CN205721320U - There is the bender digital control system device that embedded robot controls - Google Patents
There is the bender digital control system device that embedded robot controls Download PDFInfo
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- CN205721320U CN205721320U CN201620647958.4U CN201620647958U CN205721320U CN 205721320 U CN205721320 U CN 205721320U CN 201620647958 U CN201620647958 U CN 201620647958U CN 205721320 U CN205721320 U CN 205721320U
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- robot
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- digital control
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Abstract
This utility model discloses the bender digital control system device that a kind of embedded robot controls, bender digital control system device includes digital control system, robot, frame, slide block controlling organization, slide block, upper die and lower die, stock shelf and output station, digital control system is arranged in frame, robot is arranged in frame, slide block controlling organization promotes slide block to run up and down, upper mold is arranged on slide block, the lower section of upper mold arranges lower mold, lower mold is arranged in frame, stock shelf is arranged on the frame left side, and output station is arranged on the right of frame.This utility model is programmed unified with Bending Processing for robot and Synchronous motion control by digital control system, robot is made to become the built-in part of numerical control bender and eliminate rear Dang Liao mechanism, solve conventional numerical control bender and robot on existing market the most independently to control, need special software dummy robot to follow Forging Process and caused the defect using complexity.
Description
Technical field
This utility model belongs to dynamo-electric numerical control device field, the bender number that a kind of embedded robot controls
Ore-controlling Role device.
Background technology
On existing market, the actual application of numerical control bender employing robot is the most common, and its reason is robot controller
With the most independent control system of bender digital control system, but workpiece shapes can be changed during bending operation, need
Robot accurately follows bending feed speed and the track of bender, otherwise tracking error will affect bending precision and bending deformation
Process.Additionally due to the technological parameters such as each centre of location of bending, bending angle and mold shape are all different, how to count
The path calculating robot is extremely difficult.
For solving the problem that robot bending is followed, market has the robot bending software of special exploitation, according to workpiece
Design size and the technical papers such as die size, by input bending parameter with after choosing bending line, at software calculating automatically
Robot path, then inputs robot controller, then jointly controls the automatic Forging Process of panel beating with digital control system.
This process operation is more complicated, and the panel beating for small lot basically can not use, and efficiency is the lowest.
It addition, general bender robot separates with bender body, robot coordinate system's initial point and machine coordinates
Distance between system origin needs to be calculated by detection to obtain, and error is relatively big, and each bending all must must pass through backstop
Expecting that mechanism's auxiliary positioning panel beating obtains flanging length accurately, this have impact on working (machining) efficiency equally and adds agency cost.
There is the bender digital control system device that embedded robot controls, to solve existing skill it is accordingly required in particular to a kind of
Problem present in art.
Utility model content
The purpose of this utility model is to solve in prior art, does not has a kind of to be suitable to practical and convenient bender machine
The defect of people's device, it is provided that the bender digital control system device that a kind of embedded robot controls, solves to exist in prior art
Problem.
For achieving the above object, the technical solution of the utility model is as follows:
A kind of have embedded robot control bender digital control system device, including upper mold, slide block, frame, lower mold and
Frame, described upper mold is arranged on slide block, and described slide block can slide up and down and is arranged in frame, in described frame, upper mold
Lower section be fixedly installed lower mold, it is characterised in that: also include digital control system and for capture release workpiece robot, institute's machine
People is arranged in frame, described slide block slide up and down the motion with robot respectively by digital control system control.
In this utility model, also including slide block controlling organization, described slide block controlling organization promotes slide block to run up and down.
In this utility model, the artificial wu-zhi-shan pig of described machine.
In this utility model, the sidepiece of described robot arranges stock shelf.
Beneficial effect
1, the bender digital control system device and method that a kind of embedded robot of the present utility model controls, with prior art
Compare, solve conventional bender robot on existing market and use the defect that process is complicated, after the simple programming of panel beating,
In digital control system internal calculating slide position and the dependency relation of robot path automatically, it is not necessary to by other software computer
The motion path of device people, operating process is simple and quick, improves work efficiency；This utility model uses specific structural grouping,
Need not the rear stock stop resetting bending length of side, eliminate rear stock stop, save the resetting time, simplified folding
Bender structure；
2, robot is arranged in frame, the up and down motion of slide block and the motion of robot respectively by digital control system control,
Robot coordinate system and lathe coordinate system unification are controlled, robot coordinate system's initial point and machine coordinates by digital control system management
Distance between system origin is that Machine Design installation determines, obtains accurately so need not rear stock stop location panel beating
Flanging length.
