KR101975032B1

KR101975032B1 - Bending modular robots

Info

Publication number: KR101975032B1
Application number: KR1020177035424A
Authority: KR
Inventors: 묘우싱 징; 징춘 예
Original assignee: 저장옴니포텐트스프링머신컴퍼니리미티드
Priority date: 2016-05-23
Filing date: 2017-04-14
Publication date: 2019-05-03
Also published as: CN105818153A; KR20180002848A; CN105818153B; WO2017202153A1

Abstract

The present invention relates to a wire bending modular robot, which includes a machine frame, to which machine hands controlled by a control system are mounted, the machine hands being connected via a machine hand mount, The apparatus includes a mounting panel, a mounting bolt is installed at the center of the mounting panel, at least one circular rail is installed on the outer periphery of the mounting bolt, and the circular rail is a concentric circle centering on the mounting bolt . The present invention realizes various types of machining by realizing the replacement of the machine hand through the mounting panel, and thus the communication is very high and the communication between the person and the device is fully realized, so that the degree of intelligence is very high.

Description

Bending modular robots

The present invention relates to a wire bending modular robot and corresponds to a technical field of a wire bending device.

Metal wire forming is a device element which is required for large quantity and various design methods in a large number of application fields. In a bending apparatus of a conventional metal wire product, generally, by controlling a bending mechanism, a control mechanism and a cutting mechanism by a control system, This wire bending machine has the following defects:

1. One device can only complete one type of wire bending, and if it is necessary to replace the wire or molding type, a separate device must be used. That is, since the device is very limited in communication, Lt; / RTI >

2. Since communication between people and devices can not be realized, the level of intelligence is far below the demand of users. Accordingly, the present invention has been proposed.

It is an object of the present invention to provide a wire rod bending modular robot which realizes the replacement of the machine hand through the mounted panel and enables one type of machine to realize various types of machining, And the degree of intelligence is very high.

In order to achieve the above object, the present invention is realized through the following technical means:

The wire bending modular robot includes a machine frame, the machine frame is equipped with a machine hand controlled through a control system, the machine hand is connected through a machine hand mount device, and the machine hand mount device includes a mount panel and, the center of the mounting panel is provided with a mounting bolt, and an outer state of the mounting bolt, at least one circular rail is installed, is concentric to the bolt, the ring-rail is mounted in the center of the circle.

The cut surface of the circular rail is a trapezoidal groove, and the diameter of the endurance is larger than the diameter of the outer periphery.

A cam is connected to the mounting panel, and a speed reducer is mounted on the rear side of the cam.

The control system includes a storage system, a shooting detection system, a modeling simulation system, an intelligent test analysis system, a GBS control system, and a 3D automatic programming system.

The machine hand is a slider assembly, multi-functional machine hand, hydraulic scissors, forming bending machine hand or multi-axis twist machine hand.

The slider assembly includes a slider servo motor and a reduction box base to which a reduction box cover is mounted. The reduction box cover and the slider servo motor are located on the opposite sides of the reduction box base. An eccentric shaft is mounted on the reduction box cover A connecting screw rod is installed on the eccentric shaft, a connecting screw rod is provided below the connecting sheet, a stop block is provided outside the connecting screw rod, and an active blade frame is provided below the stop block. Type nut rotatably mounted on the rotary frame, the reduction box base is connected to the mounting panel via a T-shaped nut, and a cover plate is provided on a tail portion of the T-shaped nut, , And the T-shaped nut slides in the circular rail The.

Wherein the multifunction machine hand includes a guide rail seat mounted on an active blade frame, a guide rail eccentric shaft is mounted above the guide rail seat, a linear guide rail is mounted below the guide rail seat, A guide rail moving sheet is connected to the guide rail, a moving slider is mounted on the lower side of the guide rail moving sheet, a speed reducer is installed above the guide rail eccentric shaft, a servo motor is connected to the speed reducer, The motor shaft of the speed reducer and the eccentric shaft of the guide rail are adjacent to each other, and a motor seat is provided outside the motor shaft.

Wherein the hydraulic scissors include a cutting pivot arm shaft mounted on a mounting panel, a stop module positioning plate, a joint pin shaft, a hydraulic cylinder fixed shaft, and a lift sheet, wherein the lift seat is connected to a fixed seat, Wherein a cutter blade pivoting arm is connected to the shaft, a cutting stopper module is mounted on the stopper module locator plate, a cutting blade head is provided between the cutting pivot arm and the cutting stopper module, A joint is mounted, and the hydraulic cylinder joint is positioned below the cutting rocking arm.

