CN105818153A - Wire bending modularization robot - Google Patents
Wire bending modularization robot Download PDFInfo
- Publication number
- CN105818153A CN105818153A CN201610347943.0A CN201610347943A CN105818153A CN 105818153 A CN105818153 A CN 105818153A CN 201610347943 A CN201610347943 A CN 201610347943A CN 105818153 A CN105818153 A CN 105818153A
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- China
- Prior art keywords
- servomotor
- reductor
- connects
- gear
- lower section
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F1/00—Bending wire other than coiling; Straightening wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F11/00—Cutting wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F7/00—Twisting wire; Twisting wire together
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
Abstract
The invention relates to a wire bending modularization robot. The wire bending modularization robot comprises a frame; a manipulator controlled through a control system is mounted on the frame, and is connected through a manipulator mounting device; the manipulator mounting device includes a mounting panel; a mounting bolt is arranged in the center of the mounting panel; at least one round rail is arranged at the outer periphery of the mounting bolt; and the round rail is a concentric circle with the mounting bolt as circle center. The wire bending modularization robot realizes replacement of robot arms through the mounting panel, can realize multiple types of machining through one machine, is higher in generality, totally realizes the man-machine interaction, and is higher in intelligence degree.
Description
Technical field
The present invention relates to a kind of bending wire modularization robot, belong to the technical field of bending wire equipment.
Background technology
It is machine element that is large quantities of in extensive application field and that need with different designs that metal wire rod shapes, in the bend molding apparatus of existing metal wire rod product, typically being controlled bending mechanism, governor motion and shut-off mechanism by a control system and realize the brake forming to wire rod, this type of bending wire forming machine has the disadvantage that
1, a machine can be only done a type of wire rod and becomes bending forming, when needs change wire rod or shaping type, it is necessary to use can not machine, i.e. the versatility of machine is very limited, causes substantial amounts of idle and waste；
2, cannot realize human computer conversation, its intelligence degree does not reaches far away the demand of user.
It is therefore proposed that the present invention.
Summary of the invention
Above-mentioned technical problem for prior art, it is an object of the invention to provide a kind of bending wire modularization robot, it realizes the replacing of robot arm by installing panel, one machine can realize polytype processing, versatility is the strongest, and human computer conversation is fully achieved, intelligence degree is the highest.
For reaching above-mentioned purpose, the present invention is achieved by the following technical solutions:
A kind of bending wire modularization robot, including frame, the mechanical hand controlled by control system is installed in described frame, described mechanical hand is connected by mechanical hand erecting device, described mechanical hand erecting device includes installing panel, the center of described installation panel is provided with installation bolt, and the periphery of described installation bolt is provided with at least one circle rail, and described round rail is to install the bolt concentric circular as the center of circle.
The cross section of described round rail is dovetail groove, and internal orifice diameter is more than collar extension diameter.
Described installation panel connects has cam, the rear side of described cam to be provided with reductor.
Described control system includes stocking system, image detecting system, modeling and simulating system, Intelligent Measurement resolution system, GBS control system and 3D automatic programming system.
Described mechanical hand is slide block assembly, multifunction manipulator, hydraulic pressure shears, molding bending machinery hands or multiaxis distortion mechanical hand.
Described slide block assembly includes the speed reducing box base being provided with slider servo motor and gear box cover, described gear box cover and slider servo motor are positioned at the opposite side of speed reducing box base, on described gear box cover, eccentric shaft is installed, connection seat is installed on described eccentric shaft, the lower section of described connection seat is provided with connection screw rod, the outside of described connection screw rod is provided with stop block, the lower section of described stop block is provided with the movable carriage shaft seat of installation activity knife rest, described speed reducing box base is connected with installing panel by T-nut, the afterbody of described T-nut is provided with cover plate, described T-nut is positioned at round rail, and T-nut slides in circle rail.
