CN109530496A - A kind of robot bending control system of real-time synchronization - Google Patents
A kind of robot bending control system of real-time synchronization Download PDFInfo
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- CN109530496A CN109530496A CN201811188116.7A CN201811188116A CN109530496A CN 109530496 A CN109530496 A CN 109530496A CN 201811188116 A CN201811188116 A CN 201811188116A CN 109530496 A CN109530496 A CN 109530496A
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- robot
- fixedly connected
- real
- time synchronization
- control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D55/00—Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass
-
- 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
-
- 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
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a kind of robot bending control systems of real-time synchronization, it is related to robotic technology field, the robot bending control system of the real-time synchronization, including safety guard net, the bosom of the safety guard net is fixedly installed with robot, the inside left of the safety guard net is fixedly installed with finished product box and raw material box respectively up and down, and the inner right side of the safety guard net is fixedly installed with apparatus for bending, and the positive right side central of the apparatus for bending is fixedly installed with photoelectric sensor.The robot bending control system of the real-time synchronization; watch the working condition of robot in real time convenient for staff; make solution in time in case of a failure; the advantages of ensure that robot high efficiency and rapidity improves the safety of robot, improves the stability of robot; protect robot interior structure not damaged; service life is extended, maintenance cost is reduced, improves economic benefit.
Description
Technical field
The present invention relates to robotic technology field, the robot bending control system of specially a kind of real-time synchronization.
Background technique
Metal plate is a kind of synthesis cold machining process for sheet metal, including cuts, rushes, cutting, is compound, folding, welding, riveting
It connects, splice, forming (such as body of a motor car), significant feature is exactly Same Part consistency of thickness, is processed by sheet metal process
Product out is called sheet metal component, needs to carry out bending in sheet metal component process, in Chinese invention patent application prospectus
A kind of robot bending system of real-time synchronization, the robot bending system of the real-time synchronization disclosed in CN207271859U mention
Production efficiency has been risen, but the robot bending system safety is poor, bending inefficiency is easy to appear hysteresis, adds
Work error is larger, reduces workpiece quality, is not able to satisfy real-time synchronization requirement, and practicability is poor.
Currently, existing robot bending system, inconvenient for use, it is unfavorable for promoting the use of.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of robot bending control systems of real-time synchronization, solve
Existing robot bending system safety is poor, and bending inefficiency is easy to appear hysteresis, mismachining tolerance is larger,
Workpiece quality is reduced, is not able to satisfy real-time synchronization requirement and the poor problem of practicability.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs:
A kind of robot bending control system of real-time synchronization, including safety guard net, the inside of the safety guard net
Centre is fixedly installed with robot, and the inside left of the safety guard net is fixedly installed with finished product box and raw material respectively up and down
Box, the inner right side of the safety guard net are fixedly installed with apparatus for bending, and the positive right side central of the apparatus for bending is fixed
Photoelectric sensor is installed；
The inside of the robot is fixedly installed with pedestal, and the top center of the pedestal is equipped with controller, the control
The left bottom of device processed is fixedly connected with starting box, and the right hand top of the controller is equipped with normal operation indicator light and failure
Indicator light；
The positive Middle face of the controller is equipped with human-computer interaction interface, and the top center of the controller is fixedly installed with
Servo motor is fixedly connected with shaft at the top of the servo motor, and the outer surface of the shaft is socketed with pivoted housing up and down, institute
The two sides for stating pivoted housing are provided with motorized rails frame, and the outer surface of the motorized rails frame is socketed with driving box；
Two middle side parts up and down of the driving box are fixedly connected to anticollision washer, and the two sides of the driving box are fixed to be connected
It is connected to mechanical arm, the mechanical arm is made of hydraulic cylinder, drive rod and connecting rod, and the bottom end of the connecting rod is equipped with deceleration dress
It sets；
The top side of the deceleration device is fixedly connected with displacement sensor, and the bottom of the deceleration device is equipped with suction
Disk, the controller are internally provided with digital signal processor, data acquisition module, EnterCAT communication module, storage mould
Block, power module, drive module and detection module.
Optionally, the raw material box is internally provided with to bending workpieces；
The finished product box is internally provided with finished work-piece；
The bottom of the controller is fixedly connected with pedestal.
Optionally, the bottom of the starting box is fixedly connected with pedestal；
The normal operation indicator light is located at the top of malfunction indicator lamp.
Optionally, the normal operation indicator light and malfunction indicator lamp are fixedly connected with controller；
The human-computer interaction interface is fixedly connected with controller.
