CN115593832A - Intelligent production line for unmanned environment operation - Google Patents
Intelligent production line for unmanned environment operation Download PDFInfo
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- CN115593832A CN115593832A CN202211200007.9A CN202211200007A CN115593832A CN 115593832 A CN115593832 A CN 115593832A CN 202211200007 A CN202211200007 A CN 202211200007A CN 115593832 A CN115593832 A CN 115593832A
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- 238000007726 management method Methods 0.000 claims description 6
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- 239000000463 material Substances 0.000 claims description 5
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- 238000000429 assembly Methods 0.000 claims description 4
- 238000003754 machining Methods 0.000 abstract description 7
- 238000007599 discharging Methods 0.000 abstract description 2
- 238000012797 qualification Methods 0.000 abstract description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application provides an intelligent production unmanned environment operation production line, provides a solution of the unmanned operation of machining area, replaces manual operation through integrated combined type AGV and cooperation robot to realize that full process is automatic to dock all machine tools and corresponding processing and buffer memory equipment, reach intelligent production and operation scheduling full automatization, improve work piece processing production efficiency, level and the finished product qualification rate that becomes more meticulous effectively. The intelligent production line for the unmanned environment operation comprises a warehouse area, a butt joint cache area and a processing area, wherein the warehouse area, the butt joint cache area and the processing area comprise an automatic feeding and discharging mechanism and a butt joint cache platform, and the processing area comprises a marking machine and a measuring machine; a pallet assembly is arranged on the butt joint buffer storage platform, a plurality of box cargo AGVs run among the warehouse area, the automatic loading and unloading mechanism and the butt joint buffer storage platform, and a plurality of composite AGVs run in the range of the processing area; and the warehouse area adopts an MES scheduling system to implement the warehouse location management.
Description
Technical Field
The invention relates to a full-flow intelligent unmanned environment operation production line and a process flow thereof, belonging to the field of intelligent manufacturing and automatic control.
Background
With the continuous development of the intelligent control technology of the industrial production line, the automation level and efficiency of the core components and the process links are becoming the main factors influencing the overall production efficiency. The traditional workpiece processing mode adopts manual work or manual auxiliary feeding conveying lines, so that the equipment structure is complex, the occupied area is large, the labor intensity of taking and placing parts is high, the problems of workpiece mismatch and the like are easily caused, and the subsequent processing efficiency is influenced.
If current metal parts production facility, generally need manual operation butt joint digit control machine tool, manpower and administrative cost are all higher, and full process automation such as storage, automated processing, washing, mark, measurement and warehouse entry is lower, and production line equipment maintenance is inconvenient, is unfavorable for implementing intelligent scheduling, and operating efficiency and processingquality all await further promotion.
In view of this, the present patent application is specifically proposed.
Disclosure of Invention
The application intelligent production unmanned environment operation production line aims at solving the problems existing in the prior art and provides a solution for unmanned operation of a processing area, manual operation is replaced by an integrated composite AGV (Automated Guided Vehicle) and a cooperative robot, all processing machines and corresponding processing and caching equipment are automatically butted in a full flow, full automation of intelligent production and operation scheduling is achieved, and workpiece processing production efficiency, refinement level and finished product qualification rate are effectively improved.
In order to achieve the design purpose, the intelligent production unmanned environment operation production line comprises a warehouse area, a butt joint cache area and a processing area, wherein the warehouse area, the butt joint cache area and the processing area comprise a marking machine and a measuring machine, the butt joint cache area is formed by an automatic feeding and discharging mechanism and a butt joint cache platform according to the operation processes of production and material circulation; a pallet component is arranged on the butt joint buffer platform, a plurality of box cargo AGVs are operated among the warehouse area, the automatic loading and unloading mechanism and the butt joint buffer platform, and a plurality of composite AGVs are operated in the range of the processing area; and the warehouse area adopts an MES (manufacturing execution system) scheduling system to implement warehouse location management, the pallet assemblies loaded with the workpieces are delivered and warehoused by the box goods AGV with Slam navigation technology, the appointed workpieces are transferred and processed in the butt joint buffer area, and the box goods AGV is butted with the composite AGV transferred in the processing area.
Furthermore, the automatic loading and unloading mechanism comprises a profile frame assembly, and a movable tool which is in driving connection with a driving assembly is arranged on the profile frame assembly; the driving assembly comprises a rodless cylinder and a group of sliding rails, the rodless cylinder is arranged on the profile frame assembly, the driving end of the rodless cylinder is connected to the moving tool, and the bottom of the moving tool is provided with a sliding block which is sleeved on the sliding rails in a sliding manner; and a group of photoelectric sensors and magnetic switches are correspondingly arranged between the profile frame assembly and the rodless cylinder respectively.
Further, box goods AGV include the AGV automobile body, at AGV automobile body fixed mounting have pack basket subassembly and rotatory fork subassembly of lifting.
Furthermore, the butt joint buffer platform comprises a profile frame, a plurality of groups of support frames are arranged on the profile frame, and two ends of each group of support frames are respectively and symmetrically provided with a limit block for supporting and limiting the tray assembly; a photoelectric switch is arranged on each group of supporting frames to detect whether a tray assembly is placed on the supporting frame; and code readers are arranged between two adjacent groups of support frames and on the section bar frame to read the related bar code information of the tray component.
