CN109202119B - Automatic intelligent drilling manufacturing equipment with cooperative assistance of double manipulators - Google Patents
Automatic intelligent drilling manufacturing equipment with cooperative assistance of double manipulators Download PDFInfo
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- CN109202119B CN109202119B CN201811297816.XA CN201811297816A CN109202119B CN 109202119 B CN109202119 B CN 109202119B CN 201811297816 A CN201811297816 A CN 201811297816A CN 109202119 B CN109202119 B CN 109202119B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B39/00—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines
- B23B39/16—Drilling machines with a plurality of working-spindles; Drilling automatons
- B23B39/161—Drilling machines with a plurality of working-spindles; Drilling automatons with parallel work spindles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B47/00—Constructional features of components specially designed for boring or drilling machines; Accessories therefor
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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
- 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
- B23Q7/048—Multiple gripper units
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Drilling And Boring (AREA)
Abstract
The invention relates to the field of mechanical manufacturing, in particular to intelligent equipment for realizing unmanned operation in an industrial manufacturing process. The utility model provides an automatic intelligent manufacturing equipment of drilling that two manipulators are supplementary in coordination, the drilling module link firmly side by side in on the workstation, horizontal migration module is located the lower part of drilling module, frock clamp link firmly in horizontal migration module, mechanical positioning module link firmly in the lower part of workstation, the vibration dish is located horizontal migration module's initiating terminal, lower part chamfer mechanism is located horizontal migration module's end, the material loading manipulator is located between vibration dish and the frock clamp, the manipulator of unloading is located frock clamp and collection mechanism. The automatic intelligent drilling manufacturing equipment with the cooperation of the double manipulators realizes the full-automatic feeding, carrying and collecting operation of workpieces, and utilizes three drilling modules to complete high-quality drilling processing, thereby realizing full-automatic, intelligent and unmanned operation.
Description
Technical Field
The invention relates to the field of mechanical manufacturing, in particular to intelligent equipment for realizing unmanned operation in an industrial manufacturing process.
Background
At present, if various working procedures of machining shaft parts such as arc groove machining, linear groove machining, hole machining, chamfering and boss machining and the like are to be finished on the same metal cutting machine tool, numerical control milling machines or machining center equipment can only be adopted, but the numerical control milling machines or the machining center equipment is high in price, the efficiency of machining the arc grooves, the linear grooves, the holes, the chamfering and the bosses of the shaft parts by the numerical control milling machines or the machining center equipment is low, the machining equipment needs to be replaced for multiple times, and the machining equipment is disassembled and assembled for multiple times, so that the machining tool cannot be suitable for batch production, and the production cost is high.
According to the production process of the workpiece, automatic equipment is built in a fit manner, full-automatic production of products is realized, multiple mechanical manufacturing processes are integrated, automatic grabbing and carrying of the workpiece are realized by using a manipulator, and unmanned operation can be realized.
Industrial automation is a trend of widely adopting automatic control and automatic adjustment devices in industrial production to replace manual operation machines and machine systems for processing production. Under industrial production automation conditions, humans only take care of and supervise the machine indirectly for production. Industrial automation can be classified into: (1) semi-automatization. I.e. partly by automatic control and automation and partly by a manually operated machine. (2) full automation. All working procedures in the production process, including feeding, discharging, loading and unloading, do not need a person to directly carry out production operation (the person only indirectly takes care of and supervises the operation of the machine), and one or a batch of products are continuously and repeatedly automatically produced by the machine.
The industrial automation technology is a comprehensive high-technology which uses control theory, instruments, computers and other information technologies to realize detection, control, optimization, scheduling, management and decision-making for the industrial production process, and achieves the purposes of increasing yield, improving quality, reducing consumption, ensuring safety and the like, and comprises three parts of industrial automation software, hardware and a system. Industrial automation technology is one of the most important technologies in the modern manufacturing field of the 20 th century, and mainly solves the problems of production efficiency and consistency. Whether high-speed mass manufacturing enterprises or pursuing flexible, flexible and customized enterprises, rely on the application of automation technology.
Disclosure of Invention
The invention aims to provide automatic intelligent drilling manufacturing equipment with cooperative assistance of double manipulators, which is applied to the field of industrial manufacturing and realizes automatic drilling and chamfering processing of workpieces. The double-manipulator collaborative auxiliary drilling automatic intelligent manufacturing equipment realizes the full-automatic feeding, carrying and collecting operation of workpieces.
