CN105690379A - Four-track gantry suspended type double-manipulator collaborative machining system - Google Patents
Four-track gantry suspended type double-manipulator collaborative machining system Download PDFInfo
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- CN105690379A CN105690379A CN201610170697.6A CN201610170697A CN105690379A CN 105690379 A CN105690379 A CN 105690379A CN 201610170697 A CN201610170697 A CN 201610170697A CN 105690379 A CN105690379 A CN 105690379A
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- axis
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- 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
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a four-track gantry suspended type double-manipulator collaborative machining system which is composed of two six-axis manipulators and an outer track system. The outer track system comprises two X-axis tracks, a Y-axis track and two Z-axis tracks; the two X-axis tracks are arranged in parallel, are mounted on steel columns and are each provided with a drag chain; the Z-axis tracks are fixed to the Y-axis track through crossed track connectors, and the two ends of the Y-axis track are mounted at one ends of the X-axis tracks through sliding brackets; the two ends of the Y-axis track are each provided with an X-axis servo worm and gear speed reducing motor; Y-axis servo worm and gear speed reducing motors are mounted at the connecting positions of the two crossed track connectors and the Y-axis track; Z-axis servo worm and gear speed reducing motors are mounted at the connecting positions of the two crossed track connectors and the Z-axis track; and the two six-axis manipulators are fixed to the positions below the two Z-axis tracks correspondingly in a hanging upside down mode. The four-track gantry suspended type double-manipulator collaborative machining system is an open machining system, and different machining tools can be mounted on the manipulators according to machining demands, so that the machining system is suitable for different machining methods.
Description
Technical field
The invention mainly relates to digital control processing field, specifically a kind of four track portal shaped lift type double mechanical arms Combined process systems。
Background technology
Current robot processing system mostly is stationary machine arm production line, mechanical arm is fixed on streamline both sides, many mechanical arms have cooperated work, the advantage of this system is in that work efficiency is high when operation is fixing, better economy, and it has the disadvantage that working range restriction is relatively big, and once operation produces to change, the adjustment leeway of this fixed system is less, adjusts cumbersome。Currently also there is rail mounted robot, but rail mounted mechanical arm is all be fixed on ground by track mostly, and mostly be single track system。The single track system fixed on the ground takes up room relatively big, occupies the scope of more mechanical arm processing table top。
On the whole, current existing mechanical arm work system weak point has: the arm system motility of (1) stationary machine is relatively limited, causes that the adjustment that can make is limited owing to working range is very fixing when process variations is bigger；(2) monorail robot system is relatively big due to the track fixed on the ground, has accounted for the range of work of a lot of mechanical arm。
Summary of the invention
It is an object of the invention to propose a kind of multi-track portal shaped lift type double mechanical arms Combined process system, it is possible to achieve mechanical arm is operated in a large range of three dimensions, and can easily and other machines person cooperative work。
The multi-track portal shaped lift type double mechanical arms Combined process system that the present invention proposes, is made up of two six shaft mechanical arms and external rail system, wherein:
External rail system includes two X-axis tracks 1, a piece Y-axis track 2 and two Z axis tracks 3, two X-axis parallel track arrangements, it is installed on steel column, often want X-axis track 1 is provided with X-axis drag chain 7, Y-axis track 2 side holder 10 is symmetrically installed with two Y-axis drag chains 8, every Z axis track 3 is provided with Z axis drag chain 9。Two Z axis tracks are fixed on Y-axis track 2 respectively through two orbiting vane adapters 11, and Y-axis track 2 two ends are respectively arranged on two X-axis track 1 one end by slip bracket 12；The two ends of Y-axis track 2 are separately installed with X-axis servo Worm reduction motor 6, and described X-axis servo Worm reduction motor 6 slides on two X-axis tracks for controlling Y-axis track 2；Two orbiting vane adapters 11 are separately installed with Y-axis servo Worm reduction motor 5 with Y-axis track 2 junction, for controlling two Z axis tracks 3 in the slip along Y-axis track 2；Two orbiting vane adapters 11 are provided with Z axis servo Worm reduction motor 4 with Z axis track 3 junction, are used for controlling the movement of Z axis track 3 in the vertical direction；Two six shaft mechanical arms 13 are individually fixed in the lower section of two Z axis tracks 3 with the form of reversal of the natural order of things。
