WO2017202153A1 - 一种线材弯曲模块化机器人 - Google Patents

一种线材弯曲模块化机器人 Download PDF

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Publication number
WO2017202153A1
WO2017202153A1 PCT/CN2017/080572 CN2017080572W WO2017202153A1 WO 2017202153 A1 WO2017202153 A1 WO 2017202153A1 CN 2017080572 W CN2017080572 W CN 2017080572W WO 2017202153 A1 WO2017202153 A1 WO 2017202153A1
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WO
WIPO (PCT)
Prior art keywords
seat
servo motor
rail
motor
robot
Prior art date
Application number
PCT/CN2017/080572
Other languages
English (en)
French (fr)
Inventor
金苗兴
叶景春
Original Assignee
浙江万能弹簧机械有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 浙江万能弹簧机械有限公司 filed Critical 浙江万能弹簧机械有限公司
Priority to KR1020177035424A priority Critical patent/KR101975032B1/ko
Publication of WO2017202153A1 publication Critical patent/WO2017202153A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F1/00—Bending wire other than coiling; Straightening wire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F11/00—Cutting wire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F7/00—Twisting wire; Twisting wire together
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture

Definitions

  • the invention relates to a wire bending modular robot, belonging to the technical field of wire bending equipment.
  • Metal wire forming is a machine component that is required in a large number of applications and is required by different design schemes.
  • the bending mechanism, the adjusting mechanism and the cutting mechanism are generally controlled by a control system.
  • the bending of the wire, such a wire bending machine has the following drawbacks:
  • a machine can only complete one type of wire into a curved shape. When it is necessary to replace the wire or forming type, it is necessary to use a machine that cannot be used, that is, the versatility of the machine is very limited, resulting in a large amount of idleness and waste;
  • an object of the present invention is to provide a wire bending modular robot that realizes replacement of a robot hand by installing a panel, and one machine can realize various types of processing, and the versatility is very strong, and Fully realized man-machine dialogue, the degree of intelligence is very high.
  • a wire bending modular robot includes a frame on which a robot controlled by a control system is mounted, the robot is connected by a robot mounting device, the robot mounting device including a mounting panel, the mounting panel The center is provided with a mounting bolt, and the outer circumference of the mounting bolt is provided with at least one circular rail, and the circular rail is a concentric circle centered on the mounting bolt.
  • the cross section of the circular rail is a trapezoidal groove, and the diameter of the inner port is larger than the diameter of the outer port.
  • the mounting panel is coupled to a cam, and a rear side of the cam is mounted with a reducer.
  • the control system includes a storage system, a camera detection system, a modeling simulation system, and a smart check Measurement and resolution system, GBS control system and 3D automatic programming system.
  • the robot is a slider assembly, a multi-function robot, a hydraulic scissors, a forming bending robot or a multi-axis twisting robot.
  • the slider assembly includes a reduction box base mounted with a slider servo motor and a reduction cover, the reduction cover and the slider servo motor are located on opposite sides of the base of the reduction case, and the cover of the reduction case is mounted
  • An eccentric shaft a connecting seat is mounted on the eccentric shaft, a connecting screw is arranged below the connecting seat, a stopper is arranged on the outside of the connecting screw, and a movable tool holder is arranged below the stopping block a movable tool holder rotating shaft base, wherein the reduction gear box base is connected to the mounting panel by a T-shaped nut, the tail portion of the T-shaped nut is provided with a cover plate, the T-shaped nut is located in the round rail, and the T-shaped nut is in the circle Slide in the rail.
  • the multi-functional manipulator includes a rail seat mounted on the movable tool holder, a rail eccentric shaft is mounted on the rail seat, a linear rail is mounted under the rail seat, and the rail is connected to the rail rail.
  • a moving slider is arranged below the rail moving seat;
  • a speed reducer is arranged above the rail eccentric shaft, the speed reducer is connected with a servo motor, and the motor shaft of the speed reducer is adjacent to the rail eccentric shaft, and the motor shaft is There is a motor base on the outside.
  • the hydraulic scissors includes a shearing rocker shaft, a mold positioning plate, a joint pin shaft, a cylinder fixing shaft and a lifting seat mounted on the mounting panel, and the lifting seat is connected with a fixing seat, and the shearing shake a shearing rocker arm is connected to the arm shaft, and a shearing stop die is mounted on the retaining die positioning plate, and a shearing cutter head is arranged between the shearing rocker arm and the shearing stop die, and the joint pin shaft is arranged A cylinder joint is mounted, which is located below the shear rocker arm.
  • the forming bending robot comprises an adjusting slider seat mounted on the mounting panel, the adjusting slider seat is connected with a torsion core gear, the torsion core gear is provided with a torsion core, and the outer portion of the torsion core is twisted a core sleeve, an adjustment slider is disposed under the torsion core sleeve, a slider bottom plate is disposed under the adjustment slider, and a forming bending servo motor is connected below the slider bottom plate, and the forming bending servo motor is connected There is a forming bending reducer, and the forming bending reducer is connected with a motor gear through a motor flange, and the motor gear meshes with the torsion core gear.
