CN110549025A - full-automatic loading and unloading workstation of laser cutting machine and method thereof - Google Patents
full-automatic loading and unloading workstation of laser cutting machine and method thereof Download PDFInfo
- Publication number
- CN110549025A CN110549025A CN201910967959.5A CN201910967959A CN110549025A CN 110549025 A CN110549025 A CN 110549025A CN 201910967959 A CN201910967959 A CN 201910967959A CN 110549025 A CN110549025 A CN 110549025A
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- plate
- guide rails
- unit
- laser cutting
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- 238000003698 laser cutting Methods 0.000 title claims abstract description 51
- 238000011068 loading method Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000013519 translation Methods 0.000 claims description 43
- 239000000463 material Substances 0.000 claims description 31
- 238000012546 transfer Methods 0.000 claims description 24
- 238000003860 storage Methods 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000005520 cutting process Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 241000252254 Catostomidae Species 0.000 claims description 3
- 238000004080 punching Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a full-automatic loading and unloading workstation of a laser cutting machine, which comprises a first pair of horizontal guide rails and a second pair of horizontal guide rails, wherein the first pair of guide rails and the second pair of guide rails are arranged in parallel; a pair of guide rail cross beams are horizontally arranged above the first pair of guide rails and the second pair of guide rails, and the extension direction of the guide rail cross beams is vertical to the extension direction of the first pair of guide rails/the second pair of guide rails; the plate unloading device is simple in structure, and is convenient for realizing the processes of warehouse-out, transferring, detecting, loading, laser cutting processing and unloading of plates.
Description
Technical Field
the invention belongs to the field of feeding and discharging of plate body structures.
background
the feeding and discharging process of the existing plate laser cutting platform is usually only completed automatically in the feeding stage, the plate is transferred to the laser cutting platform through the industrial sucker for cutting, a large number of hollowed-out cutting holes are formed in the plate after cutting, and the sucker can not be used for transferring at the moment.
disclosure of Invention
the purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a full-automatic loading and unloading workstation of a laser cutting machine and a method thereof.
the technical scheme is as follows: in order to achieve the purpose, the full-automatic loading and unloading workstation of the laser cutting machine comprises a first pair of horizontal guide rails and a second pair of horizontal guide rails, wherein the first pair of guide rails and the second pair of guide rails are arranged in parallel; a pair of guide rail cross beams are horizontally arranged above the first pair of guide rails and the second pair of guide rails, and the extension direction of the guide rail cross beams is vertical to the extension direction of the first pair of guide rails/the second pair of guide rails;
one end of the guide rail cross beam is positioned right above one end of the first pair of guide rails, and the other end of the guide rail cross beam is positioned right above one end of the second pair of guide rails;
a laser cutting platform is arranged below the guide rail cross beam; the laser cutting platform is positioned between the first pair of guide rails and the second pair of guide rails;
the other end of the first pair of guide rails is positioned right below the vertical storage rack; the other end of the second pair of guide rails is a blanking station;
A plate clamping manipulator unit is arranged at one end of the guide rail beam close to the second pair of guide rails, and an industrial sucker unit is arranged at one end of the guide rail beam close to the first pair of guide rails; the plate clamping mechanical arm unit and the industrial sucker unit can both move in a translation manner along the extension direction of the guide rail beam; the plate clamping mechanical arm unit and the industrial sucker unit can both move to the position right above the laser cutting platform along the guide rail beam;
The first pair of guide rails are provided with a plate transfer trolley, and the plate transfer trolley is in translational displacement along the extension direction of the first pair of guide rails; and the second pair of guide rails is provided with a blanking trolley, and the blanking trolley is in translational displacement along the extension direction of the second pair of guide rails.
further, the guide rail crossbeam includes the rack that extends along length direction, the downside extension degree direction of rack distributes has the tooth body.
Furthermore, the plate clamping mechanical arm unit and the industrial sucker unit both comprise translational bases; at least two equal-height sliding blocks are fixedly arranged on the lateral part of the translation base, and the upper side of the rack is in sliding fit with the lower ends of the two sliding blocks; a gear is further arranged on the side of the translation base and located between the two sliding blocks, and a driving device in the translation base can drive the gear to rotate; the gear is meshed with a gear body distributed along the extension direction of the lower side of the rack; the rotation of the gear can drive the translational base to translate along the rack.
furthermore, each translation base is also provided with a lifting unit, and a driving device on each translation base can drive the lifting unit to do lifting motion.
furthermore, an industrial sucker is mounted at the lower end of a lifting unit on the industrial sucker unit, and the lifting unit on the industrial sucker unit can drive the industrial sucker to move up and down;
the lower end of the lifting unit on the plate clamping manipulator unit is provided with a plate clamping manipulator, and the lifting unit on the plate clamping manipulator unit can drive the plate clamping manipulator to move up and down.