Double-manipulator collaborative assisted drilling automation intelligent manufacturing equipment comprises: the device comprises a workbench for providing support, a drilling module for realizing drilling processing, a vibrating disc for realizing automatic and orderly output of workpieces, a fixture for fixing the workpieces, a feeding manipulator for clamping the workpieces onto the fixture from an outlet of the vibrating disc, a discharging manipulator for removing the workpieces from the fixture, a lower chamfering mechanism for chamfering the lower part of the workpieces, a horizontal moving module for horizontally moving the fixture, a mechanical positioning module for fixing the fixture and a collecting mechanism for collecting the workpieces, wherein the vibrating disc is used for fixing the workpieces; the drilling module is fixedly connected to the workbench side by side, the horizontal movement module is located at the lower portion of the drilling module, the tool fixture is fixedly connected to the horizontal movement module, the mechanical positioning module is fixedly connected to the lower portion of the workbench, the vibration disc is located at the starting end of the horizontal movement module, the lower chamfering mechanism is located at the tail end of the horizontal movement module, the feeding manipulator is located between the vibration disc and the tool fixture, and the discharging manipulator is located between the tool fixture and the collecting mechanism.
Preferably, the drilling module comprises: the vertical support is fixedly connected to the bottom plate, the guide motor is fixedly connected to the upper portion of the vertical support, the vertical sliding table is movably connected to the vertical guide rail, and the vertical guide rail is fixedly connected to the vertical support; an output shaft of the guide motor is fixedly connected to the vertical screw rod, and the vertical screw rod drives the vertical sliding table to do lifting motion; the electric spindle is fixedly connected with the spindle mounting seat; the guide plates are arranged on two sides of the bottom plate, the guide surfaces of the guide plates are positioned on two sides of the bottom plate, and the extrusion surfaces of the guide plates are pressed on the upper surface of the bottom plate; the fine adjustment fixing seat is fixedly connected to the workbench, the fine adjustment bolt penetrates through the fine adjustment fixing seat and then is connected to the vertical support in a threaded mode, and the locking nut fixedly connects the fine adjustment bolt to the vertical support.
Preferably, the lower chamfering mechanism comprises: the device comprises a chamfering bracket, a chamfering slide plate, a pushing-down cylinder, a chamfering motor, a chamfering drill and a drill chuck, wherein the chamfering bracket is fixedly connected with the workbench, a cylinder body of the pushing-down cylinder is fixedly connected with the chamfering bracket, the chamfering slide plate is movably connected with the chamfering bracket, and the tail end of a piston rod of the pushing-down cylinder is fixedly connected with the chamfering slide plate; the casing of chamfer motor links firmly in the chamfer slide, the drill chuck link firmly in the output shaft of chamfer motor, the chamfer bores link firmly in the drill chuck.
Preferably, the drill chuck performs chamfering operation from bottom to top.
Preferably, the feeding manipulator comprises: the device comprises a long air cylinder, a long guide rail, an upper air cylinder, a lower air cylinder, a vertical plate, a transverse plate, an upper sliding plate, a lower sliding plate and a mechanical claw, wherein the long guide rail and a cylinder body of the long air cylinder are fixedly connected to a workbench, the vertical plate is movably connected to the long guide rail, and the tail end of a piston rod of the long air cylinder is fixedly connected to the vertical plate; the transverse plate is fixedly connected to the upper part of the vertical plate, the cylinder body of the upper and lower cylinders is fixedly connected to the transverse plate, the upper and lower sliding plates are movably connected to the vertical plate, and the tail ends of piston rods of the upper and lower cylinders are fixedly connected to the upper and lower sliding plates; the mechanical gripper is fixedly connected to the upper slide plate and the lower slide plate;
the mechanical gripper includes: the finger comprises a finger shell, a finger, a middle pin, an opening and closing cylinder, an opening and closing sliding plate, a finger pin and a chute, wherein the finger shell is fixedly connected with the upper sliding plate and the lower sliding plate, the chute is arranged in the finger shell, the finger is movably connected with the finger shell through the middle pin, and the finger is symmetrically arranged in the finger shell; the cylinder body of the opening and closing cylinder is fixedly connected with the finger shell, the opening and closing sliding plate is movably connected with the chute, and the tail end of the piston rod of the opening and closing cylinder is fixedly connected with the opening and closing sliding plate; the sliding plate is characterized in that the chute is arranged on the sliding plate, the chute is symmetrically arranged on the sliding plate, the finger pin is fixedly connected to the tail end of the finger, and the finger pin is matched with the chute.
Preferably, when a piston rod of the opening and closing cylinder extends out to push the opening and closing sliding plate to move, the chute pushes the finger pin to move, so that the clamping ends of the fingers are mutually folded, and the workpiece is clamped; when the piston rod of the opening and closing cylinder is retracted, the opening and closing sliding plate is pushed to move, the chute pushes the finger pin to move, so that the clamping ends of the fingers are far away from each other, and the workpiece is loosened.
Preferably, the unloading manipulator and the loading manipulator have the same mechanical structure.
