CN105538024A - Numerical control machine tool batch machining method based on automatic mechanical arm - Google Patents
Numerical control machine tool batch machining method based on automatic mechanical arm Download PDFInfo
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- CN105538024A CN105538024A CN201610136147.2A CN201610136147A CN105538024A CN 105538024 A CN105538024 A CN 105538024A CN 201610136147 A CN201610136147 A CN 201610136147A CN 105538024 A CN105538024 A CN 105538024A
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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
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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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
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
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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
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
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Abstract
The invention discloses a numerical control machine tool batch machining method based on an automatic mechanical arm. The mechanical arm is installed on a working table and completes the function of automatically moving workpieces; meanwhile, the mechanical arm moves along with the working table when the working table is controlled to move. Thus, the mechanical arm can serve as a clamp, and it is unnecessary to additionally arrange a clamp on the working table. The method has the advantages that the product machining efficiency is improved, the product machining consistency is guaranteed, the product machining precision and quality are improved, the labor intensity of workers is relieved, the labor cost is reduced, and the occurrence rate of industrial accidents is reduced.
Description
Technical field
The present invention relates to Digit Control Machine Tool field, particularly relate to a kind of Digit Control Machine Tool batch processing method based on robotic arm.
Background technology
Mechanical arm is a kind of new device grown up in mechanization, automated production process.In recent years, along with the extensive use of electronic technology particularly electronic computer, the research and production of robot has become the emerging technology that high-tech sector develops rapidly.
Mechanical arm can replace the mankind to complete danger, repeat scissors and paste, alleviates human labour intensity, improves labour productive forces.Mechanical arm obtains application more and more widely, and in machinery industry, it can be used for parts assembling, and the carrying of processing work, handling, particularly use more general on automatic numerical control machine tool, building-block machine.At present, mechanical arm has developed into an important component part in flexible manufacturing system and FMC FMC.Machine tool and mechanical arm are formed a flexible manufacturing system (FMS) or FMC jointly, during it is adapted to, small lot batch manufacture, huge work transfer device can be saved, compact conformation, and adaptability is very strong.When workpiece changes, flexible manufacturing system is easy to change, and is conducive to enterprise and constantly updates marketable kind, improve the quality of products, adapt to the needs of market competition better.And the at present Industrial Robot Technology of China and the level of engineer applied thereof and external than distance certain in addition, application scale and industrialization level low, the research and development of mechanical arm directly has influence on the raising of China's automated production level, economically, technically consideration be all very necessary.
In sum, effective application machine arm is the inexorable trend of development mechanical industry.The meaning of mechanical arm can simplified summary as follows:
1) automaticity in production process can be improved.The degree of the automation of the transmission that application machine arm is conducive to solid line material, the handling of building together, the replacing of cutter and the assembling of machine etc., thus can raise labour productivity and reduce production cost.
2) can improve working conditions, avoid personal injury.In high temperature, high pressure, low temperature, low pressure, there are dust, noise, stink, in the occasion that has radioactivity or other toxic pollutants and working space narrow, with dangerous or at all impossible when standing direct control, application machine arm can partly or entirely replace fulfiling assignment of people's safety, and working condition is improved., repetition simple at some, in particularly heavier operation, replaces people to carry out work with mechanical arm, can avoid the personal injury caused due to operation fatigue or carelessness.
3) can manpower be alleviated, and be convenient to rhythmical production.Application machine arm replaces people to carry out work, and this is a side of directly reducing manpower, and simultaneously because application machine arm can continuous print work, this is another side of reducing manpower.Therefore, on the comprehensive process transfer matic of automated machine tool, mechanical arm nearly all useless at present, to reduce the beat of manpower and production control more accurately, is convenient to rhythmically carry out work production.
At present, in machine industry at home, the loading and unloading of lathe are mostly use manually to carry out, production efficiency is low, and cost of labor is high, and the labour intensity of staff is large, the machining accuracy of product and quality instability are subject to the impact of operated by personnel's ability, and when staff is tired, easy production development accident, threat staff's is healthy.
Summary of the invention
Because the above-mentioned defect of prior art, the invention provides a kind of Digit Control Machine Tool batch processing method based on robotic arm, the technical problem that solve can realize carrying out automation batch machining to multiple workpiece.
