CN205043770U - Planer -type both arms truss robot - Google Patents
Planer -type both arms truss robot Download PDFInfo
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- CN205043770U CN205043770U CN201520740403.XU CN201520740403U CN205043770U CN 205043770 U CN205043770 U CN 205043770U CN 201520740403 U CN201520740403 U CN 201520740403U CN 205043770 U CN205043770 U CN 205043770U
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Abstract
Planer -type both arms truss robot belongs to sketch plate processing equipment field. The upper portion of longmen frame has Y axle crossbeam (2), the lower extreme of arm is equipped with processingequipment and positioner, wherein the treating of processingequipment processing machinery underarm side machined part (10), positioner detects processingequipment and treats the interval between machined part (10), be equipped with the driving device arm between arm and the Y axle crossbeam (2) around the axis wobbling arm swing mechanism who is on a parallel with Y axle crossbeam (2), the arm still is connected with the arm elevating system who drives its lift, the arm sets up left arm (9 -1) and right arm (9 -2) on Y axle crossbeam (2) including the symmetry, a left side arm (9 -1) and right arm (9 -2) are respectively and be equipped with arm sideslip mechanism of its edge of drive Y axle crossbeam (2) lateral shifting between the Y axle crossbeam (2). Drill to the sketch plate, alleviate operation intensity, improve the operating efficiency, reduce the processing cost, improve drilling accuracy.
Description
Technical field
Gantry-type double-arm truss robot, belongs to sketch plate process equipment field.
Background technology
Adding man-hour to sketch plate, because its surface is arc, existing equipment cannot laundering period arc-shaped curved surface, such as, on grain storage production line, often needs to hole on grain-guard door, because grain-guard door is arc-shaped structure, arc surface is holed very difficult.Mostly adopt artificial boring on the market at present, easily cause personal injury to practitioner, production efficiency is low, and worker workload is large, and positional precision and dimensional accuracy all do not ensure.
Summary of the invention
The technical problems to be solved in the utility model is: overcome the deficiencies in the prior art, there is provided one can carry out the processing such as boring to sketch plate, alleviate operation intensity, improve the Gantry-type double-arm truss robot of operating efficiency, the machining accuracy that cuts down finished cost, improves.
The utility model solves the technical scheme that its technical problem adopts: this Gantry-type double-arm truss robot, comprise gantry frame and mechanical arm, it is characterized in that: the top of gantry frame has Y-axis crossbeam, the lower end of mechanical arm is provided with processing unit (plant) and positioner, workpiece to be added wherein below processing unit (plant) processing machine mechanical arm, positioner detects the spacing between processing unit (plant) and workpiece to be added, driving machine mechanical arm is provided with around the mechanical arm swing mechanism of axis oscillating being parallel to Y-axis crossbeam between mechanical arm and Y-axis crossbeam, mechanical arm is also connected with the mechanical arm elevating mechanism driving its lifting, mechanical arm comprises and is symmetricly set on left mechanical arm on Y-axis crossbeam and right mechanical arm, left mechanical arm and right mechanical arm are respectively and be provided with the mechanical arm transverse-moving mechanism driving it along Y-axis crossbeam transverse shifting between Y-axis crossbeam.
Preferably, level is provided with and perpendicular to the X-axis rail set of Y-axis crossbeam in the below of described left mechanical arm and right mechanical arm, X-axis rail set is fixed with workbench, is provided with workpiece fixed mechanism on the table, Y-axis crossbeam and workbench can in the relative movements of X-axis rail set length direction.
Preferably, described X-axis rail set comprises X-axis track plates, and X-axis track plates both sides are provided with X-axis line slideway, and described workbench is slidably arranged on X-axis line slideway, is provided with the workbench actuating unit driving workbench to slide between workbench and X-axis track plates.
Preferably, described workbench comprises reverse side stationary work-table, described workpiece fixed mechanism comprises and to be fixed on the first support on reverse side stationary work-table and the second support along X-axis rail set length direction interval, the workpiece to be added be fixed on reverse side stationary work-table is the arc that two ends are bent upwards, workpiece to be added is between the first support and the second support, first pedestal upper end is provided with the reverse side pressure holding mechanism of pressure holding workpiece one end to be added, and the second pedestal upper end is adjustable for height is provided with the clamping fixture clamping the workpiece other end to be added;
Workpiece fixed mechanism also comprises the multiple reverse side transverse positioning mechanisms being fixed on workbench both sides, and located lateral is carried out to machined part in the both sides that reverse side transverse positioning mechanism clamps workpiece to be added.
Preferably, described clamping fixture comprises fixture holder, quick chuck, connecting rod and promotes the connecting rod driver element of connecting rod swing, fixture holder is adjustable for height to be fixed on the secondary support bracket, one end of quick chuck and one end of connecting rod driver element are hinged on fixture holder respectively, one end of connecting rod and the output of connecting rod driver element are rotationally connected, the other end of connecting rod and the middle part of quick chuck are rotationally connected, connecting rod driver element drives quick chuck to swing by connecting rod, and the other end of quick chuck is pressed on the upside of the end of workpiece to be added.
