CN105922082A - Intelligent robot machining line and intelligent robot machining method - Google Patents
Intelligent robot machining line and intelligent robot machining method Download PDFInfo
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- CN105922082A CN105922082A CN201610503375.9A CN201610503375A CN105922082A CN 105922082 A CN105922082 A CN 105922082A CN 201610503375 A CN201610503375 A CN 201610503375A CN 105922082 A CN105922082 A CN 105922082A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
- B23Q41/02—Features relating to transfer of work between machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0078—Safety devices protecting the operator, e.g. against accident or noise
- B23Q11/0089—Safety devices protecting the operator, e.g. against accident or noise actuating operator protecting means, e.g. closing a cover element, producing an alarm signal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
- B23Q41/04—Features relating to relative arrangements of machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
- B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
- B23Q7/1494—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using grippers
Abstract
The invention discloses an intelligent robot machining line and an intelligent robot machining method. The intelligent robot machining line with multiple machining devices working cooperatively comprises multiple machine tools used for being combined to complete all workpiece machining procedures, multiple auxiliary devices used for assisting the machining tools in machining, a blank trolley used for storing workpiece blanks and a finished product trolley used for storing machined finished workpiece products. The intelligent robot machining line further comprises feeding and discharging robots used for automatic feeding and discharging and a robot linear guide rail used for driving the feeding and discharging robots to move linearly. The feeding and discharging robots are mounted on the robot linear guide rail through mounting seats. The machine tools are distributed on the two sides of the robot linear guide rail. The machine tools, the auxiliary devices, the blank trolley and the finished product trolley are all located in the working radiuses of the feeding and discharging robots. The feeding and discharging robots independently complete all workpiece machining procedures from the blanks to the finished products. The intelligent robot machining line is suitable for multi-station multi-procedure workpiece machining systems.
Description
Technical field
The present invention relates to intelligent robot processing technique field, especially, relate to a kind of co-operating for many group process equipments
Intelligent robot processing line.Moreover, it relates to one includes above-mentioned for many group co-operating robots of process equipment
The intelligent robot processing method of Intelligent Machining line.
Background technology
Existing machine tooling industry, machine management person wishes to improve lathe utilization rate, is reduced as far as the allowance for depreciation of machine tool
And loss of assets, this inevitable requirement machine operation person operation in 24 hours so that operator's working strength is big, and works long hours,
It is easily caused security incident, increases management or operation cost.
The blank work pieces process using lathe is on-the-spot, and the dust that on-the-spot existence produces when cutting oil and remove chamfering or sharp edge burr is easy
Make operator that occupation disease to occur, it addition, during or operator tired operation heavier in the weight ratio of workpiece, sometimes workpiece can be right
Operator's health causes danger；Workman is difficult to carry out for a long time lathe operation of feeding and discharging, then proposes to use robot to replace workman
Carrying out lathe loading and unloading operation, this will be the trend of a certainty.
Use truss mechanical hand to replace manually carrying out loading and unloading, but mechanical hand is merely able to carry out XYZ three-axis moving, if wanting to realize work
The complete processing technique of part multistation multiple operation is then restricted.
Multiple stage six-joint robot is used to undertake multistation multistage manufacturing processes, it is possible to solve the limitation of truss mechanical hand, but cost is held high
Expensive, control complexity, operator's technology is required higher.
Summary of the invention
The invention provides a kind of intelligent robot processing line and intelligent robot processing method, to solve existing machine tooling, need
The most directly to participate in, to cause labor intensity big, big to injury of human；And use truss mechanical hand, add at multistation and hold man-hour
It is vulnerable to equipment limit；Use the mode of corresponding each station configuration six-joint robot, cause cost to increase, high to personnel requirement
Technical problem.
According to an aspect of the present invention, it is provided that a kind of for many group process equipment co-operating intelligent robot processing lines, bag
Include many groups for having combined the lathe of all manufacturing procedures of workpiece, many groups for assisting the auxiliary device of machine tooling, for putting
Put the blank truck of workpiece blank and the finished product truck of the finished workpart after placing processing；Intelligent robot processing line also wraps
Include for the loading and unloading robot of automatic charging and blanking and for ordering about the robot straight line that loading and unloading robot linearly moves
Guide rail；Loading and unloading robot is arranged on robot line slideway by mounting seat；Lathe is distributed in robot line slideway both sides,
Lathe, auxiliary device, blank truck and finished product truck are in the radius of clean-up of loading and unloading robot.
Further, lathe is set at least five groups, be distributed in the lathe of robot line slideway both sides miss one another distribution or that
This Relative distribution；Loading and unloading robot is on the centrage of intelligent robot processing line.
Further, loading and unloading robot includes six-joint robot and loading and unloading fixture, and loading and unloading fixture is arranged on six-joint robot
The 6th axle on.
Further, loading and unloading fixture uses 180 ° of Horizontal clamps, and loading and unloading fixture includes for shooting or sensing the location of workpiece
Visual system, the blowning installation of chip removal of blowing in workpiece process, for grabbing workpiece or release workpiece paw with
And for the driving cylinder driving paw to run.
Further, visual system includes illuminator, camera lens, filming apparatus or image processing apparatus；Filming apparatus uses and takes the photograph
Camera or photographing unit；Paw is removable parts of remodeling.
Further, lathe includes the first lathe, the second lathe, the 3rd lathe, the 4th lathe and the 5th lathe；First machine
Bed, the second lathe, the 3rd lathe, the 4th lathe and the 5th lathe are sequentially arranged and are respectively completed respective manufacturing procedure, with complete
Become the whole manufacturing procedure of workpiece；Auxiliary device include the first auxiliary device, the second auxiliary device, the 3rd auxiliary device,
Four auxiliary device, the 5th auxiliary device and the 6th auxiliary device.
Further, the first auxiliary device is integrated with servomotor and rotation platform, the visual system on loading and unloading fixture and first
Servomotor on auxiliary device cooperates, to complete putting or identification that workpiece laterally identifies of workpiece.
Further, the second auxiliary device uses shaped steel to be welded, and the workbench of the second auxiliary device is provided with multiple size not
Same U-lag, different size of U-lag is corresponding to the workpiece of different size different model；Loading and unloading robot passes through U-lag
As the interim anchor point of workpiece to realize the turn-over operation to workpiece of the loading and unloading robot.
