CN207839677U - Five axis sheet metal Bending Processing robots - Google Patents
Five axis sheet metal Bending Processing robots Download PDFInfo
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- CN207839677U CN207839677U CN201820081633.3U CN201820081633U CN207839677U CN 207839677 U CN207839677 U CN 207839677U CN 201820081633 U CN201820081633 U CN 201820081633U CN 207839677 U CN207839677 U CN 207839677U
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- rotary shaft
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Abstract
Five axis sheet metal Bending Processing robots, there are five axis joints for tool, and five axis joints are respectively 1 axis, 2 axis, 3 axis, 4 axis and 5 axis.Wherein, 1 axis indicates sliding straightly between pedestal and sliding block；2 axis indicate being hinged between sliding block and large arm；3 axis indicate being hinged between large arm and forearm；4 axis indicate being hinged between forearm and forearm；5 axis indicate being hinged for forearm and flange shaft；When bending, 2,3,4 axis link to realize.The movement of 1 axis is used for feeding, blowing；5 axis rotate, and are used for plank and replace；The utility model can avoid 4 axis that mechanical interference occurs with bender, be suitble to the bending of small part；And floor space is small, flexible movements, speed is fast.
Description
Technical field
The utility model is related to sheet metal manufacture field, especially a kind of five axis sheet metal Bending Processing robots.
Background technology
In recent years, sheet metal manufacture field, the application for automating processing technology are gradually popularized.Sheet metal processing is automatic
The core technology of change is the automation of sheet metal bending.The especially processing of the larger part of large scale weight, the labor intensity of worker
Greatly, it usually needs 2 even several operators complete, and labor intensity is big, and working environment is severe.Sheet metal bending automation solves
Scheme has become the common recognition of industry, has huge market potential and development space.
Currently, the solution of sheet metal bending automation, mainly there is the following two kinds.
1, special referring in particular to the Chinese utility model application No. is 201710513061.1 using 6 joint all-purpose robots
Profit application, utility model are created entitled " a kind of to be used for metal plate and body non-interference robot when automatic bending ",
For 6 joint industrial robots, the sum of forearm element stems length and wrist part bar length long Y=2~3 of the big armed levers of X/, bender lower die
Edge height-distance H=500~the 600mm of swivel base J2 wheelbases from the ground, swivel base J2 wheelbases are from J1 axis distance Z=robots
Metal plate maximal side-the sum of forearm element stems length and wrist part bar length long Y of the big armed levers of X- is opened up/set to arm.J4 axis and J1 axis it
Between offset control distance, J3 spindle motors be arranged on the outside of large arm.
Above-mentioned patent application is used for large scale metal plate bending, metal plate and body will not by the long proportion relation of rational bar
Xiang Hu Gan Wataru have evaded many drawbacks of the popular industrial machine people in bending application.However, due to the control number of axle excessive (6
Axis, DOF (degree of freedom) redundance), of high cost, moving range is small, is limited by arm exhibition.
2, using Cartesian robot, referring in particular to application No. is 201710110029.9 Chinese utility model patents
Application, entitled " a kind of planer-type bending robot " that utility model is created comprising：Orthogonal X-axis guide rail, Y
Axis rail and Z axis guide rail, X-axis guide rail are fixedly connected with fuselage；X-axis guide rail and Z axis guide rail are by the first sliding block vertical connection, and the
The X that is slidably connected opposite with X-axis guide rail and Z axis guide rail is respectively equipped on one sliding block to slide block guide rail and Z-direction slide block guide rail；Z axis
Guide rail lower end is fixed with the second sliding block, is fixed on the second sliding block and is slidably connected Y-axis slide block guide rail with Y-axis guide rail；Y-axis is led
The front end of rail is rotatablely connected A axis, is rotatably connected to the B axle vertical with A axis on A axis, the C vertical with B axle is rotatably connected in B axle
Axis, C axis front end are equipped with end effector mechanism.The advantages of patent application is：At low cost, load capacity is strong.However disadvantage nor
Chang Mingxian：Structure size is big, takes up a large area, and speed is slow, dumb.
There is following defects for above two sheet metal bending automation solutions：The axis of end two in wrist joint
Axis all intersects at a bit, mainly facilitates the solution of kinematical equation.In addition, be applicable in when bending large-size workpiece, it is small
Dimension workpiece bending is easy to interfere with bender, is completely unsuitable for the bending of small size workpiece.
