100 case draw the robot application in machine tool industry

Next makings robots on the lathe of 1 ton of serious work are in large sleeping car, when expecting on the equipment such as dig of large dragon door and large machining center, its wool blank is hundreds of kilograms are weighed normally, some wanting that go up to be weighed suddenly. Still have housing of large electric machinery, decelerate housing body, those who start housing body to wait carry also very take time, arduous. No matter be next makings on machine treatment, invade lacquer, clean etc be being carried between working procedure is extraordinary take time, arduous, this affected work efficiency directly. Of this kind of large component carry in Euramerican use robot of type of large dragon door to carry already. My company is one Germany enterprise a few years ago the design machined 350 kilograms of heavy spare partses invade lacquer robot, move smooth all the time and efficient, the user is more satisfactory to this. My company still designed axis of 500 kilograms of heavy steel to expect up and down to other enterprise (Pullman) robot. 100 case pull combinative Germany the practical experience of company robot and coach we can be designed build those who heft 5000 kilograms of serious work to carry a robot. The article expects up and down with axis of 500 kilograms of heavy steel (Pullman) factitious exemple comes to the machine the introduction, other loses loading capacity to carry the design likeness of the robot.

One robot structure explains 1 its ask steel gross ril load makes an appointment with 500kg originally, long make an appointment with 2000mm, place the work or material rest at the back of Pullman to go up. The steel axis on work or material rest of requirement machine handgrip is caught, on two tie-in that place advanced side sleeping car, the steel axis that is over treatment is caught, put those who be before lathe to put work or material rest. Choose rod of movement of a level for this (X axis) with fluctuation movement rod (Z axis) robot of 2 dimension XZ. According to height of two work or material rest, lathe centre height and they the effective journey of a hand of machine of around distance requirement is 6000*1000mm. Graph the 1 sketch map that is robot and lathe. Traversal speed: Average rate is Z axis minutely 20 meters, top traversal speed is minutely 30 meters. Average rate is X axis minutely 30 meters, top traversal speed is minutely 35 meters. Structure of 2 robots whole pursues 1 it is sketch map of structure of XZ2 dimension robot, the design of this robot is in drew lessons from 3 Germany one of design program that big laden robot and Spain give out on foundation of robot of makings of fluctuation of axis of one company special steel. Z axis structure: Z axis uses structure of double 100*100*6mm Shuang Gangzhu. Span of two steel column is 600mm, use aluminium board join to rise form, length of 120*800mm(width * ) strengthen model structure. Its are effective the journey can be in by the requirement 600~1600mm is optional. Z axis uses structure of double linear slideway and method of drive of only gear rack. X axis structure: X axis uses double bridge structure (kind the beam that as string of 1 with the day) . Every Liang Cai is arm of * of length of 200*200*8mm(width * with cross section thick) strengthen model crossbeam structure. Its are effective the journey can be in by the requirement 6000~12000mm is optional. X axis uses method of structure of double linear slideway and drive of synchronism of bilateral gear rack. Here X axis and Z axis all use entrance high speed structure of drive of motion of rack of gear of big load of slideway of big laden and linear campaign and high speed. Bracket of whole of structure of 3 robots support uses dragon door formula, two pillar plan to use 300*300*10mm. Two pillar use lower margin adjustable the adjustment that the structure will come undertake verticality. Two pillar span should see the spot expect the demand will decide up and down. 4 on work or material rest explains: Because want the work of treatment,be steel axis, its dimension is 2300*200mm about, heft 500 kilograms, all or use the day as string of 1 and insert a car kind carry on on work or material rest, or use conveyer belt to carry. Press here use conveyer belt to carry means consideration, scroll of requirement steel axis has to finally block a part, assure steel axis and parallel of lathe chuck axes. Steel axis can have small or so position error in the final position of conveyer belt, but want very small. Axes of such steel of machine hand capture, promotion (Z axis) , the level moves (X axis) arrive after upper part of lathe chuck axes, z axis drops to prop up an axis to go up till on lathe two again. 5 work or material rest explain: The steel axis that next work or material rest and user are over to treatment carries means to concern, steel axis is used to rely on oneself gravity to roll suppose here deferent means. After axis of robot capture steel, promotion (Z axis) arrive after certain height, the level moves (X axis) arrive after upper part of next work or material rest, z axis drops to be put to next work or material rest till steel axis again. 6 paw explain paw chooses German Sommer-Automation company, it offers all sorts of special paw a lot of times for Europe. We are adopted use paw of identical capture of train steel axis with European company place, assure the maturity on the technology, use stability is reliable. We choose type selecting of 7 linear slideway slideway of high speed of Japanese THK company. Here X axis and Z axis choose SHS45LV model, the biggest dynamic load of the slideway when single slide block is 10000GK, when tigidity of two slide block joins its are the biggest dynamic load is 50000GK. This project uses 4 slide block on slideway of every high speed, rigid join. Slideway of such two SHS45LV model and 8 slide block can be competent completely the high speed when the biggest dynamic load is 1000 kilograms of load moves, high speed is quickened and decelerate. When only guide double-slider leans closely one case: Ma = 16.

3kN.

M, mb = 16.

3kN.

M, mc = 3.

53kN.

