CN206936934U - A kind of robot flexibility Surface Milling process units control system - Google Patents
A kind of robot flexibility Surface Milling process units control system Download PDFInfo
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- CN206936934U CN206936934U CN201720711624.3U CN201720711624U CN206936934U CN 206936934 U CN206936934 U CN 206936934U CN 201720711624 U CN201720711624 U CN 201720711624U CN 206936934 U CN206936934 U CN 206936934U
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- 238000003801 milling Methods 0.000 title claims abstract description 46
- 239000011159 matrix material Substances 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 12
- 238000007664 blowing Methods 0.000 claims description 43
- 239000002994 raw material Substances 0.000 claims description 18
- 238000007789 sealing Methods 0.000 claims description 18
- 238000001914 filtration Methods 0.000 claims description 16
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Abstract
It is a set of control system for robot flexibility Surface Milling process units the utility model discloses a kind of robot flexibility Surface Milling process units control system, including a set of control matrix and a set of control gas circuit；Described control matrix includes robot controller and main control cabinet；The control circuit and control software for control machine human body are provided with described robot controller, and robot digital quantity input module, robot digital output module, the second relay module and the bus module interacted with robot flexibility Surface Milling process units.The utility model realizes the function such as force-feedback control in the automatic loading/unloading of workpiece, the automatic switchover of robot end's frock clamp and electro spindle, the offline processing of robot and process, utilize fast replacing device, solves the switching problem of frock clamp and electro spindle, and electro spindle can be with automatic tool changer, to meet different processing technologys.
Description
Technical field
The present invention relates to a kind of milling platform control system, more particularly to a kind of robot flexibility Surface Milling process units
Control system.
Background technology
Traditional sheet fabrication is carried out typically on engraving machine, and the range of work is smaller, while needs worker to carry out by hand
Loading and unloading and clamping, the problems such as having that efficiency is low, labor intensity is high and be dangerous.
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, has processing model
The features such as wide, cost is low and flexible high is enclosed, engraving machine can be replaced to complete sheet fabrication task in its end installation electro spindle.One
As in the case of, robot end fix clamping tool can complete single task role, be just difficult to use when completing Milling Process task
Uniform machinery people completes loading and unloading task, if realizing loading and unloading and processing respectively with Liang Ge robots, can greatly increase
Production cost.
The content of the invention
To solve problem present in technical background, the invention provides a kind of robot flexibility Surface Milling process units
Control system, by the control of robot flexibility Surface Milling process units, realize the automatic loading/unloading of workpiece, Surface Milling,
It is automatic to change the function such as fixture and cutter, so as to improve production efficiency, production cost is reduced, simplifies processing technology.
The technical solution adopted by the present invention is as follows：
A kind of robot flexibility Surface Milling process units control system, including for control machine people's flexible curved surface milling
The control matrix and control gas circuit of process units；（Robot flexibility Surface Milling process units is single in another patent
Solely file an application, therefore be not described in detail herein）The control matrix includes robot control system and main control cabinet；The machine
Device people control system includes robot controller, robot digital quantity input module, robot digital output module and second
Relay module；Be provided with intelligence control system in main control cabinet, the intelligence control system include industrial control computer,
PLC, PLC digital quantity input modules, PLC digital outputs module and the first relay module, the PLC and
Robot controller is connected with the industrial control computer, and the robot controller inputs mould by robot digital quantity
The robot of block, robot digital output module and second relay module control machine people's flexible curved surface milling process units
Component, the PLC are controlled by PLC digital quantity input modules, PLC digital outputs module and the first relay module
Robot flexibility Surface Milling process units workbench.
