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 PDF

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Publication number
CN105082117B
CN105082117B CN201510610338.3A CN201510610338A CN105082117B CN 105082117 B CN105082117 B CN 105082117B CN 201510610338 A CN201510610338 A CN 201510610338A CN 105082117 B CN105082117 B CN 105082117B
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China
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mechanical arm
workpiece
fixed
added
axis
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CN201510610338.3A
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Chinese (zh)
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CN105082117A (en
Inventor
巩相峰
李青雯
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淄博纽氏达特机器人系统技术有限公司
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Priority to CN201510610338.3A priority Critical patent/CN105082117B/en
Publication of CN105082117A publication Critical patent/CN105082117A/en
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Publication of CN105082117B publication Critical patent/CN105082117B/en

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Abstract

The invention discloses a gantry type double-arm truss manipulator and a machining method for an arc-shaped plate and belongs to the field of special-shaped plate machining equipment. A Y-axis cross beam (2) is arranged on the upper portion of a gantry frame; the lower end of a manipulator is provided with a machining device and a locating device; the machining device is used for machining a workpiece (10) to be machined below the manipulator; the locating device is used for detecting the interval between the machining device and the workpiece (10) to be machined; a manipulator swing mechanism used for driving the manipulator to swing around the axis parallel to the Y-axis cross beam (2) is arranged between the manipulator and the Y-axis cross beam (2); the manipulator is further connected with a manipulator lifting mechanism used for driving the manipulator to ascend and descend; the manipulator comprises a left manipulator body (9-1) and a right manipulator body (9-2) which are arranged on the Y-axis cross beam (2) symmetrically; a manipulator transverse moving mechanism used for driving the left manipulator body (9-1) to move transversely along the Y-axis cross beam (2) is arranged between the left manipulator body (9-1) and the Y-axis cross beam (2), and another manipulator transverse moving mechanism used for driving the right manipulator body (9-2) to move transversely along the Y-axis cross beam (2) is arranged between the right manipulator body (9-2) and the Y-axis cross beam (2). By means of the machining method for the arc-shaped plate, drilling machining can be conducted on the arc-shaped plate automatically.

Description

Gantry-type double-arm truss robot and arc processing method
Technical field
Gantry-type double-arm truss robot and arc processing method, belong to special-shaped board processing device field.
Background technology
When being processed to sketch plate, due to its surface be arc, existing equipment cannot laundering period arc-shaped curved surface, for example On grain storage production line, it is often necessary to drill on grain-guard door, because grain-guard door is arc-shaped structure, drill on arc surface It is extremely difficult.On the market personal injury is easily caused to practitioner mostly using artificial drilling at present, production efficiency is low, And worker workload is big, and positional precision and dimensional accuracy all there is no guarantee that.
The content of the invention
The technical problem to be solved in the present invention is:Overcome the deficiencies in the prior art, there is provided one kind can be carried out to sketch plate Drilling, mitigates operation intensity, improves working performance, the Gantry-type double-arm truss machine for reducing processing cost, improving borehole accuracy People and arc processing method.
The technical solution adopted for the present invention to solve the technical problems is:The Gantry-type double-arm truss robot, including dragon Door frame and mechanical arm, it is characterised in that:The lower end that the top of gantry frame has Y-axis crossbeam, mechanical arm is provided with processing unit (plant) And positioner, the wherein workpiece to be added below processing unit (plant) processing equipment arm, positioner detect processing unit (plant) with it is to be processed Spacing between part, is provided with the machinery for driving mechanical arm around the axis oscillating parallel to Y-axis crossbeam between mechanical arm and Y-axis crossbeam Arm swing mechanism, mechanical arm is also associated with driving the mechanical arm elevating mechanism of its lifting, mechanical arm to include being symmetricly set on Y-axis horizontal stroke Left mechanical arm and right mechanical arm on beam, driving is respectively equipped between left mechanical arm and right mechanical arm and Y-axis crossbeam, and it is horizontal along Y-axis The mechanical arm transverse-moving mechanism of beam transverse shifting.
Preferably, the X-axis track for being horizontally and perpendicularly to Y-axis crossbeam is provided with below the left mechanical arm and right mechanical arm Device, is fixed with workbench on X-axis rail set, workpiece fixed mechanism is provided with the table, and Y-axis crossbeam exists with workbench X-axis rail set length direction relative movement.
Preferably, the X-axis rail set includes X-axis track plates, and X-axis track plates both sides are provided with X-axis line slideway, described Workbench is slidably arranged on X-axis line slideway, and the workbench for driving workbench to slide is provided between workbench and X-axis track plates Actuating unit.
Preferably, the workbench includes reverse side stationary work-table, and the workpiece fixed mechanism is included along X-axis rail set Length direction interval is fixed on first support and second support on reverse side stationary work-table, is fixed on reverse side stationary work-table The arc that is bent upwards for two ends of workpiece to be added, workpiece to be added is located between first support and second support, first support Upper end is provided with the reverse side pressure holding mechanism of pressure holding workpiece one end to be added, and second support upper end level is adjustable to be provided with clamping workpiece to be added The clamping fixture of the other end;
Workpiece fixed mechanism also includes being fixed on multiple reverse side transverse positioning mechanisms of workbench both sides, reverse side located lateral Mechanism clamps the both sides of workpiece to be added and carries out located lateral to machined part.