Wherein the shaping bending machine hand comprises an adjustment slider seat mounted on a mounting panel, wherein the adjustment slider seat is connected to a twist core gear, wherein the twist core gear is provided with a twist core, A core cover is provided on the lower end of the torsion core cover, a control slider is provided below the torsion core cover, a slider bottom plate is provided below the control slider, a forming bending servomotor is connected to a lower portion of the slider bottom plate, A forming bending speed reducer is connected to the forming bending servo motor. The forming bending speed reducer is connected to a motor gear through a motor flange, and the motor gear is engaged with the twisting core gear.

Wherein the multi-axis twist machine hand comprises a core sheet and a pivot frame, the pivot frame being connected to the mounting panel via a T-nut, the T-nut being located within a circular rail, Wherein the first servo motor, the second servo motor, and the third servo motor are mounted on the rotating frame, the first eccentric shaft is connected to the first servo motor through a speed reducer, A moving plate is provided between the transversely moving linear guide rail and the first up-and-down moving linear guide rail, and a moving plate is provided between the moving linear guide rail and the first vertically moving linear guide rail, A right-angled moving plate is installed; The second servo motor is connected to the second eccentric shaft through a speed reducer, and the second eccentric shaft is connected to the moving plate; Wherein the third servo motor is connected to a cutting eccentric cam through a speed reducer, the cutting eccentric cam is connected to a cutting blade sheet, an adjusting guide plate is installed on one side of the cutting blade sheet, Located on one side of the sheet; And a support rod is attached to the support sheet, the support rod is connected to the rectangular beam, and the rectangular beam is connected to the support beam, A fourth servo motor is mounted on the fourth servo motor, a motor pulley is installed on the fourth servo motor, a belt pulley is connected to the motor pulley through a belt, a ball screw is connected to the belt pulley, A second up and down linear guide rail is mounted on the upright column, a pallet is provided above the upright column, and a fifth servomotor is provided above the fourth servo motor, And the fifth servo motor is connected to the main shaft through a speed reducer Was, the main shaft, the torsion and the core is mounted, the torsional twist core, core trolley wheels and twist the core and the cover is installed; A deceleration box is provided outside the main shaft, a sixth servo motor is connected to the deceleration box through a speed reducer, a top spring sleeve is mounted on the sixth servo motor, And the lower spring sleeve and the motor pulley are connected to each other.

The wire rod bending modular robot of the present invention has the following advantageous effects:

1. The present invention requires only that a mounting panel is installed and that the machine hand is mounted in the circular rail through the T-shaped groove, so that it is possible to easily replace the machine hand when machining an improper type of raw material, , Its currency is very high;

2. When the machine hand is installed, the opening of the T-shaped groove is relatively large, so that the soybean element of the bolt is caught inside the T-shaped groove, thereby increasing the working space of the machine hand;

3. In the present invention, by mounting the speed reducer on the rear side of the cam, overall change of the machine hand was easy;

4. The present invention has been completed by the complexity of shapes such as shape and inadequate angles in accordance with the inadequacy of the metal material, and the design is completed. The storage system, the photographing inspection system, the modeling simulation system, the intelligent inspection analysis system, And 3D automatic programming system to achieve the purpose of intelligence and humanization by realizing communication between human and machine and to accomplish various degree of bending processes by using modular human-machine conversion method in various products bending process .

1 is a schematic structural view of a mounting panel of the present invention.
2 is a schematic side view of the mounting panel of the present invention.
3 is a schematic structural view of the slider assembly of the present invention.
4 is a structural schematic view of a multifunction machine hand of the present invention.
5 is a structural schematic view of the hydraulic shears of the present invention.
6 is a schematic front view of the hydraulic shears of the present invention.
7 is a structural schematic view of the forming bending machine hand of the present invention.
8 is a structural schematic view of the multi-axis twist machine hand of the present invention.

The present invention is further described with reference to the following specific examples, but the scope of protection of the present invention is not limited thereto.