Furthermore, the tray assembly comprises a tray bottom plate, and a plurality of groups of positioning pins for supporting and positioning the finished parts, finished part positioning blocks, a plurality of groups of blank positioning blocks for supporting and positioning the blanks and two-dimensional code labels are arranged on the tray bottom plate; the locating pin top is the columnar structure of epirelief, and the finished product locating piece is provided with the V type constant head tank that a set of symmetry set up in order to provide vertical support and location, and blank locating piece has the profile modeling centre gripping and the location of the open slot of U type in order to provide blank one end.
Further, the composite AGV comprises an AGV trolley walking at the bottom, and the AGV trolley is provided with a cooperative robot and a gripper placing rack through a shell and a cache table at the top of the shell; the front end of the cooperative robot is connected with a quick change disk mounting plate, an electric quick change disk robot end is mounted on the quick change disk mounting plate, and a camera mounting plate and a Harting quick plug mounting plate are connected to one side of the quick change disk mounting plate; a light source lamp and a vision camera are arranged on the camera mounting plate, and a Harting quick plug female head which is butted with the electric gripper assembly is arranged on the Harting quick plug mounting plate; the electric gripper assembly is provided with an electric clamping jaw body, and the front end and the rear end of the electric clamping jaw body are respectively connected with an electric clamping jaw connecting plate and electric clamping jaw fingers; the rear end of the electric clamping jaw connecting plate is connected with a grab hand end of an electric quick-change disc and a male head of a Harting quick-change plug, the grab hand end of the electric quick-change disc is in butt joint with a robot end of the electric quick-change disc during assembly, and the male head of the Harting quick-change plug is in butt joint with a female head of the Harting quick-change plug.
Furthermore, the cooperative robot is provided with a quick change disk positioning slot on the electric quick change disk robot end; during assembly, the electric quick-change disc gripper end is in butt joint with the quick-change disc positioning slot.
Furthermore, the gripper placing frame is provided with a section bar frame, the section bar frame is provided with a plurality of groups of placing areas of the electric gripper assemblies, and each placing area is provided with two side spacing cylinders; the spacing cylinder is provided with a stop block and a supporting block, and the supporting block is provided with a positioning groove; when the electric gripper assembly is placed, the clamping jaw positioning shaft of the electric gripper assembly is nested in the positioning groove in a butt joint mode.
Furthermore, the marking machine comprises a workpiece positioning tool, a Y-direction electric sliding table and a supporting profile framework, wherein the driving end of the Y-direction electric sliding table is connected to the workpiece positioning tool so as to drive the workpiece positioning tool to reciprocate along the Y axis of the three-axis coordinate system; a code reader, an X-direction electric sliding table and a Z-direction electric sliding table which are connected with each other are arranged on the supporting section bar frame; the driving end of the X-direction electric sliding table is connected with a marking head; the marking head can reciprocate along the X axis and the Z axis of the three-axis coordinate system through the combined drive of the X-direction electric sliding table and the Z-direction electric sliding table; the workpiece positioning tool is provided with a plurality of groups of positioning pins and profiling positioning blocks which are arranged in pairs so as to support and position a workpiece with a large volume, a group of clamping jaw cylinders, at least one pair of clamping blocks which are connected and driven by the clamping jaw cylinders for positioning so as to support and position a hexagonal rod-shaped workpiece, a group of guide rod cylinders and at least one pair of pressing blocks which are connected and driven by the guide rod cylinders for positioning an axial workpiece.
Furthermore, the measuring machine comprises a measuring positioning fixture arranged on the measuring machine cabinet, and the measuring positioning fixture is provided with a supporting and positioning structure in the three-axis direction.
In summary, the intelligent production unmanned environment production line provided by the application has the following advantages:
1. the full-process automatic unmanned environment operation processing equipment realizes intelligent operation from the whole processes of storage, unmanned processing, cleaning, marking, detection, warehousing and ex-warehousing, and the like, and the whole process does not need manual intervention and assistance, so that the influence of manual factors on the processing quality is reduced to the maximum extent, the human resource input and the production cost are both low, and the automation level is high.
2. A plurality of stations from storage to processing, detection and the like are connected in series through the AGV, so that the workpiece is protected, the processing refinement level is improved, the scheduling efficiency of an MES system is improved, and the processing operation and the equipment maintenance are simplified.
3. The method and the device can improve the standardized management capability of the production field and systematically solve the problems of production line process management and processing quality.
Drawings
The present application will now be further described with reference to the following drawings.
FIG. 1 is a schematic overall view of the intelligent production unmanned environment operation production line;
FIG. 2 is a schematic view of an automatic loading and unloading mechanism;
FIG. 2-1 is a schematic structural view of the drive assembly of FIG. 2;
FIG. 3 is a schematic view of a boxed AGV;
FIG. 4 is a schematic diagram of a docking station;
FIG. 4-1 is a schematic diagram of a composite AGV fetching a piece at a docking buffer station;
FIG. 4-2 is a schematic view of a composite AGV replacing a finished part at a docking buffer;
FIG. 5 is a schematic view of a tray assembly;
FIG. 5-1 is a schematic view of placement of a blank on a tray assembly;
FIG. 5-2 is a schematic view of the placement of a final part on the tray assembly;
FIGS. 6-6 are schematic diagrams of a composite AGV and its various components;
FIG. 7 is a schematic view of a marking machine;
FIG. 7-1 is a schematic view of the workpiece positioning tool of FIG. 7;
FIG. 8 is a schematic view of a measuring machine;
fig. 9 is a schematic view of a work flow of the production line according to the present application.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Embodiment 1, as shown in fig. 1, the present application provides a novel intelligent production line in an unmanned environment, which includes a warehouse area 1, a docking buffer area composed of an automatic loading and unloading mechanism 2 and a docking buffer table 4, and a processing area composed of a first five-axis processing center 7, a second five-axis processing center 8, a turning and milling composite processing center 9, a cleaning machine 10, a marking machine 11, a measuring machine 12, and a fence component 13 according to an operation process of production and material circulation.
