CN107471885B - A kind of flexible automatic manufacturing device of carving machine - Google Patents
A kind of flexible automatic manufacturing device of carving machine Download PDFInfo
- Publication number
- CN107471885B CN107471885B CN201710823776.7A CN201710823776A CN107471885B CN 107471885 B CN107471885 B CN 107471885B CN 201710823776 A CN201710823776 A CN 201710823776A CN 107471885 B CN107471885 B CN 107471885B
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- standard
- carving machine
- pallet
- feed bin
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B1/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models
- B44B1/06—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B3/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
- B44B3/06—Accessories, e.g. tool or work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B2700/00—Machines, apparatus, tools or accessories for artistic work
- B44B2700/12—Accessories; Tool or work holders
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Workpieces (AREA)
Abstract
A kind of flexible automatic manufacturing device of carving machine, including aggregate-storing system, robot transportation system, pallet exchange system, Load System, system of processing and detection management system；Aggregate-storing system is using the annular feed bin that can be rotated, robot transportation system is made of truss manipulator, Load System is using prepackage platform, pallet exchange system includes the multiple Standard pallets being arranged in annular feed bin difference material position and the standard positioning system with Standard pallet cooperation, workpiece is fixed on Standard pallet by jig, is connected between Standard pallet and standard positioning system by standard interface；System of processing is made of the carving machine for being respectively arranged in annular feed bin two sides, and carving machine is equipped with the automatically-controlled door for loading and unloading, and the end of truss manipulator is equipped with gripping claw master, and Standard pallet is equipped with gripping claw tool shelf.The present invention can process multi items bulk article, without spending time verifying jig to change, guarantee the consistency of positioning accuracy and the outer clamping precision of machine in high-precision product machine.
Description
Technical field
The present invention relates to precision component Carving Machining fields, and in particular to a kind of flexible automatic manufacturing device of carving machine.
Background technique
The existing mach workpiece of finishing impression is all that some lighter in weight, requirement on machining accuracy be higher and the lesser work of cutting output
Part, the topology layout of carving machine are compared similar to vertical machining centre, and using progress by hand, the degree of automation is low for loading and unloading,
Large labor intensity and working efficiency is low when operation, is unfavorable for the production and processing of the extensive part of enterprise.Tradition articulated robot
The scheme that loading and unloading use is: a six-joint robot constitutes a processing unit, blank material master plus two or three lathes
If manually putting on first positioning table, need to execute end using different robots for different products when replacing product
End, for the different jig of different product designs, specificity is very strong, although being carried with multivariant robot,
But it is flexible poor and more demanding to the processing jig of workpiece.Since the mach workpiece of finishing impression typically belongs to finish
Workpiece, required precision is high, therefore the automatic loading and unloading mechanism that the difficulty for automating loading and unloading is big, a small number of, implementation method and structure
More complicated, low efficiency, precision are low, are unfavorable for producing in batches, it is therefore desirable to it is preferable to design a kind of flexibility, and is suitable for carving machine
Process units.
Six-joint robot used in the prior art has the following deficiencies:
The type of converted products is very limited；It is very long to change jig or gripper bring proving period, positioning surface
The disposition of protection, cutting and cutting fluid is complicated；Workpiece needs manually to move to the material grasping position of robot or by three-dimensional material
Library combines piler to be put on just positioning table；Corollary equipment is more, needs more operator, while the cost of six-joint robot
It is higher.
Summary of the invention
It is an object of the invention to be directed to above-mentioned the problems of the prior art, a kind of automatic production of flexibility of carving machine is provided
Device can process multi items bulk article, without spending time verifying jig to change, meet that high-precision jig is standardized to be wanted
It asks, jig positioning surface can be protected in processing, guarantee that positioning accuracy is consistent with the outer clamping precision of machine in high-precision product machine
Property.
