CN105537987A - Robot intelligent tooling system - Google Patents
Robot intelligent tooling system Download PDFInfo
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- CN105537987A CN105537987A CN201610099767.3A CN201610099767A CN105537987A CN 105537987 A CN105537987 A CN 105537987A CN 201610099767 A CN201610099767 A CN 201610099767A CN 105537987 A CN105537987 A CN 105537987A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2240/00—Machine tools specially suited for a specific kind of workpiece
- B23Q2240/005—Flexible, deformable workpieces
Abstract
The invention discloses a robot intelligent tooling system characterized in that the whole system comprises base parts, moving beam parts, sliding saddle parts, telescopic units, universal vacuum suction heads, left and right robots, and control computers. Under the control of the computers, the robots realize accurate abut jointing of the moving beam parts through abut jointing mechanism, do synchronous movement together in X direction for adjustment in place, and then realize locking of the moving beam parts to the base parts through locking mechanism; meanwhile, after big arms of robot master manipulators are rotated to horizontal positions, small arms are stretched out sequentially, palm are moved, fingers are stretched out to hold telescopic units fixed on the sliding saddle parts to enable the movement in Y direction to be adjusted in place, then Z direction movement of the telescopic units are adjusted, and finally the universal vacuum suction heads fixed on telescopic columns form curved shapes for supporting thin-walled curved parts. The robot intelligent tooling system is used for processing of different parts, so as to greatly improve the manufacturing flexibility.
Description
Technical field
The present invention relates to a kind of intelligent robot fixture system for the processing of aircraft thin-wall curved-surface part, belong to manufacturing engineering technical field, be specifically related to the flexible technology equipment technology that aircraft skin manufactures.
Background technology
The a great problem of Aeronautics and Astronautics manufacture is: during technique that the large-scale covering of aircraft adopts " first shaping aft-loaded airfoil ", semi-finished product after shaping are the Thin Elastic wall pieces of rigidity extreme difference and its surface profile is free form surface, traditional principle of six-point fixing for rigid body and corresponding equipment Technology can not be suitable for the high-efficiency high-accuracy processing of this kind of part, have a strong impact on product final assemble quality and efficiency thus.In the face of this problem, must further research new for elastomeric curved surface localization method and involved key technology.
Under elastomer curved surface localizing environment, workpiece will contact with curved surface with frock, the location of frock, supporting and clamping (fixing) function will combine together, the position of workpiece in processing space and attitude can not only lean on six anchor points to determine, and need be determined by whole location/supporting curved surface.Therefore, for realizing the processing of elastic surface class part according to elastomer curved surface positioning principle, first must solve and how generate location/this key issue of supporting curved surface.This solves by rigidity and flexible two approach.Rigidity approach need process the location corresponding with surface of the work (curved surface)/supporting curved surface by means such as machinings in frock, realizes the location of workpiece, supporting and processing thus.Because the tool locating/supporting curved surface obtained by this does not have changeability, therefore a kind of frock can only be used for a kind of part, thus significantly will reduce manufacturing flexible.In contrast, flexible approach is then dynamically generate required tool locating/supporting curved surface by means such as manually adjustment, automatically control, and therefore a kind of frock is used for the processing of different part, thus has increased substantially manufacturing flexible.
Realize flexible approach, the fast automatic generation method of tool locating/supporting curved surface and relevant technology realization must be solved.
Although existing assembled tool can according to the design and processes requirement of skin-surface profile, corresponding tool locating/supporting curved surface is obtained by manually adjusting, there is certain flexibility, but this kind of frock needs manual operation, not only debug loaded down with trivial details, low precision, efficiency are low, labour intensity is large, and to staff's technical merit require high.These defects make assembled tool be difficult to meet the efficient high accurately machined requirement of aircraft thin-wall curved-surface part.
