How does industrial robot coordinate the work with numerical control machine tool?
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FANUC robot machined product line automatically to configure two FANUC Robot M-20iA to carry systematic robot, among them a robot serves as walk robot R1, α IF12/3000 controls electromotor of use FANUC servo, have drive through accurate decelerate machine, gear and rack, repeat precision tall, can get used to a machine tool easily the plan that in slideway two side arrange. Capture of the capture that basically is used at semifinished product workpiece, the workpiece between working procedure of the makings on the machine tool, treatment and discharge of treatment finished product are divided and carry transmission belt to go up. Another secures robot R2 to combine the intelligent robot technology with particular FANUC (IRVision vision function) , use at next makings, in charging basket the code puts treatment finished product. Each link combines robot of FANUC Robot M-20iA each times place for joint is nodded or coordinate is, its appearance and each joint position are shown 1 times like the graph. Outline drawing of robot of graph 1 FANUC 2.
Equipment of automatic treatment line decorates electric machinery crust to machine product line automatically by on makings conveyer belt and next makings conveyer belt (deploy IRVision vision system respectively) , walk robot R1 (slideway type) , charging basket of lathe of numerical control of a machining center of vertical of two R2, VM850, CLX360, finished product mixes fixed robot, if the graph is shown 2 times,each equipment is decorated. Graph equipment of 2 treatment line arranges a plan 3.
Work of CNC Machining craft is electric machinery crust, if the graph is shown 3 times, it is large quantities of quantities to produce, material is ADC12 aluminium alloy. Treatment content includes drill of end panel milling, attack whorl and inside the content such as aperture turning. Graph content of working procedure of treatment of spare parts of part drawing of crust of 3 electric machinery allocates as follows: (1) process of platform of protruding of the 1 circle outside undertaking whorl of bore of M4 whorl bottom outlet, M4 attacks whorl and milling machines VM850 vertical machining center, if pursue,4 are shown. Graph 4 machining center 1 treatment process chart (2) VM850 machining center 2 undertake getting 6 φ 5.
The via of 5mm, orifice pours horny process treatment, if pursue,5 are shown. Graph 5 machining center 2 treatment process chart (3) lathe of CLX360 numerical control undertakes inside aperture of Kong Ji step, orifice pours horny process to machine, if pursue,6 are shown. Graph lathe of 6 numerical control machines process chart in addition, still need to design special fixture, machining center clamping apparatus is used inside clip means, numerical control lathe is used outside clip means. Outline drawing of robot of profit figure 1 FANUC machines assorted application technology with robot and numerical control machine tool, the means that expects with automatic fluctuation processes this work, improve treatment efficiency. 4.
The robot expects the movement designs the appearance characteristic according to workpiece to design part of robot pneumatic paw automatically up and down, include pneumatic, sensor and mechanical component to wait. Workpiece machines technological process to be as follows: Workpiece of ① semifinished product is put going up on makings conveyer belt. ② walks workpiece of semifinished product of capture of robot R1 compound paw, walk machining center 1 position, install workpiece machining center on the special fixture of 1, if pursue,7 are shown. Graph 7 machining center put workpiece ③ to treat machining center on 1 clamping apparatus after 1 treatment is finished, walk robot R1 compound paw takes next work, walk machining center 2 positions, install workpiece machining center on the special fixture of 2, if pursue,8 are shown. Graph 8 machining center put workpiece ④ to treat machining center on 2 clamping apparatus after 2 treatment are finished, walk robot R1 takes next workpiece to arrive position of numerical control lathe, workpiece installation arrives on special fixture, if pursue,9 are shown. Workpiece gets off after waiting for workpiece treatment to finish, the robot walks to reverse revolving stage position to workpiece, undertake workpiece retroflexions, exchange, if pursue,10 are shown. The graph puts workpiece to pursue on clamping apparatus of lathe of 9 numerical control 10 workpiece are in turn over workpiece of ⑤ of the exchange on revolving stage to be in after turning over revolving stage to have trade, robot R1 places treatment finished product on next makings conveyer belt, if the graph is shown 11 times, undertake by robot R2 the makings below workpiece, voluntary code is put in finished product charging basket, if pursue,12 are shown. Graph 11 compound paw put finished product work to next makings conveyer belt to pursue 12 odd paw get off finished product workpiece from next makings conveyer belt so far, end a whole treatment technological process. Each treatment working procedure has corresponding metre, after the course adjusts CNC machine program and robot action program, can achieve treatment of numerical control machine tool and the perfect combination that the robot expects up and down. 5.
Special fixture design machines working procedure task severally according to machine tool of 3 numerical control, the design sets pneumatic clamping apparatus 3 sets, the introduction is as follows. (1) vertical machining center 1 special fixture: Vertical machining center 1 undertake bore, if the graph is shown 13 times,attack. Graph 13 machining center 1 clamping apparatus (2) vertical machining center 2 special fixture: Vertical machining center 2 undertake getting 6 φ 5.
The via of 5mm, orifice pours horny process treatment, design with pneumatic 3 claw from workpiece of centering chuck clamp, with two stretch V the clamping apparatus with form directional piece, if pursue,14 are shown. Graph 14 machining center 2 clamping apparatus 1.
The chuck that start 2.
Bearing piece 3.
Stretch V form piece 4.
Tailor-made card is ungual (3) special fixture of numerical control lathe: Numerical control lathe undertakes inside aperture and step aperture, orifice pours horny process treatment, design with one side two annul fixed position workpiece, rotate with pneumatic the clamping apparatus of clamp clamp means, if pursue,15 are shown. 6.
The interface of robot, P LC and numerical control machine tool is the safety that assures robot and numerical control machine tool to cooperate, should build the communication of on the safe side joins between robot, PLC and numerical control machine tool. In hardware respect, through screen cable will 3 person between corresponding input and output dot have link. Software side, pass a robot interface of special software, PLC, collect machine tool and robot current condition, write the corresponding control program that accords with fluctuation makings logic, achieve the effective communication of numerical control machine tool and robot finally. The key needs to deal with clamping apparatus of machine tool of signal of pneumatic of paw of the signal of preparation of machine tool of urgent break alarm, numerical control that finish, robot, numerical control Song Gaxin date and exit signal, picture of monitoring of condition of numerical control machine tool is shown 16 times like the graph. Graph clamping apparatus of lathe of 15 numerical control pursues picture of monitoring of condition of machine tool of 16 numerical control 7.
Epilogue rises as what industrial robot changes a standard to the development of deeper wider direction and robot intelligence, the applied limits of the robot still is expanding ceaselessly, industrial robot expects the orgnaization assists a component as numerical control machine tool automatically up and down, more and more get the attention of machine tool manufacturer and user. Through the robot control system and machine tool are controlled do not have quickly between the system by accident communication, and the precision that the robot moves, can make sure the system machines the dependability of the process. Article place narrates automatic treatment product line, assemble robot technology, PLC technology, sensor detects the advanced technique such as technology, communication technology and numerical control technology, realized the technology mix of industrial robot and numerical control machine tool, simplified numerical control machine tool operates mode, raised the sex of safety in operation of numerical control machine tool, reduced labor intensity of the worker, the fluctuation makings of workpiece and automatic treatment connection are close, improved work efficiency greatly, have better applied value. CNC Milling