CN105107988A - Loading/unloading assistance manipulator in numerical control machine tool - Google Patents
Loading/unloading assistance manipulator in numerical control machine tool Download PDFInfo
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- CN105107988A CN105107988A CN201510595310.7A CN201510595310A CN105107988A CN 105107988 A CN105107988 A CN 105107988A CN 201510595310 A CN201510595310 A CN 201510595310A CN 105107988 A CN105107988 A CN 105107988A
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- manipulator
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Abstract
The invention relates to a loading/unloading assistance manipulator in a numerical control machine tool. The loading/unloading assistance manipulator comprises a workpiece logistics automatic line, a machine tool and a manipulator, wherein the manipulator is arranged at the side edge of the machine tool; a workpiece transporting tray is arranged on the workpiece logistics automatic line; a workpiece is arranged in the workpiece transporting tray; and the manipulator respectively performs workpiece taking/feeding and workpiece loading/unloading operations on the workpiece transporting tray and the machine tool. The manipulator is simple in design and flexible in operation, realizes the assistance effect under various environment conditions, performs the automatic control operation through a numerical control device, and can realize automatic control; and a hand part adopts a vacuum absorption device technology to preferably finish the plate grabbing to realize the loading/unloading.
Description
Technical field
The present invention relates to loading and unloading boosting manipulator technical field in Digit Control Machine Tool, particularly relate to loading and unloading boosting manipulator in a kind of Digit Control Machine Tool.
Background technology
Along with the development of China's punching press industry, sheet-metal press working equipment performance walks with world's pace gradually, and punching production automaticity obtains further raising.In the first working procedure of punching production, many enterprises of China are still adopting traditional Manual feeding mode, and not only production efficiency is low for this material-uploading style, labour intensity large, and easily personal injury accident occurs.For promote China punching production automatization level, enhance productivity and improve workman's productive labor condition, develop the automatical feeding system matched with pressing equipment automatization level and have great importance;
Digit Control Machine Tool is one of key equipment of advanced manufacturing technology, and NC turret punch machine is a kind of important pressure forming machine of high speed panel beating in recent years, integrate mechanical, electrical, liquid, gas, high-speed punching hole machined can be carried out on sheet material and shallow recessing, shallow drawing shaping, be a kind of general, high efficiency and high-precision pressing equipment, have multiple station and can quick die change be realized.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, providing loading and unloading boosting manipulator in a kind of Digit Control Machine Tool.
The present invention is achieved through the following technical solutions: loading and unloading boosting manipulator in a kind of Digit Control Machine Tool, comprises workpiece logistics transfer matic, lathe and manipulator; Described manipulator is arranged on lathe side, described workpiece logistics transfer matic is provided with workpiece transport pallet, be provided with workpiece in described workpiece transport pallet, described manipulator carries out getting/send workpiece and workpiece loading and unloading operation respectively on workpiece transport pallet and lathe;
Described manipulator comprises Connection Block, mechanical arm, robot arm mechanism, manipulator waist base, pedestal, waist seat, stepper motor, waist gear wheel, waist gyroaxis, taper roll bearing, vavuum pump and vacuum absorption device, mechanical arm is connected with by Connection Block above described manipulator waist base, described mechanical arm top is connected with robot arm mechanism, pedestal is provided with below described manipulator waist base, described pedestal is provided with waist gyroaxis, be bolted above described pedestal and be provided with over cap, described over cap is provided with stepper motor, waist seat is connected with by turnbuckle above described over cap, described waist seat is provided with a pair taper roll bearing, described waist seat to be cooperatively interacted with waist gyroaxis by taper roll bearing and is connected, described waist gyroaxis bottom is provided with waist gear wheel, described waist gyroaxis is connected with the driving shaft of stepper motor by waist gear wheel, described robot arm is in-house is provided with vavuum pump, vacuum absorption device is connected with by pump shaft below described vavuum pump.
As preferably, described manipulator waist base is provided with numerical control device, described workpiece logistics transfer matic is connected with numerical control device by holding wire respectively with stepper motor.
As preferably, described robot arm mechanism is provided with illuminating lamp and alarm.
As preferably, described robot arm mechanism is uniformly distributed and is provided with 4-6 vavuum pump.
As preferably, described base interior is provided with damping device.
As preferably, described mechanical arm inside is provided with hydraulic means.
As preferably, described numerical control device is provided with display screen and control button.
The present invention is by workpiece logistics transfer matic, lathe and manipulator; Described manipulator is arranged on lathe side, described workpiece logistics transfer matic is provided with workpiece transport pallet, be provided with workpiece in described workpiece transport pallet, described manipulator carries out getting/send workpiece and workpiece loading and unloading operation respectively on workpiece transport pallet and lathe.