Further, the 3rd auxiliary device is in the downstream of the 3rd lathe, for carrying out the half-finished product process of the 3rd lathe output
Secondary process, secondary process is that workpiece sharp edge falls blunt or chamfering, and the 4th lathe is in the downstream of the 3rd auxiliary device；6th auxiliary
Device is in the downstream of the 5th lathe, forms finished workpart for the half-finished product process of the 5th lathe output is carried out secondary process,
Secondary process is that workpiece sharp edge falls blunt or chamfering；4th auxiliary device is attached to the second lathe, auxiliary through first for temporary storage
Device is helped to ajust rear and wait the workpiece that crawl is processed to the 3rd lathe；5th auxiliary device is for parking for workpiece and carrying out
The detection device of workpiece sensing, detection device comprises for parking workpiece the work platforms detecting workpiece and for drawing
Leading the slide rail that work platforms slides, cylinder is connected with work platforms and drives work platforms to slide on slide rail, at least the one of slide rail
End is provided with the buffer unit for work platforms buffering location；First lathe, the second lathe, the 3rd lathe, the 4th lathe and
5th lathe be laterally equipped with the 5th auxiliary device, in order to the quality inspection to every one procedure.
Further, intelligent robot processing line also includes controlling device, is used for controlling loading and unloading robot, robot straight line is led
Rail, the first auxiliary device, the 3rd auxiliary device and the 6th auxiliary device, and by, the detection signal of the second auxiliary device, the 4th
The detection signal of auxiliary device, the detection signal of the 5th auxiliary device, machine tooling signal, the hydraulically operated fixture detection signal of lathe
Linked together by cable, thus realize loading and unloading robot and organize process equipments coordination control and jointly complete intelligence life more
Produce management.
Further, control device and comprise PLC control system and touch screen.
Further, intelligent robot processing line also includes for preventing operator from entering the protective fence of operating area, in case
The only personal security accident in the course of processing.
Further, protective fence comprises and is in the electronic guardrail of loading and unloading robot operation area, electronic lock and alarm device,
Electronic guardrail and electronic lock are used for monitoring safe fence door interlock switch state and Monitoring Data feeding back to control device, if safety
Door is opened, and control device then controls alarm equipment alarm and stops operation to warn and to control loading and unloading robot.
Further, electronic guardrail and/or electronic lock use light curtain or infrared sensor, by light curtain or the inspection of infrared sensor
Survey signal and control alarm and loading and unloading robot, to prevent operator from entering the operating space of loading and unloading robot.
According to a further aspect in the invention, one is additionally provided for many group process equipment co-operating intelligent robot processing sides
Method, uses above-mentioned for many group process equipment co-operating intelligent robot processing lines, comprises the following steps: at blank truck
Upper matrix form of pressing discharges workpiece blank, and makes blank truck be in feeding position；Loading and unloading robot is in the first feeding position, logical
Cross visual system and obtain the placement location of workpiece blank on blank truck, and from blank truck, take a workpiece be placed on the first machine
On bed, complete first working procedure processing by the first lathe；Treating that the first machine tooling completes, workpiece half is become by loading and unloading robot
Product take out and are placed on above the U-lag of the second auxiliary device, then grabbing workpiece semi-finished product be placed into below U-lag
On two auxiliary device, complete the upset of workpiece semi-finished product；From the second auxiliary device, grabbing workpiece semi-finished product are also in loading and unloading robot
It is placed on the second lathe, completes second operation work processing；After loading and unloading robot captures second manufacturing procedure from the second lathe
Workpiece semi-finished product be placed on the first auxiliary device, by the visual system on the loading and unloading fixture of loading and unloading robot and first
Servomotor coordinating operation on auxiliary device, completes the identification ajusted or identify workpiece semi-finished product side of workpiece semi-finished product；
Workpiece after loading and unloading robot will ajust is placed on the placement position of the 4th auxiliary device belonging to the second lathe；Loading and unloading machine
People is moved to the second feeding position by robot line slideway after capturing the workpiece semi-finished product on the 4th auxiliary device, and by workpiece half
Finished product is placed in the processing carrying out three process on the 3rd lathe, and exports the 3rd road manufacturing procedure workpiece semi-finished product；Charging & discharging machine
Device people grabbing workpiece semi-finished product from the 3rd lathe are placed on the 3rd auxiliary device carrying out the 4th road manufacturing procedure processing；Loading and unloading
Robot grabbing workpiece semi-finished product from the 4th auxiliary device are placed on the 4th lathe carrying out the 5th road manufacturing procedure processing；Up and down
Material robot from the 4th lathe grabbing workpiece semi-finished product and moves to the 3rd feeding position, is taken out by workpiece semi-finished product and is placed on the 5th machine
Carry out the 6th procedure processing on the hydraulically operated fixture of bed, and export the 6th road manufacturing procedure workpiece semi-finished product；Loading and unloading robot from
On 5th lathe take out the 6th road manufacturing procedure workpiece semi-finished product, be placed in the 6th auxiliary device, carry out sharp change fall blunt operation formed
Finished workpart；Loading and unloading robot falls blunt finished workpart be placed on completing sharp change on finished product truck, thus completes workpiece from hair
Base is to the course of processing of finished product.
The method have the advantages that
The present invention is for many group process equipment co-operating intelligent robot processing lines, by arranging separate unit loading and unloading robot,
Loading and unloading robot is installed on robot line slideway and can carry out rectilinear translation along robot line slideway, uses about one
Material machine artificial multiple stage lathe and process equipment service, can efficiently reduce labor management cost, effectively promotes processing workpiece raw
Produce efficiency and the utilization rate of equipment, alleviate business administration cost；The straight line of loading and unloading robot is guided by robot line slideway
Translation and the rotation of loading and unloading robot itself, thus expand the work coverage of loading and unloading robot；By blank truck, one-tenth
Product truck, many group lathes and many group auxiliary device are respectively arranged on robot line slideway both sides, and are in the charging & discharging machine after expansion
In the work coverage of device people, use a loading and unloading robot just can make each manufacturing procedure in whole workpiece production line
Cooperating with each other processing, thus complete the production from workpiece blank to finished workpart, course of processing prosthetic participates in, greatly
Improve workpiece automatization, the intelligent level of production, can also greatly reduce work safety accident simultaneously, significantly extenuate existing
The problem that enterprises using the labor is waste.Whole intelligent robot processing line is serviced all of lathe and auxiliary device by a loading and unloading robot,
Revolutionize traditional machine tool processing technique, improve product quality；Loading and unloading robot complete independently workpiece by blank to finished product
All processing technique, it is achieved full-automatic processing, omnidistance participate in without artificial, it is to avoid production safety problem；Whole processing line
Take up room little, low cost, automaticity height, it is adaptable to multistation, the Work-piece processing system of multiple operation.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.Below
Will be with reference to figure, the present invention is further detailed explanation.