For solving the problem, the technical scheme that the present invention takes is: a kind of Digit Control Machine Tool batch processing method based on robotic arm, described method comprises the steps:
1) Digit Control Machine Tool is provided, described Digit Control Machine Tool comprises machine tool main body, mechanical arm, for controlling the control system of described machine tool main body and mechanical arm, wherein, described machine tool main body comprises workbench, described workbench has the station of place work piece, and described mechanical arm is installed on described workbench;
2) multiple procedure is loaded into described control system, described multiple procedure at least comprises the first procedure and the second procedure;
3) start Digit Control Machine Tool, described control system controls described mechanical arm and the first workpiece is positioned over described station and keeps the clamp position to described first workpiece;
4) described control system controls described machine tool main body according to described first workpiece of the first procedure processing;
5) described control system controls described mechanical arm and makes described first workpiece leave described station and discharge described first workpiece;
6) described control system controls described mechanical arm and second workpiece is positioned over described station and the clamp position of maintenance to described second workpiece;
7) described control system controls described machine tool main body and processes described second workpiece according to the second procedure;
8) described control system controls described mechanical arm and makes described second workpiece leave described station and discharge described second workpiece.
Preferably, in described step 4) and step 7) in, described control system controls described workbench simultaneously and described mechanical arm moves in the horizontal direction.
Preferably, described Digit Control Machine Tool is drilling machine.More preferably, described machine tool main body also comprises table drive system, main shaft and spindle drive systems.
Preferably, described mechanical arm is circular cylindrical coordinate type mechanical arm, comprises hand and arm, and described arm at least has lifting and rotates two frees degree.More preferably, the hand of described mechanical arm is Pneumatic clamping jaw.More preferably, described mechanical arm also comprises mechanical arm lifting motor, mechanical arm electric rotating machine, mechanical arm lifting screw, lead, mechanical arm lifting support, mechanical arm lifting slider, mechanical arm turntable, mechanical arm base plate, wherein, described Pneumatic clamping jaw is installed on described mechanical arm lifting slider, and described mechanical arm lifting slider is connected with described mechanical arm lifting support by described mechanical arm lifting screw and described lead; Described mechanical arm lifting motor is installed on described mechanical arm lifting support, and is connected with described mechanical arm lifting screw; Described mechanical arm lifting support is installed on described mechanical arm turntable, and described mechanical arm turntable is installed on described mechanical arm base plate, and described mechanical arm base plate is connected with described workbench by bolt; Described worktable rotary motor is installed on described mechanical arm base plate, drives described mechanical arm turntable to rotate.More preferably, described first workpiece posts the first RFID label tag, described second workpiece posts the second RFID label tag, described mechanical arm comprises the reader for identifying described first RFID label tag and the second RFID label tag, and described method also comprises the information the step described information being passed to described control system of stating the first RFID label tag or the second RFID label tag described in described reader identification.More preferably, described reader is installed on described Pneumatic clamping jaw front end.
Preferably, described first workpiece is identical with second workpiece shape before processing.
Beneficial effect of the present invention is: the working (machining) efficiency that improve product, ensure that the uniformity of Product processing, improves machining accuracy and the quality of product, reduces the labour intensity of staff, reduce cost of labor, reduce the incidence of industrial accident.
Be described further below with reference to the technique effect of accompanying drawing to design of the present invention, concrete structure and generation, to understand object of the present invention, characteristic sum effect fully.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of preferred detailed description of the invention of Digit Control Machine Tool provided by the present invention;
Fig. 2 is the structural representation of the machine tool main body of Digit Control Machine Tool illustrated in fig. 1;
Fig. 3 is the mechanical arm schematic diagram of Digit Control Machine Tool illustrated in fig. 1;
Fig. 4 is the structural representation of the work rest used of Digit Control Machine Tool illustrated in fig. 1;
Fig. 5 is the control system modular structure schematic diagram of Digit Control Machine Tool illustrated in fig. 1.
In figure:
Machine tool main body 1, mechanical arm 2, work rest 3;
Workbench 1-1, workbench x-axis motor 1-2, workbench y-axis motor 1-3, frame 1-4, main shaft z to lifter slide 1-5, main shaft z to lifting motor 1-6, main shaft 1-7;
RFID label tag reader 2-1, Pneumatic clamping jaw 2-2, lead 2-3, mechanical arm lifting screw 2-4, mechanical arm lifting motor 2-5, mechanical arm lifting support 2-6, mechanical arm lifting slider 2-7, mechanical arm turntable 2-8, mechanical arm base plate 2-9, mechanical arm electric rotating machine 2-10;
First workpiece 3-1, second workpiece 3-2.