(1) manipulator design obtains simply, flexible operation, realizes the power-assisted effect under various environmental condition, and can realize automatically controlling; (2) hand adopts vacuum absorption device technology, completes the crawl to sheet material well, realizes loading and unloading.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings;
Fig. 1 is robot work layout of the present invention;
Fig. 2 is manipulator waist understructure schematic diagram of the present invention;
Fig. 3 is Manipulator arm structure schematic diagram of the present invention;
Fig. 4 is mechanical wrist part structure schematic diagram of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention; Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
As Figure 1-4, the present invention relates to loading and unloading boosting manipulator in a kind of Digit Control Machine Tool, comprise workpiece logistics transfer matic, lathe 1 and manipulator; Described manipulator is arranged on lathe 1 side, described workpiece logistics transfer matic is provided with workpiece transport pallet, be provided with workpiece in described workpiece transport pallet, described manipulator carries out getting/send workpiece and workpiece loading and unloading operation respectively on workpiece transport pallet and lathe 1;
Described manipulator comprises Connection Block 2, mechanical arm 3, robot arm mechanism 4, manipulator waist base 5, pedestal 6, waist seat 7, stepper motor 8, waist gear wheel 9, waist gyroaxis 10, taper roll bearing 11, vavuum pump 12 and vacuum absorption device 13, mechanical arm 3 is connected with by Connection Block 2 above described manipulator waist base 5, described mechanical arm 3 top is connected with robot arm mechanism 4, pedestal 6 is provided with below described manipulator waist base 5, described pedestal 6 is provided with waist gyroaxis 10, be bolted above described pedestal 6 and be provided with over cap, described over cap is provided with stepper motor 8, waist seat 7 is connected with by turnbuckle above described over cap, described waist seat 7 is provided with a pair taper roll bearing 11, described waist seat 7 to be cooperatively interacted with waist gyroaxis 10 by taper roll bearing 11 and is connected, described waist gyroaxis 10 bottom is provided with waist gear wheel 9, described waist gyroaxis 10 is connected with the driving shaft of stepper motor 8 by waist gear wheel 9, described robot arm mechanism 4 inside is provided with vavuum pump 12, vacuum absorption device 13 is connected with by pump shaft below described vavuum pump 12.
Described manipulator waist base 5 is provided with numerical control device, and described workpiece logistics transfer matic is connected with numerical control device by holding wire respectively with stepper motor 8.
Described robot arm mechanism 4 is provided with illuminating lamp and alarm.
Described robot arm mechanism 4 is uniformly distributed and is provided with 4-6 vavuum pump 12.
Described pedestal 6 inside is provided with damping device.
Described mechanical arm 3 inside is provided with hydraulic means.
Described numerical control device is provided with display screen and control button.
In sum, the present invention passes through
NC turret punch machine composition and operation principle:
NC turret punch machine main transmission is divided into machinery, hydraulic pressure.Machinery main transmission operation principle is that mair motor is rotated by small pulley flywheel driven, again by joint or the separation of clutch/brake, drive crankshaft rotating, pass through toggle again, band movable slider upper and lower reciprocating motion, to impact on rotating disk the mould selected punching or other processing and forming are carried out to sheet material.The operation principle of Hydraulic Main transmission be hydraulic oil that hydraulic system is provided by the action of solenoid directional control valve, enter the upper and lower cavity of hydraulic cylinder, piston rod band movable slider is pumped, and Impact mould carries out punching.
The operation principle of lathe: when lathe is without any warning, CNC performs a program finished, according to programmed instruction, under X and Y-axis move to drift with steel plate, T dish by program die needed move to drift under, hydraulic punching head performs the strike to mould, completes a punching press, then an X and Y-axis mobile position again, drift performs a punching press again, and so forth, be only all finished to a program, return to material loading position.
Manipulator general structure
Because the quality of the machining sheet of designing requirement carrying reaches 30kg; length reaches 500mm, considers the concrete form of NC turret punch machine layout and the specific requirement to manipulator simultaneously, considers under the prerequisite meeting system process requirement; simplify structure, to reduce cost, to improve reliability as far as possible;
The design of manipulator waist understructure
Consider first revolute joint of Yao Zuoshi robot, large to the final location precision of manipulator, therefore adopt motor to drive the gyration realizing waist.Not only because its precision can be very high, and compact conformation, other hydraulic system and auxiliary element need not be designed.Consider the specific requirement of rotating speed and moment of torsion, adopt the gear train assembly of big speed ratio to carry out the amplification of deceleration and moment of torsion;
The structural design of manipulator arm
Manipulator has the motion that large arm is elevated and forearm rotates.Consider that the quality of carrying workpiece is comparatively large, belong to medium-sized quality, consider the stability of the dynamic property of manipulator and motion, security simultaneously, higher requirement is had to the rigidity of arm, so large arm drives select pneumatic gearing mode, control simple, be easy to the control realizing computer.Forearm rotary motion adopts Electric Machine Control.