  • the multi-axis twisting manipulator comprises a core seat and a turret, the turret being connected to the mounting panel by a T-nut, the T-nut being located in the round rail, the core seat being connected to the mounting panel, the turret
  • the servo motor 1 , the servo motor 2 and the servo motor 3 are mounted on the servo motor.
  • the servo motor is connected to the eccentric shaft 1 through a reducer, and the eccentric shaft is connected with a laterally moving linear guide and a vertical moving linear guide.
  • a moving plate is arranged between the moving linear guide and the vertical moving linear guide, and a right-angle moving plate is arranged on the outer side of the linear guide rail 1;
  • the servo motor is passed through
  • the speed machine is connected with an eccentric shaft 2, and the eccentric shaft 2 is connected to the moving plate;
  • the servo motor 3 is connected with a cutting eccentric cam through a reducer, and the cutting eccentric cam is connected with a cutting blade seat, and the cutting blade seat is
  • the adjusting guide is disposed at one side of the core seat;
  • the square beam is installed below the turret, and the support seat is connected to the lower side of the square beam, and the support rod is mounted on the support base.
  • the support rod is connected to the square beam, and the servo motor 4 is mounted on the upper side of the square beam.
  • the servo motor 4 is provided with a motor pulley.
  • the motor pulley is connected with a pulley through a belt, and the pulley is connected with a ball wire.
  • a rod a column is arranged outside the ball screw, a vertical linear guide rail 2 is mounted on the column, and a tray is arranged above the column, and a servo motor 5 is arranged above the servo motor 4, the servo motor 5, a spindle is connected through a reducer, a torsion core is mounted on the spindle, the torsion core is provided with a torsion core roller and a torsion core sleeve; a gearbox is arranged outside the spindle, and the reduction gear box passes through a reducer Servomotor connected to six, are mounted on the servo motor six spring sleeve, said spring sleeve sleeved on the spring sleeve, said spring sleeve and the lower pulley connected to the
  • the invention is provided with a mounting panel, and the manipulator can be installed into the round rail through the T-shaped slot.
  • the robot can be conveniently replaced, and the utility model has the advantages of being versatile;
  • the reducer is mounted on the rear side of the cam to realize the overall replacement of the robot
  • the invention is designed according to the complexity of the metal materials according to the different angles of the shape and the like in the processing of the product, through the storage system, the camera detection system, the modeling and simulation system, the intelligent detection and resolution system, the GBS control system and the 3D.
  • the automatic programming system realizes man-machine dialogue, achieves the purpose of intelligence and humanization, and uses modular human-machine transformation mode in the bending forming process of different products to complete different degrees of bending process at any time.
  • FIG. 1 is a schematic structural view of a mounting panel in the present invention
  • FIG. 2 is a schematic side view showing the structure of a mounting panel in the present invention.
  • FIG. 3 is a schematic structural view of a slider assembly in the present invention.
  • FIG. 4 is a schematic structural view of a multi-function manipulator in the present invention.
  • Figure 5 is a schematic structural view of a hydraulic scissors in the present invention.
  • Figure 6 is a front view showing the structure of the hydraulic scissors of the present invention.
  • Figure 7 is a schematic structural view of a forming bending robot in the present invention.
  • Figure 8 is a schematic structural view of a multi-axis twisting manipulator of the present invention.
  • 1 is a mounting panel
  • 2 is a mounting bolt
  • 3 is a round rail
  • 11 is the slider servo motor
  • 12 is the reduction box cover
  • 13 is the reduction box base
  • 14 is the eccentric shaft
  • 15 is the connection seat
  • 16 is the connection screw
  • 17 is the stop block
  • 18 is the movable tool holder hinge seat
  • 19 is T
  • the nut, 110 is a cover plate
  • 111 is a retaining ring
  • 112 is a clamping nut
  • 113 is a movable tool holder
  • 21 is a rail seat
  • 22 is a rail eccentric shaft
  • 23 is a linear guide rail
  • 24 is a rail moving seat
  • 25 is a moving slider
  • 26 is a speed reducer
  • 27 is a servo motor
  • 28 is a motor shaft
  • 29 is a motor seat;
  • 31 is a shearing rocker shaft, 32 is a retaining plate positioning plate, 33 is a joint pin, 34 is a cylinder fixed shaft, 35 is a lifting seat, 36 is a fixed seat, 37 is a shearing rocker, and 38 is a shearing stop mode.