Preferably, the control gas circuit includes source of the gas, air accumulator, drier filters three linked piece, and the first pressure-reducing valve is fixed
Position cylinder solenoid valve, rotatably compresses cylinder solenoid valve, vacuum generator magnetic valve, vacuum generator, vacuum filter, unidirectionally
Valve, vacuum recover magnetic valve, the second pressure-reducing valve, workbench air blowing magnetic valve, pressure switch, the 3rd pressure-reducing valve, electro spindle electromagnetism
Valve, electro spindle handle of a knife folder, the 4th pressure-reducing valve, instrument quick change magnetic valve, the 5th pressure-reducing valve, electric main shaft sealing magnetic valve, electro spindle
Seal blowing nozzle, affixed side quick change, positioning cylinder rotatably compresses cylinder, blowing nozzle, vacuum cup, the source of the gas successively with storage
Gas tank, drier, filtering three linked piece connected by gas circuit, it is described filtering three linked piece by the first pressure-reducing valve respectively with positioning cylinder
Magnetic valve, rotatably compress cylinder solenoid valve, vacuum generator magnetic valve is connected by gas circuit, the positioning cylinder magnetic valve with it is fixed
Position cylinder is connected by gas circuit, described to rotatably compress cylinder solenoid valve and be connected with rotatably compressing cylinder by gas circuit, the vacuum
Generator magnetic valve is connected with vacuum generator, vacuum filter, vacuum cup by gas circuit successively, the filtering three linked piece warp
Cross the second pressure-reducing valve to be connected by gas circuit with vacuum recovery magnetic valve, workbench air blowing magnetic valve respectively, the vacuum recovers electricity
Magnet valve is connected through check valve with vacuum cup by gas circuit, and the workbench air blowing magnetic valve is connected with blowing nozzle by gas circuit,
The filtering three linked piece is connected with the 3rd pressure-reducing valve, the 4th pressure-reducing valve by gas circuit respectively by pressure switch, and the described 3rd subtracts
Pressure valve is connected by gas circuit with electro spindle magnetic valve, electro spindle handle of a knife folder successively, the 4th pressure-reducing valve successively with instrument quick change
Magnetic valve, affixed side quick change are connected by gas circuit, and the filtering three linked piece is connected with the 5th pressure-reducing valve by gas circuit, and the described 5th
Pressure-reducing valve is connected with electric main shaft sealing magnetic valve, electric main shaft sealing blowing nozzle by gas circuit successively.
Preferably, the intelligence control system also includes frequency converter, the industrial control computer is connected with frequency converter,
The frequency converter is connected with the electro spindle of robot flexibility Surface Milling process units.
Preferably, the intelligence control system also includes interchanger, the industrial control computer by interchanger with
The force snesor of robot flexibility Surface Milling process units carries out data transmission.
Preferably, the industrial control computer is connected with PLC, the PLC control PLC digital quantity
Input module and PLC digital output modules, the PLC digital quantity input modules produce with robot flexibility Surface Milling respectively
Positioning cylinder magnetic switch in device, rotatably compress cylinder magnetic switch, pressure switch, raw material feed bin photoelectric sensor, into
Product feed bin photoelectric sensor, frequency converter connection, the PLC digital outputs module by the first relay module respectively with rotation
Compression cylinder magnetic valve, positioning cylinder magnetic valve, workbench air blowing magnetic valve, frequency converter connection.
Preferably, the industrial control computer is connected with robot controller, the robot controller control machine
Device people digital quantity input module and robot digital output module, the robot digital quantity input module respectively with robot
The instrument quick change magnetic switch of flexible curved surface milling process units, the folder magnetic switch connection of electro spindle handle of a knife, the machine number
Word amount output module is blown with instrument quick change magnetic valve, vacuum generator magnetic valve, workbench respectively by the second relay module
Flow control valves, workbench air blowing magnetic valve, electro spindle magnetic valve, the connection of electric main shaft sealing magnetic valve.
Preferably, the PLC digital quantity input modules read positioning cylinder magnetic switch, rotatably compress cylinder magnetic and open
Pass, pressure switch, raw material feed bin photoelectric sensor, finished product bin photoelectric sensor, frequency converter condition indicative signal, and by signal
It is transferred to PLC；The PLC digital outputs module is connected with the first relay module, according to the control of PLC
Signal controls respectively rotatably compresses cylinder solenoid valve, positioning cylinder magnetic valve, workbench air blowing magnetic valve and frequency converter.
Preferably, the robot digital quantity input module reads instrument quick change magnetic switch, electro spindle handle of a knife folder magnetic
Property switch signal, and transmit a signal to robot controller；The robot digital output module and the second relay
Module is connected, and instrument quick change magnetic valve, vacuum generator magnetic valve, electricity are controlled respectively according to the control signal of robot controller
Main shaft magnetic valve and electric main shaft sealing control valve.