Detailed description of the invention
Fig. 1 shows the preferred detailed description of the invention of one of Digit Control Machine Tool provided by the present invention.
As shown in Figure 1, the Digit Control Machine Tool in this detailed description of the invention is drilling machine, comprises machine tool main body 1, mechanical arm 2 and control system (not shown).Wherein, machine tool main body 1 and mechanical arm 2 are all connected with control system by electric communication line, and control system can control the work manufacturing operation of machine tool main body 1 and the travelling workpiece operation of mechanical arm 2 simultaneously.
As shown in Figure 2, machine tool main body 1 comprise workbench 1-1, workbench x-axis motor 1-2, workbench y-axis motor 1-3, frame 1-4, main shaft z to lifter slide 1-5, main shaft z to lifting motor 1-6, main shaft 1-7.Wherein, frame 1-4 is fixedly installed on workbench, and workbench 1-1 is connected with frame 1-4, can be driven move along x-axis and y-axis respectively by workbench x-axis motor 1-2, workbench y-axis motor 1-3; Main shaft 1-7 is installed on main shaft z on lifter slide 1-5, and main shaft z can be moved along z-axis to lifting motor 1-6 drive by main shaft z to lifter slide 1-5.
Fig. 2 illustrate only the principle of a kind of detailed description of the invention of the present invention.Obviously, those skilled in the art can according to the various mode of texturing of this detailed description of the invention of principle design provided by the present invention and implementation detail.Such as, when designing for the widely used workbench for Z3040 drilling machine, those skilled in the art can select suitable relevant parameter for needing, as the pulse equivalency of drill bit maximum gauge, rapidoprint, Y-direction, Y-direction positioning precision, work top size, the fastest translational speed of workbench zero load, add the fastest feeding translational speed in man-hour etc.For various parameter, those skilled in the art also can select suitable mechanical transmission component according to prior art, such as, select suitable guideway (as straight-line rolling guide set, there is coefficient of friction little, not easily creep, transmission efficiency is high, compact conformation, the advantages such as installation pretension is convenient), screw pair (as ball screw assembly, or lead screw pair), deceleration device (as Gapless gear transmission reduction box), servomotor (such as, if pulse equivalency not yet reaches 0.001mm, positioning precision does not reach micron order, the words that the fastest unloaded translational speed is also little, can select common as AC servomotor or DC servo-motor, also the stepping motor that performance is better can be selected, as hybrid type stepping motor, to reduce costs, improve cost performance, if higher to required precision, more high-grade servomotor can be selected), the control mode of stepping motor (if required precision is not high, can select open loop control mode, if required precision is very high, close-loop control mode or half-closed loop control mode can be selected).
Since nineteen fifty-two First Digit Control Machine Tool come out (PARSONS company of the U.S. and the Massachusetts Institute of Technology's cooperation research and development First three coordinate numerical control milling machine) till now, the technical development of Digit Control Machine Tool is very ripe, and the lathe of nearly all kind all achieves NC postprocessing.Digit Control Machine Tool is generally made up of digital control system, servo-drive system, machine body and servicing unit, and this area can be designed the digital control system of other Digit Control Machine Tools be applicable to except drilling machine, servo-drive system, machine body and servicing unit and implement according to prior art and principle provided by the present invention.Cardinal principle of the present invention is fitting machine mechanical arm on the table, and mechanical arm completes the automatic locomotive function of workpiece, simultaneously, when workbench is moved by control, mechanical arm moves together with workbench, like this, mechanical arm just can serve as fixture, and does not need separately to establish fixture on the table.Obviously, Digit Control Machine Tool processing method provided by the present invention is applicable to the various Digit Control Machine Tool comprising the workbench being suitable for fitting machine mechanical arm, comprise the Digit Control Machine Tool of the various uses such as CNC milling machine, numerical control drilling machine, numerically control grinder, digital-control boring-milling machine, CNC electrical discharge machine, numerically controlled wire cutting machine, numerical control press, numerically controlled hydraulic press, be specially adapted to drilling machine.