Optionally, the pivoted housing is arranged symmetrically, and the pivoted housing is fixedly connected with shaft；
The U-shaped shape in section of the motorized rails frame, the motorized rails frame are fixedly connected with pivoted housing.
Optionally, the driving box is slidably connected with shaft；
The anticollision washer is slidably socketed in the outer surface of shaft.
Optionally, one end of the drive rod is fixedly connected with hydraulic cylinder, and the other end and connecting rod of the drive rod are solid
Fixed connection, the L-shaped shape in the section of the connecting rod；
The top of the deceleration device is fixedly connected with connecting rod；
The top of the sucker is connect with speed brake setting.
Optionally, the output end of the photoelectric sensor, human-computer interaction interface and displacement sensor is electrically connected data and adopts
Collect the input terminal of module, the input terminal of the output end electrical connection EnterCAT communication module of the data acquisition module is described
The output end of EnterCAT communication module is electrically connected the input terminal of digital signal processor and memory module.
Optionally, the output end of the power module and detection module is electrically connected the input terminal of digital signal processor,
The output end of the digital signal processor is electrically connected the input terminal of drive module and detection module.
Optionally, the input terminal of the output end electrical connection servo motor of the drive module；
The output end of the detection module is electrically connected the input terminal of normal operation indicator light and malfunction indicator lamp.
(3) beneficial effect
The present invention provides a kind of robot bending control system of real-time synchronization, have it is following the utility model has the advantages that
(1), on the one hand the robot bending control system of the real-time synchronization is located at event by setting normal operation indicator light
Hinder indicator light, watches the working condition of robot in real time convenient for staff, make solution in time in case of a failure
Method, improves the safety of robot at the advantages of ensure that robot high efficiency and rapidity, on the other hand anti-by setting
Washer is hit, the stability and impact resistance of robot is improved, protects robot interior structure not damaged, extend use
Time limit reduces maintenance cost, improves economic benefit, secondly by setting motorized rails frame and hydraulic cylinder, so that machine
People can be displaced adjusting up and down, facilitated the transhipment and processing of workpiece, improved processing efficiency.
(2), the robot bending control system of the real-time synchronization is designed on the one hand by setting mechanical arm using both arms,
The continuity that ensure that work shortens the time interval between process, further improves working efficiency, on the other hand passes through
Photoelectric sensor and displacement sensor are set, greatly improves the speed of service of robot, ensure that the precision of bending, improve
Bending quality, reduces rejection rate, and robot is avoided hysteresis occur, reduces error, improves the reliability of processing,
It is secondary to meet real-time by setting controller and synchronize requirement, it is able to carry out mass data processing, enhances the practical of robot
Property.
Detailed description of the invention
Fig. 1 is robot schematic diagram of the invention；
Fig. 2 is safety guard net top view of the invention；
Fig. 3 is dust cover cross-sectional view of the invention；
Fig. 4 is robot system block diagram of the invention.
In figure: safety guard net 1, robot 2, raw material box 3, to bending workpieces 4, finished product box 5, finished work-piece 6, bending dress
Set 7, photoelectric sensor 8, pedestal 9, controller 10, starting box 11, normal operation indicator light 12, malfunction indicator lamp 13, dust cover
14, human-computer interaction interface 15, servo motor 16, shaft 17, pivoted housing 18, motorized rails frame 19, driving box 20, anticollision washer 21,
Mechanical arm 22, hydraulic cylinder 23, drive rod 24, connecting rod 25, deceleration device 26, displacement sensor 27, sucker 28, at digital signal
Manage device 29, data acquisition module 30, EnterCAT communication module 31, memory module 32, power module 33, drive module 34, inspection
Survey module 35.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " setting ", " installation ", " connected ", " connection ",
Terms such as " fixations " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection；It can be mechanical connect
It connects；It can be directly connected, it can also be indirectly connected through an intermediary.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
Fig. 1-4 is please referred to, the present invention provides a kind of technical solution:
A kind of robot bending control system of real-time synchronization, including safety guard net 1, in the inside of safety guard net 1
Between be fixedly installed with robot 2, the inside left of safety guard net 1 is fixedly installed with finished product box 5 and raw material box 3 respectively up and down,
The inner right side of safety guard net 1 is fixedly installed with apparatus for bending 7, and wherein apparatus for bending 7 is in patent No. CN207271859U
It has disclosed, the positive right side central of apparatus for bending 7 is fixedly installed with photoelectric sensor 8；
