CN105818153A - Wire bending modularization robot - Google Patents

Abstract

The invention relates to a wire bending modular robot, which includes a frame, on which a manipulator controlled by a control system is installed, and the manipulator is connected through a manipulator installation device, and the manipulator installation device includes a mounting panel. The center of the installation panel is provided with installation bolts, and the outer periphery of the installation bolts is provided with at least one circular rail, and the circular rails are concentric circles with the installation bolts as the center. The invention realizes the replacement of the robot hand by installing the panel, and one machine can realize various types of processing, has very strong versatility, and fully realizes man-machine dialogue, with a very high degree of intelligence.

Description

A wire bending modular robot

technical field

The invention relates to a wire bending modular robot, which belongs to the technical field of wire bending equipment.

Background technique

Metal wire forming is a large number of machine elements required in a large number of application fields and with different design schemes. In the existing bending and forming devices for metal wire products, a control system generally controls the bending mechanism, adjustment mechanism and cutting mechanism. For the bending and forming of wire rods, this type of wire rod bending forming machine has the following defects:

1. One machine can only complete one type of wire bending and forming. When it is necessary to change 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 lot of idleness and waste;

2. Man-machine dialogue cannot be realized, and its intelligence is far from meeting the needs of users.

Therefore, the present invention is proposed.

Contents of the invention

Aiming at the above-mentioned technical problems of the prior art, the object of the present invention is to provide a wire bending modular robot, which realizes the replacement of the robot arm through the installation panel, and one machine can realize various types of processing, and the versatility is very strong, and Fully realize the man-machine dialogue, and the degree of intelligence is very high.

To achieve the above object, the present invention is achieved through the following technical solutions:

A wire bending modular robot, including a frame, on which a manipulator controlled by a control system is installed, and the manipulator is connected through a manipulator installation device, and the manipulator installation device includes a mounting panel, and the installation panel There is a mounting bolt at the center, and at least one circular rail is provided on the outer periphery of the mounting bolt, and the circular rail is a concentric circle with the mounting bolt as the center.

The cross section of the circular rail is a trapezoidal groove, and the diameter of the inner opening is larger than that of the outer opening.

The installation panel is connected with a cam, and a reducer is installed on the rear side of the cam.

The control system includes a storage system, a camera detection system, a modeling simulation system, an intelligent detection and resolution system, a GBS control system and a 3D automatic programming system.

The manipulator is a slider assembly, a multifunctional manipulator, hydraulic scissors, a forming bending manipulator or a multi-axis twisting manipulator.

The slider assembly includes a gear box base on which a slider servo motor and a gear box cover are installed, and the gear box cover and the slider servo motor are located on opposite sides of the gear box base, and the gear box cover is installed with An eccentric shaft, a connecting seat is installed on the eccentric shaft, a connecting screw is provided under the connecting seat, a stop block is provided outside the connecting screw, and a movable tool rest is installed under the stop block The rotating shaft seat of the movable tool holder, the base of the reduction box is connected with the installation panel through a T-shaped nut, the tail of the T-shaped nut is provided with a cover plate, and the T-shaped nut is located in the circular rail, and the T-shaped nut is in the circular rail. Slide in rail.

The multifunctional manipulator includes a guide rail seat installed on the movable tool rest, a guide rail eccentric shaft is installed above the guide rail seat, a linear guide rail is installed below the guide rail seat, and the direct guide rail is connected with a guide rail moving seat. A moving slider is installed below the guide rail moving seat; a speed reducer is arranged above the guide rail eccentric shaft, the speed reducer is connected with a servo motor, and the motor shaft of the speed reducer is adjacent to the guide rail eccentric shaft, and the motor shaft of the speed reducer is adjacent to the guide rail eccentric shaft. The outside is provided with a motor seat.

The hydraulic scissors include a shear rocker shaft installed on the installation panel, a mold stop positioning plate, a joint pin shaft, an oil cylinder fixed shaft and a lifting seat, and the lifting seat is connected with a fixed seat, and the shearing rocker The arm shaft is connected with a shearing rocker, and a shearing die is installed on the positioning plate of the retaining die, and a shearing head is arranged between the shearing rocker and the shearing retaining die. An oil cylinder joint is installed, and the oil cylinder joint is located under the shear rocker arm.