Digit Control Machine Tool processing method provided by the present invention is applicable to opened loop control Digit Control Machine Tool, half-closed loop control Digit Control Machine Tool and closed-loop control Digit Control Machine Tool.Opened loop control Digit Control Machine Tool mentioned herein refers to the Digit Control Machine Tool not detecting feedback device with position, and usual stepper motor is as executing agency.Input data are through the computing of digital control system, send pulse command, make stepper motor turn over a step angle, then be converted to the rectilinear movement of workbench by mechanical transmission mechanism, the translational speed of moving-member and displacement determined by the frequency of input pulse and pulse number.Half-closed loop control Digit Control Machine Tool mentioned herein refers to: install detecting element (as inductosyn or photoelectric encoder etc.) in the termination of the termination of motor or leading screw, carrying out the displacement of indirect detection moving-member by detecting its corner, then feeding back in digital control system.Closed-loop control Digit Control Machine Tool mentioned herein refers to: detect feedback device with position, its position is detected feedback device and is adopted linear displacement detecting element, be directly installed on the moving-member of lathe, measurement result is directly fed back in numerical control device, can eliminate from motor to the driving error the whole mechanical drive train of machine tool movement parts by feedback, final realization is accurately located.
Digit Control Machine Tool processing method provided by the present invention is also applicable to machining center Digit Control Machine Tool.Machining center Digit Control Machine Tool mentioned herein refers to: on the basis of general NC lathe, add to have filled tool magazine and automatic tool changer and the Digit Control Machine Tool formed.Tool magazine capacity is generally dozens or even hundreds of cutter, and digital control system can control lathe and automatically change cutter.Machining center Digit Control Machine Tool utilizes multicutter and the automatic tool changer ability of machine cutter holder, has several different operative combination in clamped one time and the ability of Continuous maching, namely concentrates operation processing.
Fig. 3 shows the structure of the mechanical arm of the Digit Control Machine Tool of above detailed description of the invention.
As shown in Figure 3, mechanical arm 2 comprises Pneumatic clamping jaw 2-2, lead 2-3, mechanical arm lifting screw 2-4, mechanical arm lifting motor 2-5, mechanical arm lifting support 2-6, mechanical arm lifting slider 2-7, mechanical arm turntable 2-8, mechanical arm base plate 2-9, mechanical arm electric rotating machine 2-10.Pneumatic clamping jaw 2-2 is installed on mechanical arm lifting slider 2-7, and mechanical arm lifting slider 2-7 is connected with mechanical arm lifting support 2-6 by mechanical arm lifting screw 2-4 and lead 2-3; Mechanical arm lifting motor 2-5 is installed on mechanical arm lifting support 2-6, and is connected with mechanical arm lifting screw 2-4; Mechanical arm lifting support 2-6 is installed on mechanical arm turntable 2-8, and mechanical arm turntable 2-8 is installed on mechanical arm base plate 2-9, and mechanical arm base plate 2-9 is connected with workbench 1-1 by bolt; Mechanical arm electric rotating machine 2-10 is installed on mechanical arm base plate 2-9, can rotate by driving mechanical arm turntable 2-8.
In this specific embodiment, the hand of mechanical arm is Pneumatic clamping jaw.The structure of Pneumatic clamping jaw is also technology known in the art.Such as, a kind of structure of typical Pneumatic clamping jaw comprises cylinder, fixed head, axle, coupling block, plate, d4 pin, fixed cover, jig arm group, and wherein, fixed head is fixed on cylinder by countersunk head screw; Two boards is fixed on fixed head; Link block is fixed to cylinder axis and connects in jig arm group, and passage d4 sells the range of movement of control two jig arm groups, thus realizes paw fixture and open the scope of holding.By the action of cylinder, drive coupling block to promote the motion of jig arm group, thus realize paw tonic action engineering, then realize the process that paw adds clamping of workpieces or unclamps workpiece.For the control of cylinder, also belong to technology known in the art, be not described in detail in this.
Those skilled in the art also can design the hand structure of other type according to principle provided by the present invention and prior art, such as, hand can be various rotary type structure, comprises chute lever and connecting rod lever two kinds.When paw clamping with when unclamping object, finger does gyration.Hand also can be translational type structure, and namely two finger relative seat are reciprocating.Finger is by parallelogram lindage transmission, and when paw clamping with when unclamping object, finger gesture is constant, does translation.Hand also can be translating type structure, and when paw clamping with when unclamping workpiece, finger does translational motion, and keeps immobilizing of Clamping Center, not by the impact of diameter of work change.