Preferably, the industrial control computer carries out signal interaction with PLC by RS485 buses, it is described
Industrial control computer carries out signal interaction with robot controller by PowerLink buses.
Preferably, the industrial control computer is also associated with touch-screen.
The beneficial effects of the invention are as follows：
The invention provides a kind of robot flexibility Surface Milling producing unit control system, pass through robot flexibility
The control of Surface Milling process units, realize the automatic loading/unloading of workpiece, robot end's frock clamp and electro spindle from
The functions such as dynamic switching, processing of robots.In this process units, worker need to only be responsible for blowing at feeding bin, drop significantly
Potential safety hazard in low production process, optimizes time beat, greatly improves production efficiency.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention.
Fig. 2 is robot body end equipment structural representation.
Fig. 3 is Working table structure schematic diagram.
Fig. 4 is quick-change tool frame structural representation.
Fig. 5 is that the circuit theory of control system of the present invention connects block diagram.
Fig. 6 is the control schematic diagram of gas circuit of the present invention.
Fig. 7 is the control flow chart of the present invention.
Reference numerals list：
1 source of the gas, 2 air accumulators, 3 driers, 4 filtering three linked pieces, 5 first pressure-reducing valves, 6 positioning cylinder magnetic valves, 7 rotation pressures
Tight cylinder solenoid valve, 8 vacuum generator magnetic valves, 9 vacuum generators, 10 vacuum filters, 11 check valves, 12 vacuum recover electricity
Magnet valve, 13 second pressure-reducing valves, 14 workbench air blowing magnetic valves, 15 pressure switches, 16 the 3rd pressure-reducing valves, 17 electro spindle magnetic valves,
18 electro spindle handle of a knifes press from both sides, 19 the 4th pressure-reducing valves, 20 instrument quick change magnetic valves, 21 the 5th pressure-reducing valves, 22 electric main shaft sealing magnetic valves,
23 electric main shaft sealing blowing nozzles, 100 robot assemblies, 101 robot bases, 102 robot bodies, 103 force snesors, 104
Affixed side quick change, 200 workbench, 201 work tops, 202 positioning cylinders, 203 locating piece A, 204 locating piece B, 205 rotate pressure
Tight cylinder, 206 blowing nozzles, 207 chip-removal holes, 300 quick-change tool framves, 301 tool rack bases, 302 support frames, 310 cutter holder assemblies,
320 sucker quick change components, 321 adpting flange A, 322 active side quick change A, 323 vacuum cups, 330 main shaft quick change components, 331 connect
Acting flange B, 332 active side quick change B, 333 electro spindles, 400 raw material feed bins, 500 finished product bins, 600 control matrixes, 601 machines
People's control system, 602 main control cabinets.
Embodiment
The invention will be further described with reference to the accompanying drawings and detailed description：
A kind of robot flexibility Surface Milling process units control system, including for control machine people's flexible curved surface milling
The control matrix 600 and control gas circuit of process units, as shown in Fig. 1 to Fig. 4, robot flexibility Surface Milling process units includes
Robot assembly 100, workbench 200, quick-change tool frame 300, raw material feed bin 400, finished product bin 500 and control matrix 600,
The surrounding of robot assembly 100 is arranged raw material feed bin 400, finished product bin 500, workbench 200 and quick-change tool frame 300 successively,
Control matrix 600 is located at the right side of quick-change tool frame 300.
Robot assembly 100 includes robot base 101, robot body 102, force snesor 103 and affixed side quick change
104, robot base 101 is fixed on the ground by expansion bolt, and robot body 102 is arranged on robot base 101,
Force sensor 103 is installed on the end flange of robot body 102, affixed side quick change 104 is provided with force snesor 103,
Instrument quick change magnetic switch is provided with affixed side quick change 104.