Described multifunction manipulator includes the track base being arranged on movable carriage, described track base be arranged above guide rail eccentric shaft, the lower section of track base is provided with line slideway, and described direct guide rail connects has guide rail Mobile base, the lower section of described guide rail Mobile base to be provided with mobile slide block；Described guide rail eccentric shaft be arranged over reductor, described reductor connects servomotor, and the motor shaft of reductor is adjacent with guide rail eccentric shaft, and the outside of described motor shaft is provided with motor cabinet.
Described hydraulic pressure shears includes that the shearing rocker arm shaft being arranged on installation panel, gear mould location-plate, joint bearing pin, oil cylinder fix axle and elevating bracket, described elevating bracket connects fixing seat, described shearing rocker arm shaft connects shearing rocking arm, shearing gear mould is installed on described gear mould location-plate, it is provided with shearing cutter head between described shearing rocking arm and shearing gear mould, being provided with cylinder connector on described joint bearing pin, described cylinder connector is positioned at the lower section shearing rocking arm.
Described molding bending machinery hands includes being arranged on the adjusting slider seat installed on panel, described adjusting slider seat connects torsion core gear, described torsion core gear is provided with torsion core, the outside of described torsion core is provided with torsion core retainer plate, the lower section of described torsion core retainer plate is provided with adjusting slider, the lower section of described adjusting slider is provided with slider bottom plate, the lower section of described slider bottom plate connects has molding to bend servomotor, described molding bending servomotor connects has molding to bend reductor, described molding bending reductor is connected by motor flange motor gear, described motor gear engages with turning round core gear.
Described multiaxis distortion machinery hands includes core print seat and rotating turret, described rotating turret is connected with installing panel by T-nut, described T-nut is positioned at round rail, described core print seat is connected with installing panel, servomotor one is installed on described rotating turret, servomotor two and servomotor three, described servomotor one is connected by reductor eccentric shaft one, described eccentric shaft one connects to be had transverse shifting line slideway and moves up and down line slideway one, described transverse shifting line slideway and move up and down and be provided with movable plate between line slideway one, and the outside moving up and down line slideway one is provided with right angle movable plate；Described servomotor two-way crosses reductor connection has eccentric shaft two, described eccentric shaft two to be connected with movable plate；Reductor connection is crossed in described servomotor threeway cut-out eccentric cam, and described cut-out eccentric cam connects has cut-out tool rest, the side of described cut-out tool rest to be provided with regulation guide plate, and described regulation guide plate is positioned at the side of core print seat；The lower section of described rotating turret is provided with square beam, the lower section of described square beam connects support seat, on described support seat, support bar is installed, described support bar is connected with square beam, described square beam be arranged above servomotor four, described servomotor four is provided with electrical machine belt pulley, described electrical machine belt pulley is connected by belt belt pulley, described belt pulley connects ball screw, the outside of described ball screw is provided with column, it is provided with on described column and moves up and down line slideway two, and column be arranged over pallet, described servomotor four be arranged over servomotor five, described servomotor five-way crosses reductor connection main shaft, torsion core is installed on described main shaft, described torsion core is provided with torsion core roller and turns round core retainer plate；The outside of described main shaft is provided with reduction box, and described reduction box is connected by reductor servomotor six, and described servomotor six is provided with pogo barrel, and described upper pogo barrel is socketed with lower spring sleeve pipe, and described lower spring sleeve pipe is connected with electrical machine belt pulley.
Bending wire modularization robot of the present invention has the advantages that
1, the present invention is provided with installation panel, and its mechanical hand is installed in round rail by T-slot, processing can not the raw material of type time, in that context it may be convenient to replacing mechanical hand, it is achieved a tractor serves several purposes, its versatility is the strongest；
2, when mechanical hand is installed, in T-slot, mouth is relatively big, and the major part parts of bolt are stuck in inside T-slot, add the working place of mechanical hand；
3, reductor is arranged on rear side of cam by the present invention, it is achieved that the integral replacing of mechanical hand；
4, the present invention is carried out complete design according to the difference of metal material by the complexity of the aspects such as the shape different angles in product processing, human computer conversation is realized by stocking system, image detecting system, modeling and simulating system, Intelligent Measurement resolution system, GBS control system and 3D automatic programming system, reach the intelligent and purpose of hommization, in the bending forming process of different product, use the man-machine transition regime of modularity, complete BENDING PROCESS in various degree at any time.