Utility model content
The technical problems to be solved in the utility model is in view of the above shortcomings of the prior art, and to provide a kind of five axis metals
Sheet metal bending machining robot, the five axis sheet metal Bending Processing robot have 5 axis joints, no extra dof, control
Simply, moving range is big, is active in one's movements and load capacity is strong.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of five axis sheet metal Bending Processing robots, including pedestal, sliding block, large arm, forearm, forearm, rotary shaft and
Fixture.
Pedestal is of a straight line type, and slider bottom slides straightly along pedestal, and 1 axis joint, referred to as 1 are formed between sliding block and pedestal
Axis.
The top of sliding block is hinged by the bottom of 2 axis and large arm, and the top of large arm is mutually cut with scissors by the rear end of 3 axis and forearm
It connects, the front end of forearm is hinged by the rear end of 4 axis and forearm；1 axis, 2 axis, the axis of 3 axis and 4 axis are mutually parallel.
Rotary shaft is 5 axis, and the bottom of rotary shaft and the front end of forearm are rotatablely connected, and the top of rotary shaft is fixed with fixture to be connected
It connects, fixture can be detachably connected with sheet metal.
The axis perpendicular of the axis of rotary shaft and 4 axis.
The axis of the axis of rotary shaft and 4 axis is without crosspoint.
Rotary shaft is flange shaft, and the ring flange in flange shaft is formed as fixture.
Fixture is vacuum cup or electromagnet.
Origin is arranged on the axis of 2 axis, and is X-axis, vertical direction by the horizontal direction of the axis perpendicular with 2 axis
For Y-axis, rectangular coordinate system is established, then coordinate of 4 axis centers in the rectangular coordinate system is (dx, dy), then dxAnd dyCalculating
Formula is as follows：
In formula, X0For the X axis distance value of mold center's line in bender；Y0For lower die height in bender；L10For folder
The vertical offset distance of tool；L20For the horizontal off set of fixture；β is the angle between sheet metal and horizontal plane in bending process.
Angle β in bending process between sheet metal and horizontal plane is calculated using following formula：
In formula, B is the width of lower mould notch in bender；D is the work of upper mold in bender into stroke.
2 axis, 3 axis and 4 axis mutually link, it is assumed that the driving corner of 2 axis is θ2, 3 axis driving corner be θ3, 4 axis driving
Corner is θ4；Then θ2、θ3And θ4Meet following calculation formula：
θ2=a2；
θ3=a3-a2；
θ4=a4-a3；
a4=-β
Cx=dx-L4cos(a4)
Cy=dy-L4sin(a4)
In formula, a2For large arm and X-axis angle；a3For forearm and X-axis angle；a4For the angle of forearm and X-axis；L2For large arm
Length；L3For the length of forearm；L4For forearm, CxAnd CyFor intermediate variable.
The utility model has the advantages that：
1, the application uses 5 axis mechanisms, and compared with 6 axis universal machine people, moving range is big, and 1 axis is linear movement axis,
Extend the moving range of robot.In addition, compared with 6 axis universal machine people, a few axis is conducive to cost-effective；Without certainly
By degree redundancy, control is simple.
2, compared with right angle coordinate manipulator, the application floor space is small, flexible movements, and speed is fast.
3, the axis of 4 axis and 5 axis is non-intersecting, therefore the size of bending workpieces is not limited by 4 shaft sizes, is conducive to small size
The bending of workpiece.
4, present invention also provides the resolvings of the inverse kinematic of bending process, give the drive of each movable joint
Dynamic function (namely driving angle θ2、θ3、θ4).By C, C++, VB, the high-level programming languages such as ST are by θ2、θ3、θ4Solution formula
Corresponding program module is programmed, these program modules are directly invoked in motion controller, it is thus possible to realize the fortune of robot
Dynamic control.
Description of the drawings
Fig. 1 shows a kind of structural schematic diagram of five axis sheet metal Bending Processing robot of the utility model.
Fig. 2 shows the scale diagrams of large arm, forearm and forearm.
Fig. 3 shows sheet metal bending process schematic diagram.
Fig. 4 shows bending campaign parsing schematic diagram of the auxiliary robot under rectangular coordinate system.
Fig. 5 shows the relational graph of the angle β and bender lower die between sheet metal and horizontal plane in bending process.