Accompanying drawing explanation
The accompanying drawing of the part constituting the application is used for providing a further understanding of the present invention, the illustrative examples of the present invention and
Its explanation is used for explaining the present invention, is not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representations for many group process equipment co-operating intelligent robot processing lines of the preferred embodiment of the present invention
Figure；
Fig. 2 is the structural representation of the loading and unloading fixture of the preferred embodiment of the present invention；
Fig. 3 is the structural representation of the second auxiliary device of the preferred embodiment of the present invention.
Marginal data:
1, blank truck；2, finished product truck；3, loading and unloading robot；301, loading and unloading fixture；3011, visual system；
3012, blowning installation；3013, paw；3014, cylinder is driven；4, robot line slideway；5, the first lathe；6,
Two lathes；7, the 3rd lathe；8, the 4th lathe；9, the 5th lathe；10, the first auxiliary device；11, the second auxiliary device；
1101, U-lag；12, the 3rd auxiliary device；13, the 4th auxiliary device；14, the 5th auxiliary device；15, the 6th auxiliary
Device；16, protective fence；17, device is controlled.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the present invention can by following be limited and covered
Multitude of different ways is implemented.
Fig. 1 is the structural representations for many group process equipment co-operating intelligent robot processing lines of the preferred embodiment of the present invention
Figure；Fig. 2 is the structural representation of the loading and unloading fixture of the preferred embodiment of the present invention；Fig. 3 is the second of the preferred embodiment of the present invention
The structural representation of auxiliary device.
As it is shown in figure 1, the present embodiment for many group process equipment co-operating intelligent robot processing lines, including organizing use more
In having combined the lathe of all manufacturing procedures of workpiece, many groups for having assisted the auxiliary device of machine tooling, for placing workpiece hair
The blank truck 1 of base and the finished product truck 2 of the finished workpart after placing processing；Intelligent robot processing line also include for
The loading and unloading robot 3 of automatic charging and blanking and the robot straight line linearly moved for ordering about loading and unloading robot 3 are led
Rail 4；Loading and unloading robot 3 is arranged on robot line slideway 4 by mounting seat；Lathe is distributed in robot line slideway 4
Both sides, lathe, auxiliary device, blank truck 1 and finished product truck 2 are in the radius of clean-up of loading and unloading robot 3.This
Invention is for many group process equipment co-operating intelligent robot processing lines, by arranging separate unit loading and unloading robot 3, loading and unloading
Robot 3 is installed on robot line slideway 4 and can carry out rectilinear translation along robot line slideway 4, uses about one
Material machine artificial multiple stage lathe and process equipment service, can efficiently reduce labor management cost, effectively promotes processing workpiece raw
Produce efficiency and the utilization rate of equipment, alleviate business administration cost；Loading and unloading robot 3 is guided by robot line slideway 4
The rotation of rectilinear translation and loading and unloading robot 3 itself, thus expand the work coverage of loading and unloading robot 3；By blank
Truck 1, finished product truck 2, many group lathes and many group auxiliary device are respectively arranged on robot line slideway 4 both sides, and are in expansion
After loading and unloading robot 3 work coverage in, use a loading and unloading robot 3 just can make whole workpiece production line
On each manufacturing procedure cooperate with each other processing, thus complete the production from workpiece blank to finished workpart, the course of processing without
Artificial participation, greatly improves workpiece automatization, the intelligent level of production, can also greatly reduce production safety thing simultaneously
Therefore, significantly extenuate the problem that existing enterprise's recruitment is waste.Whole intelligent robot processing line is serviced institute by a loading and unloading robot 3
Some lathes and auxiliary device, revolutionize traditional machine tool processing technique, improve product quality；Loading and unloading robot 3 is only
Found workpiece by all processing technique of blank to finished product, it is achieved full-automatic processing, omnidistance without artificial participation, it is to avoid raw
Produce safety problem；Take up room little, low cost, automaticity of whole processing line is high, it is adaptable to multistation, the work of multiple operation
Part system of processing.Fig. 1 shows the first feeding position that separate unit loading and unloading robot 3 is respectively on robot line slideway 4
Job area with the 3rd feeding position.
As it is shown in figure 1, in the present embodiment, lathe is set at least five groups.It is distributed in the lathe of robot line slideway 4 both sides
Miss one another and be distributed or be distributed toward each other or be distributed toward each other.The order of placement of machining tool is suitable according to the processing technique of workpiece
Sequence is arranged and is uniformly distributed according to lathe sizes and types, so that the feeding position of lathe is in charging & discharging machine device people 3
Same radius of turn on, thus reduce and the regulation of loading and unloading robot 3 controlled, improve work efficiency.Loading and unloading robot 3
It is in the center of intelligent robot processing line.
As depicted in figs. 1 and 2, in the present embodiment, loading and unloading robot 3 includes six-joint robot and loading and unloading fixture 301.On
Blanking clamp 301 is arranged on the 6th axle of six-joint robot.The convenient accurate control to loading and unloading fixture 301 Multi-orientation multi-angle
System.
As depicted in figs. 1 and 2, in the present embodiment, loading and unloading fixture 301 uses 180 ° of Horizontal clamps.Can capture many simultaneously
Individual workpiece, improves the efficiency of workpiece transfer processing.Loading and unloading fixture 301 includes the vision for shooting or sense the location of workpiece
System 3011, the blowning installation 3012 of chip removal of blowing in workpiece process, for grabbing workpiece or release workpiece paw
3013 and for driving the driving cylinder 3014 that paw 3013 runs.Use vision localization, it is not necessary to design specialized fixture, joint
Save high Special Clamps Design expense, reduce cost.Alternatively, loading and unloading fixture 301 uses double-clamp structure, to promote
Working (machining) efficiency.
As depicted in figs. 1 and 2, in the present embodiment, visual system 3011 includes illuminator, camera lens, filming apparatus or image
Processing means.Replace human eye to carry out non-cpntact measurement and judgement, improve the flexibility and automaticity produced, substitute artificial participation,
Personnel on site is avoided to operate the infringement that human body is caused, it is possible to be operated for a long time.Filming apparatus uses video camera or photographing unit.
Paw 3013 is removable parts of remodeling.Different paws 3013 can be selected with model, to be adapted to according to the shape of workpiece
Different work pieces process needs.Use vision localization, it is not necessary to design specialized fixture, save high Special Clamps Design expense,
Reduce cost.Robot complete independently workpiece is by all processing technique of blank to finished product, it is achieved full-automatic processing, omnidistance nothing
Need to manually participate in, it is to avoid production safety problem.By machine vision technique, sensing technology, servo control technique, industrial robot
The automatic technologies such as control technology incorporate traditional machine tool processing technique, and General Promotion machines automatization, intelligent level, greatly
Ground Improving The Quality of Products, reduces product rejection rate.