On the other hand, although the flexible frock of automation can be formed by all-electric pointwise drive scheme, but due to location, the supporting One's name is legion (dozens of is to hundreds of) of aircraft thin-wall curved-surface part machining need, the link causing needs to carry out driving and controlling thus will up to more than hundreds of, this just makes to realize flexible frock according to all-electric drive scheme will make the structure of whole fixture system too complicated, not only design, manufacture, drive, to control difficulty large, and cost is too high, be difficult to the actual demand meeting aerospace vehicle manufacturing enterprise.In addition, this scheme also exist location, supporting link volume large, be difficult to ensure in effective range, arrange more location, supporting-point, to improve supporting density and the support stiffness of thin-wall curved-surface workpiece, thus reduce the problem such as workpiece deformation, raising machining accuracy.
Summary of the invention
The object of the invention is to the deficiency for existing equipment Technology, pass through technological innovation, there is provided a kind of can according to the CAD/CAM information of workpiece, accurately realize the location of the large-scale covering of aircraft, supporting and fixing novel robot intelligent fixture system fast, thus realize new " first shaping aft-loaded airfoil " technique, effectively improve working (machining) efficiency and the crudy of aircraft thin-wall curved-surface part.
The invention is characterized in: this system is a kind of intelligent robot fixture system for the processing of aircraft thin-wall curved-surface part, contain: base component, dynamic beam parts, slide saddle member, telescopic unit, universal vacuum cups, left robot, right robot, and computer for controlling, wherein:
Base component, that the precise guide rail of being installed by I shape pedestal and both sides and tooth bar are formed, under the control laying respectively in left and right robot two computer for controlling, I servomotor in each robot is by a gear-tooth article formula transmission mechanism, each robot is driven to be synchronized with the movement in described precise guide rail, described gear is coaxial with this I servomotor, and tooth bar is then on base component;
Dynamic beam parts, have multiple, its main body is I shape crossbeam, docking pin is equipped with at crossbeam two ends, retaining mechanism is equipped with in bottom, two ends, this retaining mechanism is by leading screw, nut skewback, locking skewback and fixing locking bed is formed with crossbeam, and to slide on base component perpendicular to the direction of described precise guide rail, and move along the direction being parallel to precise guide rail; A dynamic beam lock interface is had at the side lower of this dynamic beam part side to robot, the locking manipulator of confession robot is from horizontal direction insertion and with screw turns, rotating nut skewback along with leading screw moves and then promotes the locking skewback at dynamic beam parts and base component interface place, and the most dynamic beam parts are locked on base component; In this dynamic beam part side to the side surface upper part of robot, described docking pin is housed, forked type interfacing manipulators for this robot inserts from horizontal direction, makes robot and dynamic beam parts realize Dock With Precision Position, being synchronized with the movement of robot is changed into the synchronous driving of dynamic beam parts;
Slide saddle member, have multiple, slide on each dynamic beam parts respectively, containing upper saddle, lower slider, saddle oil box, lower oil circuit, and share a set of hydraulic mechanism with telescopic unit, this hydraulic mechanism contains: hydraulic electric motor, hydraulic screw rod, hydraulic nut, hydraulic piston, hydraulic jack, this hydraulic electric motor is coaxially connected with hydraulic screw rod, this hydraulic nut is connected with hydraulic screw rod coaxial threaded, hydraulic piston is fixed on hydraulic nut, hydraulic piston slides in hydraulic jack, lower oil circuit one end communicates with hydraulic jack, the other end communicates with saddle oil box, described saddle oil box is positioned at the interface place of slide saddle member and dynamic beam parts, hydraulic electric motor drives hydraulic piston movement by hydraulic screw rod and hydraulic nut, be sent in saddle oil box by lower oil circuit there is the hydraulic oil of certain pressure again, saddle oil box is expanded, thus slide saddle member is locked on dynamic beam parts,