Preferably, described workbench also comprises front stationary work-table, the workpiece to be added be fixed on the stationary work-table of front is the reclinate arcs in two ends, described workpiece fixed mechanism comprises front vertical location device and front transverse positioning mechanism, wherein front vertical location device comprises two fixed blocks be fixed on along X-axis rail set length direction interval on the stationary work-table of front, fixed block is fixed with front longitudinal register cylinder, at least one fixed block is slidably arranged on the stationary work-table of front along X-axis rail set length direction, described workpiece to be added is fixed between two fixed blocks, front transverse positioning mechanism is fixed on the both sides of front stationary work-table, and located lateral is carried out to machined part in the both sides clamping workpiece to be added.
Preferably, described positioner comprises positioning roller and electronic ruler, and electronic ruler is vertically fixed on the robotic arm, and positioning roller is connected with the flexible range cells of electronic ruler lower end by magnet attraction mechanism.
Preferably, described magnet attraction mechanism comprises strong magnets, roller mount pad and magnet holder, and positioning roller rolls and is arranged on roller mount pad, and roller mount pad is by described strong magnets and the adhesive of magnet holder;
Described flexible range cells comprises small-sized ram and line slideway auxiliary, and small-sized ram is connected to the lower end of electronic ruler by spring, and small-sized ram is slidably arranged on line slideway auxiliary, and magnet holder to be fixed on line slideway auxiliary and to promote the lifting of small-sized ram.
A kind of arc processing method, comprises above-mentioned Gantry-type double-arm truss robot, it is characterized in that: comprise the following steps:
Step 1), start, system back to zero;
Step 2), workpiece to be added is fixed on below left mechanical arm and right mechanical arm, if need to be programmed into step 3), otherwise enters step 5);
Step 3), programming, sets the swinging track of left mechanical arm and right mechanical arm, the lengthwise travel rate of setting workbench and stroke, and mechanical arm transverse-moving mechanism adjusts the spacing of left mechanical arm and right mechanical arm;
Step 4), left mechanical arm and right mechanical arm sky are walked, if mechanical arm can drive processing unit (plant) to process in the position to be processed of workpiece to be added, enter step 5), otherwise return step 3);
Step 5), automatic operation, workbench drives workpiece to be added to vertically move, mechanical arm swings along workpiece surface curvature to be added, mechanical arm elevating mechanism drives left mechanical arm and the lifting of right mechanical arm respectively, positioner contacts with workpiece surface to be added, and detect the vertical range of processing unit (plant) and surface of the work to be added, processing unit (plant) is processed to machined part;
Step 6), machines, and is pulled down by workpiece.
Preferably, described processing unit (plant) comprises the servo-driver connected successively, hole servomotor, reductor and drill bit, and servo-driver is connected with controller; Positioner is connected with controller;
Carry out to machined part in boring procedure at processing unit (plant) in step 5), the data detected are sent to controller by positioner, servo-driver detects the electric current of boring servomotor and feeds back to controller simultaneously, controller judges the stressing conditions of drill bit according to the electric current of boring servomotor, and is changed the rotating speed of boring servomotor accordingly by servo-driver.
Compared with prior art, the beneficial effect that the utility model has is:
1, the utility model is by driving left mechanical arm and the separate transverse shifting of right mechanical arm by mechanical arm transverse-moving mechanism, two row holes can be processed simultaneously, and two row holes of different spacing can be adapted to, even can process two workpiece to be added simultaneously, improve working (machining) efficiency, the vertical range between processing unit (plant) and workpiece to be added is detected in real time by positioner, mechanical arm elevating mechanism is utilized to drive processing unit (plant) lifting, ensure, between processing unit (plant) and workpiece to be added, there is constant distance, then the arm swing of mechanical arm swing mechanism driving mechanical is utilized, adapt to the workpiece to be added of arc, processing unit (plant) is processed perpendicular to workpiece to be added.
2, workpiece to be added is loaded by X-axis rail set and workbench, be convenient to position to machined part, improve machining accuracy, Y-axis crossbeam and workbench relative movement, thus processing unit (plant) is longitudinally processed to machined part, achieve the processing automatically to the workpiece to be added of special-shaped tabular, alleviate operation intensity, improve operating efficiency, cut down finished cost, improve machining accuracy.
3, positioning roller is connected with the flexible range cells of electronic ruler lower end by magnet attraction mechanism, the surface of workpiece to be added is often more coarse, sometimes surface also has some raised or sunken parts, especially arc, positioning roller is easily impacted at walking process, by magnet attraction mechanism adhesive positioning roller and flexible range cells, positioning roller can be separated with flexible range cells when meeting accident collision, thus prevent from damaging parts, especially the electronic ruler that price is higher, reduce operating cost, run more reliable.
