CN110181076A - Automatic charging clamping position control system and method towards irregularly-shaped inner hole workpiece - Google Patents
Automatic charging clamping position control system and method towards irregularly-shaped inner hole workpiece Download PDFInfo
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- CN110181076A CN110181076A CN201910329703.1A CN201910329703A CN110181076A CN 110181076 A CN110181076 A CN 110181076A CN 201910329703 A CN201910329703 A CN 201910329703A CN 110181076 A CN110181076 A CN 110181076A
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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
- 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
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Feeding Of Workpieces (AREA)
Abstract
The present invention provides a kind of automatic charging clamping position control system and method towards irregularly-shaped inner hole workpiece, belongs to metal parts processing technique field.The system includes feeding charging tray, positioning collet, loading and unloading robot and numerically controlled lathe, passes through positioning collet batch on feeding charging tray and places workpiece to be processed, loading and unloading robot is located above feeding charging tray and numerically-controlled machine tool；When the system is applied, production positioning collet first, positioning collet batch is installed in feeding charging tray, workpiece to be processed is placed in feeding charging tray, loading and unloading robot carries out crawl feeding etc., the chuck for being used to support irregularly-shaped inner hole workpiece instruction is loosened and clamped by sending to Control System of NC Machine, completes the accurate transmission installation of the workpiece to be processed between loading and unloading robot hand and main shaft of numerical control machine tool chuck.This method can effectively solve the problem that the feeding claming angle faced using numerically-controlled machine tool loading and unloading robot system when processing has the workpiece of irregularly-shaped inner hole is difficult to the problem of being accurately positioned.
Description
Technical field
The present invention relates to metal parts Technology for Turning Machining fields, particularly relate to a kind of towards the automatic of irregularly-shaped inner hole workpiece
Feeding clamping position control system and method.
Background technique
Industrial robot is the Core equipment of modern industry automation, and numerically-controlled machine tool loading and unloading robot is as industrial machine
A kind of application form of people, changes traditional logistics mode, improves factory work environment, realizes that workpiece transmitted in factory
Digitlization, information system management in journey ensure that the quality of production of product while improving production efficiency.Reasonable work
The use of industry robot automation's equipment can replace operator to complete dangerous, repetition scissors and paste, and it is strong to mitigate human labour
Degree reduces cost, improves efficiency for enterprise's production.Have more and more enterprises at present and introduces numerically-controlled machine tool loading and unloading robot
Production work is completed, but is much made in use for the numerically-controlled machine tool loading and unloading robot of special applications scene
About, shape has the workpiece of irregularly-shaped inner hole, such as various vehicle transmission internal spherical cages in cylindrical body, due in main shaft of numerical control machine tool
It needs to carry out inner hole chuck when being cut to fix, just faces and be difficult to when carrying out numerically-controlled machine tool feeding using loading and unloading robot
Suitable chuck feeding and clamping angle are found, causes this kind of workpiece to be difficult to realize full automatic robot charge operation, adopts
The manufacture and maintenance cost that the system can be greatly improved with the methods of machine vision will be greatly reduced entire again by human assistance
The operational efficiency of system, this largely affects the scope of application of numerically-controlled machine tool loading and unloading robot system.
A kind of this method positioned based on feeding charging tray auxiliary machinery positioning with main shaft of numerical control machine tool especially set out is combined
Automatic charging clamping position control method, by the angle calculation of simple and fast, by loading and unloading robot control system with
Signal exchange between Control System of NC Machine, it is ensured that shutting down wait expect to main shaft of numerical control machine tool chuck in robot feeding process
Position accurately controls, and realizes fully automatic operation of the numerically-controlled machine tool loading and unloading robot when processing has irregularly-shaped inner hole workpiece.