Accompanying drawing explanation
The bender structural representation of a kind of external robot on Fig. 1 existing market；
The bender structural representation explosive view of Fig. 2 embedded robot of the present utility model.
In figure: 1, digital control system；2, robot；3, frame；4, slide block controlling organization；5, slide block；6, upper mold；7, lower mold；
8, stock shelf；9, output station；10, workpiece；11, rear stock stop.
Detailed description of the invention
In the view of whole accompanying drawings, corresponding reference marks represents corresponding parts.
The bender digital control system device that a kind of embedded robot controls, bender digital control system device includes digital control system
1, robot 2, frame 3, slide block controlling organization 4, slide block 5, upper mold 6, lower mold 7, stock shelf 8, output station 9 and workpiece 10, numerical control
System 1 is arranged in frame 3, and robot 2 is arranged in frame 3, and slide block controlling organization 4 promotes slide block about 5 to run, upper mold 6
Being arranged on slide block 5, the lower section of upper mold 6 arranges lower mold 7, and lower mold 7 is arranged in frame 3, and stock shelf 8 is arranged on frame 3 left side,
Output station 9 is arranged on the right of frame 3, and workpiece 10 is captured by robot 2 fixture or release, works out panel beating ginseng in digital control system 1
After number, digital control system 1 controls robot 2 and slide block controlling organization 4 runs, in numerical control system during bending panel beating rotates up
System 1 is internal calculates slide block 5 position and robot 2 path automatically, it is achieved the Synchronous Bending of robot 2 and slide block 5 controls.Bender
Digital control system device need not the rear stock stop 11 resetting bending length of side, saves the resetting time, has simplified bending
Machine structure；In the embodiment of extension, super-hydrophobic oleophobic composite coating can be sprayed on the outer surface of upper mold 6 and lower mold 7 respectively,
Upper mold 6 and lower mold 7 is made to possess the function of super-hydrophobic oleophobic respectively, in long-term use, it is possible to ensure defending of upper mold 6 and lower mold
Raw grade；Further, in the technical scheme of extension, ultraviolet germicidal lamp can be set by the way of bonding in frame 3,
In the space residing for bender digital control system device nobody time, ultraviolet germicidal lamp can be opened, to bender digital control system device
Residing space sterilizes, and reaches preferable using effect.
In this utility model, digital control system 1 controls robot 2 and slide block controlling organization 4 moves, preferred embodiment
In, slide block controlling organization is cylinder, pushes or pull on slide block by the piston movement of cylinder and moves up and down, and cylinder can be electrically connected with
Digital control system 1, is passed through time and the frequency of its piston movement of programming Control by digital control system.
In this utility model, after editing panel beating parameter in digital control system 1, digital control system 1 is internal calculates slide block 5 automatically
Position and the dependency relation in robot 2 path, it is not necessary to by the motion path of other computed in software machine people 2.
In this utility model, robot 2 is arranged in frame 3, and robot 2 is feeding from stock shelf 8.
In this utility model, robot 2 structure uses five axial coordinate systems, and this robot architecture is robot knot
One in structure, it would however also be possible to employ the robot of other structure, is not limited only to use wu-zhi-shan pig structure.
In this utility model, eliminate rear stock stop 11.Robot coordinate system and lathe coordinate system unification are by numerical control
System 1 management controls, and the distance between robot coordinate system's initial point and machine coordinates system initial point is that Machine Design installation determines
, position panel beating obtain flanging length accurately so need not rear stock stop 8.And general bender robot 2 and bending
Machine body is to separate, and the distance between robot coordinate system's initial point and machine coordinates system initial point needs to be obtained by detection calculating
, and error is bigger, it is necessary to obtain flanging length accurately by rear stock stop 10 auxiliary positioning panel beating.
The using method of the bender digital control system device that a kind of embedded robot controls, comprises the following steps:
Step one, operator input workpiece drawing in digital control system, define work piece holder centre coordinate on drawing
With the distance of bending line to clamp central, continuing with bending technique parameter, then digital control system is internal calculates planning machine automatically
The control track code of device people and slide block.
