIG. 2 is a partial enlarged view of A in FIG. 1 .
图3为图1中B处的局部放大图。Fig. 3 is a partially enlarged view of the place B in Fig. 1 .
图4为该龙门式双臂桁架机器人实施例2的结构示意图。FIG. 4 is a schematic structural view of Embodiment 2 of the gantry-type double-arm truss robot.
图5为固定有待加工件的反面固定工作台的结构示意图。Fig. 5 is a structural schematic diagram of a reverse fixed workbench on which workpieces to be processed are fixed.
图6为未固定待加工件的反面固定工作台的结构示意图。Fig. 6 is a schematic structural view of a workbench fixed on the reverse side without fixing the workpiece to be processed.
图7为图6中C处的局部放大图。FIG. 7 is a partially enlarged view at point C in FIG. 6 .
图8为图6中D处的局部放大图。FIG. 8 is a partially enlarged view at point D in FIG. 6 .
图9为正面固定工作台的结构示意图。Fig. 9 is a schematic structural view of the front fixed workbench.
图10为图9中E处的结构示意图。FIG. 10 is a schematic diagram of the structure at E in FIG. 9 .
图11为弧形板加工方法的逻辑框图。Fig. 11 is a logic block diagram of the arc plate processing method.
图12为弧形板加工方法中具体钻孔原理框图。Fig. 12 is a block diagram of specific drilling principles in the curved plate processing method.
其中:1、立柱 2、Y轴横梁 3、报警器 4、Y轴导轨 5、Y轴齿条 6、机械臂摆动伺服电机 7、Y轴伺服电机 8、拖链固定架 801、支架侧板 9-1、左机械臂 9-2、右机械臂 10、待加工件 11、反面固定工作台 12、正面固定工作台 13、第一支架 14、第二支架 15、X轴轨道板16、固定块 17、机械臂固定座 18、机械臂摆动限位开关 19、测距固定板 20、动力头固定板21、电子尺 22、弹簧 23、钻孔伺服电机 24、减速机 25、定位滚轮 26、钻头 27、强力磁铁28、磁铁固定座 29、小型滑枕 30、检测头 31、直线导轨副 32、滚轮安装座 33、压块 34、反面纵向定位气缸 35、横向定位气缸 36、定位支架 37、定位块 38、定位辅助孔 39、夹具固定座 40、快速夹头 41、连杆 42、夹具气缸 43、正面纵向定位气缸。Among them: 1. Column 2, Y-axis beam 3, alarm 4, Y-axis guide rail 5, Y-axis rack 6, mechanical arm swing servo motor 7, Y-axis servo motor 8, drag chain fixing frame 801, bracket side plate 9 -1. Left mechanical arm 9-2, right mechanical arm 10, workpiece to be processed 11, reverse fixed table 12, front fixed table 13, first bracket 14, second bracket 15, X-axis track plate 16, fixed block 17. Mechanical arm fixing seat 18, mechanical arm swing limit switch 19, distance measuring fixed plate 20, power head fixed plate 21, electronic ruler 22, spring 23, drilling servo motor 24, reducer 25, positioning roller 26, drill bit 27. Powerful magnet 28, magnet fixing seat 29, small ram 30, detection head 31, linear guide pair 32, roller mounting seat 33, pressing block 34, reverse longitudinal positioning cylinder 35, horizontal positioning cylinder 36, positioning bracket 37, positioning Block 38, positioning auxiliary hole 39, clamp holder 40, quick chuck 41, connecting rod 42, clamp cylinder 43, front longitudinal positioning cylinder.
具体实施方式detailed description
下面结合附图1~12对本发明龙门式双臂桁架机器人及弧形板加工方法做进一步说明,其中实施例2为最佳实施例。The gantry-type double-arm truss robot and the arc plate processing method of the present invention will be further described below in conjunction with accompanying drawings 1 to 12, wherein embodiment 2 is the best embodiment.