4, the workbench actuating unit driving workbench to slide is provided with between workbench and X-axis track plates, confirmed by test, workbench is set to slide, in process, travelling table wants simple relative to mobile gantry framework, reduce firstly required space, and can reduce engine mechanical arm because the mobile error produced, improve machining accuracy.
5, the first pedestal upper end is provided with the reverse side pressure holding mechanism of pressure holding workpiece one end to be added, second pedestal upper end is adjustable for height is provided with the clamping fixture clamping the workpiece other end to be added, reverse side pressure holding mechanism is at one end utilized to position to machined part, the other end is positioned by clamping fixture, avoiding two ends, to utilize action component to position be the situation that stress occurs mutually to interfere or exist simultaneously, and structure is simple, cost is low.
6, when the current increases, illustrate that workpiece material to be added is herein harder, drill bit receives larger resistance, this Time Controller by servo-driver can keyhole servomotor rotating speed reduce, thus can effectively avoid drill bit impaired or even directly rupture, equally, when the current decreases, illustrate that workpiece material to be added is herein relatively soft, the resistance that drill bit is subject to is less, this Time Controller can be improved by the rotating speed of servo-driver keyhole servomotor, thus can improve working (machining) efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of this Gantry-type double-arm truss robot embodiment 1.
Fig. 2 is the partial enlarged drawing at A place in Fig. 1.
Fig. 3 is the partial enlarged drawing at B place in Fig. 1.
Fig. 4 is the structural representation of this Gantry-type double-arm truss robot embodiment 2.
Fig. 5 is the structural representation of the reverse side stationary work-table being fixed with workpiece to be added.
Fig. 6 is the structural representation of the reverse side stationary work-table not fixing workpiece to be added.
Fig. 7 is the partial enlarged drawing at C place in Fig. 6.
Fig. 8 is the partial enlarged drawing at D place in Fig. 6.
Fig. 9 is the structural representation of front stationary work-table.
Figure 10 is the structural representation at E place in Fig. 9.
Figure 11 is the logic diagram of arc processing method.
Figure 12 is theory diagram of specifically holing in arc processing method.
Wherein: 1, column 2, Y-axis crossbeam 3, alarm 4, Y-axis guide rail 5, Y-axis tooth bar 6, mechanical arm wobble servo motor 7, Y-axis servomotor 8, drag chain fixed mount 801, rack side plate 9-1, left mechanical arm 9-2, right mechanical arm 10, workpiece 11 to be added, reverse side stationary work-table 12, front stationary work-table 13, first support 14, second support 15, X-axis track plates 16, fixed block 17, mechanical arm holder 18, mechanical arm swings limit switch 19, range finding fixed head 20, unit head fixed head 21, electronic ruler 22, spring 23, boring servomotor 24, reductor 25, positioning roller 26, drill bit 27, strong magnets 28, magnet holder 29, small-sized ram 30, detection head 31, line slideway auxiliary 32, roller mount pad 33, briquetting 34, reverse side longitudinal register cylinder 35, located lateral cylinder 36, locating support 37, locating piece 38, location via hole 39, fixture holder 40, quick chuck 41, connecting rod 42, clamp cylinder 43, front longitudinal register cylinder.
Detailed description of the invention
Be described further below in conjunction with accompanying drawing 1 ~ 12 pair of the utility model Gantry-type double-arm truss robot, wherein embodiment 2 is most preferred embodiment.
Embodiment 1
With reference to Fig. 1, this Gantry-type double-arm truss robot, comprise gantry frame and mechanical arm, the top of gantry frame has Y-axis crossbeam 2, the lower end of mechanical arm is provided with processing unit (plant) and positioner, workpiece to be added 10 wherein below processing unit (plant) processing machine mechanical arm, positioner detects the spacing between processing unit (plant) and workpiece to be added 10, driving machine mechanical arm is provided with around the mechanical arm swing mechanism of axis oscillating being parallel to Y-axis crossbeam 2 between mechanical arm and Y-axis crossbeam 2, mechanical arm is also connected with the mechanical arm elevating mechanism driving its lifting, mechanical arm comprises and is symmetricly set on left mechanical arm 9-1 on Y-axis crossbeam 2 and right mechanical arm 9-2, left mechanical arm 9-1 and right mechanical arm 9-2 respectively and be provided with the mechanical arm transverse-moving mechanism driving it along Y-axis crossbeam 2 transverse shifting between Y-axis crossbeam 2.By the transverse shifting that mechanical arm transverse-moving mechanism can drive left mechanical arm 9-1 and right mechanical arm 9-2 separate, two row holes can be processed simultaneously, and two row holes of different spacing can be adapted to, even can process two workpiece 10 to be added simultaneously, improve working (machining) efficiency.The vertical range between processing unit (plant) and workpiece to be added 10 is detected in real time by positioner, mechanical arm elevating mechanism is utilized to drive processing unit (plant) lifting, ensure, between processing unit (plant) and workpiece to be added 10, there is constant distance, then mechanical arm swing mechanism is utilized to drive left mechanical arm 9-1 and right mechanical arm 9-2 to swing, adapt to the workpiece to be added 10 of arc, processing unit (plant) is holed perpendicular to workpiece 10 to be added, Y-axis crossbeam 2 and workbench relative movement, thus feeder apparatus longitudinally 10 is processed to machined part, achieve the processing automatically to the workpiece to be added 10 of special-shaped tabular, alleviate operation intensity, improve operating efficiency, cut down finished cost, improve machining accuracy.
