CN105149950B - A kind of manufacturing system of fire hydrant cabinet - Google Patents
A kind of manufacturing system of fire hydrant cabinet Download PDFInfo
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- CN105149950B CN105149950B CN201510652709.4A CN201510652709A CN105149950B CN 105149950 B CN105149950 B CN 105149950B CN 201510652709 A CN201510652709 A CN 201510652709A CN 105149950 B CN105149950 B CN 105149950B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C35/00—Permanently-installed equipment
- A62C35/20—Hydrants, e.g. wall-hoses, wall units, plug-in cabinets
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The present invention discloses a kind of manufacturing system of fire hydrant cabinet, the manufacturing system of fire hydrant cabinet can realize automatic transporting, conveying, processing, welding, reduce recruitment number and recruitment cost, and welding uses welder, fire hydrant cabinet plate is placed on jig, control device control welder welds to fire hydrant cabinet plate, avoids manual welding Shortcomings and defect, process time is saved, greatly improves operating efficiency.
Description
Technical field
The present invention relates to fire hydrant cabinet field, more particularly to a kind of manufacturing system of fire hydrant cabinet.
Background technology
Making of the currently available technology to fire-fighting cabinet is mainly using based on artificial carrying, bending, manual welding.It is and existing
Artificial carrying, bending, manual welding many deficiency and defect in certain program be present:Advance spot welding is wanted in manual welding, is made
Obtain and very big weld defect is easily produced at spot welding so that welding quality cannot be guaranteed, and certain potential safety hazard be present；Make
During fire-fighting cabinet, labor workload is big, and efficiency is low, and cost of labor is high；Required with the development and the production automation of society,
Oneself has a strong impact on quality and production efficiency to prior art in certain program, and the quality of production and production for constraining fire-fighting cabinet are imitated
Rate.
The content of the invention
In order to overcome above-mentioned deficiency of the prior art, it is an object of the present invention to provide a kind of making system of fire hydrant cabinet
System, including：Apparatus for bending, articulated robot, positioner, welder and respectively with the apparatus for bending, the joint
Robot, the positioner, welder communication connection, for controlling apparatus for bending, articulated robot, positioner, weldering
The control device of connection device operation；
The positioner includes：Positioning base, the locating platform being arranged on the positioning base, it is flat to be arranged on positioning
Positioning inductive switch above platform；The positioning base, which is provided with, to be used to hold the locating platform, changes the locating platform
The gas ejection mechanism of height；The locating platform is rectangular configuration, and the right angle that locating platform is in extreme lower position is orientation angle, with determining
Parallactic angle is respectively equipped with several alignment pins on two adjacent sides；The locating platform be provided be used to sensing plate fall to put it is described
The plate inductor of locating platform；
The articulated robot includes：Mechanical arm, set on the mechanical arm, for adsorbing the sucker group of plate
Part, connected with the Suction cup assembly, for making Suction cup assembly produce the aspirator of negative-pressure adsorption plate, for the bending
Device sends contraposition signal or receives the contraposition signal that the apparatus for bending is sent, make the plate of the articulated robot absorption with
The robotic positioning device that the apparatus for bending is positioned；
The apparatus for bending includes：Bending tool, the Bending Mould being adapted with the bending tool, bending positioner, folding
Curved rate control module；
The bending positioner is used to send contraposition signal to the robotic positioning device or receives the robot
The contraposition signal that positioner is sent, the Bending Mould is set to be positioned with the plate adsorbed；
The bending rate control module is used for the speed of service for controlling the bending tool, makes the operation speed of the bending tool
Degree includes decrease speed, pushes speed, raising vector, the rate of climb, and fast in the case where decrease speed and pushing is set between speed
Transfer point is spent, rate conversion point is set between raising vector and the rate of climb, and by the lower rate conversion point and described
Upper rate conversion point is transmitted to the control device；
The welder includes：Jig, the arc welding robot of position relative with jig and welding contraposition sense
Answer device；
The control device includes：Plate induction module, pneumatic jack control module, arm feeding module, arm control module,
Bending tool control module, locating module, turnover panel rate control module, on turn over angle control module, speed receiving module, suction control
Molding block, arc-welding control module, welding contraposition induction module；
The plate induction module is used for the plate induced signal for receiving the transmission of plate inductor, and is sensed according to plate and believed
Number, pneumatic jack control module control gas ejection mechanism is held locating platform；
The pneumatic jack control module is used to control gas ejection mechanism to hold locating platform, and is raised part when locating platform
During triggering positioning inductive switch, the pneumatic jack control module receives the positioning induced signal that positioning inductive switch is sent, and controls gas
Push up upper top of the mechanism stopping to locating platform；
The arm feeding module is used for the location sense for receiving positioning inductive switch according to the pneumatic jack control module and sending
Induction signal, the arm feeding module is set to control the mechanical arm to adsorb the plate on the locating platform, and according to described
Setting angle between positioner and the apparatus for bending, control the mechanical arm to swing and deliver to plate from locating platform
Before apparatus for bending；
The bending tool control module is used to control the bending tool to decline and sent according to the suction control module
Inspiration signal, the bending tool is increased；
The locating module electrically connects with the robotic positioning device and the bending positioner respectively, for working as
State that robotic positioning device receives contraposition signal that the bending positioner sends or the bending positioner receives
During the contraposition signal that the robotic positioning device is sent, while the contraposition signal or described that the bending positioner is sent
The contraposition signal that robotic positioning device is sent is sent to the locating module, and makes the bending tool control module according to
The contraposition signal that locating module receives controls the bending tool to decline；
The turnover panel rate control module and it is described on turn over angle control module and be respectively used to control the mechanical arm to exist
Speed of service during plate bending and angle is above turned over, the mechanical arm is synchronously followed and attaching plate；
The speed receiving module is used to receive the lower rate conversion point and the upper rate conversion point；
The arm control module is used to control the mechanical arm to run and when the bending tool rises to upper speed
During transfer point, the bending rate control module sends upper rate conversion point signal to the arm control module, makes the hand
Arm control module controls the mechanical arm movement plate, and bending or the control manipulator are carried out to lower one of flanging of plate
Arm extracts plate from the apparatus for bending out；
The suction control module electrically connects with the aspirator, for the institute received according to the speed receiving module
Lower rate conversion point signal is stated, controls the aspirator Suction cup assembly is deflated and stops absorption plate, and work as the machine
Tool arm synchronously follow attaching plate bending reach setting on when turning over angle, control the aspirator air-breathing, make the suction
Disk component adsorbs plate；
The welding contraposition induction module is used to receive the signal that welding contraposition inductor is sent, and makes the arm control mould
Block controls the mechanical arm that plate is placed on jig；
The arc-welding control module is used to control the arc welding robot to weld the plate after bending.
