CN115972808B - Can follow steel removal's seal molding robot - Google Patents
Can follow steel removal's seal molding robot Download PDFInfo
- Publication number
- CN115972808B CN115972808B CN202310270454.XA CN202310270454A CN115972808B CN 115972808 B CN115972808 B CN 115972808B CN 202310270454 A CN202310270454 A CN 202310270454A CN 115972808 B CN115972808 B CN 115972808B
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- steel
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- seal forming
- frame
- axis robot
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 112
- 239000010959 steel Substances 0.000 title claims abstract description 112
- 238000000465 moulding Methods 0.000 title claims description 3
- 238000001514 detection method Methods 0.000 claims abstract description 39
- 230000001360 synchronised effect Effects 0.000 claims abstract description 30
- 239000000463 material Substances 0.000 claims 2
- 238000006073 displacement reaction Methods 0.000 abstract description 9
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the field of steel plate processing equipment, in particular to a steel seal forming robot capable of moving along with steel. The technical scheme is as follows: the device comprises a multi-axis robot and a steel seal forming clamp, wherein the steel seal forming clamp comprises a driving frame and a steel seal forming device, the driving frame comprises a fixing frame and a connecting frame, a horn-shaped movable chuck is arranged on the fixing frame, and a bayonet is movably clamped with the movable chuck at the upper end of the connecting frame; the fixing frame is provided with a synchronous detection device, the tail end of the synchronous detection device is provided with a detection roller, and a rotating shaft of the detection roller is connected with a rotary encoder. The beneficial effects are that: the driving frame which can be movably connected with the steel seal forming device relatively can effectively buffer the displacement generated between the tail end of the multi-axis robot and the steel seal forming device; meanwhile, the synchronous detection device is arranged on the fixing frame, so that the relative displacement between the tail end of the multi-axis robot and the steel plate can be detected, and the synchronism of the tail end speed of the multi-axis robot and the speed of the steel plate is improved.
Description
Technical Field
The invention relates to the field of steel plate processing equipment, in particular to a steel seal forming robot capable of moving along with steel.
Background
Most of the steel plates are required to be stamped with steel marks after being processed and molded, and relevant information of the steel plates is printed on the steel plates to be used as marks of the steel plates. In the process of stamping the steel seal, the steel seal forming device and the steel plate are required to be kept fixed, the steel plate is transmitted through the transmission line after being processed and formed, in order to reduce the frequency of steel plate transfer, the steel plate is subjected to steel seal forming in the transmission process of the steel plate on the transmission line, and the steel seal forming device is required to synchronously move for a certain distance along with the steel plate on the transmission line. At present, a multi-axis robot is mostly adopted to drive a steel seal forming device to move along with a steel plate to form a steel seal, and in order to enable the multi-axis robot to drive the steel seal forming device to move along with the steel plate, the moving speed of the steel plate is generally detected by collecting the transmission speed of a transmission line or by an image recognition mode; the steel seal forming device is absolutely fixed with the steel plate in a manner of sucking discs or electromagnets and the like when the steel plate is subjected to steel seal forming, so that the moving speed of the multi-axis robot driving steel seal forming device needs to be kept in accurate synchronism with the moving speed of the steel plate, and otherwise, the multi-axis robot is easy to damage. The steel plate is always in slipping with the transmission line in the transmission process of the transmission line, so that the actual moving speed of the steel plate is different from the transmission speed of the transmission line, and the actual transmission speed of the transmission line is always in error with the theoretical speed calculated by the driving motor of the transmission line, so that the synchronism is poor; the moving speed of the steel plate is detected by adopting an image recognition mode, so that the steel plate recognition error is easy to occur, the detection delay of the image processing on the steel plate speed is large, and the camera is polluted or damaged in a severe environment of a processing workshop.
Disclosure of Invention
The invention aims to provide a steel seal forming robot capable of moving along with steel, in particular to a steel seal forming robot capable of improving the synchronism of the moving speed of a steel seal forming device and the moving speed of the steel.