The inside of robot 2 is fixedly installed with pedestal 9, and the top center of pedestal 9 is equipped with controller 10, controller 10
Left bottom is fixedly connected with starting box 11, and the right hand top of controller 10 is equipped with normal operation indicator light 12 and indicating fault
Lamp 13, the positive Middle face of controller 10 are equipped with dust cover 14, and the top two sides of dust cover 14 are mounted on articulation piece, dust cover
14 are flexibly connected by articulation piece with the outer surface of controller 10, by the way that dust cover 14 is arranged, prevent dust from polluting human-computer interaction
Interface 15 ensure that the normal use of human-computer interaction interface 15, improve touch effect, improve the accuracy of control；
The positive Middle face of controller 10 is equipped with human-computer interaction interface 15, and the top center of controller 10, which is fixedly installed with, to be watched
Motor 16 is taken, the top of servo motor 16 is fixedly connected with shaft 17, and the outer surface of shaft 17 is socketed with pivoted housing 18 up and down, turns
The two sides of set 18 are provided with motorized rails frame 19, and the outer surface of motorized rails frame 19 is socketed with driving box 20；
Two middle side parts up and down of driving box 20 are fixedly connected to anticollision washer 21, and the two sides of driving box 20 are fixedly connected with
There is mechanical arm 22, by the way that mechanical arm 22 is arranged, is designed using both arms, ensure that the continuity of work, shorten between process
Time interval further improves working efficiency, and mechanical arm 22 is made of hydraulic cylinder 23, drive rod 24 and connecting rod 25, connecting rod
25 bottom end is equipped with deceleration device 26；
The top side of deceleration device 26 is fixedly connected with displacement sensor 27, and the bottom of deceleration device 26 is equipped with sucker
28, controller 10 is internally provided with digital signal processor 29, data acquisition module 30, EnterCAT communication module 31, deposits
Store up module 32, power module 33, drive module 34 and detection module 35.
As a kind of optional technical solution of the invention:
Raw material box 3 is internally provided with to bending workpieces 4；
Finished product box 5 is internally provided with finished work-piece 6；
The bottom of controller 10 is fixedly connected with pedestal 9.
As a kind of optional technical solution of the invention:
The bottom of starting box 11 is fixedly connected with pedestal 9；
Normal operation indicator light 12 is located at the top of malfunction indicator lamp 13, is located at event by setting normal operation indicator light 12
Hinder indicator light 13, watches the working condition of robot 2 in real time convenient for staff, make solution in time in case of a failure
Certainly method, improves the safety of robot 2 at the advantages of ensure that 2 high efficiency of robot and rapidity.
As a kind of optional technical solution of the invention:
Normal operation indicator light 12 and malfunction indicator lamp 13 are fixedly connected with controller 10；
Human-computer interaction interface 15 is fixedly connected with controller 10.
As a kind of optional technical solution of the invention:
Pivoted housing 18 is arranged symmetrically, and pivoted housing 18 is fixedly connected with shaft 17；
The U-shaped shape in the section of motorized rails frame 19, motorized rails frame 19 are fixedly connected with pivoted housing 18.
As a kind of optional technical solution of the invention:
Driving box 20 is slidably connected with shaft 17；
Anticollision washer 21 is slidably socketed in the outer surface of shaft 17, by the way that anticollision washer 21 is arranged, improves robot 2
Stability and impact resistance protect 2 internal structure of robot not damaged, extend service life, reduce maintenance cost,
Improve economic benefit.
As a kind of optional technical solution of the invention:
One end of drive rod 24 is fixedly connected with hydraulic cylinder 23, and the other end of drive rod 24 is fixedly connected with connecting rod 25,
The L-shaped shape in the section of connecting rod 25 carries out robot 2 up and down by setting motorized rails frame 19 and hydraulic cylinder 23
Left and right displacement is adjusted, and is facilitated the transhipment and processing of workpiece, is improved processing efficiency；
The top of deceleration device 26 is fixedly connected with connecting rod 25；
The top of sucker 28 is fixedly connected with deceleration device 26.
As a kind of optional technical solution of the invention:
The output end of photoelectric sensor 8, human-computer interaction interface 15 and displacement sensor 27 is electrically connected data acquisition module
30 input terminal, wherein 8 model O5S700 Germany Yi Fumen photoelectric sensor of photoelectric sensor, 27 model of displacement sensor
PY-2-F025 displacement sensor greatly improves the operation of robot 2 by setting photoelectric sensor 8 and displacement sensor 27
Speed ensure that the precision of bending, improves bending quality, reduces rejection rate, avoids robot 2 from hysteresis occur, subtracts
Lack error, improves the reliability of processing, the output end electrical connection EnterCAT communication module 31 of data acquisition module 30
Input terminal, the output end of EnterCAT communication module 31 are electrically connected the input of digital signal processor 29 and memory module 32
It holds, wherein 29 model DBX260 digital signal processor of digital signal processor.
