Adjustable manipulator suitable for modular machining of stamping die

Abstract

The invention provides an adjustable manipulator suitable for modular machining of a stamping die. The adjustable mechanical arm suitable for modular machining of the punching die comprises a base, a first rotating mechanism is arranged on the base and comprises a first rotating disc, a first motor and a first support, a main machine is arranged on the left side of the base, and the upper side of the first rotating disc is fixedly connected with the first support; the side surface of the first support is rotationally connected with a second rotating disc, and the upper end of the second rotating disc is rotationally connected with a damping rod. According to the adjustable manipulator suitable for modular machining of the stamping die, by adopting the design of the nonlinear torque and current relation, the motor can more sensitively respond to torque change when approaching overload, and slow response caused by too simple linear relation is avoided. The torque and current of the motor follow an exponential growth model, and a protection mechanism can be rapidly detected and started when the current exceeds a set threshold value, so that overload damage of the motor is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of adjustable manipulators, and particularly to an adjustable manipulator suitable for modular processing of punching dies. Background Art

[0002] An adjustable manipulator suitable for modular processing of punching dies mainly consists of several core parts such as a robotic arm, a drive system, a control system, an adjustment device, and a clamping device. Its basic principle is to achieve precise handling and positioning of modular components during the punching die processing through the movement of the robotic arm and the adjustment of the adjustment device. The movement of the robotic arm is driven by a motor or a pneumatic device, and the control system monitors the position and state of the manipulator in real time through sensor feedback to ensure processing accuracy and automation. The adjustment device adjusts various parameters of the robotic arm according to specific processing requirements to make it adapt to the specifications and shapes of different punching dies. The clamping device performs precise grasping through a special fixture or a suction cup to ensure that each modular component is stably and safely transported to the designated position.

[0003] Although this system can provide a high degree of automation and flexibility in modular processing, there are still some deficiencies. Since the manipulator needs to handle heavy punching dies and modular components during operation, the safety issues around the operator and the equipment also need special attention. When the manipulator makes mistakes or has abnormal operations, it may cause equipment damage or personal injury. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present invention provides an adjustable manipulator suitable for modular processing of punching dies, which solves the problem that equipment damage or personal injury may occur when the manipulator makes mistakes or has abnormal operations.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: An adjustable manipulator suitable for modular processing of punching dies, comprising:

[0006] A base, on which a first transmission mechanism is provided. The first transmission mechanism includes a first turntable, a first motor, and a first bracket. A main machine is provided on the left side of the base;

[0007] The upper side of the first turntable is fixedly connected to the first bracket, and the side surface of the first bracket is rotatably connected to a second turntable. The upper end of the second turntable is rotatably connected to a damping rod;

[0008] A counterweight mechanism, the counterweight mechanism includes a first mounting frame, a counterweight block, a connecting rod, and a rotating shaft mounting plate;

[0009] A rotating mechanism, the rotating mechanism includes a limiting shaft, a second mounting frame, a rotating disk, a third motor, and a flange plate;

[0010] An overload protector is fixedly connected to the upper side of the second mounting bracket. The overload protector protects the motor load in the following manner:

[0011] The relationship between the torque and current of the motor is non-linearly increasing, that is, the relationship between the motor torque T and the current I follows the formula T = k.I n , where k is a constant, n > 1. When the current exceeds the set threshold I max , the torque exceeds the maximum safety value Trigger the protection mechanism and take reverse or stop operations.

[0012] Preferably, the first turntable is rotatably connected to the base, the lower side of the first motor is fixedly connected to the first turntable, and the output end of the first turntable is fixedly connected to the base.

[0013] Preferably, a second motor is fixedly connected to the side surface of the second turntable, and the output end of the second motor is fixedly connected to the second bracket.

[0014] Preferably, the first mounting bracket is fixedly connected to the second bracket.

[0015] Preferably, a counterweight is fixedly connected to the upper side of the first mounting bracket. The connecting rod is slidably connected to the first mounting bracket. The upper end of the connecting rod is rotatably connected to the rotating shaft mounting plate, and the rotating shaft mounting plate is fixedly connected to the second mounting bracket.

[0016] Preferably, the side surface of the rotating mechanism is fixedly connected to the limiting shaft. The limiting shaft is rotatably connected to the upper end of the damping rod. The limiting shaft is connected to the second mounting bracket through a bearing. The limiting shaft is connected to the rotating disk through a rotating connecting member. The rotating disk is fixedly connected to the third motor through a flange, and the third motor is connected to the rotating disk through a flange.

[0017] Preferably, the third motor is fixedly connected to the right side of the second mounting bracket. The output end of the third motor is fixedly connected to the rotating disk. The right side of the rotating disk is fixedly connected to the flange. A third bracket is provided on the second bracket.

