CN105922082B - Intelligent robot processing line and intelligent robot processing method - Google Patents

Intelligent robot processing line and intelligent robot processing method Download PDF

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Publication number
CN105922082B
CN105922082B CN201610503375.9A CN201610503375A CN105922082B CN 105922082 B CN105922082 B CN 105922082B CN 201610503375 A CN201610503375 A CN 201610503375A CN 105922082 B CN105922082 B CN 105922082B
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China
Prior art keywords
lathe
workpiece
robot
loading
servicing unit
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CN201610503375.9A
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Chinese (zh)
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CN105922082A (en
Inventor
洪莉
肖华
华文孝
龙小军
强维博
尹文芳
陶能如
刘云云
胡新柱
宋宏伟
胡雨强
朱栗波
陈国利
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Changsha Chaint Robotics Co Ltd
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Changsha Chaint Robotics Co Ltd
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Priority to CN201610503375.9A priority Critical patent/CN105922082B/en
Publication of CN105922082A publication Critical patent/CN105922082A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q41/00Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
    • B23Q41/02Features relating to transfer of work between machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q11/00Accessories 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
    • B23Q11/0078Safety devices protecting the operator, e.g. against accident or noise
    • B23Q11/0089Safety devices protecting the operator, e.g. against accident or noise actuating operator protecting means, e.g. closing a cover element, producing an alarm signal
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q41/00Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
    • B23Q41/04Features relating to relative arrangements of machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q7/00Arrangements 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
    • B23Q7/04Arrangements 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q7/00Arrangements 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
    • B23Q7/14Arrangements 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
    • B23Q7/1426Arrangements 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
    • B23Q7/1494Arrangements 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multi-Process Working Machines And Systems (AREA)

Abstract

The invention discloses a kind of intelligent robot processing line and intelligent robot processing method.For the co-operating intelligent robot processing line of multigroup process equipment, including multigroup it be used to combining the lathe for completing all manufacturing procedures of workpiece, multigroup be used to aid in the servicing unit of machine tooling, the blank truck for placing workpiece blank and the finished product truck for placing the finished workpart after processing;Intelligent robot processing line also includes the loading and unloading robot for automatic charging and blanking and the robot line slideway for driving loading and unloading Robot to move linearly;Loading and unloading robot is arranged on robot line slideway by mounting seat;Lathe is distributed in robot line slideway both sides, and lathe, servicing unit, blank truck and finished product truck are in the radius of clean-up of loading and unloading robot.Loading and unloading robot complete independently workpiece by blank to finished product all processing;Suitable for multistation, the Work-piece processing system of multiple operation.

Description

Intelligent robot processing line and intelligent robot processing method
Technical field
The present invention relates to intelligent robot processing technique field, especially, is related to a kind of mutual for multigroup process equipment The intelligent robot processing line of cooperation.Moreover, it relates to a kind of cooperate including above-mentioned for multigroup process equipment Intelligent robot processing line intelligent robot processing method.
Background technology
Existing machine tooling industry, machine management person wish raising lathe utilization rate, are reduced as far as machine tool Allowance for depreciation and loss of assets, this inevitable requirement machine operation person operate for 24 hours so that and operator's working strength is big, and for a long time Work, easily cause security incident, increase management or operation cost.
Using the blank workpiece processing site of lathe, there is cutting oil and remove powder caused by chamfering or sharp edge burr in scene Dirt easily makes operator occupational disease occur, in addition, the weight in workpiece is heavier or during operating personnel's tired operation, sometimes work Part can cause danger to operator's body;Worker is difficult to carry out lathe operation of feeding and discharging for a long time, then proposes to use robot Instead of worker carry out lathe loading and unloading operation, this by be a certainty trend.
Artificial progress loading and unloading are replaced using truss manipulator, but manipulator is merely able to carry out XYZ three-axis movings, if thinking reality The existing complete processing technology of workpiece multistation multiple operation is then restricted.
Multistation multistage manufacturing processes are undertaken using more six-joint robots, can solve the problem that the limitation of truss manipulator, but Costly, control is complicated, higher to operating personnel's technical requirements.
The content of the invention
The invention provides a kind of intelligent robot processing line and intelligent robot processing method, is added with solving existing lathe Work causes labor intensity big, big to injury of human, it is necessary to artificial directly participation;And truss manipulator is used, processed in multistation Shi Rongyi is by equipment limit;By the way of corresponding each station configuration six-joint robot, cost is caused to increase, will to personnel Seek high technical problem.
According to an aspect of the present invention, there is provided one kind is used for the co-operating intelligent robot processing of multigroup process equipment Line, including it is multigroup be used for combine complete all manufacturing procedures of workpiece lathe, it is multigroup be used for aid in machine tooling servicing unit, Finished product truck for the finished workpart after placing the blank truck of workpiece blank and being processed for placement;Intelligent robot adds Work line also includes being used for the loading and unloading robot of automatic charging and blanking and for driving loading and unloading Robot to move linearly Robot line slideway;Loading and unloading robot is arranged on robot line slideway by mounting seat;Lathe is distributed in machine People's line slideway both sides, lathe, servicing unit, blank truck and finished product truck are in the radius of clean-up of loading and unloading robot It is interior.
Further, lathe is arranged at least five groups, and the lathe for being distributed in robot line slideway both sides misses one another point Cloth or toward each other distribution;Loading and unloading robot is on the center line of intelligent robot processing line.
Further, loading and unloading robot includes six-joint robot and upper and lower material clamp, and upper and lower material clamp is arranged on six axles On 6th axle of robot.
Further, upper and lower material clamp uses 180 ° of Horizontal clamps, and upper and lower material clamp includes for shooting or sensing work The vision system of part position, for the blowning installation of air blowing chip removal in workpiece process, for grabbing workpiece or release workpiece Paw and for drive paw run drive cylinder.
Further, vision system includes lighting device, camera lens, filming apparatus or image processing apparatus;Filming apparatus is adopted With video camera or camera;Paw is replaceable part of remodeling.
Further, lathe includes the first lathe, the second lathe, the 3rd lathe, the 4th lathe and the 5th lathe;First Lathe, 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 the whole manufacturing procedure of workpiece;Servicing unit include the first servicing unit, the second servicing unit, the 3rd servicing unit, 4th servicing unit, the 5th servicing unit and the 6th servicing unit.
Further, the first servicing unit is integrated with servomotor and rotation platform, the vision system on upper and lower material clamp Cooperated with the servomotor on the first servicing unit, with complete workpiece put or identification that workpiece laterally identifies.