Summary of the invention
The automatic charging clamping position control towards irregularly-shaped inner hole workpiece that the technical problem to be solved in the present invention is to provide a kind of
System and method processed is positioned by the opposite placement position of the inner hole of workpiece before feeding, while being cooperated on machining tool
It is accurate right when carrying out full-automatic loading and unloading using loading and unloading robot to can be realized irregularly-shaped inner hole workpiece for main shaft orientation function
It connects, significantly improves adaptability of the lathe loading and unloading system in processing profiled bore work, advantageously reduce operator's labor
Fatigue resistance improves rhythm of production.
The system includes feeding charging tray, positioning collet, loading and unloading robot and numerically controlled lathe, and positioning collet is mounted on feeding
On charging tray, workpiece to be processed is placed on positioning collet, and feeding charging tray is located at numerically-controlled machine tool side, and loading and unloading robot is located at feeding
Above charging tray and numerically-controlled machine tool.
Wherein, feeding charging tray for placing irregularly-shaped inner hole workpiece to be processed in batches, using step-by-step movement movement or whole disk
Move mode.
Positioning collet is mounted on feeding charging tray, for the workpiece positioning with irregularly-shaped inner hole to be processed, positions collet
Shape matched with the inner hole of workpiece to be processed, position collet maximum outside diameter control in workpiece to be processed inner hole most imperial palace
The 95%~97% of diameter.
Loading and unloading robot is used to substitute the automatic loading/unloading that operator completes workpiece to be processed, including gripper, movement
Device and control system, gripper are mounted on the front end of loading and unloading robot, the crawl for workpiece to be processed；Mobile device is used for
Movement and feeding after workpiece to be processed crawl；Control system is used to control the elastic of gripper, rotation, movement.
Numerically-controlled machine tool mainly includes spindle box, chuck, feed mechanism, control system etc., and wherein spindle box includes main shaft, passes
Motivation structure etc., main function be supporting spindle and make its rotation, chuck be mounted in spindle of numerical control lathe front end for it is fixed to
The hydraulic mechanism of workpieces processing, feed mechanism are the mechanical parts for completing machining, and control system completes the elastic, main of chuck
Axis start and stop and positioning, cutting output control etc..
For the workpiece to be processed with irregularly-shaped inner hole, corresponding positioning collet is made according to the variation of its internal via shape,
And positioning collet is mounted on feeding charging tray according to unified angle, position collet shape and irregularly-shaped inner hole workpiece to be processed
It keeps certain tolerance to match, will generally control with the maximum outside diameter of positioning collet in workpiece to be processed inner hole maximum inner diameter
95%~97%, it can not only make to put in this way and take out workpiece with opposite allowance, but also can satisfy the essence of feeding orientation angle
Degree demand.After loading and unloading robot hand carries out the crawl of certain angle on feeding charging tray to workpiece to be processed, pass through movement
For device in spindle of numerical control lathe feeding, the conversion by grabbing angle will obtain relatively-stationary feeding angle, numerical control
Machine tool control system then carries out vehicle positioning stop to the chuck for being used to support irregularly-shaped inner hole workpiece on main shaft according to required angle,
To guarantee accurate docking of the loading and unloading robot when carrying out automatic charging to numerically-controlled machine tool.
Using the method for the system, comprise the following steps that
S1:, will according to feeding charging tray capacity according to the corresponding positioning collet of internal via shape variation production of workpiece to be processed
Positioning collet batch is installed in feeding charging tray；
Workpiece to be processed: being placed in feeding charging tray by S2 by operator, the inner hole of workpiece to be processed bottom naturally with it is upper
The positioning collet fitting installed on material charging tray；
S3: according to full automatic lathe loading and unloading process, loading and unloading robot hand is according to angle determined by positioning collet
Degree on feeding charging tray to workpiece to be processed carry out grasping manipulation, then according to crawl angle, positioning collet setting angle and on
The available main shaft of numerical control machine tool parking angle of feeding robot gripper feeding process Space Rotating situation；
S4: being sent to numerically-controlled machine tool for main shaft of numerical control machine tool parking angle, is mounted on by Control System of NC Machine completion
The special angle vehicle positioning stop of the chuck of front-end of spindle；
S5: loading and unloading robot hand is moved at main shaft of numerical control machine tool, by sending to Control System of NC Machine
The chuck instruction for being used to support workpiece to be processed is loosened and clamped, completes workpiece to be processed in loading and unloading robot hand and numerical control
The accurate transmission installation between machine tool chief axis chuck.