In order to achieve the above purpose, the invention adopts the following technical scheme: the steel seal forming robot capable of moving along with the steel comprises a multi-axis robot and a steel seal forming clamp arranged at the tail end flange of the multi-axis robot, wherein the steel seal forming clamp comprises a driving frame and a steel seal forming device, the driving frame comprises a fixing frame and a connecting frame, a horn-shaped movable chuck is arranged on the fixing frame, a bayonet is movably clamped with the movable chuck at the upper end of the connecting frame, a pressing push rod is arranged on the fixing frame, and the pressing push rod is aligned to the connecting frame; the device is characterized in that a synchronous detection device is arranged on the fixing frame and is in telescopic connection with the fixing frame, a detection roller is arranged at the tail end of the synchronous detection device, a rotary shaft of the detection roller is connected with a rotary encoder, and the rotary encoder is connected with a controller of the multi-axis robot.
Specifically, the fixing frame is in driving connection with the synchronous detection device through a telescopic driving cylinder.
Specifically, the driving rod of the telescopic driving cylinder is connected with the synchronous detection device through an elastic component, and a pressure sensor is arranged at the position of the elastic component, which is propped against the driving rod.
Specifically, the movable chucks are two and are separately and fixedly arranged on the left side and the right side of the fixing frame, and the bayonets on the connecting frame are correspondingly two movable chucks which are movably clamped with the two movable chucks.
Specifically, the pressing push rod comprises a vertical driving cylinder and a pressing head, and the vertical driving cylinder drives the pressing head to vertically move up and down.
Specifically, the push rods are arranged in two groups and are respectively arranged on the front side and the rear side of the fixing frame.
The invention has the beneficial effects that: the driving frame which can be movably connected with the steel seal forming device relatively is utilized, so that when the multi-axis robot drives the steel seal forming device to fall on a steel plate, the displacement generated between the tail end of the multi-axis robot and the steel seal forming device can be effectively buffered; meanwhile, the synchronous detection device is arranged on the fixing frame, so that the relative displacement between the tail end of the multi-axis robot and the steel plate can be detected, and the synchronism of the tail end speed of the multi-axis robot and the speed of the steel plate is improved.
Drawings
FIG. 1 is a schematic diagram of the overall connection of a steel seal forming robot in an embodiment;
FIG. 2 is a schematic diagram of the overall structure of the seal forming clamp in the embodiment;
FIG. 3 is a front view of a steel seal forming clamp according to an embodiment;
FIG. 4 is a front view of the steel seal forming clamp from the fixing frame being pressed down to the pressing push rod being pressed on the connecting frame in the embodiment;
fig. 5 is a side view of a stamp forming jig in an embodiment.
Description of the embodiments
1, referring to fig. 1-5, a steel seal forming robot capable of moving along with steel comprises a multi-axis robot 1 and a steel seal forming clamp arranged at the tail end flange of the multi-axis robot 1, wherein the steel seal forming clamp comprises a driving frame 2 and a steel seal forming device 3, the driving frame 2 comprises a fixing frame 21 and a connecting frame 22, a horn-shaped movable chuck 23 is arranged on the fixing frame 21, a bayonet 24 is arranged at the upper end of the connecting frame 22 and movably clamped with the movable chuck 23, a push rod 4 is arranged on the fixing frame 21, and the push rod 4 is aligned with the connecting frame 22; the synchronous detection device 5 is arranged on the fixing frame 21, the synchronous detection device 5 is in telescopic connection with the fixing frame 21, the detection roller 51 is arranged at the tail end of the synchronous detection device 5, a rotary shaft of the detection roller 51 is connected with a rotary encoder 52, and the rotary encoder 52 is connected with a controller of the multi-axis robot 1.