Workbench 200 includes work top 201, positioning cylinder 202, locating piece A203, locating piece B204, rotatably compresses gas
Cylinder 205, blowing nozzle 206 and chip-removal hole 207, the middle part lower right of work top 201 are tiltedly installed with positioning cylinder 202, position gas
Cylinder 202 is provided with positioning cylinder magnetic switch, and the top of positioning cylinder 202 is provided with parallel to the length direction of work top 201
Locating piece A203, locating piece A203 lower right-hand sides are provided with the locating piece B204 parallel to the width of work top 201, positioning
Block B204 is provided with two pieces, rotatably compresses cylinder 205 and is left and right symmetrically arranged on the center line of work top 201, rotatably compresses gas
Cylinder 205 is provided with and rotatably compresses cylinder magnetic switch；The left parallel of work top 201 is installed in the width of work top 201
There is a blowing nozzle 206, blowing nozzle 206 is provided with multiple, and is evenly distributed on work top 201, the right side of work top 201 is parallel
Chip-removal hole 207 is installed in the width of work top 201.
Quick-change tool frame 300 includes tool rack base 301, support frame 302, cutter holder assembly 310, sucker quick change component 320
And main shaft quick change component 330, tool rack base 301 is fixed on the ground by expansion bolt, in the upper surface of tool rack base 301
Portion is provided with support frame 302, and cutter holder assembly 310 is provided with relative to the side of robot body 102 on support frame 302, supports
The opposite side of 302 upper tool post component of frame 310 is provided with sucker quick change component 320 and main shaft quick change component 330, sucker quick change component
320 include adpting flange A321, active side quick change A322 and vacuum cup 323, and adpting flange A321 passes through with support frame 302
Pin connection is positioned, adpting flange A321 upper surfaces are provided with active side quick change A322, and adpting flange A321 is opposite to each other in support frame 302
One end vacuum cup 323 is installed, main shaft quick change component 330 includes adpting flange B331, active side quick change B332 and electricity is main
Axle 333, for adpting flange B331 with support frame 302 by positioning pin connection, it is fast that adpting flange B331 upper surfaces are provided with active side
B332 is changed, electro spindle 333 is fixed with below adpting flange B331, electro spindle handle of a knife folder magnetic switch is provided with electro spindle 333.
Raw material feed bin 400 is located at the upper right side of robot assembly 100, and raw material feed bin 400 is placed on the ground by support base,
Raw material feed bin photoelectric sensor is provided with raw material feed bin 400.
Finished product bin 500 is located at the right side of robot assembly 100, finished product bin 500 by support base place on the ground, into
Finished product bin photoelectric sensor is provided with product feed bin 500.
As shown in Figure 5, Figure 6, robot flexibility Surface Milling process units control system includes soft for control machine people
Property Surface Milling process units control matrix and control gas circuit；Control matrix 600 includes robot control system 601 and master control
Cabinet 602 processed；The robot controller for control machine human body 102, robot control are provided with robot control system 601
Control circuit and control software are provided with device processed, robot control system also includes robot flexibility Surface Milling process units and handed over
Mutual robot digital quantity input module, robot digital output module, the second relay module and bus module；Main control
A set of intelligence control system is provided with cabinet 602, specifically include an industrial control computer, a set of PLC, one group
PLC digital quantity input modules, a set of PLC digital outputs module, one group of first relay module, an interchanger, one touch
Touch screen, a frequency converter and set of system control software；Control gas circuit includes source of the gas 1, air accumulator 2, drier 3, filtering three
Join part 4, the first pressure-reducing valve 5, positioning cylinder magnetic valve 6, rotatably compress cylinder solenoid valve 7, vacuum generator magnetic valve 8, vacuum
Generator 9, vacuum filter 10, check valve 11, vacuum recover magnetic valve 12, the second pressure-reducing valve 13, workbench air blowing magnetic valve
14, pressure switch 15, the 3rd pressure-reducing valve 16, electro spindle magnetic valve 17, electro spindle handle of a knife folder 18, the 4th pressure-reducing valve 19, instrument is fast
Change magnetic valve 20, the 5th pressure-reducing valve 21, electric main shaft sealing magnetic valve 22, electric main shaft sealing blowing nozzle 23, affixed side quick change 104,
Positioning cylinder 202, rotatably compress cylinder 205, blowing nozzle 206, vacuum cup 323.