The forming and bending manipulator includes an adjusting slider seat installed on the installation panel, the adjusting slider seat is connected with a torsion core gear, the torsion core gear is provided with a torsion core, and a torsion core is provided outside the torsion core. A core sleeve, an adjustment slider is provided below the torsion core sleeve, a slider bottom plate is provided under the adjustment slider, a forming bending servo motor is connected to the bottom of the slider bottom plate, and the forming bending servo motor is connected to There is a forming and bending reducer, and the forming and 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 includes a core seat and a turret, the turret is connected to the installation panel through a T-shaped nut, the T-nut is located in the circular rail, the core seat is connected to the installation panel, and the turret Servomotor 1, Servomotor 2 and Servomotor 3 are installed on it. The servomotor 1 is connected to the eccentric shaft 1 through the reducer. A moving plate is arranged between the moving linear guide rail and the up and down moving linear guide rail one, and a right-angle moving plate is arranged on the outside of the up and down moving linear guide rail one; The moving plate is connected; the servo motor 3 is connected with a cutting eccentric cam through a reducer, and the cutting eccentric cam is connected with a cutting knife seat, and one side of the cutting knife seat is provided with an adjustment guide plate, and the adjustment guide plate is located on the core seat One side of the turret; a square beam is installed under the turret, and a support seat is connected to the bottom of the square beam, and a support rod is installed on the support seat, and the support rod is connected with the square beam, and the side beam of the square beam A servo motor 4 is installed above, and the servo motor 4 is provided with a motor pulley, and the motor pulley is connected with a pulley through a belt, and the pulley is connected with a ball screw, and a column is arranged outside the ball screw, so The column is equipped with a vertically moving linear guide rail 2, and a tray is provided above the column, and a servo motor 5 is provided above the servo motor 4. The servo motor 5 is connected to a main shaft through a reducer, and a The torsion core, the torsion core is provided with a torsion core roller and a torsion core sleeve; the outside of the main shaft is provided with a reduction box, and the reduction box is connected to a servo motor six through a speed reducer, and the servo motor six is equipped with an upper The spring sleeve, the upper spring sleeve is sleeved with the lower spring sleeve, and the lower spring sleeve is connected with the motor pulley.

The wire bending modular robot of the present invention has the following beneficial effects:

1. The present invention is equipped with a mounting panel, and its manipulator can be installed into the circular rail through a T-shaped slot. When processing unsuitable types of raw materials, the manipulator can be easily replaced, realizing one machine with multiple functions, and its versatility is very strong;

2. When the manipulator is installed, the inner opening of the T-shaped slot is larger, and the big head part of the bolt is stuck inside the T-shaped slot, which increases the operating space of the manipulator;

3. In the present invention, the reducer is installed on the rear side of the cam, which realizes the overall replacement of the manipulator;

4. The present invention completes the design according to the complexity of the shapes and angles in the product processing process according to the difference of metal materials, through the storage system, camera detection system, modeling simulation system, intelligent detection and resolution system, GBS control system and 3D The automatic programming system realizes man-machine dialogue, achieves the purpose of intelligence and humanization, and uses modular man-machine transformation mode in the bending forming process of different products to complete different degrees of bending process at any time.

Description of drawings

Fig. 1 is the structural representation of mounting panel among the present invention;

Fig. 2 is a schematic diagram of the side structure of the installation panel in the present invention;

Fig. 3 is the structural representation of slider assembly among the present invention;

Fig. 4 is the structural representation of multifunctional manipulator among the present invention;

Fig. 5 is the structural representation of hydraulic scissors among the present invention;

Fig. 6 is the schematic diagram of the front view structure of the hydraulic scissors in the present invention;

Fig. 7 is the structural schematic diagram of forming bending manipulator among the present invention;

Fig. 8 is a structural schematic diagram of the multi-axis twisting manipulator in the present invention;

Among them, 1 is the mounting panel, 2 is the mounting bolt, and 3 is the round rail;