further, the manipulator comprises a left linear motor and a right linear motor, a left linear push rod of the left linear motor extends leftwards, and a right linear push rod of the right linear motor extends rightwards; the tail end of the left linear push rod is fixedly connected with a left clamping jaw through a left support, the tail end of the right linear push rod is fixedly connected with a right clamping jaw through a right support, and one ends, close to each other, of the left clamping jaw and the right clamping jaw are respectively and fixedly provided with a left rubber chuck and a right rubber chuck; the left linear motor and the right linear motor can drive the left rubber chuck and the right rubber chuck to move close to or away from each other.
furthermore, the blanking trolley comprises a plate bearing platform, four supporting legs are arranged at four corners of the lower side of the plate bearing platform, rollers are arranged at the lower ends of the supporting legs, a limiting flange is integrally arranged on the outline of one side of each roller, and each roller can roll along the second pair of guide rails;
The feeding trolley is characterized in that a horizontal motor mounting frame is fixedly connected to the lower side of the middle of the feeding trolley through a plurality of connecting pieces, a chain wheel driving motor is fixedly mounted on the lower side of the motor mounting frame, chain wheel frames are fixedly mounted at two ends of the motor mounting frame respectively, and a first driven chain wheel and a second driven chain wheel are rotatably mounted on the chain wheel frames; the chain wheel driving motor is characterized by further comprising a driving chain wheel, a motor output shaft of the chain wheel driving motor is in transmission connection with the driving chain wheel, the motor output shaft can drive the driving chain wheel to rotate, and the driving chain wheel is located on the upper side between the first driven chain wheel and the second driven chain wheel;
The chain support groove extends along the length direction of the second pair of guide rails, a chain accommodating groove extends along the length direction in the chain support groove, a chain is laid in the groove of the chain accommodating groove along the length direction, and two ends of the chain are fixedly connected with two ends of the chain support groove;
the chain sequentially spans the lower side of the first driven chain wheel, the upper side of the driving chain wheel and the lower side of the second driven chain wheel; and the chain is arranged in a tightening way; the rotation of the driving chain wheel can drive the driving chain wheel to horizontally displace along the extending direction of the chain bracket through the chain.
Furthermore, the industrial sucker comprises a horizontal sucker support, and a plurality of suckers are uniformly and fixedly arranged on the lower side of the sucker support; a plate body thickness measuring device is arranged on the side part of the sucker support;
The plate body thickness measuring device comprises a first supporting plate fixed on a sucker support, a transverse linear motor is installed on the supporting plate, a second supporting plate body is installed at the tail end of a transverse linear push rod of the transverse linear motor, a longitudinal linear motor is installed on the second supporting plate body, a third supporting plate body is installed at the tail end of a longitudinal push rod of the longitudinal linear motor, a laser thickness measuring instrument is installed on the third supporting plate body, the laser thickness measuring instrument comprises an upper laser sensor and a lower laser sensor which correspond to each other from top to bottom, a thickness measuring area is formed between the upper laser sensor and the lower laser sensor, and the laser thickness measuring instrument can detect the thickness of a plate body which is horizontal to the laser thickness measuring area.
Further, the working method of the full-automatic loading and unloading work station of the laser cutting machine comprises the following steps:
Firstly, stacking and storing a plurality of layers of plates on all layers of material trucks in an initial vertical storage rack, controlling the plate transfer trucks on a first pair of guide rails to move in a translation manner along the extension direction of the first pair of guide rails to the position under the vertical storage rack, starting a material truck lifting unit on the vertical storage rack, and transferring one material truck stacked and stored with plates in the vertical storage rack to the plate transfer trucks on the first pair of guide rails by the material truck lifting unit;
Secondly, controlling the plate transfer trolley on the first pair of guide rails to perform translational displacement along the extension direction of the first pair of guide rails, and controlling the industrial sucker unit to adsorb the uppermost plate in the plurality of layers of plates stacked on the trolley at the moment, wherein the trolley also performs synchronous translational displacement along with the plate transfer trolley on the first pair of guide rails until the trolley moves to the position right below the industrial sucker unit along with the plate transfer trolley on the first pair of guide rails; after the industrial sucker unit adsorbs the plates, the plate thickness measuring device is controlled to measure the thickness of the plates adsorbed by the industrial sucker unit, if the thickness of the plate exceeds expectation, the industrial sucker unit adsorbs at least two layers of plates, at least two plates are adhered together, at the moment, the system starts to alarm, a plurality of plates adsorbed on the industrial sucker unit are separated through a manual manipulator, a separating manipulator or a shaking device, and finally the industrial sucker unit only adsorbs a single plate;
Controlling the industrial sucker unit to move in a translation manner along the guide rail beam until one plate adsorbed on the industrial sucker unit moves in a translation manner to a position right above the laser cutting platform; at the moment, the industrial sucker unit is controlled to release the adsorbed plate to the laser cutting platform, and then the industrial sucker unit is controlled to move in a translation manner along the guide rail beam, so that the industrial sucker unit returns to the initial position again, and the industrial sucker unit can adsorb the plate stacked on the material lifting vehicle again;
Fourthly, controlling the laser cutting device to perform a cutting and punching process on the plate on the laser cutting platform until the plate on the laser cutting platform is processed into an expected finished plate; at the moment, a plurality of hole bodies are cut on the surface of the processed finished plate, so that the finished plate cannot be adsorbed by an industrial sucking disc;
Controlling the panel material clamping mechanical hand unit to move in a translation manner along the guide rail beam, so that the panel material clamping mechanical hand unit moves in a translation manner to be right above the laser cutting platform, and then clamping the cut panel on the laser cutting platform by the panel material clamping mechanical hand unit; and then controlling the plate material clamping mechanical arm unit to move in a translation manner along the guide rail cross beam to enable the plate material clamping mechanical arm unit to return to the initial position again, wherein the plate material clamping mechanical arm unit is positioned right above the blanking trolley on the second pair of guide rails, the control plate material clamping mechanical arm unit releases the finished plate to a plate bearing platform of the blanking trolley, then controlling the blanking trolley to move to a blanking station along the second pair of guide rails, and then taking away the finished plate on the plate bearing platform through a mechanical arm or a manual work.