  • 39 is a shearing cutter head and 310 is a cylinder joint;
  • 41 is an adjustment slider seat
  • 42 is a torsion core gear
  • 43 is a torsion core
  • 44 is a torsion core sleeve
  • 45 is an adjustment slider
  • 46 is a slider bottom plate
  • 47 is a curved servo motor
  • 48 is a forming bending reducer
  • 49 is the motor flange
  • 410 is the motor gear;
  • 51 is a core seat
  • 52 is a turret
  • 53 is a servo motor
  • 54 is a servo motor 2
  • 55 is a servo motor 3
  • 56 is a speed reducer
  • 57 is an eccentric shaft
  • 58 is a laterally moving linear guide
  • 59 is a vertical movement Linear guides one, 510 are moving plates, 511 are right angle moving plates, 512 is eccentric shafts 2, 513 is cutting off eccentric cams, 514 is cutting blades, 515 is adjusting guides, 516 is square beams, 517 is support seats, 518 is Support rod, 519 is servo motor 4, 520 is motor pulley, 521 is pulley, 522 is ball screw, 523 is column, 524 is vertical movement linear guide 2, 525 is tray, 526 is servo motor 5, 527 is spindle 528 is the torsion core, 529 is the torsion core roller, 530 is the torsion core sleeve, 531 is the reduction gear
  • the wire bending modular robot of the invention comprises a frame, and a robot controlled by a control system is installed on the frame, and the control system comprises a storage system, a camera detection system, a modeling and simulation system, an intelligent detection and resolution system, a GBS control system and 3D.
  • the automatic programming system; the robot is connected by a robot mounting device, as shown in FIGS. 1 and 2, the robot mounting device includes a mounting panel 1, the center of the mounting panel 1 is provided with a mounting bolt 2, and the outer circumference of the mounting bolt 2 is provided with at least one round rail 3, a circle Track 3 is
  • the mounting bolt 2 is a concentric circle of the center, and the manipulator can be installed into the round rail through the T-shaped groove.
  • the cross section of the round rail 3 in the present invention is a trapezoidal groove, and the diameter of the inner port is larger than the diameter of the outer port.
  • a cam is attached, and the speed reducer is mounted on the rear side of the cam, thereby realizing the overall replacement of the robot.
  • the robot in the present invention is a slider assembly, a multi-function robot, a hydraulic scissors, a forming bending robot or a multi-axis twisting robot.
  • the slider assembly is mounted on the mounting panel 1.
  • the slider assembly includes a reduction case base 13 on which a slider servo motor 11 and a reduction case cover 12 are mounted.
  • the reduction case cover 12 and the slider servo motor 11 are located on opposite sides of the reduction case base 13, and the reduction case cover 12 is mounted with an eccentricity.
  • the shaft 14 and the eccentric shaft 14 are mounted with a connecting seat 15 .
  • the connecting portion of the eccentric shaft 14 and the connecting seat 15 is provided with a retaining ring 111 .
  • a connecting screw 16 is connected via a clamping nut 112 , and the connecting screw 16 is externally connected.
  • a stop block 17 is provided, and below the stop block 17, a movable tool holder pivot seat 18 for mounting the movable tool holder 113 is provided.
  • the reduction gear base 13 When installed, the reduction gear base 13 is connected to the mounting panel 1 by a T nut 19, the tail of the T nut 19 is provided with a cover 110, the T nut 19 is located in the circular rail 3, and the T nut 19 is in the circular rail 3 slide.
  • the multi-function manipulator is further installed on the basis of the first embodiment.
  • the multi-function manipulator includes a rail seat 21 mounted on the movable tool holder 17, and a rail eccentric shaft 22 is mounted above the rail seat 21, a linear guide 23 is mounted below the rail seat 21, and a guide rail moving seat 24 is connected to the direct rail 23, and the guide rail A moving slider 25 is mounted below the moving base 24; a speed reducer 26 is disposed above the rail eccentric shaft 22, a servo motor 27 is connected to the speed reducer 26, and a motor shaft 28 of the speed reducer 26 is adjacent to the rail eccentric shaft 22, and the motor A motor mount 29 is provided outside the shaft 28.
  • the present embodiment 3 is to mount a hydraulic scissors on the mounting panel 1.
  • the hydraulic scissors includes a shearing rocker shaft 31, a retaining mold positioning plate 32, a joint pin shaft 33, a cylinder fixing shaft 34 and a lifting seat 35 mounted on the mounting panel 1, and the lifting seat 35 is connected with a fixing seat 36, which is cut.
  • the cutting arm shaft 31 is connected with a shearing rocker arm 37.
  • the blocking mode positioning plate 32 is mounted with a shearing stop die 38.
  • a shearing cutter head 39 is disposed between the shearing rocker arm 37 and the shearing stop die 38.
  • a cylinder joint 310 is mounted on the shaft 33, and the cylinder joint 310 is located below the shear rocker arm 37.
  • the shearing rocker shaft 31, the stopper positioning plate 32, the joint pin shaft 33, the cylinder fixing shaft 34, and the lifting seat 35 on the mounting panel 1 in the third embodiment are all mounted on the round rail 3 by bolts, and are mounted and disassembled. Very convenient.
  • the molding and bending robot is attached to the mounting panel 1.
  • the forming bending robot includes an adjusting slider seat 41 mounted on the mounting panel 1, the adjusting slider seat 41 is mounted in the round rail 3 by bolts, the adjusting slider seat 41 is connected with the torsion core gear 42, and the torsion core gear 42 is provided with a twist
  • the core 43 has a torsion core sleeve 44 on the outside of the torsion core 43.