11 is the slider servo motor, 12 is the gear box cover, 13 is the gear box base, 14 is the eccentric shaft, 15 is the connecting seat, 16 is the connecting screw, 17 is the stopper, 18 is the rotating shaft seat of the movable tool holder, and 19 is T Shaped nut, 110 is a cover plate, 111 is a retaining ring, 112 is a clamping nut, and 113 is a movable knife rest;

21 is a guide rail seat, 22 is an eccentric shaft of a guide rail, 23 is a linear guide rail, 24 is a guide rail moving seat, 25 is a moving slider, 26 is a reducer, 27 is a servo motor, 28 is a motor shaft, and 29 is a motor seat;

31 is the shear rocker shaft, 32 is the retainer positioning plate, 33 is the joint pin, 34 is the oil cylinder fixed shaft, 35 is the lifting seat, 36 is the fixed seat, 37 is the shear rocker, 38 is the shear stopper , 39 is the shear head, 310 is the oil 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 forming bending servo motor, 48 is a forming bending reducer, 49 is the motor flange, 410 is the motor gear;

51 is the core seat, 52 is the turret, 53 is the servo motor 1, 54 is the servo motor 2, 55 is the servo motor 3, 56 is the reducer, 57 is the eccentric shaft 1, 58 is the horizontal moving linear guide rail, 59 is moving up and down Linear guide rail 1, 510 is a moving plate, 511 is a right-angle moving plate, 512 is an eccentric shaft 2, 513 is a cutting eccentric cam, 514 is a cutting knife seat, 515 is an adjustment guide plate, 516 is a square beam, 517 is a support seat, 518 is a Support rod, 519 is the servo motor 4, 520 is the motor pulley, 521 is the pulley, 522 is the ball screw, 523 is the column, 524 is the linear guide rail 2 for moving up and down, 525 is the tray, 526 is the servo motor 5, 527 is the main shaft , 528 is a torsion core, 529 is a torsion core roller, 530 is a torsion core cover, 531 is a reduction box, 532 is a servo motor six, 533 is an upper spring sleeve, and 534 is a lower spring sleeve.

detailed description

The present invention will be further described below in conjunction with specific examples, but the protection scope of the present invention is not limited thereto.

The wire bending modular robot of the present invention includes a frame on which a manipulator controlled by a control system is installed. The control system includes a storage system, a camera detection system, a modeling simulation system, an intelligent detection and resolution system, a GBS control system and a 3D Automatic programming system; the manipulator is connected by a manipulator installation device, as shown in Figures 1 and 2, the manipulator installation device includes a mounting panel 1, the center of the mounting panel 1 is provided with a mounting bolt 2, and the outer periphery of the mounting bolt 2 is provided with at least one circular rail 3, a circle The rail 3 is a concentric circle with the mounting bolt 2 as the center, and the manipulator can be installed into the circular rail through the T-shaped slot. When processing different types of raw materials, the manipulator can be easily replaced, realizing one machine with multiple functions, and its versatility is very strong .

The cross-section of the circular rail 3 in the present invention is a trapezoidal groove, and the diameter of the inner opening is greater than the diameter of the outer opening. When the manipulator is installed, the inner opening of the T-shaped groove is relatively large, and the big head parts of the bolts are stuck inside the T-shaped groove, which increases the manipulator. operating space.

The mounting panel 1 in the present invention is connected with a cam, and the speed reducer is installed on the rear side of the cam, thereby realizing the overall replacement of the manipulator.

The manipulator in the present invention is a slider assembly, a multifunctional manipulator, hydraulic scissors, a forming bending manipulator or a multi-axis twisting manipulator.

Example 1

As shown in FIG. 3 , in the first embodiment, the slider assembly is installed on the installation panel 1 .

The slider assembly includes a gear box base 13 on which a slider servo motor 11 and a gear box cover 12 are installed. The gear box cover 12 and the slider servo motor 11 are located on opposite sides of the gear box base 13. The shaft 14 and the eccentric shaft 14 are equipped with a connecting seat 15, the connection between the eccentric shaft 14 and the connecting seat 15 is provided with a retaining ring 111, and the bottom of the connecting seat 15 is connected with a connecting screw 16 through a clamping nut 112, and the outside of the connecting screw 16 A stop block 17 is provided, and a movable knife rest rotating shaft seat 18 for installing a movable knife rest 113 is arranged below the stop block 17 .

