六轴折弯机器人折弯单元结构设计  

Structure Design of Bending Unit of Six-axis Bending Robot

作　　者：杜成刚 刚建华 DU Cheng-gang;GANG Jian-hua(College of Mechanical and Electrical Engineering,Cangzhou Normal University,Cangzhou,Hebei 061001,China)

机构地区：[1]沧州师范学院机械与电气工程学院,河北沧州061001

出　　处：《沧州师范学院学报》2021年第1期56-59,共4页Journal of Cangzhou Normal University

基　　金：2020年度河北省“三三三人才工程”资助项目“六轴折弯机器人控制系统研究”,项目编号:A202001101.

摘　　要：近年来,采用折弯机器人辅助数控折弯机取代传统的人工操作实现自动折弯成为钣金行业发展的热点.通过分析折弯过程的加工特点,选用六轴垂直关节机器人构建了折弯单元,设计了能够根据工件尺寸进行调节的多吸盘机器人手爪和自动找正模块.同时,设计了一种光栅尺信号采集模块,实时采集折弯机滑块的位置信息,从而提高机器人对数控折弯机的跟随精度和产品质量一致性.In recent years,the use of bending robot assisted by numerical control(NC)bending machine in replacement of traditional manual operation to achieve automatic bending has become a hot spot in the development of sheet metal industry.By analyzing the characteristics of the bending process,a six-axis vertical shutdown robot was selected to construct the bending unit,in which a multi-sucker robot claw and automatic straightening module was designed according to the size of the workpiece.In order to improve the tracing accuracy of the robot to NC bending machine and product quality consistency,a grating ruler signal acquisition module was designed to collect the position information of the slider of the bending machine in real time.

关 键 词：折弯机器人 数控折弯机 折弯跟随 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]