To achieve the goals above, the technical solution adopted by the present invention are as follows:
Including aggregate-storing system, robot transportation system, pallet exchange system, Load System, system of processing and detection pipe
Reason system；The aggregate-storing system is erected at annular material by supporting using the annular feed bin that can be rotated, robot transportation system
Truss manipulator on storehouse is constituted, and for Load System using prepackage platform, pallet exchange system includes being arranged in annular feed bin difference material
Multiple Standard pallets on position and the standard positioning system with Standard pallet cooperation, workpiece are fixed on Standard pallet by jig
On, it can be connected by standard interface between Standard pallet and standard positioning system；System of processing is by being arranged in annular feed bin two
The carving machine of side forms, and carving machine is equipped with the automatically-controlled door for loading and unloading, and the end of the truss manipulator is equipped with gripping claw master
Disk, Standard pallet are equipped with matched gripping claw tool shelf；When carrying out blowing truss manipulator can by Standard pallet and
Jig is sent into carving machine by automatically-controlled door, and standard positioning system positioning clamps, and assembles qualified workpiece and is processed；When reloading
Standard positioning system is opened, Standard pallet and jig can be removed and placed annular material by automatically-controlled door by truss manipulator
In the vacancy material position in storehouse.
Have in the carving machine and is able to carry out the gauge head of detection and localization and can accommodate the tool magazine of gauge head.
The truss manipulator is erected on annular material storehouse by support post support, installation manipulator on support post
X-axis, manipulator Z axis and manipulator C axis, the end of truss manipulator are C axis forearm, and the C axis forearm includes before supporting
Arm and the gripping claw master that its end is set.
The annular feed bin includes the guide rail mounting table of installation on the support frame, is laid with ring in guide rail mounting table
Shape guide rail, ring-shaped guide rail is driven by driving mechanism to be rotated, and arranges Standard pallet on ring-shaped guide rail.
Positioning mechanism is installed, the automatically-controlled door pair with carving machine loading and unloading is arranged in positioning mechanism in the braced frame
It should locate.
The prepackage platform includes the workbench being mounted on levelling device, is provided with standard positioning system on workbench,
The Standard pallet is capable of fixing on the table by standard positioning system.
Automatically-controlled door is provided on the side of annular feed bin by the carving machine of the annular feed bin two sides.
Compared with prior art, the present invention have it is following the utility model has the advantages that by combination gripping claw tool shelf, Standard pallet with
And standard positioning system forms pallet exchange system, facilitates the replacement of workpiece, improves the flexibility of product.Standard support of the present invention
It is connected between disk and standard positioning system by standard interface, so that carving machine, annular feed bin, the positioning datum phase one for pre-installing platform
It causes, facilitates the process time intervened outside machine and adjust and do not delay lathe, while the positioning of the jig and lathe of different product connects
Mouth is consistent, and the cutting of positioning surface is facilitated to protect.In addition, present invention employs prepackage platforms to be pre-installed, filled from the first time of product
Folder is with regard to carrying out precision controlling, it is ensured that the only product of first time clamping qualification can be just placed on annular feed bin, this is later period machine
The accurate positioning of bed jig provides condition.Present invention employs three axis truss robots to combine with the movement of annular feed bin,
Simplify carrying motion flow, control system is only point-to-point control, and control is simple, saves cost.The present invention can be real
Existing standard setting and on-machine measurement, it is ensured that the accuracy of converted products positioning, the consistency of product are preferable.
Detailed description of the invention
Overall structure diagram Fig. 1 of the invention；
The structural schematic diagram of Fig. 2 truss manipulator of the present invention；
The structural schematic diagram of Fig. 3 present invention prepackage platform；
The installing structural schematic diagram of the annular feed bin of Fig. 4 present invention；
The attachment structure schematic diagram of Fig. 5 gripping claw master of the present invention；
In attached drawing: 1. first carving machines；2. truss manipulator；3. the second carving machine；4. pre-installing platform；5. annular feed bin；21.
Support post；22. manipulator X-axis；23. manipulator Z axis；24. manipulator C axis；25.C axis forearm；41. standard positioning system；
42. workbench；43. levelling device；51. guide rail mounting table；52. Standard pallet；53. positioning mechanism；54. braced frame；55.
Ring-shaped guide rail；56. driving mechanism；251. gripping claw masters；252. support forearms；521. tray support plates；522. gripping claw tool shelves.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings.