Wherein, be provided with tray assembly 5 on butt joint buffer platform 4, the operation has several box goods AGV3 between warehouse district 1, automatic unloading mechanism 2 and butt joint buffer platform 4, and the operation has several compound AGV6 within the range of processing district.
Specifically, the warehouse area 1 adopts an MES scheduling system to implement warehouse location management, and automatic warehouse-out and warehouse-in operations of pallets loaded with workpieces are implemented by a box AGV with Slam navigation technology;
the box cargo AGV3 is responsible for transferring and processing the appointed workpieces in the butt joint cache area so as to butt joint the composite AGV6 transferred in the processing area;
in the whole processing area range, the composite AGV automatically butts each machining station, and the combined cooperation robot is compatible with the transportation of various processing workpieces, so that the continuous and automatic butt joint among the stations is realized, and the full-flow intelligent unmanned environment operation from the processing, cleaning, marking and measuring of parts to the conveying back to the warehouse area 1 is realized.
As shown in fig. 2 and fig. 2-1, the automatic loading and unloading mechanism 2 is used for docking the AGV3 for loading and unloading finished products and blanks, and the automatic loading and unloading mechanism 2 includes a profile frame assembly 2.2, and a movable tool 2.1 driven and connected by a driving assembly 2.3 is arranged on the profile frame assembly 2.2.
The driving assembly 2.3 comprises a rodless cylinder 2.3.1 and a group of sliding rails 2.3.2, the rodless cylinder 2.3.1 is arranged on the profile frame assembly 2.2, the driving end of the rodless cylinder 2.3.1 is connected to the movable tool 2.1, and the bottom of the movable tool 2.1 is provided with a sliding block which is sleeved on the sliding rails 2.3.2 in a sliding manner; a group of photoelectric sensors 2.3.3 and a group of magnetic switches 2.3.4 are respectively and correspondingly arranged between the section bar frame assembly 2.2 and the rodless cylinder 2.3.1;
when the tray assembly 5 is placed in the moving tool 2.1, the photoelectric sensor 2.3.3 sends a detection signal to the PLC after detecting the tray assembly 5, and the PLC controls the rodless cylinder 2.3.1 to act together through the electromagnetic valve 2.3.5 and the air source processing assembly 2.3.6 so as to drive the moving tool 2.1 to move to a material taking and placing station of the box cargo AGV3 along the side of the section frame assembly 2.2;
when the magnetic switch 2.3.4 detects the in-place signal of the tray assembly 5, a signal is sent to the PLC, the PLC controls the rodless cylinder 2.3.1 to stop at a set position, and the box cargo AGV3 receives an instruction of the MES dispatching system and then takes away and conveys the blank or finished product on the tray assembly 5 to the warehouse area 1.
As shown in fig. 3, the AGV3 for box goods includes an AGV body 3.1, the AGV body 3.1 can adopt a differential driving laser navigation AGV car common in the prior art, and complete path planning through a SLAM laser navigation system provided therein, so as to drive between the automatic loading and unloading mechanism 2 and the docking buffer table 4 in all directions, thereby completing continuous delivery and warehouse entry and exit operations.
A pack basket assembly 3.2 and a rotary lifting fork assembly 3.3 are fixedly arranged on the AGV body 3.1.
Through rotatory lifting fork subassembly 3.3 in the ascending and descending operation of vertical, the fork on the horizontal direction is flexible and rotatory operation to carry out getting between unloading mechanism 2 and the butt joint buffer platform 4 in the automation with tray subassembly 5 and put and transport.
Between the automatic loading and unloading mechanism 2 and the butt-joint buffer platform 4, the box cargo AGV3 accurately runs to an appointed station through a laser SLAM navigation system equipped for the AGV body 3.1; rotatory lifting fork subassembly 3.3 fork gets tray subassembly 5 on the station and transports to pack basket subassembly 3.2, moves to next station by AGV automobile body 3.1, gets tray subassembly 5 by rotatory lifting fork subassembly 3.3 fork and transports to appointed position from pack basket subassembly 3.2 again.
As shown in fig. 4 to 4-2, the docking buffer table 4 is used for docking the composite AGV6 to temporarily store the blank or the finished product, and performs a storage function of linking the warehouse area 1 with the processing area.
The butt joint buffer storage table 4 comprises a section bar frame 4.1 which is fixedly installed through ground feet 4.5, a plurality of groups of support frames 4.6 are arranged on the section bar frame 4.1, and two ends of each group of support frames 4.6 are respectively and symmetrically provided with limit blocks 4.4 for supporting and limiting the tray assembly 5;
a photoelectric switch 4.3 is arranged on each group of supporting frames 4.6 to detect whether the tray assembly 5 is placed on the supporting frame 4.6;
a code reader 4.2 is arranged between two adjacent groups of support frames 4.6 and on the section bar frame 4.1 to read the relevant bar code information of the tray component 5.
