WO2018235101A1 - Conception de pinces robotiques dynamiques pour usinage à commande numérique - Google Patents

Conception de pinces robotiques dynamiques pour usinage à commande numérique Download PDF

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Publication number
WO2018235101A1
WO2018235101A1 PCT/IN2018/050406 IN2018050406W WO2018235101A1 WO 2018235101 A1 WO2018235101 A1 WO 2018235101A1 IN 2018050406 W IN2018050406 W IN 2018050406W WO 2018235101 A1 WO2018235101 A1 WO 2018235101A1
Authority
WO
WIPO (PCT)
Prior art keywords
clamp
fitted
sheet
axis
cnc
Prior art date
Application number
PCT/IN2018/050406
Other languages
English (en)
Inventor
Viswesh SRINIVASAN
Original Assignee
Srinivasan Viswesh
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 Srinivasan Viswesh filed Critical Srinivasan Viswesh
Publication of WO2018235101A1 publication Critical patent/WO2018235101A1/fr

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Classifications

    • 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
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means
    • B23Q3/069—Work-clamping means for pressing workpieces against a work-table

Definitions

  • This invention relates to the field of CNC profile cutting by milling/ routing process and preventing vibration during this process.
  • the present application is based on, and claims priority from an Indian Application Number 201741021665 filed on 21st June 2017, the disclosure of which is hereby incorporated by reference herein.
  • Some clamps use a spring-loaded plunger, that travels with the tool. Such plunger clamps typically drag on the sheet, thus scratching or damaging the surface.
  • the principal object of this invention is to develop a robotic clamping system, that can clamp sheets in middle.
  • Another objective of the invention is to develop a clamp that will hold without sliding or scratching the surface.
  • FIG. 1 depicts the proposed robotic clamping system mounted on a CNC machine
  • FIG. 2 depicts close up view of the proposed robotic clamping system mounted on a CNC machine
  • FIG 3. Shows the side of the CNC machine Z-axis which is inturn mounted on the X-axis.
  • FIGS. 1 through 2 where similar reference characters denote corresponding features consistently throughout the figures, there are shown embodiments.
  • FIG 1 shows a CNC cutting system 100, consisting of Y-axis 103, X-axis
  • FIG 1 shows raw material sheet 101 clamped to ground table by set of fixed clamps 102.
  • the proposed robotic clamp 100a is mounted on the X-axis (preferable) or Z-axis of the machine.
  • the end effector 110 is typically a solenoid with a rubber foot. When solenoid comes down, it will rigidly hold the sheet. It can also be any other actuator giving smoother motion like RC servo, servo motor etc.
  • the rubber foot will typically have multiple foots, to offer multi-point stable grip on the sheet.
  • FIG 2 shows the proposed robotic clamping system in more detail.
  • Rotary axisl (111), Rotary axis 2 (112), Rotary axis 3 (113) and vertical linear axis 114.
  • Axis 111 and 112 are controlled by motors 120 and 121 respectively, which are in-turn controlled by an intelligent controller 100b.
  • Axis 113 is a free rotary joint without actuator.
  • Axis 114 is a vertical linear axis, with actuator 110.
  • the motors 120 and 121 have encoders mounted on them for accurate position detection.
  • the motors 120 and 121 move the end effector to the desired clamping location.
  • the vertical axis actuator is energized and clamp goes down and clamps the sheet.
  • the motor 120 and 121 are de-energized, allowing the joints to move freely, thus allowing the base point of the robot arml at pivot 111 to move freely along with XY moves of the machine.
  • controller intelligently decides when to unclamp from the sheet, (using forward, inverse kinematics maths)
  • multiple such 4axis robotic clamps are used, such that one clamp is always holding the sheet near the cutting point.
  • the 4-axis robot can be an R-theeta robot, with a linear axis 112, instead of rotary axis 112.
  • the robot clamping system can be located on the periphery of the machine, instead of being mounted on the moving axis of the CNC.
  • FIG3 shows side view of X & Z-axis of a typical CNC router machine.
  • the base of the robot 111 can be located on the X-axis, close to the bottom-most point 301 of the X-axis (i.e. On back plate 302 or bottom plate 303 of Z-axis)

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention est motivée par le fait que lors de l'usinage à commande numérique, il est seulement possible de serrer les feuilles au niveau des bords. Par conséquent, le milieu de la feuille tend à vibrer pendant la coupe, ce qui endommage la feuille et l'outil. La présente invention porte sur une pince robotique dynamique qui peut serrer la feuille au milieu, empêchant ainsi une vibration et un endommagement de l'outil. L'invention concerne également un procédé logiciel intelligent permettant d'identifier et de calculer automatiquement le meilleur emplacement de serrage et de desserrage.
PCT/IN2018/050406 2017-06-21 2018-06-21 Conception de pinces robotiques dynamiques pour usinage à commande numérique WO2018235101A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IN201741021665 2017-06-21
IN201741021665 2017-06-21

Publications (1)

Publication Number Publication Date
WO2018235101A1 true WO2018235101A1 (fr) 2018-12-27

Family

ID=64736874

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IN2018/050406 WO2018235101A1 (fr) 2017-06-21 2018-06-21 Conception de pinces robotiques dynamiques pour usinage à commande numérique

Country Status (1)

Country Link
WO (1) WO2018235101A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7710060B2 (en) * 2005-08-16 2010-05-04 Prima Industrie S.P.A. Method for managing systems provided with redundant actuators
US7979160B2 (en) * 2007-07-31 2011-07-12 Spirit Aerosystems, Inc. System and method for robotic accuracy improvement
WO2012059194A1 (fr) * 2010-11-03 2012-05-10 Mubea Systems S.A. Dispositif pour usiner une pièce de grand format, à paroi mince

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7710060B2 (en) * 2005-08-16 2010-05-04 Prima Industrie S.P.A. Method for managing systems provided with redundant actuators
US7979160B2 (en) * 2007-07-31 2011-07-12 Spirit Aerosystems, Inc. System and method for robotic accuracy improvement
WO2012059194A1 (fr) * 2010-11-03 2012-05-10 Mubea Systems S.A. Dispositif pour usiner une pièce de grand format, à paroi mince

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