Accompanying drawing explanation
Fig. 1 is the structural representation installing panel in the present invention；
Fig. 2 is the side portion structure schematic diagram installing panel in the present invention；
Fig. 3 is the structural representation of the slide block assembly in the present invention；
Fig. 4 is the structural representation of the multifunction manipulator in the present invention；
Fig. 5 is the structural representation of the hydraulic pressure shears in the present invention；
Fig. 6 is the main TV structure schematic diagram of the hydraulic pressure shears in the present invention；
Fig. 7 is the structural representation of the molding bending machinery hands in the present invention；
Fig. 8 is the structural representation of the multiaxis distortion mechanical hand in the present invention；
Wherein, 1 for install panel, 2 for install bolt, 3 for circle rail；
11 be slider servo motor, 12 be gear box cover, 13 be speed reducing box base, 14 be eccentric shaft, 15 for connect seat, 16 for connect screw rod, 17 be stop block, 18 be movable carriage shaft seat, 19 be T-nut, 110 be cover plate, 111 be back-up ring, 112 be binding nut, 113 for movable carriage；
21 it is track base, 22 is guide rail eccentric shaft, 23 is line slideway, 24 is guide rail Mobile base, 25 is mobile slide block, 26 is reductor, 27 is servomotor, 28 is motor shaft, 29 is motor cabinet；
31 for shear rocker arm shaft, 32 be gear mould location-plate, 33 be joint bearing pin, 34 for oil cylinder fix axle, 35 be elevating bracket, 36 be fixing seat, 37 for shear rocking arm, 38 for shear gear mould, 39 be shearing cutter head, 310 be cylinder connector；
41 be adjusting slider seat, 42 for turn round core gear, 43 for turn round core, 44 for turn round core retainer plate, 45 for adjusting slider, 46 for slider bottom plate, 47 for molding bending servomotor, 48 for molding bending reductor, 49 be motor flange, 410 be motor gear；
null51 is core print seat、52 is rotating turret、53 is servomotor one、54 is servomotor two、55 is servomotor three、56 is reductor、57 is eccentric shaft one、58 is transverse shifting line slideway、59 for moving up and down line slideway one、510 is movable plate、511 is right angle movable plate、512 is eccentric shaft two、513 for cutting off eccentric cam、514 for cutting off tool rest、515 is regulation guide plate、516 is square beam、517 for supporting seat、518 is support bar、519 is servomotor four、520 is electrical machine belt pulley、521 is belt pulley、522 is ball screw、523 is column、524 for moving up and down line slideway two、525 is pallet、526 is servomotor five、527 is main shaft、528 for turning round core、529 for turning round core roller、530 for turning round core retainer plate、531 is reduction box、532 is servomotor six、533 is upper pogo barrel、534 is lower spring sleeve pipe.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is further illustrated, but protection scope of the present invention is not limited to this.
The bending wire modularization robot of the present invention, including frame, being provided with the mechanical hand controlled by control system in frame, control system includes stocking system, image detecting system, modeling and simulating system, Intelligent Measurement resolution system, GBS control system and 3D automatic programming system；Mechanical hand is connected by mechanical hand erecting device, such as Fig. 1 and 2, mechanical hand erecting device includes installing panel 1, and the center installing panel 1 is provided with installation bolt 2, and the periphery installing bolt 2 is provided with at least one circle rail 3, circle rail 3 is to install the bolt 2 concentric circular as the center of circle, mechanical hand is installed in round rail by T-slot, processing can not the raw material of type time, in that context it may be convenient to replacing mechanical hand, realizing a tractor serves several purposes, its versatility is the strongest.
The cross section of the round rail 3 in the present invention is dovetail groove, and internal orifice diameter is more than collar extension diameter, and when mechanical hand is installed, in T-slot, mouth is relatively big, and the major part parts of bolt are stuck in inside T-slot, add the working place of mechanical hand.