Further, the second servicing unit is welded using shaped steel, and the workbench of the second servicing unit is provided with multiple U-lag of different sizes, different size of U-lag correspond to the workpiece of different size different models;Loading and unloading robot passes through U Shape groove is as the interim anchor point of workpiece to realize turn-over operation of the loading and unloading robot to workpiece.
Further, the 3rd servicing unit is in the downstream of the 3rd lathe, for the semi-finished product work exported to the 3rd lathe Sequence carries out secondary process, and secondary process is that workpiece sharp edge falls blunt or chamfering, and the 4th lathe is in the downstream of the 3rd servicing unit;The Six servicing units are in the downstream of the 5th lathe, and the half-finished product process for being exported to the 5th lathe carries out secondary process and forms work Part finished product, secondary process are that workpiece sharp edge falls blunt or chamfering;4th servicing unit is attached to the second lathe, is passed through for temporary storage Cross the first servicing unit and ajust workpiece that is rear and waiting crawl to be processed to the 3rd lathe;5th servicing unit is for workpiece Park and carry out the detection means of workpiece sensing, detection means includes the work for being used for parking workpiece and detected to workpiece and put down Platform and the slide rail for guiding workbench to slide, cylinder are connected with workbench and drive workbench sliding on slide rail Dynamic, at least one end of slide rail is provided with the buffer unit for workbench buffering positioning;First lathe, the second lathe, the 3rd Lathe, the 4th lathe and the lateral of the 5th lathe are equipped with the 5th servicing unit, so as to the quality inspection to each procedure.
Further, intelligent robot processing line also includes control device, for controlling loading and unloading robot, robot straight Line guide rail, the first servicing unit, the 3rd servicing unit and the 6th servicing unit, and by the detection signal of the second servicing unit, The detection signal of four servicing units, the detection signal of the 5th servicing unit, machine tooling signal, the hydraulically operated fixture detection letter of lathe Number by cable connection together, coordinate control so as to realizing loading and unloading robot with multigroup process equipment and complete intelligence jointly Can production management.
Further, control device includes PLC control system and touch-screen.
Further, intelligent robot processing line also includes being used for the anti-pad for preventing operating personnel from entering operating area Column, to prevent the personal security accident in process.
Further, protective fence includes electronic guardrail, electronic lock and alarm in loading and unloading robot operation area Device, electronic guardrail and electronic lock are used to monitor safe fence door interlock switch state and Monitoring Data are fed back into control dress Put, if safety door is opened, control device then controls alarm equipment alarm to warn and control loading and unloading robot to stop operation.
Further, electronic guardrail and/or electronic lock use light curtain or infrared sensor, pass through light curtain or infrared sensing The detection signal control alarm and loading and unloading robot of device, to prevent operating personnel from entering the operating space of loading and unloading robot.
According to another aspect of the present invention, additionally provide one kind and be used for the co-operating intelligent robot of multigroup process equipment Processing method, it is used for the co-operating intelligent robot processing line of multigroup process equipment using above-mentioned, comprises the following steps:In hair By matrix form discharge workpiece blank on blank car, and blank truck is set to be in upper material position;Loading and unloading robot is on first Material position, the placement location of workpiece blank on blank truck is obtained by vision system, and takes a workpiece to put from blank truck Put on the first lathe, the first procedure is completed by the first lathe and processed;Treat that the first machine tooling is completed, loading and unloading robot Workpiece semi-finished product are taken out and are placed on above the U-lag of the second servicing unit, then from grabbing workpiece semi-finished product below U-lag And be placed on the second servicing unit, complete the upset of workpiece semi-finished product;Loading and unloading robot captures from the second servicing unit Workpiece semi-finished product are placed on the second lathe, complete second operation work processing;Loading and unloading robot captures from the second lathe Workpiece semi-finished product after two manufacturing procedures are placed on the first servicing unit, by loading and unloading robot up and down on material clamp Vision system and the first servicing unit on servomotor coordinating operation, complete workpiece semi-finished product ajust or to workpiece half into The identification of product side mark;Workpiece after ajusting is placed on the 4th servicing unit belonging to the second lathe by loading and unloading robot Place on position;Loading and unloading robot is moved to after capturing the workpiece semi-finished product on the 4th servicing unit by robot line slideway Material position on second, and workpiece semi-finished product are placed on the 3rd lathe to the processing for carrying out three process, and export the 3rd processing Process workpiece semi-finished product;Loading and unloading robot is placed in carrying out on the 3rd servicing unit from grabbing workpiece semi-finished product on the 3rd lathe 4th manufacturing procedure is processed;Loading and unloading robot is placed on the 4th lathe from grabbing workpiece semi-finished product on the 4th servicing unit Carry out the processing of the 5th manufacturing procedure;Loading and unloading robot is from the 4th lathe grabbing workpiece semi-finished product and is moved to the 3rd feeding Position, workpiece semi-finished product are taken out and are placed on the 6th procedure of progress processing on the hydraulically operated fixture of the 5th lathe, and export the 6th Manufacturing procedure workpiece semi-finished product;Loading and unloading robot takes out the 6th manufacturing procedure workpiece semi-finished product, juxtaposition from the 5th lathe In the 6th servicing unit, carry out the sharp blunt operation of change and form finished workpart;Loading and unloading robot will complete the blunt workpiece of sharp change Finished product is placed on finished product truck, so as to complete process of the workpiece from blank to finished product.
The invention has the advantages that:
The present invention is used for the co-operating intelligent robot processing line of multigroup process equipment, by setting separate unit charging & discharging machine Device people, loading and unloading robot are installed on robot line slideway and can carry out rectilinear translation along robot line slideway, use The artificial more lathes of one loading and unloading machine and process equipment service, can efficiently reduce labor management cost, effectively lifting The utilization rate of workpieces processing production efficiency and equipment, mitigate business administration cost;Loading and unloading are guided by robot line slideway The rectilinear translation of robot and the rotation of loading and unloading robot in itself, so as to expand the work coverage of loading and unloading robot; Blank truck, finished product truck, multigroup lathe and multigroup servicing unit are respectively arranged on robot line slideway both sides, and in expansion In the work coverage of loading and unloading robot after big, whole workpiece production line can just be made using a loading and unloading robot On each manufacturing procedure cooperate with each other processing, so as to complete the production from workpiece blank to finished workpart, process Prosthetic participates in, and greatly improves workpiece automation, the intelligent level of production, while can also greatly reduce production safety Accident, the problem of extenuating existing enterprise's recruitment famine significantly.Whole intelligent robot processing line is by a loading and unloading robot service All lathes and servicing unit, revolutionize traditional machine tool processing technology, improve product quality;Loading and unloading robot is only It is vertical to complete all processing technologys of the workpiece by blank to finished product, full-automatic processing is realized, it is whole without manually participating in, avoid giving birth to Produce safety problem;Whole processing line occupies little space, cost is low, automaticity is high, suitable for multistation, the workpiece of multiple operation System of processing.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages. Below with reference to figure, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the knot for the co-operating intelligent robot processing line of multigroup process equipment of the preferred embodiment of the present invention Structure schematic diagram;
Fig. 2 is the structural representation of the material clamp up and down of the preferred embodiment of the present invention;
Fig. 3 is the structural representation of the second servicing unit of the preferred embodiment of the present invention.