Preferably, the jig is provided with welding positioning inductor and clamping device；
Welding positioning inductor is used for whether disposing the plate after bending on induction welding platform；
The control device includes：Weld positioning control module and clamp control module；
The welding positioning control module electrically connects with welding positioning inductor, and the welding positioning control module is used to connect
Receive the induced signal of welding positioning inductor；
The sensing for clamping control module and being used to receive welding positioning inductor according to the welding positioning control module
Signal, control clamping device are clamped to plate.
Preferably, handling device includes：Suction plate component, transmission mechanism and first level sensor；
The transmission mechanism is connected with the suction plate component, and for driving the suction plate component to run, plate is transported to
On the locating platform；
The control device includes：Displacement setting module and with door module；
The displacement setting module is used to set just the distance between level sensor and locating platform, makes suction plate component
After adsorbing plate, according to the distance of setting, plate is transported on the locating platform by initial position sensing station；
The plate induction module and first level sensor electrically connect with door module input, with door module output end and institute
The electrical connection of pneumatic jack control module is stated, for receiving the plate induced signal of plate inductor transmission when the plate induction module,
And transmission mechanism drives the suction plate component to be moved to initial position, when triggering just level sensor, with door module to the gas
Push up control module and send pneumatic jack control signal, pneumatic jack control module control gas ejection mechanism is held locating platform.
Preferably, positioner includes：Retaining mechanism；
Gas ejection mechanism includes：Two pneumatic jack posts being connected with locating platform and swingable support frame, connected with pneumatic jack post
Supply module and the magnetic valve for controlling supply module to be supplied to pneumatic jack post, the magnetic valve are electrically connected with the control device
Connect；
Swingable support frame is arranged on the diagonal of locating platform bottom, and the diagonal passes through the orientation angle；
The retaining mechanism includes：Locking latch and bolt driving part；
The bolt driving part electrically connects with the positioning inductive switch, for being risen when locating platform by pneumatic jack post,
After triggering the positioning inductive switch, the bolt driving part controls the locking latch to hold locking to the pneumatic jack capital；
The strip grooves of the accommodating alignment pin are respectively provided with two adjacent sides of the orientation angle；
The locating platform, which is provided with, to be used to drive the alignment pin to move along strip grooves flute length direction in the strip grooves
Positioning pin drive mechanism that is dynamic and being lifted along groove depth direction；
The positioning pin drive mechanism electrically connects with the control device, for making the control device control the positioning
Pin moves in the strip grooves；
The locating platform surface is provided with roller.
Preferably, the bending positioner is several Image Location blocks being arranged on the apparatus for bending, described
Image Location block is in certain regularly arranged；
The robotic positioning device is photographic unit, and the robotic positioning device is provided with Image Location block spread configuration
Module；
The Image Location block spread configuration module is used to set positioning base according to the queueing discipline of the Image Location block
Standard, and positioning datum is transferred to the locating module；
The photographic unit is used to shoot the Image Location block, and by the image transmitting of the Image Location block of shooting
To the locating module
The locating module is used for the image of the Image Location block of shooting and the Image Location block of setting
Queueing discipline is compared, and according to the queueing discipline of the image of the Image Location block and the Image Location block of setting it
Between difference, the arm control module is controlled the mechanical arm adjustment position, make the Image Location block of shooting
The queueing discipline of the Image Location block of the image with setting mutually is unified.
Preferably, the control device also includes：Position setting module, positioning comparison module, position receiver module；
The positioning setting module is used to store the image of plate according to localization criteria placement on the positioning device；
The robotic positioning device is provided with the photographic unit electrically connected with the control device；The photographic unit is used for
The articulated robot is shot before the positioner adsorbs plate to the plate on positioner, and by shooting
Plate positioning image is sent to the position receiver module；
The positioning comparison module is used to the plate of reception positioning image compared with the plate placement image of standard,
When size difference be present in the plate positioning image of reception and the plate placement image of standard, the arm control module control machinery
Arm adjustment position, make the plate positioning image of the reception of shooting consistent with the plate placement image of standard.
Preferably, the apparatus for bending also includes：Bending angle setting module；
The control device also includes：On turn over angle conversion module；
The bending angle setting module electrically connects with the control device, for setting the bending angle of plate bending,
And the bending angle is transferred to the control device；
Turned on described angle conversion module be used for according to turned on formula angle=（180- bending angles）/ 2, calculate described
The angle that mechanical arm is synchronously followed and turned on attaching plate.
Preferably, the control device also includes：Bending setting module, plate coordinate system generation module, bending perform one
Secondary module；
The bending setting module is used to set between the angle of plate bending, the datum mark of plate bending, flanging, flanging
Away from；
The plate coordinate system generation module be used for according to the bending setting module set plate bending datum mark,
Flanging, flanging spacing, establish bending coordinate system on bending plate；
The bending performs the bending coordinate system that a secondary module is used to generate according to the plate coordinate system generation module, control
Make the mechanical arm and send plate, the bending tool pushes bending.
Preferably, the control device also includes：Mechanical arm rotary module, bending perform secondary module；
The mechanical arm rotary module is used to control the mechanical arm to rotate；
The bending performs secondary module and is used for when setting at least two Edge Bend of plate, according to the plate coordinate system
The bending coordinate system of generation module generation, after the bending performs a secondary module to the first Edge Bend, the mechanical arm rotation
Module controls the mechanical arm rotation, the side of plate second is directed at apparatus for bending, and in the case where the bending performs secondary module,
The mechanical arm is controlled to send plate, the bending tool pushes bending.
Preferably, the control device also includes：Jig index module, welding position setting module；
The jig index module is used to make jig generate two-dimensional coordinate system；
The welding position setting module is used for the welding position that plate after bending is set according to the two-dimensional coordinate system of generation,
Arc-welding control module control arc welding robot is set to weld the plate after bending.