Referring to Fig. 1-5, present invention flexibility automatic manufacturing device is in structure mainly by the first carving machine 1, truss manipulator
2, the second carving machine 3, prepackage platform 4, annular feed bin 5 and control system composition.First carving machine 1 and the second carving machine 3 are at least
Including a tool magazine that can accommodate gauge head, standard positioning system 41 and can be from the automatically-controlled door of lathe side opening；
Truss manipulator 2 includes support post 21, manipulator X-axis 22, manipulator Z axis 23, manipulator C axis 24 and C axis
Forearm 25, X-axis, Z axis can move along a straight line, and C axis can be swung in certain angular range, and C axis forearm 25 is by gripping claw master
251, support forearm 252 forms, and constitutes the end grabbing device of truss manipulator.
Annular feed bin 5 is mainly led by guide rail mounting table 51, Standard pallet 52, positioning mechanism 53, braced frame 54, annular
Rail 55, driving mechanism 56 form, and guide rail mounting table 51 is installed together with braced frame 54, constitute the support construction of system,
Other structures are arranged in support construction, and workpiece is fixed on Standard pallet by jig, and wherein Standard pallet 52 can be set
Set it is multiple, with ring-shaped guide rail sliding block just position, can be moved along ring-shaped guide rail under the driving of driving mechanism 56, pass through driving machine
Structure 56 and positioning mechanism 53 are accurately located on the crawl point of truss manipulator.
Prepackage platform 4 is mainly made of standard positioning system 41, workbench 42, levelling device 43, and Standard pallet 52 can lead to
It is fixed on the table to cross standard positioning system 41, pre-installs the standard setting system on platform 4 and the first carving machine 1, the second carving machine 3
System 41 is consistent, and workbench 42 can be leveled by levelling device 43.
The flexibility of the invention system of processing that production unit is mainly made of the first carving machine 1 and the second carving machine 3 automatically,
Aggregate-storing system, standard positioning system 41 and the mark that the robot transportation system that is made of truss manipulator 2, annular feed bin 5 are constituted
The Standard pallet exchange system of the quasi- composition of pallet 52, the prepackage being made of prepackage platform 4 and Load System and detection system and one
The management system of body forms, and flcxible production unit realizes that the principle of automated production is as follows:
1. the standardization of the interface of platen and workpiece；
Make the interface that a standard is formed between jig and carving machine by standard positioning system 41 and Standard pallet 52, with
Civilian dress has the Trayconcept of workpiece to be moved to another carving machine or aggregate-storing system from a carving machine, and is positioned at pre-determined bit
It sets.
When specific operation, it gets out Standard pallet 52, quick-replaceable to Working position first, carving machine just can weigh immediately
New starting.Equally, also outfit standard positioning system 41 and Standard pallet 52 on other lathes, can replace rapidly fixture, use
In other manufacturing procedures, without the adjustment workpiece on lathe.The robot crawl interface that standard is reserved on Standard pallet 52 is held
Pawl tool shelf 522 a, so that standard interface is also formed with the gripping claw master 251 on robot end, for different productions
Product only need to be fixed on fixture on Standard pallet 41, and the automatic transporting process of robot haves no need to change.
2. the preparations such as product clamping and preconditioning are placed on outside lathe and complete；
Prepackage platform 4 constitutes special presetting station, keeps the standard positioning system 41 of presetting station and lathe internally consistent, really
Guarantor have standard interface inside and outside lathe, this makes it possible to outside machine by beat table adjust or automatically detect, it is ensured that each pallet
Clamping workpiece is qualified, can provide reference for the data of measurement for transmission to management system, the compensation for gauge head inside lathe,
The difficulty that cleaning is adjusted inside lathe is reduced, thus reduces the lathe nonproductive time used.Because of all installations
Adjustment and preparation are carried out outside lathe, so the downtime of lathe can be greatly lowered.
3. automatically realizing loading and unloading by robot；
For each lathe user, substantially have 24 hours operation potentiality, but in general, is not all of the time all
It is applied.By first two steps standardization, in advance the implementation tuned into the melt, can be automatically realized loading and unloading by means of robot transportation system
Operation, even if operator is not at the scene, lathe can also be operated normally.Use the automatic production list of flexibility of robot transportation system
Member can run a shift according to the size of aggregate-storing system in uncared for situation, and a people can manage multiple simultaneously
Automation cell.Which improves lathes to utilize the time, reduces personnel, increases actual benefit.