As it is shown in figure 1, in the present embodiment, lathe includes first lathe the 5, second lathe the 6, the 3rd lathe the 7, the 4th lathe
8 and the 5th lathe 9.First lathe the 5, second lathe the 6, the 3rd lathe the 7, the 4th lathe 8 and the 5th lathe 9 is sequentially arranged and
It is respectively completed respective manufacturing procedure, to complete the whole manufacturing procedure of workpiece.Auxiliary device include the first auxiliary device 10,
Second auxiliary device the 11, the 3rd auxiliary device the 12, the 4th auxiliary device the 13, the 5th auxiliary device 14 and the 6th auxiliary device 15.
Multiple lathes and multiple auxiliary device form the complete production line being made up of multiple work pieces process stations and manufacturing procedure.Alternatively,
Can need, according to workpiece, the auxiliary device that selects the lathe of varying number and match with lathe, complete processing meeting workpiece
The needs of technological process.
As depicted in figs. 1 and 2, in the present embodiment, the first auxiliary device 10 is integrated with servomotor and rotation platform.Loading and unloading
Visual system 3011 on fixture 301 cooperates with the servomotor on the first auxiliary device 10, to complete putting of workpiece
Or the identification that workpiece laterally identifies.Improve workpiece to confirm and the accuracy of location, improve the precision of work pieces process.
As shown in figures 1 and 3, in the present embodiment, the second auxiliary device 11 uses shaped steel to be welded.Second auxiliary device 11
Workbench be provided with multiple U-lag 1101 varied in size.Different size of U-lag 1101 is different corresponding to different size
The workpiece of model.Loading and unloading robot 3 passes through the U-lag 1101 interim anchor point as workpiece to realize loading and unloading robot 3
Turn-over operation to workpiece.Alternatively, the workbench of the second auxiliary device 11 has one corresponding to each U-lag 1101
Individual for detecting the detection device whether workpiece is in place.
As it is shown in figure 1, in the present embodiment, the 3rd auxiliary device 12 is in the downstream of the 3rd lathe 7, for the 3rd lathe 7
The half-finished product process of output carries out secondary process.Secondary process can be that workpiece sharp edge falls blunt or workpiece sharp edge chamfering.4th lathe 8
It is in the downstream of the 3rd auxiliary device 12.6th auxiliary device 15 is in the downstream of the 5th lathe 9, for the 5th lathe 9
The half-finished product process of output carries out secondary process and forms finished workpart.Secondary process can be that workpiece sharp edge falls blunt or workpiece sharp edge and falls
Angle.4th auxiliary device 13 is attached to the second lathe 6, and for temporary storage, after the first auxiliary device 10 is ajusted and wait is grabbed
Take the workpiece being processed to the 3rd lathe 7.5th auxiliary device 14 is the detection dress parking and carrying out workpiece sensing for workpiece
Put.Detection device comprises for parking workpiece the work platforms detecting workpiece and for guiding work platforms to slide
Slide rail, cylinder is connected with work platforms and drives work platforms to slide on slide rail, and at least one end of slide rail is provided with for working
The buffer unit of platform buffering location.First lathe the 5, second lathe the 6, the 3rd lathe the 7, the 4th lathe 8 and the 5th lathe 9
Be laterally equipped with the 5th auxiliary device 14, in order to the quality inspection to every one procedure.First lathe the 5, second lathe 6,
Three lathe the 7, the 4th lathes 8 and the 5th lathe 9 be laterally equipped with the 5th auxiliary device 14, in order to the matter to every one procedure
Amount inspection.
In the present embodiment, intelligent robot processing line also includes controlling device 17, is used for controlling loading and unloading robot 3, robot
Line slideway the 4, first auxiliary device the 10, the 3rd auxiliary device 12 and the 6th auxiliary device 15, and general, the second auxiliary device
11 detection signal, the 4th auxiliary device 13 detection signal, the detection signal of the 5th auxiliary device 14, machine tooling signal,
The hydraulically operated fixture detection signal of lathe is linked together by cable, thus realizes loading and unloading robot 3 and assist with many group process equipments
Regulation and control are made and jointly complete intelligence production management.Control device 17 and comprise PLC control system and touch screen.Intelligent robot adds
Work line also includes for preventing operator from entering the protective fence 16 of operating area, to prevent the personal security thing in the course of processing
Therefore.Protective fence 16 comprises and is in the electronic guardrail of loading and unloading robot 3 operation area, electronic lock and alarm device.Electronics protects
Hurdle and electronic lock are used for monitoring safe fence door interlock switch state and Monitoring Data feeding back to control device 17.If safety door is beaten
Opening, control device 17 then controls alarm equipment alarm and stops operation to warn and to control loading and unloading robot 3.Electronic guardrail and/
Or electronic lock uses light curtain or infrared sensor, control alarm and loading and unloading by the detection signal of light curtain or infrared sensor
Robot 3, to prevent operator from entering the operating space of loading and unloading robot 3.
The present embodiment for many group process equipment co-operating intelligent robot processing methods, use above-mentioned for organizing processing more
Equipment co-operating intelligent robot processing line, comprises the following steps: discharge workpiece hair by matrix form on blank truck 1
Base, and make blank truck 1 be in feeding position；Loading and unloading robot 3 is in the first feeding position, is obtained by visual system 3011
The placement location of workpiece blank on blank truck 1, and from blank truck 1, take a workpiece be placed on the first lathe 5, logical
Cross the first lathe 5 and complete first working procedure processing；Treating that the first lathe 5 machines, loading and unloading robot 3 is by workpiece semi-finished product
Taking out and be placed on above the U-lag 1101 of the second auxiliary device 11, then below U-lag 1101, grabbing workpiece half becomes
Product are also placed on the second auxiliary device 11, complete the upset of workpiece semi-finished product；Loading and unloading robot 3 is from the second auxiliary device 11
Upper grabbing workpiece semi-finished product are placed on the second lathe 6, complete second operation work processing；Loading and unloading robot 3 is from the second lathe 6
Workpiece semi-finished product after upper crawl second manufacturing procedure are placed on the first auxiliary device 10, upper by loading and unloading robot 3
Visual system 3011 on blanking clamp 301 and the servomotor coordinating operation on the first auxiliary device 10, complete workpiece half and become
The identification ajusted or workpiece semi-finished product side is identified of product；Workpiece after loading and unloading robot 3 will ajust is placed on the second lathe 6
On the placement position of the 4th affiliated auxiliary device 13；Loading and unloading robot 3 captures the workpiece semi-finished product on the 4th auxiliary device 13
Moved to the second feeding position by robot line slideway 4 afterwards, and workpiece semi-finished product are placed on the 3rd lathe 7 carry out the 3rd road
The processing of operation, and export the 3rd road manufacturing procedure workpiece semi-finished product；Loading and unloading robot 3 is grabbing workpiece from the 3rd lathe 7
Semi-finished product are placed on the 3rd auxiliary device 12 carrying out the 4th road manufacturing procedure processing；Loading and unloading robot 3 is from the 4th auxiliary device
On 13, grabbing workpiece semi-finished product are placed on the 4th lathe 8 carrying out the 5th road manufacturing procedure processing；Loading and unloading robot 3 is from the 4th
Lathe 8 grabbing workpiece semi-finished product also move to the 3rd feeding position, and workpiece semi-finished product take out the hydraulic clip being placed on the 5th lathe 9
Carry out the 6th procedure processing on tool, and export the 6th road manufacturing procedure workpiece semi-finished product；Loading and unloading robot 3 is from the 5th lathe 9
Upper taking-up the 6th road manufacturing procedure workpiece semi-finished product, are placed in the 6th auxiliary device 15, carry out sharp change fall blunt operation formed workpiece become
Product；Loading and unloading robot 3 falls blunt finished workpart be placed on completing sharp change on finished product truck 2, thus completes workpiece from blank
The course of processing to finished product.
