CN111331584A - Robot system for complex curved surface machining - Google Patents
Robot system for complex curved surface machining Download PDFInfo
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- CN111331584A CN111331584A CN202010228577.3A CN202010228577A CN111331584A CN 111331584 A CN111331584 A CN 111331584A CN 202010228577 A CN202010228577 A CN 202010228577A CN 111331584 A CN111331584 A CN 111331584A
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- robot
- wire
- curved surface
- electrically connected
- complex curved
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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
Abstract
The invention provides a robot system for processing complex curved surfaces, which comprises: a robot provided with a wire feeding mechanism and a working fluid circulating device; the robot is arranged on the ground rail assembly and is used for driving the robot to move; the electromagnetic absorption workbench is used for placing and rotating an object to be processed; the electric control system is electrically connected with the robot, the electromagnetic attraction workbench and the ground rail assembly; the electric control system controls the robot and the ground rail assembly to move to a preset position and controls the electromagnetic suction workbench to rotate and cooperate with the robot to cut the object to be processed, and aims to provide an omnidirectional layout for curved surface processing and facilitate the operation of the robot during cutting.
Description
Technical Field
The invention relates to the field of robot machining, in particular to a robot system for machining a complex curved surface.
Background
The existing wire cut electrical discharge machining is divided into a single-upright-column cross workbench type and a double-upright-column cross workbench type according to the form of a workbench, the machine tool has precise structure, stable machining process and good surface quality, but the two types of machine tools adopt a horizontal or vertical machine tool form, the machining freedom is limited, the plane machining of a workpiece is generally realized through the movement of the workbench on an X, Y shaft, and the machining of multi-curved surface or multi-angle cut-in can hardly be realized; secondly, the machine tool structure is heavy, which is the main reason that the multi-degree-of-freedom machining cannot be realized, but the linear cutting machine tool is the mainstream form of the existing linear cutting machine tool, so that the existing linear cutting technology has the problems of single machining and limited application range.
In patent CN103752967B, the whole wire clamping and conveying mechanism is arranged at the position of the flange plate at the tail end, so that the arrangement mode causes the bearing capacity of the tail end to be too large and the precision to be reduced; meanwhile, the wire electrode adopts two guide wheels to carry out reciprocating motion of the wire electrode, so that the wire electrode is overlapped, the wire electrode cannot be in a tight state, and the wire is easy to break during actual processing.
Patent CN106925853A designs a wire-clamping device variable wire-cutting robot device, but the structure is too complex and heavy, which affects the processing precision; in addition, only a four-axis robot is adopted, so that the advantages of the robot are severely limited; the patent emphasizes that the variable wire clamping device does not have an all-round layout for a plurality of systems required by wire cutting, and cannot be called a wire cutting robot actually.
Disclosure of Invention
The invention discloses a robot system for processing a complex curved surface, which aims to provide an all-directional layout for processing the curved surface and facilitate the operation of a robot during cutting.
The embodiment of the invention provides a robot system for processing a complex curved surface, which comprises:
a robot provided with a wire feeding mechanism and a working fluid circulating device;
the robot is arranged on the ground rail assembly and is used for driving the robot to move;
the electromagnetic absorption workbench is used for placing and rotating an object to be processed;
the electric control system is electrically connected with the robot, the electromagnetic attraction workbench and the ground rail assembly; the electric control system controls the robot and the ground rail assembly to move to a preset position and controls the electromagnetic suction workbench to be matched with the robot in a rotating mode to cut the object to be processed.
Preferably, the electronic control system comprises: the device comprises a main controller, a touch screen and control buttons;
the main controller and the touch screen are electrically connected, the control button is electrically connected with the input end of the main controller, and the output end of the main controller is electrically connected with the input end of the robot.
Preferably, the robot comprises a programmable manipulator and a robot controller;
the output end of the robot controller is electrically connected with the input end of the programmable manipulator, and the robot controller is electrically connected with the main controller. .
Preferably, the ground rail assembly comprises: the device comprises a first track, a boss movably arranged on the first track and a boss driver;
the robot is fixed on the boss, the boss driver drives the boss to move on the first track, and the boss driver is electrically connected with the output end of the robot controller.