Preferably, the gantry frame in the present embodiment also comprises the column 1 of both sides, and Y-axis crossbeam 2 is horizontally fixed on two pillars, and alarm 3 is fixed at the two ends of Y-axis crossbeam 2, and X-axis rail set is arranged between two columns 1.
The side of left mechanical arm 9-1 and right mechanical arm 9-2 is established has cover plate respectively, mechanical arm elevating mechanism is fixed between cover plate and mechanical arm, concrete, mechanical arm elevating mechanism comprises screw component and ram, screw component fixing also junctor mechanical arm relative to cover plate, by the lifting of lead screw assembly driving mechanical arm, ram is arranged between mechanical arm and cover plate, realizes the guiding of mechanical arm lifting.
With reference to Fig. 2, mechanical arm transverse-moving mechanism comprises Y-axis tooth bar 5, Y-axis gear (not shown in FIG.) and two mechanical arm holders 17, left mechanical arm 9-1 and right mechanical arm 9-2 is separately positioned on two mechanical arm holders 17, Y-axis tooth bar 5 is laterally fixed on Y-axis crossbeam 2, Y-axis crossbeam 2 is fixed with the Y-axis guide rail 4 being parallel to Y-axis tooth bar 5, mechanical arm holder 17 is slidably arranged on Y-axis guide rail 4 by slide block (not shown in FIG.), Y-axis gear to be fixed on mechanical arm holder 17 and to engage with Y-axis tooth bar 5, mechanical arm holder 17 is fixed with the Y-axis servomotor 7 driving Y-axis pinion rotation.Preferably, in the present embodiment, Y-axis guide rail 4 has upper and lower two, and Y-axis tooth bar 5 is arranged between two Y-axis guide rails 4, stressed more even.Above-mentioned mechanical arm swing mechanism is the mechanical arm wobble servo motor 6 be fixed on mechanical arm holder 17, and mechanical arm wobble servo motor 6 is connected with above-mentioned cover plate and drives left mechanical arm 9-1 and right mechanical arm 9-2 to swing respectively.
The upside of mechanical arm holder 17 is fixed with a drag chain fixed mount 8, preferably, the side, top of left mechanical arm 9-1 and right mechanical arm 9-2 is fixed with two mechanical arms respectively and swings limit switch 18, the side of corresponding drag chain fixed mount 8 has a rack side plate 801, when left mechanical arm 9-1 and right mechanical arm 9-2 swings to maximum position, mechanical arm swings limit switch 18 and rack side plate 801 and coordinates and to contact or close, thus prevent left mechanical arm 9-1 and right mechanical arm 9-2 from continuing swing and collide, two mechanical arms swing limit switch 18 and can realize a preparation and a use, prevent switch failure, improve reliability.
With reference to Fig. 3, in the present embodiment, processing unit (plant) comprises the servo-driver connected successively, boring servomotor 23, reductor 24 and drill bit 26, servo-driver is connected with controller (not shown in FIG.), servo-driver detects the electric current of boring servomotor 23 and feeds back to controller, controller can the stressing conditions of real-time judge drill bit 26 by electric current, when the current increases, illustrate that workpiece to be added 10 material is herein harder, drill bit 26 receives larger resistance, this Time Controller by servo-driver can keyhole servomotor 23 rotating speed reduce, thus can effectively avoid drill bit 26 impaired or even directly rupture, equally, when the current decreases, illustrate that workpiece to be added 10 material is herein relatively soft, the resistance that drill bit 26 is subject to is less, this Time Controller can be improved by the rotating speed of servo-driver keyhole servomotor 23, thus can working (machining) efficiency be improved.Boring servomotor 23 in the present embodiment, reductor 24 and drill bit 26 are fixed on the lower end of mechanical arm by a unit head fixed head 20.
Positioner in the present embodiment comprises positioning roller 25 and electronic ruler 21, electronic ruler 21 is vertically fixed on the robotic arm, positioning roller 25 is fixed on the lower end of a roller mount pad 32, roller mount pad 32 is connected with the flexible range cells of electronic ruler 21 lower end by magnet attraction mechanism, the surface of workpiece 10 to be added is often more coarse, sometimes surface also has some raised or sunken parts, especially arc, positioning roller 25 is easily impacted at walking process, the present embodiment is by magnet attraction mechanism adhesive positioning roller 25 and flexible range cells, positioning roller 25 can be separated with flexible range cells when meeting accident collision, thus prevent from damaging parts, especially the electronic ruler 21 that price is higher, reduce operating cost, run more reliable.Positioner in the present embodiment is fixed on unit head fixed head 20 by a range finding fixed head 19, and range finding fixed head 19 is mutually vertical with unit head fixed head 20.