During enforcement, it is provided that a kind of with the process equipment co-operating intelligent robot processing line such as lathe, this processing line comprises the
One lathe the 5, second lathe the 6, the 3rd lathe the 7, the 4th lathe 8 and the 5th lathe 9, and each lathe corresponding hydraulic clip of outfit
Tool, blank truck 1, finished product truck the 2, first auxiliary device the 10, second auxiliary device the 11, the 3rd auxiliary device the 12, the 4th
Auxiliary device the 13, the 5th auxiliary device 14 and the 6th auxiliary device 15 and protective fence 16.First lathe the 5, second lathe 6,
3rd lathe the 7, the 4th lathe 8 and the distribution of the 5th lathe 9 symmetric arrays, robot line slideway 4 is positioned at lathe arrangement axis of symmetry
Center, loading and unloading robot 3 is arranged in the mounting seat of robot line slideway 4, and loading and unloading robot 3 radius of clean-up covers
All lathes and auxiliary device.Blank truck 1 is arranged side by side, and is placed on robot line slideway 4 front end；Finished product truck 2
Being arranged side by side, and be placed on the side of the 3rd lathe 7, loading and unloading robot 3 passes through to move on robot line slideway 4,
Complete the workpiece loading and unloading of first lathe the 5, second lathe the 6, the 3rd lathe the 7, the 4th lathe 8 to the 5th lathe 9, workpiece certainly
Dynamic centering, workpiece installing hole chamfer angle technique, the sharp change of workpiece fall the technique such as blunt, are finally completed workpiece and automatically process from blank to finished product
Technological process.Compared with prior art, workpiece participates in without operator in the course of processing, and i.e. manufacturing procedure is completely by machine
People independently operates, and therefore, saves manpower and management cost, alleviates labor intensity of operating staff, improves product automation processing water
Flat, Improving The Quality of Products and production efficiency.Thus realize multistation multiple operation lathe and automatically process, improving production efficiency, reduces
Production cost.
With with the process equipment co-operating intelligent robot processing line such as lathe, including at least five lathes and many group auxiliary dresses
Put.Also include blank truck 1, loading and unloading robot 3, robot line slideway 4, finished product truck 2, protective fence 16 and control
Device 17 processed.Robot line slideway 4 is placed on the first to the 5th lathe symmetrical centre axle, and loading and unloading robot 3 is arranged on
In the mounting seat of robot line slideway 4.Robot line slideway 4 is used for installing blanking robot 3, and makes charging & discharging machine
Device people 3 can complete the translation operation from feeding position to blanking position.Make loading and unloading robot 3 can complete from feeding position to
The translation operation of material position.
First lathe 5, processes for workpiece to be processed W carries out first time, and exports first operation semi-finished product.Second machine
Bed 6, processes for workpiece to be processed W first operation semi-finished product carry out second time, and exports second operation work semi-finished product.
3rd lathe 7, processes for workpiece to be processed W second operation work semi-finished product carry out third time, and exports three process half
Finished product.3rd auxiliary device 12, for workpiece to be processed W three process semi-finished product carry out the 4th processing, and exports the
Four procedure semi-finished product.4th lathe 8, for workpiece to be processed W the 4th procedure semi-finished product being carried out the 5th processing, and
Export five processes semi-finished product.5th lathe 9, adds for workpiece to be processed W five processes semi-finished product are carried out the 6th time
Work, and export the 6th procedure semi-finished product.6th auxiliary device 15, for entering workpiece to be processed W the 6th procedure semi-finished product
The 7th processing of row, and export finished product.Loading and unloading robot 3 for carrying out loading and unloading for lathe, and loading and unloading robot 3 from
Take workpiece to be processed blank on blank truck 1, by moving on robot line slideway 4, thus complete workpiece to be processed W
From the 1st～7 procedure processing, finally in blanking position, workpiece W finished product is placed on finished product truck 2, it is achieved workpiece is from blank
Automatization's course of processing to finished product.Compared with existing machine tooling technology, the present invention is co-operating for many group process equipments
Intelligent robot processing line, artificial only need to be placed in good order for the blank of workpiece W on blank truck 1, and by blank material
Car 1 is placed on feeding position, starts operation button, and loading and unloading robot 3 can be automatically obtained all process steps processing of workpiece W；
So, save manpower, reduce labor intensity, improve plant factor and production efficiency, it also avoid due to
Manual operation causes the quality problems that workpiece scratches or error causes, and considerably reduces product rejection rate, it addition, avoid artificial
Suck the dust of generation when carrying out work pieces process.The independent whole operations operating work pieces process of loading and unloading robot 3, greatly
Improve homogeneity of product, improve the working environment of workers, save management cost for enterprise.
Four machines such as intelligent robot processing line comprises the first feeding position, the second feeding position, the 3rd feeding position, the first detecting position
People's working position, wherein, loading and unloading robot 3 radius of clean-up of the first feeding position covers blank truck the 1, first lathe 5, second
The 5th auxiliary device the 14, second lathe 6 belonging to auxiliary device 11 and the first lathe 5.Wherein loading and unloading robot 3 first～
3rd feeding position completes all process steps of work pieces process, and first～the 3rd working position and the first detecting position complete manually to inspect by random samples
Operation.Machining tool is five, and symmetrical along robot line slideway 4 together with each auxiliary device, loading and unloading robot 3
It is positioned at the center of processing line.