During installation, the reduction box base 13 is connected to the installation panel 1 through a T-shaped nut 19, the tail of the T-shaped nut 19 is provided with a cover plate 110, the T-shaped nut 19 is located in the circular rail 3, and the T-shaped nut 19 is in the circular rail 3 slide.

Example 2

As shown in Figure 4, the second embodiment is to install a multifunctional manipulator on the basis of the first embodiment.

The multifunctional manipulator comprises a guide rail seat 21 installed on the movable tool rest 17, a guide rail eccentric shaft 22 is installed above the guide rail seat 21, a linear guide rail 23 is installed below the guide rail seat 21, and the direct guide rail 23 is connected with a guide rail moving seat 24, and the guide rail The bottom of moving seat 24 is equipped with moving slide block 25; The top of guide rail eccentric shaft 22 is provided with speed reducer 26, and speed reducer 26 is connected with servomotor 27, and the motor shaft 28 of speed reducer 26 is adjacent to guide rail eccentric shaft 22, and motor A motor seat 29 is provided on the outside of the shaft 28 .

Example 3

As shown in FIGS. 5 and 6 , the embodiment 3 is to install the hydraulic scissors on the installation panel 1 .

The hydraulic scissors include a shear rocker shaft 31 installed on the installation panel 1, a mold stop positioning plate 32, a joint pin shaft 33, an oil cylinder fixed shaft 34, and a lifting seat 35. The lifting seat 35 is connected with a fixed seat 36, and the shearing rocker arm Shaft 31 is connected with shearing rocker arm 37, and shearing retaining die 38 is installed on retaining die positioning plate 32, is provided with shearing cutter head 39 between shearing rocking arm 37 and shearing retaining die 38, on joint pin shaft 33 An oil cylinder joint 310 is installed, and the oil cylinder joint 310 is located below the shear rocker arm 37 .

The shear rocker shaft 31 on the installation panel 1 in this embodiment 3, the retainer positioning plate 32, the joint pin shaft 33, the oil cylinder fixed shaft 34 and the lifting seat 35 are all installed on the round rail 3 by bolts, and the installation and disassembly Very convenient.

Example 4

As shown in FIG. 7 , in Embodiment 4, the forming and bending manipulator is installed on the installation panel 1 .

The forming and bending manipulator includes an adjustment slider seat 41 installed on the installation panel 1, the adjustment slider seat 41 is installed in the circular rail 3 by bolts, the adjustment slider seat 41 is connected with a torsion core gear 42, and the torsion core gear 42 is provided with a torsion core gear. Core 43, the outside of torsion core 43 is provided with torsion core sleeve 44, the bottom of torsion core sleeve 44 is provided with adjustment slide block 45, the bottom of adjustment slide block 45 is provided with slide block bottom plate 46, the bottom of slide block bottom plate 46 is connected with molding Bending servo motor 47, forming bending servo motor 47 is connected with forming bending reducer 48, and forming bending reducer 48 is connected with motor gear 410 through motor flange 49, and motor gear 410 meshes with torsion core gear 42.

Example 5

As shown in FIG. 8 , in Embodiment 5, the multi-axis twisting manipulator is installed on the installation panel 1 .

The multi-axis twisting manipulator includes a core base 51 and a turret 52 , the turret 52 is connected to the installation panel 1 through a T-shaped nut 19 , the T-shaped nut 19 is located in the circular rail 3 , and the core base 51 is connected to the installation panel 1 . Servomotor 1 53, servomotor 2 54 and servomotor 3 55 are installed on the turret 52, servomotor 1 53 is connected with eccentric shaft 1 57 by speed reducer 56, eccentric shaft 1 57 is connected with lateral movement linear guide 58 and moves up and down. Linear guide rail one 59, horizontally moving linear guide rail 58 and up and down moving linear guide rail one 59 are provided with moving plate 510, and the outside of moving up and down linear guide rail one 59 is provided with right angle moving plate 511. The second servo motor 54 is connected with the second eccentric shaft 512 through the reducer 56, and the second eccentric shaft 512 is connected with the moving plate 510. Servo motor three 55 is connected with cut off eccentric cam 513 by speed reducer 56, and cut off eccentric cam 513 is connected with cut off knife seat 514, and one side of cutting off knife seat 514 is provided with adjustment guide plate 515, and adjustment guide plate 515 is positioned at the side of core seat 51.