At the butt joint buffer table 4, the composite AGV6 grabs blanks 5.6 from the tray assembly 5 and sequentially conveys the blanks to a first five-axis machining center 7, a second five-axis machining center 8, a turn-milling composite machining center 9, a cleaning machine 10, a marking machine 11 and a measuring machine 12 which are subsequent to the blank grabbing and conveying operations to perform a series of machining, cleaning, marking and measuring operations; the finished part 5.7, which is qualified by the inspection, is returned by the composite AGV6 and placed on the pallet assembly 5.
As shown in fig. 5 to fig. 5-2, the tray assembly 5 is used for carrying a blank 5.6 to be processed and a finished part 5.7 qualified by detection, the tray assembly 5 includes a tray bottom plate 5.1, and on the tray bottom plate 5.1, there are provided several sets of positioning pins 5.2 for supporting and positioning the finished part 5.7, a finished part positioning block 5.3, several sets of blank positioning blocks 5.4 for supporting and positioning the blank 5.6, and a two-dimensional code label 5.5.
The top of the positioning pin 5.2 is of a convex columnar structure so as to be matched with butt joint and insertion of a concave positioning hole at one end of the finished product 5.7, so that vertical support and positioning of the end part are provided; a group of symmetrically arranged V-shaped positioning grooves 5.8 are arranged on the finished product positioning block 5.3 corresponding to the other end of the finished product 5.7 so as to provide vertical support and positioning;
aiming at the characteristic that the blank piece 5.6 is a cuboid material, each blank piece positioning block 5.4 is provided with a U-shaped open slot 5.9 for providing copying clamping and positioning of one end of the blank piece 5.6;
the two-dimensional code label 5.5 store the relevant information of tray subassembly 5, when tray subassembly 5 placed in butt joint buffer table 4, read relevant information through code reader 4.2 and in order to track the blank 5.6, finished product 5.7 that record carried on it for MES dispatch system implements storehouse position management, cooperates box goods AGV to implement automatic warehouse-out and warehouse-in operation of tray subassembly 5.
As shown in fig. 6 to 6-6, the composite AGV6 for taking, placing and conveying the rough blank 5.6 and the finished workpiece 5.7 comprises an AGV trolley 6.6 walking at the bottom, and the AGV trolley 6.6 is provided with a cooperating robot 6.2 and a hand grip placing rack 6.3 through a shell 6.5 and a buffer table 6.4 at the top of the shell 6.5.
The AGV trolley 6.6 has an omnidirectional running function, and can adopt a common differential drive laser navigation system in the prior art to complete path planning and implement continuous piece supply and conveying between the butt joint buffer table 4 and the processing area. The AGV trolley 6.6 bears the cooperation robot 6.2, the gripper placing rack 6.3 and the buffer table 6.4 to travel to a designated machining station, a workpiece to be machined is placed at a machine tool, and the workpiece is conveyed to the next station after machining is finished.
The cooperative robot 6.2 is used for grabbing and placing workpieces, the cooperative robot 6.2 first grabs and assembles the corresponding electric gripper components from the gripper placing rack 6.3, and then grabs the corresponding workpieces from the placing tooling on the buffer table 6.4 by using the assembled electric gripper components; after the workpiece is processed, the workpiece and the electric gripper assembly are sequentially placed back to the buffer table 6.4 and the gripper placing frame 6.3 according to the sequence opposite to the flow so as to complete a complete workpiece supplying process.
According to the requirements of the processing technology of the workpiece, the electric gripping assembly comprises a special-shaped electric gripping assembly 6.1, a plate blank gripping assembly 6.7 and a shaft blank gripping assembly 6.8.
The front end of the cooperative robot 6.2 is connected with a quick-change disc mounting plate 6.11, the quick-change disc mounting plate 6.11 is provided with an electric quick-change disc robot end 6.12, and one side of the quick-change disc mounting plate 6.11 is connected with a camera mounting plate 6.111 and a Harting quick plug mounting plate 6.114;
the electric quick-change disc robot end 6.12 is provided with a quick-change disc, a quick-change disc positioning slot 6.200 for butting the electric gripper assembly;
a light source lamp 6.19 and a vision camera 6.110 are arranged on the camera mounting plate 6.111, and a Harting quick plug female head 6.113 butted with an electric gripper assembly is arranged on the Harting quick plug mounting plate 6.114.
The special-shaped electric gripper assembly 6.1 is provided with an electric gripper body 6.15, and the front end and the rear end of the electric gripper body 6.15 are respectively connected with an electric gripper connecting plate 6.14 and an electric gripper finger 6.16;
the rear end of the electric clamping jaw connecting plate 6.14 is connected with an electric quick-change disc gripper end 6.13 and a Harting quick-change plug male head 6.112, and during assembly, the electric quick-change disc gripper end 6.13 is in butt joint with a quick-change disc positioning slot 6.200, and the Harting quick-change plug male head 6.112 is in butt joint with a Harting quick-change plug female head 6.113;
further, in order to improve the rapid and accurate performance of placing the special-shaped electric gripper assembly 6.1, a group of gripper positioning shafts 6.115 for positioning are arranged at the top of the electric gripper connecting plate 6.14.
A group of first profiling pressing blocks 6.17 and a group of second profiling pressing blocks 6.18 which are used for clamping and positioning a special-shaped workpiece are respectively arranged on the inner sides of the fingers 6.16 of the electric clamping jaws.