Loading and unloading robot 3 is made up of six-joint robot, loading and unloading fixture 301, and loading and unloading fixture 301 is arranged on six axle machines
On 6th axle of people.Loading and unloading fixture 301 is 180 ° of Horizontal clamps, it is possible to clamping two pieces workpiece W simultaneously, and configuration vision
System 3011, blowning installation 3012, driving cylinder 3014, chuck body, paw 3013.Paw 3013 is parts of remodeling,
Difference according to workpiece W and change different paw, in order to make production line adapt to the batch production of different workpieces.
Robot line slideway 4 is spliced by the first guide rail and the second guide rail, and the mounting seat of robot is arranged on robot straight line
On guide rail 4, and robot line slideway 4 overall employing chemical bolt fastens on the ground, it is ensured that loading and unloading robot 3 is from upper
Material position is to the stable movement of blanking position.End at the first guide rail and the second guide rail is provided with stopping means to be carried out robot motion
Mechanical position limitation.
Multiple workpiece W blanks are placed on described blank truck 1 by manual mode of operation in good orderly, it may be assumed that blank material
Car upper strata prefabricated workpiece putting hole, for the location of workpiece blank W.Manually workpiece to be processed W blank is pressed 3X4 or 2X2
Be placed on blank truck, workpiece place five layers, finally by operator, blank truck 1 is placed on described first
Feeding position, to facilitate robot to capture.Alternatively, blank truck 1 is according to the differently configured limited post of different workpieces W and different
Arrangement placed by workpiece, i.e. square cross W presses 3X4 arrangement and places, and round piece is pressed 2X2 arrangement and placed.Additionally blank truck 1
With finished product truck 2, position, left, center, right is provided with stopping means, the most only needs to place truck by defined position, and steps on brake i.e.
Can, it is not necessary to other operations.
First auxiliary device 10 is integrated by servomotor with rotation platform, by the visual system 3011 on loading and unloading fixture 301
With the servomotor coordinating operation on the first auxiliary device 10, complete ajusting or workpiece side LOG identification of workpiece W.Optional
Ground, the first auxiliary device 10 is provided with detection device, whether there is workpiece W in real time, have on detection the 3rd auxiliary device 12
Effect avoids the accident problem that robot repetitive operation causes workpiece W to collide.
Second auxiliary device 11 uses shaped steel to be welded, and its workbench is provided with four kinds of different size of U-lags 1101, no
With the corresponding different workpieces W of U-lag 1101.Workpiece to be processed W is placed on the second auxiliary device 11 by loading and unloading robot 3
U-lag 1101 above, then grabbing workpiece W transfers from U-lag 1101 in loading and unloading robot 3, completes workpiece W's
Turn-over operation.Alternatively, the second auxiliary device 11 is equipped with detection device and blowning installation, and its function is: one, detection device inspection
Survey and whether there is workpiece on the second auxiliary device, it is to avoid robot repetitive operation causes the accident problem that workpiece W collides；Two, inspection
Surveying device to coordinate with blowning installation control unit, after workpiece W is taken away by loading and unloading robot 3, blowning installation assists second
On device, the iron filings of residual blow away, in order to avoid affecting workpiece W crudy.
5th auxiliary device 14 is detection device, comprises cylinder, slide rail, work platforms and buffering stop block.5th auxiliary dress
Put 14 and be individually positioned in first～the 5th lathe side, it is simple to be accomplished manually the quality inspection of every one manufacturing procedure.5th auxiliary
Being also provided with the control knob of different mode on device 14, when artificial needs detect, loading and unloading robot 3 just can move
Place workpiece to detecting position to supply manually to detect, the most do not place workpiece, improve the productive temp of workpiece W.
Controlling device 17, be used for controlling loading and unloading robot 3, robot line slideway 4, the first auxiliary device the 10, the 3rd is auxiliary
Help device 12 and the 6th auxiliary device 15, and remaining auxiliary device is detected signal, machine tooling signal, hydraulically operated fixture detection letter
Number linked together by cable, thus realize the equipment coordinations such as robot and lathe and control, jointly complete intelligence production management.
Control device 17 and comprise PLC control system and touch screen.Intelligent Machining line also comprises and prevents operator from entering the anti-of operating area
Guard fence 16, with the personal security accident in the only course of processing.Alternatively, protective fence 16 also comprises and is in robot manipulating task district
Electronic guardrail, electronic lock and alarm device, electronic guardrail and electronic lock be used for monitoring safe fence door interlock switch state,
And Monitoring Data fed back to control device 17, if safety door is opened, control device 17 and then control alarm equipment alarm to warn,
And control loading and unloading robot 3 stops operation, effectively prevent security incident from producing, reduce business administration cost.
Alternatively, fence and electronic lock can also use light curtain or infrared sensor, detect signal by it, control to report to the police
Device and robot.Prevent operator from entering robot manipulation district, improve the security reliability in workpiece process.
With the quantity of process equipment co-operating intelligent robot processing line machining tool such as lathe, the number of the arrangement of truck and auxiliary
Helping in the quantity literary composition incessantly of device and mention, actual quantity can configure according to client's actual demand.