Installation panel 1 in the present invention connects cam, is arranged on by reductor on rear side of cam, it is achieved that the integral replacing of mechanical hand.
Mechanical hand in the present invention is slide block assembly, multifunction manipulator, hydraulic pressure shears, molding bending machinery hands or multiaxis distortion mechanical hand.
Embodiment 1
As it is shown on figure 3, the present embodiment 1 is for being arranged on slide block assembly on installation panel 1.
Slide block assembly includes the speed reducing box base 13 being provided with slider servo motor 11 and gear box cover 12, gear box cover 12 and slider servo motor 11 are positioned at the opposite side of speed reducing box base 13, eccentric shaft 14 is installed on gear box cover 12, connection seat 15 is installed on eccentric shaft 14, the junction of eccentric shaft 14 and connection seat 15 is provided with back-up ring 111, the lower section of connection seat 15 is connected by binding nut 112 connection screw rod 16, the outside connecting screw rod 16 is provided with stop block 17, and the lower section of stop block 17 is provided with the movable carriage shaft seat 18 of installation activity knife rest 113.
During installation, speed reducing box base 13 is connected with installing panel 1 by T-nut 19, and the afterbody of T-nut 19 is provided with cover plate 110, and T-nut 19 is positioned at round rail 3, and T-nut 19 slides in circle rail 3.
Embodiment 2
As shown in Figure 4, the present embodiment 2 is for install multifunction manipulator again on the basis of embodiment 1.
Multifunction manipulator includes the track base 21 being arranged on movable carriage 17, track base 21 be arranged above guide rail eccentric shaft 22, the lower section of track base 21 is provided with line slideway 23, and direct guide rail 23 connects has guide rail Mobile base 24, the lower section of guide rail Mobile base 24 to be provided with mobile slide block 25；Guide rail eccentric shaft 22 be arranged over reductor 26, reductor 26 connects servomotor 27, and the motor shaft 28 of reductor 26 is adjacent with guide rail eccentric shaft 22, and the outside of motor shaft 28 is provided with motor cabinet 29.
Embodiment 3
As it can be seen in figures 5 and 6, this enforcement 3 is for being arranged on hydraulic pressure shears on installation panel 1.
Hydraulic pressure shears includes that the shearing rocker arm shaft 31 being arranged on installation panel 1, gear mould location-plate 32, joint bearing pin 33, oil cylinder fix axle 34 and elevating bracket 35, elevating bracket 35 connects fixing seat 36, shear rocker arm shaft 31 connection and have shearing rocking arm 37, shearing gear mould 38 is installed on gear mould location-plate 32, shear and be provided with shearing cutter head 39 between rocking arm 37 and shearing gear mould 38, being provided with cylinder connector 310 on joint bearing pin 33, cylinder connector 310 is positioned at the lower section shearing rocking arm 37.
The shearing rocker arm shaft 31 installed on panel 1, gear mould location-plate 32, joint bearing pin 33 in the present embodiment 3, axle 34 fixed by oil cylinder and elevating bracket 35 is all arranged on round rail 3 by bolt, mounts and dismounts very convenient.
Embodiment 4
As it is shown in fig. 7, this enforcement 4 is for being arranged on molding bending machinery hands on installation panel 1.
Molding bending machinery hands includes being arranged on the adjusting slider seat 41 installed on panel 1, adjusting slider seat 41 is arranged in round rail 3 by bolt, adjusting slider seat 41 connects torsion core gear 42, turn round core gear 42 and be provided with torsion core 43, the outside turning round core 43 is provided with torsion core retainer plate 44, the lower section turning round core retainer plate 44 is provided with adjusting slider 45, the lower section of adjusting slider 45 is provided with slider bottom plate 46, the lower section of slider bottom plate 46 connects has molding to bend servomotor 47, molding bending servomotor 47 connects has molding to bend reductor 48, molding bending reductor 48 has motor gear 410 by motor flange 49 connection, motor gear 410 engages with turning round core gear 42.