has the advantages that: the plate unloading device is simple in structure, and is convenient for realizing the processes of warehouse-out, transferring, detecting, loading, laser cutting and processing and blanking of plates; the thickness detection process is arranged before feeding, so that the phenomenon that the two plates are cut by laser under the condition that the two plates are bonded together is effectively avoided.
drawings
FIG. 1 is a first schematic view of the overall structure of the apparatus;
FIG. 2 is a second schematic view of the overall construction of the apparatus;
FIG. 3 is an enlarged perspective view of the second pair of guide rails of the apparatus
FIG. 4 is the view of FIG. 3;
FIG. 5 is a schematic diagram of the sheet clamping manipulator unit and the industrial sucker unit moving in translation along a guide rail beam;
FIG. 6 is a schematic view of a blanking trolley traveling along a second pair of guide rails;
FIG. 7 is a side view of the blanking trolley in cooperation with a second pair of guide rails;
FIG. 8 is a schematic diagram showing the matching of the blanking trolley and the chain;
FIG. 9 is an enlarged partial schematic view of the sprocket of FIG. 8;
FIG. 10 is a schematic structural view of a translational base of a plate clamping manipulator unit and an industrial sucker unit;
FIG. 11 is a schematic structural view of a plate clamping manipulator;
FIG. 12 is a schematic view of a first configuration of a thickness gauge on an industrial chuck unit;
fig. 13 is a second structural schematic diagram of the thickness measuring device on the industrial suction cup unit.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
the specific structure and use method of the vertical storage rack, the skip car lifting unit and the plate transfer car, which are mentioned in the application document, refer to the invention patent (with the application number of CN201910378593.8) previously applied and disclosed by the applicant; the "first pair of rails" mentioned in the present specification corresponds to the "rails" described in the patent of the invention (application No. CN201910378593.8) previously filed and published by the present applicant, and functions as a guide for the "sheet material transfer vehicle".
the concrete structure introduction of this scheme: the full-automatic loading and unloading workstation of the laser cutting machine shown in the attached figures 1 to 13 comprises a first pair of horizontal guide rails 8 and a second pair of horizontal guide rails 1, wherein the first pair of guide rails 8 and the second pair of guide rails 1 are arranged in parallel; a pair of guide rail cross beams 6 are horizontally arranged above the first pair of guide rails 8 and the second pair of guide rails 1, and the extending direction of the guide rail cross beams 6 is vertical to the extending direction of the first pair of guide rails 8/the second pair of guide rails 1;
one end of the guide rail cross beam 6 is positioned right above one end of the first pair of guide rails 8, and the other end of the guide rail cross beam 6 is positioned right above one end of the second pair of guide rails 1;
A laser cutting platform 5 is arranged below the guide rail cross beam 6; the laser cutting platform 5 is positioned between the first pair of guide rails 8 and the second pair of guide rails 1;
The device also comprises a vertical storage rack 2, and the other ends of the first pair of guide rails 8 are positioned right below the vertical storage rack 2; the other end of the second pair of guide rails 1 is a blanking station 98;
A plate clamping manipulator unit 4 is arranged at one end of the guide rail beam 6 close to the second pair of guide rails 1, and an industrial sucker unit 7 is arranged at one end of the guide rail beam 6 close to the first pair of guide rails 8; the plate clamping mechanical arm unit 4 and the industrial sucker unit 7 can both move in a translation manner along the extension direction of the guide rail beam 6; the plate clamping mechanical arm unit 4 and the industrial sucker unit 7 can both move to the position right above the laser cutting platform 5 along the guide rail beam 6;
the first pair of guide rails 8 are provided with plate transfer trolleys, and the plate transfer trolleys move in a translation manner along the extension direction of the first pair of guide rails 8; a blanking trolley 9 is arranged on the second pair of guide rails 1, and the blanking trolley 9 moves in a translation manner along the extension direction of the second pair of guide rails 1; the working principle of the automatic loading and unloading system is described in detail in the following;
The guide rail cross beam 6 comprises a rack 40 extending along the length direction, and tooth bodies 41 are distributed on the lower side of the rack 40 along the extension direction.