  • the adjustment sleeve 45 is disposed below the torsion core sleeve 44.
  • the slider bottom plate 46 is disposed below the adjustment slider 45.
  • the bending servo motor 47 is connected to the forming bending servo motor 47 with a forming bending reducer 48.
  • the forming bending speed reducer 48 is connected to the motor gear 410 via a motor flange 49, and the motor gear 410 meshes with the toroidal gear 42.
  • the present embodiment 5 is to mount a multi-axis twisting robot on the mounting panel 1.
  • the multi-axis twisting robot includes a core holder 51 and a turret 52.
  • the turret 52 is coupled to the mounting panel 1 via a T-nut 19, and the T-nut 19 is located in the circular rail 3, and the core holder 51 is coupled to the mounting panel 1.
  • the turret 52 is mounted with a servo motor 53, a servo motor 54 and a servo motor 35.
  • the servo motor 53 is connected to the eccentric shaft 57 via a speed reducer 56, and the eccentric shaft 57 is connected with a laterally moving linear guide 58 and moved up and down.
  • a linear guide 59, a laterally movable linear guide 58 and a vertically movable linear guide 59 are provided with a moving plate 510, and a right-angle moving plate 511 is provided on the outer side of the vertically movable linear guide 59.
  • the servo motor 2 54 is connected to the eccentric shaft 2 512 via a speed reducer 56, and the eccentric shaft 2 512 is connected to the moving plate 510.
  • the servo motor 35 is connected to the eccentric cam 513 via a reduction gear 56, and the cutting eccentric cam 513 is connected to the cutting blade holder 514.
  • the side of the cutting blade holder 514 is provided with an adjustment guide 515, and the adjustment guide 515 is located on one side of the core holder 51.
  • a square beam 516 is mounted below the turret 52.
  • a support base 517 is connected below the square beam 516.
  • a support rod 518 is mounted on the support base 517.
  • the support rod 518 is connected to the square beam 516, and a servo motor is mounted above the square beam 516.
  • the servo motor four 519 is provided with a motor pulley 520.
  • the motor pulley 520 is connected with a pulley 521 through a belt.
  • the pulley 521 is connected with a ball screw 522.
  • the ball screw 522 is externally provided with a column 523, and the column 523 is mounted thereon.
  • a tray 525 is disposed above the column 523, a servo motor 5 526 is disposed above the servo motor 519, and a spindle 527 is connected to the servo motor 5526 by a reducer 56.
  • the spindle 527 is mounted with a torsion core 528, and the torsion core 528 is provided with a twist. Core roller 529 and torsion core sleeve 530.
  • a reduction gear box 531 is disposed outside the main shaft 527, a servo motor 532 is connected to the reduction gear box 531 via a reducer 56, an upper spring sleeve 533 is mounted on the servo motor 532, and a lower spring sleeve 534 is sleeved on the upper spring sleeve 533.
  • the lower spring sleeve 534 is coupled to the motor pulley 520.
  • the invention completes the design according to the complexity of the metal materials according to different shapes and the like in the processing of the product, through the storage system, the camera detection system, the modeling and simulation system, the intelligent detection and resolution system, the GBS control system and the 3D automatic programming.
  • the system realizes man-machine dialogue, achieves the purpose of intelligence and humanization, and uses modular human-machine transformation mode in the bending forming process of different products to complete different degrees of bending process at any time.
  • the robot in the embodiment 1-5 is combined with the control system, and the control system issues a command function.
  • the system uses the A6 chip, the 1-axis-36 axis super large storage function, has a camera detection system, a modeling simulation system, and intelligent detection.
  • the functions of the resolution system, the GBS control system and the 3D automatic programming system are modular combinations of the robots.
  • the invention achieves the purpose that the product cannot be equipped with different manipulators, and the products required by the man-machine conversion are produced, and the degree of intelligence is high.