As can be seen from the above technical solutions, the present invention has advantages below：
The manufacturing system of fire hydrant cabinet can realize automatic transporting, conveying, processing, welding, reduce recruitment number and recruitment into
This, and welding uses welder, and fire hydrant cabinet plate is placed on jig, and control device controls welder to fire-fighting
Cabinet plate is welded, and avoids manual welding Shortcomings and defect, is saved process time, is greatly improved operating efficiency.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, the required accompanying drawing used in description will be made below simple
Ground introduction, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ordinary skill
For personnel, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the bending structure figure of the manufacturing system of fire hydrant cabinet；
Fig. 2 is the control device schematic diagram of the manufacturing system of fire hydrant cabinet；
Fig. 3 is the positioning of the manufacturing system of fire hydrant cabinet, carrier structure figure；
Fig. 4 is the layout viewing of the manufacturing system of fire hydrant cabinet；
Fig. 5 is welder structure chart；
Fig. 6 is bending parameter embodiment schematic diagram；
Fig. 7 is plate coordinate system embodiment schematic diagram；
Fig. 8 is locating dowel layout drawing on locating platform.
Embodiment
To enable goal of the invention, feature, the advantage of the present invention more obvious and understandable, will use below specific
Embodiment and accompanying drawing, the technical scheme protected to the present invention are clearly and completely described, it is clear that implementation disclosed below
Example is only part of the embodiment of the present invention, and not all embodiment.Based on the embodiment in this patent, the common skill in this area
All other embodiment that art personnel are obtained under the premise of creative work is not made, belong to the model of this patent protection
Enclose.
The present embodiment provides a kind of manufacturing system of fire hydrant cabinet, refers to shown in Fig. 1, Fig. 2, Fig. 3, is making fire hydrant cabinet
When, including the process such as haul, bending, welding, the main scope of protection of the present invention includes：Haul, bending, welding sequence, wherein
Including：Apparatus for bending 2, articulated robot 1, positioner 5, welder 9 and respectively with apparatus for bending 2, articulated robot
1st, positioner 5, welder 9 communicate to connect, for controlling apparatus for bending 2, joint machine 1, positioner 5, welder 9
The control device 4 run；
Fig. 4 is the position view between apparatus for bending 2, articulated robot 1, positioner 5, welder 9.
Positioner 5 includes：Positioning base, the locating platform 51 being arranged on positioning base；It is arranged on locating platform
The positioning inductive switch 57 of side；Positioning base, which is provided with, to be used to hold locating platform 51, changes the pneumatic jack of the height of locating platform 51
Mechanism 59；Locating platform 51 is rectangular configuration, and the right angle that locating platform 51 is in extreme lower position is orientation angle 52, with orientation angle 52
Alignment pin 53 is respectively equipped with two adjacent sides；Locating platform 51, which is provided with, to be used to sense the plate that plate falls to put locating platform 51
Expect inductor 54；
Articulated robot 1 includes：Mechanical arm 11, set on mechanical arm 11, for adsorbing the Suction cup assembly 12 of plate,
Connected with Suction cup assembly 12, for making Suction cup assembly 12 produce the aspirator 13 of negative-pressure adsorption plate, for apparatus for bending 2
Send contraposition signal or receive the contraposition signal that apparatus for bending 2 is sent, make the plate 3 that articulated robot 1 adsorbs and apparatus for bending 2
The robotic positioning device 14 positioned；
The welder 9 includes：Jig 91, the arc welding robot 93 of relative position and welding with jig 91
Align inductor 94；
Apparatus for bending 2 includes：Bending tool 21, the Bending Mould being adapted with bending tool 21, bending positioner 22, bending
Rate control module 23；
Bending positioner 22 is used to send contraposition signal to robotic positioning device 14 or receives robotic positioning device
The 14 contraposition signals sent, Bending Mould is positioned with the plate 3 adsorbed, ensure the accuracy of bending line.
Bending rate control module 23 is used for the speed of service for controlling bending tool 21, makes the speed of service of bending tool 21 include
Decrease speed, push speed, raising vector, the rate of climb, the rate conversion point in the case where decrease speed and pushing is set between speed,
Between raising vector and the rate of climb set on rate conversion point, and by lower rate conversion point and upper rate conversion point transmit to
Control device 4；
It is understood that in the present embodiment, operationally, the speed of service includes decrease speed, pushes speed bending tool 21
Degree, raising vector, the rate of climb；
Decrease speed is that bending tool 21 drops down onto the speed of service between the contact position of plate 3 under starting point, or from starting
The speed of service between plate 3 is dropped down onto under point；Push the speed that speed pushes plate 3 for bending tool 21；Raising vector
It is bending tool 21 by after the completion of the bending of plate 3, the speed of upper lift certain altitude, height here is from Bending Mould by plate 3
The height of middle extraction；The rate of climb is that the speed of service of initial position is continued to rise to after lifting certain altitude on bending tool 21.
Decrease speed and push lower rate conversion point is set between speed, rate conversion is set between raising vector and the rate of climb
Point, when running to rate conversion point, to control device transmission speed transfer point signal, control device 4 is set to control corresponding part,
Complete next procedure.
Control device 4 includes：Plate induction module 41, pneumatic jack control module 40, arm feeding control module 39, arm control
Molding block 31, bending tool control module 32, locating module 33, turnover panel rate control module 34, on turn over angle control module 35, speed
Spend receiving module 36, suction control module 37；
Plate induction module 41 is used for the plate induced signal for receiving the transmission of plate inductor 54, and is sensed according to plate and believed
Number, make pneumatic jack control module 40 control gas ejection mechanism to hold locating platform 51；
Pneumatic jack control module 40 is used to control gas ejection mechanism to hold locating platform 51, and is raised portion when locating platform 51
When dividing triggering positioning inductive switch 57, pneumatic jack control module 40 receives the positioning induced signal that positioning inductive switch is sent, and controls
Gas ejection mechanism stops the upper top to locating platform 51；
Arm feeding module 39 is used for should according to the location sense that the reception positioning inductive switch 57 of pneumatic jack control module 40 is sent
Signal, make the plate on the control machinery arm 11 of arm feeding module 39 absorption locating platform 51, and according to positioner and folding
Setting angle between bending apparatus, control machinery arm 11 are swung plate before locating platform 51 delivers to apparatus for bending 2；
Bending tool control module 32 is used for the air-breathing for controlling bending tool 21 to decline and sent according to suction control module 37
Signal, bending tool 21 is set to increase；
Locating module 33 electrically connects with robotic positioning device 14 and bending positioner 22 respectively, for determining when robot
Position device 14 receives the contraposition signal that bending positioner 22 sends or bending positioner 22 receives robot localization dress
When putting the contraposition signal that 14 send, while the contraposition signal or robotic positioning device 14 that bending positioner 22 is sent are sent
Contraposition signal send to locating module 33, and the contraposition signal for making bending tool control module 32 be received according to locating module 33
Control bending tool 21 declines；
Plate 3 is delivered to Bending Mould, robotic positioning device 14 and the realization pair of bending positioner 22 by mechanical arm 11
Position, plate 3 is positioned with Bending Mould, the depressed position and the bending position of plate 3 for making bending tool 21 coincide.If
Robotic positioning device 14 receives the contraposition signal that bending positioner 22 sends or bending positioner 22 receives machine
The contraposition signal that people's positioner 14 is sent, is as positioned successfully, at the same contraposition signal that bending positioner 22 is sent or
The contraposition signal that robotic positioning device 14 is sent is sent to locating module 33, control device 4 is learned that positioning is completed, is made bending
Knife control module 32 controls bending tool 21 to start from initial position to decline with decrease speed.