the plate clamping mechanical arm unit 4 and the industrial sucker unit 7 both comprise a translation base 44; at least two equal-height sliding blocks 28 are fixedly arranged on the lateral part of the translation base 44, and the upper side of the rack 40 is in sliding fit with the lower ends of the two sliding blocks 28; a gear 39 is further arranged on the side of the translation base 44, the gear 39 is located between the two sliders 28, and a driving device in the translation base 44 can drive the gear 39 to rotate; the gear 39 is meshed with a gear body 41 distributed along the lower extension direction of the rack 40; the rotation of the gear 39 can drive the translational base 44 to translate along the rack 40.
Each translation base 44 is further provided with a lifting unit 43, and a driving device on the translation base 44 can drive the lifting unit 43 to do lifting movement.
the lower end of a lifting unit 43 on the industrial sucker unit 7 is provided with an industrial sucker 7.1, and the lifting unit 43 on the industrial sucker unit 7 can drive the industrial sucker 7.1 to move up and down;
The lower end of a lifting unit 43 on the plate clamping manipulator unit 4 is provided with a plate clamping manipulator 4.1, and the lifting unit 43 on the plate clamping manipulator unit 4 can drive the plate clamping manipulator 4.1 to move up and down.
the manipulator 4.1 comprises a left linear motor 30 and a right linear motor 31, a left linear push rod 32 of the left linear motor 30 extends leftwards, and a right linear push rod 35 of the right linear motor 31 extends rightwards; the tail end of the left linear push rod 32 is fixedly connected with a left clamping jaw 34 through a left bracket 100, the tail end of the right linear push rod 35 is fixedly connected with a right clamping jaw 38 through a right bracket 101, and one ends, close to each other, of the left clamping jaw 34 and the right clamping jaw 38 are respectively and fixedly provided with a left rubber chuck 36 and a right rubber chuck 37; the left linear motor 30 and the right linear motor 31 can drive the left rubber chuck 36 and the right rubber chuck 37 to move close to or away from each other; the left rubber chuck 36 and the right rubber chuck 37 can clamp the cut plate by the mutual approaching movement;
the blanking trolley 9 comprises a plate bearing platform 13, four supporting legs 20 are arranged at four corners of the lower side of the plate bearing platform 13, rollers 17 are arranged at the lower ends of the supporting legs 20, a limiting flange 24 is integrally arranged on the outline of one side of each roller 17, and each roller 17 can roll along the second pair of guide rails 1; the front and rear ends of the second pair of guide rails 1 of the embodiment are respectively provided with a front roller limiting pile 18 and a rear roller limiting pile 19, and the front roller limiting pile 18 and the rear roller limiting pile 19 can prevent the roller 17 from rolling forwards or backwards to separate from the two ends of the second pair of guide rails 1;
The lower side of the middle part of the blanking trolley 9 is fixedly connected with a horizontal motor mounting rack 22 through a plurality of connecting pieces 21, the lower side of the motor mounting rack 22 is fixedly provided with a chain wheel driving motor 27, two ends of the motor mounting rack 22 are respectively and fixedly provided with a chain wheel rack 25, and a first driven chain wheel 10 and a second driven chain wheel 11 are rotatably arranged on the chain wheel rack 25; the chain wheel driving device further comprises a driving chain wheel 12, a motor output shaft 26 of the chain wheel driving motor 27 is in transmission connection with the driving chain wheel 12, the motor output shaft 26 can drive the driving chain wheel 12 to rotate, and the driving chain wheel 12 is located on the upper side between the first driven chain wheel 10 and the second driven chain wheel 11; the stroke precision and the motion stability of the blanking trolley are effectively improved by adopting a fixed linear chain transmission structure;
the chain support is characterized by further comprising chain support grooves 16 extending along the length direction of the second pair of guide rails 1, chain accommodating grooves 012 extend along the length direction in the chain support grooves 16, chains 15 are laid in the grooves of the chain accommodating grooves 012 along the length direction, and two ends of the chains 15 are fixedly connected with two ends of the chain support grooves 16; the chain bracket 16 prevents the chain in a straight state from being bent due to gravity.