Preferably, the collecting mechanism comprises: the device comprises a slope, a material box, a pneumatic sliding table and an extending end, wherein the slope is fixedly connected to the pneumatic sliding table, and the tail end of the slope is positioned at the inlet of the material box; when the collecting mechanism needs to receive materials, the pneumatic sliding table moves towards the extending end.
Preferably, the horizontal movement module comprises: the horizontal sliding table comprises a horizontal sliding table motor, a horizontal guide rail and a horizontal screw rod, wherein the horizontal guide rail is fixedly connected to the workbench, a shell of the horizontal sliding table motor is fixedly connected to the workbench, an output shaft of the horizontal sliding table motor is fixedly connected to the horizontal screw rod, and the horizontal screw rod and the horizontal guide rail are arranged in parallel.
Preferably, the mechanical positioning module comprises: the positioning device comprises a flange guide plate, a positioning cylinder and a positioning pin, wherein the flange guide plate is fixedly connected to the lower part of the workbench, a cylinder body of the positioning cylinder is fixedly connected to the lower part of the flange guide plate, the positioning pin is movably connected to the flange guide plate, and the tail end of the positioning pin is fixedly connected to the tail end of a piston rod of the positioning cylinder; the locating pin is provided with locating cone and lubrication plane, the locating cone with frock clamp phase-match, lubrication plane is used for storing lubricating oil.
Drawings
FIG. 1 is a schematic structural view of an assembly apparatus of the dual robot collaborative assisted drilling automated intelligent manufacturing equipment of the present invention;
FIG. 2 is a schematic structural view and an enlarged partial structural view of the dual-manipulator collaborative assisted drilling automated intelligent manufacturing equipment in front view;
FIG. 3 is a schematic view of a part of the structure and an enlarged view of a part of the structure of the drilling automation intelligent manufacturing equipment cooperatively assisted by the double manipulators;
fig. 4 and 5 are schematic structural diagrams of a drilling module of the dual-manipulator collaborative assisted drilling automated intelligent manufacturing equipment;
FIG. 6 is a schematic diagram of the lower chamfering mechanism of the dual robot co-assisted drilling automated intelligent manufacturing equipment of the present invention;
fig. 7 and 8 are schematic structural diagrams of a feeding manipulator of the drilling automation intelligent manufacturing equipment cooperatively assisted by double manipulators;
FIG. 9 is a schematic structural view of a collection mechanism of the dual robot co-assisted drilling automated intelligent manufacturing equipment of the present invention;
FIG. 10 is a schematic diagram of a mechanical positioning module of the dual robot co-assisted drilling automated intelligent manufacturing equipment of the present invention;
fig. 11 is a schematic view of the structure of the work piece.
1 workbench, 2 drilling module, 3 vibration disc, 4 feeding manipulator, 5 discharging manipulator, 6 lower chamfering mechanism, 7 collecting mechanism, 8 fixture, 9 horizontal moving module, 10 mechanical positioning module, 11 flange guiding disc, 12 positioning cylinder, 13 positioning pin, 14 positioning cone, 15 lubrication plane, 20 vertical bracket, 21 bottom plate, 22 guiding motor, 23 vertical sliding table, 24 vertical guide rail, 25 spindle mounting seat, 26 electric spindle, 27 vertical screw rod, 28 guiding plate, 29 guiding surface, 30 extrusion surface, 31 fine tuning fixing seat, 32 fine tuning bolt, 33 locking nut, 40 long cylinder, 41 long guide rail, 42 upper and lower cylinder, 43 vertical plate, 44 transverse plate, 45 upper and lower sliding plate, 46 mechanical claw, 47 finger shell, 48 fingers, 49 middle pin, 50 cylinder, 51 open and close sliding plate, 52 finger pin, 53 chute, 54 sliding groove, 60 chamfering bracket, 61 sliding plate, 62 pushing down cylinder, 63 chamfering motor, 64 chamfer drill, 65 drill chuck, 70 slope, 71 magazine, 72 pneumatic sliding table, 73 extending end, 90 horizontal sliding table, 91 horizontal guide rail, 92 horizontal sliding table.
Detailed Description
The present invention will now be described in further detail with reference to the drawings, wherein like reference numerals represent like elements, but not limiting the scope of the invention. As described above, the invention provides the automatic intelligent drilling manufacturing equipment with the cooperative assistance of the double manipulators, which is applied to the field of industrial manufacturing and realizes automatic drilling and chamfering processing of workpieces. According to the intelligent manufacturing equipment for the automatic drilling with the cooperative assistance of the double manipulators, automatic and orderly output of workpieces is achieved through the vibrating disc, the workpieces are automatically placed on the tool fixture through the feeding manipulator, the tool fixture is moved to the position below each drilling module through the horizontal moving module, the workpieces are taken down from the tool fixture through the discharging manipulator and placed on the lower chamfering mechanism, chamfering processing of the lower parts of the workpieces is achieved, and the workpieces are collected through the collecting mechanism most red. The automatic intelligent drilling manufacturing equipment with the cooperation of the double manipulators realizes the full-automatic feeding, carrying and collecting operation of workpieces, and utilizes three drilling modules to complete high-quality drilling processing, thereby realizing full-automatic, intelligent and unmanned operation.