Source of the gas 1 is connected with air accumulator 2, drier 3, filtering three linked piece 4 by gas circuit successively, and filtering three linked piece 4 is by the
One pressure-reducing valve 5 respectively with positioning cylinder magnetic valve 6, rotatably compress cylinder solenoid valve 7, vacuum generator magnetic valve 8 passes through gas circuit
Connection, positioning cylinder magnetic valve 6 are connected with positioning cylinder 202 by gas circuit, are rotatably compressed cylinder solenoid valve 7 and are rotatably compressed gas
Cylinder 205 is connected by gas circuit, vacuum generator magnetic valve 8 successively with vacuum generator 9, vacuum filter 10, vacuum cup 323
Connected by gas circuit, filtering three linked piece 4 recovers magnetic valve 12, workbench air blowing electromagnetism with vacuum respectively by the second pressure-reducing valve 13
Valve 14 is connected by gas circuit, and vacuum is recovered magnetic valve 12 and is connected through check valve 11 with vacuum cup 323 by gas circuit, and workbench blows
Pneumoelectric magnet valve 14 is connected with blowing nozzle 206 by gas circuit, is set in the gas circuit between workbench air blowing magnetic valve 14 and blowing nozzle 206
Have a workbench air blowing flow control valve, filtering three linked piece 4 by pressure switch 15 respectively with the 3rd pressure-reducing valve 16, the 4th pressure-reducing valve
19 are connected by gas circuit, and the 3rd pressure-reducing valve 16 is connected with electro spindle magnetic valve 17, electro spindle handle of a knife folder 18 by gas circuit successively, the
Four pressure-reducing valves 19 are connected with instrument quick change magnetic valve 20, affixed side quick change 104 by gas circuit successively, filter three linked piece 4 and the 5th
Pressure-reducing valve 21 is connected by gas circuit, the 5th pressure-reducing valve 21 successively with electric main shaft sealing magnetic valve 22, electric main shaft sealing blowing nozzle 23
Connected by gas circuit.
Industrial control computer is communicated with PLC by RS485, the input of PLC control PLC digital quantity
Module and PLC digital output modules, PLC digital quantity input modules respectively with positioning cylinder magnetic switch, rotatably compress cylinder
Magnetic switch, pressure switch, raw material feed bin photoelectric sensor, finished product bin photoelectric sensor, frequency converter are connected by signal wire,
PLC digital outputs module by the first relay module respectively with rotatably compress cylinder solenoid valve 7, positioning cylinder magnetic valve 6,
Workbench air blowing magnetic valve 14, frequency converter are connected by signal wire, and industrial control computer is led to frequency converter by RS485
News, frequency converter are connected with electro spindle 333 by signal wire, and industrial control computer is carried out by interchanger and force snesor 103
Data transfer, industrial control computer carry out data communication with touch-screen by USB, and industrial control computer controls with robot
Device is carried out data transmission by PowerLink buses, robot controller control machine people digital quantity input module and robot
Digital output module, robot digital quantity input module are opened with instrument quick change magnetic switch, electro spindle handle of a knife folder magnetic respectively
Close by signal wire connection, robot digital output module by the second relay module respectively with instrument quick change magnetic valve
20th, vacuum generator magnetic valve 8, workbench air blowing flow control valve, workbench air blowing magnetic valve 14, electro spindle magnetic valve 17,
Electric main shaft sealing magnetic valve 22 is connected by signal wire.
Industrial control computer carries out signal interaction, industrial control computer and machine with PLC by RS485 buses
Device people controller carries out signal interaction by PowerLink buses；PLC digital quantity input modules read positioning cylinder magnetic and opened
Close, rotatably compress cylinder magnetic switch, pressure switch, raw material feed bin photoelectric sensor, finished product bin photoelectric sensor, frequency converter
Condition indicative signal, and transmit a signal to PLC；PLC digital outputs module is connected with the first relay module, root
Controlled respectively according to the control signal of PLC and rotatably compress cylinder solenoid valve, positioning cylinder magnetic valve, workbench air blowing electromagnetism
Valve and frequency converter, so as to realize to rotatably compressing cylinder 205, positioning cylinder 202, blowing nozzle 206 and the control of electro spindle 333
System；Robot digital quantity input module reads instrument quick change magnetic switch, the signal of electro spindle handle of a knife folder magnetic switch, and will letter
Number it is transferred to robot controller；Robot digital output module is connected with the second relay module, is controlled according to robot
The control signal of device controls instrument quick change magnetic valve 20, vacuum generator magnetic valve 8, electro spindle magnetic valve 17, electro spindle respectively
Seal control valve 18.