Concrete, magnet attraction mechanism comprises strong magnets 27 and magnet holder 28, and positioning roller 25 rolls and is arranged on roller mount pad 32, and roller mount pad 32 is by described strong magnets 27 and magnet holder 28 adhesive; Flexible range cells comprises small-sized ram 29 and line slideway auxiliary 31, small-sized ram 29 is connected to the lower end of electronic ruler 21 by spring 22, small-sized ram 29 is slidably arranged on line slideway auxiliary 31, the lower end of small-sized ram 29 is fixed with a detection head 30, magnet holder 28 is fixed on line slideway auxiliary 31, and contact detection 30 after magnet holder 28 rises also promotes small-sized ram 29 and is elevated.
Embodiment 2
With reference to Fig. 4, the difference of the present embodiment and embodiment 1 is, level is provided with and perpendicular to the X-axis rail set of Y-axis crossbeam 2 in the below of left mechanical arm 9-1 and right mechanical arm 9-2, X-axis rail set is fixed with workbench, be provided with workpiece fixed mechanism on the table, Y-axis crossbeam 2 and workbench can in the relative movements of X-axis rail set length direction.
X-axis rail set comprises X-axis track plates 15, X-axis track plates 15 both sides are provided with X-axis line slideway, workbench is slidably arranged on X-axis line slideway, described workpiece fixed mechanism is fixedly installed on the table, is provided with the workbench actuating unit driving workbench to slide between workbench and X-axis track plates 15.Concrete, workbench actuating unit comprises the X-axis gear be fixed on the downside of workbench and the X-axis tooth bar be fixed on the upside of X-axis track plates 15, workbench bottom is fixed with the X-axis servomotor driving X-axis gear, and X-axis gear engages with X-axis tooth bar and drives workbench to slide along X-direction.
With reference to Fig. 4 ~ 6, in the present embodiment, workbench comprises reverse side stationary work-table 11, described workpiece fixed mechanism comprises the first support 13 and the second support 14 be fixed on along X-axis rail set length direction interval on reverse side stationary work-table 11, be fixed on the arc that the workpiece to be added 10 on reverse side stationary work-table 11 is bent upwards for two ends, workpiece 10 to be added is between the first support 13 and the second support 14, first support 13 upper end is provided with the reverse side pressure holding mechanism of pressure holding workpiece 10 to be added one end, second support 14 upper end is provided with the clamping fixture clamping workpiece 10 other end to be added, clamping fixture is adjustable for height to be arranged on the second support 14, the workpiece to be added 10 of differently curved height can be adapted to like this, and first support 13 and the second support 14 lower end all can along X-axis rail set length direction adjustment position fixing on the table, the workpiece to be added 10 of different length can be adapted to like this, workpiece fixed mechanism also comprises the multiple reverse side transverse positioning mechanisms being fixed on workbench both sides, located lateral 10 is carried out to machined part in the both sides that reverse side transverse positioning mechanism clamps workpiece 10 to be added, concrete, reverse side transverse positioning mechanism comprises multiple located lateral cylinder 35, located lateral support 36 and multiple locating piece 37, located lateral support 36 is fixed on the both sides of workbench, located lateral cylinder 35 and locating piece 37 is adjustable for height is separately fixed on corresponding locating support 36, located lateral cylinder 35 and locating piece 37 are oppositely arranged on the both sides of workpiece 10 to be added.
With reference to Fig. 7, reverse side pressure holding mechanism is fixed on the front side of the first support 13, further, a reverse side longitudinal register cylinder 34 is also fixed with at the rear side of the first support 13, for coordinating reverse side longitudinal register cylinder 34, a location via hole 38 is offered on the top of the first support 13, location via hole 38 is positioned at the below of reverse side pressure holding mechanism, the piston rod of reverse side longitudinal register cylinder 34 can promote workpiece 10 longitudinal register to be added through after the via hole 38 of location, workpiece 10 to be added is fixing more firm, locate also more accurate, improve machining accuracy, certainly in order to better 10 position to machined part, a push pedal can be fixed in the front end of reverse side longitudinal register cylinder 34 piston rod.Concrete, the reverse side pressure holding mechanism in the present embodiment is the briquetting 33 of a L shape.