实施例1Example 1
参照图1,该龙门式双臂桁架机器人,包括龙门框架和机械臂,龙门框架的上部具有Y轴横梁2,机械臂的下端设有加工装置和定位装置,其中加工装置加工机械臂下方的待加工件10,定位装置检测加工装置与待加工件10之间的间距,机械臂与Y轴横梁2之间设有驱动机械臂绕平行于Y轴横梁2的轴线摆动的机械臂摆动机构,机械臂还连接有带动其升降的机械臂升降机构,机械臂包括对称设置在Y轴横梁2上的左机械臂9-1和右机械臂9-2,左机械臂9-1和右机械臂9-2分别与Y轴横梁2之间设有驱动其沿Y轴横梁2横向移动的机械臂横移机构。通过机械臂横移机构可以带动左机械臂9-1和右机械臂9-2相互独立的横向移动,可以同时加工两列孔,而且可以适应不同间距的两列孔,甚至可以同时加工两个待加工件10,提高加工效率。通过定位装置实时检测加工装置与待加工件10之间的垂直距离,利用机械臂升降机构带动加工装置升降,保证加工装置与待加工件10之间具有恒定的距离,然后利用机械臂摆动机构带动左机械臂9-1和右机械臂9-2摆动,适应弧形的待加工件10,使加工装置能够垂直于待加工件10进行钻孔,Y轴横梁2与工作台相对移动,从而使加工装置沿纵向对待加工件10进行加工,实现了自动对异形板状的待加工件10的加工,减轻作业强度、提高作业效率、降低加工成本、提高加工精度。Referring to Fig. 1, the gantry-type double-arm truss robot includes a gantry frame and a mechanical arm. The upper part of the gantry frame has a Y-axis beam 2, and the lower end of the mechanical arm is provided with a processing device and a positioning device, wherein the processing device processes the workpiece under the mechanical arm. For the workpiece 10, the positioning device detects the distance between the processing device and the workpiece 10 to be processed. A mechanical arm swing mechanism for driving the mechanical arm to swing around an axis parallel to the Y-axis beam 2 is provided between the mechanical arm and the Y-axis beam 2. The mechanical The arm is also connected with a mechanical arm lifting mechanism that drives it to lift. The mechanical arm includes a left mechanical arm 9-1 and a right mechanical arm 9-2 symmetrically arranged on the Y-axis beam 2, and a left mechanical arm 9-1 and a right mechanical arm 9. -2 and the Y-axis crossbeam 2 are respectively provided with a mechanical arm traverse mechanism that drives them to move laterally along the Y-axis crossbeam 2 . The left mechanical arm 9-1 and the right mechanical arm 9-2 can be driven to move laterally independently by the mechanical arm traversing mechanism, and two rows of holes can be processed at the same time, and two rows of holes with different spacing can be adapted, and even two rows of holes can be processed at the same time. The workpiece 10 to be processed improves the processing efficiency. The vertical distance between the processing device and the workpiece 10 to be processed is detected in real time by the positioning device, and the lifting mechanism of the mechanical arm is used to drive the processing device up and down to ensure a constant distance between the processing device and the workpiece 10 to be processed, and then the swing mechanism of the mechanical arm is used to drive the processing device. The left mechanical arm 9-1 and the right mechanical arm 9-2 swing to adapt to the arc-shaped workpiece 10 to be processed, so that the processing device can drill holes perpendicular to the workpiece 10 to be processed, and the Y-axis crossbeam 2 moves relative to the workbench, so that The processing device processes the workpiece 10 in the longitudinal direction, realizes the automatic processing of the irregular-shaped plate-shaped workpiece 10, reduces the working intensity, improves the working efficiency, reduces the processing cost and improves the processing accuracy.
较佳的,本实施例中的龙门框架还包括两侧的立柱1,Y轴横梁2水平固定在两个支柱上,Y轴横梁2的两端固定报警器3,X轴轨道装置设置在两个立柱1之间。Preferably, the gantry frame in this embodiment also includes columns 1 on both sides, the Y-axis beam 2 is horizontally fixed on the two columns, the two ends of the Y-axis beam 2 are fixed with alarms 3, and the X-axis track device is arranged on two sides. Between 1 pillars.
左机械臂9-1和右机械臂9-2的一侧分别设有盖板,机械臂升降机构固定在盖板与机械臂之间,具体的,机械臂升降机构包括丝杆组件和滑枕,丝杆组件与盖板相对固定并连接机械臂,通过丝杠组件带动机械臂升降,滑枕设置在机械臂与盖板之间,实现机械臂升降的导向。One side of the left mechanical arm 9-1 and the right mechanical arm 9-2 is respectively provided with a cover plate, and the lifting mechanism of the mechanical arm is fixed between the cover plate and the mechanical arm. Specifically, the lifting mechanism of the mechanical arm includes a screw assembly and a ram , the screw assembly and the cover plate are relatively fixed and connected to the mechanical arm, the mechanical arm is driven up and down by the screw assembly, and the ram is arranged between the mechanical arm and the cover plate to realize the guidance of the lifting of the mechanical arm.