The advantageous effects of the above technical solutions of the present invention are as follows:
In above scheme, can effectively solve the problem that has irregularly-shaped inner hole in processing using numerically-controlled machine tool loading and unloading robot system
Workpiece when the feeding claming angle that faces be difficult to the problem of being accurately positioned, effectively expand loading and unloading robot systematic difference
Range improves processing efficiency while reducing labor intensity.
Detailed description of the invention
Fig. 1 is the automatic charging clamping position control system architecture schematic diagram of the invention towards irregularly-shaped inner hole workpiece；
Fig. 2 is special-shaped workpiece inner hole of the present invention and positioning collet exemplary diagram, wherein (a) is special-shaped workpiece inner hole, (b) is
Position collet；
Fig. 3 is signal interaction schematic diagram of the invention；
Fig. 4 is loading and unloading flow diagram of the invention.
Wherein: 1- feeding charging tray；2- positions collet；3- workpiece to be processed；4- loading and unloading robot；5- numerically-controlled machine tool.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
The present invention provides a kind of automatic charging clamping position control system and method towards irregularly-shaped inner hole workpiece.
As shown in Figure 1, the system includes feeding charging tray 1, positioning collet 2, loading and unloading robot 4 and numerically controlled lathe 5, positioning
Collet 2 is mounted on feeding charging tray 1, and workpiece to be processed 3 is placed on positioning collet 2, and feeding charging tray 1 is located at 5 side of numerically-controlled machine tool,
Loading and unloading robot 4 is located at 5 top of feeding charging tray 1 and numerically-controlled machine tool.
In practical applications, feeding charging tray 1 may be positioned so that the workpiece to be processed 3 of batch, feeding charging tray 1 can be using steps
Workpiece is moved to loading and unloading robot 4 into formula movement or whole disk move mode can crawl position.According to system on feeding charging tray 1
The positioning collet 2 of one angle batch installation, for placing workpiece to be processed 3, workpiece to be processed 3 can be using manual type batch
It is placed on positioning collet 2, after filling, placement angle of the workpiece to be processed 3 with irregularly-shaped inner hole on feeding charging tray 1 is
It is consistent with unified fixed 2 angle of positioning collet.Loading and unloading robot 4 is to be processed for completing to put on feeding charging tray 1
The crawl of workpiece 3, and then the position that the workpiece after crawl is sent to numerically-controlled machine tool 5 is moved by the walking of loading and unloading robot 4,
Wait for operation of feeding and discharging.
Fig. 2 show special-shaped workpiece inner hole and positioning collet exemplary diagram, wherein with the motor vehicle transmission with irregularly-shaped inner hole
For axis internal spherical cage workpiece, according to the irregularly-shaped inner hole of workpiece to be processed 3, the positioning that hole size therewith matches is designed and produced
Collet 2, and make the cooperation nargin for positioning collet external dimensions and inner hole of workpiece holding 0.3mm~0.7mm or so, convenient for workpiece
It puts and takes out, while can also guarantee that loading and unloading robot 4 has 2.0% allowable error angle below in grabbing workpiece
Degree, will not influence setting angle of the workpiece in numerically-controlled machine tool feeding.
Has the function of signal interaction between loading and unloading robot 4 in Fig. 1 and numerically-controlled machine tool 5, in addition to normal loading and unloading need
Outside the logical interlock signal wanted, special-shaped workpiece is also needed to determine to strive by positioning collet 2 and 3 relative position of workpiece to be processed
Angle is taken to be sent to numerically-controlled machine tool, required for capable of installing in order to machine tool chief axis chuck of the numerically-controlled machine tool after process finishing
Angle vehicle positioning stop.It is general using its angle after the crawl of same loading and unloading robot to one kind positioning collet and workpiece to be processed
It will not change, it in this case, can also be by the angle after calculating or test directly in main shaft of numerical control machine tool vehicle positioning stop
It is set in parameter, without by the way of data transmission.