Abstract

一种线材弯曲模块化机器人，包括机架，机架上安装有通过控制系统控制的机械手，机械手通过机械手安装装置连接，机械手安装装置包括安装面板（1），安装面板（1）的中心设有安装螺栓（2），安装螺栓（2）的外周设有至少一条圆轨（3），圆轨（3）为以安装螺栓（2）为圆心的同心圆。通过安装面板（1）实现机器手的更换，一台机器可以实现多种类型的加工，通用性非常强，且完全实现人机对话，智能化程度非常高。

Description

一种线材弯曲模块化机器人 技术领域
本发明涉及一种线材弯曲模块化机器人，属于线材弯曲设备的技术领域。
背景技术
金属线材成形是在大量应用领域中大批并且以不同的设计方案需要的机器元件，在现有的金属线材产品的弯曲成型装置中，一般由一控制系统控制弯曲机构、调节机构和切断机构实现对线材的弯曲成型，此类线材弯曲成型机具有以下缺陷：
1、一台机器只能完成一种类型的线材成弯曲成形，当需要更换线材或者成形类型时，必须使用不能的机器，即机器的通用性非常有限，造成了大量的闲置和浪费；
2、无法实现人机对话，其智能化程度远远达不到用户的需求。
因此，提出本发明。
发明内容
针对现有技术的上述技术问题，本发明的目的是提供一种线材弯曲模块化机器人，其通过安装面板实现机器手的更换，一台机器可以实现多种类型的加工，通用性非常强，且完全实现人机对话，智能化程度非常高。
为达到上述目的，本发明是通过以下技术方案实现的：
一种线材弯曲模块化机器人，包括机架，所述机架上安装有通过控制系统控制的机械手，所述机械手通过机械手安装装置连接，所述的机械手安装装置包括安装面板，所述安装面板的中心设有安装螺栓，所述安装螺栓的外周设有至少一条圆轨，所述的圆轨为以安装螺栓为圆心的同心圆。
所述圆轨的截面为梯形槽，且内口直径大于外口直径。
所述的安装面板连接有凸轮，所述凸轮的后侧安装有减速机。
所述的控制系统包括储存系统、摄像检测系统、建模仿真系统、智能检 测分辨系统、GBS控制系统和3D自动编程系统。
所述的机械手为滑块总成、多功能机械手、液压剪刀、成型弯曲机械手或多轴扭曲机械手。
所述的滑块总成包括安装有滑块伺服电机和减速箱盖的减速箱底座，所述的减速箱盖和滑块伺服电机位于减速箱底座的相对侧，所述减速箱盖上安装有偏心轴，所述偏心轴上安装有连接座，所述连接座的下方设有连接螺杆，所述连接螺杆的外部设有止挡块，所述止挡块的下方设有安装活动刀架的活动刀架转轴座，所述的减速箱底座通过T形螺母与安装面板连接，所述T形螺母的尾部设有盖板，所述的T形螺母位于圆轨内，且T形螺母在圆轨内滑动。
所述的多功能机械手包括安装在活动刀架上的导轨座，所述导轨座的上方安装有导轨偏心轴，导轨座的下方安装有直线导轨，所述直接导轨连接有导轨移动座，所述导轨移动座的下方安装有移动滑块；所述导轨偏心轴的上方设有减速机，所述减速机连接有伺服电机，且减速机的电机轴与导轨偏心轴相邻，所述电机轴的外部设有电机座。
所述的液压剪刀包括安装在安装面板上的剪切摇臂轴、挡模定位板、接头销轴、油缸固定轴和升降座，所述的升降座连接有固定座，所述的剪切摇臂轴连接有剪切摇臂，所述的挡模定位板上安装有剪切挡模，所述剪切摇臂和剪切挡模之间设有剪切刀头，所述接头销轴上安装有油缸接头，所述的油缸接头位于剪切摇臂的下方。
所述的成型弯曲机械手包括安装在安装面板上的调节滑块座，所述的调节滑块座连接有扭芯齿轮，所述扭芯齿轮设有扭芯，所述扭芯的外部设有扭芯套，所述扭芯套的下方设有调节滑块，所述调节滑块的下方设有滑块底板，所述滑块底板的下方连接有成型弯曲伺服电机，所述成型弯曲伺服电机连接有成型弯曲减速机，所述成型弯曲减速机通过电机法兰连接有电机齿轮，所述的电机齿轮与扭芯齿轮啮合。
所述多轴扭曲机械手包括芯座和转动架，所述转动架通过T形螺母与安装面板连接，所述T型螺母位于圆轨内，所述芯座与安装面板连接，所述的转动架上安装有伺服电机一、伺服电机二和伺服电机三，所述伺服电机一通过减速机连接有偏心轴一，所述偏心轴一连接有横向移动直线导轨和上下移动直线导轨一，所述横向移动直线导轨和上下移动直线导轨一之间设有移动板，且上下移动直线导轨一的外侧设有直角移动板；所述伺服电机二通过减 速机连接有偏心轴二，所述偏心轴二与移动板连接；所述伺服电机三通过减速机连接有切断偏心凸轮，所述切断偏心凸轮连接有切断刀座，所述切断刀座的一侧设有调节导板，所述的调节导板位于芯座的一侧；所述转动架的下方安装有方梁，所述方梁的下方连接有支撑座，所述支撑座上安装有支撑杆，所述支撑杆与方梁连接，所述方梁的上方安装有伺服电机四，所述伺服电机四设有电机带轮，所述电机带轮通过皮带连接有皮带轮，所述皮带轮连接有滚珠丝杆，所述滚珠丝杆的外部设有立柱，所述立柱上安装有上下移动直线导轨二，且立柱的上方设有托盘，所述伺服电机四的上方设有伺服电机五，所述伺服电机五通过减速机连接有主轴，所述主轴上安装有扭芯，所述的扭芯设有扭芯滚轮和扭芯套；所述主轴的外部设有减速箱，所述减速箱通过减速机连接有伺服电机六，所述伺服电机六上安装有上弹簧套管，所述的上弹簧套管套接有下弹簧套管，所述的下弹簧套管与电机带轮连接。