The bottom of the turret 52 is equipped with a square beam 516, the bottom of the square beam 516 is connected with a support base 517, the support base 517 is equipped with a support rod 518, the support rod 518 is connected with the square beam 516, and the top of the square beam 516 is equipped with a servo motor Four 519, servo motor four 519 is provided with motor pulley 520, and motor pulley 520 is connected with pulley 521 by belt, and pulley 521 is connected with ball screw 522, and the outside of ball screw 522 is provided with column 523, and column 523 is installed with Move the linear guide rail 2 524 up and down, and the top of the column 523 is provided with a tray 525, the top of the servo motor 519 is provided with a servo motor 5 526, and the servo motor 5 526 is connected with a main shaft 527 through a reducer 56, and a torsion core is installed on the main shaft 527 528, the torsional core 528 is provided with a torsional core roller 529 and a torsional core sleeve 530. The outside of the main shaft 527 is provided with a reduction box 531, and the reduction box 531 is connected with a servo motor 6 532 through a speed reducer 56, and an upper spring sleeve 533 is installed on the servo motor 6 532, and the upper spring sleeve 533 is sleeved with a lower spring sleeve 534 , the lower spring sleeve 534 is connected with the motor pulley 520 .

According to the different metal materials, the present invention completes the design based on the complexity of the shapes and angles in the product processing process, through the storage system, camera detection system, modeling simulation system, intelligent detection and resolution system, GBS control system and 3D automatic programming The system realizes man-machine dialogue, achieves the purpose of intelligence and humanization, and uses modular man-machine transformation mode in the bending forming process of different products to complete different degrees of bending process at any time.

When in use, the manipulator in Embodiments 1-5 is combined with the control system, and the control system issues instructions. The system uses an A6 chip, with a large storage function of 1 axis to 36 axes, and has a camera detection system, a modeling simulation system, and an intelligent detection system. Functions such as resolution system, GBS control system and 3D automatic programming system are modularized combinations of manipulators.

The present invention achieves the purpose that different manipulators cannot be matched with products, and the products required by oneself are produced in a man-machine conversion mode, and the degree of intelligence is relatively high.

The above-mentioned embodiments are only used to explain the inventive concept of the present invention, but not to limit the protection of the rights of the present invention. Any insubstantial changes made to the present invention by using this concept should fall within the scope of protection of the present invention.

Claims (10)

1. a bending wire modularization robot, it is characterized in that: include frame, the mechanical hand controlled by control system is installed in described frame, described mechanical hand is connected by mechanical hand erecting device, described mechanical hand erecting device includes installing panel, the center of described installation panel is provided with installation bolt, and the periphery of described installation bolt is provided with at least one circle rail, and described round rail is to install the bolt concentric circular as the center of circle.

2. bending wire modularization robot as claimed in claim 1, it is characterised in that: the cross section of described round rail is dovetail groove, and internal orifice diameter is more than collar extension diameter.

3. bending wire modularization robot as claimed in claim 1, it is characterised in that: described installation panel connects has cam, the rear side of described cam to be provided with reductor.

4. the bending wire modularization robot as described in claim 1-3 any claim, it is characterised in that: described control system includes stocking system, image detecting system, modeling and simulating system, Intelligent Measurement resolution system, GBS control system and 3D automatic programming system.

5. bending wire modularization robot as claimed in claim 4, it is characterised in that: described mechanical hand is slide block assembly, multifunction manipulator, hydraulic pressure shears, molding bending machinery hands or multiaxis distortion mechanical hand.

