Design requirements for CNC machine tool manipulators

As a conveying tool for industrial automation loading and unloading, CNC machine tool manipulators are more and more favored by CNC machining companies. At present, the mainstream machining automation production lines at home and abroad mainly have two forms: a machining automation production line composed of a truss-type CNC machine tool manipulator and a 6-axis industrial robot for loading and unloading to form a machining automatic production line. At present, in the automobile manufacturing industry, most of the automatic flexible processing lines for processing large quantities of key parts such as engine blocks, cylinder heads and crankshafts use CNC machine tools for transportation.

Due to the fast conveying speed of the CNC machine tool manipulator, the acceleration is large and the acceleration and deceleration time is short. When transporting heavier workpieces, the inertia is large. Therefore, the servo drive motor must have sufficient driving and braking capabilities, and the supporting components must also have sufficient rigidity and strength. Only in this way can the servo motor meet the high response, high rigidity and high precision requirements of the truss manipulator conveying.

In the case of selecting the appropriate servo motor, the CNC machine tool manipulator calculates the displacement and trajectory of the servo system according to the distance of the material movement and the running beat, and dynamically adjusts the PID parameters of the driver. The CNC machine tool manipulator will change, amplify and adjust according to the received displacement and speed instructions, and then transfer it to the motion unit. The running status is detected in real time through the optical fiber sensor. During the high-speed handling process, the moving parts are in a very short time. It can reach a given speed within a high-speed stroke, and can stop instantly in high-speed travel. Through the interpolation operation of a high-resolution absolute encoder, the influence of mechanical errors and measurement errors on motion accuracy is controlled. Because the workpieces to be conveyed are different and the quality is also different, there are many specifications and series of CNC machine tools. When selecting, it is selected according to the quality of the conveyed workpiece and the processing beat. However, the arm of the manipulator and the clamping method are designed according to the shape and structure of the workpiece to be conveyed and the clamping method of the machine tool fixture.

The flexible CNC manipulator uses cylinders and motors to switch and drive the positioning and clamping modules. A set of CNC machine tool manipulators can complete different types of workpiece handling tasks. The clamping and positioning module can be designed in series according to the product quality and the size of the shape. The clamping and positioning module on the CNC lathe manipulator is installed in the same way. For different series of workpieces, you only need to switch the corresponding clamping and positioning module to meet the requirements of fast The need for switching. In this way, when processing different kinds of workpieces, it can be realized by only changing the clamping module, which improves the flexibility of the CNC machine tool manipulator.

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