参照图2,机械臂横移机构包括Y轴齿条5、Y轴齿轮(图中未画出)和两个机械臂固定座17,左机械臂9-1和右机械臂9-2分别设置在两个机械臂固定座17上,Y轴齿条5横向固定在Y轴横梁2上,Y轴横梁2上固定有平行于Y轴齿条5的Y轴导轨4,机械臂固定座17通过滑块(图中未画出)滑动设置在Y轴导轨4上,Y轴齿轮固定在机械臂固定座17上并与Y轴齿条5啮合,机械臂固定座17上固定有驱动Y轴齿轮转动的Y轴伺服电机7。较佳的,本实施例中Y轴导轨4有上下两条,Y轴齿条5设置在两条Y轴导轨4之间,受力更加均匀。上述机械臂摆动机构为固定在机械臂固定座17上的机械臂摆动伺服电机6,机械臂摆动伺服电机6与上述的盖板连接并分别带动左机械臂9-1和右机械臂9-2摆动。Referring to Fig. 2, the mechanical arm traverse mechanism includes a Y-axis rack 5, a Y-axis gear (not shown in the figure) and two mechanical arm holders 17, and the left mechanical arm 9-1 and the right mechanical arm 9-2 are respectively arranged On the two mechanical arm fixing seats 17, the Y-axis rack 5 is laterally fixed on the Y-axis beam 2, and the Y-axis beam 2 is fixed with a Y-axis guide rail 4 parallel to the Y-axis rack 5, and the mechanical arm fixing seats 17 pass through The slider (not shown in the figure) is slidably arranged on the Y-axis guide rail 4, the Y-axis gear is fixed on the mechanical arm fixing seat 17 and meshes with the Y-axis rack 5, and the mechanical arm fixing seat 17 is fixed with a driving Y-axis gear Rotating Y-axis servo motor 7. Preferably, in this embodiment, there are two upper and lower Y-axis guide rails 4, and the Y-axis rack 5 is arranged between the two Y-axis guide rails 4, so that the force is more uniform. The above-mentioned mechanical arm swing mechanism is a mechanical arm swing servo motor 6 fixed on the mechanical arm holder 17, and the mechanical arm swing servo motor 6 is connected with the above-mentioned cover plate and drives the left mechanical arm 9-1 and the right mechanical arm 9-2 respectively. swing.
机械臂固定座17的上侧固定有一个拖链固定架8,较佳的,左机械臂9-1和右机械臂9-2的上部一侧分别固定有两个机械臂摆动限位开关18,相应的拖链固定架8的一侧具有一个支架侧板801,左机械臂9-1和右机械臂9-2摆动到最大位置时,机械臂摆动限位开关18与支架侧板801配合接触或接近,从而防止左机械臂9-1和右机械臂9-2继续摆动而发生碰撞,两个机械臂摆动限位开关18可以实现一备一用,防止开关失效,提高可靠性。The upper side of mechanical arm holder 17 is fixed with a towline fixed mount 8, preferably, the upper side of left mechanical arm 9-1 and right mechanical arm 9-2 is respectively fixed with two mechanical arm swing limit switches 18 , one side of the corresponding drag chain fixed frame 8 has a bracket side plate 801, when the left mechanical arm 9-1 and the right mechanical arm 9-2 swing to the maximum position, the mechanical arm swing limit switch 18 cooperates with the bracket side plate 801 Contact or approach, thereby preventing the left mechanical arm 9-1 and the right mechanical arm 9-2 from continuing to swing and collide, the two mechanical arm swing limit switches 18 can realize one for standby and one for use, preventing switch failure and improving reliability.
参照图3,本实施例中加工装置包括依次连接的伺服驱动器、钻孔伺服电机23、减速机24和钻头26,伺服驱动器与控制器(图中未画出)连接,伺服驱动器检测钻孔伺服电机23的电流并反馈给控制器,控制器通过电流可以实时判断钻头26的受力情况,当电流增大时,说明此处的待加工件10材质较硬,钻头26受到了较大的阻力,此时控制器通过伺服驱动器可以控制钻孔伺服电机23的转速降低,从而可以有效的避免钻头26受损甚至是直接断裂,同样,当电流减小时,说明此处的待加工件10材质相对较软,钻头26受到的阻力较小,此时控制器可以通过伺服驱动器控制钻孔伺服电机23的转速提高,从而可以提高加工效率。本实施例中的钻孔伺服电机23、减速机24和钻头26通过一个动力头固定板20固定在机械臂的下端。With reference to Fig. 3, in the present embodiment, processing device comprises servo driver, drilling servo motor 23, speed reducer 24 and drill bit 26 connected in sequence, servo driver is connected with controller (not shown in the figure), and servo driver detects drilling servo The current of the motor 23 is fed back to the controller, and the controller can judge the stress situation of the drill bit 26 in real time through the current. When the current increases, it means that the material of the workpiece 10 to be processed here is relatively hard, and the drill bit 26 is subject to greater resistance. At this time, the controller can control the rotation speed of the drilling servo motor 23 to decrease through the servo driver, so that the drill bit 26 can be effectively prevented from being damaged or even directly broken. Similarly, when the current decreases, it means that the material of the workpiece 10 to be processed here is relatively Softer, the resistance that the drill bit 26 is subjected to is less, at this moment the controller can control the rotational speed of the drilling servo motor 23 to increase through the servo driver, thereby can improve processing efficiency. The drilling servo motor 23, the speed reducer 24 and the drill bit 26 in the present embodiment are fixed on the lower end of the mechanical arm by a power head fixing plate 20.