Preferably, the clamping fixture includes fixture fixed seat, quick chuck, connecting rod and promotes the connecting rod of connecting rod swing Driver element, the adjustable for height fixation of fixture fixed seat on the secondary support bracket, one end of quick chuck and connecting rod driver element One end is respectively hinged in fixture fixed seat, and one end of connecting rod rotates with the outfan of connecting rod driver element and is connected, connecting rod it is another One end rotates with the middle part of quick chuck and is connected, and connecting rod driver element drives quick chuck to swing by connecting rod, quick chuck The other end is pressed on the end upside of workpiece to be added.
Preferably, the workbench also includes front stationary work-table, is fixed on to be processed on the stationary work-table of front Part is the reclinate arc in two ends, and the workpiece fixed mechanism also includes front vertical location device and front located lateral Mechanism, wherein front vertical location device include being fixed on the stationary work-table of front along X-axis rail set length direction interval Two fixed blocks, front longitudinal register cylinder is fixed with fixed block, at least one fixed block is along X-axis rail set length side To being slidably disposed on the stationary work-table of front, the workpiece to be added is fixed between two fixed blocks;Front is laterally fixed Position mechanism is fixed on the both sides of front stationary work-table, clamps the both sides of workpiece to be added and carries out located lateral to machined part.
Preferably, the positioner includes positioning roller and electronic ruler, and electronic ruler is vertically fixed on the robotic arm, positioning Roller is connected by magnet attraction mechanism with the flexible range cells of electronic ruler lower end.
Preferably, the magnet attraction mechanism includes strong magnets, roller mounting seat and Magnet fixed seat, positioning roller rolling Dynamic to be arranged in roller mounting seat, roller mounting seat is by the strong magnets and Magnet fixed seat adhesive;
The flexible range cells include small-sized ram and line slideway auxiliary, and small-sized ram is connected to electronic ruler by spring Lower end, small-sized ram is slidably arranged on line slideway auxiliary, and Magnet fixed seat is fixed on line slideway auxiliary and promotes small-sized Ram is lifted.
A kind of arc processing method, including above-mentioned Gantry-type double-arm truss robot, it is characterised in that:Including following Step:
Step 1), start, system back to zero;
Step 2), workpiece to be added is fixed on into left mechanical arm and right mechanical arm lower section, step 3 is programmed into if desired), Otherwise enter step 5);
Step 3), program, the swinging track of left mechanical arm and right mechanical arm is set, set the lengthwise travel rate of workbench And the spacing of stroke, mechanical arm transverse-moving mechanism adjustment left mechanical arm and right mechanical arm;
Step 4), left mechanical arm and right mechanical arm sky are walked, if mechanical arm can drive processing unit (plant) in workpiece to be added Position to be processed is processed, into step 5), otherwise return to step 3);
Step 5), automatic running, workbench drives workpiece to be added to vertically move, and mechanical arm enters along workpiece surface curvature to be added Row swings, and mechanical arm elevating mechanism drives respectively left mechanical arm and right mechanical arm lifting, positioner and workpiece surface to be added Contact, detects the vertical dimension of processing unit (plant) and surface of the work to be added, and processing unit (plant) is processed to machined part;
Step 6), machine, workpiece is pulled down.
Preferably, the processing unit (plant) includes servo-driver, drilling servomotor, reductor and the brill being sequentially connected Head, servo-driver is connected with controller;Positioner is connected with controller;
Step 5)In carry out to machined part in boring procedure in processing unit (plant), positioner is by the data is activation for detecting To controller, while servo-driver detects the electric current of drilling servomotor and feeds back to controller, controller is watched according to drilling The electric current for taking motor judges the stressing conditions of drill bit, and changes the rotating speed of drilling servomotor accordingly by servo-driver.
Compared with prior art, the present invention is had an advantageous effect in that:
1st, the present invention by mechanical arm transverse-moving mechanism by driving the separate horizontal stroke of left mechanical arm and right mechanical arm To movement, two row holes can be simultaneously processed, and be adapted to two row holes of different spacing, it might even be possible to while processing two is treated Workpiece, improves working (machining) efficiency, by the vertical dimension between positioner real-time detection processing unit (plant) and workpiece to be added, utilizes Mechanical arm elevating mechanism drives processing unit (plant) lifting, it is ensured that have constant distance between processing unit (plant) and workpiece to be added, then Using mechanical arm swing mechanism driving mechanical arm swing, the workpiece to be added of arc is adapted to, enable processing unit (plant) perpendicular to be added Workpiece is processed.
2nd, workpiece to be added is loaded by X-axis rail set and workbench, is easy to be positioned to machined part, improve processing Precision, Y-axis crossbeam and workbench relative movement, so that processing unit (plant) is processed to machined part along longitudinal direction, realize certainly The processing of the dynamic workpiece to be added to special-shaped tabular, mitigates operation intensity, improves working performance, reduce processing cost, improve processing Precision.