Embodiment 5
As shown in Figure 8, this enforcement 5 is arranged on installation panel 1 for multiaxis distorts mechanical hand.
Multiaxis distortion machinery hands includes core print seat 51 and rotating turret 52, and rotating turret 52 is connected with installing panel 1 by T-nut 19, and T-nut 19 is positioned at round rail 3, and core print seat 51 is connected with installing panel 1.Servomotor 1, servomotor 2 54 and servomotor 3 55 are installed on rotating turret 52, servomotor 1 is connected by reductor 56 eccentric shaft 1, eccentric shaft 1 connects to be had transverse shifting line slideway 58 and moves up and down line slideway 1, transverse shifting line slideway 58 and move up and down and be provided with movable plate 510 between line slideway 1, and the outside moving up and down line slideway 1 is provided with right angle movable plate 511.Servomotor 2 54 is connected by reductor 56 has eccentric shaft 2 512, eccentric shaft 2 512 to be connected with movable plate 510.Servomotor 3 55 is connected by reductor 56 cut-out eccentric cam 513, and cutting off eccentric cam 513 connection has cut-out tool rest 514, and the side cutting off tool rest 514 is provided with regulation guide plate 515, and regulation guide plate 515 is positioned at the side of core print seat 51.
nullThe lower section of rotating turret 52 is provided with square beam 516，The lower section of square beam 516 connects support seat 517，Support, on seat 517, support bar 518 is installed，Support bar 518 is connected with square beam 516，Square beam 516 be arranged above servomotor 4 519，Servomotor 4 519 is provided with electrical machine belt pulley 520，Electrical machine belt pulley 520 is connected by belt belt pulley 521，Belt pulley 521 connects ball screw 522，The outside of ball screw 522 is provided with column 523，It is provided with on column 523 and moves up and down line slideway 2 524，And column 523 be arranged over pallet 525，Servomotor 4 519 be arranged over servomotor 5 526，Servomotor 5 526 is connected by reductor 56 main shaft 527，Torsion core 528 is installed on main shaft 527，Turn round core 528 be provided with torsion core roller 529 and turn round core retainer plate 530.The outside of main shaft 527 is provided with reduction box 531, reduction box 531 is connected by reductor 56 servomotor 6 532, being provided with pogo barrel 533 on servomotor 6 532, upper pogo barrel 533 is socketed with lower spring sleeve pipe 534, and lower spring sleeve pipe 534 is connected with electrical machine belt pulley 520.
The present invention is carried out complete design according to the difference of metal material by the complexity of the aspects such as the shape different angles in product processing, human computer conversation is realized by stocking system, image detecting system, modeling and simulating system, Intelligent Measurement resolution system, GBS control system and 3D automatic programming system, reach the intelligent and purpose of hommization, in the bending forming process of different product, use the man-machine transition regime of modularity, complete BENDING PROCESS in various degree at any time.
During use, mechanical hand in embodiment 1-5 combines with control system, control system sends instruction effect, system uses A6 chip, the super large memory function of 1 axle-36 axle, there is the functions such as image detecting system, modeling and simulating system, Intelligent Measurement resolution system, GBS control system and 3D automatic programming system, for the combination of manipulator.
Invention achieves can not the purpose of product adapted difference mechanical hand, in the way of man-machine conversion, next life originates from the product that oneself is required, and its intelligentized degree is higher.
Above-described embodiment is only used for illustrating the inventive concept of the present invention, rather than the restriction to rights protection of the present invention, all changes utilizing this design that the present invention carries out unsubstantiality, all should fall into protection scope of the present invention.
Claims (10)
1. a bending wire modularization robot, it is characterized in that: include frame, the mechanical hand controlled by control system is installed in described frame, described mechanical hand is connected by mechanical hand erecting device, described mechanical hand erecting device includes installing panel, the center of described installation panel is provided with installation bolt, and the periphery of described installation bolt is provided with at least one circle rail, and described round rail is to install the bolt concentric circular as the center of circle.
2. bending wire modularization robot as claimed in claim 1, it is characterised in that: the cross section of described round rail is dovetail groove, and internal orifice diameter is more than collar extension diameter.
