CN105082117B - Gantry type double-arm truss robot and machining method for arc-shaped plate - Google Patents

Abstract

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

Gantry-type double-arm truss robot and method for processing arc-shaped plates

technical field

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.

Background technique

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.

Contents of the invention

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.

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.

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.

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.

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;

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.

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.

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.

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.

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;

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.

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:

Step 1), power on, the system returns to zero;

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);

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;

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);

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;

Step 6), the processing is completed, and the workpiece is removed.

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;

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.

Compared with prior art, the beneficial effect that the present invention has is:

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. 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. 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. 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. 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. 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.

Description of drawings

FIG. 1 is a schematic structural view of Embodiment 1 of the gantry-type double-arm truss robot.

FIG. 2 is a partial enlarged view of A in FIG. 1 .

Fig. 3 is a partially enlarged view of the place B in Fig. 1 .

FIG. 4 is a schematic structural view of Embodiment 2 of the gantry-type double-arm truss robot.

Fig. 5 is a structural schematic diagram of a reverse fixed workbench on which workpieces to be processed are fixed.

Fig. 6 is a schematic structural view of a workbench fixed on the reverse side without fixing the workpiece to be processed.

FIG. 7 is a partially enlarged view at point C in FIG. 6 .

FIG. 8 is a partially enlarged view at point D in FIG. 6 .

Fig. 9 is a schematic structural view of the front fixed workbench.

FIG. 10 is a schematic diagram of the structure at E in FIG. 9 .

Fig. 11 is a logic block diagram of the arc plate processing method.

Fig. 12 is a block diagram of specific drilling principles in the curved plate processing method.

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.

detailed description

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.

Example 1

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.

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.

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.

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.

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.

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.

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.

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.

Example 2

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.

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.

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.

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 .

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.

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.

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.

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:

Step 1), power on, the system returns to zero;

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;

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;

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);

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;

Step 6), the processing is completed, and the workpiece is removed.

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.

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.

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.