本发明线材弯曲模块化机器人具有如下有益效果：
1、本发明设有安装面板，其机械手通过T形槽安装入圆轨内即可，在加工不能类型的原材料时，可以方便的更换机械手，实现一机多用，其通用性非常强；
2、当机械手安装时，T形槽的里口较大，螺栓的大头部件卡在T形槽内部，增加了机械手的操作空间；
3、本发明中将减速机安装在凸轮后侧，实现了机械手的整体更换；
4、本发明根据金属材料的不同由产品加工过程中的形状不同角度等方面的复杂性来完成设计，通过储存系统、摄像检测系统、建模仿真系统、智能检测分辨系统、GBS控制系统和3D自动编程系统实现人机对话，达到智能化和人性化的目的，在不同产品的弯曲成形过程中使用模块化人机转变方式，随时完成不同程度的弯曲过程。
附图说明
图1为本发明中的安装面板的结构示意图；
图2为本发明中的安装面板的侧部结构示意图；
图3为本发明中的滑块总成的结构示意图；
图4为本发明中的多功能机械手的结构示意图；
图5为本发明中的液压剪刀的结构示意图；
图6为本发明中的液压剪刀的主视结构示意图；
图7为本发明中的成型弯曲机械手的结构示意图；
图8为本发明中的多轴扭曲机械手的结构示意图；
其中，1为安装面板、2为安装螺栓、3为圆轨；
11为滑块伺服电机、12为减速箱盖、13为减速箱底座、14为偏心轴、15为连接座、16为连接螺杆、17为止挡块、18为活动刀架转轴座、19为T形螺母、110为盖板、111为挡圈、112为夹紧螺母、113为活动刀架；
21为导轨座、22为导轨偏心轴、23为直线导轨、24为导轨移动座、25为移动滑块、26为减速机、27为伺服电机、28为电机轴、29为电机座；
31为剪切摇臂轴、32为挡模定位板、33为接头销轴、34为油缸固定轴、35为升降座、36为固定座、37为剪切摇臂、38为剪切挡模、39为剪切刀头、310为油缸接头；
41为调节滑块座、42为扭芯齿轮、43为扭芯、44为扭芯套、45为调节滑块、46为滑块底板、47为成型弯曲伺服电机、48为成型弯曲减速机、49为电机法兰、410为电机齿轮；
51为芯座、52为转动架、53为伺服电机一、54为伺服电机二、55为伺服电机三、56为减速机、57为偏心轴一、58为横向移动直线导轨、59为上下移动直线导轨一、510为移动板、511为直角移动板、512为偏心轴二、513为切断偏心凸轮、514为切断刀座、515为调节导板、516为方梁、517为支撑座、518为支撑杆、519为伺服电机四、520为电机带轮、521为皮带轮、522为滚珠丝杆、523为立柱、524为上下移动直线导轨二、525为托盘、526为伺服电机五、527为主轴、528为扭芯、529为扭芯滚轮、530为扭芯套、531为减速箱、532为伺服电机六、533为上弹簧套管、534为下弹簧套管。
具体实施方式
下面结合具体实施例对本发明作进一步的说明，但本发明的保护范围并不限于此。
本发明的线材弯曲模块化机器人，包括机架，机架上安装有通过控制系统控制的机械手，控制系统包括储存系统、摄像检测系统、建模仿真系统、智能检测分辨系统、GBS控制系统和3D自动编程系统；机械手通过机械手安装装置连接，如图1和2，机械手安装装置包括安装面板1，安装面板1的中心设有安装螺栓2，安装螺栓2的外周设有至少一条圆轨3，圆轨3为以 安装螺栓2为圆心的同心圆，机械手通过T形槽安装入圆轨内即可，在加工不能类型的原材料时，可以方便的更换机械手，实现一机多用，其通用性非常强。
本发明中的圆轨3的截面为梯形槽，且内口直径大于外口直径，当机械手安装时，T形槽的里口较大，螺栓的大头部件卡在T形槽内部，增加了机械手的操作空间。
本发明中的安装面板1连接有凸轮，将减速机安装在凸轮后侧，实现了机械手的整体更换。
本发明中的机械手为滑块总成、多功能机械手、液压剪刀、成型弯曲机械手或多轴扭曲机械手。
实施例1
如图3所示，本实施例1为将滑块总成安装在安装面板1上。
滑块总成包括安装有滑块伺服电机11和减速箱盖12的减速箱底座13，减速箱盖12和滑块伺服电机11位于减速箱底座13的相对侧，减速箱盖12上安装有偏心轴14，偏心轴14上安装有连接座15，偏心轴14和连接座15的连接处设有挡圈111、连接座15的下方通过夹紧螺母112连接有连接螺杆16，连接螺杆16的外部设有止挡块17，止挡块17的下方设有安装活动刀架113的活动刀架转轴座18。