[0018] Preferably, the overload protector has a dynamic protection threshold adjustment function, and the threshold T max (t) is dynamically adjusted according to time and motor speed. Specifically:

[0019]

[0020] Among them, T base is the basic torque threshold, v is the current motor speed, v max is the maximum motor speed, and α is an adjustment factor that controls the influence of speed on the maximum torque threshold.

[0021] Preferably, the overload protector further includes a reverse torque protection mechanism. When the motor load torque exceeds the maximum safety value T max , the motor performs a gradual reverse operation, and the reverse torque T reverse (t) undergoes a smooth transition through the following formula:

[0022] T reverse (t) = -k·(1 - e -βt )

[0023] where k is the maximum value of the reverse torque, β is the decay factor of the reverse torque, which controls the smoothness of the reverse process, t is the time. During the reverse operation of the motor, the reverse torque protection mechanism gradually reduces the rotational speed, avoids instantaneous impact, improves the stability of the reverse torque, and reduces the load on the manipulator.

[0024] Preferably, the overload protector adopts a torque-time feedback adjustment mechanism. When the torque integral value of the motor exceeds the set safety threshold within a short period, the protection mechanism is triggered to perform a reverse operation or stop the motor.

[0025] The present invention provides an adjustable manipulator applicable to die modular machining, having the following beneficial effects:

[0026] This adjustable manipulator applicable to die modular machining, through the design of the non-linear torque-current relationship, enables the motor to respond more sensitively to torque changes when approaching overload, avoiding the sluggish response caused by the overly simple linear relationship. The torque and current of the motor follow an exponential growth model, and can quickly detect and activate the protection mechanism when the current exceeds the set threshold, thereby preventing the motor from being damaged by overload. In addition, the dynamic protection threshold adjustment function of the present invention can adjust the maximum allowable torque threshold according to the actual rotational speed and load conditions of the motor, making the protection mechanism more intelligent and flexible. This protection strategy that automatically adjusts based on the change of working conditions can ensure the efficient and stable operation of the manipulator under complex working conditions. Especially when it is at high speed or under large load, the protection mechanism can respond in a timely manner to avoid accidents.

[0027] To further optimize the overload protection effect, the present invention introduces a reverse torque protection mechanism. When the motor load exceeds the limit, a gradual reverse torque operation is adopted, making the reverse process smoother and avoiding the instantaneous impact that may be caused by traditional emergency stops or reverse operations. Thus, it effectively reduces the vibration and load fluctuation of the manipulator during reverse operation and extends the service life of the mechanical system. In addition, the torque-time feedback adjustment mechanism ensures that the protection mechanism can be triggered in a timely manner when the motor load is overloaded for a long time by monitoring the torque change and accumulation of the motor in real time, preventing uncontrollable damage caused by short-term high loads. This comprehensive protection design ensures the high reliability of the manipulator system in the face of load fluctuations and protects the stability of the motor and the manipulator at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 For the present invention Figure 1 is an enlarged schematic diagram of the structure at A in the present invention;

[0030] Figure 3 For the present invention Figure 1 is an enlarged schematic diagram of the structure at B in the present invention;

[0031] Figure 4 is a schematic diagram of a partial structure of the present invention;

[0032] Figure 5 is a schematic diagram of another partial structure of the present invention;

[0033] Figure 6 is another schematic diagram of the overall structure of the present invention.

[0034] Among them, 1, main machine; 2, base; 3, first turntable; 4, first motor; 5, first bracket; 6, second turntable; 7, second motor; 8, second bracket; 9, overload protector; 10, first mounting bracket; 11, counterweight; 12, connecting rod; 13, damping rod; 14, third bracket; 15, rotating mechanism; 16, second mounting bracket; 17, shaft mounting plate; 18, limiting shaft; 19, rotating disk; 20, third motor; 21, flange plate. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] Such as Figures 1-6As shown in the figure, an adjustable manipulator applicable to die modular processing provided by an embodiment of the present invention includes a base 2, on which a first rotating mechanism is provided. The first rotating mechanism includes a first turntable 3, a first motor 4 and a first bracket 5. A main machine 1 is provided on the left side of the base 2. The first turntable 3 is rotatably connected to the base 2. The lower side of the first motor 4 is fixedly connected to the first turntable 3, and the output end of the first turntable 3 is fixedly connected to the base 2;

[0037] The upper side of the first turntable 3 is fixedly connected to the first bracket 5. A second turntable 6 is rotatably connected to the side surface of the first bracket 5. A damping rod 13 is rotatably connected to the upper end of the second turntable 6. A second motor 7 is fixedly connected to the side surface of the second turntable 6, and the output end of the second motor 7 is fixedly connected to the second bracket 8;

