CN112662848A - Flexible automatic grabbing equipment - Google Patents
Flexible automatic grabbing equipment Download PDFInfo
- Publication number
- CN112662848A CN112662848A CN202011441606.0A CN202011441606A CN112662848A CN 112662848 A CN112662848 A CN 112662848A CN 202011441606 A CN202011441606 A CN 202011441606A CN 112662848 A CN112662848 A CN 112662848A
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- China
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- sliding table
- axis sliding
- grasping apparatus
- coordinate point
- flexible automated
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
Abstract
The invention belongs to the field of industrial automation, and particularly relates to flexible automatic grabbing equipment, which is characterized in that: comprises a control system and a mechanical system; the control system controls the mechanical system to grab and move according to a certain track, and the certain track moves through the spatial coordinate point; the space coordinate point can be calibrated in the control system, and the closed-loop track circulation control of the combination of the space coordinate point and the default space coordinate point is used for grabbing. The equipment of the invention can ensure good product consistency and safe operation process and can better improve the surface heat treatment process.
Description
Technical Field
The invention belongs to the field of industrial automation, and particularly relates to flexible automatic grabbing equipment.
Background
The research on the high-frequency surface heat treatment technology at home and abroad is a lot of work, including the high-frequency surface heat treatment research on common standard parts and the high-frequency surface heat treatment research on parts with complex shapes, but the research is mainly directed to the research on single piece large-batch special equipment and the research on automatic high-frequency surface heat treatment equipment which can be simultaneously suitable for various small-batch small-sized aerospace parts is not much. In the current stage, aiming at the high-frequency surface heat treatment process of products with the characteristics of multiple varieties, small batch, small size and the like, a double-person matching mode is adopted, and the operations of clamping parts by a handheld clamp, judging the temperature of eyes by colors, manually starting and stopping a high-frequency heating device, manually starting and stopping a water pipe cooling device and the like are realized.
The product is clamped by the handheld clamp and enters the high-frequency quenching coil for heat treatment, so that the requirements on experience of operators are high, and the physical consumption is large; the electromagnetic radiation generated in the using process can affect the body health of an operator; the heat conductivity of the jig may injure the operator by mistake. Meanwhile, the quenching temperature is judged by observing the surface color of the product by eyes, and the consistency of the thermal property of the product is poor. In summary, the process of performing high-frequency surface heat treatment on a part by matching two persons has many variable factors, which results in different execution conditions of main process indexes of the part. The invention aims to improve the high-frequency surface heat treatment process of products with the characteristics of multiple varieties, small batch, small size and the like, remove manual operation influencing the consistency of heat treatment performance, solve the problems of large experience dependence, poor product consistency, safety in the operation process and the like, and realize automatic operation of heat treatment of the products.
Disclosure of Invention
In order to solve the technical problems, the invention provides flexible automatic grabbing equipment which is good in product consistency, safe in operation process and capable of improving a surface heat treatment process.
The technical scheme of the invention is as follows:
a flexible automatic grabbing device comprises a control system and a mechanical system; the control system controls the mechanical system to grab and move according to a certain track, and the certain track moves through the spatial coordinate point; the space coordinate point can be calibrated in the control system, and the closed-loop track circulation control of the combination of the space coordinate point and the default space coordinate point is used for grabbing.
Further, the mechanical system is fixed to the elevator platform by a mounting base plate;
further, the mechanical system comprises a mounting frame, a three-axis sliding table, a grabbing hand, a cooling device and a tray; the control system comprises a control cabinet, a handheld touch screen and an execution device.
Furthermore, the grabbing hand action is controlled through a handheld touch screen;
furthermore, the mounting frame adopts a slot type structure (the distance between the coil and the three-axis sliding table is convenient to adjust in the Z-axis direction by matching with the elevator platform), and the three-axis sliding table is fixed at the slot position of the mounting frame (through a screw); the tray is fixed on the installation frame through an installation column of the installation frame (reserved);
furthermore, the three-axis sliding table is composed of a screw rod, a sliding block, a guide rail and a guide rod, a grabbing hand is installed at the lowest part of the guide rail in the Z-axis direction, and the three-axis sliding table is fixed in the position of the installation frame slot through a cross beam structure.