Step 2: operator's slow running bending program, checks that overall process is abnormal with or without controlling, after measuring workpiece bending
Size and angle precision, if reaching requirement, enter next step.
Step 3: operator start properly functioning bending program, first operator and place a fixed number on stock shelf
Start automatic bending, then robot feeding from stock shelf after the workpiece of amount, panel beating is delivered to upper mold surface alignment, slide block control
Mechanism processed drives slide block down, and when slide block lower end touches workpiece surface, workpiece starts to be bent upwards deformation, digital control system
Automatically control slide block and robot coordinated motion, make robot accurately follow workpiece and rotated Forging Process, on last slide block
OK, robot removes workpiece according to evading collision course from mould, and is placed in output station by workpiece.
In this utility model, eliminate rear stock stop.Robot coordinate system and lathe coordinate system unification are by numerical control system
Reason under the overall leadership controls, and the distance between robot coordinate system's initial point and machine coordinates system initial point is that Machine Design installation determines,
So need not rear stock stop location panel beating to obtain flanging length accurately.And general bender robot and bender body
Being to separate, the distance between robot coordinate system's initial point and machine coordinates system initial point needs to be calculated by detection to obtain, and
Error is bigger, it is necessary to obtain flanging length accurately by rear stock stop auxiliary positioning panel beating.
Further, described bending technique parameter includes upper/lower die size, the width of the workpiece arranged in digital control system
The parameters such as route evaded by size, thickness of workpiece size and mould.
Further, described " following " refers to that fixture catches workpiece all the time, and along with workpiece gradually rotates, robot is also same
Do circular motion to step.
Further, this utility model robot architecture uses five axial coordinate systems, and this robot architecture is machine
One in people's structure, it would however also be possible to employ the robot of other structure, is not limited only to use wu-zhi-shan pig structure.
The above-mentioned description to embodiment is to be understood that for ease of those skilled in the art and use this reality
With novel.These embodiments obviously easily can be made various amendment by person skilled in the art, and saying at this
Bright General Principle is applied in other embodiments without through performing creative labour.Therefore, on this utility model is not limited to
Stating embodiment, those skilled in the art are according to announcement of the present utility model, the improvement made without departing from this utility model category
All should be within protection domain of the present utility model with amendment.
Claims (4)
1. there is the bender digital control system device that embedded robot controls, including upper mold, slide block, frame, lower mold and machine
Frame, described upper mold is arranged on slide block, and described slide block can slide up and down and is arranged in frame, in described frame, upper mold
Lower section is fixedly installed lower mold, it is characterised in that: also include digital control system and for capturing the robot of release workpiece, robot of institute
Be arranged in frame, described slide block slide up and down the motion with robot respectively by digital control system control.
The most according to claim 1 have the bender digital control system device that embedded robot controls, it is characterised in that: also
Including slide block controlling organization, described slide block controlling organization promotes slide block to run up and down.
The most according to claim 1 have the bender digital control system device that embedded robot controls, it is characterised in that: institute
State the artificial wu-zhi-shan pig of machine.
The most according to claim 1 have the bender digital control system device that embedded robot controls, it is characterised in that: institute
The sidepiece stating robot arranges stock shelf.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620647958.4U CN205721320U (en) | 2016-06-23 | 2016-06-23 | There is the bender digital control system device that embedded robot controls |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620647958.4U CN205721320U (en) | 2016-06-23 | 2016-06-23 | There is the bender digital control system device that embedded robot controls |
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| Publication Number | Publication Date |
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| CN205721320U true CN205721320U (en) | 2016-11-23 |
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| CN201620647958.4U Active CN205721320U (en) | 2016-06-23 | 2016-06-23 | There is the bender digital control system device that embedded robot controls |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105911955A (en) * | 2016-06-23 | 2016-08-31 | 广州纽蓝客精密机床有限公司 | Bending machine numerical control system device with embedded robot for control and method thereof |
-
2016
- 2016-06-23 CN CN201620647958.4U patent/CN205721320U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105911955A (en) * | 2016-06-23 | 2016-08-31 | 广州纽蓝客精密机床有限公司 | Bending machine numerical control system device with embedded robot for control and method thereof |
| CN105911955B (en) * | 2016-06-23 | 2019-01-25 | 广州纽蓝客精密机床有限公司 | Bending machine digital control system device and method with the control of embedded robot |
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