本实施例中的定位装置包括定位滚轮25和电子尺21,电子尺21竖向固定在机械臂上,定位滚轮25固定在一个滚轮安装座32的下端,滚轮安装座32通过磁铁吸合机构与电子尺21下端的伸缩测距单元连接,待加工件10的表面往往比较粗糙,有时表面还会有一些凸起或凹陷的部分,尤其是弧形板,定位滚轮25在行走过程容易受到冲击,本实施例通过磁铁吸合机构吸合定位滚轮25与伸缩测距单元,能够在发生意外碰撞时使定位滚轮25与伸缩测距单元分离,从而防止损坏零部件,尤其是价格较高的电子尺21,降低运行成本,运行更加可靠。本实施例中的定位装置通过一个测距固定板19固定在动力头固定板20上,且测距固定板19与动力头固定板20相互垂直。The positioning device in this embodiment includes a positioning roller 25 and an electronic ruler 21. The electronic ruler 21 is vertically fixed on the mechanical arm, and the positioning roller 25 is fixed on the lower end of a roller mount 32. The telescopic distance-measuring unit at the lower end of the electronic ruler 21 is connected. The surface of the workpiece 10 to be processed is often rough, and sometimes there are some raised or sunken parts on the surface, especially the arc-shaped plate. The positioning roller 25 is easily impacted during walking. In this embodiment, the positioning roller 25 and the telescopic distance-measuring unit are attracted by the magnetic attraction mechanism, so that the positioning roller 25 can be separated from the telescopic distance-measuring unit when an accidental collision occurs, thereby preventing damage to parts, especially the relatively high-priced electronic ruler. 21. Lower operating costs and more reliable operation. The positioning device in this embodiment is fixed on the power head fixing plate 20 through a distance measuring fixing plate 19 , and the distance measuring fixing plate 19 and the power head fixing plate 20 are perpendicular to each other.
具体的,磁铁吸合机构包括强力磁铁27和磁铁固定座28,定位滚轮25滚动设置在滚轮安装座32上,滚轮安装座32通过所述强力磁铁27与磁铁固定座28吸合;伸缩测距单元包括小型滑枕29和直线导轨副31,小型滑枕29通过弹簧22连接在电子尺21的下端,小型滑枕29滑动设置在直线导轨副31上,小型滑枕29的下端固定有一个检测头30,磁铁固定座28固定在直线导轨副31上,磁铁固定座28上升后接触检测头30并推动小型滑枕29升降。Specifically, the magnet suction mechanism includes a powerful magnet 27 and a magnet holder 28, and the positioning roller 25 is rolled on the roller installation seat 32, and the roller installation seat 32 is attracted to the magnet holder 28 by the powerful magnet 27; The unit includes a small ram 29 and a linear guide rail pair 31. The small ram 29 is connected to the lower end of the electronic scale 21 through a spring 22. The small ram 29 is slidably arranged on the linear guide rail pair 31. A detection device is fixed at the lower end of the small ram 29. The head 30 and the magnet fixing seat 28 are fixed on the linear guide rail pair 31, and the magnet fixing seat 28 contacts the detection head 30 after rising and pushes the small ram 29 up and down.
实施例2Example 2
参照图4,本实施例与实施例1的区别在于,在左机械臂9-1和右机械臂9-2的下方设有水平且垂直于Y轴横梁2的X轴轨道装置,X轴轨道装置上固定有工作台,在工作台上设置有工件固定机构,Y轴横梁2与工作台可在X轴轨道装置长度方向相对移动。Referring to Fig. 4, the difference between this embodiment and Embodiment 1 is that an X-axis track device that is horizontal and perpendicular to the Y-axis beam 2 is provided below the left mechanical arm 9-1 and the right mechanical arm 9-2, and the X-axis track device A workbench is fixed on the device, and a workpiece fixing mechanism is arranged on the workbench. The Y-axis beam 2 and the workbench can move relatively in the length direction of the X-axis track device.
X轴轨道装置包括X轴轨道板15,X轴轨道板15两侧设有X轴直线导轨,工作台滑动设置在X轴直线导轨上,所述工件固定机构固定设置在工作台上,工作台与X轴轨道板15之间设有驱动工作台滑动的工作台动力机构。具体的,工作台动力机构包括固定在工作台下侧的X轴齿轮和固定在X轴轨道板15上侧的X轴齿条,工作台下部固定有驱动X轴齿轮的X轴伺服电机,X轴齿轮与X轴齿条啮合并带动工作台沿X轴方向滑动。The X-axis track device includes an X-axis track plate 15, X-axis linear guide rails are arranged on both sides of the X-axis track plate 15, and the worktable is slidably arranged on the X-axis linear guide rails. Between the X-axis track plate 15, there is a workbench power mechanism that drives the slide of the workbench. Specifically, the power mechanism of the workbench includes an X-axis gear fixed on the lower side of the workbench and an X-axis rack fixed on the upper side of the X-axis track plate 15, and an X-axis servo motor driving the X-axis gear is fixed on the lower part of the workbench. The shaft gear meshes with the X-axis rack and drives the table to slide along the X-axis direction.