the chain 15 sequentially crosses the lower side of the first driven sprocket 10, the upper side of the driving sprocket 12 and the lower side of the second driven sprocket 11; and the chain 15 is arranged in a tightening way; the rotation of the driving sprocket 12 can drive the driving sprocket to horizontally displace along the extending direction of the chain bracket 16 through the chain 15, and then finally the blanking trolley 9 is driven to horizontally displace along the length direction of the second pair of guide rails 1.
the industrial sucker 7.1 comprises a horizontal sucker support 51, and a plurality of suckers 58 are uniformly and fixedly arranged on the lower side of the sucker support 51; a plate body thickness measuring device is arranged on the side part of the sucker support 51;
The plate thickness measuring device comprises a first supporting plate 57 fixed on a sucker support 51, a transverse linear motor 52 is installed on the supporting plate 57, a second supporting plate body 56 is fixedly installed at the tail end of a transverse linear push rod 53 of the transverse linear motor 52, a longitudinal linear motor 54 is fixedly installed on the second supporting plate body 56, a third supporting plate body 55 is fixedly installed at the tail end of a longitudinal push rod of the longitudinal linear motor 54, a laser thickness measuring instrument 62 is fixedly installed on the third supporting plate body 55, the laser thickness measuring instrument 62 comprises an upper laser sensor 61 and a lower laser sensor 59 which are vertically corresponding to each other, a thickness measuring area 60 is formed between the upper laser sensor 61 and the lower laser sensor 59, and the laser thickness measuring instrument 62 can detect the thickness of a plate body which is horizontal to the laser thickness measuring area 60; the laser thickness gauge 62 of the present embodiment is composed of an upper laser sensor 61 and a lower laser sensor 59 which are vertically opposite, the upper laser sensor 61 and the lower laser sensor 59 measure the position of the upper surface and the position of the lower surface of the measured plate respectively, and the thickness of the measured plate is obtained by comparing the position of the upper surface and the position of the lower surface of the measured plate, and the laser thickness gauge 62 of the present embodiment may be an LPBH-C series thickness gauge; the specific operation process is as follows; after the industrial suction cup unit 7 adsorbs the plate, firstly, the transverse linear motor 52 is controlled to make the transverse linear push rod 53 do extension movement, so that the longitudinal linear motor 54 and the laser thickness gauge 62 extend outwards together, and the subsequent descending movement of the laser thickness gauge 62 is enough not to interfere with the plate adsorbed by the industrial suction cup unit 7; then controlling the longitudinal linear motor 54 to make the longitudinal linear push rod seat of the longitudinal linear motor 54 move in an extending way, further making the laser thickness measuring instrument 62 move downwards, stopping the longitudinal linear motor 54 until the height of the plate adsorbed by the industrial sucker unit 7 is positioned between the upper laser sensor 61 and the lower laser sensor 59, then controlling the transverse linear motor 52 to make the transverse linear push rod 53 move in a shortening way, further making the longitudinal linear motor 54 and the laser thickness measuring instrument 62 retract inwards together until the edge of the plate adsorbed by the industrial sucker unit 7 enters the laser thickness measuring area 60, finally starting the laser thickness measuring instrument 62 to measure the thickness of the plate adsorbed by the industrial sucker unit 7, if the thickness exceeds the expected thickness, indicating that the industrial sucker unit 7 adsorbs at least two layers of plates, at least two plates are adhered together, at the moment, the system starts to alarm, and manually alarming, The mechanical hand of separating or shake device separates the polylith panel of adsorbing on with industry sucking disc unit 7, finally makes industry sucking disc unit 7 only adsorb monolithic panel.