3rd, positioning roller is connected by magnet attraction mechanism with the flexible range cells of electronic ruler lower end, the table of workpiece to be added Face is often relatively rough, and sometimes surface also has some raised or sunken part, especially arcs, and positioning roller is in walking Process is easily impacted, and by magnet attraction mechanism adhesive positioning roller and flexible range cells, unexpected touching can occur Positioning roller is set to separate with flexible range cells when hitting, so as to prevent damaging the higher electronic ruler of parts, especially price, drop Low operating cost, runs relatively reliable.
4th, the workbench actuating unit for driving workbench to slide is provided between workbench and X-axis track plates, by testing card It is real, workbench is set to into what is slided, in process mobile work platform is simple for mobile gantry framework, first Required space is first reduced, and mechanical arm can be reduced because the mobile error for producing, improves machining accuracy.
5th, first support upper end is provided with the reverse side pressure holding mechanism of pressure holding workpiece one end to be added, and second support upper end level is adjustable Be provided with the clamping fixture for clamping the workpiece other end to be added, positioned to machined part using reverse side pressure holding mechanism at one end, The other end is positioned by clamping fixture, it is to avoid two ends simultaneously using action component carry out positioning be interfere or There is the situation of stress, and simple structure, low cost in person.
6th, when the current increases, illustrate that workpiece material to be added herein is harder, drill bit receives larger resistance, this time control Device processed can be reduced by servo-driver with the rotating speed of keyhole servomotor, such that it is able to effectively avoid drill bit impaired very To being directly fracture, equally, when the current decreases, illustrate that workpiece material to be added herein is relatively soft, the resistance that drill bit is subject to Less, now controller can be improved by the rotating speed of servo-driver keyhole servomotor, such that it is able to improve processing Efficiency.
Description of the drawings
Fig. 1 is the structural representation of the Gantry-type double-arm truss robot embodiment 1.
Fig. 2 is the partial enlarged drawing in Fig. 1 at A.
Fig. 3 is the partial enlarged drawing in Fig. 1 at B.
Fig. 4 is the structural representation of the Gantry-type double-arm truss robot embodiment 2.
Fig. 5 is the structural representation of the reverse side stationary work-table for being fixed with workpiece to be added.
Fig. 6 is the structural representation of the reverse side stationary work-table of unlocked workpiece to be added.
Fig. 7 is the partial enlarged drawing in Fig. 6 at C.
Fig. 8 is the partial enlarged drawing in Fig. 6 at D.
Fig. 9 is the structural representation of front stationary work-table.
Figure 10 is the structural representation in Fig. 9 at E.
Figure 11 is the logic diagram of arc processing method.
Figure 12 is concrete drilling theory diagram in arc processing method.
Wherein:1st, column 2, Y-axis crossbeam 3, alarm 4, Y-axis guide rail 5, Y-axis tooth bar 6, mechanical arm wobble servo electricity It is machine 7, Y-axis servomotor 8, drag chain fixed mount 801, rack side plate 9-1, left mechanical arm 9-2, right mechanical arm 10, to be added Workpiece 11, reverse side stationary work-table 12, front stationary work-table 13, first support 14, second support 15, X-axis track plates 16th, fixed block 17, mechanical arm fixed seat 18, mechanical arm swing limit switch 19, range finding fixed plate 20, unit head fixed plate 21st, electronic ruler 22, spring 23, drilling servomotor 24, reductor 25, positioning roller 26, drill bit 27, strong magnets 28th, Magnet fixed seat 29, small-sized ram 30, detection head 31, line slideway auxiliary 32, roller mounting seat 33, briquetting 34, anti- Face longitudinal register cylinder 35, located lateral cylinder 36, locating support 37, locating piece 38, positioning via hole 39, fixture are solid Reservation 40, quick chuck 41, connecting rod 42, clamp cylinder 43, front longitudinal register cylinder.
Specific embodiment
Below in conjunction with the accompanying drawings 1 ~ 12 pair of Gantry-type double-arm truss robot of the present invention and arc processing method are done further Illustrate, wherein embodiment 2 is most preferred embodiment.
Embodiment 1
With reference to Fig. 1, the Gantry-type double-arm truss robot, including gantry frame and mechanical arm, the top tool of gantry frame The lower end for having Y-axis crossbeam 2, mechanical arm is provided with processing unit (plant) and positioner, wherein treating below processing unit (plant) processing equipment arm Workpiece 10, the spacing between positioner detection processing unit (plant) and workpiece to be added 10, is provided between mechanical arm and Y-axis crossbeam 2 Mechanical arm is driven around the mechanical arm swing mechanism of the axis oscillating parallel to Y-axis crossbeam 2, mechanical arm is also associated with driving its lifting Mechanical arm elevating mechanism, mechanical arm includes being symmetricly set on left mechanical arm 9-1 and right mechanical arm 9-2 on Y-axis crossbeam 2, left Mechanical arm 9-1 and right mechanical arm 9-2 are provided with respectively the mechanical arm for driving it along the transverse shifting of Y-axis crossbeam 2 between Y-axis crossbeam 2 Transverse-moving mechanism.The separate horizontal shifting of left mechanical arm 9-1 and right mechanical arm 9-2 can be driven by mechanical arm transverse-moving mechanism It is dynamic, two row holes can be simultaneously processed, and it is adapted to two row holes of different spacing, it might even be possible to while processing two is to be processed Part 10, improves working (machining) efficiency.By the vertical dimension between positioner real-time detection processing unit (plant) and workpiece to be added 10, utilize Mechanical arm elevating mechanism drives processing unit (plant) lifting, it is ensured that have constant distance between processing unit (plant) and workpiece to be added 10, so Drive left mechanical arm 9-1 and right mechanical arm 9-2 to swing using mechanical arm swing mechanism afterwards, adapt to the workpiece to be added 10 of arc, make Processing unit (plant) can be drilled perpendicular to workpiece to be added 10, Y-axis crossbeam 2 and workbench relative movement, so that processing unit (plant) 10 it is processed to machined part along longitudinal direction, realizes the processing of workpiece to be added 10 automatically to special-shaped tabular, mitigates operation strong Degree, raising working performance, reduction processing cost, raising machining accuracy.