The wire bending modular robot according to the present invention includes a machine frame, and machine hands controlled by a control system are mounted on the machine frame. The control system includes a storage system, a shooting detection system, a modeling simulation system, System and a 3D automatic programming system; As shown in Figures 1 and 2, the machine hand-held device comprises a mounting panel 1, and mounting bolts 2 are installed in the center of the mounting panel 1 And at least one circular rail 3 is provided on the outer periphery of the mounting bolt 2. The circular rail 3 is a concentric circle having the mounting bolt 2 as the center of the circle and the machine hand is passed through the T- Since it is only required to be mounted in the circular rail, it is possible to easily change the machine hand when machining various types of raw materials, realize versatility, and have a high degree of convenience.

Since the cross-section of the circular rail 3 of the present invention is a trapezoidal groove, its diameter is larger than the outer diameter, and the inner opening of the T-shaped groove is relatively large when the machine hand is mounted, And increased the working space of the machine hand.

In the present invention, a cam is connected to the mounting panel 1, and the reducer is mounted on the rear side of the cam, thereby achieving overall replacement of the machine hand.

The machine hand of the present invention is a slider assembly, a multifunction machine hand, a hydraulic scissors, a forming bending machine hand or a multi-axis twisting machine hand.

Example 1

As shown in Fig. 3, in the first embodiment, the slider assembly is mounted on the mounting panel 1. Fig.

The slider assembly includes a reduction box base 13 on which a slider servo motor 11 and a reduction box cover 12 are mounted and a reduction box cover 12 and a slider servo motor 11 are mounted on the reduction box base 13 And the deceleration box cover 12 is mounted with an eccentric shaft 14. The eccentric shaft 14 is equipped with a connecting sheet 15 and the eccentric shaft 14 and the connecting sheet 15 are mounted on the eccentric shaft 14, And a connecting screw rod 16 is connected to a lower portion of the connecting sheet 15 through a clip nut 112. A connecting screw rod 16 is connected to the outside of the connecting screw rod 16, A block 17 is provided and below the stop block 17 there is provided an active blade frame rotary shaft seat 18 for mounting the active blade frame 113 thereon.

When mounted, the reduction box base 13 is connected to the mounting panel 1 via a T-shaped nut 19. A cover plate 110 is provided at the tail portion of the T-shaped nut 19, and a T- (19) is located in the circular rail (3), and the T-shaped nut (19) slides in the circular rail (3).

Example 2

As shown in Fig. 4, the second embodiment is an addition of a multifunction machine hand on the basis of the first embodiment.

The multifunction machine hand includes a guide rail seat 21 mounted on the active blade frame 113. A guide rail eccentric shaft 22 is mounted above the guide rail seat 21, A guide rail moving seat 24 is connected to the linear guide rail 23 and a moving slider 25 is mounted below the guide rail moving seat 24 A decelerator 26 is provided above the guide rail eccentric shaft 22 and a servo motor 27 is connected to the speed reducer 26. The motor shaft 28 of the speed reducer 26 and the guide rails 26, The eccentric shaft 22 is adjacent to the motor shaft 28, and a motor seat 29 is provided outside the motor shaft 28.

Example 3

As shown in Figs. 5 and 6, in the third embodiment, the hydraulic pressure scissors are mounted on the mounting panel 1. Fig.

The hydraulic shear includes the cutting pivot arm shaft 31 mounted on the mounting panel 1, the stop module positioning plate 32, the joint pin shaft 33, the hydraulic cylinder fixed shaft 34 and the lift seat 35 And a fixing seat 36 is connected to the lifting seat 35. A cutting pivot arm 37 is connected to the cutting pivot arm shaft 31. The cut stop positioning module 32 is provided with a cutting stop module A cutting blade head 39 is provided between the cutting pivot arm 37 and the cutting stop module 38 and a hydraulic cylinder joint 310 is mounted on the joint pin shaft 33 , And the hydraulic cylinder joint 310 is positioned below the cutting pivot arm 37. [

The cutting pivot arm shaft 31, the stop module positioning plate 32, the joint pin shaft 33, the hydraulic cylinder fixed shaft 34, and the lift-up sheet 35 on the mounting panel 1 of the third embodiment It is mounted on the circular rail (3) through the bolt and is very easy to mount and disassemble.

Example 4

As shown in Fig. 7, in the fourth embodiment, the molding bending machine hand is mounted on the mounting panel 1. Fig.