It is be placed into by workpiece on workbench 1-1 that the effect of mechanical arm 2 comprises two: one, and two is use as fixture.When workbench x-axis motor 1-2, workbench y-axis motor 1-3 drive the motion of workbench 1-1 x-axis in the horizontal direction and y-axis, the workpiece of also controller mechanical arm 2 and clamping thereof simultaneously as a whole x-axis in the horizontal direction and y-axis and workbench 1-1 is synchronized with the movement.
The arm of the mechanical arm that above detailed description of the invention provides has lifting and rotates two frees degree.Utilize these two frees degree just can realize the function of automatic travelling workpiece.Fig. 4 shows a kind of detailed description of the invention being placed with the work rest of multiple workpiece.As shown in Figure 4, work rest 3 has the first workpiece placing space and second workpiece placing space, be placed with the first workpiece 3-1 and second workpiece 3-2 respectively, the top of the first workpiece 3-1 and second workpiece 3-2 and both sides all just hold the operating space of the Pneumatic clamping jaw of mechanical arm.
Mechanical arm can operate as follows:
1) arm of mechanical arm carries out elevating movement according to predetermined coordinate, makes the spatial accommodation of the Pneumatic clamping jaw of the mechanical arm top of corresponding first workpiece 3-1 in the horizontal direction;
2) arm of mechanical arm is rotated according to predetermined coordinate, makes Pneumatic clamping jaw 2-2 be positioned at the spatial accommodation of the top of the first workpiece 3-1;
3) arm of mechanical arm carries out elevating movement according to predetermined coordinate, and the Pneumatic clamping jaw of mechanical arm is in can the position of gripping first workpiece 3-1;
4) Pneumatic clamping jaw of mechanical arm closes, gripping first workpiece 3-1;
5) arm of mechanical arm is rotated according to predetermined coordinate, makes the first workpiece 3-1 be in the top of predetermined station;
6) arm of mechanical arm carries out elevating movement according to predetermined coordinate, makes the first workpiece 3-1 be on the predetermined station of workbench;
7) the beginning drilling operation of drill bit, during operation, workbench carries out the motion of horizontal direction, and the Pneumatic clamping jaw of mechanical arm is in clamp position;
8) after drilling operation completes, the arm of mechanical arm carries out elevating movement according to predetermined coordinate, makes the first workpiece 3-1 corresponding first workpiece placing space in the horizontal direction;
9) arm of mechanical arm is rotated according to predetermined coordinate, makes the first workpiece 3-1 be positioned at the first workpiece placing space;
10) Pneumatic clamping jaw of mechanical arm unclamps, and discharges the first workpiece 3-1;
11) arm of mechanical arm is rotated and elevating movement according to predetermined coordinate, gets back to original position;
12) mobile second workpiece 3-2 is started according to above operating procedure mechanical arm.
More than merely provide the structure of mechanical arm and a kind of detailed description of the invention of operation.Obviously, those skilled in the art can according to the more complicated mechanical arm of prior art design, such as, on the basis of existing lifting and rotation two frees degree, arm this single-degree-of-freedom scalable of mechanical arm can be increased, the applicability of mechanical arm can be improved like this.The arm retractable increasing mechanical arm is technology known in the art, is not described in detail in this.Those skilled in the art can according to prior art and actual demand design Joint Manipulator.
As the distortion of this detailed description of the invention, mechanical arm 2 can also comprise RFID reader 2-1, is installed on Pneumatic clamping jaw front end 2-2, and meanwhile, the first workpiece 3-1 and second workpiece 3-2 arranges RFID label tag.Like this, mechanical arm 2 can read the shape information of corresponding workpiece and the information of procedure, passes to control system, makes the processing of Digit Control Machine Tool more intelligent.
Fig. 5 shows the modular structure of the control system of the Digit Control Machine Tool of above detailed description of the invention.
As shown in Figure 5, control system comprises machine tool main body control module, mechanical arm control module.Wherein, machine tool main body control module comprises procedure chooser module, machine tool main body motion control submodule; Mechanical arm control module comprises RFID label tag recognin module, manipulator motion controls submodule.The FRID label information that procedure chooser module can transmit according to RFID label tag recognin module selects corresponding procedure, machine tool main body motion-control module can control the motion of machine tool main body 1, comprises main shaft 1-7, the main shaft z motion to lifting motor 1-6, workbench x-axis motor 1-2 and workbench y-axis motor; RFID label tag recognin module can control the FRID label information on RFID reader 2-1 identification workpiece, and sends it to procedure chooser module; Manipulator motion controls the motion that submodule can control mechanical arm 2, comprises mechanical arm lifting motor 2-5, the motion of mechanical arm electric rotating machine 2-10 and the opening and closing of Pneumatic clamping jaw 2-2.