The plate blank gripper assembly 6.7 is provided with an electric clamping jaw body 6.15, and the front end and the rear end of the electric clamping jaw body 6.15 are respectively connected with an electric clamping jaw connecting plate 6.14 and an electric clamping jaw finger 6.16;
the rear end of the electric clamping jaw connecting plate 6.14 is connected with an electric quick-change disc gripper end 6.13 and a Harting quick plug male head 6.112, during assembly, the electric quick-change disc gripper end 6.13 is in butt joint with a quick-change disc positioning slot 6.200 on an electric quick-change disc robot end 6.12 of a cooperative robot 6.2, and the Harting quick plug male head 6.112 is in butt joint with a Harting quick plug female head 6.113;
a group of clamping jaw positioning shafts 6.115 used for positioning are arranged at the top of the electric clamping jaw connecting plate 6.14;
two groups of POM plates 6.51 and polyurethane blocks 6.52 for clamping and positioning plate blank workpieces are respectively arranged on the inner sides of the electric clamping jaw fingers 6.16. Polyurethane piece 6.52 is used for the increase and improves the centre gripping dynamics with the frictional force between the work piece, and POM board 6.51 is used for improving with the laminating degree between the work piece, the centre gripping precision when guaranteeing to snatch, and these two kinds of parts can not cause the clamp problem to the work piece.
The shaft blank gripping assembly 6.8 is provided with an electric clamping jaw body 6.15, and the front end and the rear end of the electric clamping jaw body 6.15 are respectively connected with an electric clamping jaw connecting plate 6.14 and electric clamping jaw fingers 6.16 so as to be used for clamping shaft blanks and/or shaft finished products.
The rear end of the electric clamping jaw connecting plate 6.14 is connected with an electric quick-change disc gripper end 6.13 and a Harting quick plug male head 6.112, during assembly, the electric quick-change disc gripper end 6.13 is in butt joint with a quick-change disc positioning slot 6.200 on an electric quick-change disc robot end 6.12 of a cooperative robot 6.2, and the Harting quick plug male head 6.112 is in butt joint with a Harting quick plug female head 6.113;
a group of clamping jaw positioning shafts 6.115 for positioning are arranged at the top of the electric clamping jaw connecting plate 6.14;
two groups of first POM V-shaped clamping blocks 6.63 and second POM V-shaped clamping blocks 6.64 used for clamping and positioning shaft type blank workpieces are respectively arranged on the inner sides of the electric clamping jaw fingers 6.16, and the first POM V-shaped clamping blocks 6.63 and the second POM V-shaped clamping blocks 6.64 are respectively provided with a plurality of concave-convex clamping position grooves so as to be compatible with shaft bodies (such as hexagonal shafts) with different external diameters.
The gripper placing frame 6.3 is provided with a section frame 6.31, the section frame 6.31 is provided with three groups of placing areas for respectively placing electric gripper assemblies for grabbing special-shaped workpieces, plate blank workpieces and shaft blank workpieces, each placing area is provided with two side spacing cylinders 6.35, and a supporting angle piece 6.32 is connected between each spacing cylinder 6.35 and the section frame 6.31 to strengthen mechanical strength and stability;
a stopper 6.33 and a supporting block 6.34 are provided on the spacing cylinder 6.35 to hold and support the electric gripper assembly from three dimensions.
Furthermore, in order to improve the accuracy of placing the electric gripper assembly, a positioning groove 6.36 is formed in the supporting block 6.34; when the electric gripper is placed, the gripper positioning shaft 6.115 of the electric gripper assembly is in butt-joint nesting in the positioning groove 6.36.
The buffer storage table 6.4 comprises an upper turning plate 6.41, and a plurality of groups of special-shaped part positioning columns 6.42, plate blank placing frames 6.43, shaft blank placing frames 6.44, emergency stop buttons 6.45 and indicator lamps 6.46 are arranged on the upper turning plate 6.41.
A proximity switch 6.47 is arranged on one side of the special-shaped part positioning column 6.42 to detect whether a special-shaped part workpiece approaches and is sleeved on the special-shaped part positioning column 6.42;
along two sides of each profile positioning column 6.42, a group of nylon adjusting columns 6.48, a first eccentric shaft 6.49 and a first limiting column 6.410, and another group of nylon adjusting columns 6.48, a second limiting column 6.411 and a second eccentric shaft 6.412 are symmetrically arranged.
The nylon adjusting column 6.48, the first eccentric shaft 6.49 and the second eccentric shaft 6.412 on the two sides can rotate or bias along the upper vehicle plate 6.41 to adjust the distance between the two sets of devices, so as to adapt to clamping and fastening of workpieces with different types and specifications and shapes.
Each plate blank placing frame 6.43 is provided with a group of U-shaped clamping grooves which are symmetrically arranged so as to clamp and fasten the plate blanks from two sides.
The plurality of groups of shaft blank placing racks 6.44 are provided with positioning convex columns and positioning grooves with different diameters so as to insert and fasten shaft blanks of various types and specifications through similar mortise and tenon structures.
The scram button 6.45 is used for manually intervening and prohibiting when the composite AGV6 walks or grabs a workpiece abnormally, so that collision or damage to equipment and the workpiece is prevented.
Corresponding to each group of special-shaped part positioning columns 6.42, the plate blank placing frames 6.43 and the shaft blank placing frames 6.44, a group of indicator lamps 6.46 are correspondingly arranged on the upper turning plate 6.41, and when workpieces are respectively placed on corresponding tools, the indicator lamps 6.46 are lightened.