4. realizing the integrated of multiple automatic units；
By the implementation of first three step, by the line style mobile system for upper maturation of expanding market, cutting fluid/cutting collection
Middle processing, it will be able to independent processing unit is stringed together, the system for forming an entirety, adds the management systems such as DNC, it
All creation datas, CAM file, offset and production order are integrated together, therefore, machine operation person can be confirmed each
The work start and stop of project.It is also integrated with monitoring and warning device in a management system, can show the actual motion in workshop.It is logical
Cross computer remote control, it can be seen that the production status of the entire production line or separate unit lathe.
The flexible automatic manufacturing device concrete operations process of carving machine of the present invention is as follows:
It examines, is placed on after confirmation is qualified standby step 1: workpiece is installed on Standard pallet 52 and plays table by prepackage platform 4
On the transfer car(buggy) for expecting area；Step 2: the Standard pallet jig on transfer car(buggy) is put on annular feed bin 5, annular feed bin 5 is being controlled
Blowing station can be moved under the control of system, blowing station is in 90 degree of directions of feed bin；Step 3: according to the first carving machine
1 or second carving machine 3 request for the first time, the gauge head inside lathe first detect inside whether there is or not Standard pallet 52, there is no standard such as
Pallet 52, truss manipulator 2 move to the feeding position of 0 degree or 180 degree, grab Standard pallet 52 and jig；Step 4: passing through
Truss manipulator 2 is put into Standard pallet and jig the discharge position of the first carving machine 1 or the second carving machine 3, fixed by standard
Position system 41 carries out positioning clamping, and the gauge head detection inside lathe is assembled qualified workpiece and processed；Step 5: according to
The side door of the request of reloading of one carving machine 1 or the second carving machine 3, lathe is opened, and standard positioning system 41 unclamps, truss manipulator
2 first run to the discharge position inside lathe, grab Standard pallet 52 and jig；Step 6: annular feed bin 5 runs to sky work
Position, and detected by sensor, truss manipulator 2 is put into the Standard pallet 52 and jig of crawl on idle station；Step 7: purlin
Frame manipulator 2 is moved to a home, and then annular feed bin 5 runs to the undressed station of next workpiece, and truss is mechanical
Hand 2 moves to the feeding position crawl Standard pallet and jig of 0 degree or 180 degree again；Step 8: by truss manipulator 2 mark
Quasi- pallet and jig are put into the discharge position of the first carving machine 1 or the second carving machine 3, pass through 41 locating clip of standard positioning system
Tightly, the gauge head detection and inside lathe, assembles qualified workpiece and is processed, and truss manipulator 2 returns to safety outside lathe
Position；The tray for work pieces of other annular feed bins 5 repeats the operating procedure of the 5th to the 8th step, all after processing is completed from annular material
5, the storehouse workpiece completed the process is placed on finished product area, and Standard pallet 52 is back to prepackage area, in the operational process of lathe, operates
Personnel can pre-install always the prepackage and detection that area carries out workpiece.
The present invention solves the problems, such as the processing unit flexibility of multi items bulk article, without spending time verifying jig more
Change, meet the standardized requirement of high-precision jig, jig positioning surface can be protected in processing, guarantee that high-precision product machine is default
The consistency of position precision and the outer clamping precision of machine is arranged gauge head on carving machine, can complete on-machine measurement, positioning surface, which can be realized, to be cut
Cut protection.