Furthermore, the mounting bottom plate is a round flat plate with a threaded hole, the mounting bottom plate is fixed with the elevator platform in a threaded mode through threads, and a long hole is formed in the mounting bottom plate (the mounting position in any direction can be adjusted).
Furthermore, the control cabinet comprises a main controller, a servo motor controller, a connector group and an AC/DC conversion power supply; the executive device consists of a photoelectric switch, a servo motor and a steering engine.
Furthermore, a main controller, a servo motor controller, an AC/DC conversion power supply and a connector set are arranged in the control cabinet, a handheld touch screen mounting seat and universal moving wheels are arranged outside the control cabinet, and a four-side detachable assembling structure is adopted, so that the mounting space is saved. And providing electric energy for the execution device through the misplug-proof connector group and carrying out data transmission.
Furthermore, double tracks are selected for use in the Y-axis direction of the three-axis sliding table, a servo motor is installed on each track, the two servo motors are controlled to rotate synchronously, the lead screw is driven to rotate, and synchronous feeding movement of the sliding block in the Y-axis direction of the three-axis sliding table is achieved.
Further, snatch the hand and press from both sides the frock for the replaceable type, adopt the external type of steering wheel electronic tong to it gets the part product to be equipped with different clamps and gets the frock. For short shaft parts, a gear transmission type clamping tool is adopted; and for gear parts, a clamping tool with a tray is adopted. Therefore, different quenching process flows of products are realized, the grabbing weight range of the steering engine is expanded, and the times of replacing the electric clamping tool are reduced.
Furthermore, the tray can be replaced, passes 2 reference columns on the installation frame, fixes on the installation frame, and the part is arranged in matrix form in the tray, and the direction of putting is parallel with three-axis slip table X and Y direction.
Furthermore, a cooling device is arranged below the coil, comprises water cooling and oil cooling, and adopts a cooling medium circulating flow cooling mode to cool parts placed in the grabbing hand.
Further, photoelectric switches are arranged at two ends of the three-axis sliding table guide rail and provide homing (namely space coordinate point 00) and limiting signals for the three-axis sliding table. The cable on the triaxial slip table adopts track tank chain to walk the line design.
The invention has the beneficial effects that:
the design of a replaceable tool (a grabbing hand and a tray) is combined with a closed-loop track cycle control method combining a space calibration operation track key coordinate point and a default space coordinate point, so that the method is very suitable for part products with the characteristics of multiple varieties, small batch, small size and the like to carry out automatic high-frequency quenching.
Secondly, the warning function of key indexes improves the reliability of the quenching process.
And thirdly, a feedback control mode is adopted, the rotating speed and the number of running turns of the motor are monitored constantly, the accuracy of the flow is improved, and the safety of operation is ensured.
And fourthly, replacing manual operation influencing the consistency of the heat treatment performance by automatic mistake work, reducing the work difficulty and improving the work efficiency.
Drawings
Fig. 1 is a schematic diagram of an application of a flexible automatic gripping device according to the present invention.
Fig. 2 is a flow chart of an automatic control of a flexible automatic gripping device according to the present invention.
FIG. 3 is an enlarged view of a three-axis slide table in the mechanical system of the present invention.
Fig. 4 is a schematic view of an alternative gripping tool of the present invention.
Wherein: the control cabinet 1, mechanical system 2, triaxial slip table 21, installation frame 22, tray 23, cooling device 24, snatch hand 25, lift platform 3, coil 31, servo motor 11.
Detailed Description
As shown in fig. 1, a flexible automatic gripping device is composed of a control system and a mechanical system 2. The mechanical system 2 is fixed to the elevator platform 3 of the quenching apparatus by a mounting base plate. As shown in fig. 3, the main body of the mechanical system 2 is composed of a three-axis sliding table 21 and a mounting frame 22, the mounting frame 22 is of a slot-in type structure, and the three-axis sliding table 21 is fixed to a proper slot position of the mounting frame 22 by screws, and the position can be changed correspondingly according to the external dimensions of the quenched part. The tray 23 is fixed on the mounting frame 22 through a mounting post reserved in the mounting frame.