The shaping bending machine hand comprises an adjusting slider seat 41 mounted on the mounting panel 1 and the adjusting slider seat 41 is mounted in the circular rail 3 through the bolt and the adjusting slider seat 41 And a torsion core cover 44 is provided on the outer side of the torsion core 43. The torsion core cover 42 is connected to the torsion core cover 42, The adjusting slider 45 is provided below the adjusting slider 44 and a slider bottom plate 46 is provided below the adjusting slider 45. A molding bending servomotor 47 is provided below the slider bottom plate 46 And the forming bending speed reducer 48 is connected to the forming bending servomotor 47. The forming bending speed reducer 48 is connected to the motor gear 410 through the motor flange 49, 410) And is engaged with the gear 42.

Example 5

As shown in Fig. 8, in the fifth embodiment, a multiaxial twist machine hand is mounted on the mounting panel 1. Fig.

The multi-axis twisting machine hand includes a core sheet 51 and a rotating frame 52, the rotating frame 52 is connected to the mounting panel 1 via a T-shaped nut 19, and the T- Is positioned in the circular rail (3), and the core sheet (51) and the mounting panel (1) are connected. A first servomotor 53, a second servomotor 54 and a third servomotor 55 are mounted on the rotating frame 52. The first servomotor 53 is connected to the first servo motor 53 via a speed reducer 56, And the first eccentric shaft 57 is connected to the transversely moving linear guide rail 58 and the first up and down moving linear guide rail 59. The transverse moving linear guide rail 59 A moving plate 510 is provided between the first up and down linear guide rail 58 and the first up and down moving linear guide rail 59 and a rectangular moving plate 511 is provided on the outer side of the first up and down moving linear guide rail 59. The second servo motor 54 is connected to the second eccentric shaft 512 via the speed reducer 56 and the second eccentric shaft 512 is connected to the moving plate 510. The third servo motor 55 is connected to the cutting eccentric cam 513 through the speed reducer 56. The cutting eccentric cam 513 is connected to the cutting blade sheet 514, And an adjustment guide plate 515 is disposed on one side of the core sheet 51. The adjustment guide plate 515 is disposed on one side of the core sheet 51. [

A rectangular beam 516 is mounted below the rotating frame 52. A support sheet 517 is connected to the lower portion of the rectangular beam 516 and a support rod 518 is mounted on the support sheet 517 A fourth servo motor 519 is mounted above the rectangular beam 516 and a motor pulley 520 is connected to the fourth servo motor 519. The fourth servo motor 519 is connected to the support rod 518 and the rectangular beam 516, A belt pulley 521 is connected to the motor pulley 520 through a belt and a ball screw 522 is connected to the belt pulley 521. Outside the ball screw 522, A second up and down linear guide rail 524 is mounted on the upright column 523 and a pallet 525 is provided above the upright column 523, A fifth servo motor 526 is provided above the first servo motor 519 and a fifth servo motor 526 is provided above the fifth servo motor 526. [ A torsion core 528 is mounted on the main shaft 527 and a torsion core trolley wheel 529 and a torsion core cover 530 are connected to the torsional core 528. The torsional core torsion bar 529, Respectively. A decelerating box 531 is provided outside the main shaft 527. A decelerating box 531 is connected to a sixth servomotor 532 through a speed reducer 56 and a sixth servomotor 532 A spring sleeve 533 is mounted and the upper spring sleeve 533 is connected to the lower spring sleeve 534 in a covering manner and the lower spring sleeve 534 and the motor pulley 520 are connected.

The present invention has been completed based on the complexity of shapes and various angles in the processing of products based on the diversity of metal materials, and the design of the storage system, the photographing detection system, the modeling simulation system, the intelligent inspection analysis system, the GBS control system Through the 3D automatic programming system, it achieves the purpose of intelligence and humanization by realizing communication between human and machine, and various degree of bending process is completed at any time by using modular human-machine conversion method in bending process of various products.

In use, the machine hand and control system of the embodiment 1-5 are coupled to each other, the control system sends out commands, the system uses the A6 chip, and the 1-axis-36 axis super large storage function, the shooting detection system, the modeling simulation system , Intelligent testing and analysis system, GBS control system and 3D automatic programming system, and is a combination of mechanical hand modularization.

The object of the present invention is to use a variety of machine tools in a variety of machine tools and to produce a product that the user needs in a human-machine conversion manner, so that the degree of intelligence is relatively high.

It should be understood that the above-described embodiments are only used for analyzing and explaining the inventive concept of the present invention, and are not limited to the protection of the present invention, and all of the non-practical variations on the present invention are covered by the scope of the present invention .