Marginal data:
1st, blank truck;2nd, finished product truck;3rd, loading and unloading robot;301st, upper and lower material clamp;3011st, vision system; 3012nd, blowning installation;3013rd, paw;3014th, drive cylinder;4th, robot line slideway;5th, the first lathe;6th, the second lathe; 7th, the 3rd lathe;8th, the 4th lathe;9th, the 5th lathe;10th, the first servicing unit;11st, the second servicing unit;1101st, U-lag; 12nd, the 3rd servicing unit;13rd, the 4th servicing unit;14th, the 5th servicing unit;15th, the 6th servicing unit;16th, protective fence; 17th, control device.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be limited by following and The multitude of different ways of covering is implemented.
Fig. 1 is the knot for the co-operating intelligent robot processing line of multigroup process equipment of the preferred embodiment of the present invention Structure schematic diagram;Fig. 2 is the structural representation of the material clamp up and down of the preferred embodiment of the present invention;Fig. 3 is the preferred embodiment of the present invention The second servicing unit structural representation.
As shown in figure 1, the present embodiment is used for the co-operating intelligent robot processing line of multigroup process equipment, including it is more Group be used for combine complete all manufacturing procedures of workpiece lathe, it is multigroup be used for aid in the servicing unit of machine tooling, for placing The blank truck 1 of workpiece blank and the finished product truck 2 for placing the finished workpart after processing;Intelligent robot processing line is also Including the loading and unloading robot 3 for automatic charging and blanking and for driving machine of the loading and unloading robot 3 along rectilinear movement Device people line slideway 4;Loading and unloading robot 3 is arranged on robot line slideway 4 by mounting seat;Lathe is distributed in robot The both sides of line slideway 4, lathe, servicing unit, blank truck 1 and finished product truck 2 are in the radius of clean-up of loading and unloading robot 3 It is interior.The present invention is used for the co-operating intelligent robot processing line of multigroup process equipment, by setting 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 The artificial more lathes of one loading and unloading machine and process equipment service, can efficiently reduce labor management cost, effectively lifting The utilization rate of workpieces processing production efficiency and equipment, mitigate business administration cost;Loading and unloading are guided by robot line slideway 4 The rectilinear translation of robot 3 and the rotation of of loading and unloading robot 3 itself, so as to expand the work of loading and unloading robot 3 covering model Enclose;Blank truck 1, finished product truck 2, multigroup lathe and multigroup servicing unit are respectively arranged on the both sides of robot line slideway 4, and In the work coverage of loading and unloading robot 3 after expansion, whole work can just be made using a loading and unloading robot 3 Each manufacturing procedure on part production line cooperates with each other processing, so as to complete the production from workpiece blank to finished workpart, Process prosthetic participates in, and greatly improves workpiece automation, the intelligent level of production, while can also greatly reduce Work safety accident, the problem of extenuating existing enterprise's recruitment famine significantly.Whole intelligent robot processing line is by a charging & discharging machine Device people 3 services all lathe and servicing unit, revolutionizes traditional machine tool processing technology, improves product quality;Up and down Expect all processing technologys of the complete independently workpiece of robot 3 by blank to finished product, realize full-automatic processing, it is whole without artificial Participate in, avoid production safety problem;It is whole that processing line occupies little space, cost is low, automaticity is high, suitable for multistation, The Work-piece processing system of multiple operation.Show that separate unit loading and unloading robot 3 is respectively on robot line slideway 4 in Fig. 1 On first in material position and the 3rd material position job area.
As shown in figure 1, in the present embodiment, lathe is arranged at least five groups.It is distributed in the machine of the both sides of robot line slideway 4 Bed miss one another distribution or toward each other distribution or toward each other distribution.The order of placement of machining tool is according to the processing work of workpiece Skill order is arranged and is uniformly distributed according to lathe sizes and types, so that the feeding position of lathe is in loading and unloading In the same radius of turn of robot 3, so as to reduce the adjustment control to loading and unloading robot 3, operating efficiency is improved.Loading and unloading Robot 3 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 upper and lower material clamp 301. Upper and lower material clamp 301 is arranged on the 6th axle of six-joint robot.Conveniently to the accurate of the upper and lower Multi-orientation multi-angle of material clamp 301 Control.
As depicted in figs. 1 and 2, in the present embodiment, upper and lower material clamp 301 uses 180 ° of Horizontal clamps.It can capture simultaneously Multiple workpiece, improve the efficiency of workpiece transfer processing.Upper and lower material clamp 301 includes for shooting or sensing regarding for the location of workpiece Feel system 3011, blowning installation 3012 for air blowing chip removal in workpiece process, for grabbing workpiece or release workpiece Paw 3013 and the drive cylinder 3014 for driving paw 3013 to run.Using vision positioning, without design specialized fixture, High Special Clamps Design expense is saved, reduces cost.Alternatively, upper and lower material clamp 301 uses double-clamp structure, with lifting Processing efficiency.
As depicted in figs. 1 and 2, in the present embodiment, vision system 3011 includes lighting device, camera lens, filming apparatus or figure As processing unit.Non-cpntact measurement and judgement are carried out instead of human eye, improves the flexibility and automaticity of production, substitutes artificial ginseng With avoiding personnel on site's operation infringement to caused by human body, can be operated for a long time.Filming apparatus uses video camera or photograph Camera.Paw 3013 is replaceable part of remodeling.Different paws 3013 can be selected according to the shape and model of workpiece, with It is adapted to different work pieces process needs.Using vision positioning, without design specialized fixture, high Special Clamps Design is saved Expense, reduce cost.Robot complete independently workpiece realizes full-automatic processing by all processing technologys of blank to finished product, It is whole manually to participate in, avoid production safety problem.By machine vision technique, sensing technology, servo control technique, industrial machine The automatic technologies such as device people's control technology incorporate traditional machine tool processing technology, and General Promotion machining automates, intelligent level, Greatly Improving The Quality of Products, reduce product rejection rate.