安装时，减速箱底座13通过T形螺母19与安装面板1连接，T形螺母19的尾部设有盖板110，T形螺母19位于圆轨3内，且T形螺母19在圆轨3内滑动。
实施例2
如图4所示，本实施例2为在实施例1的基础上再安装多功能机械手。
多功能机械手包括安装在活动刀架17上的导轨座21，导轨座21的上方安装有导轨偏心轴22，导轨座21的下方安装有直线导轨23，直接导轨23连接有导轨移动座24，导轨移动座24的下方安装有移动滑块25；导轨偏心轴22的上方设有减速机26，减速机26连接有伺服电机27，且减速机26的电机轴28与导轨偏心轴22相邻，电机轴28的外部设有电机座29。
实施例3
如图5和6所示，本实施3为将液压剪刀安装在安装面板1上。
液压剪刀包括安装在安装面板1上的剪切摇臂轴31、挡模定位板32、接头销轴33、油缸固定轴34和升降座35，升降座35连接有固定座36，剪 切摇臂轴31连接有剪切摇臂37，挡模定位板32上安装有剪切挡模38，剪切摇臂37和剪切挡模38之间设有剪切刀头39，接头销轴33上安装有油缸接头310，油缸接头310位于剪切摇臂37的下方。
本实施例3中的安装面板1上的剪切摇臂轴31、挡模定位板32、接头销轴33、油缸固定轴34和升降座35均通过螺栓安装在圆轨3上，安装和拆卸十分方便。
实施例4
如图7所示，本实施4为将成型弯曲机械手安装在安装面板1上。
成型弯曲机械手包括安装在安装面板1上的调节滑块座41，调节滑块座41通过螺栓安装在圆轨3内，调节滑块座41连接有扭芯齿轮42，扭芯齿轮42设有扭芯43，扭芯43的外部设有扭芯套44，扭芯套44的下方设有调节滑块45，调节滑块45的下方设有滑块底板46，滑块底板46的下方连接有成型弯曲伺服电机47，成型弯曲伺服电机47连接有成型弯曲减速机48，成型弯曲减速机48通过电机法兰49连接有电机齿轮410，电机齿轮410与扭芯齿轮42啮合。
实施例5
如图8所示，本实施5为将多轴扭曲机械手安装在安装面板1上。
多轴扭曲机械手包括芯座51和转动架52，转动架52通过T形螺母19与安装面板1连接，T型螺母19位于圆轨3内，芯座51与安装面板1连接。转动架52上安装有伺服电机一53、伺服电机二54和伺服电机三55，伺服电机一53通过减速机56连接有偏心轴一57，偏心轴一57连接有横向移动直线导轨58和上下移动直线导轨一59，横向移动直线导轨58和上下移动直线导轨一59之间设有移动板510，且上下移动直线导轨一59的外侧设有直角移动板511。伺服电机二54通过减速机56连接有偏心轴二512，偏心轴二512与移动板510连接。伺服电机三55通过减速机56连接有切断偏心凸轮513，切断偏心凸轮513连接有切断刀座514，切断刀座514的一侧设有调节导板515，调节导板515位于芯座51的一侧。
转动架52的下方安装有方梁516，方梁516的下方连接有支撑座517，支撑座517上安装有支撑杆518，支撑杆518与方梁516连接，方梁516的上方安装有伺服电机四519，伺服电机四519设有电机带轮520，电机带轮520通过皮带连接有皮带轮521，皮带轮521连接有滚珠丝杆522，滚珠丝杆522的外部设有立柱523，立柱523上安装有上下移动直线导轨二524，且立 柱523的上方设有托盘525，伺服电机四519的上方设有伺服电机五526，伺服电机五526通过减速机56连接有主轴527，主轴527上安装有扭芯528，扭芯528设有扭芯滚轮529和扭芯套530。主轴527的外部设有减速箱531，减速箱531通过减速机56连接有伺服电机六532，伺服电机六532上安装有上弹簧套管533，上弹簧套管533套接有下弹簧套管534，下弹簧套管534与电机带轮520连接。
本发明根据金属材料的不同由产品加工过程中的形状不同角度等方面的复杂性来完成设计，通过储存系统、摄像检测系统、建模仿真系统、智能检测分辨系统、GBS控制系统和3D自动编程系统实现人机对话，达到智能化和人性化的目的，在不同产品的弯曲成形过程中使用模块化人机转变方式，随时完成不同程度的弯曲过程。
使用时，实施例1-5中的机械手与控制系统相结合，控制系统发出指令作用，系统使用A6芯片，1轴-36轴的超大储存功能，具有摄像检测系统、建模仿真系统、智能检测分辨系统、GBS控制系统和3D自动编程系统等功能，为机械手模块化的组合。
本发明达到了不能产品配用不同机械手的目的，以人机转换的方式来生产自己所需要的产品，其智能化的程度较高。