According to a supply instruction given by an MES dispatching system, the composite AGV6 robot walks to the butt joint buffer platform 4,
firstly, the cooperative robot 6.2 uses the vision camera 6.110 to photograph the gripper placing frame 6.3 so as to identify and position the specific placing position of the electric gripper assembly to be assembled;
after the electric gripper assembly is selected, like the special-shaped electric gripper assembly 6.1, the front end of the cooperative robot 6.2 extends out, and the electric quick-change disc robot end 6.12 on the quick-change disc mounting plate 6.11 is in butt joint with the electric quick-change disc gripper end 6.13 of the special-shaped electric gripper assembly 6.1. At the moment, the electric quick-change disc gripper end 6.13 is inserted into and limited by the quick-change disc positioning slot 6.200 on the electric quick-change disc robot end 6.12, and the Harting quick-plug male head 6.112 is inserted into the Harting quick-plug female head 6.113.
Secondly, the cooperative robot 6.2 moves the loaded special-shaped electric gripper assembly 6.1 to the cache table 6.4, and continues to use the vision camera 6.110 to photograph the cache table 6.4 so as to identify and position the specific placement position of the workpiece to be gripped;
after a workpiece to be grabbed is selected, such as a special-shaped workpiece, the front end of the cooperative robot 6.2 extends out, and electric clamping jaw fingers 6.16 of the special-shaped electric gripper assembly 6.1 clamp and grab the special-shaped workpiece from two sides; at the moment, the first profiling pressing block 6.17 and the second profiling pressing block 6.18 on the inner side of the electric clamping jaw finger 6.16 are respectively clamped outside a special-shaped workpiece, and the structures in contact with the first profiling pressing block and the second profiling pressing block are matched and nested with each other, so that the workpiece is stably grabbed without damage.
The profiled piece work piece is then transferred by the co-operating robot 6.2 and the profiled piece electric gripper assembly 6.1 to a machine tool for machining or assembly.
Then, the assembled workpiece is grabbed by a cooperation robot 6.2 of the composite AGV6 and an electric grabbing hand assembly 6.1 of the special-shaped piece and placed back to a buffer table 6.4 to be transported to the next processing station;
when the special-shaped workpiece is placed back to the buffer table 6.4, the buffer table 6.4 is photographed again by the vision camera 6.110 to determine whether the special-shaped positioning column 6.42 capable of placing the special-shaped workpiece and the periphery thereof are in an idle state; if yes, the placing angle and the placing distance of the special-shaped workpiece are adjusted through the electric clamping jaw fingers 6.16, the electric clamping jaw fingers 6.16 loosen and release the workpiece, the workpiece is sleeved on the special-shaped workpiece positioning column 6.42, and meanwhile, the nylon adjusting column 6.48, the first eccentric shaft 6.49, the first limiting column 6.410, the other set of nylon adjusting column 6.48, the second limiting column 6.411 and the second eccentric shaft 6.412 clamp the workpiece from two sides.
Finally, the cooperative robot 6.2 bears the special-shaped electric gripper assembly 6.1 and moves to the gripper placing frame 6.3, and the vision camera 6.110 takes a picture of the gripper placing frame 6.3 again to determine whether the placing section capable of placing the special-shaped electric gripper assembly 6.1 is in an idle state or not; if so, the front end of the cooperative robot 6.2 extends out, and the angle and distance for placing the special-shaped electric gripper assembly 6.1 are controlled simultaneously, so that the clamping jaw positioning shaft 6.115 on the cooperative robot is accurately inserted into the positioning groove 6.36 on the supporting block 6.34, and the supporting block 6.34 clamps the clamping jaw positioning shaft 6.115;
the electric quick-change disc robot end 6.12 of the cooperative robot 6.2 loosens the electric quick-change disc gripper end 6.13 of the special-shaped electric gripper assembly 6.1, and simultaneously the front end of the cooperative robot 6.2 retracts; at the moment, by means of the clamping action of the supporting blocks 6.34 on the clamping jaw positioning shaft 6.115, the electric quick-change disc gripper end 6.13 is separated from the quick-change disc positioning slot 6.200, and the Harting quick-change plug male head 6.112 is separated from the Harting quick-change plug female head 6.113 and is pulled out, so that the complete grabbing and releasing operation of a workpiece supply process is completed.
As mentioned above, the same operation procedure as the above steps can be adopted for the plate blank gripper assembly 6.7 and the shaft blank gripper assembly 6.8.
The first five-axis machining center 7, the second five-axis machining center 8, the turn-milling composite machining center 9 and the cleaning machine 10 according to the embodiment may adopt related equipment in the prior art, and structural features thereof are not described repeatedly herein.