Turnover panel rate control module 34 and above turn over angle control module 35 and be respectively used to control machinery arm 11 in the folding of plate 3
Speed of service when curved and angle is above turned over, mechanical arm 11 is synchronously followed and attaching plate；
Here mechanical arm 11 synchronously follows and turns over the time on attaching plate to be dropped to bending tool 21 above plate 4
The time of Bending Mould minimum point is equal, so calculate bending tool 21 drops to Bending Mould minimum point above plate 4
Time, when calculating 3 bending of plate on the distance turned over, turned over to calculate away from discrete time from above and turn over angular speed.So
Mechanical arm 11 can be made synchronously to follow and be turned on attaching plate.Speed receiving module 36 be used for receive lower rate conversion point and
Rate conversion point；
Arm control module 31 is run for control machinery arm 11 and when bending tool 21 rises to upper rate conversion point
When, bending rate control module 23 sends upper rate conversion point signal to arm control module 31, controls arm control module 31
Mechanical arm 11 processed moves plate 3, and bending or control machinery arm 11 are carried out to lower one of flanging of plate by plate 3 from bending
Device 2 is extracted out.
By setting lower rate conversion point and upper rate conversion point control device 4 is learned bending tool 21 and mechanical arm 11
Running status.When the bending operation of completion of bending tool 21, and during the supreme rate conversion point of upper lift, bending rate control module
23 send upper rate conversion point signal to arm control module 31, the control machinery arm 11 of arm control module 31 is moved plate
3.If plate 3 also needs to carry out lower one flanging progress bending of the bending operation i.e. to plate；If control machine is completed in bending
Tool arm 11 extracts plate 3 from apparatus for bending 2 out.
Suction control module 37 electrically connects with aspirator 13, and the lower speed for being received according to speed receiving module 36 turns
A signal is changed, control and suck device 13 makes the deflation of Suction cup assembly 12 stop absorption plate 3, and when mechanical arm 11 synchronously follows support
The bending of attached plate material 3 reach setting on when turning over angle, the air-breathing of control and suck device 13, Suction cup assembly 12 is adsorbed plate.
Bending tool 21 starts before being pushed to plate, first passes through lower rate conversion point, what speed receiving module 36 received
Lower rate conversion point signal, control and suck device 13 make the deflation of Suction cup assembly 12 stop absorption plate 3.
In bending process, if Suction cup assembly 12 continues to adsorb plate 3, and the bending of plate 3 is synchronously followed so that in plate
Suction cup assembly 12 can not push holding Complete Synchronization with bending tool 21 during material 3 pushes, between mechanical arm 11 and bending tool
Opposite direction active force will be produced and pull plate 3, cause to deviate position line, the depressed position of bending tool 21 is offset the bending of plate 3
Line, influence bending quality.
It is before bending tool 21 starts to push plate that the present invention, which solves above-mentioned implementation process, first passes through lower speed and turns
Change a little, bending rate control module sends lower rate conversion point signal to speed receiving module 36, and speed receiving module 36 receives
To lower rate conversion point signal, control and suck device 13 makes the deflation of Suction cup assembly 12 stop absorption plate 3, and mechanical arm 11 is being rolled over
In curved process, cater on plate and turn over, play a part of stable plate 3, the process for making plate 3 be pushed all the time according to bending tool 21
On turn over, ensure the depressed position of bending tool 21 do not offset the bending line of plate 3.
Backfin the air-breathing of 37 control and suck device of suction control module 13, inhales Suction cup assembly 12 to after setting bending angle
Attached plate material 3, the inspiration signal that bending tool control module is sent according to suction control module 37, control bending tool 21 rise, bending
Rate control module 23 controls bending tool to rise with raising vector；
It is synchronously to follow the bending of attaching plate 3 according to mechanical arm 11 to aspirate the air-breathing of 37 control and suck device of control module 13
On turn over angle-determining, i.e., mechanical arm 11 synchronously follow turned in the bending of attaching plate 3 reach setting on turn over angle after, suction
The air-breathing of 37 control and suck device of control module 13, plate 3 is held, after postponing a period of time, bending tool 21 is risen with raising vector；
When bending tool 21 rises to upper rate conversion point, bending rate control module 23 is sent to arm control module 31
Upper rate conversion point signal, make the control machinery arm 11 of arm control module 31 movement plate to lower one of flanging carry out bending or
Control machinery arm extracts plate from apparatus for bending out.
By said process, articulated robot 1 can be engaged according to the process of bending with apparatus for bending 2, and in bending
During follow in high precision, avoid plate 3 from sending deviation folding line in bending process so that articulated robot 1 and apparatus for bending 2
Being capable of good teamwork.And in bending process, articulated robot 1 can aid in attaching plate, make bending process plate steady,
Reduce manual operation, improve the operating efficiency of bending.In whole bending process, operating personnel simply enter the related ginseng of bending
Number, cooperated between articulated robot 1 and apparatus for bending 2 and complete bending operation.
The welding contraposition induction module 83 is used to receive the signal that welding contraposition inductor 94 is sent, and makes the arm control
Molding block controls the mechanical arm 11 that plate is placed on jig 91；
The arc-welding control module 81 is used to control the arc welding robot 93 to weld the plate after bending.
In the present embodiment, refer to shown in Fig. 5, the jig 91 is provided with welding positioning inductor 92 and clamped
Device 95；Welding positioning inductor 92 is used for whether disposing the plate after bending on induction welding platform 91；
The control device 4 includes：Weld positioning control module 84 and clamp control module 85；The welding location control
Module 84 electrically connects with welding positioning inductor 92, and the welding positioning control module 84 is used to receive welding positioning inductor 92
Induced signal；The clamping control module 85 is used to receive welding positioning inductor according to the welding positioning control module 84
92 induced signal, control clamping device 95 are clamped to plate.