As shown in figure 1, in the present embodiment, lathe includes the first lathe 5, the second lathe 6, the 3rd lathe 7, the 4th lathe 8 and the 5th lathe 9.First lathe 5, the second lathe 6, the 3rd lathe 7, the 4th lathe 8 and the 5th lathe 9 are sequentially arranged and difference Respective manufacturing procedure is completed, to complete the whole manufacturing procedure of workpiece.Servicing unit includes the first servicing unit 10, second Servicing unit 11, the 3rd servicing unit 12, the 4th servicing unit 13, the 5th servicing unit 14 and the 6th servicing unit 15.It is multiple Lathe and multiple servicing units form the complete production line being made up of multiple work pieces process stations and manufacturing procedure.Alternatively, The servicing unit for selecting the lathe of varying number and being engaged with lathe can be needed according to workpiece, to meet that workpiece is completed to add The needs of work technological process.
As depicted in figs. 1 and 2, in the present embodiment, the first servicing unit 10 is integrated with servomotor and rotation platform.Up and down Servomotor on the servicing unit 10 of vision system 3011 and first on material clamp 301 cooperates, to complete the pendulum of workpiece Put or identification that workpiece laterally identifies.The accuracy that workpiece confirms and positioned is improved, improves the precision of work pieces process.
As shown in figures 1 and 3, in the present embodiment, the second servicing unit 11 is welded using shaped steel.Second servicing unit 11 workbench is provided with multiple U-lags 1101 of different sizes.It is different that different size of U-lag 1101 corresponds to different sizes The workpiece of model.The interim anchor point of workpiece is used as to realize loading and unloading robot 3 by U-lag 1101 in loading and unloading robot 3 Turn-over operation to workpiece.Alternatively, each U-lag 1101 is corresponded on the workbench of the second servicing unit 11 has one The detection means whether being in place for detecting workpiece.
As shown in figure 1, in the present embodiment, the 3rd servicing unit 12 is in the downstream of the 3rd lathe 7, for the 3rd lathe The half-finished product process of 7 outputs carries out secondary process.Secondary process can be that workpiece sharp edge fall blunt or workpiece sharp edge chamfering.4th machine Bed 8 is in the downstream of the 3rd servicing unit 12.6th servicing unit 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 fall blunt or workpiece sharp edge Chamfering.4th servicing unit 13 is attached to the second lathe 6, after the first servicing unit 10 is ajusted and is waited for temporary storage Capture the workpiece being processed to the 3rd lathe 7.5th servicing unit 14 is to be parked for workpiece and carry out the inspection of workpiece sensing Survey device.Detection means is comprising the workbench for being used to park workpiece and detect workpiece and for guiding workbench The slide rail of slip, cylinder are connected with workbench and drive workbench to be slided on slide rail, and at least one end of slide rail is provided with Buffer unit for workbench buffering positioning.First lathe 5, the second lathe 6, the 3rd lathe 7, the 4th lathe 8 and the 5th The lateral of lathe 9 is equipped with the 5th servicing unit 14, so as to the quality inspection to each procedure.First lathe 5, the second lathe 6th, the lateral of the 3rd lathe 7, the 4th lathe 8 and the 5th lathe 9 is equipped with the 5th servicing unit 14, so as to each procedure Quality inspection.
In the present embodiment, intelligent robot processing line also includes control device 17, for controlling loading and unloading robot 3, machine Device people line slideway 4, the first servicing unit 10, the 3rd servicing unit 12 and the 6th servicing unit 15, and by the second servicing unit 11 detection signal, the detection signal of the 4th servicing unit 13, the detection signal of the 5th servicing unit 14, machine tooling signal, The hydraulically operated fixture detection signal of lathe by cable connection together, so as to realize loading and unloading robot 3 and multigroup process equipment Coordinate control and complete intelligent production management jointly.Control device 17 includes PLC control system and touch-screen.Intelligent robot Processing line also includes being used for the protective fence 16 for preventing operating personnel from entering operating area, to prevent the personnel in process from pacifying Full accident.Protective fence 16 includes electronic guardrail, electronic lock and warning device in the operation area of loading and unloading robot 3.Electricity Sub- guardrail and electronic lock are used to monitor safe fence door interlock switch state and Monitoring Data is fed back into control device 17.If peace Air cock is opened, and control device 17 then controls alarm equipment alarm to warn and control loading and unloading robot 3 to stop operation.Electronics protects Column and/or electronic lock use light curtain or infrared sensor, and alarm is controlled by light curtain or the detection signal of infrared sensor With loading and unloading robot 3, with prevent operating personnel enter loading and unloading robot 3 operating space.
The present embodiment is used for the co-operating intelligent robot processing method of multigroup process equipment, using above-mentioned for more The group co-operating intelligent robot processing line of process equipment, comprises the following steps:Discharged on blank truck 1 by matrix form Workpiece blank, and blank truck 1 is in upper material position;Loading and unloading robot 3 is in material position on first, passes through vision system 3011 The placement location of workpiece blank on blank truck 1 is obtained, and takes a workpiece to be placed on the first lathe 5 from blank truck 1, The first procedure is completed by the first lathe 5 to process;Treat that the first lathe 5 machines, loading and unloading robot 3 is by workpiece semi-finished product Take out and be placed on the top of U-lag 1101 of the second servicing unit 11, then from the lower section grabbing workpiece semi-finished product of U-lag 1101 simultaneously It is placed on the second servicing unit 11, completes the upset of workpiece semi-finished product;Loading and unloading robot 3 is grabbed from the second servicing unit 11 Take workpiece semi-finished product to be placed on the second lathe 6, complete second operation work processing;Loading and unloading robot 3 is grabbed from the second lathe 6 The workpiece semi-finished product after second manufacturing procedure are taken to be placed on the first servicing unit 10, above and below loading and unloading robot 3 The servomotor coordinating operation on the servicing unit 10 of vision system 3011 and first on material clamp 301, complete workpiece semi-finished product Ajust or to workpiece semi-finished product side mark identification;Workpiece after ajusting is placed on the second lathe 6 by loading and unloading robot 3 On the placement position of the 4th affiliated servicing unit 13;Loading and unloading robot 3 captures the workpiece semi-finished product on the 4th servicing unit 13 Material position on second is moved to by robot line slideway 4 afterwards, and workpiece semi-finished product are placed on the 3rd lathe 7 and carry out the 3rd The processing of process, and export the 3rd manufacturing procedure workpiece semi-finished product;Loading and unloading robot 3 is from grabbing workpiece on the 3rd lathe 7 Semi-finished product are placed in carrying out the processing of the 4th manufacturing procedure on the 3rd servicing unit 12;Loading and unloading robot 3 fills from the 4th auxiliary Grabbing workpiece semi-finished product on 13 are put to be placed in carrying out the processing of the 5th manufacturing procedure on the 4th lathe 8;Loading and unloading robot 3 is from The grabbing workpiece semi-finished product of four lathe 8 are simultaneously moved to material position on the 3rd, and workpiece semi-finished product are taken out to the hydraulic pressure for being placed on the 5th lathe 9 The processing of the 6th procedure is carried out on fixture, and exports the 6th manufacturing procedure workpiece semi-finished product;Loading and unloading robot 3 is from the 5th machine The 6th manufacturing procedure workpiece semi-finished product are taken out on bed 9, are placed in the 6th servicing unit 15, the sharp blunt operation of change is carried out and forms work Part finished product;Loading and unloading robot 3 will complete it is sharp become blunt finished workpart and be placed on finished product truck 2, so as to complete workpiece from Process of the blank to finished product.