In this embodiment, the multi-axis robot 1 drives the steel plate forming device 3 and the steel plate in the transmission process to move synchronously through the driving frame 2, so that the steel plate forming device 3 can be fixed on the steel plate to form a steel plate, and the tail end of the multi-axis robot 1 moves synchronously along with the steel plate forming device 3 in the steel plate forming process, wherein the fixing frame 21 of the driving frame 2 is fixedly connected with the mounting flange at the tail end of the multi-axis robot 1, the connecting frame 22 is fixedly connected with the steel plate forming device 3, the fixing frame 21 and the connecting frame 22 are movably connected through the movable chuck 23, the movable chuck 23 is in a reversed bell mouth shape and is movably clamped with the bayonet 24 on the connecting frame 22, so that the displacement generated between the steel plate forming device 3 and the tail end of the multi-axis robot 1 can be effectively buffered when the steel plate forming device 3 falls on the steel plate, and the impact on the multi-axis robot 1 is avoided when the steel plate forming device 3 contacts with the moving steel plate. In addition, the pressing push rod 4 provided on the fixing frame 21 is used for pressing and fixing the connecting frame 22 by continuously driving the end flange to move downwards through the driving of the multi-axis robot 1 after the steel seal forming device 3 is dropped on the steel plate and fixed. The synchronous detection device 5 arranged on the fixing frame 21 is used for contacting with a steel plate and detecting the relative displacement between the fixing frame 21 fixedly connected with the mounting flange at the tail end of the multi-axis robot 1 and the steel plate, when displacement exists between the fixing frame 21 and the steel plate, the detection roller 51 on the synchronous detection device 5 can rotate and is detected by the rotary encoder 52 and then transmitted to the controller of the multi-axis robot 1, and the detection roller is used as feedback quantity for controlling the horizontal moving speed of the tail end flange by the multi-axis robot 1, so that the speed of controlling the tail end flange by the multi-axis robot 1 is synchronous with the moving speed of the steel plate, and damage to the multi-axis robot 1 caused by the asynchronous moving speed is avoided.
The fixing frame 21 is in driving connection with the synchronous detection device 5 through the telescopic driving cylinder 6. The telescopic driving cylinder 6 can vertically and telescopically drive the synchronous detection device 5, when the multi-axis robot 1 prepares to place the embossed seal forming device 3 on a steel plate, the synchronous detection device 5 is firstly driven downwards through the telescopic driving cylinder 6 to be in contact with the steel plate, so that synchronous detection of the speed of the steel plate is realized, the tail end mounting flange is controlled to synchronously move at the speed of the steel plate, then the telescopic driving cylinder is continuously driven downwards to enable the embossed seal forming device 3 to fall on the steel plate, displacement caused between the embossed seal forming device 3 and the fixing frame 21 is reduced, the multi-axis robot 1 is driven downwards to fall on the steel plate, the telescopic driving cylinder 6 is continuously driven downwards to enable the pressing push rod 4 to be pressed on the connecting frame 22, and meanwhile, the synchronous detection device 5 is retracted upwards to be kept in contact with the steel plate, so that the relative displacement between the steel plate and the fixing frame 21 is continuously detected.
In addition, in order to avoid damage to the synchronous detection device 5 when the fixing frame 21 continues to move downward after the synchronous detection device 5 contacts with the steel plate, the driving rod of the telescopic driving cylinder 6 is connected with the synchronous detection device 5 through the elastic member 7, and a pressure sensor 71 is arranged at a position where the elastic member 7 abuts against the driving rod. The elastic component 7 can avoid the synchronous detection device 5 to suffer rigid collision, and simultaneously, the pressure sensor 71 can detect the pressure that the synchronous detection device 5 receives, so that when receiving great pressure, the multiaxis robot 1 can make timely adjustment to avoid the synchronous detection device 5 and the telescopic driving cylinder 6 to be damaged. The elastic component 7 may be a sliding cylinder with a buffer spring inside, the sliding cylinder is fixed at the tail end of a driving rod of the telescopic driving cylinder 6, and the synchronous detection device 5 is slidably arranged in the sliding cylinder and is in abutting connection with the buffer spring.
Specifically, the two movable chucks 23 are separately and fixedly arranged on the left side and the right side of the fixed frame 21, and the two bayonets 24 on the connecting frame 22 are correspondingly movably clamped with the two movable chucks 23.
Specifically, the pressing push rod 4 includes a vertical driving cylinder 41 and a pressing head 42, and the vertical driving cylinder 41 drives the pressing head 42 to vertically move up and down; the push rods 4 are arranged in two groups and are respectively arranged on the front side and the rear side of the fixing frame 21. The vertical driving cylinder 41 for pressing the push rod 4 is in a retracted state in a general state, when the steel seal forming device 3 prints a steel plate, the multi-axis robot 1 drives the fixing frame 21 upwards to move upwards and enables the steel seal forming device 3 to leave the steel plate, the movable chuck 23 clamps the bayonet 24 of the connecting frame 22, and the vertical driving cylinder 41 drives the pressing head 42 downwards to press the connecting frame 22, so that the fixing frame 21 and the connecting frame 22 are relatively stable, and before the next steel seal forming is carried out, the vertical driving cylinder 41 drives the pressing head 42 upwards to leave the connecting frame 22, so that a sufficient buffer space is reserved between the fixing frame 21 and the connecting frame 22.