After bending, the plate after bending is transported on jig 91 plate of fire hydrant cabinet by articulated robot 1, weldering
Connect and the plate after bending is disposed on the induction welding platform 91 of positioning inductor 92, clamping device 95 presss from both sides to the plate after bending
Tightly, welded after clamping.
The control device 4 also includes：Jig index module 86, welding position setting module 87；
The jig index module 86 is used to make jig 91 generate two-dimensional coordinate system；The welding position setting
Module 87 is used for the welding position that plate after bending is set according to the two-dimensional coordinate system of generation, arc-welding control module 81 is controlled arc
Weldering robot 93 welds to the plate after bending.
In order that arc welding robot 93 can accurately find the welding position of plate after bending, jig index module
86 make jig 91 form two-dimensional coordinate system；User is by the welding position setting module 87 of control device 4, according to generation
The welding position of plate after two-dimensional coordinate system setting bending, after making arc-welding control module 81 control arc welding robot 93 to bending
Plate is welded.Arc welding robot 93 welds according to the minimal path of traveling to plate.
In the present embodiment, in addition to：Handling device；
Handling device includes：Suction plate component 56, transmission mechanism 63 and first level sensor 59；
Transmission mechanism 63 is connected with suction plate component 56, and for driving suction plate component 56 to run, it is flat that plate is transported into positioning
On platform 51；
Control device 4 includes：Displacement setting module 42 and with door module 43；
Displacement setting module 42 is used to set just the distance between level sensor 59 and locating platform 51, makes suction disc group
After part 56 adsorbs plate, according to the distance of setting, plate is transported on locating platform 51 by the first position of level sensor 59；
Plate induction module 41 and first level sensor 59 electrically connect with the input of door module 43, with the output end of door module 43
Electrically connected with pneumatic jack control module 40, the plate for receiving the transmission of plate inductor 54 when plate induction module 41 senses letter
Number, and transmission mechanism 63 drives suction plate component 56 to be moved to initial position, when triggering just level sensor 59, with door module 43 to
Pneumatic jack control module 40 sends pneumatic jack control signal, and gas ejection mechanism holds locating platform 51.
So, transmission mechanism 63 drives suction plate component 56 to be moved to initial position, triggers just level sensor 59, gas ejection mechanism
Locating platform 51 is just held, prevents from mutually colliding between locating platform and suction plate component 56, and suction plate component 56 is moved to just
Beginning position, be easy to the beginning of next suction disc fortune plate, improve the efficiency of suction disc fortune plate.Suction plate component 56 is using sucker suction plate 3.
In the present embodiment, positioner 5 includes：Retaining mechanism 58；
Gas ejection mechanism 59 includes：Two pneumatic jack posts being connected with locating platform 51 and swingable support frame, connect with pneumatic jack post
Logical supply module and the magnetic valve for controlling supply module to be supplied to pneumatic jack post, magnetic valve electrically connect with control device；
Gas ejection mechanism includes：Two pneumatic jack posts and swingable support frame, swingable support frame are arranged on locating platform bottom
Diagonal on, diagonal passes through orientation angle 52.
Pneumatic jack post is so arranged on to two corner positions closed on orientation angle 52, is distributed with orientation angle 52 in diagonal
Drift angle be not provided with pneumatic jack post；When the lifting of pneumatic jack post, two drift angles closed on orientation angle 52 are jacked up, while swingable support
Orientation angle 52 is rocked to the extreme lower position of locating platform 51 by frame.
Refer to shown in Fig. 8, for two of formation orientation angle 52 while to position, two pneumatic jack posts 61 are arranged on two here
The position beyond side is positioned, i.e., draws straight line along two pneumatic jack posts 61,52a regions is formed and 52b regions, orientation angle 52 is set
Put in 52a regions.The area in 52a regions is more than the area in 52b regions.The position that two such pneumatic jack post 61 is set, draw one
Straight line 51a, the area for forming 52a regions are more than the area in 52b regions, when on plate placement positioning platform 51, due to 52a regions
Area of sheet metal be more than the area of sheet metal in 52b regions, locating platform 51 tilts to orientation angle 52, orientation angle 52 is rocked to positioning
The extreme lower position of platform 51.When locating platform 51 be raised part triggering positioning inductive switch 57 when, pneumatic jack control module control
Gas ejection mechanism processed is out of service；
Retaining mechanism 58 includes：Locking latch and bolt driving part；Bolt driving part electrically connects with positioning inductive switch 57,
For being risen when locating platform 51 by pneumatic jack post, after triggering positioning inductive switch 57, bolt driving part control locking latch pair
Hold locking in pneumatic jack capital；
The surface of locating platform 51 is provided with roller 55, and roller 55 can be such that plate 3 slides at orientation angle 52.
The strip grooves of the accommodating alignment pin are respectively provided with two adjacent sides of the orientation angle；
The locating platform, which is provided with, to be used to drive the alignment pin to move along strip grooves flute length direction in the strip grooves
Positioning pin drive mechanism that is dynamic and being lifted along groove depth direction；The positioning pin drive mechanism is electrically connected with the control device
Connect, for making the control device control the alignment pin to be moved in the strip grooves.
The present invention carries out the positioning of plate using following manner.Specifically, the bending positioner is described to be arranged on
Several Image Location blocks on apparatus for bending, the Image Location block is in certain regularly arranged；
The robotic positioning device is photographic unit, and the robotic positioning device is provided with Image Location block spread configuration
Module；
The Image Location block spread configuration module is used to set positioning base according to the queueing discipline of the Image Location block
Standard, and positioning datum is transferred to the locating module；
The photographic unit is used to shoot the Image Location block, and by the image transmitting of the Image Location block of shooting
To the locating module
The locating module is used for the image of the Image Location block of shooting and the Image Location block of setting
Queueing discipline is compared, and according to the queueing discipline of the image of the Image Location block and the Image Location block of setting it
Between difference, the arm control module is controlled the mechanical arm adjustment position, make the Image Location block of shooting
The queueing discipline of the Image Location block of the image with setting mutually is unified.
Except using above-mentioned positioning method, the present invention can also use the positioning of following manner progress plate.