The grabbing hand is a replaceable tool, an external steering engine is adopted to provide grabbing force for the grabbing hand, different grabbing tools are matched to grab a part product, and the clamping tool shown in the figure 3 is adopted for short-shaft parts; and for gear parts, a clamping tool with a tray is adopted.
The control system main body is composed of a control cabinet 1 and an executing device.
A main controller, a servo motor controller and an AC/DC conversion power supply are arranged in the control cabinet 1, a handheld touch screen mounting seat and universal moving wheels are arranged outside the cabinet, and a four-side detachable assembling structure is adopted, so that the mounting space is saved. And providing electric energy for the execution device through the misplug-proof connector group and carrying out data transmission.
As shown in fig. 3, the servo motors 11 and the photoelectric switches are assembled at two ends of the three-axis sliding table 21, a double-track scheme is selected in the Y-axis direction where the load force of the three-axis sliding table 21 is maximum, and two servo motors are selected to run synchronously to provide Y-direction driving force for mechanical movement. Photoelectric switch provides playback (space coordinate point 00) and spacing signal for the system, and the design is walked to the cable adoption track tank chain on the slip table.
As shown in fig. 2, the invention also provides a control method for controlling the automatic high-frequency quenching process for realizing different part products.
The operator calibrates 6 spatial coordinate points within the three axis slide 21 travel area, as shown in fig. 2. The distance of 6 space coordinate points is calculated in the controller and transmitted to the servo controller, the servo motor is driven to operate, the three-axis sliding table 21 is controlled to move the relative distance at a constant speed in X, Y, Z three directions, and the purposes of sequentially moving the track marked by the 6 coordinate points and completing the quenching process are achieved.
The equipment adopts closed loop track circulation from 00 points to realize the surface heat treatment process of different workpieces, wherein the initial point is determined by digital quantity sent by photoelectric switches at two ends of a guide rail of the three-shaft sliding table 21 except 6 space coordinate points needing to be calibrated by an operator.
The quenching residence time of the 05 points can be selected and set by an operator in a process library of the main controller, and can also be set by the operator independently inputting a handheld touch screen.
Wherein, the cooling device 24 is arranged right below the coil 3, the vertical distance of the Z axis is calibrated by a laser range finder and then transmitted to the main controller for calculation, the movement time is given as the reference of an operator, and when the time exceeds 2S, the alarm processing is carried out. At this time, the next operation can be performed only after the operation is manually confirmed.
Wherein the motor speed can be set by the touch screen.
The invention also provides a control method for controlling the mechanical mechanism, comprising the following steps:
in order to realize the surface heat treatment process flow of different types of parts, an operator needs to calibrate 6 spatial coordinate points in the stroke area of the three-axis sliding table 21, after the absolute distance of the 6 spatial coordinate points is calculated in the main controller, the servo motor 11 is driven by the servo controller, and the three-axis sliding table 21 is controlled to move at a constant speed in X, Y, Z three directions to complete the absolute distance, so that the purpose of sequentially moving the 6 calibration points is achieved. The method comprises the following steps:
1. different grabbing hands are assembled according to the appearance and the weight of the product.
2. The distance (X and Y) between the parts arranged in the matrix on the tray tool in the X direction and the Y direction, the number NX of the parts in the X direction and the number NY of the parts in the NY direction are input through the handheld touch screen.
3. And inputting the quenching time of different part products on the handheld touch screen.
4. The spatial positioning of the quenching parts of the batch is calibrated, and the total number of the spatial positioning comprises 6 coordinate points. The operator can operate the touch screen by holding the touch screen and click corresponding buttons on the touch screen to complete coordinate confirmation. After the confirmation, the servo controller transmits the rotation number and the speed of the motor to the main controller in a communication mode, and the main controller performs data storage after calculation.