Telescopic unit, have multiple, be fixed on coaxially on slide saddle member respectively, contain: pilot sleeve, telescopic mast, flexible oil box, upper oil circuit, flexible leading screw-flexible pair of nut, upper and lower supporting seat, telescope motor, little profile of tooth belt wheel, cog belt, large profile of tooth belt wheel, hydraulic mechanism, be equipped with inside pilot sleeve one, lower support seat, and flexible leading screw is positioned at, between lower support seat, flexible nut is connected with flexible threads of lead screw coaxially, and be fixed on telescopic mast, and telescopic mast can slide up and down in pilot sleeve, another lower inside of pilot sleeve is equipped with telescope motor, the axle of telescope motor is filled with coaxially little profile of tooth belt wheel, the large profile of tooth belt wheel being connected to flexible leading screw one end is coaxially engaged in by cog belt, little profile of tooth belt wheel, cog belt, large profile of tooth belt wheel constitutes cog belt wheel drive mechanism, and hydraulic mechanism is housed on the top of this side, this hydraulic mechanism and slide saddle member share, upper oil circuit one end communicates with hydraulic jack, the other end communicates with flexible oil box, flexible oil box is positioned at the interface place of described pilot sleeve and telescopic mast, under described computer for controlling controls, telescope motor turns over the angle of setting, telescopic mast can be made to produce corresponding displacement, after telescopic mast moves into place, equally under control of the computer, hydraulic electric motor in hydraulic mechanism makes hydraulic piston movement by hydraulic screw rod and hydraulic nut, hydraulic oil is pressurizeed, be sent in flexible oil box by upper oil circuit there is the hydraulic oil of certain pressure again, flexible oil box is expanded, thus telescopic mast to be locked in pilot sleeve on some positions,
Universal vacuum cups, is located by alignment pin by detachable apparatus and is fixed on the telescopic mast of telescopic unit;
Left, right robot, at the lower surface with guide rail contact, be equipped with four slide blocks and with tooth bar meshed gears, this gear is coaxial with I servomotor, under the driving of described I servomotor, X-direction motion done by guide rail on Robot base component, in the side in the face of dynamic beam parts, be equipped with respectively from top to bottom and drive telescopic interfacing manipulators and locking manipulator by motor, complete robot respectively to the docking of dynamic beam parts and locking, at the anterolateral surface of robot, master manipulator is housed, by large arm, forearm, palm, finger composition, wherein large arm is by just, reverse motors passes through gear drive, forearm is enclosed within large arm slidably, by II driven by servomotor feed screw nut, forearm is made to make reciprocal telescopic movement, palm slides over again in forearm, driven by feed screw nut by III servomotor, finger is positioned on palm, finger is made to do stretching perpendicular to palm moving direction by IV servomotor by gear drive, thus realize grasping movement, under described computer for controlling controls, large arm first rotates to Y-direction, stretch out forearm again, palm in forearm is moved to and wishes near the adjustment slide saddle member of position and telescopic unit, the palm in forearm and finger is made to aim at telescopic unit, the telescopic unit on slide saddle member is caught again by finger, telescopic unit is moved on the position that Y-direction specifies together with slide saddle member.
The present invention has following remarkable advantage and effect:
1. in fixture system, the main movement of each dynamic beam and saddle is achieved by Dual-robot coordination driving, significantly simplifies the frame for movement of fixture system, reduces the complexity of drive system, effectively reduces exploitation and the manufacturing cost of whole fixture system.
2. the drive link owing to adopting robot centralized driving to instead of substantial amounts, the volume of beam and each unit of saddle system is significantly reduced, thus is conducive to improving supporting density, improve the support stiffness to thin-wall curved-surface workpiece, reduce machining deformation, improve machining accuracy.
3., owing to simplifying mechanical system structure and the driving system structure of fixture system, be not only conducive to the reliability improving whole system, and regular maintenance is simplified, thus effectively reduce application cost.
4. fixture system adopts modular construction, has very strong extensibility.Increase the quantity of dynamic beam, saddle and telescopic unit, the requirement of larger work pieces process can be adapted to.
5. computer technology, Robotics, precise flange technology and mechanical technique are combined closely, realize the intelligentized control method of large-scale complex thin-wall curved surface part fixture system operation.
6. this fixture system supports by the discrete unit of One's name is legion the envelope that (little patch) formed and forms the location/supporting curved surface matched with surface of the work geometry, because the position of each unit bearing is all controlled by computer and robot and drives, enable system according to the curved-surface shape of aircraft skin quick self-adapted build required location/supporting enveloping surface, thus whole system has very strong flexibility, agility and adaptability.In practical application, as long as change input information can automatically generate different location/supporting envelope surface for different workpiece, and realize the dynamic conditioning of location/supporting curved-surface shape.Like this, a set of fixture system can realize that numerous shape is different, efficient, the high-quality processing of the thin-wall curved-surface part of different sizes.