In the present invention, the model of described six shaft mechanical arms 13 can select according to practical situation。
The work process of the present invention is as follows:
The present invention uses six shaft mechanical arms to coordinate multi-track system to carry out exceeding the large scale processing operation of stationary machine arm working range。Before being processed operation, first need to set two six shaft mechanical arms 13 wherein any one mechanical arm as main frame mechanical arm, then another is servant's mechanical arm, six axles of main frame mechanical arm coordinate external rail system can realize moving any point to this system of processing with any attitude, and servant's mechanical arm then coordinates main frame mechanical arm to complete processing work。When being processed operation, after presetting the manufacturing procedure of mechanical arm, optimize Software Create robot motion by the Multi-shaft mechanical arm action customized for native system and control program, by control program input to native system, the processing work of high-precision large-range can be started。
The beneficial effects of the present invention is: 1. the range of movement of six shaft mechanical arms is expanded significantly, general industry six shaft mechanical arm moving radius is 1.2 meters to 1.8 meters, and in the present system, by external rail system, the range of movement of mechanical arm can reach 5-8 rice in Y-axis orbital direction, Z axis orbital direction reaches 3-5 rice, and X-axis orbital direction can infinitely extend in theory；2. six shaft mechanical arm slings are hung in external rail system, it is possible to the processing place on ground is all reserved, significantly expands the scope of processing platform。3. the present invention is open system of processing, it is possible to install different machining tools on the robotic arm according to process requirements, it is possible to adapt to different processing methods, including milling, welding, stacking and large scale 3 D-printing etc.；4. the present invention is double mechanical arms collaborative work, it is possible to complete the Combined process work of complexity, such as spatial metal bending etc.。
Accompanying drawing explanation
Fig. 1 is angle one axonometric drawing of the present invention。
Fig. 2 is angle two axonometric drawing of the present invention。
Number in the figure: 1 is X-axis track；2 is Y-axis track；3 is Z axis track；4 is Z axis servo Worm reduction motor；5 is Y-axis servo Worm reduction motor；6 is X-axis servo Worm reduction motor；7 is X-axis drag chain；8 is Y-axis drag chain；9 is Z axis drag chain；10 is bracket；11 is orbiting vane adapter；12 is slip bracket；13 is six shaft mechanical arms。
Detailed description of the invention
The present invention is further illustrated below in conjunction with accompanying drawing。
Embodiment 1:
The present invention is made up of two six-shaft industrial mechanical arms 13 and external rail system as depicted in figs. 1 and 2, external rail system is by two X-axis tracks 1, a piece Y-axis track 2 and two Z axis tracks 3 form, and the servo Worm reduction motor being moved through each track of each track completes。Two X-axis parallel track arrangements, it is installed on steel column, all with tooth bar and be furnished with drag chain for installing cable on every track, including the two X-axis drag chains 7 being installed on two X-axis tracks 1, it is installed on two, the both sides Y-axis drag chain 8 in Y-axis track 2 side holder 10, and is installed on the Z axis drag chain 9 on two Z axis tracks 3。Two Z axis tracks are fixed on Y-axis track 2 by two orbiting vane adapters 11, and Y-axis track 2 two ends are respectively arranged on two X-axis tracks 1 by slip bracket 12。Two X-axis servo Worm reduction motors 6 are positioned at the two ends of Y-axis track 2, slide on two X-axis tracks for controlling Y-axis track 2。Two Y-axis servo Worm reduction motors 5 lay respectively at two orbiting vane adapters 11 and Y-axis track 2 junction, for controlling two Z axis tracks 3 in the slip along Y-axis track 2。Two Z axis servo Worm reduction motors 4 lay respectively at two orbiting vane adapters 11 and Z axis track 3 junction, are used for controlling the movement of Z axis track 3 in the vertical direction。Two six shaft mechanical arms 13 are individually fixed in the lower section of two Z axis tracks 3 with the form of reversal of the natural order of things。The model of mechanical arm can select according to practical situation。The present invention is when starting working, firstly the need of according to machining tool, use the Multi-shaft mechanical arm action for native system customization to optimize software and generate robot motion control program, program is inputted to native system and brings into operation, first it is that external rail system brings into operation, according to the coordinate set in control program, external orbital is moved to target location, i.e. machining area, after arriving machining area, the range of movement of external rail system can be done a definite limitation by control program, the slight error causing external orbital deformation to bring to reduce mechanical arm to conduct oneself with dignity。After the external rail system range of work is determined, main frame mechanical arm starts processing work, and servant's mechanical arm is coordinated according to process requirements simultaneously, until manufacturing procedure completes。