参照图4~6,在本实施例中,工作台包括反面固定工作台11,所述工件固定机构包括沿X轴轨道装置长度方向间隔固定在反面固定工作台11上的第一支架13和第二支架14,固定在反面固定工作台11上的待加工件10为两端向上弯曲的弧形板,待加工件10位于第一支架13和第二支架14之间,第一支架13上端设有压持待加工件10一端的反面压持机构,第二支架14上端设有夹持待加工件10另一端的夹持夹具,夹持夹具高度可调的设置在第二支架14上,这样可以适应不同弯曲高度的待加工件10,而且第一支架13和第二支架14下端均可以沿X轴轨道装置长度方向调整位置的固定在工作台上,这样可以适应不同长度的待加工件10;工件固定机构还包括固定在工作台两侧的多个反面横向定位机构,反面横向定位机构夹持待加工件10的两侧对待加工件10进行横向定位,具体的,反面横向定位机构包括多个横向定位气缸35、横向定位支架36以及多个定位块37,横向定位支架36固定在工作台的两侧,横向定位气缸35和定位块37高度可调的分别固定在相应的定位支架36上,横向定位气缸35与定位块37相对设置在待加工件10的两侧。Referring to Figures 4-6, in this embodiment, the workbench includes a reverse fixed workbench 11, and the workpiece fixing mechanism includes a first bracket 13 and a second bracket fixed on the reverse fixed workbench 11 at intervals along the length direction of the X-axis track device. Two brackets 14, the workpiece 10 to be processed fixed on the fixed workbench 11 on the reverse side is an arc-shaped plate with two ends bent upwards, the workpiece 10 to be processed is located between the first bracket 13 and the second bracket 14, and the upper end of the first bracket 13 is provided with There is a reverse pressing mechanism for pressing one end of workpiece 10 to be processed, and the upper end of the second support 14 is provided with a clamping fixture for clamping the other end of workpiece 10 to be processed, and the height of the clamping fixture is adjustable on the second support 14, so that It can adapt to workpieces 10 of different bending heights, and the lower ends of the first bracket 13 and the second bracket 14 can be fixed on the workbench by adjusting the position along the length direction of the X-axis track device, so that it can adapt to workpieces 10 of different lengths The workpiece fixing mechanism also includes a plurality of reverse lateral positioning mechanisms fixed on both sides of the workbench. The reverse lateral positioning mechanism clamps the two sides of the workpiece 10 to be processed and performs lateral positioning of the workpiece 10 to be processed. Specifically, the reverse lateral positioning mechanism includes multiple A horizontal positioning cylinder 35, a horizontal positioning bracket 36 and a plurality of positioning blocks 37, the horizontal positioning bracket 36 is fixed on both sides of the workbench, and the horizontal positioning cylinder 35 and the positioning block 37 are adjustable in height and are respectively fixed on the corresponding positioning brackets 36 , the horizontal positioning cylinder 35 and the positioning block 37 are oppositely arranged on both sides of the workpiece 10 to be processed.
参照图7,反面压持机构固定在第一支架13的前侧,进一步的,在第一支架13的后侧还固定有一个反面纵向定位气缸34,为配合反面纵向定位气缸34,在第一支架13的上部开设有一个定位辅助孔38,定位辅助孔38位于反面压持机构的下方,反面纵向定位气缸34的活塞杆穿过定位辅助孔38后可以推动待加工件10纵向定位,待加工件10固定更加牢固,定位也更加精确,提高了加工精度,当然为了更好的对待加工件10进行定位,可以在反面纵向定位气缸34活塞杆的前端固定一个推板。具体的,本实施例中的反面压持机构为一个L形的压块33。Referring to Fig. 7, the reverse pressing mechanism is fixed on the front side of the first bracket 13, further, a reverse longitudinal positioning cylinder 34 is also fixed on the rear side of the first support 13, for cooperating with the reverse longitudinal positioning cylinder 34, in the first The top of support 13 is provided with a positioning auxiliary hole 38, and positioning auxiliary hole 38 is positioned at the below of reverse side press-and-holding mechanism, and the piston rod of reverse side longitudinal positioning cylinder 34 passes through positioning auxiliary hole 38 and can promote the longitudinal positioning of workpiece 10 to be processed. Part 10 is fixed more firmly, and positioning is also more accurate, has improved processing precision, and certainly in order to treat processing part 10 to be positioned better, can fix a push plate at the front end of longitudinal positioning cylinder 34 piston rods on the reverse side. Specifically, the reverse pressing mechanism in this embodiment is an L-shaped pressing block 33 .
