CN104589159A - Annular track industrial robot for machining large-scale workpiece - Google Patents
Annular track industrial robot for machining large-scale workpiece Download PDFInfo
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- CN104589159A CN104589159A CN201410728244.1A CN201410728244A CN104589159A CN 104589159 A CN104589159 A CN 104589159A CN 201410728244 A CN201410728244 A CN 201410728244A CN 104589159 A CN104589159 A CN 104589159A
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- China
- Prior art keywords
- industrial robot
- circular orbit
- workpiece
- annular track
- scale workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q37/00—Metal-working machines, or constructional combinations thereof, built-up from units designed so that at least some of the units can form parts of different machines or combinations; Units therefor in so far as the feature of interchangeability is important
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides an annular track industrial robot for machining a large-scale workpiece. According to the technical scheme, for the large-scale workpiece which is difficult to machine on a computer numerical control machine center, an annular track which can vertically move is arranged on the periphery of the workpiece, and the industrial robot walks on the annular track and can reach different positions. Different cutters can be installed on a mechanical arm so that different machining modes such as turning, milling and grinding can be completed. The method provided through the annular track industrial robot breaks through the limitation of a traditional computer numerical control machine center to the size of the machined workpiece, the large-scale workpiece can be machined at a low cost, and the annular track industrial robot is particularly suitable for machining of the large-scale workpiece with a general machining precision requirement.
Description
Technical field:
The present invention relates to a kind of circular orbit industrial robot for extreme large and heavy workpiece, belong to industrial robot applied technical field.
Background technology:
Robot (Robot) is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, also can according to the principle guiding principle action of formulating with artificial intelligence technology.Its task assists or replace the work of human work, such as production industry, building industry, or the work of danger.Robot is generally made up of executing agency, drive unit, checkout gear and control system and complicated machinery etc.
From applied environment, robot is divided into two large classes, i.e. industrial robot and specialized robot.Industrial robot is exactly multi-joint manipulator towards industrial circle or multi-freedom robot.Industrial robot is the installations automatically performing work, is to lean on self power and control ability to realize a kind of machine of various function.It can accept mankind commander, also can run according to the program of layout in advance, the principle guiding principle action that modern industrial robot can also be formulated according to artificial intelligence technology.Industrial robot is made up of main body, drive system and control system three essential parts.Main body and support and executing agency, comprise arm, wrist and hand, some robots also have walking mechanism.There are 3 ~ 6 freedoms of motion in most industry robot, and wherein wrist has 1 ~ 3 freedom of motion usually; Drive system comprises power set and transmission mechanism, produces corresponding action in order to make executing agency; Control system sends command signal according to the program of input to drive system and executing agency, and control.Industrial robot is divided into four kinds by the forms of motion of arm.The arm of cartesian co-ordinate type can move along three rectangular co-ordinates; The arm of circular cylindrical coordinate type can be elevated, turn round and expanding-contracting action; The arm of spherical coordinates type can turn round, pitching and flexible; The arm of joint type has multiple cradle head.Industrial robot, again can branch bit-type and continuous path type by the Control function of executing agency's motion.Point bit-type only controls the accurate location that executing agency is put to another by a bit, is applicable to the operations such as lathe loading and unloading, spot welding and general carrying, handling; Continuous path type can control executing agency and move by given trace, is applicable to the operation such as continuous welding and application.Industrial robot follow procedure input mode is distinguished imported and imported two classes of teaching of programming.There is sense of touch, power feels or the industrial robot of simple vision, can work under comparatively complex environment; As there is recognition function or further increasing self adaptation, self-learning function, namely become intelligent industrial robot.Free or the self-compiling program of its " macro-instruction " that can give according to people deacclimatizes environment, and automatically completes more complicated work.Industrial robot can substitute more and more expensive labour, can promote operating efficiency and product quality simultaneously.The assembling task of production line precision component can be accepted by robot of Foxconn, more alternatively manually to work in the bad working environments such as spraying, welding, assembling, and can produce in conjunction with Mould Machining with machine-tools such as numerical control ultra-precision iron beds, enhance productivity, Substitute For Partial unskilled worker.Use industrial robot can to reduce the number of rejects and seconds rate and product cost, improve the utilization rate of equipment, reduce the risk etc. that workman's maloperation brings, its a series of benefits brought are also fairly obvious, such as, reduce labo r usage, reduce equipment loss, accelerate technological innovation speed, improve enterprise competitiveness etc.Robot has the ability performing various task particularly high-risk task, and mean time between failures reaches more than 60000 hours, more advanced than traditional automation process.In developed country, industrial robot automatic production line outfit has become the main flow of automated arm and the developing direction in future.The industries such as Automotive Industry Abroad, electronic enterprises, engineering machinery use industrial robot automatic production line to ensure product quality and production high efficiency in a large number.Typical outfit has limousine housing punching automation systems technology and outfit, heavy-duty machines people automotive body welding automated system technology and the robot such as outfit, electronic apparatus at present.