Meanwhile, because the requirement of control and specific works, the physical dimension of manipulator arm can not be too large, therefore, having set up guide-bar mechanism in addition, increasing its rigidity as far as possible when designing; For reducing quality, guide rod adopts hollow-core construction.By setting up guide rod, motion rigidity and the stability of manipulator can be significantly improved.
The structural design of mechanical wrist part
The structural design of mechanical wrist part
By the concrete analysis to Digit Control Machine Tool loading and unloading operation, consider the concrete form of Digit Control Machine Tool processing and the specific requirement to manipulator loading and unloading operation, safety and reliability is improved under the prerequisite meeting system process requirement, try one's best simply for making the structure of manipulator, reduce the difficulty controlled, the wrist of design does not increase the free degree, but hand will increase vacuum suction servicing unit
The design of the mechanical transmission mechanism of manipulator
Specific to this design, because pneumatic cylinder realizes Direct driver, it is articulation mechanism, and be again dynamical element, therefore do not need intermediate transmission mechanism, this both simplified the structure, and turn improved precision simultaneously.And the gyration of manipulator waist adopts driving stepper motor, transmission mechanism must be adopted slow down and increase moment of torsion.Comparing by analysis, select column gear transmission, in order to ensure higher precision, reducing the error because gear drive causes as far as possible; Greatly increase moment of torsion, reduce motor speed largely, to make the stable movement of manipulator, dynamic property is good simultaneously.
The design of machine-hand driving system
Specific to this design, after analysis specific works requires, consider each factor.The rotary motion of manipulator waist needs certain positioning control accuracy, therefore adopts driving stepper motor to realize; Large arm adopts air pressure to drive, and forearm adopts motor to drive, and the terminal-collecting machine of hand, because want vacuum suction, adopts air pressure to drive.
The Balancing Mechanism Design of robot arm
Because the manipulator of design adopts the structure of circular cylindrical coordinate type, and in the structural design of arm and the design of whole manipulator and layout all emphasis consider the equilibrium problem of manipulator arm, by rational deployment, optimal design structure, makes arm itself reach balance as far as possible.If balance the discontented foot of result in real work, then spring balancing mechanism is set and balances
Embodiment: processing conditions: (1) NC turret punch machine is when first clamping, and alignment pin makes on the left of sheet material that limit is near workbench left hand edge, and namely on the left of sheet material, limit is within workbench, and getting position, the sheet material lower left corner is the initial point of machining coordinate; (2) location is only undertaken by x-axis positive direction; (3) two clamps are controlled by a drive unit, can not self-movement.Start location movement so the design adopted is optical sensor when sheet material is directly over workbench on clamp, after having located, sheet material is put down clamping.
(1) finite element analysis
In boosting manipulator structural design, except consideration strength problem, also Rigidity will be considered, namely manipulator is after picking up sheet material, and arm is stressed can produce distortion, and manipulator be made to meet position accuracy demand, the deformation values of manipulator arm after stressed must be controlled, make it in allowed band.FInite Element is adopted in literary composition.
Boosting manipulator have in motion process one stressed the most dangerous, be out of shape maximum state, be Manipulator Transportation sheet material when being put into workbench, the gravity arm of force reaches maximum, and each arm is in stressed maximum rating, determines that it is analysis operating mode.
Load is divided into 3 parts: Part I is the gravity of manipulator all parts except base, comprises large forearm and end vacuum absorption device; Part II is that sheet material gravity is applied on each arm and base, and sheet material gravity is 300N.Part III is base deadweight, is constrained to one end and fixes, and the other end applies counter-force and moment of flexure.
The boosting manipulator model established is imported in ANSYS, setting material properties: elastic modulus E=210GPa, Poisson's ratio λ=0.26, density p=7800kg/m3; Cell type: solid187; Grid division: tetrahedron free mesh.
POST1 process is adopted to the Static Strength Analysis of boosting manipulator.Stress contour clearly can describe the change of result in whole model, and can deathtrap fast in Confirming model.Meanwhile, wait displacement diagram can indicate the change in displacement situation of each unit of part, determine whether its displacement is enough to affect precision;
Maximum stress value is 108MPa, and boosting manipulator material is No. 45 steel, and maximum stress value does not obviously exceed the allowable stress 360MPa of material, illustrates that this design is rational, safety coefficient 1.5 ~ 2.Analysis show that maximum displacement is positioned at manipulator low order end, and maximum displacement is 0.159mm, and calculation requirement displacement accuracy is 10mm, so displacement meets the requirements, guarantees security of operation.