Fig. 1 is a schematic structural view of an assembly apparatus of a dual-manipulator cooperative-assisted drilling automation intelligent manufacturing apparatus of the present invention, fig. 2 is a schematic structural view and a partial structural enlarged view of the dual-manipulator cooperative-assisted drilling automation intelligent manufacturing apparatus of the present invention in a front view, fig. 3 is a schematic structural view and a partial structural enlarged view of a part of the dual-manipulator cooperative-assisted drilling automation intelligent manufacturing apparatus of the present invention, fig. 4 and 5 are schematic structural views of a drilling module of the dual-manipulator cooperative-assisted drilling automation intelligent manufacturing apparatus of the present invention, fig. 6 is a schematic structural view of a lower chamfering mechanism of the dual-manipulator cooperative-assisted drilling automation intelligent manufacturing apparatus of the present invention, fig. 7 and 8 are schematic structural views of a feeding manipulator of the dual-manipulator cooperative-assisted drilling automation intelligent manufacturing apparatus of the present invention, fig. 9 is a schematic structural view of a collecting mechanism of the dual-manipulator cooperative-assisted drilling automation intelligent manufacturing apparatus of the present invention, fig. 10 is a schematic structural view of a mechanical positioning module of the dual-manipulator cooperative-assisted drilling automation intelligent manufacturing apparatus of the present invention, and fig. 11 is a schematic structural view of a workpiece.
Double-manipulator collaborative assisted drilling automation intelligent manufacturing equipment comprises: the device comprises a workbench 1 for providing support, a drilling module 2 for realizing drilling processing, a vibrating disc 3 for realizing automatic and orderly output of workpieces 93, a fixture 8 for fixing the workpieces, a feeding manipulator 4 for clamping the workpieces 93 onto the fixture 8 from the outlet of the vibrating disc 3, a discharging manipulator 5 for removing the workpieces from the fixture 8, a lower chamfering mechanism 6 for chamfering the lower parts of the workpieces, a horizontal moving module 9 for horizontally moving the fixture 8, a mechanical positioning module 10 for fixing the fixture 8 and a collecting mechanism 7 for collecting the workpieces 93; drilling module 2 link firmly side by side in on the workstation 1, horizontal migration module 9 is located drilling module 2's lower part, frock clamp 8 link firmly in horizontal migration module 9, mechanical positioning module 10 link firmly in workstation 1's lower part, vibration dish 3 is located horizontal migration module 9's starting end, lower part chamfer mechanism 6 is located horizontal migration module 9's end, material loading manipulator 4 is located between vibration dish 3 and the frock clamp 8, unloading manipulator 5 is located frock clamp 8 and collection mechanism 7.
More specifically, the vertical support 20 is fixedly connected to the bottom plate 21, the guide motor 22 is fixedly connected to the upper portion of the vertical support 20, the vertical sliding table 23 is movably connected to the vertical guide rail 24, and the vertical guide rail 24 is fixedly connected to the vertical support 20; an output shaft of the guide motor 22 is fixedly connected to the vertical screw rod 27, and the vertical screw rod 27 drives the vertical sliding table 23 to do lifting motion; the spindle mounting seat 25 is fixedly connected to the vertical sliding table 23, and the motorized spindle 26 is fixedly connected to the spindle mounting seat 25; the guide plates 28 are arranged on two sides of the bottom plate 21, guide surfaces 29 of the guide plates 28 are positioned on two sides of the bottom plate 21, and extrusion surfaces 30 of the guide plates 28 are pressed on the upper surface of the bottom plate 21; the fine adjustment fixing seat 31 is fixedly connected to the workbench 1, the fine adjustment bolt 32 passes through the fine adjustment fixing seat 31 and is then in threaded connection with the vertical support 20, and the locking nut 33 fixedly connects the fine adjustment bolt 32 to the vertical support 20.
More specifically, the chamfer bracket 60 is fixedly connected to the workbench 1, the cylinder body of the pushing-down cylinder 62 is fixedly connected to the chamfer bracket 60, the chamfer slide plate 61 is movably connected to the chamfer bracket 60, and the tail end of the piston rod of the pushing-down cylinder 62 is fixedly connected to the chamfer slide plate 61; the housing of the chamfering motor 63 is fixedly connected to the chamfering slide plate 61, the drill chuck 65 is fixedly connected to the output shaft of the chamfering motor 63, and the chamfering drill 64 is fixedly connected to the drill chuck 65.