参照图8,夹持夹具包括夹具固定座39、快速夹头40、连杆41以及推动连杆41摆动的夹具气缸42,夹具固定座39高度可调的固定在第二支架14上,快速夹头40的一端和夹具气缸42的一端分别铰接在夹具固定座39上,连杆41的一端与夹具气缸42的活塞杆转动连接,连杆41的另一端与快速夹头40的中部转动连接,夹具气缸42通过连杆41带动快速夹头40摆动,快速夹头40的另一端压紧在待加工件10的端部上侧。将待加工件10放置于工作台上,横向定位气缸35动作,推动待加工件10横向移动,使待加工件10夹紧在横向定位气缸35与定位块37之间,移动第一支架13和第二支架14,使第一支架13上端的压块33压设与待加工件10的一端,反面纵向定位气缸34动作并接触待加工件10的一端,推动待加工件10纵向移动,使待加工件10的另一端与第二支架14相接触,夹具气缸42动作,带动快速夹头40摆动,快速夹头40的另一端压紧在待加工件10的端部上侧,从而完成对待加工件10的定位和固定,操作方便。Referring to Fig. 8 , the clamping fixture includes a fixture holder 39, a quick chuck 40, a connecting rod 41 and a clamp cylinder 42 that pushes the connecting rod 41 to swing. One end of the head 40 and one end of the clamp cylinder 42 are respectively hinged on the clamp holder 39, one end of the connecting rod 41 is rotationally connected with the piston rod of the clamp cylinder 42, and the other end of the connecting rod 41 is rotationally connected with the middle part of the quick chuck 40, The clamp cylinder 42 drives the quick chuck 40 to swing through the connecting rod 41, and the other end of the quick chuck 40 is pressed against the upper side of the end of the workpiece 10 to be processed. The workpiece 10 to be processed is placed on the workbench, and the lateral positioning cylinder 35 acts to push the workpiece 10 to move laterally, so that the workpiece 10 to be processed is clamped between the lateral positioning cylinder 35 and the positioning block 37, and the first support 13 and The second support 14 makes the briquetting block 33 on the upper end of the first support 13 be pressed against one end of the workpiece 10 to be processed, and the reverse longitudinal positioning cylinder 34 moves and contacts one end of the workpiece 10 to be processed, and promotes the workpiece 10 to move longitudinally, so that the workpiece 10 to be processed moves The other end of the workpiece 10 is in contact with the second bracket 14, and the clamp cylinder 42 moves to drive the quick chuck 40 to swing, and the other end of the quick chuck 40 is pressed against the upper side of the end of the workpiece 10 to be processed, thereby completing the processing The positioning and fixing of the component 10 is easy to operate.
参照图4和9,进一步的,工作台还包括一个正面固定工作台12,正面固定工作台12设置在反面固定工作台11的一侧,正面固定工作台12和反面固定工作台11相互独立的滑动设置在X轴直线导轨上,固定在正面固定工作台12上的待加工件10为两端向下弯曲的弧形板,这样可以根据待加工件10的形状选择将待加工件10固定在正面固定工作台12还是反面固定工作台11,例如可以将表面较为光滑的一面作为上表面从而固定到相应的工作台上,本发明通过机械臂横移机构可以带动机械臂在正面固定工作台12和反面固定工作台11之间移动,从而在加工一个工作台上的待加工件10时,可以将另一个待加工件10固定在另一工作台上,进一步提高工作效率。4 and 9, further, the workbench also includes a front fixed workbench 12, the front fixed workbench 12 is arranged on one side of the reverse fixed workbench 11, and the front fixed workbench 12 and the reverse fixed workbench 11 are independent of each other. Slidingly arranged on the X-axis linear guide rail, the workpiece 10 to be processed fixed on the front fixed workbench 12 is an arc-shaped plate with both ends bent downward, so that the workpiece 10 to be processed can be fixed on the The fixed workbench 12 on the front side or the fixed workbench 11 on the reverse side, for example, the smoother side can be used as the upper surface to be fixed on the corresponding workbench. The present invention can drive the mechanical arm to fix the workbench 12 on the front side through the mechanical arm traverse mechanism. It moves between the fixed workbench 11 and the reverse side, so that when the workpiece 10 to be processed on one workbench is processed, another workpiece 10 to be processed can be fixed on the other workbench, further improving work efficiency.