) of data of M(single slide block, when using 4 slide block to lean closely one case: Ma, mb and Mc can increase 5~6 times. 8 gear rack chooses: Tentative selection modulus is 4, width and height about the rack of 50*40mm. 2 motion control a system 1) numerical control system chooses Xi Menzi PLC, assure high reliability, assure to stabilize reliable job for a long time. 2) electric machinery of drive of axis of Z of drive electric machinery: Z axis uses rated rotate speed 2000 turn, the forehead decides the communication servo electric machinery of force 25Nm, 5.

3 kilowatt communicate servo electric machinery, the biggest exert oneself 62Nm (inside 3 seconds) , top traversal speed is Z axis minutely 30 meters, average traversal speed is minutely 20 meters, acceleration is every second 0.

5 meters, laden / moment of inertia of drive electric machinery is compared be less than 2, it is normal to what match decelerate machine to be PLN 142/20 of German NEUGART company ascendant decelerate machine exerts oneself the requirement is 312Nm, and PLN 142/20 is actual the biggest exert oneself for 1187Nm, top rotate speed is divided for every 2273 when turning, drive electric machinery is the biggest exerting oneself is 62Nm, safety factor is 280% . Z axis should be chosen bring the servo electric machinery that holds brake in the arms automatically. Electric machinery of X axis drive: X axis uses rated rotate speed 3000 turn, the forehead decides the communication servo electric machinery of force 5Nm, 1.

6 kilowatt communicate servo electric machinery, the biggest exert oneself 12.

6Nm (inside 3 seconds) , top traversal speed is X axis minutely 31 meters, average traversal speed is minutely 30 meters, acceleration is every second 1.

05 meters, laden / moment of inertia of drive electric machinery is compared be less than 2, what match decelerate machine to be machine of decelerate of normal motion of PLE 120/20 of German NEUGART company to exert oneself the requirement is 70Nm, and PLE 120/20 is actual the biggest exert oneself for 252Nm, top rotate speed is divided for every 2400 turn, drive electric machinery is the biggest exert oneself: 12.

6Nm, safety factor is 260% . X axis uses the servo electric machinery of two just the same and planetary decelerate machine. 3 match place of axis of Z of planetary decelerate machine to match place of planetary decelerate machine to match planetary decelerate machine to use PLN142/20 of German NEUGART company. Decelerate of this decelerate machine is compared is 20, rated output torque is 910Nm, torque of the biggest output is 1920Nm, efficiency is 95% , backlash is less than 5 arc cent. X axis place matchs place of planetary decelerate machine to match planetary decelerate machine to use PLE 120/20 of German NEUGART company. Decelerate of this decelerate machine is compared is 20, rated output torque is 260Nm, torque of the biggest output is 520Nm, efficiency is 94% , backlash is less than 12 arc cent. X axis uses the planetary decelerate machine of two just the same. 3 campaign process 1 on material process above all X axis moves to go up upper part of work or material rest, wait to go up axis of the steel on work or material rest reachs the designated position claw of signal defensive position is stretched. Detect axis of the Z after two paw are stretched completely drops specific height. This is steel axis in should be in paw, detect after two paw interior has steel axis, paw closes. Detect after two paw close, z axis promotes designation height, detect next Z axis reachs the designated position signal (in case machine tool of steel axis dash against) . Detect Z axis is elevatory reach the designated position after signal, after upper part moves, the chuck of X axial machine tool is suspending campaign, detect next X axis reachs the designated position signal. Detect X axis reachs the designated position after signal, campaign suspends after appointed height moving below Z axial, at this moment the axes of steel axis and axes of machine tool chuck are homocentric, detect next Z axis reachs the designated position signal. Detect Z axis reachs the designated position after signal, paw is stretched, steel axis is put to two tie-in of lathe. Detect after paw stretchs signal, z axis rises to appoint height, machine tool main shaft is started, begin to machine. Expect on time about 20 seconds, here is the time that estimates by traversal speed, want a foundation the machine tool is particular height, height of work or material rest is mixed on positional ability expects on accurate computation time. 2 material process is in get the machine tool is machined, after main shaft already stopped roll, z axis begins to drop at the same time paw is stretched. Detect after Z axis drops to have steel axis to specific height and two paw interior, paw closes. Detect after two paw close, z axis promotes designation height. Detect Z axis is elevatory reach the designated position after signal, upper part of the work or material rest below X axial moves. Detect X axis reachs the designated position after signal, campaign suspends after appointed height moving below Z axial, detect next whether was steel axis already put to next work or material rest. Detect after steel axis already was put to next work or material rest really, paw is stretched. Detect after paw stretchs signal, z axis begins to lift appoint height and examination Z axis to reach the designated position signal. Detect Z axis is elevatory reach the designated position after signal, x axis begins up direction of work or material rest moves to appoint the position, begin capture axis of a steel, go finishing on material process. Next makings time about 20 seconds, here is the time that estimates by traversal speed, want a foundation the machine tool is particular height, height of next work or material rest and positional ability expect below accurate computation time. 4 conclusion suit makings of all sorts of machine tool fluctuation to apply very much as a result of rectangular coordinates robot, be in Europe a lot of countries, next makings on the machine tool are early had used in great quantities. 100 case pull the Germany that my company acts as agent robot of rectangular coordinates of company Berger Lahr enjoys high reputation in Europe, we are OK the successful experience of basis Germany company and case, reach us what 10 old application experience design Gao Ke of efficient high speed to lean for the user is special carry a robot. CNC Milling