Wherein have：1,1 axis；2,2 axis；3,3 axis；4,4 axis；5,5 axis；
10, pedestal；20, sliding block；30, large arm；40, forearm；50, forearm；60. sheet metal；
70, bender；71, upper mold；72, lower die；73, mold center's line.
Specific implementation mode
The utility model is described in further detail with specific better embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of five axis sheet metal Bending Processing robots, including it is pedestal 10, sliding block 20, large arm 30, small
Arm 40, forearm 50, rotary shaft and fixture.
Pedestal is of a straight line type, and slider bottom slides straightly along pedestal, and 1 axis joint, referred to as 1 are formed between sliding block and pedestal
Axis.
The top of sliding block is hinged by the bottom of 2 axis and large arm, and the top of large arm is mutually cut with scissors by the rear end of 3 axis and forearm
It connects, the front end of forearm is hinged by the rear end of 4 axis and forearm.
1 axis, 2 axis, the axis of 3 axis and 4 axis are mutually parallel.
Rotary shaft is 5 axis, and the bottom of rotary shaft and the front end of forearm are rotatablely connected, and the top of rotary shaft is fixed with fixture to be connected
It connects, fixture can be detachably connected with sheet metal.
There are many set-up modes of fixture, preferably there is following three kinds of set-up modes：
Preferred arrangement one：Rotary shaft and fixture are wholely set namely rotary shaft is flange shaft, the flange in flange shaft
Dish type becomes fixture, and ring flange is threadedly coupled with sheet metal.
Preferred arrangement two：Fixture is vacuum cup.
Preferred arrangement three：Fixture is electromagnet.
Certainly, as an alternative, fixture can also be other set-up modes well known in the prior art.
The axis perpendicular of the axis of above-mentioned rotary shaft and 4 axis.
The axis of the axis of above-mentioned rotary shaft and 4 axis is preferably without crosspoint, and thus, the application can avoid 4 axis and bending
Mechanical interference occurs for machine, is suitble to the bending of small part.
Certainly, as an alternative, the axis of rotary shaft can also intersect a bit with the axis of 4 axis, the utility model is due to needle
To the special process of bending, kinematics characteristic is different, is also fully able to anti-solution even if non-intersecting and comes out.
Using 2 axis centers as origin, for axis where 2 axis as X-axis, vertical direction is Y-axis, establishes rectangular coordinate system, fixture
Coordinate in the rectangular coordinate system is (dx, dy), then dxAnd dyCalculation formula it is as follows：
In formula, X0For the X axis distance value of mold center's line in bender；Y0For lower die height in bender；L10For folder
The vertical offset distance of tool；L20For the horizontal off set of fixture；β is the angle between sheet metal and horizontal plane in bending process.
Angle β in bending process between sheet metal and horizontal plane is calculated using following formula：
In formula, as shown in figure 5, B is the width of lower mould notch in bender；D is the work of upper mold in bender into stroke, formula
In ignore the influence of sheet metal thickness.
Certainly, as an alternative, angular transducer can also be used in the angle β in bending process between sheet metal and horizontal plane
It the other known mode such as is detected to measure, also within the protection domain of the application.
Above-mentioned 2 axis, 3 axis and 4 axis mutually link, it is assumed that the driving corner of 2 axis is θ2, 3 axis driving corner be θ3, 4 axis
Driving corner is θ4；Then θ2、θ3And θ4Meet following calculation formula：
θ2=a2；
θ3=a3-a2；
θ4=a4-a3；
a4=-β
Cx=dx-L4cos(a4)
Cy=dy-L4sin(a4)
In formula, as shown in figure 4, a2For large arm and X-axis angle；a3For forearm and X-axis angle；a4For the folder of forearm and X-axis
Angle；As shown in Fig. 2, L2For the length between big arm lengths namely 2 axis centers and 3 axis centers；L3For the length of forearm namely 3
Length between axis center and 4 axis centers；L4For the length between forearm namely 4 axis centers and 5 axis centers, CxAnd CyFor
Intermediate variable.
Sheet metal bending process is as shown in Figure 3, wherein solid line indicates that the state before sheet metal bending, dotted line indicate
State after sheet metal bending.
Preferred embodiments of the present invention described in detail above, still, the utility model are not limited to above-mentioned reality
Apply the detail in mode, in the range of the technology design of the utility model, can to the technical solution of the utility model into
The a variety of equivalents of row, these equivalents belong to the scope of protection of the utility model.