The overall working method and the working principle of the full-automatic loading and unloading workstation of the laser cutting machine comprise the following steps:
Firstly, a plurality of layers of plates are stacked and stored on each layer of skip car 91 in the initial vertical storage rack 2, at the moment, the plate transfer vehicles on the first pair of guide rails 8 are controlled to move in a translation manner along the extension direction of the first pair of guide rails 8 to the position under the vertical storage rack 2, then a skip car lifting unit 92 on the vertical storage rack 2 is started, and the skip car lifting unit 92 transfers one skip car 91 stacked and stored with plates in the vertical storage rack 2 to the plate transfer vehicles on the first pair of guide rails 8;
secondly, controlling the plate transfer trolley on the first pair of guide rails 8 to perform translational displacement along the extension direction of the first pair of guide rails 8, and controlling the industrial sucker unit 7 to adsorb the uppermost plate in the plurality of layers of plates stacked on the material lifting trolley 91 until the material lifting trolley 91 performs translational displacement synchronously along with the plate transfer trolley on the first pair of guide rails 8 until the material lifting trolley 91 moves to the position right below the industrial sucker unit 7 along with the plate transfer trolley on the first pair of guide rails 8; after the industrial sucker unit 7 adsorbs the plates, the plate thickness measuring device is controlled to measure the thickness of the plates adsorbed by the industrial sucker unit 7, if the thickness of the plate exceeds expectation, the industrial sucker unit 7 adsorbs at least two layers of plates, at least two plates are adhered together, at the moment, the system starts to alarm, a plurality of plates adsorbed on the industrial sucker unit 7 are separated through a manual manipulator, a separating manipulator or a shaking device, and finally the industrial sucker unit 7 adsorbs a single plate;
thirdly, controlling the industrial sucker unit 7 to move in a translation manner along the guide rail beam 6 until a plate adsorbed on the industrial sucker unit 7 moves in a translation manner to be right above the laser cutting platform 5; at the moment, the industrial sucker unit 7 is controlled to release the adsorbed plate onto the laser cutting platform 5, then the industrial sucker unit 7 is controlled to move in a translation manner along the guide rail beam 6, the industrial sucker unit 7 returns to the initial position again, and the industrial sucker unit 7 can adsorb the plate stacked on the material lifting vehicle 91 again;
Fourthly, controlling the laser cutting device to perform a cutting and punching process on the plate on the laser cutting platform 5 until the plate on the laser cutting platform 5 is processed into an expected finished plate; at the moment, a plurality of hole bodies are cut on the surface of the processed finished plate, so that the finished plate cannot be adsorbed by an industrial sucking disc;
controlling the panel material clamping mechanical hand unit 4 to move in a translation manner along the guide rail beam 6, so that the panel material clamping mechanical hand unit 4 moves in a translation manner to be right above the laser cutting platform 5, and then clamping the cut panel on the laser cutting platform 5 by the panel material clamping mechanical hand unit 4; and then controlling the plate clamping mechanical arm unit 4 to move in a translation manner along the guide rail cross beam 6, so that the plate clamping mechanical arm unit 4 returns to the initial position again, controlling the plate clamping mechanical arm unit 4 to be positioned right above the blanking trolley 9 on the second pair of guide rails 1, controlling the plate clamping mechanical arm unit 4 to release the finished plate onto the plate bearing platform 13 of the blanking trolley 9, controlling the blanking trolley 9 to move to the blanking station 98 along the second pair of guide rails 1, and taking away the finished plate on the plate bearing platform 13 through a mechanical arm or a manual operation.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (9)
1. full-automatic unloading workstation of going up of laser cutting machine, its characterized in that: the device comprises a first pair of horizontal guide rails (8) and a second pair of horizontal guide rails (1), wherein the first pair of guide rails (8) and the second pair of guide rails (1) are arranged in parallel; a pair of guide rail cross beams (6) are further horizontally arranged above the first pair of guide rails (8) and the second pair of guide rails (1), and the extending direction of the guide rail cross beams (6) is vertical to the extending direction of the first pair of guide rails (8)/the second pair of guide rails (1);
One end of the guide rail cross beam (6) is positioned right above one end of the first pair of guide rails (8), and the other end of the guide rail cross beam (6) is positioned right above one end of the second pair of guide rails (1);
a laser cutting platform (5) is arranged below the guide rail cross beam (6); the laser cutting platform (5) is positioned between the first pair of guide rails (8) and the second pair of guide rails (1);
The device also comprises a vertical storage rack (2), and the other end of the first pair of guide rails (8) is positioned right below the vertical storage rack (2); the other end of the second pair of guide rails (1) is a blanking station (98);
a plate clamping manipulator unit (4) is arranged at one end, close to the second pair of guide rails (1), of the guide rail cross beam (6), and an industrial sucker unit (7) is arranged at one end, close to the first pair of guide rails (8), of the guide rail cross beam (6); the plate clamping mechanical arm unit (4) and the industrial sucker unit (7) can both move in a translation manner along the extension direction of the guide rail beam (6); the plate clamping mechanical arm unit (4) and the industrial sucker unit (7) can both move to the position right above the laser cutting platform (5) along the guide rail cross beam (6);
the first pair of guide rails (8) are provided with plate transfer trolleys, and the plate transfer trolleys are in translational displacement along the extension direction of the first pair of guide rails (8); and a blanking trolley (9) is arranged on the second pair of guide rails (1), and the blanking trolley (9) is in translational displacement along the extension direction of the second pair of guide rails (1).
2. The full-automatic loading and unloading workstation of the laser cutting machine as claimed in claim 1, wherein: the guide rail cross beam (6) comprises a rack (40) extending along the length direction, and tooth bodies (41) are distributed on the lower side of the rack (40) in the extension direction.