As a kind of optional technical solution of the invention:
The output end of power module 33 and detection module 35 is electrically connected the input terminal of digital signal processor 29, number letter
The output end of number processor 29 is electrically connected the input terminal of drive module 34 and detection module 35.
As a kind of optional technical solution of the invention:
The input terminal of the output end electrical connection servo motor 16 of drive module 34；
The output end of detection module 35 is electrically connected the input terminal of normal operation indicator light 12 and malfunction indicator lamp 13, leads to
Setting controller 10 is crossed, the synchronous requirement of real-time can be met, mass data processing is able to carry out, enhances the practical of robot 2
Property.
The electric elements occurred in this article are electrically connected with extraneous main controller and 220V alternating current, and main controller can be meter
Calculation machine etc. plays the conventionally known equipment of control.
In conclusion on the one hand the robot bending control system of the real-time synchronization passes through setting in a situation of use where
Normal operation indicator light 12 is located at malfunction indicator lamp 13, watches the working condition of robot 2 in real time convenient for staff, is occurring
The advantages of making solution in the case where failure in time, ensure that 2 high efficiency of robot and rapidity, improves robot 2
Safety, on the other hand by setting anticollision washer 21, improve the stability and impact resistance of robot 2, protect machine
2 internal structure of device people is not damaged, extends service life, reduces maintenance cost, improves economic benefit, secondly by setting
Motorized rails frame 19 and hydraulic cylinder 23 are set, robot 2 is allowed to be displaced adjusting up and down, facilitates the transhipment of workpiece
And processing, processing efficiency is improved, on the one hand by setting mechanical arm 22, is designed using both arms, ensure that the continuity of work,
The time interval between process is shortened, working efficiency is further improved, on the other hand passes through setting photoelectric sensor 8 and position
Displacement sensor 27 greatly improves the speed of service of robot 2, ensure that the precision of bending, improves bending quality, reduces
Rejection rate avoids robot 2 from hysteresis occur, reduces error, improves the reliability of processing, controls secondly by setting
Device 10 can meet the synchronous requirement of real-time, be able to carry out mass data processing, enhance the practicability of robot 2.
It should be noted that in the present invention unless specifically defined or limited otherwise, fisrt feature is in second feature
It can be that the first and second features directly contact or the first and second features are by intermediary mediate contact "up" or "down".
Moreover, fisrt feature can be above the second feature " above ", " above " and " above " fisrt feature right above second feature or tiltedly
Top, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature second feature " under ", " lower section " and
" following " can be fisrt feature and be directly under or diagonally below the second feature, or be merely representative of first feature horizontal height less than
Two features.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of robot bending control system of real-time synchronization, it is characterised in that:
Including safety guard net (1), the bosom of the safety guard net (1) is fixedly installed with robot (2), the safety
The inside left of protective net (1) is fixedly installed with finished product box (5) and raw material box (3) respectively up and down, the safety guard net (1)
Inner right side is fixedly installed with apparatus for bending (7), and the positive right side central of the apparatus for bending (7) is fixedly installed with photoelectric sensing
Device (8)；
The inside of the robot (2) is fixedly installed with pedestal (9), and the top center of the pedestal (9) is equipped with controller
(10), the left bottom of the controller (10) is fixedly connected with starting box (11), the right hand top peace of the controller (10)
Equipped with normal operation indicator light (12) and malfunction indicator lamp (13)；
The positive Middle face of the controller (10) is equipped with human-computer interaction interface (15), and the top center of the controller (10) is solid
Dingan County is equipped with servo motor (16), is fixedly connected with shaft (17) at the top of the servo motor (16), the shaft (17)
Outer surface is socketed with pivoted housing (18) up and down, and the two sides of the pivoted housing (18) are provided with motorized rails frame (19), described electronic
The outer surface of guide rail bracket (19) is socketed with driving box (20)；
Two middle side parts up and down of the driving box (20) are fixedly connected to anticollision washer (21), the two sides of the driving box (20)
It being fixedly connected to mechanical arm (22), the mechanical arm (22) is made of hydraulic cylinder (23), drive rod (24) and connecting rod (25),
The bottom end of the connecting rod (25) is equipped with deceleration device (26)；
The top side of the deceleration device (26) is fixedly connected with displacement sensor (27), the bottom of the deceleration device (26)
Be equipped with sucker (28), the controller (10) be internally provided with digital signal processor (29), data acquisition module (30),
EnterCAT communication module (31), memory module (32), power module (33), drive module (34) and detection module (35).