Preferably, the electromagnetic attraction table comprises: the electromagnetic chuck is rotatably arranged on the base, the chuck driver is arranged in the base, and the second track is arranged on the electromagnetic chuck;
the output shaft of the sucker driver is connected with the electromagnetic sucker, the base is movably arranged on the second track, and the input end of the sucker driver is electrically connected with the output end of the main controller.
Preferably, the wire feeder comprises: the device comprises a wire clamping device, a small arm wire conveying mechanism, a waist wire conveying mechanism, a large arm wire conveying mechanism, a guide wheel and a wire storage barrel;
the wire feeding mechanism is provided with a cutting wire, the cutting wire sequentially penetrates through the wire clamping device, the small arm wire conveying mechanism, the guide wheel, the large arm wire conveying mechanism, the waist wire conveying mechanism and the wire storage barrel, and the cutting wire reciprocates.
Preferably, the wire storage barrel is arranged on a base of the robot and rotates along with the rotation of the base.
Preferably, the working fluid circulating device includes: the device comprises a collecting tank, a liquid pump, a working liquid pipe and a protective plate;
the protection plate is installed on the collecting groove, a pipeline input end of the liquid pump is connected with the collecting groove, a pipeline output end of the liquid pump is connected with an input end of the working liquid pipe, an output end of the working liquid pipe is configured on the wire clamping device, the working liquid pipe is configured on the programmable mechanical arm, and the liquid pump is electrically connected with the robot controller.
Preferably, the system further comprises a first guard rail and a second guard rail;
the first guard rail is arranged on the side of the collecting tank, and the second guard rail is arranged on the side of the programmable manipulator.
Preferably, the electric control system and the robot controller are integrated in an electric control cabinet.
According to the robot system for machining the complex curved surface, the control button is used for controlling the main controller, the main controller forwards a control signal to the robot controller, the programmable machine starts to move to a preset position, the wire feeding mechanism is driven to operate at the same time, the workpiece is cut, the ground rail assembly can drive the robot to move to a corresponding position according to the position change of the workpiece to be cut, the electromagnetic suction workbench can rotate or move according to the position change of the workpiece to be cut, the comprehensive machining of the curved surface of the workpiece is achieved, the phenomenon that secondary machining is needed due to the fact that part of the positions are not machined in place and further labor cost and time cost are wasted is avoided, and machining efficiency is improved.
Drawings
FIG. 1 is a robot system for processing complex curved surfaces according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control system of a robot provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of a robot floor cabinet according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an electromagnetic chuck table provided by an embodiment of the present invention;
fig. 5 is a schematic view of a working fluid circulation device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The following detailed description of specific embodiments of the invention refers to the accompanying drawings.
The invention discloses a robot system for processing a complex curved surface, which aims to provide an all-directional layout for processing the curved surface and facilitate the operation of a robot during cutting.
Referring to fig. 1, an embodiment of the present invention provides a robot system for processing a complex curved surface, including:
a robot 1 provided with a wire feeding mechanism and a working fluid circulating device;
the robot 1 is mounted on the ground rail assembly 3 and used for driving the robot 1 to move;
the electromagnetic suction workbench 2 is used for placing and rotating an object to be processed;
the electric control system 4 is used for being electrically connected with the robot 1, the electromagnetic attraction workbench 2 and the ground rail assembly 3; the electric control system 4 controls the robot 1 and the ground rail assembly 3 to move to a preset position, and controls the electromagnetic suction workbench 2 to be matched with the robot 1 in a rotating mode to cut the object to be processed.
It should be noted that, the robot 1 is industrially used to polish, cut, transport, weld, stack up and the like workpieces, so as to improve the work efficiency and save labor and time cost, before the robot 1 performs the above actions, an engineer is required to write a program of the robot 1, the program is mainly to manually move the robot 1 to a special point (i.e. debugging the robot 1) and set up a corresponding action project to complete a series of actions, however, in the debugging process, due to the limitation of the robot 1, many points are inaccessible, i.e. some parts of the workpieces cannot be machined, and secondary machining is required manually.