With reference to Fig. 8, clamping fixture comprises fixture holder 39, quick chuck 40, the clamp cylinder 42 that connecting rod 41 and promotion connecting rod 41 swing, fixture holder 39 is adjustable for height to be fixed on the second support 14, one end of quick chuck 40 and one end of clamp cylinder 42 are hinged on fixture holder 39 respectively, one end of connecting rod 41 is connected with the piston rod rotation of clamp cylinder 42, the other end of connecting rod 41 and the middle part of quick chuck 40 are rotationally connected, clamp cylinder 42 drives quick chuck 40 to swing by connecting rod 41, the other end of quick chuck 40 is pressed on the upside of the end of workpiece 10 to be added.Workpiece 10 to be added is positioned on workbench, located lateral cylinder 35 action, promote workpiece 10 transverse shifting to be added, workpiece 10 to be added is made to be clamped between located lateral cylinder 35 and locating piece 37, mobile first support 13 and the second support 14, the briquetting 33 of the first support 13 upper end is made to be installed with the one end with workpiece 10 to be added, cylinder 34 action of reverse side longitudinal register also contacts one end of workpiece 10 to be added, promote workpiece 10 to be added to vertically move, the other end of workpiece 10 to be added is contacted with the second support 14, clamp cylinder 42 action, quick chuck 40 is driven to swing, the other end of quick chuck 40 is pressed on the upside of the end of workpiece 10 to be added, thus complete the location of to machined part 10 and fix, easy to operate.
With reference to Fig. 4 and 9, further, workbench also comprises a front stationary work-table 12, front stationary work-table 12 is arranged on the side of reverse side stationary work-table 11, front stationary work-table 12 and reverse side stationary work-table 11 separate be slidably arranged on X-axis line slideway, the workpiece to be added 10 be fixed on front stationary work-table 12 is the reclinate arc in two ends, workpiece 10 to be added can be selected to be fixed on front stationary work-table 12 or reverse side stationary work-table 11 according to the shape of workpiece 10 to be added like this, such as can one side comparatively smooth for surface be fixed on corresponding workbench as upper surface, the utility model can be moved by driving mechanical arm by mechanical arm transverse-moving mechanism between front stationary work-table 12 and reverse side stationary work-table 11, thus during workpiece 10 to be added on processing workbench, can another workpiece 10 to be added be fixed on another workbench, increase work efficiency further.
With reference to Fig. 9 and 10, the workpiece fixed mechanism be fixed on front stationary work-table 12 comprises front vertical location device and front transverse positioning mechanism, wherein front vertical location device comprises two fixed blocks 16 be fixed on along X-axis rail set length direction interval on front stationary work-table 12, fixed block 16 is fixed with front longitudinal register cylinder 43, at least one fixed block 16 is slidably arranged on front stationary work-table 12 along X-axis rail set length direction, workpiece 10 to be added is fixed between two fixed blocks 16, two fixed blocks 16 10 carry out longitudinal Primary Location to machined part, then promote workpiece 10 to be added by front longitudinal register cylinder 43 and carry out further longitudinal register, because the workpiece to be added 10 on front stationary work-table 12 is the reclinate arcs in two ends, so the two ends of workpiece 10 to be added all the time drop on bottom, so the adjustment without the need to considering height.Front transverse positioning mechanism is fixed on the both sides of front stationary work-table 12, and located lateral 10 is carried out to machined part in the both sides clamping workpiece 10 to be added.Front transverse positioning mechanism also comprises multiple located lateral cylinder 35 and locating piece 37, the located lateral cylinder 35 at two ends is fixed on fixed block 16, the located lateral cylinder 35 at middle part is adjustable for height to be fixed on locating support 36, and located lateral cylinder 35 and locating piece 37 are oppositely arranged.
The utility model also provides a kind of arc processing method, utilizes above-mentioned Gantry-type double-arm truss robot, with reference to Figure 11, specifically comprises the following steps:
Step 1), start, system back to zero;
Step 2), workpiece 10 to be added is fixed on below left mechanical arm 9-1 and right mechanical arm 9-2, if need to be programmed into step 3), otherwise enter step 5), need when processing new workpiece 10 to be added to reprogram, to adapt to the shape of new workpiece to be added 10, identical workpiece to be added 10 does not then need programming, directly utilizes identical program to carry out processing;
Step 3), programming, sets the swinging track of left mechanical arm 9-1 and right mechanical arm 9-2, the lifting track of setting drill bit 26, the lengthwise travel rate of setting workbench and stroke, and mechanical arm transverse-moving mechanism adjusts the spacing of left mechanical arm 9-1 and right mechanical arm 9-2;
Step 4), left mechanical arm 9-1 and right mechanical arm 9-2 sky are walked, if left mechanical arm 9-1 and right mechanical arm 9-2 can drive processing unit (plant) to process in the position to be processed of workpiece 10 to be added, enter step 5), otherwise return step 3);
Step 5), automatic operation, workbench drives workpiece 10 to be added to vertically move, left mechanical arm 9-1 and right mechanical arm 9-2 swings along workpiece 10 surface curvature to be added, mechanical arm elevating mechanism drives left mechanical arm 9-1 and right mechanical arm 9-2 to be elevated respectively, positioner contacts with workpiece 10 upper surface to be added, and detect the vertical range on processing unit (plant) and workpiece to be added 10 surface, processing unit (plant) 10 is processed to machined part;
Step 6), machines, and is pulled down by workpiece.