At present, for the post-production of complex appearance workpiece, the general numerical control machining center that adopts is processed.Numerical control machining center needs workpiece to be processed to be put in operating room, and therefore, the size of every platform numerical control machining center to processing work is conditional.For some outsize workpiece, be difficult to find the numerical control machining center that can hold this workpiece, objectively cause large-scale workpiece and cannot process or be difficult to processing.
Summary of the invention:
[in view of the deficiency of above technology, the present invention is directed to the unmanageable large-scale workpiece of general NC machining center, a kind of circular orbit industrial robot for extreme large and heavy workpiece is proposed, its technical scheme is establish the circular orbit that can move up and down to be placed in around workpiece, industrial robot is walked in orbit, can reach different positions.On mechanical arm, replaceable different cutter, completes the processing of different modes, comprises car, milling, mill etc.
If circular orbit is placed in around workpiece, circular orbit is arranged on one group of column, and track can move up and down along column.Industrial robot adopts ripe business machine people platform, is installed on base.Floor installation, and can annularly track travel in circular orbit, can reach positions different around workpiece.
Robot establishes tool magazine, and mechanical arm can be installed, change different cutters, completes the processing mode that car, milling, mill, boring etc. are different.Cutter changing mode is for change manually or automatically.
Hydraulic pressure, machinery or other modes are taked in the lifting of circular orbit.
Beneficial effect:
For the post-production of complex appearance workpiece, the general numerical control machining center that adopts is processed.Numerical control machining center needs workpiece to be processed to be put in operating room, and therefore, the size of every platform numerical control machining center to processing work is conditional.For some outsize workpiece, be difficult to find the numerical control machining center that can hold this workpiece, objectively cause large-scale workpiece and cannot process or be difficult to processing.The method that this patent proposes, breaches the restriction of traditional numeric-control machining center to processing work size, with the processing of lower cost realization to large-scale workpiece, especially can be applicable to the extreme large and heavy workpiece general to requirement on machining accuracy.
Accompanying drawing illustrates:
Fig. 1 is circular orbit schematic diagram
Fig. 2 is the schematic diagram of mechanical arm processing work
Reference numeral: 1. circular orbit, 2. hydraulic lifting arm, 3. mechanical arm, 4. large-scale workpiece
Detailed description of the invention:
Composition graphs illustrates a kind of circular orbit industrial robot for extreme large and heavy workpiece mentioned by content of the present invention, for the processing of Large Aluminium Casting.
Workpiece size is 2 × 2 × 1m about.If 4 root posts, column diameter 0.1m, high 2.5m.Circular orbit diameter 3m.
Robot body selects that intelligence SRA100 robot, maximum working radius 2.6m, maximum heavy burden 100kg, repetitive positioning accuracy 0.1mm.Control system is wished with adopting Japanese OTC(Europe) FD11 control system.
Robot establishes car, boring two kinds of cutters altogether, and tool changing mode is manual tool changing after Vehicle Processing completes, and then Drilling operation is carried out in unification.
