CN207839678U - A kind of metal plate bending robot with additional seven axis - Google Patents

A kind of metal plate bending robot with additional seven axis Download PDF

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Publication number
CN207839678U
CN207839678U CN201820081641.8U CN201820081641U CN207839678U CN 207839678 U CN207839678 U CN 207839678U CN 201820081641 U CN201820081641 U CN 201820081641U CN 207839678 U CN207839678 U CN 207839678U
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axis
additional
metal plate
forearm
swing rod
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徐丰羽
彭高亮
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Nanjing Post and Telecommunication University
Nanjing University of Posts and Telecommunications
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Nanjing Post and Telecommunication University
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Abstract

The utility model discloses a kind of metal plate bending robots with additional seven axis, including an axis, two axis, three axis, four axis, five axis, additional six axis and additional seven axis；The quantity of additional seven axis is two, and two additional seven axial symmetry are arranged on the swing rod of five axis both sides, and every additional seven axis are rotatablely connected with swing rod.One axis, two axis, three axis and four axis are mutually parallel, and each additional seven axis are mutually parallel with five axis, and five axis and four axis are perpendicular, are each respectively provided with a fixture that metal plate sheet material workpiece can be clamped at the top of additional seven axis.On the one hand the utility model can carry out two metal plate plate material parts bending simultaneously, meanwhile, the positioning accuracy of metal plate plank can be made to adjust, prevent location dimension and the deviation of orientation angle.