As shown in fig. 7 and 7-1, the marking machine 11 includes a cabinet 11.1, a workpiece positioning tool 11.2, a Y-direction electric sliding table 11.4 and a supporting profile frame are arranged on the cabinet 11.1, and a driving end of the Y-direction electric sliding table 11.4 is connected to the workpiece positioning tool 11.2 to drive the workpiece positioning tool to reciprocate on the cabinet 11.1 along a Y-axis of a three-axis coordinate system;
a code reader 11.5, an X-direction electric sliding table 11.6 and a Z-direction electric sliding table 11.7 which are connected with each other are arranged on the supporting section bar frame, and a marking head 11.3 is connected with the driving end of the X-direction electric sliding table 11.6; the marking head 11.3 can reciprocate along the X axis and the Z axis of a three-axis coordinate system through the combined drive of the X-direction electric sliding table 11.6 and the Z-direction electric sliding table 11.7;
the marking machine 11 adopts three sets of servo systems arranged along a three-axis coordinate system, and a Y-direction electric sliding table 11.4, an X-direction electric sliding table 11.6 and a Z-direction electric sliding table 11.7 are respectively controlled by servo motors to accurately position the marking head 11.3;
the workpiece positioning tool 11.2 is provided with a plurality of groups of positioning pins 11.2.1 which are arranged in pairs and a profiling positioning block 11.2.6 for supporting and positioning a workpiece with a larger volume, a group of clamping jaw air cylinders 11.2.2 and at least one pair of clamping block positioning 11.2.3 which is driven by the clamping jaw air cylinders 11.2.2 in a connecting mode for supporting and positioning a hexagonal rod type workpiece, and a group of guide rod air cylinders 11.2.4 and at least one pair of pressing blocks 11.2.5 which are driven by the guide rod air cylinders 11.2.4 in a connecting mode for positioning an axial type workpiece.
Initially, the Y-direction electric sliding table 11.4 drives the workpiece positioning tool 11.2, the X-direction electric sliding table 11.6 and the Z-direction electric sliding table 11.7 to drive the marking head 11.3 to move along the X axis and the Z axis in a combined manner, so that the marking head 11.3 can mark different types of workpieces;
after marking, reading related bar code information by a code reader 11.5;
upon reading, the work piece is retrieved by the composite AGV6 for delivery to the subsequent measuring machine 12.
As shown in fig. 8, the measuring machine 12 includes a measuring and positioning fixture 12.2 disposed on a measuring machine cabinet 12.1, and the measuring and positioning fixture 12.2 adopts a supporting and positioning structure in three axial directions to automatically measure dimension and shape data in a three-axis coordinate system for a measured workpiece.
The measuring and positioning fixture 12.2 may have the same structure and layout as the tray assembly 5, and the detailed description thereof is omitted here.
Based on the structural design of the intelligent production unmanned environment operation production line, according to a processing operation instruction of an MES (manufacturing execution system), a box cargo AGV3 runs to a specified blank storage position of a vertical warehouse shelf, takes down a tray assembly 5 at the specified blank storage position and places the tray assembly on a back basket 3.2;
when the mobile terminal runs to the butt joint cache table 4, the tray assembly 5 is placed at a cache position of the butt joint cache table 4, the butt joint cache table 4 detects an in-place signal of the tray assembly 5, and the code reader 4.2 reads the bar code information of the tray assembly 5 and feeds the bar code information back to the MES scheduling system;
after receiving a supply instruction of an MES dispatching system, the composite AGV6 runs to the butt joint cache table 4 to take a blank piece 5.6, and then runs to a designated machining center machine tool; the composite AGV6 places the blank 5.6 on a machine tool clamp through photographing and positioning of a vision camera, and the arm of the cooperative robot 6.1 exits from the machine tool to start machining;
after the standby machine finishes processing, the composite AGV6 takes away the finished product 5.7 formed after processing and runs to the cleaning machine 10, and the finished product 5.7 is put into the cleaning machine 10 for cleaning;
after cleaning, the composite AGV6 takes away the workpiece and runs to a workpiece positioning tool 11.2 at the marking machine 11, after marking and code reading operations, the composite AGV6 takes away the workpiece to run to a measuring machine 12, and the workpiece is placed on the measuring positioning tool 12.2 to carry out measurement;
after the measurement is finished, judging whether the measurement is qualified; if the detection is unqualified, the composite AGV6 takes the unqualified workpiece away and puts the unqualified workpiece into a waste bin; if the finished products are qualified, the composite AGV6 takes the qualified finished products 5.7 away and conveys the finished products back to the tray assembly 5 of the butt joint buffer platform 4, and finally the qualified finished products 5.7 and the tray assembly 5 are warehoused together by the box cargo AGV 3.
In summary, the embodiments shown in the drawings are only preferred embodiments for achieving the objects of the present invention. Those skilled in the art can now appreciate that many other alternative constructions will be apparent which are consistent with the design of this invention. Other structural features thus obtained are also intended to fall within the scope of the solution according to the invention.
Claims (10)
1. The utility model provides an intelligent production unmanned environment operation production line which characterized in that: according to the operation process of production and material circulation, a warehouse area, a butt joint cache area consisting of an automatic loading and unloading mechanism and a butt joint cache platform, and a processing area comprising a marking machine and a measuring machine are arranged;
a pallet assembly is arranged on the butt joint buffer storage platform, a plurality of box cargo AGVs run among the warehouse area, the automatic loading and unloading mechanism and the butt joint buffer storage platform, and a plurality of composite AGVs run in the range of the processing area;
and the warehouse area adopts an MES (manufacturing execution system) to implement warehouse level management, a box AGV with Slam navigation technology implements the pallet component loaded with the workpiece to enter and exit the warehouse and transfers and process the specified workpiece in the butt joint cache area, and the box AGV abuts against the composite AGV transferred in the processing area.
2. The intelligent production line for unmanned environment operation as claimed in claim 1, wherein: the automatic loading and unloading mechanism comprises a section bar frame assembly, and a movable tool which is in driving connection with a driving assembly is arranged on the section bar frame assembly;
the driving assembly comprises a rodless cylinder and a group of sliding rails, the rodless cylinder is arranged on the profile frame assembly, the driving end of the rodless cylinder is connected to the moving tool, and the bottom of the moving tool is provided with a sliding block which is sleeved on the sliding rails in a sliding manner; a group of photoelectric sensors and magnetic switches are correspondingly arranged between the profile frame assembly and the rodless cylinder respectively.