Claims (2)
1. multi-track portal shaped lift type double mechanical arms Combined process system, is made up of two six shaft mechanical arms and external rail system, it is characterised in that:
External rail system includes two X-axis tracks (1), a piece Y-axis track (2) and two Z axis tracks (3), two X-axis parallel track arrangements, it is installed on steel column, often want X-axis track (1) is provided with X-axis drag chain (7), Y-axis track (2) side holder (10) is symmetrically installed with two Y-axis drag chains (8), every Z axis track (3) is provided with Z axis drag chain (9), two Z axis tracks are fixed on Y-axis track (2) respectively through two orbiting vane adapters (11), Y-axis track (2) two ends are respectively arranged on two X-axis track (1) one end by slip bracket (12)；The two ends of Y-axis track (2) are separately installed with X-axis servo Worm reduction motor (6), and described X-axis servo Worm reduction motor (6) is slided on two X-axis tracks for controlling Y-axis track (2)；Two orbiting vane adapters (11) are separately installed with Y-axis servo Worm reduction motor (5) with Y-axis track (2) junction, are used for controlling two Z axis tracks (3) in the slip along Y-axis track (2)；Two orbiting vane adapters (11) are provided with Z axis servo Worm reduction motor (4) with Z axis track (3) junction, are used for controlling the movement of Z axis track (3) in the vertical direction；Two six shaft mechanical arms (13) are individually fixed in the lower section of two Z axis tracks (3) with the form of reversal of the natural order of things。
2. multi-track portal shaped lift type double mechanical arms Combined process system according to claim 1, it is characterised in that: the model of described six shaft mechanical arms (13) can select according to practical situation。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610170697.6A CN105690379A (en) | 2016-03-24 | 2016-03-24 | Four-track gantry suspended type double-manipulator collaborative machining system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610170697.6A CN105690379A (en) | 2016-03-24 | 2016-03-24 | Four-track gantry suspended type double-manipulator collaborative machining system |
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| CN105690379A true CN105690379A (en) | 2016-06-22 |
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|---|---|---|---|
| CN201610170697.6A Pending CN105690379A (en) | 2016-03-24 | 2016-03-24 | Four-track gantry suspended type double-manipulator collaborative machining system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214387A (en) * | 2017-12-29 | 2018-06-29 | 宁波瑞曼特新材料有限公司 | A kind of on-vehicle lens assembly platform |
| CN110814520A (en) * | 2019-10-30 | 2020-02-21 | 中国船舶重工集团公司第七一六研究所 | Double-arm gantry type robot system for realizing double-sided laser and electric arc hybrid welding |
| CN111015252A (en) * | 2019-12-30 | 2020-04-17 | 武汉理工大学 | Main shaft sliding table of movable beam type gantry numerical control engraving and milling machine |
| CN111375946A (en) * | 2020-03-31 | 2020-07-07 | 陈盛泉 | Industrial welding robot |
| CN112404984A (en) * | 2020-12-01 | 2021-02-26 | 哈尔滨工业大学 | Ultra-large space telescope on-orbit assembly system based on multi-space robot |
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2016
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| GB2179322A (en) * | 1985-08-19 | 1987-03-04 | Werkzeugmasch Okt Veb | Industrial robot for handling workpieces and tools |
| EP0232548A2 (en) * | 1986-02-13 | 1987-08-19 | Held Laser Systems AG | Work station for large work pieces |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214387A (en) * | 2017-12-29 | 2018-06-29 | 宁波瑞曼特新材料有限公司 | A kind of on-vehicle lens assembly platform |
| CN110814520A (en) * | 2019-10-30 | 2020-02-21 | 中国船舶重工集团公司第七一六研究所 | Double-arm gantry type robot system for realizing double-sided laser and electric arc hybrid welding |
| CN111015252A (en) * | 2019-12-30 | 2020-04-17 | 武汉理工大学 | Main shaft sliding table of movable beam type gantry numerical control engraving and milling machine |
| CN111375946A (en) * | 2020-03-31 | 2020-07-07 | 陈盛泉 | Industrial welding robot |
| CN112404984A (en) * | 2020-12-01 | 2021-02-26 | 哈尔滨工业大学 | Ultra-large space telescope on-orbit assembly system based on multi-space robot |
| CN112404984B (en) * | 2020-12-01 | 2022-04-12 | 哈尔滨工业大学 | Ultra-large space telescope on-orbit assembly system based on multi-space robot |
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Application publication date: 20160622 |
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