More specifically, the drill chuck 65 performs chamfering operation from bottom to top.
More specifically, the long guide rail 41 and the cylinder block of the long cylinder 40 are fixedly connected to the workbench 1, the vertical plate 43 is movably connected to the long guide rail 41, and the tail end of the piston rod of the long cylinder 40 is fixedly connected to the vertical plate 43; the transverse plate 44 is fixedly connected to the upper part of the vertical plate 43, the cylinder body of the upper and lower air cylinders 42 is fixedly connected to the transverse plate 44, the upper and lower sliding plates 45 are movably connected to the vertical plate 43, and the tail ends of the piston rods of the upper and lower air cylinders 42 are fixedly connected to the upper and lower sliding plates 45; the mechanical gripper 46 is fixedly connected to the up-down sliding plate 45;
the robot claw 46 includes: the finger shell 47 is fixedly connected to the upper and lower sliding plates 45, a sliding groove 54 is formed in the finger shell 47, the finger 48 is movably connected to the finger shell 47 through the middle pin 49, and the finger 48 is symmetrically arranged in the finger shell 47; the cylinder body of the opening and closing cylinder 50 is fixedly connected with the finger housing 47, the opening and closing sliding plate 51 is movably connected with the chute 53, and the tail end of a piston rod of the opening and closing cylinder 50 is fixedly connected with the opening and closing sliding plate 51; the chute 53 is arranged on the opening and closing slide plate 51, the chute 53 is symmetrically arranged on the opening and closing slide plate 51, the finger pin 52 is fixedly connected to the tail end of the finger 48, and the finger pin 52 is matched with the chute 53.
More specifically, when the piston rod of the opening and closing cylinder 50 extends to push the opening and closing slide plate 51 to move, the chute 53 pushes the finger pin 52 to move, so that the clamping ends of the fingers 48 are mutually closed, and the workpiece 93 is clamped; when the piston rod of the opening and closing cylinder 50 is retracted, the opening and closing sliding plate 51 is pushed to move, and the chute 53 pushes the finger pin 52 to move, so that the clamping ends of the fingers 48 are far away from each other, and the workpiece 93 is loosened.
More specifically, the discharging robot 5 and the loading robot 4 have the same mechanical structure.
More specifically, the slope 70 is fixedly connected to the pneumatic sliding table 72, and the tail end of the slope 70 is positioned at the inlet of the material box 71; when the collecting mechanism 7 needs to receive materials, the pneumatic sliding table 72 moves towards the protruding end 73.
More specifically, the horizontal guide rail 91 is fixedly connected to the workbench 1, the housing of the horizontal sliding table motor 90 is fixedly connected to the workbench 1, the output shaft of the horizontal sliding table motor 90 is fixedly connected to the horizontal screw rod 92, and the horizontal screw rod 92 and the horizontal guide rail 91 are arranged in parallel.
More specifically, the flange guiding plate 11 is fixedly connected to the lower part of the workbench 1, the cylinder body of the positioning cylinder 12 is fixedly connected to the lower part of the flange guiding plate 11, the positioning pin 13 is movably connected to the flange guiding plate 11, and the tail end of the positioning pin 13 is fixedly connected to the tail end of the piston rod of the positioning cylinder 12: the locating pin 13 is provided with a locating cone 14 and a lubrication plane 15, the locating cone 14 is matched with the fixture 8, and the lubrication plane 15 is used for storing lubricating oil.
Next, the working process and working principle of the dual robot collaborative assisted drilling automated intelligent manufacturing equipment of the present invention is further described with reference to fig. 1-10:
the dual-manipulator collaborative assisted drilling automatic intelligent manufacturing equipment realizes full-automatic machining of the workpiece 93, including finishing drilling of the center hole 95 and machining of the chamfer 94. Drilling module 2 link firmly side by side in on the workstation 1, horizontal migration module 9 is located drilling module 2's lower part, frock clamp 8 link firmly in horizontal migration module 9, mechanical positioning module 10 link firmly in workstation 1's lower part, vibration dish 3 is located horizontal migration module 9's starting end, lower part chamfer mechanism 6 is located horizontal migration module 9's end, material loading manipulator 4 is located between vibration dish 3 and the frock clamp 8, unloading manipulator 5 is located frock clamp 8 and collection mechanism 7. The workpieces 93 are poured into the vibration plate 3, and the workpieces 93 are orderly queued for output under the electromagnetic vibration action of the vibration plate 3. The feeding manipulator 4 clamps a workpiece 93 from the outlet of the vibration disc 3, and places the workpiece 93 on the fixture 8, and the fixture 8 fixes the workpiece 93. The work piece 93 is moved to the lower part of the drilling module 2 by the tool fixture 8, and the locating pin 13 of the mechanical locating module 10 is inserted into the tool fixture 8, so that the fixture 8 is fixed, and the tool fixture 8 is prevented from being broken due to vibration in the drilling process. After three drilling processes on the center hole 95 are completed, the unloading manipulator 5 clamps the workpiece 93 from the tool fixture 8, the workpiece 93 is placed on the upper portion of the lower chamfering mechanism 6, and the lower chamfering mechanism 6 completes the process on the chamfer 94 on the lower portion of the workpiece 93. Finally, the discharging robot 5 places the work 93 in the collecting mechanism 7.