During implementation, there is provided it is a kind of with the co-operating intelligent robot processing line of process equipment such as lathe, the processing line Comprising the first lathe 5, the second lathe 6, the 3rd lathe 7, the 4th lathe 8 and the 5th lathe 9, and each lathe is equipped with corresponding hydraulic pressure Fixture, blank truck 1, finished product truck 2, the first servicing unit 10, the second servicing unit 11, the 3rd servicing unit the 12, the 4th are auxiliary Help device 13, the 5th servicing unit 14 and the 6th servicing unit 15 and protective fence 16.First lathe 5, the second lathe the 6, the 3rd Lathe 7, the 4th lathe 8 and the distribution of the symmetric arrays of the 5th lathe 9, robot line slideway 4 are located at lathe and arrange symmetrical axis center, Loading and unloading robot 3 is arranged in the mounting seat of robot line slideway 4, and radius of clean-up covering institute of loading and unloading robot 3 is organic Bed and servicing unit.Blank truck 1 is arranged side by side, and is placed on the front end of robot line slideway 4;Finished product truck 2 is arranged side by side, And the side of the 3rd lathe 7 is placed on, loading and unloading robot 3 completes the first lathe by being moved on robot line slideway 4 5th, the second lathe 6, the 3rd lathe 7, the 4th lathe 8 to the workpiece loading and unloading of the 5th lathe 9, workpiece automatic alignment, workpiece installation Hole chamfering technique, workpiece are sharp to become the technique such as blunt, is finally completed the technological process that workpiece is processed automatically from blank to finished product.With showing There is technology to compare, workpiece participates in without operating personnel in process, i.e. manufacturing procedure completely by robot independent operation, because This, saves manpower and management cost, mitigates labor intensity of operating staff, improves product automation level of processing, lifts product matter Amount and production efficiency.So as to realize that multistation multiple operation lathe is processed automatically, improving production efficiency, production cost is reduced.
With with the co-operating intelligent robot processing line of process equipment such as lathe, including at least five lathes and multigroup Servicing unit.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.Robot line slideway 4 is placed on the first to the 5th lathe symmetrical centre axle, and loading and unloading robot 3 is installed In the mounting seat of robot line slideway 4.Robot line slideway 4 is used to install charging & discharging machine device people 3, and causes loading and unloading Robot 3 can complete the translation operation from upper material position to lower material position.Allow loading and unloading robot 3 complete from upper material position to The translation operation of lower material position.
First lathe 5, for workpiece to be processed W to be carried out into first time processing, and export the first procedure semi-finished product.Second Lathe 6, processed for the first procedures of workpiece to be processed W semi-finished product to be carried out into second, and export second operation work semi-finished product. 3rd lathe 7, for workpiece to be processed W second operation works semi-finished product to be carried out into third time processing, and export three process half Finished product.3rd servicing unit 12, for workpiece to be processed W three process semi-finished product to be carried out into the 4th processing, and export the Four procedure semi-finished product.4th lathe 8, for the procedure semi-finished product of workpiece to be processed W the 4th to be carried out into the 5th processing, and it is defeated Go out five processes semi-finished product.5th lathe 9, for workpiece to be processed W five processes semi-finished product to be carried out into the 6th processing, And export the 6th procedure semi-finished product.6th servicing unit 15, for the procedure semi-finished product of workpiece to be processed W the 6th to be carried out into the Seven processing, and export finished product.Loading and unloading robot 3 is used to carry out loading and unloading for lathe, and loading and unloading robot 3 is from blank material Workpiece to be processed blank is taken on car 1, by being moved on robot line slideway 4, so as to complete workpiece to be processed W from the 1st~7 Procedure process, finally workpiece W finished products are placed on finished product truck 2 in lower material position, realize workpiece from blank to finished product from Dynamicization process.Compared with existing machine tooling technology, the present invention is used for the co-operating robot intelligence of multigroup process equipment Can processing line, it is artificial only need to by workpiece W blank it is in good order be placed on blank truck 1, and blank truck 1 is placed on Upper material position, start-up operation button, loading and unloading robot 3 can realize workpiece W all process steps processing automatically;So, save Manpower, labor intensity is reduced, improve plant factor and production efficiency, it also avoid because manual operation causes Quality problems caused by workpiece scuffing or error, considerably reduce product rejection rate, in addition, avoiding artificial suction from carrying out work Dust caused by part processing.Whole processes of the independent operation work pieces process of loading and unloading robot 3, it is consistent to be greatly enhanced product Property, improve the working environment of workers, management cost is saved for enterprise.
Intelligent robot processing line includes material position on first, material position on second, material position, the first detecting position etc. four on the 3rd Robot working position, wherein, loading and unloading robot 3 radius of clean-up covering blank truck 1 of material position on first, the first lathe 5, the The 5th servicing unit 14, the second lathe 6 belonging to two servicing units 11 and the first lathe 5.Wherein loading and unloading robot 3 is first Material position completes all process steps of work pieces process on~the three, and is completed in the first~the 3rd working position and the first detecting position artificial Inspect process by random samples.Machining tool is five, and symmetrical along robot line slideway 4 together with each servicing unit, charging & discharging machine Device people 3 is located at the center of processing line.