Preferably, the gantry frame in the present embodiment is also including the column 1 of both sides, Y-axis crossbeam 2 is horizontally fixed on two On post, alarm 3 is fixed at the two ends of Y-axis crossbeam 2, and X-axis rail set is arranged between two columns 1.
The side of left mechanical arm 9-1 and right mechanical arm 9-2 is respectively equipped with cover plate, mechanical arm elevating mechanism be fixed on cover plate with Between mechanical arm, specifically, mechanical arm elevating mechanism includes screw component and ram, and screw component is relatively fixed and connects with cover plate Mechanical arm is connect, is lifted by lead screw assembly driving mechanical arm, ram is arranged between mechanical arm and cover plate, realize that mechanical arm is lifted Guiding.
With reference to Fig. 2, mechanical arm transverse-moving mechanism includes Y-axis tooth bar 5, Y-axis gear(It is not drawn in figure)It is solid with two mechanical arms Reservation 17, left mechanical arm 9-1 and right mechanical arm 9-2 are separately positioned in two mechanical arm fixed seats 17, and Y-axis tooth bar 5 is laterally solid It is scheduled on Y-axis crossbeam 2, the Y-axis guide rail 4 parallel to Y-axis tooth bar 5 is fixed with Y-axis crossbeam 2, mechanical arm fixed seat 17 is by sliding Block(It is not drawn in figure)Be slidably arranged in Y-axis guide rail 4, Y-axis gear be fixed in mechanical arm fixed seat 17 and with Y-axis tooth bar 5 Engagement, is fixed with the Y-axis servomotor 7 for driving Y-axis pinion rotation in mechanical arm fixed seat 17.Preferably, Y-axis in the present embodiment Guide rail 4 has upper and lower two, and Y-axis tooth bar 5 is arranged between two Y-axis guide rails 4, is more uniformly stressed.Above-mentioned mechanical arm oscillating machine Structure is the mechanical arm wobble servo motor 6 being fixed in mechanical arm fixed seat 17, mechanical arm wobble servo motor 6 and above-mentioned lid Plate connects and drives left mechanical arm 9-1 and right mechanical arm 9-2 to swing respectively.
The upside of mechanical arm fixed seat 17 is fixed with a drag chain fixed mount 8, preferably, left mechanical arm 9-1 and right machinery The top side of arm 9-2 is respectively fixed with two mechanical arm swing limit switches 18, and the side of corresponding drag chain fixed mount 8 has When one rack side plate 801, left mechanical arm 9-1 and right mechanical arm 9-2 swing to maximum position, mechanical arm swing limit switch 18 Coordinate with rack side plate 801 and contact or be close to, touch so as to prevent left mechanical arm 9-1 and right mechanical arm 9-2 from continuing swing Hit, two mechanical arm swing limit switches 18 can realize a preparation and a use, prevent switch failure, improve reliability.
With reference to Fig. 3, processing unit (plant) includes the servo-driver being sequentially connected, drilling servomotor 23, subtracts in the present embodiment Fast machine 24 and drill bit 26, servo-driver and controller(It is not drawn in figure)Connection, servo-driver detection drilling servomotor 23 electric current simultaneously feeds back to controller, and controller can be with the stressing conditions of real-time judge drill bit 26, when electric current increase by electric current When, illustrating that the material of workpiece to be added 10 herein is harder, drill bit 26 receives larger resistance, and now controller passes through servo-drive Device can be reduced with the rotating speed of keyhole servomotor 23, and such that it is able to effectively avoid, drill bit 26 is impaired even directly to break Split, equally, when the current decreases, illustrate that the material of workpiece to be added 10 herein is relatively soft, the resistance that drill bit 26 is subject to is less, this When controller can be improved by the rotating speed of servo-driver keyhole servomotor 23, such that it is able to improve working (machining) efficiency. Drilling servomotor 23, reductor 24 and drill bit 26 in the present embodiment is fixed on mechanical arm by a unit head fixed plate 20 Lower end.