The drilling module 2 is used for realizing drilling, the vertical support 20 is fixedly connected to the bottom plate 21, the guide motor 22 is fixedly connected to the upper part of the vertical support 20, the vertical sliding table 23 is movably connected to the vertical guide rail 24, and the vertical guide rail 24 is fixedly connected to the vertical support 20; an output shaft of the guide motor 22 is fixedly connected to the vertical screw rod 27, and the vertical screw rod 27 drives the vertical sliding table 23 to do lifting motion; the spindle mounting seat 25 is fixedly connected to the vertical sliding table 23, and the motorized spindle 26 is fixedly connected to the spindle mounting seat 25.
In order to realize the precise positioning of the drilling module 2, the precise position of the drilling module 2 in the assembly and debugging stage is improved. The guide plates 28 are arranged on two sides of the bottom plate 21, the guide surfaces 29 of the guide plates 28 are positioned on two sides of the bottom plate 21, the guide accuracy of the bottom plate 21 is improved by using the guide plates 28, and the extrusion surfaces 30 of the guide plates 28 are pressed on the upper surface of the bottom plate 21 to ensure that the bottom plate 21 is attached to the surface of the workbench 1. A small distance movement of the vertical support 20 can be achieved by means of the fine adjustment bolts 32. The fine adjustment fixing seat 31 is fixedly connected to the workbench 1, and the fine adjustment bolt 32 and the guide plate 28 are in a parallel state. The fine tuning bolt 32 passes through the fine tuning fixing seat 31 and is then connected to the vertical support 20 in a threaded manner, and the locking nut 33 fixedly connects the fine tuning bolt 32 to the vertical support 20.
The lower chamfering mechanism 6 is used for chamfering the lower part of a workpiece, the unloading manipulator 5 takes the workpiece 93 off the tool fixture 8, then places the workpiece 93 on the upper part of the lower chamfering mechanism 6, and the piston rod of the pushing-down cylinder 62 extends out, so that the chamfering drill 64 faces the workpiece 93 to finish chamfering 94. The lower chamfering mechanism 6 finishes the chamfering 94 by utilizing the angle from bottom to top, has the advantage of simple action, and avoids the overturning action on the workpiece 93. After chamfering, the piston rod of the pushing-down cylinder 62 is retracted, the pneumatic slide table 72 of the collecting mechanism 7 is moved toward the projecting end 73, the entrance of the slope 70 is located at the lower portion of the workpiece 93, and at the same time, is located at the upper portion of the chamfer drill 64, the discharging robot 5 loosens the workpiece 93, and the workpiece 93 slides into the magazine 71 through the slope 70. And (5) finishing the processing. The action is succinct, production efficiency is high.
Because the drilling module 2 can produce a lot of iron fillings in the in-process of work, consequently, material loading manipulator 4, unloading manipulator 5 need avoid the influence of iron fillings to the production process as far as possible. Therefore, the execution parts of the loading manipulator 4 and the unloading manipulator 5 need to be far away from the drilling module 2 as much as possible. The feeding manipulator 4 and the discharging manipulator 5 disclosed by the drilling automation intelligent manufacturing equipment with the cooperative assistance of the double manipulators adopt the manipulator claws 46 with long clamping distance to carry out all the actuating mechanisms: the long cylinder 40, the long guide rail 41, the up-down cylinder 42, the vertical plate 43, the transverse plate 44 and the up-down sliding plate 45 avoid contacting scrap iron, so that the feeding manipulator 4 and the discharging manipulator 5 have long service lives. The mechanical gripper 46, the cylinder body of the opening and closing cylinder 50 is fixedly connected to the finger housing 47, the opening and closing sliding plate 51 is movably connected to the chute 53, and the tail end of the piston rod of the opening and closing cylinder 50 is fixedly connected to the opening and closing sliding plate 51; the chute 53 is arranged on the opening and closing slide plate 51, the chute 53 is symmetrically arranged on the opening and closing slide plate 51, the finger pin 52 is fixedly connected to the tail end of the finger 48, and the finger pin 52 is matched with the chute 53. When the piston rod of the opening and closing cylinder 50 extends out to push the opening and closing sliding plate 51 to move, the chute 53 pushes the finger pin 52 to move, so that the clamping ends of the fingers 48 are mutually folded, and the workpiece 93 is clamped; when the piston rod of the opening and closing cylinder 50 is retracted, the opening and closing sliding plate 51 is pushed to move, and the chute 53 pushes the finger pin 52 to move, so that the clamping ends of the fingers 48 are far away from each other, and the workpiece 93 is loosened.