3. bending wire modularization robot as claimed in claim 1, it is characterised in that: described installation panel connects has cam, the rear side of described cam to be provided with reductor.
4. the bending wire modularization robot as described in claim 1-3 any claim, it is characterised in that: described control system includes stocking system, image detecting system, modeling and simulating system, Intelligent Measurement resolution system, GBS control system and 3D automatic programming system.
5. bending wire modularization robot as claimed in claim 4, it is characterised in that: described mechanical hand is slide block assembly, multifunction manipulator, hydraulic pressure shears, molding bending machinery hands or multiaxis distortion mechanical hand.
6. bending wire modularization robot as claimed in claim 5, it is characterized in that: described slide block assembly includes being provided with the speed reducing box base of slider servo motor and gear box cover, described gear box cover and slider servo motor are positioned at the opposite side of speed reducing box base, on described gear box cover, eccentric shaft is installed, connection seat is installed on described eccentric shaft, the lower section of described connection seat is provided with connection screw rod, the outside of described connection screw rod is provided with stop block, the lower section of described stop block is provided with the movable carriage shaft seat of installation activity knife rest, described speed reducing box base is connected with installing panel by T-nut, the afterbody of described T-nut is provided with cover plate, described T-nut is positioned at round rail, and T-nut slides in circle rail.
7. bending wire modularization robot as claimed in claim 6, it is characterized in that: described multifunction manipulator includes the track base being arranged on movable carriage, described track base be arranged above guide rail eccentric shaft, the lower section of track base is provided with line slideway, described direct guide rail connects has guide rail Mobile base, the lower section of described guide rail Mobile base to be provided with mobile slide block；Described guide rail eccentric shaft be arranged over reductor, described reductor connects servomotor, and the motor shaft of reductor is adjacent with guide rail eccentric shaft, and the outside of described motor shaft is provided with motor cabinet.
8. bending wire modularization robot as claimed in claim 5, it is characterized in that: described hydraulic pressure shears includes that the shearing rocker arm shaft being arranged on installation panel, gear mould location-plate, joint bearing pin, oil cylinder fix axle and elevating bracket, described elevating bracket connects fixing seat, described shearing rocker arm shaft connects shearing rocking arm, shearing gear mould is installed on described gear mould location-plate, it is provided with shearing cutter head between described shearing rocking arm and shearing gear mould, being provided with cylinder connector on described joint bearing pin, described cylinder connector is positioned at the lower section shearing rocking arm.
9. bending wire modularization robot as claimed in claim 5, it is characterized in that: described molding bending machinery hands includes being arranged on the adjusting slider seat installed on panel, described adjusting slider seat connects torsion core gear, described torsion core gear is provided with torsion core, the outside of described torsion core is provided with torsion core retainer plate, the lower section of described torsion core retainer plate is provided with adjusting slider, the lower section of described adjusting slider is provided with slider bottom plate, the lower section of described slider bottom plate connects has molding to bend servomotor, described molding bending servomotor connects has molding to bend reductor, described molding bending reductor is connected by motor flange motor gear, described motor gear engages with turning round core gear.