Loading and unloading robot 3 is made up of six-joint robot, upper and lower material clamp 301, and upper and lower material clamp 301 is arranged on six axle machines On the 6th axle of device people.Upper and lower material clamp 301 is 180 ° of Horizontal clamps, being capable of clamping two pieces workpiece W, and configure vision system simultaneously System 3011, blowning installation 3012, drive cylinder 3014, chuck body, paw 3013.Paw 3013 is part of remodeling, according to work Part W difference and change different paws so that production line adapt to different workpieces batch production.
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 machine On people's line slideway 4, and the entirety of robot line slideway 4 is fastened on the ground using chemical bolt, it is ensured that loading and unloading robot 3 From upper material position to the stable movement of lower material position.Stopping means is provided with the end of the first guide rail and the second guide rail to transport robot It is dynamic to carry out mechanical position limitation.
Multiple workpiece W blanks by manual mode of operation it is in good order be placed on described blank truck 1, i.e.,:Hair The prefabricated workpiece putting hole in blank car upper strata, the positioning for workpiece blank W.Workpiece to be processed W blanks are manually pressed into 3X4 or 2X2 Be placed on blank truck, workpiece places five layers, and blank truck 1 finally is placed on into described first by operating personnel Upper material position, to facilitate robot to capture.Alternatively, blank truck 1 configures different limited posts and different works according to different workpieces W Part places arrangement, i.e. square cross W is placed by 3X4 arrangements, and round piece is placed by 2X2 arrangements.Other blank truck 1 and finished product Truck 2, left, center, right position are provided with stopping means, manually only need to place truck by defined position, and step on brake, nothing Need other operations.
First servicing unit 10 is integrated by servomotor and rotation platform, passes through the vision system on upper and lower material clamp 301 3011 and the first servomotor coordinating operation on servicing unit 10, complete workpiece W ajust or workpiece side LOG identifications.Can Selection of land, detection means is provided with the first servicing unit 10, detect whether there is workpiece W on the 3rd servicing unit 12 in real time, have Effect avoids robot and repeats the accident problem for causing workpiece W to collide.
Second servicing unit 11 is welded using shaped steel, and its workbench is provided with four kinds of different size of U-lags 1101, The different corresponding different workpieces W of U-lag 1101.Workpiece to be processed W is placed on the U of the second servicing unit 11 by loading and unloading robot 3 Above shape groove 1101, then grabbing workpiece W transfers from U-lag 1101 in loading and unloading robot 3, completes workpiece W turn-over operation.Can Selection of land, the second servicing unit 11 are equipped with detection means and blowning installation, and its function is:First, the second auxiliary of detection means detection dress Put and whether there is workpiece, avoid robot from repeating the accident problem for causing workpiece W to collide;2nd, detection means and air blowing Device control units coordinates, and when loading and unloading robot 3 takes workpiece W away after, blowning installation will remain on the second servicing unit Iron filings are blown away, in order to avoid influence workpiece W crudies.
5th servicing unit 14 is detection means, includes cylinder, slide rail, workbench and buffering stop block.5th is auxiliary Help device 14 to be individually positioned in the first~the 5th lathe side, be easy to be accomplished manually the quality inspection of every one of manufacturing procedure.The The control button of different mode is also provided with five servicing units 14, when artificial needs are detected, loading and unloading robot 3 is Detecting position can be moved to and place workpiece for manually being detected, workpiece is not otherwise placed then, improve workpiece W productive temp.
Control device 17, for controlling loading and unloading robot 3, robot line slideway 4, the first servicing unit the 10, the 3rd The servicing unit 15 of servicing unit 12 and the 6th, and remaining servicing unit detection signal, machine tooling signal, hydraulically operated fixture are detected Signal together, so as to realize the equipment coordination control such as robot and lathe, completes intelligent production pipe jointly by cable connection Reason.Control device 17 includes PLC control system and touch-screen.Intelligent Machining line, which also includes, prevents operating personnel from entering operating area Protective fence 16, to stop the personal security accident in process.Alternatively, protective fence 16 is also included and made in robot Electronic guardrail, electronic lock and the warning device in industry area, electronic guardrail and electronic lock are used to monitor safe fence door interlock switch State, and Monitoring Data is fed back into control device 17, if safety door is opened, control device 17 then controls alarm equipment alarm to show Warning, and control loading and unloading robot 3 to stop operation, effectively prevent security incident from producing, reduce business administration cost.
Alternatively, fence and electronic lock can also use light curtain or infrared sensor, pass through its detection signal, control Alarm and robot.Prevent operating personnel from entering robot manipulation area, improve the security reliability in workpiece process.
With quantity, the number of permutations of truck of the co-operating intelligent robot processing line machining tool of process equipment such as lathe Mentioned in amount and the more than text of the quantity of servicing unit, actual quantity can be configured according to client's actual demand.