The control flow of the present invention is as shown in fig. 7, the implementation process of the present invention is as follows：
1. first, raw material feed bin photoelectric sensor, finished product bin photoelectric sensor detect raw material feed bin 400, finished product respectively
Whether feed bin 500 is in place, and workpiece to be processed is put into raw material feed bin 400, and the side end face of workpiece to be processed and raw material feed bin 400
On both sides end face be in contact, complete the Primary Location of workpiece to be processed；
2. operating the button on the touch-screen in intelligence control system, whole system enters the automatic running stage；
3. robot body 102 moves to the position of quick-change tool frame 300, then, it is fast that affixed side quick change 104 moves to sucker
The top of component 320 is changed, declines and is contacted with active side quick change A322, robot controller is controlled by instrument quick change magnetic valve 20
The replacing of sucker quick change component 320 is completed in the adhesive of affixed side quick change 104；
4. robot body 102 moves to the position of raw material feed bin 400, four vacuum cups in sucker quick change component 320
323 horizontal abutments workpiece to be added, robot controller control vacuum generator to work by vacuum generator magnetic valve 12, so as to
Realize that the work of vacuum cup 323 picks up workpiece to be processed, workpiece to be processed is being transported to workbench 200 just by robot body 102
Simultaneously put down middle position；
5.PLC controllers control positioning cylinder 202 to stretch out by positioning cylinder magnetic valve 6, and positioning cylinder 202 promotes to be added
Work workpiece, locating piece A203, locating piece B204 position-limiting action under complete the positioning of workpiece to be processed, PLC passes through
Rotatably compress the control of cylinder solenoid valve 7 to rotatably compress cylinder 205 and act, workpiece to be processed is compressed, then, PLC is led to
Crossing positioning cylinder magnetic valve 6 controls positioning cylinder 202 to retract, and clamping workpiece is completed；
6. robot body 102 moves to the position of quick-change tool frame 300, robot controller passes through instrument quick change magnetic valve
20 control affixed side quick changes 104, which work, puts sucker quick change component 320 to initial position, and then affixed side quick change 104 moves to
The top of main shaft quick change component 330, declines and is contacted with active side quick change B332, robot controller passes through instrument quick change magnetic valve
20 control affixed side quick changes 104, which work, completes the replacing of main shaft quick change component 330；Then the end movement of electro spindle 333 is to face
Electro spindle handle of a knife presss from both sides 18 positions, drops to fitting, and robot controller control electro spindle magnetic valve 17, which works, completes the dress of cutter
Folder, tool changing are completed；
7. the random device human body 102 of electro spindle 333 is moved to directly over the workpiece to be added of clamping on workbench 200, machine
Human body 102 is processed according to existing off-line programing program to workpiece, and processing starts, and PLC is blown by workbench
The work of pneumoelectric magnet valve 14 is completed blowing nozzle 206 and blown so that the chip-removal hole 207 of turning right of chip caused by cutting gathers, chip from
Chip-removal hole 207 leaks down to be siphoned away by dust exhaust apparatus, force snesor 103 by the data feedback gathered to control matrix 600, according to work
The processing request of part, cutter can be changed after a process terminates, then carry out next process, until workpiece
All machine；
8. after machining, robot body 102 moves to the position of quick-change tool frame 300, robot controller passes through work
Tool quick change magnetic valve 20 controls affixed side quick change 104 to work and puts main shaft quick change component 330 to initial position, and then affixed side is fast
Change 104 and move to the top of sucker quick change component 320, decline and contacted with active side quick change A322, robot controller passes through work
Has the replacing that quick change magnetic valve 20 controls the work of affixed side quick change 104 to complete sucker quick change component 320；
9.PLC controllers are unclamped by rotatably compressing the control rotation return of clamping cylinder 205 of cylinder solenoid valve 7, workpiece；
10. machined part is removed and put to the position of finished product bin 500, robot controller by sucker quick change component 320
Recovering magnetic valve 12 by vacuum controls vacuum cup 323 to unclamp workpiece, and robot body 102 returns to initial position.