Accompanying drawing explanation
Fig. 1 is intelligent robot fixture system general structure schematic diagram a front view b top view;
Fig. 2 is that robot architecture and functional schematic a front view b left view c top view d lock manipulator functional schematic;
Fig. 3 is base component and dynamic beam modular construction schematic diagram a upward view b right view c front view;
Fig. 4 is the dynamic beam docking mechanism schematic diagram that robot drives;
Fig. 5 is the dynamic beam retaining mechanism schematic diagram that robot drives;
Fig. 6 is the schematic diagram that Dual-robot coordination operation drives slide saddle member and telescopic unit motion;
Fig. 7 is the schematic diagram a front view b top view that robot finger captures telescopic unit;
Fig. 8 is slide saddle member and hydraulic locking mechanism schematic diagram;
Fig. 9 is telescopic unit driving mechanism and telescopic locking mechanism schematic diagram a front view b left view.
Detailed description of the invention
For achieving the above object, intelligent robot fixture system shown in invention Fig. 1 (hereinafter referred to as fixture system).This system controls Dual-robot coordination motion by computer, realizes the intelligent operation of fixture system.Whole system comprises the parts such as base component 5, dynamic beam parts 3, slide saddle member 4, telescopic unit 2, universal vacuum cups 1, left robot 7, right robot 8, computer for controlling 9.It is characterized in that: base component 5 is equipped with multiple dynamic beam parts 3, each dynamic beam parts all move along X-coordinate; Dynamic beam parts are equipped with multiple slide saddle member 4, and each slide saddle member moves along Y-coordinate; Slide saddle member is equipped with telescopic unit 2, telescopic unit drives universal vacuum cups 1 Z-direction on its top to move.Wherein, Z coordinate motion is realized by telescopic unit 2 self, and the motion of X, Y-coordinate is driven by robot and realizes.For this reason, install Liang Tai robot 7 and 8 in the both sides of base component 5, they are synchronized with the movement along X-coordinate.The medial surface of Mei Tai robot is equipped with two gadget hands, and one docks with dynamic beam for completing (catching dynamic beam), moves along X-coordinate direction to drive dynamic beam; Another, for dynamic beam is locked at pedestal, makes beam remain on the X-coordinate position of hope.In addition, robot front end is provided with master manipulator 6, rotates, stretches, the action such as crawl.By the coordinated movement of various economic factors of master manipulator, slide saddle member 4 is driven into (comprising the telescopic unit 2 etc. on it) the Y-coordinate position of hope, and by inner locking device, saddle is fixed on dynamic beam parts, make it remain on the Y-coordinate position of hope.By said process, each vacuum cups will move to X, Y, Z coordinate position of hope.Like this, the location under the acting in conjunction of all vacuum cups, formation curve surface work pieces machining needed, supporting curved surface (the array Discrete Surfaces be made up of numerous location, bearing unit).Thin-wall curved-surface workpiece 0 is positioned on this location, supporting curved surface, and is fixed by pull of vacuum, can process workpiece.
This system is a kind of automation process change system with highly flexible, under the control of the computer by intellectualized operation that robot and driving mechanism realize, different location/supporting array can be formed as required, thus the large-scale covering of dissimilar aircraft is accurately located, supports and clamped (fixing).On this basis, the high efficiency of aircraft thin-wall curved-surface part, high-quality, high flexibility processing can be realized according to new " first shaping aft-loaded airfoil " technique.
Enforcement of the present invention is as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, be now described below in conjunction with each figure respectively:
Fig. 1 is the general structure schematic diagram of intelligent robot fixture system, mainly illustrates the process that the composition of system, structural relation and Dual-robot coordination operation drive fixture system motion.Whole fixture system is made up of base component 5, dynamic beam parts 3, slide saddle member 4, telescopic unit 2, universal vacuum cups 1, left robot 7, right robot 8, computer for controlling 9 etc.(wherein, left and right robot architecture is identical)
Figure 2 shows that robot architecture and functional schematic.This robot is made up of master manipulator 6, locking manipulator 14, interfacing manipulators 15, computer 9 etc.