上述实施例仅用于解释说明本发明的发明构思，而非对本发明权利保护的限定，凡利用此构思对本发明进行非实质性的改动，均应落入本发明的保护范围。

Claims (10)

  1. 一种线材弯曲模块化机器人，其特征在于：包括机架，所述机架上安装有通过控制系统控制的机械手，所述机械手通过机械手安装装置连接，所述的机械手安装装置包括安装面板，所述安装面板的中心设有安装螺栓，所述安装螺栓的外周设有至少一条圆轨，所述的圆轨为以安装螺栓为圆心的同心圆。
  2. 如权利要求1所述的线材弯曲模块化机器人，其特征在于：所述圆轨的截面为梯形槽，且内口直径大于外口直径。
  3. 如权利要求1所述的线材弯曲模块化机器人，其特征在于：所述的安装面板连接有凸轮，所述凸轮的后侧安装有减速机。
  4. 如权利要求1-3任一权利要求所述的线材弯曲模块化机器人，其特征在于：所述的控制系统包括储存系统、摄像检测系统、建模仿真系统、智能检测分辨系统、GBS控制系统和3D自动编程系统。
  5. 如权利要求4所述的线材弯曲模块化机器人，其特征在于：所述的机械手为滑块总成、多功能机械手、液压剪刀、成型弯曲机械手或多轴扭曲机械手。
  6. 如权利要求5所述的线材弯曲模块化机器人，其特征在于：所述的滑块总成包括安装有滑块伺服电机和减速箱盖的减速箱底座，所述的减速箱盖和滑块伺服电机位于减速箱底座的相对侧，所述减速箱盖上安装有偏心轴，所述偏心轴上安装有连接座，所述连接座的下方设有连接螺杆，所述连接螺杆的外部设有止挡块，所述止挡块的下方设有安装活动刀架的活动刀架转轴座，所述的减速箱底座通过T形螺母与安装面板连接，所述T形螺母的尾部设有盖板，所述的T形螺母位于圆轨内，且T形螺母在圆轨内滑动。
  7. 如权利要求6所述的线材弯曲模块化机器人，其特征在于：所述的多功能机械手包括安装在活动刀架上的导轨座，所述导轨座的上方安装有导轨偏心轴，导轨座的下方安装有直线导轨，所述直接导轨连接有导轨移动座，所述导轨移动座的下方安装有移动滑块；所述导轨偏心轴的上方设有减速机，所述减速机连接有伺服电机，且减速机的电机轴与导轨偏心轴相邻，所述电机轴的外部设有电机座。
  8. 如权利要求5所述的线材弯曲模块化机器人，其特征在于：所述的液压剪刀包括安装在安装面板上的剪切摇臂轴、挡模定位板、接头销轴、油缸固定轴和升降座，所述的升降座连接有固定座，所述的剪切摇臂轴连 接有剪切摇臂，所述的挡模定位板上安装有剪切挡模，所述剪切摇臂和剪切挡模之间设有剪切刀头，所述接头销轴上安装有油缸接头，所述的油缸接头位于剪切摇臂的下方。
  9. 如权利要求5所述的线材弯曲模块化机器人，其特征在于：所述的成型弯曲机械手包括安装在安装面板上的调节滑块座，所述的调节滑块座连接有扭芯齿轮，所述扭芯齿轮设有扭芯，所述扭芯的外部设有扭芯套，所述扭芯套的下方设有调节滑块，所述调节滑块的下方设有滑块底板，所述滑块底板的下方连接有成型弯曲伺服电机，所述成型弯曲伺服电机连接有成型弯曲减速机，所述成型弯曲减速机通过电机法兰连接有电机齿轮，所述的电机齿轮与扭芯齿轮啮合。
  10. 如权利要求5所述的线材弯曲模块化机器人，其特征在于：所述多轴扭曲机械手包括芯座和转动架，所述转动架通过T形螺母与安装面板连接，所述T型螺母位于圆轨内，所述芯座与安装面板连接，所述的转动架上安装有伺服电机一、伺服电机二和伺服电机三，所述伺服电机一通过减速机连接有偏心轴一，所述偏心轴一连接有横向移动直线导轨和上下移动直线导轨一，所述横向移动直线导轨和上下移动直线导轨一之间设有移动板，且上下移动直线导轨一的外侧设有直角移动板；所述伺服电机二通过减速机连接有偏心轴二，所述偏心轴二与移动板连接；所述伺服电机三通过减速机连接有切断偏心凸轮，所述切断偏心凸轮连接有切断刀座，所述切断刀座的一侧设有调节导板，所述的调节导板位于芯座的一侧；所述转动架的下方安装有方梁，所述方梁的下方连接有支撑座，所述支撑座上安装有支撑杆，所述支撑杆与方梁连接，所述方梁的上方安装有伺服电机四，所述伺服电机四设有电机带轮，所述电机带轮通过皮带连接有皮带轮，所述皮带轮连接有滚珠丝杆，所述滚珠丝杆的外部设有立柱，所述立柱上安装有上下移动直线导轨二，且立柱的上方设有托盘，所述伺服电机四的上方设有伺服电机五，所述伺服电机五通过减速机连接有主轴，所述主轴上安装有扭芯，所述的扭芯设有扭芯滚轮和扭芯套；所述主轴的外部设有减速箱，所述减速箱通过减速机连接有伺服电机六，所述伺服电机六上安 装有上弹簧套管，所述的上弹簧套管套接有下弹簧套管，所述的下弹簧套管与电机带轮连接。
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