The design principle of the present invention：
The present invention realizes the automation loading and unloading and processing of sheet material, simplifies production from electromechanical integration thought
Technique, cost is saved, improve production efficiency.In whole process, robot assembly 100 utilizes instrument fast replacing device, changes
Sucker quick change component 320 and main shaft quick change component 330, complete the switching of loading and unloading and processing action.By electro spindle 333 more
Different handle of a knifes is changed, meets the processing technology requirement of workpiece.Off-line procedure is generated using off-line programming software, realizes workpiece
Surface Milling processing.Process data is gathered using force snesor 103, has monitored the continually changing power of size and Orientation and power
Square, realize the feedback control of Milling Force.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned embodiment, in addition to
Formed technical scheme is combined by above technical characteristic.It should be pointed out that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of robot flexibility Surface Milling process units control system, it is characterised in that including soft for control machine people
Property Surface Milling process units control matrix and control gas circuit；The control matrix includes robot control system and main control
Cabinet；The robot control system includes robot controller, robot digital quantity input module, robot digital output mould
Block and the second relay module；Intelligence control system is provided with main control cabinet, the intelligence control system includes Industry Control
Computer, PLC, PLC digital quantity input modules, PLC digital outputs module and the first relay module, the PLC
Controller and robot controller are connected with the industrial control computer, and the robot controller passes through robot numeral
Measure input module, robot digital output module and second relay module control machine people's flexible curved surface milling process units
Robot assembly, the PLC passes through PLC digital quantity input modules, PLC digital outputs module and the first relay
The workbench of module control machine people's flexible curved surface milling process units.
2. robot flexibility Surface Milling process units control system as claimed in claim 1, it is characterised in that the control
Gas circuit includes source of the gas, air accumulator, drier, filters three linked piece, the first pressure-reducing valve, positioning cylinder magnetic valve, rotatably compresses cylinder
Magnetic valve, vacuum generator magnetic valve, vacuum generator, vacuum filter, check valve, vacuum recover magnetic valve, the second decompression
Valve, workbench air blowing magnetic valve, pressure switch, the 3rd pressure-reducing valve, electro spindle magnetic valve, electro spindle handle of a knife folder, the 4th pressure-reducing valve,
Instrument quick change magnetic valve, the 5th pressure-reducing valve, electric main shaft sealing magnetic valve, electric main shaft sealing blowing nozzle, affixed side quick change, position gas
Cylinder, rotatably compresses cylinder, blowing nozzle, vacuum cup, and the source of the gas passes through gas with air accumulator, drier, filtering three linked piece successively
Road connects, the filtering three linked piece by the first pressure-reducing valve respectively with positioning cylinder magnetic valve, rotatably compress cylinder solenoid valve, true
Empty generator magnetic valve is connected by gas circuit, and the positioning cylinder magnetic valve is connected with positioning cylinder by gas circuit, the rotation
Compression cylinder magnetic valve is connected with rotatably compressing cylinder by gas circuit, and the vacuum generator magnetic valve occurs with vacuum successively
Device, vacuum filter, vacuum cup are connected by gas circuit, and the filtering three linked piece recovers with vacuum respectively by the second pressure-reducing valve
Magnetic valve, workbench air blowing magnetic valve are connected by gas circuit, and the vacuum is recovered magnetic valve and passed through through check valve and vacuum cup
Gas circuit is connected, and the workbench air blowing magnetic valve is connected with blowing nozzle by gas circuit, and the filtering three linked piece passes through pressure switch
It is connected respectively with the 3rd pressure-reducing valve, the 4th pressure-reducing valve by gas circuit, the 3rd pressure-reducing valve is main with electro spindle magnetic valve, electricity successively
Axle handle of a knife folder is connected by gas circuit, and the 4th pressure-reducing valve is connected with instrument quick change magnetic valve, affixed side quick change by gas circuit successively
Connect, it is described filtering three linked piece be connected with the 5th pressure-reducing valve by gas circuit, the 5th pressure-reducing valve successively with electric main shaft sealing electromagnetism
Valve, electric main shaft sealing blowing nozzle are connected by gas circuit.