The method specifically comprises the following steps:
a. and clicking a reset button to return the numerical control sliding table 21 to the original position.
b. Clicking the data zero clearing button to enable the data in the main controller to be zero.
c. Controlling the grabbing hand to move to the front of the initial part in the tray 23 and confirming the coordinates of the 01 point
(01x 01y 01z)。
d. And controlling a grabbing hand to grab the part, and confirming the coordinates of the 02 points.
e. And controlling the grabbing hand to move to a point outside the coil 31 (close to the coil position), and confirming the coordinates of the 03 point.
f. And controlling the grabbing hand to vertically move above or below the position of the coil 31, and confirming the 04 point coordinate.
g. And controlling the grabbing hand to enable the part needing surface heat treatment to be positioned at the right center of the coil 31, and confirming the coordinates of the 05 points.
h. And controlling the grabbing hand to enable the part to be cooled to extend into the cooling device 24, and confirming the 06 point coordinate.
5. After the positioning is finished, the grabbing hand automatically retreats from the 06 coordinate position to the 04 coordinate position and returns to the 00 position of the positioning point through the 03 coordinate position.
6. An operator clicks an automatic button of the touch screen, and a grabbing hand circularly finishes the part quenching process flow according to the track 00-01-02-03-04-05-06-04-03-00 specified by the positioning point. Wherein the coordinates of the 01 point are variable coordinates, namely the coordinates of the 01 point are
((1、2…(NX-1))*x+01x 01y 01z)
((1、2…(NX-1))*x+01x 1*y+01y 01z)
((1、2…(NX-1))*x+01x 2*y+01y 01z)
.
.
.
((1、2…(NX-1))*x+01x(NY-1)*y+01y 01z)
Wherein, N is a natural number, and X, Y and Z are X axis, Y axis and Z axis.
7. And at the position 05, stopping the grabbing hand according to the set quenching time to finish the quenching of the part.
8. The position 05 to the position 06 are key index positions of the process, the moving time from quenching completion to cooling of the cooling device 24 is not allowed to exceed 2s, and at the key index positions, the cooling device 24 is placed right below the coil 3, namely the key indexes influencing the time from quenching to cooling are the Z-axis vertical distance from the coil to the cooling device 24 and the rotating speed of the Z-cycle servo motor. The rotating speed of the motor can be set by the touch screen, the vertical distance of the Z axis is calibrated by the laser range finder and then transmitted to the main controller, the movement time is given as the reference of an operator after calculation, and when the time exceeds 2S, the alarm processing is carried out. At this time, the next operation can be performed only after the operation is manually confirmed.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a flexible automatic equipment of snatching which characterized in that: comprises a control system and a mechanical system; the control system controls the mechanical system to grab and move according to a certain track, and the certain track moves through the spatial coordinate point; the space coordinate point can be calibrated in the control system, and the closed-loop track circulation control of the combination of the space coordinate point and the default space coordinate point is used for grabbing.
2. A flexible automated grasping apparatus according to claim 1, characterized in that: the mechanical system is fixed to the elevator platform by a mounting base plate.
3. A flexible automated grasping apparatus according to claim 1, characterized in that: the mechanical system comprises an installation frame, a three-axis sliding table, a grabbing hand, a cooling device and a tray; the control system comprises a control cabinet, a handheld touch screen and an execution device.
4. A flexible automated grasping apparatus according to claim 3, characterized in that: and controlling the motion of a grabbing hand through a handheld touch screen.
5. A flexible automated grasping apparatus according to claim 3, characterized in that: the mounting frame adopts a slot type structure, and the three-axis sliding table is fixed at the slot position of the mounting frame; the tray passes through the erection column of installation frame, is fixed in on the installation frame.
6. A flexible automated grasping apparatus according to claim 3, characterized in that: the three-axis sliding table is composed of a lead screw, a sliding block, a guide rail and a guide rod, a grabbing hand is installed at the lowest part of the guide rail in the Z-axis direction, and the three-axis sliding table is fixed in the position of the installation frame slot through a cross beam structure.
7. A flexible automated grasping apparatus according to claim 3, characterized in that: the control cabinet comprises a main controller, a servo motor controller, a connector group and an AC/DC conversion power supply; the executive device consists of a photoelectric switch, a servo motor and a steering engine.