For the processing methods organizing process equipment co-operating intelligent robot processing lines more, including: manually will place five layers,
And two blank trucks that workpiece is placed as 3X4 on request are placed on feeding position.At the beginning of workpiece W processing, loading and unloading robot
3 are in the first feeding position, and loading and unloading robot 3 obtains workpiece to be processed W blank on blank truck by visual system and places position
Put, and from blank truck 1, take a workpiece be placed on the first lathe 5, complete the first working procedure processing of workpiece W；Treat
First lathe 5 machines, and the first lathe 5 is processed the workpiece semi-finished product W1 of first operation and takes by loading and unloading robot 3
Going out, loading and unloading robot 3 rotates to an angle, and workpiece W1 is placed on above the U-lag 1101 of the second auxiliary device 11,
Grabbing workpiece W1 transfers from U-lag 1101 in loading and unloading robot 3, and the workpiece semi-finished product of first operation place the second auxiliary
On device 11, rapid grabbing workpiece W1, then workpiece W1 will be put on the second lathe 6 by loading and unloading robot 3, complete
Workpiece W1 second operation work is processed, and exports the semi-finished product W2 of second manufacturing procedure workpiece W.Loading and unloading robot 3 from
Second lathe 6 captures the semi-finished product W2 of second manufacturing procedure workpiece, rotates to an angle, workpiece W2 is placed on first
On auxiliary device 10, by the visual system 3011 on the loading and unloading fixture 301 of loading and unloading robot 3 and the first auxiliary device
Servomotor coordinating operation on 10, completes ajusting or being identified workpiece side LOG of workpiece W2；Afterwards, up and down
Workpiece after material robot 3 will ajust is placed on No. 1 placement position of the 4th auxiliary device 13 belonging to the second lathe 6.Loading and unloading
Robot 3 is after the first feeding position completes second workpiece to be processed W2 processing, and loading and unloading robot 3 utilizes the three of the other end
Pawl captures the semi-finished product of No. 1 second manufacturing procedure workpiece W placing position on the 4th auxiliary device 13 belonging to the second lathe 6
W2, then loading and unloading robot 3 moves to the second feeding position, by the semi-finished product W2 of two pieces second manufacturing procedure workpiece W
It is placed on the hydraulically operated fixture of the 3rd lathe 7 and carries out three process processing, and export the semi-finished product of the 3rd road manufacturing procedure workpiece W
W3.The semi-finished product W3 of the 3rd road manufacturing procedure workpiece W is taken out by loading and unloading robot 3 from the 3rd lathe 7, loading and unloading machine
People 3 rotates to an angle, and completes the 4th described procedure processing on the 3rd auxiliary device 12, and exports 2 the 4th roads
The semi-finished product W4 of manufacturing procedure workpiece W.Loading and unloading robot 3 rotates to an angle, by two pieces the 4th road manufacturing procedure workpiece
The semi-finished product W4 of W is placed on the hydraulically operated fixture of the 4th lathe 8 and carries out the processing of described five processes, and exports 2 the
The semi-finished product W5 of five road manufacturing procedure workpiece W.Loading and unloading robot 3 from the 4th lathe 8 by two pieces the 5th road manufacturing procedure work
The semi-finished product W5 of part W takes out, and rotates to an angle, and moves to the 3rd feeding position, by 2 the 5th road manufacturing procedure workpiece
The semi-finished product W5 of W takes out to be placed on the hydraulically operated fixture of the 5th lathe 9 and carries out the 6th described procedure processing, and exports 2
The semi-finished product W6 of part the 6th road manufacturing procedure workpiece W.Loading and unloading robot 3 takes out 2 the 6th roads from the 5th lathe 9 and adds
The semi-finished product W6 of work operation workpiece W, then loading and unloading robot 3 rotates to an angle, the 6th auxiliary device carry out sharp
Becoming blunt operation, last loading and unloading robot 3 falls blunt two pieces workpiece W7 be placed on completing sharp change on finished product truck 2, from
And complete the workpiece course of processing from blank to finished product.
The process equipment co-operating intelligent robot processing lines such as employing and lathe, can use a loading and unloading machine the most
Platform lathe and process equipment service, can efficiently reduce labor management cost, effectively promotes processing production of parts and equipment
Utilization rate, alleviate business administration cost.The process equipment co-operating intelligent robot processing lines such as employing and lathe, workpiece
All process steps Jun You robot complete independently from blank to finished product, prosthetic participates in, greatly improves workpiece automatization, intelligence
The level of production can be changed, can also greatly reduce work safety accident simultaneously, significantly extenuate the problem that existing enterprise's recruitment is waste.Raw
Producing line uses vision to be accurately positioned, and is effectively improved clamping workpiece precision, thus improves overall processing efficiency and the processing of product
Quality.Production line uses high end control system to control, and carries out product when remodeling, only need to carry out product program change in control system
With replacing process equipment fixture, it becomes possible to realize product overall processing flow process and change, and without being proficient in machine operation and machine simultaneously
The operator of people's operation, processing line is simple to operate, convenient.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, any amendment of being made, etc.
With replacement, improvement etc., should be included within the scope of the present invention.
Claims (11)
1. for many group process equipment co-operating intelligent robot processing lines,
Including many groups for having combined the lathe of all manufacturing procedures of workpiece, many groups for having assisted the auxiliary of described machine tooling
Help device, for placing the blank truck (1) of workpiece blank and the finished product truck of the finished workpart after placing processing
(2)；
It is characterized in that,
Described intelligent robot processing line also includes for the loading and unloading robot (3) of automatic charging and blanking and is used for driving
Make the robot line slideway (4) that described loading and unloading robot (3) is linearly moved；
Described loading and unloading robot (3) is arranged in described robot line slideway (4) by mounting seat；
Described lathe is distributed in described robot line slideway (4) both sides,
Described lathe, described auxiliary device, described blank truck (1) and described finished product truck (2) are on described
In the radius of clean-up of blanking robot (3).
It is the most according to claim 1 for many group process equipment co-operating intelligent robot processing lines, it is characterised in that
Described lathe is set at least five groups,
It is distributed in the lathe of described robot line slideway (4) both sides to miss one another distribution or be distributed toward each other；
Described loading and unloading robot (3) is on the centrage of intelligent robot processing line.
It is the most according to claim 2 for many group process equipment co-operating intelligent robot processing lines, it is characterised in that
Described loading and unloading robot (3) includes six-joint robot and loading and unloading fixture (301),
Described loading and unloading fixture (301) is arranged on the 6th axle of described six-joint robot.
It is the most according to claim 3 for many group process equipment co-operating intelligent robot processing lines, it is characterised in that
Described loading and unloading fixture (301) uses 180 ° of Horizontal clamps,
Described loading and unloading fixture (301) includes the visual system (3011) for shooting or sense the location of workpiece, is used for
Workpiece process is blown chip removal blowning installation (3012), for grabbing workpiece or release workpiece paw (3013)
And it is used for the driving cylinder (3014) driving described paw (3013) to run.
It is the most according to claim 4 for many group process equipment co-operating intelligent robot processing lines, it is characterised in that
Described visual system (3011) includes illuminator, camera lens, filming apparatus or image processing apparatus；
Described filming apparatus uses video camera or photographing unit；
Described paw (3013) is removable parts of remodeling.
It is the most according to claim 5 for many group process equipment co-operating intelligent robot processing lines, it is characterised in that
Described lathe includes the first lathe (5), the second lathe (6), the 3rd lathe (7), the 4th lathe (8) and
Five lathes (9)；
Described first lathe (5), described second lathe (6), described 3rd lathe (7), described 4th lathe (8) and
Described 5th lathe (9) is sequentially arranged and is respectively completed respective manufacturing procedure, to complete the whole manufacturing procedure of workpiece；
Auxiliary device include the first auxiliary device (10), the second auxiliary device (11), the 3rd auxiliary device (12),
Four auxiliary device (13), the 5th auxiliary device (14) and the 6th auxiliary device (15).
It is the most according to claim 6 for many group process equipment co-operating intelligent robot processing lines, it is characterised in that
Described first auxiliary device (10) is integrated with servomotor and rotation platform,
Visual system (3011) on described loading and unloading fixture (301) and the servo on described first auxiliary device (10)
Motor cooperates, to complete putting or identification that workpiece laterally identifies of workpiece.
