A flexible control method for automatic grabbing equipment
A technology of equipment control and automation, which is applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve problems such as high physical exertion, poor product thermal performance consistency, and safe operation process, so as to improve work efficiency, reduce work difficulty, improve The effect of precision
Active Publication Date: 2021-11-30
BEIJING XINLI MACHINERY
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Problems solved by technology
[0003] Using a hand-held clamp to clamp the product into the high-frequency quenching coil for heat treatment not only requires high experience and physical exertion for the operator; the electromagnetic radiation generated during use will affect the health of the operator; the thermal conductivity of the clamp may cause accidental injury operator
At the same time, the quenching temperature is determined by observing the surface color of the product with eyes, and the thermal performance of the product is poor in consistency
To sum up, there are many variable factors in the process of two-person cooperation for high-frequency surface heat treatment of parts, resulting in different implementation of the main process indicators of the parts
The purpose of the present invention is to improve the high-frequency surface heat treatment process of products with the characteristics of multiple varieties, small batches, and small sizes, remove the manual operation that affects the consistency of heat treatment performance, and solve the problem of large experience dependence, poor product consistency, and operation problems. Process safety and other issues, realize the automatic operation of product heat treatment
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[0050] Such as figure 1 As shown, a flexible automatic grabbing device is composed of a control system and a mechanical system 2 . The mechanical system 2 is fixed to the elevator platform 3 of the quenching equipment through the installation base plate. Such as image 3As shown, the main body of the mechanical system 2 is composed of a three-axis slide table 21 and an installation frame 22. The installation frame 22 adopts a slot structure, and the three-axis slide table 21 is fixed to a suitable slot position of the installation frame 22 by screws. This position can be Make corresponding changes according to the dimensions of the quenched parts. The tray 23 is fixed on the installation frame 22 through the installation column reserved by the installation frame.
[0051] Among them, the grabbing hand is a replaceable tooling, and the external steering gear is used to provide the grabbing force for the grabbing hand, and it is equipped with different grabbing tooling to gra...
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The invention belongs to the field of industrial automation, and specifically relates to a flexible automatic grabbing device control method, which is characterized in that: the control system controls the mechanical system to grab and move according to a certain track, and the certain track moves through the space coordinate point; the space coordinate point can be Calibrated in the main controller of the control system, the closed-loop trajectory control of the combination of the spatial coordinate point and the default spatial coordinate point can realize the grasping hand action in quenching. The invention has good product consistency, safe operation process and can better improve the surface heat treatment process.
Description
technical field [0001] The invention belongs to the field of industrial automation, and in particular relates to a flexible automatic grabbing device control method. Background technique [0002] A lot of work has been done on the research of high-frequency surface heat treatment technology at home and abroad, including research on high-frequency surface heat treatment of ordinary standard parts, and research on high-frequency surface heat treatment of complex-shaped parts, but mainly for single-piece large-scale There are not many researches on special equipment for automatic high-frequency surface heat treatment equipment that can adapt to multiple varieties and small batches of small aerospace parts at the same time. At the present stage, for the high-frequency surface heat treatment process of products with the characteristics of multiple varieties, small batches, and small sizes, the method of two-person cooperation is mostly adopted, and the parts are clamped by hand-h...
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IPC IPC(8): B25J9/16
CPCB25J9/1628B25J9/1664
Inventor 钱深研王文明
Owner BEIJING XINLI MACHINERY