Because there is the effect of cutting force in the drilling course of working, drilling module 2 is to frock clamp 8 brings the vibration, leads to the reduction of drilling quality and the breaking of drill bit easily, mechanical positioning module 10 is used for locking frock clamp 8 to can solve all bad results. The locating pin 13 swing joint in flange ring guide 11, the terminal end of locating pin 13 link firmly in the terminal of the piston rod of location cylinder 12, be provided with location circular cone 14 and lubrication plane 15 on the locating pin 13, location circular cone 14 stretches into in the frock clamp 8, realize to the locking of frock clamp 8 is fixed. At the same time, the lubricating plane 15 for storing lubricating oil is arranged on the positioning pin 13, so that the positioning pin 13 can be effectively kept to have good activity flexibility and long service life.
Finally, it should be noted that the above embodiments are merely representative examples of the dual robot co-assisted drilling automated intelligent manufacturing equipment of the present invention. Obviously, the dual-manipulator cooperatively assisted drilling automated intelligent manufacturing equipment of the invention is not limited to the embodiment described above, but can be modified in many ways. Any simple modification, equivalent variation and modification of the above embodiments by the technical substance of the dual-manipulator cooperatively aided drilling automation intelligent manufacturing equipment according to the present invention should be considered to belong to the protection scope of the dual-manipulator cooperatively aided drilling automation intelligent manufacturing equipment according to the present invention.
Claims (7)
1. Double-manipulator collaborative assisted drilling automation intelligent manufacturing equipment comprises: the device comprises a workbench for providing support, a drilling module for realizing drilling processing, a vibrating disc for realizing automatic and orderly output of workpieces, a fixture for fixing the workpieces, a feeding manipulator for clamping the workpieces onto the fixture from an outlet of the vibrating disc, a discharging manipulator for removing the workpieces from the fixture, a lower chamfering mechanism for chamfering the lower part of the workpieces, a horizontal moving module for horizontally moving the fixture, a mechanical positioning module for fixing the fixture and a collecting mechanism for collecting the workpieces, wherein the vibrating disc is used for fixing the workpieces; the drilling module is fixedly connected to the workbench side by side, the horizontal movement module is positioned at the lower part of the drilling module, the tool clamp is fixedly connected to the horizontal movement module, the mechanical positioning module is fixedly connected to the lower part of the workbench, the vibration disc is positioned at the starting end of the horizontal movement module, the lower chamfering mechanism is positioned at the tail end of the horizontal movement module, the feeding manipulator is positioned between the vibration disc and the tool clamp, and the discharging manipulator is positioned between the tool clamp and the collecting mechanism;
the material loading manipulator includes: the device comprises a long air cylinder, a long guide rail, an upper air cylinder, a lower air cylinder, a vertical plate, a transverse plate, an upper sliding plate, a lower sliding plate and a mechanical claw, wherein the long guide rail and a cylinder body of the long air cylinder are fixedly connected to a workbench, the vertical plate is movably connected to the long guide rail, and the tail end of a piston rod of the long air cylinder is fixedly connected to the vertical plate; the transverse plate is fixedly connected to the upper part of the vertical plate, the cylinder body of the upper and lower cylinders is fixedly connected to the transverse plate, the upper and lower sliding plates are movably connected to the vertical plate, and the tail ends of piston rods of the upper and lower cylinders are fixedly connected to the upper and lower sliding plates; the mechanical gripper is fixedly connected to the upper slide plate and the lower slide plate;
the mechanical gripper includes: the finger comprises a finger shell, a finger, a middle pin, an opening and closing cylinder, an opening and closing sliding plate, a finger pin and a chute, wherein the finger shell is fixedly connected with the upper sliding plate and the lower sliding plate, the chute is arranged in the finger shell, the finger is movably connected with the finger shell through the middle pin, and the finger is symmetrically arranged in the finger shell; the cylinder body of the opening and closing cylinder is fixedly connected with the finger shell, the opening and closing sliding plate is movably connected with the chute, and the tail end of the piston rod of the opening and closing cylinder is fixedly connected with the opening and closing sliding plate; the sliding plate is provided with the chute which is symmetrically arranged on the sliding plate, the tail end of the finger is fixedly connected with the finger pin, and the finger pin is matched with the chute;
when the piston rod of the opening and closing cylinder stretches out to push the opening and closing sliding plate to move, the chute pushes the finger pin to move, so that the clamping ends of the fingers are mutually folded, and the workpiece is clamped; when the piston rod of the opening and closing cylinder is retracted, the opening and closing sliding plate is pushed to move, and the chute pushes the finger pin to move, so that the clamping ends of the fingers are far away from each other, and the workpiece is loosened;
the unloading manipulator and the loading manipulator have the same mechanical structure.