Obviously, those skilled in the art can carry out design and concrete enforcement according to principle provided by the present invention to the circuit part of control system and program part.Such as, a kind of conventional control system is: Industrial PC, as host computer, is connected with RFID label tag reader by RS232 serial ports, receives the RFID information on the workpiece of RFID label tag reader reading, and selects corresponding procedure according to read information; Procedure usable criterion G code is write; The G code procedure of selection is transferred to slave computer by Ethernet by host computer, namely in the internal storage space of motion controller or the SD card of expansion; Motion controller carries out decoding to the G code procedure received, and by the motion of each motor of coupled driver control, thus the motion of control system all parts, comprise the revolution of main shaft, lifting, moving horizontally of workbench; Meanwhile, the motion of mechanical arm is also controlled by motion controller, comprises the rotation of mechanical arm, lifting, the opening and closing of Pneumatic clamping jaw; Wherein, rotation and the lifting of mechanical arm are controlled by driver control motor by motion controller, and the opening and closing of Pneumatic clamping jaw are controlled by the position controlling corresponding magnetic valve by motion controller; Motion controller can select Trio motion controller, this motion controller extensibility is strong, calculation function is powerful, the method for operation various (independent offline run, based on computer run, Fieldbus Control), can multithreading execute the task, polytype feedback model can be received, have multiple servo-drive interface shape, programme convenient and simple, for design provides hardware platform well.
The step of the processing method of the Digit Control Machine Tool that this detailed description of the invention provides is as follows:
S100: start: start Digit Control Machine Tool;
S200: initialize: each moving component back to zero of control system domination number controlled machine, comprises the z of main shaft 1-7 to position, the x of workbench 1-1 to y to position, the z of Pneumatic clamping jaw 2-2 is to the anglec of rotation of position and mechanical arm turntable 2-8.
S300: after confirming Digit Control Machine Tool back to zero, the manipulator motion of control system controls submodule controller mechanical arm turntable 2-8 and rotates to an angle, and control Pneumatic clamping jaw 2-2 gripping first workpiece, by the rotation of controller mechanical arm turntable 2-8, the lifting of Pneumatic clamping jaw 2-2, the first workpiece is fixed on workbench 1-1 afterwards.Meanwhile, RFID label tag recognin module controls RFID label tag reader 2-1 and reads FRID label information on the first workpiece, and sends it to procedure chooser module.
S400: procedure chooser module selects corresponding procedure according to the RFID information of the first workpiece that RFID label tag recognin module transmits.Machine tool main body motion-control module carries out the processing of the first workpiece according to the motion of the procedure control machine tool main body 1 selected, and comprise the revolution of main shaft 1-7, lifting, workbench 1-1 moves horizontally.
After S500: the first work pieces process completes, manipulator motion controls submodule and controls Pneumatic clamping jaw 2-2 rising certain distance, and controller mechanical arm turntable rotates 2-8 certain angle, controls Pneumatic clamping jaw 2-2 afterwards and unclamps release first workpiece.
S600: manipulator motion controls submodule controller mechanical arm turntable 2-8 and rotates to an angle, and control Pneumatic clamping jaw 2-2 gripping second workpiece, by the rotation of controller mechanical arm turntable 2-8, the lifting of Pneumatic clamping jaw 2-2, second workpiece is fixed on workbench 1-1 afterwards.Meanwhile, RFID label tag recognin module controls RFID label tag reader 2-1 and reads FRID label information on second workpiece, and sends it to procedure chooser module.
S700: procedure chooser module selects corresponding procedure according to the RFID information of the second workpiece that RFID label tag recognin module transmits.Machine tool main body motion-control module carries out the processing of second workpiece according to the motion of the procedure control machine tool main body 1 selected, and comprise the revolution of main shaft 1-7, lifting, workbench 1-1 moves horizontally.