For the processing method of the co-operating intelligent robot processing line of multigroup process equipment, including:Manually by workpiece Five layers are placed, and workpiece is placed on 3X4 two blank trucks on request, and is placed on material position.Workpiece W processes it Just, loading and unloading robot 3 is in material position on first, and loading and unloading robot 3 is obtained to be processed on blank truck by vision system Workpiece W blank placement locations, and take a workpiece to be placed on the first lathe 5 from blank truck 1, complete the first of workpiece W Procedure is processed;Treat that the first lathe 5 machines, loading and unloading robot 3 processes the first lathe 5 workpiece of first procedure Semi-finished product W1 takes out, and loading and unloading robot 3 rotates to an angle, and workpiece W1 is placed on the U-lag of the second servicing unit 11 1101 tops, grabbing workpiece W1 transfers from U-lag 1101 in loading and unloading robot 3, and the workpiece semi-finished product of the first procedure are placed On second servicing unit 11, rapid grabbing workpiece W1, then loading and unloading robot 3 workpiece W1 will be put on the second lathe 6, it is complete Processed into workpiece W1 second operation works, and export second manufacturing procedure workpiece W semi-finished product W2.Loading and unloading robot 3 is from The semi-finished product W2 of second manufacturing procedure workpiece is captured in two lathes 6, rotates to an angle, workpiece W2 is placed on the first auxiliary On device 10, by the servicing unit 10 of vision system 3011 and first on the material clamp up and down 301 of loading and unloading robot 3 Servomotor coordinating operation, complete ajusting or workpiece side LOG being identified for workpiece W2;Afterwards, loading and unloading robot 3 will Workpiece after ajusting is placed on No. 1 placement position of the 4th servicing unit 13 belonging to the second lathe 6.Loading and unloading robot 3 is After material position completes second workpiece to be processed W2 processing on one, loading and unloading robot 3 captures the second machine using the three-jaw of the other end The second manufacturing procedure workpiece W of No. 1 placement position semi-finished product W2, then loading and unloading on the 4th servicing unit 13 belonging to bed 6 Robot 3 is moved to material position on second, and two pieces second manufacturing procedure workpiece W semi-finished product W2 is placed on to the liquid of the 3rd lathe 7 Three process processing is carried out on pressure fixture, and exports the 3rd manufacturing procedure workpiece W semi-finished product W3.Loading and unloading robot 3 3rd manufacturing procedure workpiece W semi-finished product W3 is taken out from the 3rd lathe 7, loading and unloading robot 3 rotates to an angle, and Described the 4th procedure processing is completed on 3rd servicing unit 12, and exports 2 the 4th manufacturing procedure workpiece W semi-finished product W4.Loading and unloading robot 3 is rotated to an angle, and the manufacturing procedure workpiece W of two pieces the 4th semi-finished product W4 is placed on into the 4th machine Described five processes processing is carried out on the hydraulically operated fixture of bed 8, and exports 2 the 5th manufacturing procedure workpiece W semi-finished product W5.Loading and unloading robot 3 takes out the manufacturing procedure workpiece W of two pieces the 5th semi-finished product W5 from the 4th lathe 8, rotates certain angle Degree, and material position on the 3rd is moved to, 2 the 5th manufacturing procedure workpiece W semi-finished product W5 is taken out and is placed on the 5th lathe 9 Described the 6th procedure processing is carried out on hydraulically operated fixture, and exports 2 the 6th manufacturing procedure workpiece W semi-finished product W6.On Blanking robot 3 takes out 2 the 6th manufacturing procedure workpiece W semi-finished product W6 from the 5th lathe 9, then loading and unloading robot 3 rotate to an angle, and will complete sharp become in the sharp blunt operation of change of progress, last loading and unloading robot 3 in the 6th servicing unit and fall Blunt two pieces workpiece W7 is placed on finished product truck 2, so as to complete process of the workpiece from blank to finished product.
Using with the co-operating intelligent robot processing line of process equipment such as lathe, a loading and unloading machine can be used Artificial more lathes and process equipment service, can efficiently reduce labor management cost, effectively lift workpieces processing production effect The utilization rate of rate and equipment, mitigate business administration cost.Add using with co-operating intelligent robots of process equipment such as lathes Work line, all process steps Jun You robot complete independently of the workpiece from blank to finished product, prosthetic participate in, and greatly improve workpiece Automation, the intelligent level of production, while work safety accident can also be greatly reduced, it is waste that existing enterprise's recruitment is extenuated significantly The problem of.Production line is accurately positioned using vision, is effectively improved clamping workpiece precision, so as to improve the overall processing of product Efficiency and crudy.Production line is controlled using high end control system, when progress product is remodeled, need to only be produced in control system Product program change and replacing process equipment fixture, it becomes possible to realize that product overall processing flow is changed, without being proficient in machine simultaneously Bed operation and the operating personnel of robot manipulation, processing line is simple to operate, convenient.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies Change, equivalent substitution, improvement etc., should be included in the scope of the protection.

Claims (9)

1. one kind is used for the co-operating intelligent robot processing line of multigroup process equipment,
It is used to combine the lathe for completing all manufacturing procedures of workpiece, multigroup auxiliary for being used to aid in the machine tooling including multigroup Device, the blank truck (1) for placing workpiece blank and the finished product truck (2) for placing the finished workpart after processing;
Characterized in that,
The intelligent robot processing line also includes being used for the loading and unloading robot (3) of automatic charging and blanking and for driving Robot line slideway (4) of the loading and unloading robot (3) along rectilinear movement;
The loading and unloading robot (3) is arranged on the robot line slideway (4) by mounting seat;
The lathe is distributed in robot line slideway (4) both sides,
The lathe, the servicing unit, the blank truck (1) and the finished product truck (2) are in the charging & discharging machine In the radius of clean-up of device people (3);
The lathe includes the first lathe (5), the second lathe (6), the 3rd lathe (7), the 4th lathe (8) and the 5th lathe (9);
First lathe (5), second lathe (6), the 3rd lathe (7), the 4th lathe (8) and the described 5th Lathe (9) is sequentially arranged and is respectively completed respective manufacturing procedure, to complete the whole manufacturing procedure of workpiece;
Servicing unit includes the first servicing unit (10), the second servicing unit (11), the 3rd servicing unit (12), the 4th auxiliary Device (13), the 5th servicing unit (14) and the 6th servicing unit (15);
3rd servicing unit (12) is in the downstream of the 3rd lathe (7), for what is exported to the 3rd lathe (7) Half-finished product process carries out secondary process, and secondary process is that workpiece sharp edge falls blunt or chamfering, and it is auxiliary that the 4th lathe (8) is in the 3rd Help the downstream of device (12);
6th servicing unit (15) is in the downstream of the 5th lathe (9), for what is exported to the 5th lathe (9) Half-finished product process carries out secondary process and forms finished workpart, and secondary process is that workpiece sharp edge falls blunt or chamfering;
4th servicing unit (13) is attached to second lathe (6), is filled for temporary storage by the described first auxiliary The workpiece for putting after (10) are ajusted and waiting crawl to be processed to the 3rd lathe (7);
5th servicing unit (14) is parks and carries out the detection means of workpiece sensing for workpiece, the detection means bag Containing the workbench for parking workpiece and being detected to workpiece and for guide workbench slide slide rail, cylinder with Workbench connects and drives workbench to be slided on slide rail, and at least one end of slide rail is provided with determines for workbench buffering The buffer unit of position;
First lathe (5), second lathe (6), the 3rd lathe (7), the 4th lathe (8) and the described 5th Lathe (9) is laterally equipped with the 5th servicing unit (14), so as to the quality inspection to each procedure.
2. according to claim 1 be used for the co-operating intelligent robot processing line of multigroup process equipment, its feature exists In,
The lathe is arranged at least five groups,
Be distributed in robot line slideway (4) both sides lathe miss one another distribution or toward each other distribution;
The loading and unloading robot (3) is on the center line of intelligent robot processing line.