Robot is equipped with bottom I servomotor by rack and pinion drive mechanism 13 driven machine people along guide rail 12 precise motion.
The master manipulator 6 being installed on robot front end is made up of large arm 11, forearm 10, palm 17, finger 16 etc.Wherein large arm is by forward and backward motor by gear drive, does positive and negative rotary motion; Forearm is driven by feed screw nut by II servomotor, makes reciprocal telescopic movement; Palm is driven by feed screw nut by III servomotor, makes alternating translational movement; Point by IV servomotor by gear drive, do flexible crawl motion.Coordinated by the motion of each integral link of above-mentioned master manipulator, slide saddle member 4 all in fixture system, telescopic unit 2 etc. are operated, they to be driven into the position of specifying.
The interfacing manipulators 15 being installed on robot side by gear drive, makes reciprocal telescopic movement by V servomotor.The docking site of interfacing manipulators is fork configuration, realizes the Dock With Precision Position of robot and dynamic beam end thus, and realizes the accurate driving of robot to dynamic beam further, and the motion by robot is converted to the motion of dynamic beam.
The locking manipulator 14 being installed on robot side, as shown in Fig. 2-d, makes locking manipulator 14 make stretching motion by VI servomotor 19 shift fork 18, and makes locking manipulator 14 do positive and negative rotary motion by VII servomotor 20.Matched by the flexible of above-mentioned locking manipulator 14 and rotary motion, namely drive dynamic beam retaining mechanism 22 to the locking of dynamic beam and loosen.
Be installed on the computer for controlling 9 of robot upper part, for controlling all motions of robot 7,8 and the operation process of fixture system.
Fig. 3 is base component and dynamic beam modular construction schematic diagram.Dynamic beam parts 3 two ends are respectively equipped with docking pin 21, a bottom, two ends and dynamic beam retaining mechanism 22 are housed respectively, the both sides of base component 5 are provided with precise guide rail 12 and tooth bar 13, dynamic beam parts 3 slide on base component 5, are locked at the optional position on base component 5 by dynamic beam retaining mechanism 22.
Fig. 4 is the dynamic beam docking mechanism schematic diagram that robot drives.Robot 7,8 synchronizing moving, to a certain dynamic beam parts 3 both sides, stretches out interfacing manipulators 15 and realizes Dock With Precision Position with the pin 21 that docks at dynamic beam parts 3 two ends, therefore achieves the synchronous driving be converted to dynamic beam parts 3 that is synchronized with the movement two robots.
Fig. 5 is the dynamic beam retaining mechanism schematic diagram that robot drives.Robot 7,8 synchronizing moving is to dynamic beam parts 3 both sides, locking manipulator 14 first stretches out and inserts dynamic beam lock interface 26, rotate again and pass torque to leading screw 25 and nut skewback 24, under this moment loading, locking skewback 23 and nut skewback 24 do relative motion, thus are locked on base component 5 by dynamic beam parts 3.
Figure 6 shows that Dual-robot coordination operation drives the schematic diagram of saddle and telescopic unit motion.By robot coordinated operation, drive the process of saddle and telescopic unit motion as follows:
First, master manipulator 6 half-twist, is transformed into horizontal service position by vertical standby position.
Then, forearm 10 makes horizontal stretching motion in large arm 11, and its end is moved to wishes near the adjustment slide saddle member 4 of position and telescopic unit 2.
Next, before the slide saddle member 4 that the palm 17 (slide block in forearm) in forearm moves to, and thrust out one's fingers and 16 catch telescopic unit 2 on slide saddle member 4, as Fig. 7 robot finger captures shown in telescopic unit schematic diagram.
Finally, slide saddle member 4 and telescopic unit 2 moved to by the coordinated movement of various economic factors of robot ' s arm 11, forearm 10, palm 17 and finger 16 position that control instruction specifies, then slide saddle member is locked in current location.