Fig. 3 show the signal interaction schematic diagram of system, wherein loading and unloading robot control system, numerically-controlled machine tool control system
System is installed respectively in feeding robot 4 and numerically-controlled machine tool 5.Loading and unloading robot control system mainly controls the shifting of feeding gripper
Dynamic device, take-up and rotating device etc.；Control System of NC Machine mainly controls feed of the lathe for turnery processing
Device, main shaft rotation and positioning device, the chuck take-up for fixing workpiece.Loading and unloading robot control system, numerical control
The signal that machine tool control system mainly interacts includes elastic lathe start and stop, chuck, abnormal alarm and the angle for vehicle positioning stop
Degree.In entire feeding process, loading and unloading robot control system passes through control gripper mobile device, take-up and rotation
Device executes corresponding action command；System can be according to the crawl angle of workpiece, the Space Rotating of gripper and feeding charging tray
The setting angle of upper positioning collet converses feeding angle, and Control System of NC Machine then determines chuck according to feeding angle
Position parking；After loading and unloading robot hand is moved to upper discharge position, numerically-controlled machine tool by control chuck loosen and clamp come
The machining to workpiece is realized in the installation for completing workpiece to be processed finally by control feed arrangement.
When Fig. 4 is shown to the workpiece to be processed 3 with irregularly-shaped inner hole using this method progress robot automatic loading/unloading
Flow chart, described below is the automatic charging process of a complete irregularly-shaped inner hole workpiece, the specific steps are as follows:
Step 1: operator to placing workpiece to be processed 3 in batches in feeding charging tray, the inner hole and feeding material of special-shaped workpiece
The outer wall that collet 2 is positioned on disk contacts naturally；
Step 2: feeding charging tray move to loading and unloading robot 4 can crawl position, according to automatic loading/unloading process, loading and unloading
4 gripper of robot carries out the crawl of certain angle on feeding charging tray to workpiece to be processed 3；
Step 4: according to the crawl angle of workpiece, gripper Space Rotating and feeding charging tray on position collet established angle
Degree calculates feeding angle；
Step 5: according to after positioning collet setting angle, crawl angle and the crawl of loading and unloading robot hand to before feeding
Space Rotating angle, by needed for available 5 main shaft of numerically-controlled machine tool of angular transformation in 4 control system of loading and unloading robot
Parking angle.
Step 6: sending numerically-controlled machine tool 5 for calculated parking angle, 5 control system of numerically-controlled machine tool is according to parking angle
Control is mounted on the chuck vehicle positioning stop of front-end of spindle；
Step 7: loading and unloading robot 4 has sent the workpiece grabbed to numerically-controlled machine tool 5 according to lathe feeding requirement command
At main shaft, interior orifice angle when due to crawl has been carried out with the parking angle of chuck outer wall to be matched, can be according to normal flow
Implement operation of feeding and discharging；
Step 8: loading and unloading robot 4 and numerically-controlled machine tool 5 are completed the automatic transmitting to workpiece to be processed and are installed, numerically-controlled machine tool
Process operation is executed automatically by process.
Above description is primarily directed to the case where using truss-like loading and unloading robot, for the loading and unloading of other forms
Robot system is equally applicable, and model to lathe and type are without limitation so that technical solution of the present invention have it is relatively strong
Versatility.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of automatic charging clamping position control system towards irregularly-shaped inner hole workpiece, it is characterised in that: including feeding charging tray
(1), collet (2), loading and unloading robot (4) and numerically controlled lathe (5) are positioned, positioning collet (2) is mounted on feeding charging tray (1),
Workpiece to be processed (3) is placed in positioning collet (2), and feeding charging tray (1) is located at numerically-controlled machine tool (5) side, loading and unloading robot (4)
Above feeding charging tray (1) and numerically-controlled machine tool (5).