Specifically, control device also includes：Position setting module, positioning comparison module, position receiver module；
Positioning setting module is used to store the image of plate according to localization criteria placement on the positioning device；
Robotic positioning device is provided with the photographic unit electrically connected with control device；Photographic unit be used for articulated robot from
Before positioner absorption plate, the plate on positioner is shot, and the plate positioning image of shooting is sent to fixed
Position receiving module；
Position comparison module to be used to the plate of reception positioning image compared with the plate placement image of standard, when connecing
When size difference be present in the plate positioning image of receipts and the plate placement image of standard, the adjustment of arm control module control machinery arm
Position, make the plate positioning image of the reception of shooting consistent with the plate placement image of standard.
In the present embodiment, Suction cup assembly 12 includes：The appearance air cavity plate being connected with aspirator, it is arranged on and holds air cavity plate
On, the several suckers and quantity and sucker identical magnetic valve that are connected with holding air cavity plate；Magnetic valve be arranged on hold air cavity plate with
Between sucker, the absorption or release of sucker are controlled；Magnetic valve electrically connects with suction control module 37, for making suction control module
37 control magnetic valves are turned on and off.
In order to more rapidly make Suction cup assembly 12 die or air-breathing, electromagnetism is being set between air cavity plate and sucker holding
Valve, suction control module 37 control magnetic valve to be turned on and off realizing that Suction cup assembly 12 is died or air-breathing, inhaled so as to reach control
The effect of plate and deals, so control much sooner, accurately, ensure the quality of bending.
In the present embodiment, apparatus for bending 2 also includes：Bending angle setting module；Control device 4 also includes：On turn over angle
Convert module；Bending angle setting module electrically connects with control device 4, for setting the bending angle of plate bending, and will folding
Bending angle is transferred to control device；
On turn over angle conversion module be used for according to turned on formula angle=（180- bending angles）/ 2, calculate mechanical arm
11 angles for synchronously following and being turned on attaching plate.
In the present embodiment, refer to shown in Fig. 6 and Fig. 7, control device 4 also includes：Bending setting module, plate coordinate system
Generation module, bending perform a secondary module；
Bending setting module is used to set the angle of plate bending, the datum mark of plate bending, flanging, flanging spacing；Plate
Expect that coordinate system generation module is used for the datum mark, flanging, flanging spacing of the plate bending according to the setting of bending setting module, rolling over
Bending coordinate system is established on bent plate material；Bending performs the bending that a secondary module is used to generate according to plate coordinate system generation module and sat
Mark system, control machinery arm send plate, and bending tool pushes bending.
Bending setting module sets the angle N, the datum mark O of plate bending, flanging a1, a2, a3, b1 of plate bending, folding
Side spacing A1, A2, A3, B1.
Between the datum mark of the plate bending that plate coordinate system generation module is set according to bending setting module, flanging, flanging
Away from establishing bending coordinate system as shown in Figure 3 on bending plate.
Bending performs the bending coordinate system that a secondary module is used to generate according to plate coordinate system generation module, control machinery hand
Arm send plate, and bending tool pushes bending, and bending order from a3, a2, a1, after having rolled over, takes out plate 3. successively
In order to continue to roll over b1 sides, control device 4 also includes：Mechanical arm rotary module, bending perform secondary module；
Mechanical arm rotary module rotates for control machinery arm 11；Bending performs secondary module and is used for when setting plate
At least two Edge Bend when, the bending coordinate system that is generated according to plate coordinate system generation module, bending performs a secondary module to the
After one Edge Bend, the rotation of mechanical arm rotary module control machinery arm, the side of plate second is set to be directed at apparatus for bending, and in bending
Perform under secondary module, control machinery arm 11 send plate, and bending tool 21 pushes bending.
After conduplication side a1, a2, a3 bending, mechanical arm rotary module control machinery arm 11 is rotated to flanging b1, machinery
Arm 11 send plate bending tool 21 to push conduplication side b1 and carries out bending.
After the rotation of mechanical arm rotary module control machinery arm 11, if necessary to secondary positioning, then according to above-mentioned mistake
Journey is repositioned and carries out bending operation again.If plate 3 is quadrangle, after one-time positioning, it is not necessary to secondary positioning again, machine
Tool arm rotary module control machinery arm 11 rotates, and keeps the position of mechanical arm 11 motionless, precision will not be impacted.
The preparation method of the present invention includes：Suction plate component draws plate, according to the first level sensor and locating platform of setting
The distance between, plate is transported on locating platform by transmission mechanism driving suction plate component；
Plate induction module receives the plate induced signal that plate inductor is sent, and transmission mechanism driving suction plate component
Initial position is moved to, when triggering just level sensor, pneumatic jack control signal is sent to pneumatic jack control module with door module, makes pneumatic jack
Control module control gas ejection mechanism holds locating platform；
Solenoid valve control supplies module and holds locating platform to pneumatic jack post supply, orientation angle is in the minimum of locating platform
Position, plate are slid to orientation angle in the presence of self gravitation, by the blocking of alignment pin, when being raised for locating platform
During the triggering positioning inductive switch of part, pneumatic jack control module control gas ejection mechanism is out of service；
Arm feeding module receives the positioning induced signal for positioning inductive switch and sending according to pneumatic jack control module, makes arm
Plate on feeding module control machinery arm absorption locating platform, and according to the setting angle between positioner and apparatus for bending
Degree, control machinery arms swing is by plate before locating platform delivers to apparatus for bending；
Robotic positioning device receives the contraposition signal that bending positioner sends or bending positioner receives machine
The contraposition signal that device people's positioner is sent, while contraposition signal or the robotic positioning device hair that bending positioner is sent
The contraposition signal gone out is sent to locating module；
Locating module declines bending tool control module control bending tool, bending speed according to the contraposition signal received
Control module control bending tool is fallen with decrease speed；
When bending tool drops to lower rate conversion point, bending rate control module sends lower speed to speed receiving module
Degree transfer point signal, the lower rate conversion point signal that suction control module receives according to speed receiving module, control and suck device,
Suction cup assembly is deflated and stop absorption plate；
Bending rate control module controls bending tool, and to push speed backfin plate, backfin is to bending angle is set, simultaneously
Mechanical arm synchronously follows attaching plate bending, reach setting on turn over angle；
Backfin aspirates control module control and suck device air-breathing to after setting bending angle, Suction cup assembly is adsorbed plate,
The inspiration signal that bending tool control module is sent according to suction control module, control bending tool rise, bending rate control module
Control bending tool is risen with raising vector；
When bending tool rises to upper rate conversion point, bending rate control module sends upper speed to arm control module
Transfer point signal, arm control module control machinery arm movable plate material is set to carry out bending or control machinery arm to next flanging
Plate is extracted out from apparatus for bending.