Fig. 8 is slide saddle member and hydraulic mechanism schematic diagram.The course of work of (note: the hydraulic mechanism be connected with slide saddle member is exactly the hydraulic mechanism 38 in Fig. 9) hydraulic mechanism is as follows: first drive hydraulic piston 31 to move in hydraulic jack 30 by hydraulic electric motor 32 by hydraulic screw rod 34 and hydraulic nut 33, to hydraulic oil pressurization, the size of hydraulic fluid pressure is monitored by sensor 29.Therefore, during hydraulic mechanism work, the hydraulic oil with certain pressure is sent in saddle oil box 27 by lower oil circuit 28; The pressure of hydraulic oil makes saddle oil box 27 inner chamber expand, thus is locked on dynamic beam parts 3 by slide saddle member 4.
Figure 9 shows that telescopic unit driving mechanism and telescopic locking mechanism schematic diagram (its 90-degree rotation, due to the restriction by typesetting, is become horizontal in figure and draws by note: be in plumbness during telescopic unit real work).As seen from the figure, the telescopic mast 35 be installed in pilot sleeve 39 is connected with flexible nut 42.The flexible leading screw 37 driving flexible nut 42 to move is supported by the supporting base 36 and 43 being installed on pilot sleeve two ends.The telescope motor 40 being installed on pilot sleeve 39 opposite side drives flexible leading screw 37 by little profile of tooth belt wheel 41, cog belt 44 and large profile of tooth belt wheel 45.Like this, control to make telescope motor turn over the angle of hope by computer 9, telescopic mast 35 can be made to produce the displacement of Len req.Current location is locked it in after telescopic mast 35 moves into place.Same Fig. 8 of locking principle of telescopic mast 35, when just hydraulic mechanism 38 works, the hydraulic oil with certain pressure is sent in flexible oil box 46 by upper oil circuit 47, and the pressure of hydraulic oil makes flexible oil box 46 inner chamber expand, thus is locked in pilot sleeve 39 by telescopic mast 35.
Claims (1)
1. intelligent robot fixture system, it is characterized in that: this system is a kind of intelligent robot fixture system for the processing of aircraft thin-wall curved-surface part, contain: base component, dynamic beam parts, slide saddle member, telescopic unit, universal vacuum cups, left robot, right robot, and computer for controlling, wherein:
Base component, that the precise guide rail of being installed by I shape pedestal and both sides and tooth bar are formed, under the control laying respectively in left and right robot two computer for controlling, I servomotor in each robot is by gear one gear rack type driving mechanism, each robot is driven to be synchronized with the movement in described precise guide rail, described gear is coaxial with this I servomotor, and tooth bar is then on base component;
Dynamic beam parts, have multiple, its main body is I shape crossbeam, docking pin is equipped with at crossbeam two ends, retaining mechanism is equipped with in bottom, two ends, this retaining mechanism is by leading screw, nut skewback, locking skewback and fixing locking bed is formed with crossbeam, and to slide on base component perpendicular to the direction of described precise guide rail, and move along the direction being parallel to precise guide rail; A dynamic beam lock interface is had at the side lower of this dynamic beam part side to robot, the locking manipulator of confession robot is from horizontal direction insertion and with screw turns, rotating nut skewback along with leading screw moves and then promotes the locking skewback at dynamic beam parts and base component interface place, and the most dynamic beam parts are locked on base component; In this dynamic beam part side to the side surface upper part of robot, described docking pin is housed, forked type interfacing manipulators for this robot inserts from horizontal direction, makes robot and dynamic beam parts realize Dock With Precision Position, being synchronized with the movement of robot is changed into the synchronous driving of dynamic beam parts;
Slide saddle member, have multiple, slide on each dynamic beam parts respectively, containing upper saddle, lower slider, saddle oil box, lower oil circuit, and share a set of hydraulic mechanism with telescopic unit, this hydraulic mechanism contains: hydraulic electric motor, hydraulic screw rod, hydraulic nut, hydraulic piston, hydraulic jack, this hydraulic electric motor is coaxially connected with hydraulic screw rod, this hydraulic nut is connected with hydraulic screw rod coaxial threaded, hydraulic piston is fixed on hydraulic nut, hydraulic piston slides in hydraulic jack, lower oil circuit one end communicates with hydraulic jack, the other end communicates with saddle oil box, described saddle oil box is positioned at the interface place of slide saddle member and dynamic beam parts, hydraulic electric motor drives hydraulic piston movement by hydraulic screw rod and hydraulic nut, be sent in saddle oil box by lower oil circuit there is the hydraulic oil of certain pressure again, saddle oil box is expanded, thus slide saddle member is locked on dynamic beam parts,