Claims (3)
1. a kind of flexible automatic manufacturing device of carving machine, it is characterised in that: including aggregate-storing system, robot transportation system, support
Disk exchange system, Load System, system of processing and detection management system；The aggregate-storing system is using the annular that can be rotated
Feed bin (5), robot transportation system by supporting the truss manipulator (2) being erected on annular material storehouse (5) to constitute, adopt by Load System
With prepackage platform (4), pallet exchange system include multiple Standard pallets (52) of the setting in the different material position of annular feed bin (5) and
With the standard positioning system (41) of Standard pallet (52) cooperation, workpiece is fixed on Standard pallet (52) by jig, standard support
It is connect between disk (52) and standard positioning system (41) by standard interface；System of processing is by being respectively arranged in annular feed bin (5)
The carving machine of two sides forms, and carving machine is equipped with the automatically-controlled door for loading and unloading, and the end of the truss manipulator (2), which is equipped with, holds
Pawl master (251), Standard pallet (52) are equipped with matched gripping claw tool shelf (522)；When carrying out blowing, truss is mechanical
Standard pallet (52) and jig can be sent into carving machine by automatically-controlled door by hand (2), and standard positioning system (41) positioning clamps, dress
It is processed with qualified workpiece；Standard positioning system (41) are opened when reloading, truss manipulator (2) can be by standard support
Disk (52) and jig are removed and placed by automatically-controlled door in the vacancy material position of annular feed bin (5)；Have in the carving machine
It is able to carry out the gauge head of detection and localization and the tool magazine of gauge head can be accommodated；The truss manipulator (2) passes through support post
(21) support is erected on annular material storehouse (5), installation manipulator X-axis (22) on support post (21), manipulator Z axis (23) and
Manipulator C axis (24), the end of truss manipulator (2) are C axis forearm (25), and the C axis forearm (25) includes support forearm
(252) and the gripping claw master (251) of its end is set；
Automatically-controlled door is provided on the side of annular feed bin (5) by the carving machine of described annular feed bin (5) two sides；Described
Prepackage platform (4) includes the workbench (42) being mounted on levelling device (43), and workbench is provided with standard positioning system on (42)
(41), the Standard pallet (52) is capable of fixing on workbench (42) by standard positioning system (41)；
The X-axis, Z axis can move along a straight line, and C axis can be swung in certain angular range.
2. the flexible automatic manufacturing device of carving machine according to claim 1, it is characterised in that: the annular feed bin (5)
Including the guide rail mounting table (51) being mounted on braced frame (54), guide rail mounting table is laid with ring-shaped guide rail on (51)
(55), ring-shaped guide rail (55) is rotated by driving mechanism (56) driving, arranges Standard pallet (52) on ring-shaped guide rail (55).
3. the flexible automatic manufacturing device of carving machine according to claim 2, it is characterised in that: the braced frame (54)
On be equipped with positioning mechanism (53), the automatically-controlled door corresponding position with carving machine loading and unloading is arranged in positioning mechanism (53).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710823776.7A CN107471885B (en) | 2017-09-13 | 2017-09-13 | A kind of flexible automatic manufacturing device of carving machine |
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| CN201710823776.7A CN107471885B (en) | 2017-09-13 | 2017-09-13 | A kind of flexible automatic manufacturing device of carving machine |
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| CN107471885A CN107471885A (en) | 2017-12-15 |
| CN107471885B true CN107471885B (en) | 2019-05-31 |
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| CN201710823776.7A Active CN107471885B (en) | 2017-09-13 | 2017-09-13 | A kind of flexible automatic manufacturing device of carving machine |
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| CN108772738B (en) * | 2018-05-30 | 2019-09-24 | 广东科杰机械自动化有限公司 | A kind of close-coupled lathe |
| CN108639745A (en) * | 2018-06-15 | 2018-10-12 | 苏州市台群机械有限公司 | Glass carving machine automatic production line |
| CN108748119A (en) * | 2018-08-08 | 2018-11-06 | 浙江屹立机器人科技有限公司 | A kind of turntable feed bin truss robot |
| CN108891176B (en) * | 2018-09-07 | 2024-03-22 | 芜湖慧盈自动化设备有限公司 | Integrated processing system for workpiece surface treatment and processing method thereof |
| CN109773559A (en) * | 2018-10-29 | 2019-05-21 | 西华大学 | New rotor assembly machining production line automatic loading/unloading gaining machine and control method |
| CN109396774B (en) * | 2018-12-12 | 2021-12-28 | 湖南江滨机器（集团）有限责任公司 | Piston manufacturing method and piston production line |
| JP6741801B2 (en) * | 2019-01-25 | 2020-08-19 | Dmg森精機株式会社 | Pallet transfer system, pallet transfer method, and pallet transfer program |
| CN111266908A (en) * | 2020-01-21 | 2020-06-12 | 北京优备加科技有限公司 | Automatic tray replacement system and operation monitoring method of automatic tray replacement system |
| CN117566309A (en) * | 2024-01-17 | 2024-02-20 | 西安精雕精密机械工程有限公司 | Automatic feeding device integrating loading station, material warehouse and four-axis robot |
| CN117886121A (en) * | 2024-03-13 | 2024-04-16 | 宁波天瑞精工机械有限公司 | Transfer mechanism for flexible intelligent storage bin |
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| CN107471885A (en) | 2017-12-15 |
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