2. a kind of robot bending control system of real-time synchronization according to claim 1, it is characterised in that:
The raw material box (3) is internally provided with to bending workpieces (4)；
The finished product box (5) is internally provided with finished work-piece (6)；
The bottom of the controller (10) is fixedly connected with pedestal (9).
3. a kind of robot bending control system of real-time synchronization according to claim 1, it is characterised in that:
The bottom of starting box (11) is fixedly connected with pedestal (9)；
The normal operation indicator light (12) is located at the top of malfunction indicator lamp (13).
4. a kind of robot bending control system of real-time synchronization according to claim 1, it is characterised in that:
The normal operation indicator light (12) and malfunction indicator lamp (13) are fixedly connected with controller (10)；
The human-computer interaction interface (15) is fixedly connected with controller (10).
5. a kind of robot bending control system of real-time synchronization according to claim 1, it is characterised in that:
The pivoted housing (18) is arranged symmetrically, and the pivoted housing (18) is fixedly connected with shaft (17)；
The U-shaped shape in section of the motorized rails frame (19), the motorized rails frame (19) are fixedly connected with pivoted housing (18).
6. a kind of robot bending control system of real-time synchronization according to claim 1, it is characterised in that:
The driving box (20) is slidably connected with shaft (17)；
The anticollision washer (21) is slidably socketed in the outer surface of shaft (17).
7. a kind of robot bending control system of real-time synchronization according to claim 1, it is characterised in that:
One end of the drive rod (24) is fixedly connected with hydraulic cylinder (23), the other end and connecting rod of the drive rod (24)
(25) it is fixedly connected, the L-shaped shape in section of the connecting rod (25)；
The top of the deceleration device (26) is fixedly connected with connecting rod (25)；
The top of the sucker (28) is fixedly connected with deceleration device (26).
8. a kind of robot bending control system of real-time synchronization according to claim 1, it is characterised in that:
The output end of the photoelectric sensor (8), human-computer interaction interface (15) and displacement sensor (27) is electrically connected data and adopts
Collect the input terminal of module (30), the output end of the data acquisition module (30) is electrically connected the defeated of EnterCAT communication module (31)
Enter end, the output end of the EnterCAT communication module (31) is electrically connected digital signal processor (29) and memory module
(32) input terminal.
9. a kind of robot bending control system of real-time synchronization according to claim 1, it is characterised in that:
The output end of the power module (33) and detection module (35) is electrically connected the input terminal of digital signal processor (29),
The output end of the digital signal processor (29) is electrically connected the input terminal of drive module (34) and detection module (35).
10. a kind of robot bending control system of real-time synchronization according to claim 1, it is characterised in that:
The input terminal of output end electrical connection servo motor (16) of the drive module (34)；
The output end of the detection module (35) is electrically connected the defeated of normal operation indicator light (12) and malfunction indicator lamp (13)
Enter end.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811188116.7A CN109530496A (en) | 2018-09-26 | 2018-09-26 | A kind of robot bending control system of real-time synchronization |
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| CN201811188116.7A CN109530496A (en) | 2018-09-26 | 2018-09-26 | A kind of robot bending control system of real-time synchronization |
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| CN201811188116.7A Pending CN109530496A (en) | 2018-09-26 | 2018-09-26 | A kind of robot bending control system of real-time synchronization |
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| US4474174A (en) * | 1979-05-21 | 1984-10-02 | American Hospital Supply Corporation | Surgical instrument for an endoscope |
| CN103056873A (en) * | 2013-01-22 | 2013-04-24 | 江苏新光数控技术有限公司 | Manipulator for marking machine |
| CN103111742A (en) * | 2013-02-26 | 2013-05-22 | 歌尔声学股份有限公司 | Spot welding head for welding enamelled wires |
| CN103447695A (en) * | 2013-08-22 | 2013-12-18 | 歌尔声学股份有限公司 | Wiring tool for mini coaxial wire middle stripper |
| CN207271859U (en) * | 2017-08-09 | 2018-04-27 | 杭州凯尔达机器人科技股份有限公司 | A kind of robot bending system of real-time synchronization |
| CN108044609A (en) * | 2017-11-08 | 2018-05-18 | 江苏新光数控技术有限公司 | A kind of numerical control four-axis welding manipulator |
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Application publication date: 20190329 |