Positioner in the present embodiment includes positioning roller 25 and electronic ruler 21, and electronic ruler 21 is vertically fixed on mechanical arm On, positioning roller 25 is fixed on the lower end of a roller mounting seat 32, and roller mounting seat 32 is by magnet attraction mechanism and electronics The flexible range cells connection of the lower end of chi 21, the surface of workpiece to be added 10 is often relatively rough, and sometimes also to have some convex on surface The part risen or be recessed, especially arc, positioning roller 25 is easily impacted in walking process, and the present embodiment passes through Magnet Adhesive mechanism adhesive positioning roller 25 and flexible range cells, can make positioning roller 25 with flexible survey when there is accident collision Separate away from unit, so as to prevent damaging the higher electronic ruler 21 of parts, especially price, reduce operating cost, operation is more It is reliable.Positioner in the present embodiment is fixed in unit head fixed plate 20 by a range finding fixed plate 19, and it is solid to find range Fixed board 19 is mutually perpendicular to unit head fixed plate 20.
Specifically, magnet attraction mechanism includes strong magnets 27 and Magnet fixed seat 28, and positioning roller 25 is rolled and is arranged on In roller mounting seat 32, roller mounting seat 32 is by the strong magnets 27 and the adhesive of Magnet fixed seat 28;Flexible range cells Including small-sized ram 29 and line slideway auxiliary 31, small-sized ram 29 is connected to the lower end of electronic ruler 21, small-sized cunning by spring 22 Pillow 29 is slidably arranged on line slideway auxiliary 31, and the lower end of small-sized ram 29 is fixed with a detection head 30, Magnet fixed seat 28 It is fixed on line slideway auxiliary 31, Magnet fixed seat 28 contacts detection head 30 and promotes small-sized ram 29 to lift after rising.
Embodiment 2
With reference to Fig. 4, the present embodiment is with the difference of embodiment 1, in left mechanical arm 9-1 and the lower section of right mechanical arm 9-2 The X-axis rail set for being horizontally and perpendicularly to Y-axis crossbeam 2 is provided with, workbench is fixed with X-axis rail set, set on the table Workpiece fixed mechanism is equipped with, Y-axis crossbeam 2 can be in X-axis rail set length direction relative movement with workbench.
X-axis rail set includes X-axis track plates 15, and the both sides of X-axis track plates 15 are provided with X-axis line slideway, and workbench slides Be arranged on X-axis line slideway, the workpiece fixed mechanism is fixedly installed on the table, workbench and X-axis track plates 15 it Between be provided with drive workbench slide workbench actuating unit.Specifically, workbench actuating unit includes being fixed under workbench The X-axis gear of side and the X-axis tooth bar being fixed on the upside of X-axis track plates 15, workbench bottom is fixed with the X-axis for driving X-axis gear Servomotor, X-axis gear is engaged with X-axis tooth bar and drives workbench to slide along X-direction.
With reference to Fig. 4~6, in the present embodiment, workbench includes reverse side stationary work-table 11, the workpiece fixed mechanism bag The first support 13 and second support 14 being fixed on along X-axis rail set length direction interval on reverse side stationary work-table 11 is included, The arc that the workpiece to be added 10 being fixed on reverse side stationary work-table 11 is bent upwards for two ends, workpiece to be added 10 is located at first Between support 13 and second support 14, the upper end of first support 13 is provided with the reverse side pressure holding mechanism of pressure holding one end of workpiece 10 to be added, the The upper end of two support 14 is provided with the clamping fixture for clamping the other end of workpiece 10 to be added, and clamping fixture is adjustable for height to be arranged on second On frame 14, the workpiece to be added 10 of differently curved height is so adapted to, and first support 13 and the lower end of second support 14 are equal The to be added of different length can on the table, be so adapted to along the fixation of X-axis rail set length direction adjustment position Workpiece 10;Workpiece fixed mechanism also includes being fixed on multiple reverse side transverse positioning mechanisms of workbench both sides, reverse side located lateral Mechanism clamps the both sides of workpiece 10 to be added and 10 carries out located lateral to machined part, and specifically, reverse side transverse positioning mechanism includes Multiple located lateral cylinders 35, located lateral support 36 and multiple locating pieces 37, located lateral support 36 is fixed on workbench Both sides, located lateral cylinder 35 and locating piece 37 is adjustable for height is separately fixed on corresponding locating support 36 is laterally fixed Position cylinder 35 is oppositely arranged on the both sides of workpiece to be added 10 with locating piece 37.
With reference to Fig. 7, reverse side pressure holding mechanism is fixed on the front side of first support 13, further, after first support 13 Side is further fixed on a reverse side longitudinal register cylinder 34, is to coordinate reverse side longitudinal register cylinder 34, on the top of first support 13 A positioning via hole 38 is offered, the lower section that via hole 38 is located at reverse side pressure holding mechanism, reverse side longitudinal register cylinder 34 is positioned Piston rod can promote the longitudinal register of workpiece to be added 10 through after positioning via hole 38, workpiece to be added 10 is fixed more firmly, Positioning is also more accurate, improves machining accuracy, of course for preferably 10 being positioned to machined part, can be vertical in reverse side A push pedal is fixed to the front end of the piston rod of positioning cylinder 34.Specifically, the reverse side pressure holding mechanism in the present embodiment is a L-shaped Briquetting 33.