2. the automatic charging clamping position control system according to claim 1 towards irregularly-shaped inner hole workpiece, feature exist
In: the feeding charging tray (1) is using step-by-step movement movement or whole disk move mode.
3. the automatic charging clamping position control system according to claim 1 towards irregularly-shaped inner hole workpiece, feature exist
In: the shape of positioning collet (2) is matched with the inner hole of workpiece to be processed, the maximum outside diameter control of positioning collet (2)
The 95%~97% of workpiece to be processed (3) inner hole maximum inner diameter.
4. the automatic charging clamping position control system according to claim 1 towards irregularly-shaped inner hole workpiece, feature exist
In: the loading and unloading robot (4) includes gripper, mobile device and control system, before gripper is mounted on loading and unloading robot
End, the crawl for workpiece to be processed；Mobile device is used for movement and feeding after workpiece to be processed crawl；Control system is used for
Control the elastic of gripper, rotation, movement.
5. the method for the application automatic charging clamping position control system described in claim 1 towards irregularly-shaped inner hole workpiece,
It is characterized in that: comprising the following steps that
S1: it according to the corresponding positioning collet of internal via shape variation production of workpiece to be processed, will be positioned according to feeding charging tray capacity
Collet batch is installed in feeding charging tray；
Workpiece to be processed: being placed in feeding charging tray by S2 by operator, the inner hole of workpiece to be processed bottom naturally with feeding material
The positioning collet fitting installed on disk；
S3: according to full automatic lathe loading and unloading process, loading and unloading robot hand exists according to angle determined by positioning collet
Grasping manipulation is carried out to workpiece to be processed on feeding charging tray, then according to crawl angle, positioning collet setting angle and loading and unloading
Robot hand feeding process Space Rotating situation, is digitally controlled machine tool chief axis parking angle；
S4: being sent to numerically-controlled machine tool for main shaft of numerical control machine tool parking angle, is mounted on main shaft by Control System of NC Machine completion
The special angle vehicle positioning stop of the chuck of front end；
S5: loading and unloading robot hand is moved at main shaft of numerical control machine tool, is unclamped by sending to Control System of NC Machine
The chuck for being used to support workpiece to be processed with clamping instructs, and completes workpiece to be processed in loading and unloading robot hand and numerically-controlled machine tool
The accurate transmission installation between spindle chuck.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910329703.1A CN110181076B (en) | 2019-04-23 | 2019-04-23 | Automatic feeding clamping positioning control system and method for special-shaped inner hole workpiece |
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| CN201910329703.1A CN110181076B (en) | 2019-04-23 | 2019-04-23 | Automatic feeding clamping positioning control system and method for special-shaped inner hole workpiece |
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| CN110181076B CN110181076B (en) | 2020-12-08 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110695377A (en) * | 2019-10-14 | 2020-01-17 | 宁波德立机器人有限公司 | Automatic feeding and discharging system of numerical control lathe and control method thereof |
| CN114082999A (en) * | 2021-12-24 | 2022-02-25 | 伯朗特机器人股份有限公司 | Positioning structure and loading and unloading device |
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| CN109502287A (en) * | 2018-12-01 | 2019-03-22 | 尔智机器人(珠海)有限公司 | A kind of workpiece sequencing equipment |
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| CN103078236A (en) * | 2012-12-18 | 2013-05-01 | 惠州市嘉泰电气有限公司 | Assembly fixture of compressor connection terminal |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110695377A (en) * | 2019-10-14 | 2020-01-17 | 宁波德立机器人有限公司 | Automatic feeding and discharging system of numerical control lathe and control method thereof |
| CN114082999A (en) * | 2021-12-24 | 2022-02-25 | 伯朗特机器人股份有限公司 | Positioning structure and loading and unloading device |
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