6. bending wire modularization robot as claimed in claim 5, it is characterized in that: described slide block assembly includes being provided with the speed reducing box base of slider servo motor and gear box cover, described gear box cover and slider servo motor are positioned at the opposite side of speed reducing box base, on described gear box cover, eccentric shaft is installed, connection seat is installed on described eccentric shaft, the lower section of described connection seat is provided with connection screw rod, the outside of described connection screw rod is provided with stop block, the lower section of described stop block is provided with the movable carriage shaft seat of installation activity knife rest, described speed reducing box base is connected with installing panel by T-nut, the afterbody of described T-nut is provided with cover plate, described T-nut is positioned at round rail, and T-nut slides in circle rail.

7. bending wire modularization robot as claimed in claim 6, it is characterized in that: described multifunction manipulator includes the track base being arranged on movable carriage, described track base be arranged above guide rail eccentric shaft, the lower section of track base is provided with line slideway, described direct guide rail connects has guide rail Mobile base, the lower section of described guide rail Mobile base to be provided with mobile slide block；Described guide rail eccentric shaft be arranged over reductor, described reductor connects servomotor, and the motor shaft of reductor is adjacent with guide rail eccentric shaft, and the outside of described motor shaft is provided with motor cabinet.

8. bending wire modularization robot as claimed in claim 5, it is characterized in that: described hydraulic pressure shears includes that the shearing rocker arm shaft being arranged on installation panel, gear mould location-plate, joint bearing pin, oil cylinder fix axle and elevating bracket, described elevating bracket connects fixing seat, described shearing rocker arm shaft connects shearing rocking arm, shearing gear mould is installed on described gear mould location-plate, it is provided with shearing cutter head between described shearing rocking arm and shearing gear mould, being provided with cylinder connector on described joint bearing pin, described cylinder connector is positioned at the lower section shearing rocking arm.

9. bending wire modularization robot as claimed in claim 5, it is characterized in that: described molding bending machinery hands includes being arranged on the adjusting slider seat installed on panel, described adjusting slider seat connects torsion core gear, described torsion core gear is provided with torsion core, the outside of described torsion core is provided with torsion core retainer plate, the lower section of described torsion core retainer plate is provided with adjusting slider, the lower section of described adjusting slider is provided with slider bottom plate, the lower section of described slider bottom plate connects has molding to bend servomotor, described molding bending servomotor connects has molding to bend reductor, described molding bending reductor is connected by motor flange motor gear, described motor gear engages with turning round core gear.

10. bending wire modularization robot as claimed in claim 5, it is characterized in that: described multiaxis distortion machinery hands includes core print seat and rotating turret, described rotating turret is connected with installing panel by T-nut, described T-nut is positioned at round rail, described core print seat is connected with installing panel, servomotor one is installed on described rotating turret, servomotor two and servomotor three, described servomotor one is connected by reductor eccentric shaft one, described eccentric shaft one connects to be had transverse shifting line slideway and moves up and down line slideway one, described transverse shifting line slideway and move up and down and be provided with movable plate between line slideway one, and the outside moving up and down line slideway one is provided with right angle movable plate；Described servomotor two-way crosses reductor connection has eccentric shaft two, described eccentric shaft two to be connected with movable plate；Reductor connection is crossed in described servomotor threeway cut-out eccentric cam, and described cut-out eccentric cam connects has cut-out tool rest, the side of described cut-out tool rest to be provided with regulation guide plate, and described regulation guide plate is positioned at the side of core print seat；The lower section of described rotating turret is provided with square beam, the lower section of described square beam connects support seat, on described support seat, support bar is installed, described support bar is connected with square beam, described square beam be arranged above servomotor four, described servomotor four is provided with electrical machine belt pulley, described electrical machine belt pulley is connected by belt belt pulley, described belt pulley connects ball screw, the outside of described ball screw is provided with column, it is provided with on described column and moves up and down line slideway two, and column be arranged over pallet, described servomotor four be arranged over servomotor five, described servomotor five-way crosses reductor connection main shaft, torsion core is installed on described main shaft, described torsion core is provided with torsion core roller and turns round core retainer plate；The outside of described main shaft is provided with reduction box, and described reduction box is connected by reductor servomotor six, and described servomotor six is provided with pogo barrel, and described upper pogo barrel is socketed with lower spring sleeve pipe, and described lower spring sleeve pipe is connected with electrical machine belt pulley.