With reference to Fig. 8, clamping fixture includes fixture fixed seat 39, quick chuck 40, connecting rod 41 and promotes connecting rod 41 to swing Clamp cylinder 42, fixture fixed seat 39 is adjustable for height to be fixed in second support 14, one end of quick chuck 40 and fixture One end of cylinder 42 is respectively hinged in fixture fixed seat 39, and one end of connecting rod 41 connects with the piston rod rotation of clamp cylinder 42 Connect, the other end of connecting rod 41 is rotated with the middle part of quick chuck 40 and is connected, and clamp cylinder 42 drives quick chuck by connecting rod 41 40 swing, and the other end of quick chuck 40 is pressed on the end upside of workpiece to be added 10.Workpiece to be added 10 is positioned over into workbench On, the action of located lateral cylinder 35 promotes the transverse shifting of workpiece 10 to be added, makes workpiece to be added 10 be clamped in located lateral cylinder 35 Between locating piece 37, mobile first support 13 and second support 14, make the upper end of first support 13 briquetting 33 press set with it is to be added One end of workpiece 10, the action of reverse side longitudinal register cylinder 34 simultaneously contacts one end of workpiece to be added 10, promotes the longitudinal direction of workpiece to be added 10 Mobile, the other end for making workpiece to be added 10 contacts with second support 14, the action of clamp cylinder 42, drives quick chuck 40 to put Dynamic, the other end of quick chuck 40 is pressed on the end upside of workpiece to be added 10, so as to complete 10 positioning to machined part and It is fixed, it is easy to operate.
With reference to Fig. 4 and 9, further, workbench also includes a front stationary work-table 12, front stationary work-table 12 It is arranged on the side of reverse side stationary work-table 11, the separate slip of front stationary work-table 12 and reverse side stationary work-table 11 It is arranged on X-axis line slideway, the workpiece to be added 10 being fixed on front stationary work-table 12 is the reclinate arc in two ends Plate, so can select for workpiece to be added 10 to be fixed on front stationary work-table 12 or reverse side according to the shape of workpiece to be added 10 Stationary work-table 11, for example can using the relatively smooth one side in surface as upper surface so as to be fixed on corresponding workbench, The present invention by mechanical arm transverse-moving mechanism can with driving mechanical arm front stationary work-table 12 and reverse side stationary work-table 11 it Between move, so as to process a workbench on workpiece 10 to be added when, another workpiece to be added 10 can be fixed on another On workbench, work efficiency is further improved.
With reference to Fig. 9 and 10, the workpiece fixed mechanism being fixed on front stationary work-table 12 includes front longitudinal register machine Structure and front transverse positioning mechanism, wherein front vertical location device include being fixed on along X-axis rail set length direction interval Two fixed blocks 16 on front stationary work-table 12, are fixed with front longitudinal register cylinder 43 on fixed block 16, and at least one Fixed block 16 is slidably disposed on front stationary work-table 12 along X-axis rail set length direction, and workpiece to be added 10 is fixed Between two fixed blocks 16, two fixed blocks 16 10 carry out longitudinal Primary Location to machined part, then by front longitudinal direction Positioning cylinder 43 promotes workpiece to be added 10 to carry out further longitudinal register, due to the workpiece to be added on front stationary work-table 12 10 is the reclinate arc in two ends, so the two ends of workpiece to be added 10 falling in bottom all the time, so high without the need for considering The adjustment of degree.Front transverse positioning mechanism is fixed on the both sides of front stationary work-table 12, clamps the both sides pair of workpiece 10 to be added Workpiece to be added 10 carries out located lateral.Front transverse positioning mechanism also includes multiple located lateral cylinders 35 and locating piece 37, two The located lateral cylinder 35 at end is fixed on fixed block 16, and the located lateral cylinder 35 at middle part is adjustable for height to be fixed on positioning On frame 36, located lateral cylinder 35 is oppositely arranged with locating piece 37.
The present invention also provides a kind of arc processing method, using above-mentioned Gantry-type double-arm truss robot, reference picture 11, specifically include following steps:
Step 1), start, system back to zero;
Step 2), workpiece to be added 10 is fixed on into left mechanical arm 9-1 and right mechanical arm 9-2 lower section, it is programmed into if desired Enter step 3), otherwise into step 5), reprogramming is needed when new workpiece 10 to be added is processed, to adapt to new workpiece to be added 10 shape, and identical workpiece 10 to be added then need not be programmed, and be directly processed using identical program;
Step 3), program, the swinging track of left mechanical arm 9-1 and right mechanical arm 9-2 is set, set the lift rail of drill bit 26 Mark, sets the lengthwise travel rate and stroke of workbench, mechanical arm transverse-moving mechanism adjustment left mechanical arm 9-1 and right mechanical arm 9-2 Spacing;
Step 4), left mechanical arm 9-1 and right mechanical arm 9-2 sky are walked, if left mechanical arm 9-1 and right mechanical arm 9-2 can Processing unit (plant) is driven to be processed in the position to be processed of workpiece to be added 10, into step 5), otherwise return to step 3);
Step 5), automatic running, workbench drives workpiece 10 to be added to vertically move, left mechanical arm 9-1 and right mechanical arm 9-2 Swung along the surface curvature of workpiece to be added 10, mechanical arm elevating mechanism drives respectively left mechanical arm 9-1 and right mechanical arm 9-2 liter Drop, positioner and the upper surface of workpiece to be added 10, detect the vertical dimension of processing unit (plant) and the surface of workpiece to be added 10, processing Device 10 is processed to machined part;
Step 6), machine, workpiece is pulled down.