2. The dual-manipulator collaborative assisted drilling automated intelligent manufacturing equipment of claim 1, wherein the drilling module comprises: the vertical support is fixedly connected to the bottom plate, the guide motor is fixedly connected to the upper portion of the vertical support, the vertical sliding table is movably connected to the vertical guide rail, and the vertical guide rail is fixedly connected to the vertical support; an output shaft of the guide motor is fixedly connected to the vertical screw rod, and the vertical screw rod drives the vertical sliding table to do lifting motion; the electric spindle is fixedly connected with the spindle mounting seat; the guide plates are arranged on two sides of the bottom plate, the guide surfaces of the guide plates are positioned on two sides of the bottom plate, and the extrusion surfaces of the guide plates are pressed on the upper surface of the bottom plate; the fine adjustment fixing seat is fixedly connected to the workbench, the fine adjustment bolt penetrates through the fine adjustment fixing seat and then is connected to the vertical support in a threaded mode, and the locking nut fixedly connects the fine adjustment bolt to the vertical support.
3. The dual-robot co-assisted drilling automated intelligent manufacturing equipment of claim 1, wherein the lower chamfering mechanism comprises: the device comprises a chamfering bracket, a chamfering slide plate, a pushing-down cylinder, a chamfering motor, a chamfering drill and a drill chuck, wherein the chamfering bracket is fixedly connected with the workbench, a cylinder body of the pushing-down cylinder is fixedly connected with the chamfering bracket, the chamfering slide plate is movably connected with the chamfering bracket, and the tail end of a piston rod of the pushing-down cylinder is fixedly connected with the chamfering slide plate; the casing of chamfer motor links firmly in the chamfer slide, the drill chuck link firmly in the output shaft of chamfer motor, the chamfer bores link firmly in the drill chuck.
4. The dual-manipulator collaborative assisted drilling automated intelligent manufacturing equipment of claim 1, wherein a drill chuck performs a chamfering operation from bottom to top.
5. The dual-robot co-assisted drilling automated intelligent manufacturing equipment of claim 1, wherein the collection mechanism comprises: the device comprises a slope, a material box, a pneumatic sliding table and an extending end, wherein the slope is fixedly connected to the pneumatic sliding table, and the tail end of the slope is positioned at the inlet of the material box; when the collecting mechanism needs to receive materials, the pneumatic sliding table moves towards the extending end.
6. The dual-robot co-assisted drilling automated intelligent manufacturing equipment of claim 1, wherein the horizontal movement module comprises: the horizontal sliding table comprises a horizontal sliding table motor, a horizontal guide rail and a horizontal screw rod, wherein the horizontal guide rail is fixedly connected to the workbench, a shell of the horizontal sliding table motor is fixedly connected to the workbench, an output shaft of the horizontal sliding table motor is fixedly connected to the horizontal screw rod, and the horizontal screw rod and the horizontal guide rail are arranged in parallel.
7. The dual-robot co-assisted drilling automated intelligent manufacturing equipment of claim 1, wherein the mechanical positioning module comprises: the positioning device comprises a flange guide plate, a positioning cylinder and a positioning pin, wherein the flange guide plate is fixedly connected to the lower part of the workbench, a cylinder body of the positioning cylinder is fixedly connected to the lower part of the flange guide plate, the positioning pin is movably connected to the flange guide plate, and the tail end of the positioning pin is fixedly connected to the tail end of a piston rod of the positioning cylinder; the locating pin is provided with locating cone and lubrication plane, the locating cone with frock clamp phase-match, lubrication plane is used for storing lubricating oil.
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| CN201811297816.XA CN109202119B (en) | 2018-10-25 | 2018-10-25 | Automatic intelligent drilling manufacturing equipment with cooperative assistance of double manipulators |
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| CN109894647B (en) * | 2019-04-24 | 2021-02-26 | 惠州市恒泰自动化科技有限公司 | Numerical control drilling machine capable of automatically conveying workpieces, conveying mechanism of numerical control drilling machine and drilling method of numerical control drilling machine |
| CN111843452B (en) * | 2020-08-20 | 2024-05-24 | 上海前新自动化科技有限公司 | Automatic spring assembly device |
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