In this embodiment, the outside enabling signal is received in electrical system 4 control, will after the enabling signal is handled send to robot 1, robot 1 moves to predetermineeing the position, simultaneously wire feeder and working solution circulating device begin to work, treats the curved surface of processing article and processes, ground rail subassembly 3 cooperation robot 1 removes in predetermineeing the position, can make the scope during processing wider, treat that the processing article is placed on the workstation 2 is inhaled to the electromagnetism, processes in robot 1 removal limited position, avoids needing the manual work to carry out secondary operation's phenomenon because partial position processing does not in place, and then causes the waste of cost of labor and time cost, provides machining efficiency.
Referring to fig. 2, in the present embodiment, the electronic control system 4 includes: a main controller 41, a touch screen 42 and control buttons 43;
the main controller 41 is electrically connected to the touch screen 42, the control button 43 is electrically connected to an input end of the main controller 41, and an output end of the main controller 41 is electrically connected to an input end of the robot 1.
It should be noted that the main controller 41 may be a PLC controller, for example, the siemens 1200, and is configured to receive a signal (for example, a start/stop signal) from the control button 43, and after the signal is processed, send the signal to the robot 1, so that the robot 1 starts to perform a corresponding action, the touch screen 42 may be configured to display a working state of each device, display the number of workpieces processed by the robot, and set a parameter of the main controller 41, and of course, in other embodiments, the main controller 41 may also be a device capable of communicating with the robot 1, such as a computer, a single chip microcomputer, or an industrial personal computer, which is not specifically limited herein, but these schemes are within the protection scope of the present invention.
In the present embodiment, the robot 1 includes a programmable manipulator 12 and a robot controller 11;
the output ends of the robot controller 11 and the programmable manipulator 12 are electrically connected, and the robot controller 11 is electrically connected with the main controller 41.
It should be noted that the programmable mechanical arm 12 is configured with six servo motors, the servo motors are driven by the robot controller 11, so that the mechanical arm moves in a three-dimensional space, the robot controller 11 receives a control signal of the main controller 41, controls the servo motors according to the control signal, and controls the wire feeding mechanism and the working fluid circulating device to work at the same time, and the programmable mechanical arm 12 moves to a preset position to process a curved surface of a workpiece.
Referring to fig. 3, in the present embodiment, the ground rail assembly 3 includes: a first rail 32, a boss 31 movably disposed on the first rail 32, and a boss driver 33;
the robot 1 is fixed on the boss 31, and the boss driver 33 drives the boss 31 to move on the first rail 32, wherein the boss driver 33 is electrically connected with the output end of the robot controller 11.
It should be noted that the robot 1 is fixed on the boss 31, the boss 31 can drive the robot 1 to move on the first track 32, the boss driver 33 is controlled by the robot controller 11, and when the programmable manipulator 12 cannot move to a place, the boss 31 can be controlled to move, so that the programmable manipulator 12 can move to a position where processing cannot be performed originally, and a workpiece is processed, wherein the boss driver 33 may be a servo motor or a stepping motor, which is not specifically limited herein, but these schemes are within the protection scope of the present invention.
Referring to fig. 4, in the present embodiment, the electromagnetic attraction table 2 includes: a base 22, an electromagnetic chuck 21 rotatably mounted on the base 22, a chuck driver 24 mounted in the base 22, and a second rail 23;
an output shaft of the suction cup driver 24 is connected to the electromagnetic suction cup 21, and the base 22 is movably mounted on the second rail 23, wherein an input end of the suction cup driver 24 is electrically connected to an output end of the robot controller 11.
It should be noted that the electromagnetic chuck 21 is used for placing a workpiece, and after being powered on, a suction force can be generated to suck the workpiece, the electromagnetic chuck 21 is of an open type, so that it is avoided that some parts cannot be machined due to limitation of a tool and need to be manually machined for a second time, the chuck driver 24 is controlled by the robot controller 11, and at a position where the programmable mechanical arm 12 cannot move, for example, the back surface of the workpiece, the machining is difficult, and the back surface can be rotated by a certain angle to be machined, wherein the chuck driver 24 may be a servo motor or a stepping motor, and here, no specific limitation is made, and the base 22 can drive the workpiece to move on the second rail 23, so that the machining range is wider.