3. robot flexibility Surface Milling process units control system as claimed in claim 2, it is characterised in that the intelligence
Control system also includes frequency converter, and the industrial control computer is connected with frequency converter, and the frequency converter is bent with robot flexibility
Facing cut cuts the electro spindle connection of process units.
4. robot flexibility Surface Milling process units control system as claimed in claim 3, it is characterised in that the intelligence
Control system also includes interchanger, and the industrial control computer passes through interchanger and robot flexibility Surface Milling process units
Force snesor carry out data transmission.
5. the robot flexibility Surface Milling process units control system as described in claim 3 or 4, it is characterised in that described
Industrial control computer is connected with PLC, and the PLC control PLC digital quantity input module and PLC digital quantities are defeated
Go out module, the PLC digital quantity input modules respectively with the positioning cylinder magnetic in robot flexibility Surface Milling process units
Switch, rotatably compress cylinder magnetic switch, pressure switch, raw material feed bin photoelectric sensor, finished product bin photoelectric sensor, frequency conversion
Device connects, and the PLC digital outputs module is by the first relay module respectively with rotatably compressing cylinder solenoid valve, positioning gas
Cylinder magnetic valve, workbench air blowing magnetic valve, frequency converter connection.
6. robot flexibility Surface Milling process units control system as claimed in claim 2, it is characterised in that the industry
Control computer is connected with robot controller, the robot controller control machine people digital quantity input module and robot
Digital output module, the robot digital quantity input module instrument with robot flexibility Surface Milling process units respectively
Quick change magnetic switch, the folder magnetic switch connection of electro spindle handle of a knife, the robot digital output module pass through the second relay
Module respectively with instrument quick change magnetic valve, vacuum generator magnetic valve, workbench air blowing flow control valve, workbench air blowing electromagnetism
Valve, electro spindle magnetic valve, the connection of electric main shaft sealing magnetic valve.
7. robot flexibility Surface Milling process units control system as claimed in claim 5, it is characterised in that the PLC
Digital quantity input module reads positioning cylinder magnetic switch, rotatably compresses cylinder magnetic switch, pressure switch, raw material feed bin photoelectricity
Sensor, finished product bin photoelectric sensor, frequency converter condition indicative signal, and transmit a signal to PLC；The PLC
Digital output module is connected with the first relay module, is controlled respectively according to the control signal of PLC and rotatably compresses gas
Cylinder magnetic valve, positioning cylinder magnetic valve, workbench air blowing magnetic valve and frequency converter.
8. robot flexibility Surface Milling process units control system as claimed in claim 6, it is characterised in that the machine
People's digital quantity input module reads instrument quick change magnetic switch, the signal of electro spindle handle of a knife folder magnetic switch, and signal is transmitted
To robot controller；The robot digital output module is connected with the second relay module, according to robot controller
Control signal control instrument quick change magnetic valve, vacuum generator magnetic valve, electro spindle magnetic valve and electric main shaft sealing control respectively
Valve processed.
9. robot flexibility Surface Milling process units control system as claimed in claim 1, it is characterised in that the industry
Control computer carries out signal interaction with PLC by RS485 buses, and the industrial control computer controls with robot
Device carries out signal interaction by PowerLink buses.
10. robot flexibility Surface Milling process units control system as claimed in claim 1, it is characterised in that the work
Industry control computer is also associated with touch-screen.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030518A (en) * | 2017-06-19 | 2017-08-11 | 苏州紫金港智能制造装备有限公司 | A kind of robot flexibility Surface Milling process units control system |
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2017
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030518A (en) * | 2017-06-19 | 2017-08-11 | 苏州紫金港智能制造装备有限公司 | A kind of robot flexibility Surface Milling process units control system |
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