With reference to Figure 12, preferably, in step 5), dynamic processing unit (plant) 10 carries out in boring procedure to machined part, first the relevant parameter of setting controller, comprise the distance on drill bit 26 and workpiece 10 surface to be added, the upper lower limit value of the electric current of boring servomotor 23, the data detected are sent to controller by positioner, these data are converted to the vertical range on drill bit 26 and workpiece 10 surface to be added by controller, servo-driver detects the electric current of boring servomotor 23 and feeds back to controller, controller judges the stressing conditions of drill bit 26 according to the electric current of boring servomotor 23, and the rotating speed of boring servomotor 23 is changed accordingly by servo-driver.Concrete, when the current increases, illustrate that workpiece to be added 10 material is herein harder, drill bit 26 receives larger resistance, this Time Controller by servo-driver can keyhole servomotor 23 rotating speed reduce, thus can effectively avoid drill bit 26 impaired or even directly rupture, equally, when the current decreases, illustrate that workpiece to be added 10 material is herein relatively soft, the resistance that drill bit 26 is subject to is less, and this Time Controller can be improved by the rotating speed of servo-driver keyhole servomotor 23, thus can improve working (machining) efficiency.The resistance that certainly speed of drill bit 26 axial feed can also be regulated to adapt to suffered by drill bit 26 by controller, concrete, when the current increases, controller reduces the speed of drill bit 26 axial feed by mechanical arm elevating mechanism, thus can effectively avoid drill bit 26 impaired or even directly rupture, when the current decreases, controller improves the speed of drill bit 26 axial feed by mechanical arm elevating mechanism, thus can improve working (machining) efficiency.
The above, it is only preferred embodiment of the present utility model, be not restriction the utility model being made to other form, any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the Equivalent embodiments of equivalent variations.But everyly do not depart from technical solutions of the utility model content, any simple modification, equivalent variations and the remodeling done above embodiment according to technical spirit of the present utility model, still belong to the protection domain of technical solutions of the utility model.
Claims (8)
1. a Gantry-type double-arm truss robot, comprise gantry frame and mechanical arm, it is characterized in that: the top of gantry frame has Y-axis crossbeam (2), the lower end of mechanical arm is provided with processing unit (plant) and positioner, workpiece to be added (10) wherein below processing unit (plant) processing machine mechanical arm, positioner detects the spacing between processing unit (plant) and workpiece to be added (10), driving machine mechanical arm is provided with around the mechanical arm swing mechanism of axis oscillating being parallel to Y-axis crossbeam (2) between mechanical arm and Y-axis crossbeam (2), mechanical arm is also connected with the mechanical arm elevating mechanism driving its lifting, mechanical arm comprises and is symmetricly set on left mechanical arm (9-1) on Y-axis crossbeam (2) and right mechanical arm (9-2), left mechanical arm (9-1) and right mechanical arm (9-2) are respectively and be provided with the mechanical arm transverse-moving mechanism driving it along Y-axis crossbeam (2) transverse shifting between Y-axis crossbeam (2).
2. Gantry-type double-arm truss robot according to claim 1, it is characterized in that: be provided with level in the below of described left mechanical arm (9-1) and right mechanical arm (9-2) and perpendicular to the X-axis rail set of Y-axis crossbeam (2), X-axis rail set is fixed with workbench, be provided with workpiece fixed mechanism on the table, Y-axis crossbeam (2) and workbench can in the relative movements of X-axis rail set length direction.
3. Gantry-type double-arm truss robot according to claim 2, it is characterized in that: described X-axis rail set comprises X-axis track plates (15), X-axis track plates (15) both sides are provided with X-axis line slideway, described workbench is slidably arranged on X-axis line slideway, is provided with the workbench actuating unit driving workbench to slide between workbench and X-axis track plates (15).
4. Gantry-type double-arm truss robot according to claim 2, it is characterized in that: described workbench comprises reverse side stationary work-table (11), described workpiece fixed mechanism comprises and to be fixed on the first support (13) on reverse side stationary work-table (11) and the second support (14) along X-axis rail set length direction interval, be fixed on the arc that the workpiece to be added (10) on reverse side stationary work-table (11) is bent upwards for two ends, workpiece to be added (10) is positioned between the first support (13) and the second support (14), first support (13) upper end is provided with the reverse side pressure holding mechanism of pressure holding workpiece to be added (10) one end, what the second support (14) upper end level was adjustable is provided with the clamping fixture clamping workpiece to be added (10) other end,
Workpiece fixed mechanism also comprises the multiple reverse side transverse positioning mechanisms being fixed on workbench both sides, and located lateral is carried out in the both sides that reverse side transverse positioning mechanism clamps workpiece to be added (10) to machined part (10).