Plate after bending is transported on jig by articulated robot, is welded on positioning inductor induction welding platform
The plate after bending is disposed, clamping device is clamped to the plate after bending, welded after clamping.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, identical similar portion refers to mutually between each embodiment.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (7)
- A kind of 1. manufacturing system of fire hydrant cabinet, it is characterised in that including：Apparatus for bending, articulated robot, positioner, welding Device and respectively with the apparatus for bending, the articulated robot, the positioner, welder communicate to connect, be used for Control apparatus for bending, articulated robot, positioner, the control device of welder operation；The positioner includes：Positioning base, the locating platform being arranged on the positioning base, is arranged on locating platform The positioning inductive switch of side；The positioning base, which is provided with, to be used to hold the locating platform, changes the locating platform height Gas ejection mechanism；The locating platform is rectangular configuration, and the right angle that locating platform is in extreme lower position is orientation angle, with orientation angle Several alignment pins are respectively equipped with two adjacent sides；The locating platform is provided with to be fallen to put the positioning for sensing plate The plate inductor of platform；The articulated robot includes：Mechanical arm, set on the mechanical arm, for adsorbing the Suction cup assembly of plate, with Suction cup assembly connection, for making Suction cup assembly produce the aspirator of negative-pressure adsorption plate, for the apparatus for bending Send contraposition signal or receive the contraposition signal that the apparatus for bending is sent, make the plate of the articulated robot absorption with it is described The robotic positioning device that apparatus for bending is positioned；The apparatus for bending includes：Bending tool, the Bending Mould being adapted with the bending tool, bending positioner, bending speed Spend control module；The bending positioner is used to send contraposition signal to the robotic positioning device or receives the robot localization The contraposition signal that device is sent, the Bending Mould is set to be positioned with the plate adsorbed；The bending rate control module is used for the speed of service for controlling the bending tool, makes the speed of service bag of the bending tool Include decrease speed, push speed, raising vector, the rate of climb, and speed turns in the case where decrease speed and pushing is set between speed Change a little, rate conversion point is set between raising vector and the rate of climb, and by the lower rate conversion point and the upper speed Degree transfer point is transmitted to the control device；The welder includes：Jig, the arc welding robot of position relative with jig and welding contraposition inductor；The control device includes：Plate induction module, pneumatic jack control module, arm feeding module, arm control module, bending Knife control module, locating module, turnover panel rate control module, on turn over angle control module, speed receiving module, suction control mould Block, arc-welding control module, welding contraposition induction module；The plate induction module is used for the plate induced signal for receiving the transmission of plate inductor, and according to plate induced signal, Pneumatic jack control module control gas ejection mechanism is set to hold locating platform；The pneumatic jack control module is used to control gas ejection mechanism to hold locating platform, and is raised part triggering when locating platform When positioning inductive switch, the pneumatic jack control module receives the positioning induced signal that positioning inductive switch is sent, and controls pneumatic jack machine Structure stops the upper top to locating platform；The arm feeding module is used to be believed according to the location sense that pneumatic jack control module reception positioning inductive switch is sent Number, make the arm feeding module control the mechanical arm to adsorb the plate on the locating platform, and according to the positioning Setting angle between device and the apparatus for bending, control the mechanical arm to swing and plate is delivered into bending from locating platform Before device；The bending tool control module is used for the suction for controlling the bending tool to decline and sent according to the suction control module Gas signal, the bending tool is set to increase；The locating module electrically connects with the robotic positioning device and the bending positioner respectively, for when the machine Device people's positioner receives the contraposition signal that the bending positioner sends or the bending positioner receive it is described During the contraposition signal that robotic positioning device is sent, while the contraposition signal that the bending positioner is sent or the machine The contraposition signal that people's positioner is sent is sent to the locating module, and makes the bending tool control module according to the positioning The contraposition signal that module receives controls the bending tool to decline；The turnover panel rate control module and it is described on turn over angle control module and be respectively used to control the mechanical arm in plate Speed of service during bending and angle is above turned over, the mechanical arm is synchronously followed and attaching plate；The speed receiving module is used to receive the lower rate conversion point and the upper rate conversion point；The arm control module is used to control the mechanical arm to run and when the bending tool rises to upper rate conversion During point, the bending rate control module sends upper rate conversion point signal to the arm control module, makes the arm control Molding block controls the mechanical arm movement plate, carries out bending to lower one of flanging of plate or the control mechanical arm will Plate is extracted out from the apparatus for bending；It is described suction control module electrically connected with the aspirator, for according to the speed receiving module receive it is described under Rate conversion point signal, control the aspirator Suction cup assembly is deflated and stop absorption plate, and work as the manipulator Arm synchronously follow attaching plate bending reach setting on when turning over angle, control the aspirator air-breathing, make the sucker group Part adsorbs plate；The welding contraposition induction module is used to receive the signal that welding contraposition inductor is sent, and makes the arm control module control Make the mechanical arm plate is placed on jig；The arc-welding control module is used to control the arc welding robot to weld the plate after bending；The jig is provided with welding positioning inductor and clamping device；Welding positioning inductor is used for whether disposing the plate after bending on induction welding platform；The control device includes：Weld positioning control module and clamp control module；The welding positioning control module is electrically connected with welding positioning inductor, and the welding positioning control module, which is used to receive, to be welded Connect the induced signal of positioning inductor；The induced signal for clamping control module and being used to receive welding positioning inductor according to the welding positioning control module, Control clamping device is clamped to plate；The control device also includes：Jig index module, welding position setting module；The jig index module is used to make jig generate two-dimensional coordinate system；The welding position setting module is used for the welding position that plate after bending is set according to the two-dimensional coordinate system of generation, makes arc Weldering control module control arc welding robot welds to the plate after bending；The bending positioner is several Image Location blocks being arranged on the apparatus for bending, and the Image Location block is in It is certain regularly arranged；The robotic positioning device is photographic unit, and the robotic positioning device is provided with Image Location block spread configuration mould Block；The Image Location block spread configuration module is used to set positioning datum according to the queueing discipline of the Image Location block, and Positioning datum is transferred to the locating module；The photographic unit is used to shoot the Image Location block, and by the image transmitting of the Image Location block of shooting to institute State locating module；The locating module is used for the arrangement by the image of the Image Location block of shooting and the Image Location block of setting Rule is compared, and according between the queueing discipline of the image of the Image Location block and the Image Location block of setting Difference, the arm control module is controlled the mechanical arm adjustment position, make the image of the Image Location block of shooting Mutually unify with the queueing discipline of the Image Location block of setting.