Description

A kind of metal plate bending robot with additional seven axis
Technical field
The utility model is related to metal plate plank manufacture field, especially a kind of metal plate bending machine with additional seven axis People.
Background technology
In recent years, metal plate plank manufacture field, the application for automating processing technology are gradually popularized.Metal plate sheet fabrication is automatic The core technology of change is the automation of sheet metal bending.The especially processing of the larger part of large scale weight, the labor intensity of worker Greatly, it usually needs 2 even several operators complete, and labor intensity is big, and working environment is severe.Sheet metal bending automation solves Scheme has become the common recognition of industry, has huge market potential and development space.
Currently, the solution of sheet metal bending automation, mainly there is the following two kinds.
1, special referring in particular to the Chinese utility model application No. is 201710513061.1 using 6 joint all-purpose robots Profit application, utility model are created entitled " a kind of to be used for metal plate and body non-interference robot when automatic bending ", For 6 joint industrial robots, the sum of forearm element stems length and wrist part bar length long Y=2~3 of the big armed levers of X/, bender lower die Edge height-distance H=500~the 600mm of swivel base J2 wheelbases from the ground, swivel base J2 wheelbases are from J1 axis distance Z=robots Metal plate maximal side-the sum of forearm element stems length and wrist part bar length long Y of the big armed levers of X- is opened up/set to arm.J4 axis and J1 axis it Between offset control distance, J3 spindle motors be arranged on the outside of large arm.
Above-mentioned patent application is used for large scale metal plate bending, metal plate and body will not by the long proportion relation of rational bar Xiang Hu Gan Wataru have evaded many drawbacks of the popular industrial machine people in bending application.However, due to the control number of axle excessive (6 Axis, DOF (degree of freedom) redundance), of high cost, moving range is small, is limited by arm exhibition.
2, using Cartesian robot, referring in particular to application No. is 201710110029.9 Chinese utility model patents Application, entitled " a kind of planer-type bending robot " that utility model is created comprising：Orthogonal X-axis guide rail, Y Axis rail and Z axis guide rail, X-axis guide rail are fixedly connected with fuselage；X-axis guide rail and Z axis guide rail are by the first sliding block vertical connection, and the The X that is slidably connected opposite with X-axis guide rail and Z axis guide rail is respectively equipped on one sliding block to slide block guide rail and Z-direction slide block guide rail；Z axis Guide rail lower end is fixed with the second sliding block, is fixed on the second sliding block and is slidably connected Y-axis slide block guide rail with Y-axis guide rail；Y-axis is led The front end of rail is rotatablely connected A axis, is rotatably connected to the B axle vertical with A axis on A axis, the C vertical with B axle is rotatably connected in B axle Axis, C axis front end are equipped with end effector mechanism.The advantages of patent application is：At low cost, load capacity is strong.However disadvantage nor Chang Mingxian：Structure size is big, takes up a large area, and speed is slow, dumb.
There is following defects for above two sheet metal bending automation solutions：The axis of end two in wrist joint Axis all intersects at a bit, mainly facilitates the solution of kinematical equation.In addition, be applicable in when bending large-size workpiece, it is small Dimension workpiece bending is easy to interfere with bender, is completely unsuitable for the bending of small size workpiece and can only single process one Part.
Utility model content
The technical problems to be solved in the utility model be in view of the above shortcomings of the prior art, and provide it is a kind of have it is additional The metal plate bending robot of seven axis should can carry out two metal plate plate material parts with the metal plate bending robot for adding seven axis same When bending, efficiency promotes at double, really solves the efficiency of automation Bending Processing.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of metal plate bending robot with additional seven axis, including rectilinear seats sliding rail, sliding block, activity large arm, activity Forearm, forearm, swing rod and additional seven axis.
Sliding block is slidably connected on rectilinear seats sliding rail, and an axis is formed between sliding block and rectilinear seats sliding rail.
Rear end of the slider top by two axis directly or indirectly with activity large arm is hinged, and the front end of activity large arm passes through three The rear end of axis and movable forearm is hinged, and the front end of movable forearm is hinged by the rear end of four axis and forearm, the front end of forearm It is rotatablely connected by the middle part of five axis and swing rod.
The quantity of additional seven axis is two, and two additional seven axial symmetry are arranged on the swing rod of five axis both sides, and every additional Seven axis are rotatablely connected with swing rod.
One axis, two axis, three axis and four axis are mutually parallel, and each additional seven axis are mutually parallel with five axis, five axis and four Axis is perpendicular, is each respectively provided with a fixture that metal plate sheet material workpiece can be clamped at the top of additional seven axis.
Further include rotary support, the bottom of rotary support is rotatablely connected by additional six axis with slider top, rotary support Top is connect by two axis with the rear end thereof of activity large arm.
The axis of the axis of five axis and four axis is without crosspoint.
