A flexible loading and unloading method for CNC machine tools using a truss robot

Abstract

The invention provides a numerical control machine tool flexible loading and unloading method adopting a truss robot, and belongs to the technical field of metal part turning. The method comprises thefollowing steps: firstly, workpieces to be machined can realize manual loading and unloading through a certain angle; then, a feeding angle capable of allowing loading and unloading is calculated; and an obstacle avoiding path of clamped workpieces in a numerical control machine tool is planned in a truss robot control unit. According to a needed normal machine tool loading and unloading flow, loading and unloading actions of the truss robot in limited operation space in the numerical control machine tool are simulated and monitored through one step, and meanwhile, the chuck loosening and tightening actions of the numerical control machine tool are matched; and after one step is repeatedly exerted correctly, the full-automatic work flow of a truss robot loading and unloading system can berecovered, so that the loading and unloading space limiting problem in the numerical control machine tool is effectively solved.

Description

technical field [0001] The invention relates to the technical field of turning of metal parts, in particular to a flexible loading and unloading method of a numerically controlled machine tool using a truss robot. Background technique [0002] The reasonable use of CNC machine tool loading and unloading robots can replace operators to complete repetitive, boring and potentially dangerous work, which can greatly reduce the labor intensity of personnel, improve processing rhythm and production efficiency, and reduce costs and increase efficiency for enterprise production. Industrial robots that can be used for loading and unloading operations on CNC machine tools are mainly divided into two types: joint robots and truss robots. Among them, joint robots generally adopt five to six degrees of freedom, with flexible operation and good equipment adaptability. They mostly use precision reducer transmission, high repeat positioning accuracy, and high machining accuracy of parts. How...

AI Technical Summary

Problems solved by technology

[0003] Since the truss robot belongs to the rectangular coordinate robot, it cannot be compared with the multi-degree-of-freedom joint robot in terms of space movement and positioning, especially in the limited operating space inside the CNC machine tool, the spindle chuck, tool holder and props, thimble, etc. inside the machine tool Both may interfere with the robot’s grippers and workpieces for loading and unloading. The loading and unloading action can be easily completed by manual operation, but it cannot be replaced by simple walking in Cartesian coordinates. As a result, the use of the truss robot will be affected by the size of the workpiece and the structure of the CNC machine tool. And the limitation of internal space size reduces the compatibility of equipment

In order to realize the loading and unloading action, sometimes the inside of the machine tool has to be modified, or the standby position of the interfered equipment has to be adjusted or withdrawn, which increases the cost of equipment use and affects the overall processing efficiency

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