5. Gantry-type double-arm truss robot according to claim 4, it is characterized in that: described clamping fixture comprises fixture holder (39), quick chuck (40), the connecting rod driver element that connecting rod (41) and promotion connecting rod (41) swing, fixture holder (39) is adjustable for height to be fixed on the second support (14), one end of quick chuck (40) and one end of connecting rod driver element are hinged on fixture holder (39) respectively, one end of connecting rod (41) and the output of connecting rod driver element are rotationally connected, the other end of connecting rod (41) and the middle part of quick chuck (40) are rotationally connected, connecting rod driver element drives quick chuck (40) to swing by connecting rod (41), the other end of quick chuck (40) is pressed on the upside of the end of workpiece to be added (10).
6. Gantry-type double-arm truss robot according to claim 4, it is characterized in that: described workbench also comprises front stationary work-table (12), the workpiece to be added (10) be fixed on front stationary work-table (12) is the reclinate arc in two ends, described workpiece fixed mechanism comprises front vertical location device and front transverse positioning mechanism, wherein front vertical location device comprises two fixed blocks (16) be fixed on along X-axis rail set length direction interval on front stationary work-table (12), fixed block (16) is fixed with front longitudinal register cylinder (43), at least one fixed block (16) is slidably arranged on front stationary work-table (12) along X-axis rail set length direction, described workpiece to be added (10) is fixed between two fixed blocks (16), front transverse positioning mechanism is fixed on the both sides of front stationary work-table (12), and located lateral is carried out in the both sides clamping workpiece to be added (10) to machined part (10).
7. Gantry-type double-arm truss robot according to claim 1, it is characterized in that: described positioner comprises positioning roller (25) and electronic ruler (21), electronic ruler (21) is vertically fixed on the robotic arm, and positioning roller (25) is connected with the flexible range cells of electronic ruler (21) lower end by magnet attraction mechanism.
8. Gantry-type double-arm truss robot according to claim 7, it is characterized in that: described magnet attraction mechanism comprises strong magnets (27), roller mount pad (32) and magnet holder (28), positioning roller (25) rolls and is arranged on roller mount pad (32), and roller mount pad (32) is by described strong magnets (27) and magnet holder (28) adhesive;
Described flexible range cells comprises small-sized ram (29) and line slideway auxiliary (31), small-sized ram (29) is connected to the lower end of electronic ruler (21) by spring (22), small-sized ram (29) is slidably arranged on line slideway auxiliary (31), and magnet holder (28) is fixed on line slideway auxiliary (31) and goes up and promote small-sized ram (29) lifting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520740403.XU CN205043770U (en) | 2015-09-23 | 2015-09-23 | Planer -type both arms truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520740403.XU CN205043770U (en) | 2015-09-23 | 2015-09-23 | Planer -type both arms truss robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205043770U true CN205043770U (en) | 2016-02-24 |
Family
ID=55337384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520740403.XU Withdrawn - After Issue CN205043770U (en) | 2015-09-23 | 2015-09-23 | Planer -type both arms truss robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205043770U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082117A (en) * | 2015-09-23 | 2015-11-25 | 淄博纽氏达特机器人***技术有限公司 | Gantry type double-arm truss robot and machining method for arc-shaped plate |
| CN106272334A (en) * | 2016-10-22 | 2017-01-04 | 郑运长 | A kind of intelligent large steel plate automatic punching machine people |
| CN107309495A (en) * | 2017-05-31 | 2017-11-03 | 嘉善凝辉新型建材有限公司 | A kind of portable scratching device |
| CN109470129A (en) * | 2018-12-14 | 2019-03-15 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of contact wheel is to measuring device |
| CN109969227A (en) * | 2018-01-10 | 2019-07-05 | 深圳市行知达科技有限公司 | Wheel set detecting device, high-speed rail Wheel set detecting device and motor car wheel are to detection device |
-
2015
- 2015-09-23 CN CN201520740403.XU patent/CN205043770U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082117A (en) * | 2015-09-23 | 2015-11-25 | 淄博纽氏达特机器人***技术有限公司 | Gantry type double-arm truss robot and machining method for arc-shaped plate |
| CN106272334A (en) * | 2016-10-22 | 2017-01-04 | 郑运长 | A kind of intelligent large steel plate automatic punching machine people |
| CN107309495A (en) * | 2017-05-31 | 2017-11-03 | 嘉善凝辉新型建材有限公司 | A kind of portable scratching device |
| CN107309495B (en) * | 2017-05-31 | 2019-05-17 | 嘉善凝辉新型建材有限公司 | A kind of movable type scratching device |
| CN109969227A (en) * | 2018-01-10 | 2019-07-05 | 深圳市行知达科技有限公司 | Wheel set detecting device, high-speed rail Wheel set detecting device and motor car wheel are to detection device |
| CN109969227B (en) * | 2018-01-10 | 2024-04-26 | 深圳市行知达科技有限公司 | Wheel set detection device, high-speed railway wheel set detection device and moving wheel set detection device |
| CN109470129A (en) * | 2018-12-14 | 2019-03-15 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of contact wheel is to measuring device |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160224 Effective date of abandoning: 20170426 |