Of course, the above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that all equivalent modifications made in the principles of the present invention are included in the scope of the present invention.
Claims (3)
1. Can follow steel removal's seal molding robot, its characterized in that: the device comprises a multi-axis robot and a steel seal forming clamp arranged at the tail end flange of the multi-axis robot, wherein the steel seal forming clamp comprises a driving frame and a steel seal forming device, the driving frame comprises a fixing frame and a connecting frame, a horn-shaped movable chuck is arranged on the fixing frame, a bayonet is movably clamped with the movable chuck, a pressing push rod is arranged on the fixing frame, and the pressing push rod is aligned to the connecting frame; the device comprises a fixing frame, a synchronous detection device, a detection roller, a rotary encoder, a controller, a multi-axis robot and a control unit, wherein the synchronous detection device is arranged on the fixing frame and is in telescopic connection with the fixing frame; the two movable chucks are separately and fixedly arranged on the left side and the right side of the fixed frame, and the two bayonets on the connecting frame are correspondingly movably clamped with the two movable chucks; the pressing push rod comprises a vertical driving cylinder and a pressing head, and the vertical driving cylinder drives the pressing head to vertically move up and down; the push rods are arranged in two groups and are respectively arranged on the front side and the rear side of the fixing frame.
2. A steel seal forming robot movable with steel material according to claim 1, wherein: the fixing frame is in driving connection with the synchronous detection device through a telescopic driving cylinder.
3. A steel seal forming robot movable with steel material according to claim 2, wherein: the driving rod of the telescopic driving cylinder is connected with the synchronous detection device through an elastic component, and a pressure sensor is arranged at the position, which is propped against the driving rod, of the elastic component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310270454.XA CN115972808B (en) | 2023-03-20 | 2023-03-20 | Can follow steel removal's seal molding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310270454.XA CN115972808B (en) | 2023-03-20 | 2023-03-20 | Can follow steel removal's seal molding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115972808A CN115972808A (en) | 2023-04-18 |
| CN115972808B true CN115972808B (en) | 2023-06-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310270454.XA Active CN115972808B (en) | 2023-03-20 | 2023-03-20 | Can follow steel removal's seal molding robot |
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| CN (1) | CN115972808B (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AUPR424701A0 (en) * | 2001-04-05 | 2001-05-17 | Beson, Robert | Magnetic holding device |
| CN201587188U (en) * | 2009-12-29 | 2010-09-22 | 武汉嘉铭激光有限公司 | Follow-up steel needle stamping system |
| CN201613702U (en) * | 2010-03-14 | 2010-10-27 | 山西太钢不锈钢股份有限公司 | Supporting device for needle-type film processor |
| CN205762095U (en) * | 2016-06-24 | 2016-12-07 | 杭州东旭自动化系统有限公司 | Colloid system put online by cosmetics powder box |
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- 2023-03-20 CN CN202310270454.XA patent/CN115972808B/en active Active
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| CN115972808A (en) | 2023-04-18 |
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Address after: 515098, No. 103 Zhuhe Road, Nanshanwan Industrial Park, Binhai Street, Haojiang District, Shantou City, Guangdong Province Patentee after: SHANTOU JUNGUO MECHANICAL & ELECTRICAL TECHNOLOGY CO.,LTD. Country or region after: China Patentee after: SHANTOU JUNGUO ROBOT TECHNOLOGY Co.,Ltd. Address before: 515000 unit 8 / 301, block 1, Wanshang building, Huanghe Road, Longhu District, Shantou City, Guangdong Province Patentee before: SHANTOU JUNGUO MECHANICAL & ELECTRICAL TECHNOLOGY CO.,LTD. Country or region before: China Patentee before: SHANTOU JUNGUO ROBOT TECHNOLOGY Co.,Ltd. |
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