In this embodiment, the wire feeder includes: the device comprises a wire clamping device 11, a small arm wire conveying mechanism 12, a large arm wire conveying mechanism 14, a guide wheel 13, a waist wire conveying mechanism 15 and a wire storage barrel 16;
the wire feeding mechanism is provided with a cutting wire, the cutting wire sequentially passes through the wire clamping device 11, the small arm wire conveying mechanism 12, the guide wheel 13, the large arm wire conveying mechanism 14, the waist wire conveying mechanism 15 and the wire storage barrel 16, and the cutting wire reciprocates.
It should be noted that the cutting wire may be a molybdenum wire, and the molybdenum wire sequentially passes through the wire clamp 11, the small arm wire conveying mechanism 12, the guide wheel 13, the large arm wire conveying mechanism 14, the waist wire conveying mechanism 15, and the wire storage barrel 16 and reciprocates, wherein the wire storage barrel 16 is controlled by the robot controller 11 to control the molybdenum wire to reciprocate endlessly, and the molybdenum wire is moved to a specific position by the programmable manipulator 12 to process a workpiece.
In the present embodiment, the filament storage barrel 16 is disposed on a base of the robot 1 and rotates along with the rotation of the base 22.
It should be noted that in the conventional wire feeding mechanism, the wire storage barrel 16 is often fixed outside the programmable manipulator 12 and does not move along with the movement thereof, and is configured on the base of the robot 1 and rotates along with the movement thereof, so that the wire clamping condition is not caused.
Referring to fig. 5, in the present embodiment, the working fluid circulating apparatus includes: a collecting tank 63, a liquid pump 62, a working liquid pipe 61 and a protection plate 64;
the protection plate 64 is mounted on the collection tank 63, a pipeline input end of the liquid pump 62 is connected to the collection tank 63, a pipeline output end of the liquid pump 62 is connected to an input end of the working liquid pipe 61, an output end of the working liquid pipe 61 is disposed on the wire clamp 11, the working liquid pipe 61 is disposed on the programmable manipulator 12, and the liquid pump 62 is electrically connected to the robot controller 11.
It should be noted that the working fluid pipe 61 is disposed on the programmable manipulator 12 for spraying the working fluid at the processing site, the collecting tank 63 is used for collecting the sprayed working fluid, the shielding plate 64 is used for preventing the processed slag from entering the collecting tank 63 and ensuring the sprayed working fluid to enter the collecting tank 63, the liquid pump 62 is used for spraying by pumping the liquid in the collecting tank 63, and the liquid pump 62 is also controlled by the main controller 41, which is not limited in this respect.
In this embodiment, the system further includes a first guard rail 5 and a second guard rail 6;
the first guard rail 5 is disposed on the side of the catch tank 63, and the second guard rail 6 is disposed on the side of the programmable manipulator 12.
The first guard rail 5 and the second guard rail 6 are used to prevent a person from entering the working area of the robot 1 and from being accidentally injured by the person.
In this embodiment, the electronic control system 4 and the robot controller 11 are integrated in an electronic control cabinet.
According to the robot system for machining the complex curved surface, the control button 43 is used for controlling the main controller 41, the main controller 41 forwards a control signal to the robot controller 11, so that the programmable machine starts to move to a preset position, meanwhile, the wire feeding mechanism is driven to operate, a workpiece is cut, the ground rail assembly 3 can drive the robot to move to a corresponding position according to the position change of the workpiece to be cut, the electromagnetic attraction worktable 2 can rotate or move according to the position change of the workpiece to be cut, the comprehensive machining of the curved surface of the workpiece is achieved, the phenomenon that secondary machining needs to be performed manually due to the fact that part of positions are not machined in place is avoided, further waste of labor cost and time cost is avoided, and machining efficiency is improved.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention.
Claims (10)
1. A robotic system for processing complex curved surfaces, comprising:
a robot provided with a wire feeding mechanism and a working fluid circulating device;
the robot is arranged on the ground rail assembly and is used for driving the robot to move;
the electromagnetic absorption workbench is used for placing and rotating an object to be processed;
the electric control system is electrically connected with the robot, the electromagnetic attraction workbench and the ground rail assembly; the electric control system controls the robot and the ground rail assembly to move to a preset position and controls the electromagnetic suction workbench to be matched with the robot in a rotating mode to cut the object to be processed.
2. The robotic system for complex curved surface machining of claim 1, wherein the electronic control system comprises: the device comprises a main controller, a touch screen and control buttons;
the main controller and the touch screen are electrically connected, the control button is electrically connected with the input end of the main controller, and the output end of the main controller is electrically connected with the input end of the robot.