Origin is arranged on the axis of two axis, and is X-axis by the horizontal direction of the axis perpendicular with two axis, vertical side To for Y-axis, rectangular coordinate system is established, then coordinate of four axis centers in the rectangular coordinate system is (dx, dy), then dxAnd dy's Calculation formula is as follows：
In formula, X0For the X axis distance value of mold center's line in bender；Y0For lower die height in bender；L10For folder The vertical offset distance of tool；L20For the horizontal off set of fixture；β is the angle between metal plate plank and horizontal plane in bending process.
Two axis, three axis and four axis mutually link, it is assumed that the driving corner of two axis is θ2, three axis driving corner be θ3, four axis Driving corner be θ4；Then θ2、θ3And θ4Meet following calculation formula：
θ2=a2；
θ3=a3-a2；
θ4=a4-a3；
a4=-β
Cx=dx-L4cos(a4)
Cy=dy-L4sin(a4)
In formula, a2For activity large arm and X-axis angle；a3For movable forearm and X-axis angle；a4For the angle of forearm and X-axis； L2For the big arm lengths of activity；L3For the length of movable forearm；L4For forearm, CxAnd CyFor intermediate variable.
Angle β in bending process between metal plate plank and horizontal plane is calculated using following formula：
In formula, B is the width of lower mould notch in bender；D is the work of upper mold in bender into stroke.
Further include two shifting axles, shifting axle is located between additional seven axis and swing rod, and shifting axle is slidably connected with swing rod, attached Seven axis bottoms are added to be rotatablely connected with shifting axle.
The utility model has the advantages that：
1, the setting of above-mentioned two additional seven axis and five axis, can realize bending while to two metal plate plate material parts.
2, the utility model can be arranged as required into six axis, namely including an axis, two axis, three axis, four axis, five axis and two A additional seven axis can also be arranged to seven axis, namely attached including an axis, two axis, three axis, four axis, five axis, additional six axis and two Add seven axis.With 6 joint ratio of the prior art, moving range is big；With rectangular co-ordinate ratio, flexibility is very big.Blank stack and finished product material Rack position is variable, and variable amounts can realize the full-automatic bending of no manual intervention.
3. the setting of above-mentioned two additional seven axis and five axis, can be such that the positioning accuracy of metal plate plank adjusts, prevent positioning rule Very little and orientation angle deviation.
Description of the drawings
Fig. 1 shows a kind of structural schematic diagram with the metal plate bending robot for adding seven axis of the utility model.
Fig. 2 shows the close-up schematic view of five axis and additional seven axis in Fig. 1.
Fig. 3 shows the semi-section structural schematic diagram of rotary support and sliding block.
Close-up schematic view when Fig. 4 is shown with shifting axle.
Fig. 5 shows the moving direction of shifting axle and the rotation direction schematic diagram of additional seven axis.
Fig. 6 shows the relation schematic diagram of five axis and two additional seven axis.
Fig. 7 shows that the rotation of five axis carries out metal plate plank the process schematic of sizing adjustment.
Fig. 8 shows the process schematic that five axis adjust the sizing of metal plate metal plate and angle with additional seven-axis linkage.
Fig. 9 show activity large arm, movable forearm and forearm scale diagrams.
Figure 10 shows that the bending campaign under rectangular coordinate system parses schematic diagram.
Figure 11 shows the relational graph of the angle β and bender lower die between metal plate plank and horizontal plane in bending process.
Wherein have：10. rectilinear seats sliding rail；20. sliding block；30. rotary support；31. additional six axis；40. activity large arm； 41. two axis；50. movable forearm；51. three axis；60. forearm；61. four axis；70. swing rod；71. five axis；80. additional seven axis；81. moving Moving axis；90. bender；101. mold center's line；92. displacement sensor；100. blank stack；110. finished product rack；120. metal plate Golden plate material.
Specific implementation mode
The utility model is described in further detail with specific better embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of metal plate bending robot with additional seven axis, including rectilinear seats sliding rail 10, sliding block 20, Rotary support 30, activity large arm 40, movable forearm 50, forearm 60, swing rod 70 and additional seven axis 80.
Rectilinear seats sliding rail is arranged the bending inlet side in bender 90, and the bending mouth of rectilinear seats sliding rail and bender is excellent Phase selection is parallel.The bending entrance of bender is preferably provided with two sensor groups of energy, and each sensor group preferably includes two A displacement sensor 92 as shown in Figure 5, each sensor group can carry out corresponding metal plate plank sizing measurement, side Just bending robot carries out sizing and angle adjustment.
Blank stack 100 and finished product material 110 are arranged in the outside of line slide rail, and position is variable, variable amounts, can realize pair The full-automatic bending of 120 no manual intervention of metal plate plank.
Sliding block is slidably connected on rectilinear seats sliding rail, and an axis is formed between sliding block and rectilinear seats sliding rail.
Rear end of the slider top by two axis 41 directly or indirectly with activity large arm is hinged, and preferably has the following two kinds excellent Select set-up mode.
Embodiment 1：The rear end of activity large arm is directly hinged with slider top by two axis, namely is not required to include rotation branch Seat.At this point, the artificial wu-zhi-shan pig of bending machine of the application, compared with 6 axis universal machine people, moving range is big, and an axis For linear movement axis, the moving range of robot is extended.