With reference to Figure 12, preferably, step 5)In move processing unit (plant) 10 carry out in boring procedure, setting first to machined part The relevant parameter of controller, including drill bit 26 and the distance on the surface of workpiece to be added 10, the electric current of drilling servomotor 23 it is upper and lower Limit value, by the data is activation for detecting to controller, controller converts this data to drill bit 26 with workpiece to be added to positioner The vertical dimension on 10 surfaces, the electric current of servo-driver detection drilling servomotor 23 simultaneously feeds back to controller, controller according to The parameter set in the electric current and controller of drilling servomotor 23 is compared, so as to judge the stressing conditions of drill bit 26, and By servo-driver change accordingly drilling servomotor 23 rotating speed, the unit head shown in figure refer to drill bit 26 and Drive the mechanical arm of the lifting of drill bit 26.Specifically, when the current increases, illustrate that the material of workpiece to be added 10 herein is harder, drill bit 26 receive larger resistance, and now controller can be reduced by servo-driver with the rotating speed of keyhole servomotor 23, Such that it is able to effectively avoid, drill bit 26 is impaired even directly to rupture, and equally, when the current decreases, illustrate herein is to be processed The material of part 10 is relatively soft, and the resistance that drill bit 26 is subject to is less, and now controller can be watched by servo-driver keyhole The rotating speed for taking motor 23 is improved, such that it is able to improve working (machining) efficiency.Certainly drill bit 26 can also be adjusted by controller axially to enter Adapting to the resistance suffered by drill bit 26, specifically, when the current increases, controller passes through mechanical arm elevating mechanism to the speed given The speed of the axial feed of drill bit 26 is reduced, drill bit 26 is impaired even directly to rupture such that it is able to effectively avoid, when electric current subtracts Hour, controller improves the speed of the axial feed of drill bit 26 by mechanical arm elevating mechanism, such that it is able to improve working (machining) efficiency.
The above, is only presently preferred embodiments of the present invention, is not the restriction for making other forms to the present invention, is appointed What those skilled in the art changed possibly also with the technology contents of the disclosure above or be modified as equivalent variations etc. Effect embodiment.But it is every without departing from technical solution of the present invention content, according to the technical spirit of the present invention to above example institute Any simple modification, equivalent variations and the remodeling made, still falls within the protection domain of technical solution of the present invention.

Claims (8)

1. a kind of Gantry-type double-arm truss robot, including gantry frame and mechanical arm, it is characterised in that:The top of gantry frame With Y-axis crossbeam(2), the lower end of mechanical arm is provided with processing unit (plant) and positioner, wherein processing unit (plant) processing equipment arm lower section Workpiece to be added(10), positioner detection processing unit (plant) and workpiece to be added(10)Between spacing, mechanical arm and Y-axis crossbeam (2)Between be provided with driving mechanical arm around parallel to Y-axis crossbeam(2)Axis oscillating mechanical arm swing mechanism, mechanical arm also connects The mechanical arm elevating mechanism for driving its lifting is connected to, mechanical arm includes being symmetricly set on Y-axis crossbeam(2)On left mechanical arm(9- 1)And right mechanical arm(9-2), left mechanical arm(9-1)And right mechanical arm(9-2)With Y-axis crossbeam(2)Between be respectively equipped with driving its Along Y-axis crossbeam(2)The mechanical arm transverse-moving mechanism of transverse shifting;The positioner includes positioning roller(25)And electronic ruler (21), electronic ruler(21)It is vertical to fix on the robotic arm, positioning roller(25)By magnet attraction mechanism and electronic ruler(21)Under The flexible range cells connection at end;
The magnet attraction mechanism includes strong magnets(27), roller mounting seat(32)With Magnet fixed seat(28), positioning roller (25)Rolling is arranged on roller mounting seat(32)On, roller mounting seat(32)By the strong magnets(27)With Magnet fixed seat (28)Adhesive;
The flexible range cells include small-sized ram(29)And line slideway auxiliary(31), small-sized ram(29)By spring(22) It is connected to electronic ruler(21)Lower end, small-sized ram(29)It is slidably arranged in line slideway auxiliary(31)On, Magnet fixed seat(28) It is fixed on line slideway auxiliary(31)Go up and promote small-sized ram(29)Lifting.
2. Gantry-type double-arm truss robot according to claim 1, it is characterised in that:In the left mechanical arm(9-1) And right mechanical arm(9-2)Lower section be provided with and be horizontally and perpendicularly to Y-axis crossbeam(2)X-axis rail set, it is solid on X-axis rail set Surely there is workbench, workpiece fixed mechanism, Y-axis crossbeam are provided with the table(2)With workbench in X-axis rail set length side To relative movement.