3. The full-automatic loading and unloading workstation of the laser cutting machine as claimed in claim 2, wherein: the plate clamping mechanical arm unit (4) and the industrial sucker unit (7) both comprise translational bases (44); at least two equal-height sliding blocks (28) are fixedly arranged on the lateral part of the translation base (44), and the upper side of the rack (40) is in sliding fit with the lower ends of the two sliding blocks (28); a gear (39) is further arranged on the side of the translation base (44), the gear (39) is located between the two sliding blocks (28), and a driving device in the translation base (44) can drive the gear (39) to rotate; the gear (39) is meshed with a gear body (41) distributed in the lower extension direction of the rack (40); the rotation of the gear (39) can drive the translational base (44) to translate along the rack (40).
4. the full-automatic loading and unloading workstation of the laser cutting machine as claimed in claim 3, wherein: each translation base (44) is also provided with a lifting unit (43), and a driving device on each translation base (44) can drive the lifting unit (43) to do lifting movement.
5. The full-automatic loading and unloading workstation of the laser cutting machine as claimed in claim 4, wherein: an industrial sucker (7.1) is mounted at the lower end of a lifting unit (43) on the industrial sucker unit (7), and the lifting unit (43) on the industrial sucker unit (7) can drive the industrial sucker (7.1) to move up and down;
The plate clamping mechanical arm (4.1) is installed at the lower end of the lifting unit (43) on the plate clamping mechanical arm unit (4), and the lifting unit (43) on the plate clamping mechanical arm unit (4) can drive the plate clamping mechanical arm (4.1) to move up and down.
6. the full-automatic loading and unloading workstation of the laser cutting machine as claimed in claim 4, wherein: the manipulator (4.1) comprises a left linear motor (30) and a right linear motor (31), a left linear push rod (32) of the left linear motor (30) extends leftwards, and a right linear push rod (35) of the right linear motor (31) extends rightwards; the tail end of the left linear push rod (32) is fixedly connected with a left clamping jaw (34) through a left support (100), the tail end of the right linear push rod (35) is fixedly connected with a right clamping jaw (38) through a right support (101), and one ends, close to each other, of the left clamping jaw (34) and the right clamping jaw (38) are respectively and fixedly provided with a left rubber chuck (36) and a right rubber chuck (37); the left linear motor (30) and the right linear motor (31) can drive the left rubber chuck (36) and the right rubber chuck (37) to move close to or away from each other.
7. the full-automatic loading and unloading workstation of the laser cutting machine as claimed in claim 4, wherein: the blanking trolley (9) comprises a plate bearing platform (13), four supporting legs (20) are arranged at four corners of the lower side of the plate bearing platform (13), rollers (17) are arranged at the lower ends of the supporting legs (20), limiting wheel rims (24) are integrally arranged on the outline of one side of each roller (17), and each roller (17) can roll along the second pair of guide rails (1);
The blanking trolley is characterized in that a horizontal motor mounting frame (22) is fixedly connected to the lower side of the middle of the blanking trolley (9) through a plurality of connecting pieces (21), a chain wheel driving motor (27) is fixedly mounted on the lower side of the motor mounting frame (22), chain wheel frames (25) are fixedly mounted at two ends of the motor mounting frame (22) respectively, and a first driven chain wheel (10) and a second driven chain wheel (11) are rotatably mounted on the chain wheel frames (25); the chain wheel driving mechanism further comprises a driving chain wheel (12), a motor output shaft (26) of the chain wheel driving motor (27) is in transmission connection with the driving chain wheel (12), the motor output shaft (26) can drive the driving chain wheel (12) to rotate, and the driving chain wheel (12) is located on the upper side between the first driven chain wheel (10) and the second driven chain wheel (11);
the chain bracket is characterized by further comprising chain brackets (16) extending along the length direction of the second pair of guide rails (1), chain accommodating grooves (012) are formed in the chain brackets (16) in an extending manner along the length direction, chains (15) are laid in the grooves of the chain accommodating grooves (012) along the length direction, and two ends of each chain (15) are fixedly connected with two ends of each chain bracket (16);
The chain (15) sequentially crosses the lower side of the first driven chain wheel (10), the upper side of the driving chain wheel (12) and the lower side of the second driven chain wheel (11); and the chain (15) is arranged in a tightening way; the rotation of the driving chain wheel (12) can drive the driving chain wheel to horizontally displace along the extending direction of the chain bracket (16) through the chain (15).
8. The full-automatic loading and unloading workstation of the laser cutting machine as claimed in claim 7, wherein: the industrial sucker (7.1) comprises a horizontal sucker support (51), and a plurality of suckers (58) are uniformly and fixedly arranged on the lower side of the sucker support (51); a plate body thickness measuring device is arranged on the side part of the sucker support (51);
The plate thickness measuring device comprises a first supporting plate (57) fixed on a sucker bracket (51), a transverse linear motor (52) is arranged on the supporting plate (57), a second supporting plate body (56) is fixedly arranged at the tail end of a transverse linear push rod (53) of the transverse linear motor (52), a longitudinal linear motor (54) is fixedly arranged on the second supporting plate body (56), a third supporting plate body (55) is fixedly arranged at the tail end of a longitudinal push rod of the longitudinal linear motor (54), a laser thickness gauge (62) is fixedly arranged on the third supporting plate body (55), the laser thickness gauge (62) comprises an upper laser sensor (61) and a lower laser sensor (59) which are mutually corresponding up and down, a thickness measuring area (60) is formed between the upper laser sensor (61) and the lower laser sensor (59), the laser thickness gauge (62) can detect the thickness of a plate body horizontally arranged in the laser thickness measuring area (60).