Embodiment 2：The rear end of activity large arm is hinged with slider top indirectly by two axis 41, as shown in figure 3, rotation branch The bottom of seat is rotatablely connected by additional six axis 31 with slider top, passes through the rear end of two axis and large-arm joint at the top of rotary support Rotation connection.The use of rotary support so that the artificial six-joint robot of bending machine of the application, moving range is big, blank material The position of frame and finished product rack is variable, and variable amounts can realize the full-automatic bending of no manual intervention.
The front end of activity large arm is hinged by the rear end of three axis 51 and movable forearm, and the front end of movable forearm passes through four axis 61 are hinged with the rear end of forearm, and the middle part that the front end of forearm passes through five axis 71 and swing rod is rotatablely connected.
As shown in Fig. 2, the quantity of additional seven axis is two, the swing rod in five axis both sides is arranged in two additional seven axial symmetry On, every additional seven axis are directly or indirectly rotatablely connected with swing rod, and specific preferred arrangement is as follows：
Mode one：As shown in Fig. 2, the bottom of every additional seven axis is directly rotatablely connected with swing rod.
The bottom of mode two, every additional seven axis is rotatablely connected with handgrip indirectly.Specifically set-up mode is：Such as Fig. 4 institutes Show, the bending robot of the application further includes two shifting axles 81, and shifting axle is located between additional seven axis and swing rod, shifting axle with Swing rod is slidably connected, and adds seven axis bottoms and is rotatablely connected with shifting axle.
Each shifting axle is perpendicular along the glide direction of swing rod and the length direction of swing rod.
One axis, two axis, three axis and four axis are mutually parallel, and each additional seven axis are mutually parallel with five axis, five axis and four Axis is perpendicular, the axis of the axis of five axis and four axis preferably without crosspoint, thus, the application can avoid four axis from being sent out with bender Raw mechanical interference, is suitble to the bending of small part.
Certainly, as an alternative, the axis of five axis can also intersect a bit with the axis of four axis, the utility model is due to being directed to The special process of bending, kinematics characteristic are different, are also fully able to anti-solution even if non-intersecting and come out.
It each is respectively provided with a fixture that metal plate sheet material workpiece can be clamped at the top of additional seven axis, the set-up mode of fixture has It is a variety of, preferably there are following three kinds of set-up modes：
Preferred arrangement one：Additional seven axis and fixture are wholely set, namely add seven axis for flange shaft, in flange shaft Ring flange is formed as fixture, and ring flange is threadedly coupled with sheet metal.
Preferred arrangement two：Fixture is vacuum cup.
Preferred arrangement three：Fixture is electromagnet.
Certainly, as an alternative, fixture can also be other set-up modes well known in the prior art.
Origin is arranged on the axis of two axis, and is X-axis by the horizontal direction of the axis perpendicular with two axis, vertical side To for Y-axis, rectangular coordinate system is established, then coordinate of four axis centers in the rectangular coordinate system is (dx, dy), then dxAnd dy's Calculation formula is as follows：
In formula, as shown in Figure 10, X0For the X axis distance value of mold center's line in bender；Y0It is high for lower die in bender Degree；L10For the vertical offset distance of fixture；L20For the horizontal off set of fixture；β be bending process between metal plate plank and horizontal plane Angle.
Two axis, three axis and four axis mutually link, it is assumed that the driving corner of two axis is θ2, three axis driving corner be θ3, four axis Driving corner be θ4；Then θ2、θ3And θ4Meet following calculation formula：
θ2=a2；
θ3=a3-a2；
θ4=a4-a3；
a4=-β
Cx=dx-L4cos(a4)
Cy=dy-L4sin(a4)
In formula, a2For activity large arm and X-axis angle；a3For movable forearm and X-axis angle；a4For the angle of forearm and X-axis； As shown in figure 9, L2For the big arm lengths of activity；L3For the length of movable forearm；L4For forearm, CxAnd CyFor intermediate variable.
Angle β in bending process between metal plate plank and horizontal plane is calculated using following formula：
In formula, as shown in figure 11, B is the width of lower mould notch in bender；D is the work of upper mold in bender into stroke, Ignore the influence of metal plate plate thickness in formula.
Certainly, as an alternative, angular transducer can also be used in the angle β in bending process between sheet metal and horizontal plane It the other known mode such as is detected to measure, also within the protection domain of the application.
Above-mentioned additional seven axis can be to the adjustment of the single metal plate plank orientation angle deviation of progress.
The relationship of five axis and two additional seven axis, as shown in Figure 6.When the rotation of five axis, and additional seven axis small angle rotations are repaiied Timing can be adjusted two metal plate plank location dimension precision, and adjustment process is as shown in Figure 7.
Five axis and two additional seven-axis linkages, as shown in figure 8, location dimension precision, the angle of two boards will be realized The adjustment of precision.
Preferred embodiments of the present invention described in detail above, still, the utility model are not limited to above-mentioned reality Apply the detail in mode, in the range of the technology design of the utility model, can to the technical solution of the utility model into The a variety of equivalents of row, these equivalents belong to the scope of protection of the utility model.