Telescopic unit, have multiple, be fixed on coaxially on slide saddle member respectively, contain: pilot sleeve, telescopic mast, flexible oil box, upper oil circuit, flexible leading screw-flexible pair of nut, upper and lower supporting seat, telescope motor, little profile of tooth belt wheel, cog belt, large profile of tooth belt wheel, hydraulic mechanism, be equipped with inside pilot sleeve one, lower support seat, and flexible leading screw is positioned at, between lower support seat, flexible nut is connected with flexible threads of lead screw coaxially, and be fixed on telescopic mast, and telescopic mast can slide up and down in pilot sleeve, another lower inside of pilot sleeve is equipped with telescope motor, the axle of telescope motor is filled with coaxially little profile of tooth belt wheel, the large profile of tooth belt wheel being connected to flexible leading screw one end is coaxially engaged in by cog belt, little profile of tooth belt wheel, cog belt, large profile of tooth belt wheel constitutes cog belt wheel drive mechanism, and hydraulic mechanism is housed on the top of this side, this hydraulic mechanism and slide saddle member share, upper oil circuit one end communicates with hydraulic jack, the other end communicates with flexible oil box, flexible oil box is positioned at the interface place of described pilot sleeve and telescopic mast, under described computer for controlling controls, telescope motor turns over the angle of setting, telescopic mast can be made to produce corresponding displacement, after telescopic mast moves into place, equally under control of the computer, hydraulic electric motor in hydraulic mechanism makes hydraulic piston movement by hydraulic screw rod and hydraulic nut, hydraulic oil is pressurizeed, be sent in flexible oil box by upper oil circuit there is the hydraulic oil of certain pressure again, flexible oil box is expanded, thus flexible thick stick to be locked in pilot sleeve on some positions,
Universal vacuum cups, is located by alignment pin by detachable apparatus and is fixed on the telescopic mast of telescopic unit;
Left, right robot, at the lower surface with guide rail contact, be equipped with four slide blocks and with tooth bar meshed gears, this gear is coaxial with I servomotor, under the driving of described I servomotor, X-direction motion done by guide rail on Robot base component, in the side in the face of dynamic beam parts, be equipped with respectively from top to bottom and drive telescopic interfacing manipulators and locking manipulator by motor, complete robot respectively to the docking of dynamic beam parts and locking, at the anterolateral surface of robot, master manipulator is housed, this master manipulator is by large arm, forearm, palm, finger composition, wherein large arm is by just, reverse motors passes through gear drive, forearm is enclosed within large arm slidably, by II driven by servomotor feed screw nut, forearm is made to make reciprocal telescopic movement, palm slides over again in forearm, driven by feed screw nut by III servomotor, finger is positioned on palm, finger is made to do stretching perpendicular to palm moving direction by IV servomotor by gear drive, thus realize grasping movement, under described computer for controlling controls, large arm first rotates to Y-direction, stretch out forearm again, palm in forearm is moved to and wishes near the adjustment slide saddle member of position and telescopic unit, the palm in forearm and finger is made to aim at telescopic unit, the telescopic unit on slide saddle member is caught again by finger, telescopic unit is moved on the position that Y-direction specifies together with slide saddle member.
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| CN112008891A (en) * | 2020-06-23 | 2020-12-01 | 江苏铁锚玻璃股份有限公司 | Vehicle window glass cutting device |
| CN114670131A (en) * | 2022-02-22 | 2022-06-28 | 广州明珞装备股份有限公司 | Spare part processingequipment and frock material bearing platform thereof |
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| CN112008891A (en) * | 2020-06-23 | 2020-12-01 | 江苏铁锚玻璃股份有限公司 | Vehicle window glass cutting device |
| CN114670131A (en) * | 2022-02-22 | 2022-06-28 | 广州明珞装备股份有限公司 | Spare part processingequipment and frock material bearing platform thereof |
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Application publication date: 20160504 |