- 2. the manufacturing system of fire hydrant cabinet according to claim 1, it is characterised in thatHandling device includes：Suction plate component, transmission mechanism and first level sensor；The transmission mechanism is connected with the suction plate component, for driving the suction plate component to run, plate is transported to described On locating platform；The control device includes：Displacement setting module and with door module；The displacement setting module is used to set just the distance between level sensor and locating platform, adsorbs suction plate component After plate, according to the distance of setting, plate is transported on the locating platform by initial position sensing station；The plate induction module and first level sensor electrically connect with door module input, with door module output end and the gas Control module electrical connection is pushed up, for receiving the plate induced signal of plate inductor transmission when the plate induction module, and Transmission mechanism drives the suction plate component to be moved to initial position, when triggering just level sensor, with door module to the pneumatic jack control Molding block sends pneumatic jack control signal, pneumatic jack control module control gas ejection mechanism is held locating platform.
- 3. the manufacturing system of fire hydrant cabinet according to claim 2, it is characterised in thatPositioner includes：Retaining mechanism；Gas ejection mechanism includes：Two pneumatic jack posts being connected with locating platform and swingable support frame, the supply connected with pneumatic jack post Module and the magnetic valve for controlling supply module to be supplied to pneumatic jack post, the magnetic valve electrically connect with the control device；Swingable support frame is arranged on the diagonal of locating platform bottom, and the diagonal passes through the orientation angle；The retaining mechanism includes：Locking latch and bolt driving part；The bolt driving part electrically connects with the positioning inductive switch, for being risen when locating platform by pneumatic jack post, triggering After the positioning inductive switch, the bolt driving part controls the locking latch to hold locking to the pneumatic jack capital；The strip grooves of the accommodating alignment pin are respectively provided with two adjacent sides of the orientation angle；The locating platform be provided be used for drive the alignment pin in the strip grooves along strip grooves flute length direction move with And the positioning pin drive mechanism lifted along groove depth direction；The positioning pin drive mechanism electrically connects with the control device, for making the control device control the alignment pin to exist Moved in the strip grooves；The locating platform surface is provided with roller.
- 4. the manufacturing system of fire hydrant cabinet according to claim 1, it is characterised in thatThe control device also includes：Position setting module, positioning comparison module, position receiver module；The positioning setting module is used to store the image of plate according to localization criteria placement on the positioning device；The robotic positioning device is provided with the photographic unit electrically connected with the control device；The photographic unit is used for described Articulated robot is shot before the positioner adsorbs plate to the plate on positioner, and by the plate of shooting Positioning image is sent to the position receiver module；The positioning comparison module is used to the plate of reception positioning image compared with the plate placement image of standard, when connecing When size difference be present in the plate positioning image of receipts and the plate placement image of standard, the arm control module control machinery arm Adjustment position, make the plate positioning image of the reception of shooting consistent with the plate placement image of standard.
- 5. the manufacturing system of fire hydrant cabinet according to claim 1, it is characterised in thatThe apparatus for bending also includes：Bending angle setting module；The control device also includes：On turn over angle conversion module；The bending angle setting module electrically connects with the control device, for setting the bending angle of plate bending, and will The bending angle is transferred to the control device；Turned on described angle conversion module be used for according to turned on formula angle=（180- bending angles）/ 2, calculate the machinery The angle that arm is synchronously followed and turned on attaching plate.
- 6. the manufacturing system of fire hydrant cabinet according to claim 1, it is characterised in thatThe control device also includes：Bending setting module, plate coordinate system generation module, bending perform a secondary module；The bending setting module is used to set the angle of plate bending, the datum mark of plate bending, flanging, flanging spacing；The plate coordinate system generation module is used for the datum mark of the plate bending set according to the bending setting module, folding Side, flanging spacing, establish bending coordinate system on bending plate；The bending performs the bending coordinate system that a secondary module is used to generate according to the plate coordinate system generation module, controls institute State mechanical arm and send plate, the bending tool pushes bending.
- 7. the manufacturing system of fire hydrant cabinet according to claim 6, it is characterised in thatThe control device also includes：Mechanical arm rotary module, bending perform secondary module；The mechanical arm rotary module is used to control the mechanical arm to rotate；The bending performs secondary module and is used to, when setting at least two Edge Bend of plate, be generated according to the plate coordinate system The bending coordinate system of module generation, after the bending performs a secondary module to the first Edge Bend, the mechanical arm rotary module Control the mechanical arm to rotate, the side of plate second is directed at apparatus for bending, and in the case where the bending performs secondary module, control The mechanical arm send plate, and the bending tool pushes bending.
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| CN201510652709.4A CN105149950B (en) | 2015-10-10 | 2015-10-10 | A kind of manufacturing system of fire hydrant cabinet |
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| CN201510652709.4A CN105149950B (en) | 2015-10-10 | 2015-10-10 | A kind of manufacturing system of fire hydrant cabinet |
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| CN105149950B true CN105149950B (en) | 2018-03-20 |
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| CN105999603A (en) * | 2016-07-13 | 2016-10-12 | 太仓希拓自动化设备有限公司 | Environment-friendly fire-hydrant cabinet and production technology thereof |
| CN108381178B (en) * | 2018-05-04 | 2023-11-14 | 苏州沃特维自动化系统有限公司 | Welding and bending integrated machine |
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| CN101572029B (en) * | 2008-04-28 | 2012-01-25 | 鸿富锦精密工业（深圳）有限公司 | System and method for simulating robot plate bending |
| KR101468868B1 (en) * | 2012-12-21 | 2014-12-05 | (주)지엔에스쏠리텍 | Multi-step process press system |
| CN203092125U (en) * | 2013-01-29 | 2013-07-31 | 上海卡邦电气有限公司 | Automatic equipment cabinet producing device |
| CN203184372U (en) * | 2013-02-04 | 2013-09-11 | 北京睿鸿基机械设备有限责任公司 | Automatic robot bending system |
| CN203529443U (en) * | 2013-10-22 | 2014-04-09 | 创美工艺(常熟)有限公司 | Manipulator handling system |
| CN104625499A (en) * | 2014-12-23 | 2015-05-20 | 苏州傲鹏机械有限公司 | Automatic induction welding head and automatic induction welding method |
| DE202015100339U1 (en) * | 2015-01-26 | 2015-02-16 | Kuka Systems Gmbh | folding device |
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