Claims (7)

1. a kind of metal plate bending robot with additional seven axis, it is characterised in that：Including rectilinear seats sliding rail, sliding block, activity Large arm, movable forearm, forearm, swing rod and additional seven axis；
Sliding block is slidably connected on rectilinear seats sliding rail, and an axis is formed between sliding block and rectilinear seats sliding rail；
Rear end of the slider top by two axis directly or indirectly with activity large arm is hinged, the front end of activity large arm by three axis with The rear end of movable forearm is hinged, and the front end of movable forearm is hinged by the rear end of four axis and forearm, and the front end of forearm passes through The middle part of five axis and swing rod is rotatablely connected；
The quantity of additional seven axis is two, and two additional seven axial symmetry are arranged on the swing rod of five axis both sides, every additional seven axis It is rotatablely connected with swing rod；
One axis, two axis, three axis and four axis are mutually parallel, and each additional seven axis are mutually parallel with five axis, five axis and four axis phases Vertically, each a fixture that metal plate sheet material workpiece can be clamped is respectively provided at the top of additional seven axis.
2. the metal plate bending robot with additional seven axis according to claim 1, it is characterised in that：It further include rotation branch The bottom of seat, rotary support is rotatablely connected by additional six axis with slider top, big by two axis and activity at the top of rotary support The rear end thereof of arm connects.
3. the metal plate bending robot with additional seven axis according to claim 1, it is characterised in that：The axis of five axis with The axis of four axis is without crosspoint.
4. the metal plate bending robot with additional seven axis according to claim 1, it is characterised in that：Origin setting is existed On the axis of two axis, and it is X-axis by the horizontal direction of the axis perpendicular with two axis, vertical direction is Y-axis, establishes rectangular co-ordinate System, then coordinate of four axis centers in the rectangular coordinate system is (dx, dy), then dxAnd dyCalculation formula it is as follows：
In formula, X0For the X axis distance value of mold center's line in bender；Y0For lower die height in bender；L10For the perpendicular of fixture Straight offset distance；L20For the horizontal off set of fixture；β is the angle between metal plate plank and horizontal plane in bending process.
5. the metal plate bending robot with additional seven axis according to claim 1, it is characterised in that：Two axis, three axis and Four axis mutually link, it is assumed that the driving corner of two axis is θ2, three axis driving corner be θ3, four axis driving corner be θ4；Then θ2、θ3And θ4Meet following calculation formula：
θ2=a2；
θ3=a3-a2；
θ4=a4-a3；
a4=-β
Cx=dx-L4cos(a4)
Cy=dy-L4sin(a4)
In formula, a2For activity large arm and X-axis angle；a3For movable forearm and X-axis angle；a4For the angle of forearm and X-axis；L2For work Move big arm lengths；L3For the length of movable forearm；L4For forearm, CxAnd CyFor intermediate variable.
6. the metal plate bending robot with additional seven axis according to claim 4 or 5, it is characterised in that：Bending process Angle β between middle metal plate plank and horizontal plane is calculated using following formula：
In formula, B is the width of lower mould notch in bender；D is the work of upper mold in bender into stroke.
7. the metal plate bending robot with additional seven axis according to claim 1, it is characterised in that：Further include two shiftings Moving axis, shifting axle are located between additional seven axis and swing rod, and shifting axle is slidably connected with swing rod, add seven axis bottoms and mobile shaft rotation Dynamic connection.
CN201820081641.8U 2018-01-17 2018-01-17 A kind of metal plate bending robot with additional seven axis Active CN207839678U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820081641.8U CN207839678U (en) 2018-01-17 2018-01-17 A kind of metal plate bending robot with additional seven axis

Publications (1)

Publication Number Publication Date
CN207839678U true CN207839678U (en) 2018-09-11

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Country Status (1)

Country Link
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Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant
EE01 Entry into force of recordation of patent licensing contract

Assignee: Zhangjiagang Institute of Zhangjiagang

Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS

Contract record no.: X2020980007094

Denomination of utility model: A sheet metal bending robot with additional seven axes

Granted publication date: 20180911

License type: Common License

Record date: 20201026

EE01 Entry into force of recordation of patent licensing contract