S800: after second workpiece machines, manipulator motion controls submodule and controls Pneumatic clamping jaw 2-2 rising certain distance, and controller mechanical arm turntable rotates 2-8 certain angle, controls Pneumatic clamping jaw 2-2 afterwards and unclamps release second workpiece.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that those of ordinary skill in the art just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technical staff in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (10)
1. based on a Digit Control Machine Tool batch processing method for robotic arm, it is characterized in that, described method comprises the steps:
1) Digit Control Machine Tool is provided, described Digit Control Machine Tool comprises machine tool main body, mechanical arm, for controlling the control system of described machine tool main body and mechanical arm, wherein, described machine tool main body comprises workbench, described workbench has the station of place work piece, and described mechanical arm is installed on described workbench;
2) multiple procedure is loaded into described control system, described multiple procedure at least comprises the first procedure and the second procedure;
3) start Digit Control Machine Tool, described control system controls described mechanical arm and the first workpiece is positioned over described station and keeps the clamp position to described first workpiece;
4) described control system controls described machine tool main body according to described first workpiece of the first procedure processing;
5) described control system controls described mechanical arm and makes described first workpiece leave described station and discharge described first workpiece;
6) described control system controls described mechanical arm and second workpiece is positioned over described station and the clamp position of maintenance to described second workpiece;
7) described control system controls described machine tool main body and processes described second workpiece according to the second procedure;
8) described control system controls described mechanical arm and makes described second workpiece leave described station and discharge described second workpiece.
2. as claimed in claim 1 based on the Digit Control Machine Tool batch processing method of robotic arm, it is characterized in that, in described step 4) and step 7) in, described control system controls described workbench simultaneously and described mechanical arm moves in the horizontal direction.
3., as claimed in claim 1 based on the Digit Control Machine Tool batch processing method of robotic arm, it is characterized in that, described Digit Control Machine Tool is drilling machine.
4., as claimed in claim 3 based on the Digit Control Machine Tool batch processing method of robotic arm, it is characterized in that, described machine tool main body also comprises table drive system, main shaft and spindle drive systems.
5. as claimed in claim 1 based on the Digit Control Machine Tool batch processing method of robotic arm, it is characterized in that, described mechanical arm is circular cylindrical coordinate type mechanical arm, comprises hand and arm, and described arm at least has lifting and rotates two frees degree.
6., as claimed in claim 5 based on the Digit Control Machine Tool batch processing method of robotic arm, it is characterized in that, the hand of described mechanical arm is Pneumatic clamping jaw.
7. as claimed in claim 6 based on the Digit Control Machine Tool batch processing method of robotic arm, it is characterized in that, described mechanical arm also comprises mechanical arm lifting motor, mechanical arm electric rotating machine, mechanical arm lifting screw, lead, mechanical arm lifting support, mechanical arm lifting slider, mechanical arm turntable, mechanical arm base plate, wherein, described Pneumatic clamping jaw is installed on described mechanical arm lifting slider, and described mechanical arm lifting slider is connected with described mechanical arm lifting support by described mechanical arm lifting screw and described lead; Described mechanical arm lifting motor is installed on described mechanical arm lifting support, and is connected with described mechanical arm lifting screw; Described mechanical arm lifting support is installed on described mechanical arm turntable, and described mechanical arm turntable is installed on described mechanical arm base plate, and described mechanical arm base plate is connected with described workbench by bolt; Described worktable rotary motor is installed on described mechanical arm base plate, drives described mechanical arm turntable to rotate.
8. as claimed in claim 6 based on the Digit Control Machine Tool batch processing method of robotic arm, it is characterized in that, described first workpiece posts the first RFID label tag, described second workpiece posts the second RFID label tag, described mechanical arm comprises the reader for identifying described first RFID label tag and the second RFID label tag, and described method also comprises the information the step described information being passed to described control system of stating the first RFID label tag or the second RFID label tag described in described reader identification.
9., as claimed in claim 8 based on the Digit Control Machine Tool batch processing method of robotic arm, it is characterized in that, described reader is installed on described Pneumatic clamping jaw front end.
10., as claimed in claim 1 based on the Digit Control Machine Tool batch processing method of robotic arm, it is characterized in that, described first workpiece is identical with second workpiece shape before processing.
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| CN109176100A (en) * | 2018-11-12 | 2019-01-11 | 苏州明志科技有限公司 | A kind of work pieces process and clamping device |
| CN109968589A (en) * | 2019-03-30 | 2019-07-05 | 进顺汽车零部件如皋有限公司 | It is a kind of can save the multiple station of manpower be merged method |
| CN111847312A (en) * | 2020-06-03 | 2020-10-30 | 六安市强盛塑胶有限公司 | Plastic pipe lifting mechanism |
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