[0038] A counterweight mechanism, which includes a first mounting frame 10, a counterweight 11, a connecting rod 12 and a rotating shaft mounting piece 17. The first mounting frame 10 is fixedly connected to the second bracket 8. The upper side of the first mounting frame 10 is fixedly connected to the counterweight 11. The connecting rod 12 is slidably connected to the first mounting frame 10. The upper end of the connecting rod 12 is rotatably connected to the rotating shaft mounting piece 17, and the rotating shaft mounting piece 17 is fixedly connected to the second mounting frame 16;

[0039] A rotating mechanism 15, which includes a limiting shaft 18, a second mounting frame 16, a rotating disk 19, a third motor 20 and a flange 21. The side surface of the rotating mechanism 15 is fixedly connected to the limiting shaft 18. The limiting shaft 18 is rotatably connected to the upper end of the damping rod 13. The limiting shaft 18 is connected to the second mounting frame 16 through a bearing. The limiting shaft 18 and the rotating disk 19 are connected through a rotating connecting piece. The rotating disk 19 and the third motor 20 are fixedly connected through the flange 21, and the third motor 20 is connected to the rotating disk 19 through the flange 21.

[0040] An overload protector 9 is fixedly connected to the upper side of the second mounting frame 16. The overload protector 9 protects the motor load in the following way:

[0041] The relationship between the torque and current of the motor is non-linearly increasing, that is, the relationship between the motor torque T and the current I follows the formula T = k·I n , where k is a constant, n > 1. When the current exceeds the set threshold I max , the torque exceeds the maximum safety value to trigger the protection mechanism and take reverse or stop operations. The right side of the second mounting frame 16 is fixedly connected to the third motor 20. The output end of the third motor 20 is fixedly connected to the rotating disk 19. The right side of the rotating disk 19 is fixedly connected to the flange 21. A third bracket 14 is provided on the second bracket 8. The overload protector 9 has a dynamic protection threshold adjustment function, and the threshold T max (t) is dynamically adjusted with time and motor speed. Specifically:

[0042]

[0043] Among them, T base is the base torque threshold, v is the current rotational speed of the motor, v max is the maximum rotational speed of the motor, α is an adjustment factor that controls the influence of the rotational speed on the maximum torque threshold. The overload protector 9 further includes a reverse torque protection mechanism. When the load torque of the motor exceeds the maximum safety value T max , the motor performs a gradual reverse operation. The reverse torque T reverse (t) undergoes a smooth transition through the following formula:

[0044] T reverse (t) = -k·(1 - e -βt )

[0045] Among them, k is the maximum value of the reverse torque, β is the decay factor of the reverse torque that controls the smoothness of the reverse process, t is time. During the reverse operation of the motor, the reverse torque protection mechanism gradually reduces the rotational speed, avoids instantaneous impact, improves the stability of the reverse torque, and reduces the load on the manipulator. The overload protector 9 adopts a torque-time feedback adjustment mechanism. When the torque integral value of the motor exceeds the set safety threshold within a short period of time, the protection mechanism is triggered to perform a reverse operation or stop the motor.

[0046] Working principle: Check the hardware connection of the manipulator: Ensure that the connections of various parts such as the base 2, the first rotating mechanism, and the second turntable 6 are firm. Ensure that the counterweight 11 and the counterweight mechanism are correctly installed to ensure the balance of the manipulator. Check each motor, including the first motor 4, the second motor 7, and the third motor 20, to ensure good connection, stable current induction and voltage. Start the main unit 1 and ensure normal signal and power transmission between it and the base 2. Set the maximum torque threshold of the motor through the control panel to ensure that the motor does not exceed the safe operating range during load operation. According to the specific working conditions, adjust the dynamic protection threshold of the motor to adapt to different rotational speeds and load conditions. For example, the maximum rotational speed of the motor and the adjustment factor can be adjusted to make the protection mechanism more sensitive or adapt to higher loads. Enable the motor protection system and ensure that the overload protector 9 works properly. When the motor load reaches or approaches the maximum safety value, the protector will judge whether to trigger protection according to the current-torque relationship. Before starting, the protection mechanism can be verified by simulating the load under different working conditions. The overload situation can be simulated by adjusting the current to ensure that when the current exceeds the set threshold, the protection mechanism of the motor can be effectively started. When the torque-time integral value of the motor exceeds the safety threshold, the system will automatically trigger the protection mechanism. Stop the manipulator: After completing the task, manually stop the operation of the manipulator or switch to the stop mode through the control panel to ensure that the manipulator stops moving. Check the status of the motor and the manipulator: Check the working conditions of the motor and the manipulator to confirm whether there is overload or failure. If necessary, perform a system reset and check the current, torque, and rotational speed data.