参照图9和10,固定在正面固定工作台12上的工件固定机构包括正面纵向定位机构和正面横向定位机构,其中正面纵向定位机构包括沿X轴轨道装置长度方向间隔固定在正面固定工作台12上的两个固定块16,固定块16上固定有正面纵向定位气缸43,至少一个固定块16沿X轴轨道装置长度方向可滑动的设置在正面固定工作台12上,待加工件10固定在两个固定块16之间,两个固定块16对待加工件10进行纵向初步定位,然后通过正面纵向定位气缸43推动待加工件10进行进一步的纵向定位,由于正面固定工作台12上的待加工件10是两端向下弯曲的弧形板,所以待加工件10的两端始终的落在最下面,所以无需考虑高度的调整。正面横向定位机构固定在正面固定工作台12的两侧,夹持待加工件10的两侧对待加工件10进行横向定位。正面横向定位机构也包括多个横向定位气缸35和定位块37,两端的横向定位气缸35固定在固定块16上,中部的横向定位气缸35高度可调的固定在定位支架36上,横向定位气缸35与定位块37相对设置。Referring to Figures 9 and 10, the workpiece fixing mechanism fixed on the front fixed workbench 12 includes a front longitudinal positioning mechanism and a front transverse positioning mechanism, wherein the front longitudinal positioning mechanism includes a front fixed workbench 12 fixed at intervals along the X-axis track device length direction. The two fixed blocks 16 on the fixed block 16 are fixed with the front longitudinal positioning cylinder 43, and at least one fixed block 16 is slidably arranged on the front fixed workbench 12 along the length direction of the X-axis track device, and the workpiece 10 to be processed is fixed on the Between the two fixed blocks 16, the two fixed blocks 16 carry out longitudinal preliminary positioning of the workpiece 10 to be processed, and then push the workpiece 10 to be processed further longitudinally by the front longitudinal positioning cylinder 43. The piece 10 is an arc-shaped plate with both ends bent downward, so the two ends of the piece 10 to be processed are always at the bottom, so there is no need to consider the adjustment of the height. The front lateral positioning mechanism is fixed on both sides of the front fixed workbench 12, and clamps the two sides of the workpiece 10 to be processed to perform lateral positioning of the workpiece 10 to be processed. The front lateral positioning mechanism also includes a plurality of lateral positioning cylinders 35 and positioning blocks 37. The lateral positioning cylinders 35 at both ends are fixed on the fixed block 16, and the horizontal positioning cylinders 35 in the middle are fixed on the positioning bracket 36 with adjustable height. 35 is set opposite to the positioning block 37.
本发明还提供一种弧形板加工方法,利用上述的龙门式双臂桁架机器人,参照图11,具体包括以下步骤:The present invention also provides a method for processing arc-shaped plates, using the above-mentioned gantry-type double-arm truss robot, referring to Figure 11, specifically including the following steps:
步骤1),开机,系统回零;Step 1), power on, the system returns to zero;
步骤2),将待加工件10固定在左机械臂9-1和右机械臂9-2下方,如果需要编程进入步骤3),否则进入步骤5), 在加工新的待加工件10时需要重新编程,以适应新待加工件10的形状,而相同的待加工件10则不需要编程,直接利用相同的程序进行加工即可;Step 2), fix the workpiece 10 to be processed under the left mechanical arm 9-1 and the right mechanical arm 9-2, if programming is required, go to step 3), otherwise, go to step 5), when processing a new workpiece 10 to be processed Reprogramming to adapt to the shape of the new workpiece 10 to be processed, while the same workpiece 10 does not need to be programmed, and can be processed directly using the same program;
步骤3),编程,设定左机械臂9-1和右机械臂9-2的摆动轨迹,设定钻头26的升降轨迹,设定工作台的纵向移动速度和行程,机械臂横移机构调整左机械臂9-1和右机械臂9-2的间距;Step 3), programming, setting the swing trajectory of the left mechanical arm 9-1 and the right mechanical arm 9-2, setting the lifting trajectory of the drill bit 26, setting the longitudinal movement speed and stroke of the workbench, and adjusting the lateral movement mechanism of the mechanical arm The distance between the left mechanical arm 9-1 and the right mechanical arm 9-2;
步骤4),左机械臂9-1和右机械臂9-2空走,如果左机械臂9-1和右机械臂9-2能够带动加工装置在待加工件10的待加工位置进行加工,进入步骤5),否则返回步骤3);Step 4), the left mechanical arm 9-1 and the right mechanical arm 9-2 are idling, if the left mechanical arm 9-1 and the right mechanical arm 9-2 can drive the processing device to process the workpiece 10 at the position to be processed, Go to step 5), otherwise return to step 3);
步骤5),自动运行,工作台带动待加工件10纵向移动,左机械臂9-1和右机械臂9-2沿待加工件10表面曲率进行摆动,机械臂升降机构分别带动左机械臂9-1和右机械臂9-2升降,定位装置与待加工件10上表面接触,检测加工装置与待加工件10表面的垂直距离,加工装置对待加工件10进行加工;Step 5), automatic operation, the workbench drives the workpiece 10 to move longitudinally, the left mechanical arm 9-1 and the right mechanical arm 9-2 swing along the surface curvature of the workpiece 10 to be processed, and the lifting mechanism of the mechanical arm drives the left mechanical arm 9 respectively -1 and the right mechanical arm 9-2 lift, the positioning device contacts the upper surface of the workpiece 10 to be processed, detects the vertical distance between the processing device and the surface of the workpiece 10 to be processed, and the processing device processes the workpiece 10 to be processed;
步骤6),加工完成,将工件拆下。Step 6), the processing is completed, and the workpiece is removed.