Claims (4)
1. for a circular orbit industrial robot for extreme large and heavy workpiece, it is characterized in that: establish circular orbit to be placed in around workpiece, circular orbit is arranged on one group of column, and track can move up and down along column.
2. the circular orbit industrial robot according to right 1, it is characterized in that: industrial robot adopts ripe business machine people platform, and be installed on base, floor installation is in circular orbit, and can annularly track travel, positions different around workpiece can be reached.
3. the circular orbit industrial robot according to right 2, it is characterized in that: robot establishes tool magazine, mechanical arm can be installed, change different cutters, and complete the processing mode that car, milling, mill, boring etc. are different, cutter changing mode is for change manually or automatically.
4. the circular orbit industrial robot according to right 2, is characterized in that: hydraulic pressure, machinery or other modes are taked in the lifting of circular orbit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410728244.1A CN104589159A (en) | 2014-12-03 | 2014-12-03 | Annular track industrial robot for machining large-scale workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410728244.1A CN104589159A (en) | 2014-12-03 | 2014-12-03 | Annular track industrial robot for machining large-scale workpiece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104589159A true CN104589159A (en) | 2015-05-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410728244.1A Pending CN104589159A (en) | 2014-12-03 | 2014-12-03 | Annular track industrial robot for machining large-scale workpiece |
Country Status (1)
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| CN (1) | CN104589159A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108068122A (en) * | 2017-12-26 | 2018-05-25 | 中国科学院合肥物质科学研究院 | A kind of large ship groove face processing unit (plant) and localization method |
| CN109290429A (en) * | 2018-09-29 | 2019-02-01 | 郭淑梅 | A kind of automobile shafts class perforating device |
Citations (5)
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| CN1579716A (en) * | 2003-08-14 | 2005-02-16 | 艾森曼机械制造两合公司（无限责任股东：艾森曼-基金会） | Device for the treatment of the surface of workpieces, in particular vehicle bodies |
| CN101648287A (en) * | 2009-07-20 | 2010-02-17 | 南通振华重型装备制造有限公司 | Novel rotating miller |
| CN102335821A (en) * | 2011-07-19 | 2012-02-01 | 无锡华联精工机械有限公司 | Laser self-leveling large-disc finishing machine |
| CN103085056A (en) * | 2013-01-28 | 2013-05-08 | 河南理工大学 | Underground coal mine disaster information detection robot platform |
| CN104044014A (en) * | 2013-03-12 | 2014-09-17 | 贝特霍尔德·赫姆勒机器制造股份公司 | Vertical machining centre in gantry form with integrated tool magazine storage unit integrated into machine |
-
2014
- 2014-12-03 CN CN201410728244.1A patent/CN104589159A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1579716A (en) * | 2003-08-14 | 2005-02-16 | 艾森曼机械制造两合公司（无限责任股东：艾森曼-基金会） | Device for the treatment of the surface of workpieces, in particular vehicle bodies |
| CN101648287A (en) * | 2009-07-20 | 2010-02-17 | 南通振华重型装备制造有限公司 | Novel rotating miller |
| CN102335821A (en) * | 2011-07-19 | 2012-02-01 | 无锡华联精工机械有限公司 | Laser self-leveling large-disc finishing machine |
| CN103085056A (en) * | 2013-01-28 | 2013-05-08 | 河南理工大学 | Underground coal mine disaster information detection robot platform |
| CN104044014A (en) * | 2013-03-12 | 2014-09-17 | 贝特霍尔德·赫姆勒机器制造股份公司 | Vertical machining centre in gantry form with integrated tool magazine storage unit integrated into machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108068122A (en) * | 2017-12-26 | 2018-05-25 | 中国科学院合肥物质科学研究院 | A kind of large ship groove face processing unit (plant) and localization method |
| CN109290429A (en) * | 2018-09-29 | 2019-02-01 | 郭淑梅 | A kind of automobile shafts class perforating device |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20150506 |