10. bending wire modularization robot as claimed in claim 5, it is characterized in that: described multiaxis distortion machinery hands includes core print seat and rotating turret, described rotating turret is connected with installing panel by T-nut, described T-nut is positioned at round rail, described core print seat is connected with installing panel, servomotor one is installed on described rotating turret, servomotor two and servomotor three, described servomotor one is connected by reductor eccentric shaft one, described eccentric shaft one connects to be had transverse shifting line slideway and moves up and down line slideway one, described transverse shifting line slideway and move up and down and be provided with movable plate between line slideway one, and the outside moving up and down line slideway one is provided with right angle movable plate；Described servomotor two-way crosses reductor connection has eccentric shaft two, described eccentric shaft two to be connected with movable plate；Reductor connection is crossed in described servomotor threeway cut-out eccentric cam, and described cut-out eccentric cam connects has cut-out tool rest, the side of described cut-out tool rest to be provided with regulation guide plate, and described regulation guide plate is positioned at the side of core print seat；The lower section of described rotating turret is provided with square beam, the lower section of described square beam connects support seat, on described support seat, support bar is installed, described support bar is connected with square beam, described square beam be arranged above servomotor four, described servomotor four is provided with electrical machine belt pulley, described electrical machine belt pulley is connected by belt belt pulley, described belt pulley connects ball screw, the outside of described ball screw is provided with column, it is provided with on described column and moves up and down line slideway two, and column be arranged over pallet, described servomotor four be arranged over servomotor five, described servomotor five-way crosses reductor connection main shaft, torsion core is installed on described main shaft, described torsion core is provided with torsion core roller and turns round core retainer plate；The outside of described main shaft is provided with reduction box, and described reduction box is connected by reductor servomotor six, and described servomotor six is provided with pogo barrel, and described upper pogo barrel is socketed with lower spring sleeve pipe, and described lower spring sleeve pipe is connected with electrical machine belt pulley.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610347943.0A CN105818153B (en) | 2016-05-23 | 2016-05-23 | A kind of bending wire modularization robot |
| PCT/CN2017/080572 WO2017202153A1 (en) | 2016-05-23 | 2017-04-14 | Modularized robot for bending wire rod |
| KR1020177035424A KR101975032B1 (en) | 2016-05-23 | 2017-04-14 | Bending modular robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610347943.0A CN105818153B (en) | 2016-05-23 | 2016-05-23 | A kind of bending wire modularization robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
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| CN201610347943.0A Active CN105818153B (en) | 2016-05-23 | 2016-05-23 | A kind of bending wire modularization robot |
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| KR (1) | KR101975032B1 (en) |
| CN (1) | CN105818153B (en) |
| WO (1) | WO2017202153A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017202153A1 (en) * | 2016-05-23 | 2017-11-30 | 浙江万能弹簧机械有限公司 | Modularized robot for bending wire rod |
| CN110125278A (en) * | 2019-05-16 | 2019-08-16 | 东莞市永强弹簧五金有限公司 | A kind of coiling machine for pulling compression bar molding |
| CN112114135A (en) * | 2020-09-03 | 2020-12-22 | 杭州市第一人民医院 | Autoimmune detection system |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108285046A (en) * | 2017-12-29 | 2018-07-17 | 杭州高品自动化设备有限公司 | A kind of spring feeding mechanism |
| CN111515974A (en) * | 2020-05-06 | 2020-08-11 | 乔汉夷 | Test tube operation platform between medical isolation |
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2016
- 2016-05-23 CN CN201610347943.0A patent/CN105818153B/en active Active
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2017
- 2017-04-14 WO PCT/CN2017/080572 patent/WO2017202153A1/en active Application Filing
- 2017-04-14 KR KR1020177035424A patent/KR101975032B1/en active IP Right Grant
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| US4527446A (en) * | 1982-03-26 | 1985-07-09 | U.S. Automation Company | Cam-actuated robotic manipulator system |
| CN2664859Y (en) * | 2003-10-17 | 2004-12-22 | 孙永勇 | Pneumatic scissors with safety device |
| CN102069136A (en) * | 2010-11-10 | 2011-05-25 | 浙江万能弹簧机械有限公司 | Numerically controlled complete equipment for manufacturing deformed springs and torsion springs |
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| WO2017202153A1 (en) * | 2016-05-23 | 2017-11-30 | 浙江万能弹簧机械有限公司 | Modularized robot for bending wire rod |
| CN110125278A (en) * | 2019-05-16 | 2019-08-16 | 东莞市永强弹簧五金有限公司 | A kind of coiling machine for pulling compression bar molding |
| CN112114135A (en) * | 2020-09-03 | 2020-12-22 | 杭州市第一人民医院 | Autoimmune detection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105818153B (en) | 2018-06-22 |
| WO2017202153A1 (en) | 2017-11-30 |
| KR20180002848A (en) | 2018-01-08 |
| KR101975032B1 (en) | 2019-05-03 |
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