Claims (7)
1. a kind of five axis sheet metal Bending Processing robots, it is characterised in that：Including pedestal, sliding block, large arm, forearm, forearm,
Rotary shaft and fixture；
Pedestal is of a straight line type, and slider bottom slides straightly along pedestal, and 1 axis joint, referred to as 1 axis are formed between sliding block and pedestal；
The top of sliding block is hinged by the bottom of 2 axis and large arm, and the top of large arm is hinged by the rear end of 3 axis and forearm,
The front end of forearm is hinged by the rear end of 4 axis and forearm；1 axis, 2 axis, the axis of 3 axis and 4 axis are mutually parallel；
Rotary shaft is 5 axis, and the bottom of rotary shaft and the front end of forearm are rotatablely connected, and the top of rotary shaft is fixedly connected with fixture,
Fixture can be detachably connected with sheet metal；
The axis perpendicular of the axis of rotary shaft and 4 axis.
2. five axis sheet metal Bending Processing according to claim 1 robot, it is characterised in that：The axis of rotary shaft with
The axis of 4 axis is without crosspoint.
3. five axis sheet metal Bending Processing according to claim 1 robot, it is characterised in that：Rotary shaft is flange
Axis, the ring flange in flange shaft are formed as fixture.
4. five axis sheet metal Bending Processing according to claim 1 robot, it is characterised in that：Fixture is vacuum cup
Or electromagnet.
5. five axis sheet metal Bending Processing according to claim 1 robot, it is characterised in that：Origin is arranged 2
On the axis of axis, and it is X-axis by the horizontal direction of the axis perpendicular with 2 axis, vertical direction is Y-axis, establishes rectangular coordinate system,
Then coordinate of 4 axis centers in the rectangular coordinate system is (dx, dy), then dxAnd dyCalculation formula it is as follows：
In formula, X0For the X axis distance value of mold center's line in bender；Y0For lower die height in bender；L10For the perpendicular of fixture
Straight offset distance；L20For the horizontal off set of fixture；β is the angle between sheet metal and horizontal plane in bending process.
6. five axis sheet metal Bending Processing according to claim 5 robot, it is characterised in that：Metal in bending process
Angle β between plank and horizontal plane is calculated using following formula：
In formula, B is the width of lower mould notch in bender；D is the work of upper mold in bender into stroke.
7. five axis sheet metal Bending Processing according to claim 5 or 6 robot, it is characterised in that：2 axis, 3 axis and 4
Axis mutually links, it is assumed that the driving corner of 2 axis is θ2, 3 axis driving corner be θ3, 4 axis driving corner be θ4；Then θ2、θ3With
θ4Meet following calculation formula：
θ2=a2；
θ3=a3-a2；
θ4=a4-a3；
a4=-β
Cx=dx-L4cos(a4)
Cy=dy-L4sin(a4)
In formula, a2For large arm and X-axis angle；a3For forearm and X-axis angle；a4For the angle of forearm and X-axis；L2For big arm lengths；
L3For the length of forearm；L4For forearm, CxAnd CyFor intermediate variable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820081633.3U CN207839677U (en) | 2018-01-17 | 2018-01-17 | Five axis sheet metal Bending Processing robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820081633.3U CN207839677U (en) | 2018-01-17 | 2018-01-17 | Five axis sheet metal Bending Processing robots |
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| Publication Number | Publication Date |
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| CN207839677U true CN207839677U (en) | 2018-09-11 |
Family
ID=63415166
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820081633.3U Active CN207839677U (en) | 2018-01-17 | 2018-01-17 | Five axis sheet metal Bending Processing robots |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590354A (en) * | 2018-12-20 | 2019-04-09 | 合肥巍华钢结构有限公司 | A kind of steel building steel plate bending machine |
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2018
- 2018-01-17 CN CN201820081633.3U patent/CN207839677U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590354A (en) * | 2018-12-20 | 2019-04-09 | 合肥巍华钢结构有限公司 | A kind of steel building steel plate bending machine |
| CN109590354B (en) * | 2018-12-20 | 2020-04-07 | 合肥巍华钢结构有限公司 | Steel plate bending machine for steel structure building |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Zhangjiagang Institute of Zhangjiagang Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.: X2020980007094 Denomination of utility model: Five axis bending robot for sheet metal Granted publication date: 20180911 License type: Common License Record date: 20201026 |
|
| EE01 | Entry into force of recordation of patent licensing contract |