3. The intelligent production unmanned environment operation production line of claim 1, wherein: the box goods AGV include the AGV automobile body, have basket on the back subassembly and rotatory fork subassembly of lifting at AGV automobile body fixed mounting.
4. The intelligent production unmanned environment operation production line of claim 1, wherein: the butt joint buffer platform comprises a profile frame, a plurality of groups of supporting frames are arranged on the profile frame, and two ends of each group of supporting frames are respectively and symmetrically provided with a limiting block for supporting and limiting the tray assembly;
a photoelectric switch is arranged on each group of supporting frames to detect whether a tray assembly is placed on the supporting frame;
and code readers are arranged between two adjacent groups of support frames and on the section bar frame to read the related bar code information of the tray component.
5. The intelligent production unmanned environment operation production line of claim 1, wherein: the tray assembly comprises a tray bottom plate, and a plurality of groups of positioning pins for supporting and positioning the finished product, finished product positioning blocks, a plurality of groups of blank positioning blocks for supporting and positioning the blank and two-dimensional code labels are arranged on the tray bottom plate;
the locating pin top is the columnar structure of epirelief, and the finished product locating piece is provided with the V type constant head tank that a set of symmetry set up in order to provide vertical support and location, and blank locating piece has the profile modeling centre gripping and the location of the open slot of U type in order to provide blank one end.
6. The intelligent production unmanned environment operation production line of claim 1, wherein: the composite AGV comprises an AGV trolley walking at the bottom, and the AGV trolley is provided with a cooperative robot and a gripper placing rack through a shell and a cache table at the top of the shell;
the front end of the cooperative robot is connected with a quick change disk mounting plate, an electric quick change disk robot end is mounted on the quick change disk mounting plate, and a camera mounting plate and a Harting quick plug mounting plate are connected to one side of the quick change disk mounting plate;
a light source lamp and a vision camera are arranged on the camera mounting plate, and a Harting quick plug female head which is butted with the electric gripper assembly is arranged on the Harting quick plug mounting plate;
the electric gripper assembly is provided with an electric clamping jaw body, and the front end and the rear end of the electric clamping jaw body are respectively connected with an electric clamping jaw connecting plate and electric clamping jaw fingers;
the rear end of the electric clamping jaw connecting plate is connected with a grab hand end of an electric quick-change disc and a male head of a Harting quick-change plug, the grab hand end of the electric quick-change disc is in butt joint with a robot end of the electric quick-change disc during assembly, and the male head of the Harting quick-change plug is in butt joint with a female head of the Harting quick-change plug.
7. The intelligent production unmanned environment operation production line of claim 6, wherein: the cooperative robot is provided with a quick change disc positioning slot on the electric quick change disc robot end;
during assembly, the electric quick-change disc gripper end is in butt joint with the quick-change disc positioning slot.
8. The intelligent production line for unmanned environment operation as claimed in claim 7, wherein: the gripper placing frame is provided with a section bar frame, the section bar frame is provided with a plurality of groups of placing areas of the electric gripper assemblies, and each placing area is provided with a column body with two sides spaced;
the spacing column body is provided with a stop block and a supporting block, and the supporting block is provided with a positioning groove; when the electric gripper is placed, the clamping jaw positioning shaft of the electric gripper assembly is nested in the positioning groove in a butt joint mode.
9. The intelligent production unmanned environment operation production line of claim 1, wherein: the marking machine comprises a workpiece positioning tool, a Y-direction electric sliding table and a supporting profile frame, wherein the driving end of the Y-direction electric sliding table is connected to the workpiece positioning tool to drive the workpiece positioning tool to reciprocate along the Y axis of a three-axis coordinate system;
a code reader, an X-direction electric sliding table and a Z-direction electric sliding table which are connected with each other are arranged on the supporting section bar frame; the driving end of the X-direction electric sliding table is connected with a marking head; the marking head can reciprocate along the X axis and the Z axis of the three-axis coordinate system through the combined drive of the X-direction electric sliding table and the Z-direction electric sliding table;
the workpiece positioning tool is provided with a plurality of groups of positioning pins and profiling positioning blocks which are arranged in pairs so as to support and position a workpiece with a large volume, a group of clamping jaw air cylinders, at least one pair of clamping blocks which are connected and driven by the clamping jaw air cylinders, a group of guide rod air cylinders, and at least one pair of pressing blocks which are connected and driven by the guide rod air cylinders so as to position a shaft-shaped workpiece.
10. The intelligent production unmanned environment operation production line of claim 1, wherein: the measuring machine comprises a measuring positioning fixture arranged on a measuring machine cabinet, and the measuring positioning fixture is provided with a supporting and positioning structure in the three-axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211200007.9A CN115593832A (en) | 2022-09-29 | 2022-09-29 | Intelligent production line for unmanned environment operation |
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| CN202211200007.9A CN115593832A (en) | 2022-09-29 | 2022-09-29 | Intelligent production line for unmanned environment operation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116533044A (en) * | 2023-07-06 | 2023-08-04 | 通用技术集团机床工程研究院有限公司 | Quick-change zero pallet flexible production line and production method for processing various parts |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116533044A (en) * | 2023-07-06 | 2023-08-04 | 通用技术集团机床工程研究院有限公司 | Quick-change zero pallet flexible production line and production method for processing various parts |
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