1: Mounting panel 2: Mounting bolt
3: Circular rail 11: Slider servo motor
12: Deceleration box cover 13: Deceleration box base
14: eccentric shaft 15: connecting sheet
16: connecting screw rod 17: stop block
18: active blade frame rotary shaft seat 19: T-type nut
110: cover plate 111: stop ring
112: clip nut 113: active blade frame
21: Guide rail sheet 22: Guide rail eccentric shaft
23: straight guide rail 24: guide rail moving sheet
25: shift slider 26: speed reducer
27: Servo motor 28: Motor shaft
29: motor seat 31: cutting pivot arm shaft
32: Stop module locating plate 33: Joint pin shaft
34: Hydraulic cylinder fixing shaft 35:
36: Fixing sheet 37: Cutting rocking arm
38: Cutting stop module 39: Cutting blade head
310: Hydraulic cylinder joint 41: Adjustable slider seat
42: torsion core gear 43: torsion core
44: Torsion core cover 45: Adjusting slider
46: slider base plate 47: forming bending servomotor
48: Molding bending reducer 49: Motor flange
410: motor gear 51: core sheet
52: rotation frame 53: first servo motor
54: second servo motor 55: third servo motor
56: Reduction gear 57: 1st eccentric shaft
58: transversely moving linear guide rail 59: first up-and-down moving linear guide rail
510: moving plate 511: right moving plate
512: second eccentric shaft 513: cutting eccentric cam
514: Cutting blade sheet 515: Adjusting guide plate
516: square beam 517: support sheet
518: support rod 519: fourth servo motor
520: motor pulley 521: belt pulley
522: Ball Screw 523: Upright Column
524: second up-and-down linear guide rail 525: pallet
526: fifth servo motor 527:
528: Torsion core 529: Torsion core trolley wheel
530: Torsion core cover 531: Deceleration box
532: sixth servo motor 533: phase spring sleeve
534: Lower spring sleeve

Claims

Wherein the machine frame includes a machine hand, the machine frame being connected to the machine frame through a control system, the machine hand being connected via a machine hand mount, the machine hand mount including a mounting panel, A mounting bolt is installed at the center of the mounting bolt, and at least one circular rail is provided on the outer periphery of the mounting bolt. The circular rail is a concentric circle having a mounting bolt as a center of the circle,
The machine hand is any one selected from a slider assembly, a multifunction machine hand, a hydraulic shear, a forming bending machine hand or a multi-axis twisting machine hand,
The slider assembly includes a slider servo motor and a reduction box base to which a reduction box cover is mounted. The reduction box cover and the slider servo motor are located on the opposite sides of the reduction box base. An eccentric shaft is mounted on the reduction box cover A connecting screw rod is installed below the connecting sheet, a stop block is provided on the outside of the connecting screw rod, and an operation blade is provided below the stop block, Shaped frame is mounted on the tail panel of the T-shaped nut, and the T-shaped nut is formed in a round shape, The T-nut is located in the rail Ride,
The multifunction machine hand includes a guide rail sheet mounted on an active blade frame, a guide rail eccentric shaft is mounted above the guide rail sheet, a linear guide rail is mounted below the guide rail sheet, A guide rail moving sheet is connected to the linear guide rail, and a moving slider is mounted below the guide rail moving sheet;
A motor shaft is disposed adjacent to an eccentric shaft of the guide rail and a motor shaft is disposed outside the motor shaft,
The forming bending machine hand also includes a control slider seat mounted on the mounting panel, wherein the adjustment slider seat is connected to a torsional core gear, wherein the torsional core gear is provided with a torsional core, A bending servo motor is connected to a lower portion of the slider bottom plate, a bending servo motor is connected to the lower portion of the slider bottom plate, Wherein the forming bending servo motor is connected to a forming bending reducer, the forming bending speed reducer is connected to a motor gear through a motor flange, and the motor gear is engaged with a twisting core gear.

The method according to claim 1,
Wherein the cut surface of the circular rail is a trapezoidal groove and the diameter of the endurance is larger than the diameter of the outer periphery.

The method according to claim 1,
Wherein a cam is connected to the mounting panel, and a speed reducer is mounted on a rear side of the cam.

4. The method according to any one of claims 1 to 3,
Wherein the control system includes a storage system, an imaging detection system, a modeling simulation system, an intelligent inspection analysis system, a GBS control system, and a 3D automatic programming system.

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