8. A flexible automated grasping apparatus according to claim 3, characterized in that: double tracks are selected for use in the Y-axis direction of the three-axis sliding table, a servo motor is installed on each track, the two servo motors are controlled to rotate synchronously, the lead screw is driven to rotate, and synchronous feeding movement of the sliding block in the Y-axis direction of the three-axis sliding table is achieved.
9. A flexible automated grasping apparatus according to claim 3, characterized in that: the grabbing hand is a clamping tool; the tray is replaceable.
10. A flexible automated grasping apparatus according to claim 7, characterized in that: photoelectric switches are arranged at two ends of the three-axis sliding table guide rail and provide homing and limiting signals for the three-axis sliding table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011441606.0A CN112662848A (en) | 2020-12-08 | 2020-12-08 | Flexible automatic grabbing equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011441606.0A CN112662848A (en) | 2020-12-08 | 2020-12-08 | Flexible automatic grabbing equipment |
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| CN112662848A true CN112662848A (en) | 2021-04-16 |
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| CN202011441606.0A Pending CN112662848A (en) | 2020-12-08 | 2020-12-08 | Flexible automatic grabbing equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114003000A (en) * | 2021-10-23 | 2022-02-01 | 浙江生波智能装备有限公司 | Multi-point movement control method for three-axis moving mechanism |
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| CN102912094A (en) * | 2012-11-02 | 2013-02-06 | 十堰恒进科技有限公司 | Quench machine tool |
| CN102925632A (en) * | 2012-11-07 | 2013-02-13 | 广州市新滘热处理厂 | Vertical high-frequency quenching machine |
| CN204324384U (en) * | 2014-11-21 | 2015-05-13 | 河北科技大学 | Based on object localization and the crawl platform of opto-electronic pickup |
| CN107424505A (en) * | 2017-09-22 | 2017-12-01 | 桂林电子科技大学 | It is a kind of to be used to demonstrate the teaching equipment that hammer automatically quenches |
| CN109082507A (en) * | 2018-08-31 | 2018-12-25 | 西安理工大学 | It is a kind of can partition heating intelligent metal material quenching unit |
| US20200192407A1 (en) * | 2018-12-13 | 2020-06-18 | Guangdong University Of Technology | Rigid-flexible coupling motion platform driven by ball screw and control method thereof |
| CN111850272A (en) * | 2020-07-28 | 2020-10-30 | 中山市昦瑞真空科技有限公司 | Automatic material moving device |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102912094A (en) * | 2012-11-02 | 2013-02-06 | 十堰恒进科技有限公司 | Quench machine tool |
| CN102925632A (en) * | 2012-11-07 | 2013-02-13 | 广州市新滘热处理厂 | Vertical high-frequency quenching machine |
| CN204324384U (en) * | 2014-11-21 | 2015-05-13 | 河北科技大学 | Based on object localization and the crawl platform of opto-electronic pickup |
| CN107424505A (en) * | 2017-09-22 | 2017-12-01 | 桂林电子科技大学 | It is a kind of to be used to demonstrate the teaching equipment that hammer automatically quenches |
| CN109082507A (en) * | 2018-08-31 | 2018-12-25 | 西安理工大学 | It is a kind of can partition heating intelligent metal material quenching unit |
| US20200192407A1 (en) * | 2018-12-13 | 2020-06-18 | Guangdong University Of Technology | Rigid-flexible coupling motion platform driven by ball screw and control method thereof |
| CN111850272A (en) * | 2020-07-28 | 2020-10-30 | 中山市昦瑞真空科技有限公司 | Automatic material moving device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114003000A (en) * | 2021-10-23 | 2022-02-01 | 浙江生波智能装备有限公司 | Multi-point movement control method for three-axis moving mechanism |
| CN114003000B (en) * | 2021-10-23 | 2024-03-22 | 浙江生波智能装备有限公司 | Multi-point movement control method for triaxial movement mechanism |
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Application publication date: 20210416 |