[0047] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An adjustable manipulator suitable for die modular processing, characterized in that: include: A base (2) is provided with a first transmission mechanism, wherein the first rotation mechanism comprises a first turntable (3), a first motor (4) and a first bracket (5), and a main machine (1) is provided on the left side of the base (2); The upper side of the first rotating disk (3) is fixedly connected to the first bracket (5); the side surface of the first bracket (5) is rotatably connected to the second rotating disk (6); and the upper end of the second rotating disk (6) is rotatably connected to the damping rod (13); A counterweight mechanism, the counterweight mechanism comprising a first mounting frame (10), a counterweight block (11), a connecting rod (12) and a rotating shaft mounting plate (17); A rotating mechanism (15), the rotating mechanism (15) comprising a limiting shaft (18), a second mounting frame (16), a rotating disk (19), a third motor (20) and a flange (21); An overload protector (9) is fixedly connected to the upper side of the second mounting frame (16), and the overload protector (9) protects the motor load in the following manner: The relationship between the motor torque and current is nonlinear growth, that is, the relationship between the motor torque T and the current I follows the formula T = kI n , where k is a constant, n>1, when the current exceeds the set threshold I max When the torque exceeds the maximum safety value Trigger the protection mechanism and take reverse or stop action.

2. The adjustable manipulator suitable for die modular processing according to claim 1, characterized in that: The first turntable (3) is rotatably connected to the base (2), the lower side of the first motor (4) is fixedly connected to the first turntable (3), and the output end of the first turntable (3) is fixedly connected to the base (2).

3. The adjustable manipulator suitable for die modular processing according to claim 1, characterized in that: A second motor (7) is fixedly connected to the side surface of the second rotating disk (6), and an output end of the second motor (7) is fixedly connected to a second bracket (8).

4. The adjustable manipulator suitable for die modular processing according to claim 1, characterized in that: The first mounting frame (10) is fixedly connected to the second bracket (8).

5. The adjustable manipulator suitable for die modular processing according to claim 4, characterized in that: The upper side of the first mounting frame (10) is fixedly connected to the counterweight (11), the connecting rod (12) is slidably connected to the first mounting frame (10), the upper end of the connecting rod (12) is rotatably connected to the rotating shaft mounting plate (17), and the rotating shaft mounting plate (17) is fixedly connected to the second mounting frame (16).

6. The adjustable manipulator suitable for die modular processing according to claim 5, characterized in that: The side surface of the rotating mechanism (15) is fixedly connected to the limit shaft (18), the limit shaft (18) is rotatably connected to the upper end of the damping rod (13), the limit shaft (18) is connected to the second mounting frame (16) through a bearing, the limit shaft (18) is connected to the rotating disk (19) through a rotating connecting piece, the rotating disk (19) is fixedly connected to the third motor (20) through a flange (21), and the third motor (20) is connected to the rotating disk (19) through the flange (21).

7. The adjustable manipulator suitable for die modular processing according to claim 6, characterized in that: The right side of the second mounting frame (16) is fixedly connected to the third motor (20), the output end of the third motor (20) is fixedly connected to the rotating disk (19), the right side of the rotating disk (19) is fixedly connected to the flange (21), and the third bracket (14) is arranged on the second bracket (8).

8. The adjustable manipulator suitable for die modular processing according to claim 1, characterized in that: The overload protector (9) has a dynamic protection threshold adjustment function, and the threshold T max (t) is dynamically adjusted with time and motor speed, specifically: Among them, T base is the basic torque threshold, v is the current speed of the motor, and v max is the maximum motor speed, and α is the adjustment factor, which controls the influence of the speed on the maximum torque threshold.

9. The adjustable manipulator suitable for die modular processing according to claim 1, characterized in that: The overload protector (9) further includes a reverse torque protection mechanism, which is used when the motor load torque exceeds the maximum safety value T max When the motor performs a gradual reverse operation, the reverse torque T reverse (t) Smooth transition is performed using the following formula: T reverse (t)=-k·(1-e -βt ) Among them, k is the maximum value of the reverse torque, β is the attenuation factor of the reverse torque, which controls the smoothness of the reverse process, and t is time. The reverse torque protection mechanism gradually reduces the speed during the reverse operation of the motor to avoid instantaneous impact, improve the stability of the reverse torque, and reduce the load on the manipulator.

10. The adjustable manipulator suitable for die modular processing according to claim 1, characterized in that: The overload protector (9) adopts a torque-time feedback adjustment mechanism. When the torque integral value of the motor exceeds a set safety threshold within a short period of time, the protection mechanism is triggered to perform reverse operation or stop the motor.

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