(2) kinematics analysis
Under MATLAB platform ［ 7-8 ］, utilize RoboticsToolbox to establish the three-dimensional simulation model of boosting manipulator, drag each slider bar, change key position, the motion conditions of manipulator can be browsed.It is as follows that this manipulator builds order:
L1=link(［00pi/200］，'modified') L2=link(［pi/2280000］，'modified') L3=link(［06200pi/20］，'modified')
L4=link (［ pi/200542.20 ］, ' modified') L5=link (［-pi/20000 ］, ' modified') L6=link (［ pi/20000 ］, ' modified') robot=robot (L1L2L3L4L5L6}) robot.name=' boosting manipulator ' robot.base=transl (［ 000 ］) drivebot (robot)
Run mentioned order, namely can generate the three-dimensional artificial figure of this manipulator, the slider bar manually in driving figure or the value of input joint variable, change arm end pose, thus the motion of display manipulator directly perceived.
The standardized element that the present invention uses all can be commercially, shaped piece all can carry out customized according to description with the record of accompanying drawing, the concrete connected mode of each part all adopts the conventional means such as bolt, rivet, welding ripe in prior art, machinery, part and equipment all adopt in prior art, conventional model, add that circuit connects and adopt connected mode conventional in prior art, be not described in detail in this.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a loading and unloading boosting manipulator in Digit Control Machine Tool, is characterized in that, comprises workpiece logistics transfer matic, lathe (1) and manipulator; Described manipulator is arranged on lathe (1) side, described workpiece logistics transfer matic is provided with workpiece transport pallet, be provided with workpiece in described workpiece transport pallet, described manipulator carries out getting/send workpiece and workpiece loading and unloading operation respectively on workpiece transport pallet and lathe (1);
Described manipulator comprises Connection Block (2), mechanical arm (3), robot arm mechanism (4), manipulator waist base (5), pedestal (6), waist seat (7), stepper motor (8), waist gear wheel (9), waist gyroaxis (10), taper roll bearing (11), vavuum pump (12) and vacuum absorption device (13), described manipulator waist base (5) top is connected with mechanical arm (3) by Connection Block (2), described mechanical arm (3) top is connected with robot arm mechanism (4), described manipulator waist base (5) below is provided with pedestal (6), described pedestal (6) is provided with waist gyroaxis (10), described pedestal (6) top is bolted and is provided with over cap, described over cap is provided with stepper motor (8), waist seat (7) is connected with by turnbuckle above described over cap, described waist seat (7) is provided with a pair taper roll bearing (11), described waist seat (7) to be cooperatively interacted with waist gyroaxis (10) by taper roll bearing (11) and is connected, described waist gyroaxis (10) bottom is provided with waist gear wheel (9), described waist gyroaxis (10) is connected by the driving shaft of waist gear wheel (9) with stepper motor (8), described robot arm mechanism (4) inside is provided with vavuum pump (12), described vavuum pump (12) below is connected with vacuum absorption device (13) by pump shaft.
2. loading and unloading boosting manipulator in a kind of Digit Control Machine Tool according to claim 1, it is characterized in that, described manipulator waist base (5) is provided with numerical control device, and described workpiece logistics transfer matic is connected with numerical control device by holding wire respectively with stepper motor (8).
3. loading and unloading boosting manipulator in a kind of Digit Control Machine Tool according to claim 1, is characterized in that, described robot arm mechanism (4) is provided with illuminating lamp and alarm.
4. loading and unloading boosting manipulator in a kind of Digit Control Machine Tool according to claim 1, is characterized in that, described robot arm mechanism (4) is uniformly distributed and is provided with 4-6 vavuum pump (12).
5. loading and unloading boosting manipulator in a kind of Digit Control Machine Tool according to claim 1, is characterized in that, described pedestal (6) inside is provided with damping device.
6. loading and unloading boosting manipulator in a kind of Digit Control Machine Tool according to claim 1, is characterized in that, described mechanical arm (3) inside is provided with hydraulic means.
7. loading and unloading boosting manipulator in a kind of Digit Control Machine Tool according to claim 2, is characterized in that, described numerical control device is provided with display screen and control button.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510595310.7A CN105107988A (en) | 2015-09-18 | 2015-09-18 | Loading/unloading assistance manipulator in numerical control machine tool |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510595310.7A CN105107988A (en) | 2015-09-18 | 2015-09-18 | Loading/unloading assistance manipulator in numerical control machine tool |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336067A (en) * | 2017-03-31 | 2017-11-10 | 上汽通用五菱汽车股份有限公司 | A kind of CNC automatic loading and unloading devices and loading and unloading method |
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| JP5078738B2 (en) * | 2008-05-07 | 2012-11-21 | 新電元工業株式会社 | Robot for workpiece transfer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107336067A (en) * | 2017-03-31 | 2017-11-10 | 上汽通用五菱汽车股份有限公司 | A kind of CNC automatic loading and unloading devices and loading and unloading method |
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Application publication date: 20151202 |