参照图12,较佳的,步骤5)中动加工装置对待加工件10进行钻孔过程中,首先设定控制器的相关参数,包括钻头26与待加工件10表面的距离、钻孔伺服电机23的电流的上下限值,定位装置将检测到的数据发送至控制器,控制器将该数据转换为钻头26与待加工件10表面的垂直距离,伺服驱动器检测钻孔伺服电机23的电流并反馈给控制器,控制器根据钻孔伺服电机23的电流和控制器中设定的参数进行比较,从而判断钻头26的受力情况,并通过伺服驱动器相应的改变钻孔伺服电机23的转速,图中所示的动力头指的是钻头26以及带动钻头26升降的机械臂。具体的,当电流增大时,说明此处的待加工件10材质较硬,钻头26受到了较大的阻力,此时控制器通过伺服驱动器可以控制钻孔伺服电机23的转速降低,从而可以有效的避免钻头26受损甚至是直接断裂,同样,当电流减小时,说明此处的待加工件10材质相对较软,钻头26受到的阻力较小,此时控制器可以通过伺服驱动器控制钻孔伺服电机23的转速提高,从而可以提高加工效率。当然还可以通过控制器调节钻头26轴向进给的速度来适应钻头26所受到的阻力,具体的,当电流增大时,控制器通过机械臂升降机构降低钻头26轴向进给的速度,从而可以有效的避免钻头26受损甚至是直接断裂,当电流减小时,控制器通过机械臂升降机构提高钻头26轴向进给的速度,从而可以提高加工效率。Referring to Fig. 12, preferably, during the drilling process of the workpiece 10 to be processed by the dynamic processing device in step 5), first set the relevant parameters of the controller, including the distance between the drill bit 26 and the surface of the workpiece 10 to be processed, the drilling servo motor The upper and lower limits of the electric current of 23, the positioning device sends the detected data to the controller, and the controller converts the data into the vertical distance between the drill bit 26 and the surface of the workpiece 10 to be processed, and the servo drive detects the current of the drilling servo motor 23 and Feedback to the controller, the controller compares the current of the drilling servo motor 23 with the parameters set in the controller, thereby judging the stress situation of the drill bit 26, and correspondingly changes the rotating speed of the drilling servo motor 23 through the servo driver, The power head shown in the figure refers to the drill bit 26 and the mechanical arm that drives the drill bit 26 up and down. Specifically, when the current increases, it means that the material of the workpiece 10 to be processed here is relatively hard, and the drill bit 26 is subject to greater resistance. At this time, the controller can control the rotation speed of the drilling servo motor 23 to decrease through the servo driver, so that Effectively prevent the drill bit 26 from being damaged or even directly broken. Similarly, when the current decreases, it means that the material of the workpiece 10 to be processed here is relatively soft, and the resistance received by the drill bit 26 is small. At this time, the controller can control the drill bit through the servo drive. The rotation speed of the hole servo motor 23 is increased, so that the machining efficiency can be improved. Of course, the speed of the axial feed of the drill bit 26 can also be adjusted by the controller to adapt to the resistance suffered by the drill bit 26. Specifically, when the current increases, the controller reduces the speed of the axial feed of the drill bit 26 through the mechanical arm lifting mechanism. Therefore, the drill bit 26 can be effectively prevented from being damaged or even directly broken. When the current decreases, the controller increases the axial feeding speed of the drill bit 26 through the lifting mechanism of the mechanical arm, thereby improving the processing efficiency.
以上所述,仅是本发明的较佳实施例而已,并非是对本发明作其它形式的限制,任何熟悉本专业的技术人员可能利用上述揭示的技术内容加以变更或改型为等同变化的等效实施例。但是凡是未脱离本发明技术方案内容,依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与改型,仍属于本发明技术方案的保护范围。The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention to other forms. Any skilled person who is familiar with this profession may use the technical content disclosed above to change or modify the equivalent of equivalent changes. Example. However, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still belong to the protection scope of the technical solution of the present invention.
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