3. A robotic system for complex curved surface machining as claimed in claim 2 wherein said robot comprises a programmable robot arm and a robot controller;
the output end of the robot controller is electrically connected with the input end of the programmable manipulator and the wire feeding mechanism, and the robot controller is electrically connected with the main controller.
4. A robotic complex curved surface machining system as claimed in claim 3, wherein said ground rail assembly comprises: the device comprises a first track, a boss movably arranged on the first track and a boss driver;
the robot is fixed on the boss, the boss driver drives the boss to move on the first track, and the boss driver is electrically connected with the output end of the robot controller.
5. A robotic system for complex curved surface machining as claimed in claim 3, wherein the electromagnetic suction table comprises: the electromagnetic chuck is rotatably arranged on the base, the chuck driver is arranged in the base, and the second track is arranged on the electromagnetic chuck;
the output shaft of sucking disc driver with electromagnet connects, the installation that the base removed on the second track, wherein, sucking disc driver's input with robot controller's output electrical connection.
6. A robotic system for complex curved surface machining according to claim 3, wherein said wire feeder comprises: the device comprises a wire clamping device, a small arm wire conveying mechanism, a waist wire conveying mechanism, a large arm wire conveying mechanism, a guide wheel and a wire storage barrel;
the cutting wire feeding mechanism is provided with a cutting wire, the cutting wire sequentially penetrates through the wire clamping device, the small arm wire conveying mechanism, the guide wheel, the large arm wire conveying mechanism, the waist wire conveying mechanism and the wire storage barrel, the cutting wire reciprocates, and the wire storage barrel is electrically connected with the robot controller.
7. The robotic system for complex curved surface machining according to claim 6, wherein the wire storage barrel is disposed on a base of the robot and rotates with rotation of the base.
8. A robot system for complex curved surface machining according to claim 6, wherein said working fluid circulating means comprises: the device comprises a collecting tank, a liquid pump, a working liquid pipe and a protective plate;
the protection plate is installed on the collecting groove, a pipeline input end of the liquid pump is connected with the collecting groove, a pipeline output end of the liquid pump is connected with an input end of the working liquid pipe, an output end of the working liquid pipe is configured on the wire clamping device, the working liquid pipe is configured on the programmable mechanical arm, and the liquid pump is electrically connected with the robot controller.
9. The robotic system for complex curved surface processing as claimed in claim 8, further comprising a first guard rail and a second guard rail;
the first guard rail is arranged on the side of the collecting tank, and the second guard rail is arranged on the side of the programmable manipulator.
10. A robot system for complex curved surface machining according to claim 3, wherein the electric control system and the robot controller are integrated in an electric control cabinet.
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| CN202010228577.3A CN111331584B (en) | 2020-03-27 | 2020-03-27 | Robot system for complex curved surface machining |
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| CN202010228577.3A CN111331584B (en) | 2020-03-27 | 2020-03-27 | Robot system for complex curved surface machining |
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| CN112108898A (en) * | 2020-09-15 | 2020-12-22 | 苏州海伯利安机器人科技有限公司 | Facing cutting control system and facing cutting system |
| CN112649219A (en) * | 2020-12-16 | 2021-04-13 | 太原重工股份有限公司 | Reactor pressure vessel top cap center extracting device |
| CN113245722A (en) * | 2021-06-17 | 2021-08-13 | 昆山华恒焊接股份有限公司 | Control method and device of laser cutting robot and storage medium |
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| CN112108898A (en) * | 2020-09-15 | 2020-12-22 | 苏州海伯利安机器人科技有限公司 | Facing cutting control system and facing cutting system |
| CN112649219A (en) * | 2020-12-16 | 2021-04-13 | 太原重工股份有限公司 | Reactor pressure vessel top cap center extracting device |
| CN113245722A (en) * | 2021-06-17 | 2021-08-13 | 昆山华恒焊接股份有限公司 | Control method and device of laser cutting robot and storage medium |
| CN113245722B (en) * | 2021-06-17 | 2021-10-01 | 昆山华恒焊接股份有限公司 | Control method and device of laser cutting robot and storage medium |
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