9. The working method of the full-automatic loading and unloading workstation of the laser cutting machine as claimed in claim 8, is characterized by comprising the following steps:
Firstly, a plurality of layers of plates are stacked and stored on each layer of skip car (91) in an initial vertical storage rack (2), at the moment, a plate transfer trolley on a first pair of guide rails (8) is controlled to move in a translation mode along the extension direction of the first pair of guide rails (8) to the position right below the vertical storage rack (2), then a skip car lifting unit (92) on the vertical storage rack (2) is started, and the skip car lifting unit (92) transfers the skip car (91) stacked and stored with the plates in the vertical storage rack (2) to the plate transfer trolley on the first pair of guide rails (8);
Secondly, controlling the plate transfer trolley on the first pair of guide rails (8) to perform translational displacement along the extension direction of the first pair of guide rails (8), and controlling the industrial sucker unit (7) to adsorb the uppermost plate in the plurality of layers of plates stacked on the material lifting trolley (91) until the material lifting trolley (91) moves to the position under the industrial sucker unit (7) along with the plate transfer trolley on the first pair of guide rails (8) to perform synchronous translational displacement at the moment; after the industrial sucker unit (7) adsorbs a plate, the plate thickness measuring device is controlled to measure the thickness of the plate adsorbed by the industrial sucker unit (7), if the side thickness exceeds expectation, the industrial sucker unit (7) adsorbs at least two layers of plates, at least two plates are adhered together, the system starts to alarm, a plurality of plates adsorbed on the industrial sucker unit (7) are separated through a manual manipulator, a separating manipulator or a shaking device, and finally the industrial sucker unit (7) only adsorbs a single plate;
Thirdly, controlling the industrial sucker unit (7) to move in a translation manner along the guide rail beam (6) until one plate adsorbed on the industrial sucker unit (7) moves in a translation manner to be right above the laser cutting platform (5); at the moment, the industrial sucker unit (7) is controlled to release the adsorbed plate to the laser cutting platform (5), then the industrial sucker unit (7) is controlled to move in a translation mode along the guide rail cross beam (6), the industrial sucker unit (7) returns to the initial position again, and the industrial sucker unit (7) can adsorb the plate stacked on the material lifting vehicle (91) again;
fourthly, controlling the laser cutting device to perform a cutting and punching process on the plate on the laser cutting platform (5) until the plate on the laser cutting platform (5) is processed into an expected finished plate; at the moment, a plurality of hole bodies are cut on the surface of the processed finished plate, so that the finished plate cannot be adsorbed by an industrial sucking disc;
controlling the plate material clamping mechanical hand unit (4) to move in a translation mode along the guide rail cross beam (6), so that the plate material clamping mechanical hand unit (4) moves in a translation mode to be right above the laser cutting platform (5), and then clamping the plate material which is cut on the laser cutting platform (5) by the plate material clamping mechanical hand unit (4); then the plate material clamping mechanical arm unit (4) is controlled to move in a translation mode along the guide rail cross beam (6), the plate material clamping mechanical arm unit (4) returns to the initial position again, the plate material clamping mechanical arm unit (4) is located right above the blanking trolley (9) on the second pair of guide rails (1), the plate material clamping mechanical arm unit (4) releases the finished plates to a plate bearing platform (13) of the blanking trolley (9), then the blanking trolley (9) is controlled to move to a blanking station (98) along the second pair of guide rails (1), and then the finished plates on the plate bearing platform (13) are taken away through a mechanical arm or a manual work.
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| CN201910967959.5A CN110549025B (en) | 2019-10-12 | 2019-10-12 | Full-automatic feeding and discharging workstation of laser cutting machine and method thereof |
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| CN201910967959.5A CN110549025B (en) | 2019-10-12 | 2019-10-12 | Full-automatic feeding and discharging workstation of laser cutting machine and method thereof |
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| CN112044790A (en) * | 2020-08-21 | 2020-12-08 | 南通斯康泰智能装备有限公司 | Defective products detects marking machine |
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Effective date of registration: 20240126 Address after: 214000 Tianshun Road, Yangshan supporting area, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Applicant after: WUXI SHENCHONG FORGING MACHINE Co.,Ltd. Country or region after: China Address before: 214000, No. 3 Lutong Road, Yangshan Supporting Zone, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Applicant before: JIANGSU SHENGCHI INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region before: China |
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