3. according to claim 2 be used for the co-operating intelligent robot processing line of multigroup process equipment, its feature exists In,
The loading and unloading robot (3) includes six-joint robot and upper and lower material clamp (301),
The material clamp (301) up and down is arranged on the 6th axle of the six-joint robot.
4. according to claim 3 be used for the co-operating intelligent robot processing line of multigroup process equipment, its feature exists In,
The material clamp (301) up and down uses 180 ° of Horizontal clamps,
It is described up and down material clamp (301) include for shoot or sense the location of workpiece vision system (3011), for workpiece The blowning installation (3012) of air blowing chip removal in process, for grabbing workpiece or discharge workpiece paw (3013) and be used for The drive cylinder (3014) for driving the paw (3013) to run.
5. according to claim 4 be used for the co-operating intelligent robot processing line of multigroup process equipment, its feature exists In,
The vision system (3011) includes lighting device, camera lens, filming apparatus or image processing apparatus;
The filming apparatus uses video camera or camera;
The paw (3013) is replaceable part of remodeling.
6. according to claim 5 be used for the co-operating intelligent robot processing line of multigroup process equipment, its feature exists In,
First servicing unit (10) is integrated with servomotor and rotation platform,
Vision system (3011) on material clamp (301) and the servomotor phase on first servicing unit (10) up and down Mutually coordinate, with complete workpiece put or identification that workpiece laterally identifies.
7. according to claim 5 be used for the co-operating intelligent robot processing line of multigroup process equipment, its feature exists In,
Second servicing unit (11) is welded using shaped steel,
The workbench of second servicing unit (11) is provided with multiple U-lags of different sizes (1101),
The different size of U-lag (1101) corresponds to the workpiece of different size different models;
The interim anchor point that the loading and unloading robot (3) is used as workpiece by the U-lag (1101) is described upper and lower to realize Expect turn-over operation of the robot (3) to workpiece.
8. according to any one of claim 1 to 7 be used for the co-operating intelligent robot processing of multigroup process equipment Line, it is characterised in that
The intelligent robot processing line also includes control device (17), for controlling loading and unloading robot (3), robot straight line Guide rail (4), the first servicing unit (10), the 3rd servicing unit (12) and the 6th servicing unit (15), and by the second servicing unit (11) detection signal, the detection signal of the 4th servicing unit (13), the detection signal of the 5th servicing unit (14), machine tooling Signal, the hydraulically operated fixture detection signal of lathe by cable connection together, so as to realize loading and unloading robot (3) with it is multigroup plus Construction equipment coordinates control and completes intelligent production management jointly;
The control device (17) includes PLC control system and touch-screen;
The intelligent robot processing line also includes being used for the protective fence (16) for preventing operating personnel from entering operating area, to prevent The only personal security accident in process;The protective fence (16) includes the electricity in loading and unloading robot (3) operation area Sub- guardrail, electronic lock and warning device, electronic guardrail and electronic lock are used to monitor safe fence door interlock switch state and incited somebody to action Monitoring Data feeds back to the control device (17), if safety door is opened, the control device (17) then controls alarm equipment alarm To warn and control the loading and unloading robot (3) to stop operation;
The electronic guardrail and/or the electronic lock use light curtain or infrared sensor, pass through light curtain or infrared sensor Detection signal controls the alarm and the loading and unloading robot (3), to prevent operating personnel from entering the loading and unloading machine The operating space of people (3).
9. one kind is used for the co-operating intelligent robot processing method of multigroup process equipment,
It is used for the co-operating intelligent robot processing line of multigroup process equipment using any one of claim 1 to 8,
Characterized in that,
Comprise the following steps:
By matrix form discharge workpiece blank on blank truck (1), and blank truck (1) is set to be in upper material position;
Loading and unloading robot (3) is in material position on first, and workpiece blank on blank truck (1) is obtained by vision system (3011) Placement location, and take a workpiece to be placed on the first lathe (5) from blank truck (1), pass through the first lathe (5) and complete First procedure is processed;
Treat that the first lathe (5) machines, workpiece semi-finished product are taken out and are placed on the second servicing unit by loading and unloading robot (3) (11) above U-lag (1101), then from grabbing workpiece semi-finished product below U-lag (1101) and it is placed into the second servicing unit (11) on, the upset of workpiece semi-finished product is completed;
Loading and unloading robot (3) is placed on the second lathe (6) from grabbing workpiece semi-finished product on the second servicing unit (11), is completed Second operation work is processed;
Loading and unloading robot (3) captures the workpiece semi-finished product after second manufacturing procedure from the second lathe (6) and is placed in first It is auxiliary by the vision system (3011) on the material clamp up and down (301) of loading and unloading robot (3) and first on servicing unit (10) The servomotor coordinating operation helped on device (10), complete the knowledge ajusted or identified to workpiece semi-finished product side of workpiece semi-finished product Not;
Workpiece after ajusting is placed on putting for the 4th servicing unit (13) belonging to the second lathe (6) by loading and unloading robot (3) In set;Loading and unloading robot (3) passes through robot line slideway after capturing the workpiece semi-finished product on the 4th servicing unit (13) (4) material position on second is moved to, and workpiece semi-finished product are placed on the 3rd lathe (7) to the processing for carrying out three process, and it is defeated Go out the 3rd manufacturing procedure workpiece semi-finished product;Loading and unloading robot (3) is placed in from grabbing workpiece semi-finished product on the 3rd lathe (7) The processing of the 4th manufacturing procedure is carried out on 3rd servicing unit (12);
Loading and unloading robot (3) is placed in carrying out on the 4th lathe (8) from grabbing workpiece semi-finished product on the 4th servicing unit (13) 5th manufacturing procedure is processed;
Loading and unloading robot (3) is from the 4th lathe (8) grabbing workpiece semi-finished product and is moved to material position on the 3rd, by workpiece semi-finished product Taking-up, which is placed on the hydraulically operated fixture of the 5th lathe (9), carries out the processing of the 6th procedure, and exports the 6th manufacturing procedure workpiece Semi-finished product;
Loading and unloading robot (3) takes out the 6th manufacturing procedure workpiece semi-finished product from the 5th lathe (9), is placed in the 6th auxiliary Device (15), carry out the sharp blunt operation of change and form finished workpart;
Loading and unloading robot (3) will complete it is sharp become blunt finished workpart and be placed on finished product truck (2), so as to complete workpiece from Process of the blank to finished product.
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