3. Gantry-type double-arm truss robot according to claim 2, it is characterised in that:The X-axis rail set includes X Axle track plates(15), X-axis track plates(15)Both sides are provided with X-axis line slideway, and the workbench is slidably arranged in X-axis line slideway On, workbench and X-axis track plates(15)Between be provided with drive workbench slide workbench actuating unit.
4. the Gantry-type double-arm truss robot according to Claims 2 or 3, it is characterised in that:The workbench includes anti- Face stationary work-table(11), the workpiece fixed mechanism includes being fixed on reverse side and fixing along X-axis rail set length direction interval Workbench(11)On first support(13)And second support(14), it is fixed on reverse side stationary work-table(11)On workpiece to be added (10)For the arc that two ends are bent upwards, workpiece to be added(10)Positioned at first support(13)And second support(14)Between, the One support(13)Upper end is provided with pressure holding workpiece to be added(10)The reverse side pressure holding mechanism of one end, second support(14)Upper end level is adjustable Be provided with clamping workpiece to be added(10)The clamping fixture of the other end;
Workpiece fixed mechanism also includes being fixed on multiple reverse side transverse positioning mechanisms of workbench both sides, reverse side transverse positioning mechanism Clamp workpiece to be added(10)Both sides to machined part(10)Carry out located lateral.
5. Gantry-type double-arm truss robot according to claim 4, it is characterised in that:The clamping fixture includes fixture Fixed seat(39), quick chuck(40), connecting rod(41)And promotion connecting rod(41)The connecting rod driver element of swing, fixture fixed seat (39)It is adjustable for height to be fixed on second support(14)On, quick chuck(40)One end and connecting rod driver element one end difference It is hinged on fixture fixed seat(39)On, connecting rod(41)The outfan of one end and connecting rod driver element rotate and be connected, connecting rod(41) The other end and quick chuck(40)Middle part rotate connection, connecting rod driver element pass through connecting rod(41)Drive quick chuck(40) Swing, quick chuck(40)The other end be pressed on workpiece to be added(10)End upside.
6. Gantry-type double-arm truss robot according to claim 4, it is characterised in that:The workbench also includes front Stationary work-table(12), it is fixed on front stationary work-table(12)On workpiece to be added(10)For the reclinate arc in two ends Plate, the workpiece fixed mechanism also includes front vertical location device and front transverse positioning mechanism, wherein front longitudinal register Mechanism includes being fixed on front stationary work-table along X-axis rail set length direction interval(12)On two fixed blocks(16), Fixed block(16)On be fixed with front longitudinal register cylinder(43), at least one fixed block(16)Along X-axis rail set length side To being slidably disposed in front stationary work-table(12)On, the workpiece to be added(10)It is fixed on two fixed blocks(16)It Between;Front transverse positioning mechanism is fixed on front stationary work-table(12)Both sides, clamp workpiece to be added(10)Both sides treat Workpiece(10)Carry out located lateral.
7. a kind of arc processing method, including the Gantry-type double-arm truss robot described in any one of claim 1 ~ 6, it is special Levy and be:Comprise the following steps:
Step 1), start, system back to zero;
Step 2), by workpiece to be added(10)It is fixed on left mechanical arm(9-1)And right mechanical arm(9-2)Lower section, if necessary to program Into step 3), otherwise into step 5);
Step 3), programming, setting left mechanical arm(9-1)And right mechanical arm(9-2)Swinging track, set workbench longitudinal direction shifting Dynamic speed and stroke, mechanical arm transverse-moving mechanism adjustment left mechanical arm(9-1)And right mechanical arm(9-2)Spacing;
Step 4), left mechanical arm(9-1)And right mechanical arm(9-2)Sky is walked, if mechanical arm can drive processing unit (plant) to be added Workpiece(10)Position to be processed be processed, into step 5), otherwise return to step 3);
Step 5), automatic running, workbench drive workpiece to be added(10)Vertically move, mechanical arm is along workpiece to be added(10)Surface is bent Rate is swung, and mechanical arm elevating mechanism drives respectively left mechanical arm(9-1)And right mechanical arm(9-2)Lifting, positioner with Workpiece to be added(10)Upper surface, detection processing unit (plant) and workpiece to be added(10)The vertical dimension on surface, processing unit (plant) is treated Workpiece(10)It is processed;
Step 6), machine, workpiece is pulled down.
8. arc processing method according to claim 7, it is characterised in that:The processing unit (plant) includes what is be sequentially connected Servo-driver, drilling servomotor(23), reductor(24)And drill bit(26), servo-driver is connected with controller;Positioning Device is connected with controller;
Step 5)In in processing unit (plant) to machined part(10)In carrying out boring procedure, positioner is by the data is activation for detecting To controller, while servo-driver detection drilling servomotor(23)Electric current and feed back to controller, controller is according to brill Hole servomotor(23)Electric current judge drill bit(26)Stressing conditions, and drilling servo is changed accordingly by servo-driver Motor(23)Rotating speed.
CN201510610338.3A 2015-09-23 2015-09-23 Gantry type double-arm truss robot and machining method for arc-shaped plate CN105082117B (en)

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