It is the most according to claim 6 for many group process equipment co-operating intelligent robot processing lines, it is characterised in that
Described second auxiliary device (11) uses shaped steel to be welded,
The workbench of described second auxiliary device (11) is provided with multiple U-lag (1101) varied in size,
Different size of described U-lag (1101) is corresponding to the workpiece of different size different model；
Described loading and unloading robot (3) is described to realize as the interim anchor point of workpiece by described U-lag (1101)
The loading and unloading robot (3) the turn-over operation to workpiece.
It is the most according to claim 6 for many group process equipment co-operating intelligent robot processing lines, it is characterised in that
Described 3rd auxiliary device (12) is in the downstream of described 3rd lathe (7), for described 3rd lathe (7)
The half-finished product process of output carries out secondary process, and secondary process is that workpiece sharp edge falls blunt or chamfering, described 4th lathe (8)
It is in the downstream of the 3rd auxiliary device (12)；
Described 6th auxiliary device (15) is in the downstream of described 5th lathe (9), for described 5th lathe (9)
The half-finished product process of output carries out secondary process and forms finished workpart, and secondary process is that workpiece sharp edge falls blunt or chamfering；
Described 4th auxiliary device (13) is attached to described second lathe (6), for temporary storage through described first auxiliary
Device (10) is helped to ajust rear and wait the workpiece that crawl to described 3rd lathe (7) is processed；
Described 5th auxiliary device (14) is the detection device parking and carrying out workpiece sensing for workpiece, and described detection fills
Put and comprise for parking workpiece the work platforms that workpiece is detected and for the slide rail guiding work platforms to slide,
Cylinder is connected with work platforms and drives work platforms to slide on slide rail, and at least one end of slide rail is provided with for working flat
The buffer unit of platform buffering location；
Described first lathe (5), described second lathe (6), described 3rd lathe (7), described 4th lathe (8) and
Described 5th lathe (9) be laterally equipped with described 5th auxiliary device (14), in order to the quality of every one procedure is examined
Test.
10. organize process equipment co-operating intelligent robot processing lines according to being used for according to any one of claim 6 to 9 more,
It is characterized in that,
Described intelligent robot processing line also includes controlling device (17), is used for controlling loading and unloading robot (3), robot
Line slideway (4), the first auxiliary device (10), the 3rd auxiliary device (12) and the 6th auxiliary device (15), and will,
The detection signal of the second auxiliary device (11), the detection signal of the 4th auxiliary device (13), the 5th auxiliary device (14)
Detection signal, machine tooling signal, the hydraulically operated fixture detection signal of lathe linked together by cable, thus realize
Loading and unloading robot (3) coordinates to control and jointly complete intelligence production management with many group process equipments；
Described control device (17) comprises PLC control system and touch screen；
Described intelligent robot processing line also includes the protective fence (16) for preventing operator from entering operating area, with
Prevent the personal security accident in the course of processing；Described protective fence (16) comprises and is in loading and unloading robot (3) operation
The electronic guardrail in district, electronic lock and alarm device, electronic guardrail and electronic lock are used for monitoring safe fence door interlock switch
Monitoring Data is also fed back to described control device (17) by state, if safety door is opened, described control device (17) then controls
Alarm equipment alarm processed stops operation to warn and to control described loading and unloading robot (3)；
Described electronic guardrail and/or described electronic lock use light curtain or infrared sensor, by light curtain or infrared sensor
Detection signal controls described alarm and described loading and unloading robot (3), to prevent operator from entering described charging & discharging machine
The operating space of device people (3).
Organize process equipment co-operating intelligent robot processing methods for for 11. 1 kinds more,
Use processing for many group co-operating intelligent robots of process equipment according to any one of claim 1 to 9
Line,
It is characterized in that,
Comprise the following steps:
Discharge workpiece blank at the upper matrix form of pressing of blank truck (1), and make blank truck (1) be in feeding position；
Loading and unloading robot (3) is in the first feeding position, is obtained on blank truck (1) by visual system (3011)
The placement location of workpiece blank, and from blank truck (1), take a workpiece be placed on the first lathe (5), pass through
First lathe (5) completes first working procedure processing；
Treating that the first lathe (5) machines, workpiece semi-finished product are taken out by loading and unloading robot (3) and to be placed on second auxiliary
Help U-lag (1101) top of device (11), then from U-lag (1101) lower section grabbing workpiece semi-finished product putting
Put on the second auxiliary device (11), complete the upset of workpiece semi-finished product；
Loading and unloading robot (3) grabbing workpiece semi-finished product from the second auxiliary device (11) are placed in the second lathe (6)
On, complete second operation work processing；
Workpiece semi-finished product after loading and unloading robot (3) captures second manufacturing procedure from the second lathe (6) are placed in
On first auxiliary device (10), by the visual system (3011) on the loading and unloading fixture (301) of loading and unloading robot (3)
With the servomotor coordinating operation on the first auxiliary device (10), complete ajusting or to workpiece semi-finished product of workpiece semi-finished product
The identification of side mark；
Workpiece after loading and unloading robot (3) will ajust is placed on the 4th auxiliary device (13) belonging to the second lathe (6)
Placement position on；Loading and unloading robot (3) passes through robot after capturing the workpiece semi-finished product on the 4th auxiliary device (13)
Line slideway (4) is mobile to the second feeding position, and is placed in by workpiece semi-finished product on the 3rd lathe (7) and carries out the 3rd road work
The processing of sequence, and export the 3rd road manufacturing procedure workpiece semi-finished product；Loading and unloading robot (3) is from the 3rd lathe (7)
Grabbing workpiece semi-finished product are placed on the 3rd auxiliary device (12) carrying out the 4th road manufacturing procedure processing；
Loading and unloading robot (3) grabbing workpiece semi-finished product from the 4th auxiliary device (13) are placed in the 4th lathe (8)
On carry out the 5th road manufacturing procedure processing；
Loading and unloading robot (3) is from the 4th lathe (8) grabbing workpiece semi-finished product and moves to the 3rd feeding position, by workpiece
Semi-finished product take out to be placed on the hydraulically operated fixture of the 5th lathe (9) and carry out the 6th procedure processing, and export the 6th road processing
Operation workpiece semi-finished product；
Loading and unloading robot (3) takes out the 6th road manufacturing procedure workpiece semi-finished product from the 5th lathe (9), is placed in
Six auxiliary device (15), carry out sharp change fall blunt operation formed finished workpart；
Loading and unloading robot (3) falls blunt finished workpart be placed on completing sharp change on finished product truck (2), thus completes
The workpiece course of processing from blank to finished product.
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