CN109249282A - A kind of multimachine bed automatic loading and unloading system and method based on robot - Google Patents
A kind of multimachine bed automatic loading and unloading system and method based on robot Download PDFInfo
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- CN109249282A CN109249282A CN201811327573.XA CN201811327573A CN109249282A CN 109249282 A CN109249282 A CN 109249282A CN 201811327573 A CN201811327573 A CN 201811327573A CN 109249282 A CN109249282 A CN 109249282A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
- B23Q41/02—Features relating to transfer of work between machines
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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
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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
- B23Q7/046—Handling workpieces or tools
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Abstract
The invention is related to a kind of multimachine bed automatic loading and unloading system and method based on robot；The system includes；Pan feeding supply unit；Lathe unit；Robot and walking unit；Workpiece cache unit and discharging unit；The pan feeding supply unit, lathe unit, robot and walking unit, workpiece cache unit and discharging unit pass through control system control；Enter transmission of the material unit for processed product；Lathe unit is used for the processing of various processes；Robot is mainly used for each lathe and caches the transmitting of workpiece on platform；Workpiece cache unit is mainly used for the caching storage of workpiece；Robot is by work-piece pile in discharging unit；Fast automatic linking between each process is realized by control system and six-joint robot；High degree of automation saves human cost, and production efficiency improves, and also improves the safety of work.
Description
Technical field
The present invention relates to lathe loading and unloading fields, in particular relate to a kind of multimachine bed automatic loading/unloading system based on robot
System and method.
Background technique
Tradition machinery processing factory generallys use the artificial mode to lathe loading and unloading, and when workpiece is needed by multiple machines
When bed, multiple working procedure processing, with greater need for manually workpiece is repeatedly carried between each lathe, labor intensity is larger, not only will affect and adds
Work precision quality, also results in that production efficiency is low, and the production cost increases；Therefore robot progress workpiece transhipment just increasingly causes
The concern of people；In Patent No. 201510768441.0；Patent name is " the lathe loading and unloading system of processing based on robot
And processing method " patent in refer to using robot carry out loading and unloading technical solution, but in the patent robot fortune
Row track is using circular trace, and whole system needs occupied space big, and is only applicable to two lathe sequence processing
In scene；It is not provided with caching platform in system and places to be processed and workpiece that is completing the process, robot is by the workpiece of the first lathe
It clamps to the second lathe when being processed, the first lathe is in blank state；It moves to and takes again after the completion of needing robot to place
Material position clamps workpiece, and robot operating path is long；Carry out no control system again to control lathe and robot, intelligence compared with
It is low.
Summary of the invention
To solve the above problems, the present invention provides a kind of intelligence is high, the multimachine high in machining efficiency based on robot
Bed automatic loading and unloading system and method；Include:
Pan feeding supply unit is made of truss manipulator, charging hoister, the double-deck pipeline and passback elevator, for transmitting
Product to be processed, and de-stacking full tray, stacking empty pallet；
Lathe unit includes the first lathe, the second lathe, third lathe A and third lathe B, is respectively completed work pieces process
First manufacturing procedure, the second manufacturing procedure and third manufacturing procedure；
Robot and walking unit, are made of robot and robot running gear, and robot can move straight line in walking mechanism
It is dynamic；
Workpiece cache unit caches platform and No. two caching platforms by No.1 and forms, for caching the workpiece after each machine tooling；
Discharging unit, charging basket forms by two blanking bench and out, robot by work-piece pile in charging basket out, then will by fork truck
Charging basket is transported out.
The pan feeding supply unit, lathe unit, robot and walking unit, workpiece cache unit and discharging unit are logical
Cross control system control.
The truss manipulator is made of truss, hoisting mechanism and manipulator, and truss plays a supportive role, and hoisting mechanism passes through
Motor, gear reducer, gear rackwork drive manipulator and reprint the pallet rise and fall of workpiece；
Preferably, it is also equipped with gravity of the balance system to balancing machine hand on the hoisting mechanism, can not only mitigate motor
Load, it is also possible that the lifting of manipulator and pallet more steady and smooth；
Preferably；The manipulator is controlled by cylinder its opening and closing, can control machine by adjusting the position of dead gear screw
The position that tool hand is opened, is closed.
Control system controls the specific location of manipulator lifting by sensor.
Further, on the charging hoister equipped with sensor and cylinder to detect and position feeding pallet, it is double-deck
Two layers of pipeline is provided with sensor to control the start and stop of pallet and driving motor, and each layer can at most cache two pallets；
It returns on elevator equipped with sensor, cylinder and dead gear to detect and position feeding pallet.
Further, rack gear and guide rail are housed on the robot running gear, play a part of to transmit power and guiding, machine
Device artificial six-joint robot is provided to robot linear movement equipped with motor, speed reducer and gear on the robot base dynamic
Power；Walking mechanism both ends are respectively arranged with travel switch and the dead block of polyurethane, once robot movement is touched more than predetermined stroke
Travel switch, control system can cut off the power at once, while motor internal contracting brake forces robot to stop movement, if travel switch loses
Effect, the dead block of polyurethane can then play the role of buffering and prevent robot from going out walking mechanism；Walking mechanism is equipped with drag chain, makes
Obtaining power cable and signal cable can be moved together with random device people, and play the role of protecting cable.
Further, 4 cache bits are equipped on the No.1 caching platform and No. two caching platforms, have one on each cache bit
For a positioning column to limit the position of Workpiece storage, whether each cache bit is also equipped with a sensor has work on cache bit to detect
Part.
Further, many steel multi-directional balls are installed on the blanking bench, out charging basket can in multi-directional ball any direction
It slides, cylinder and sensor is also equipped on blanking bench, cooperation multi-directional ball can will go out charging basket and be accurately located on blanking bench, and will
Signal passes to control system to charging basket in place out；The charging basket out is welded by steel pipe and steel plate.
The multimachine bed automatic loading/unloading method based on robot that the present invention also provides a kind of；Using above-mentioned robot multimachine bed
Automatic loading and unloading system；This method comprises:
The double-deck loaded pallets, which are placed on charging hoister and issue feeding, finishes signal to control system；Control system passes through the double-deck fortune
Defeated line and charging hoister, turn round elevator and truss manipulator realizes the feeding work of double decked flat pallet；
Workpiece to be processed in pallet will be successively placed on caching platform by robot；First lathe issue can feeding signal, control
System control machine device people is used for the first machine tooling from No.1 caching platform clamping workpiece；Control system controls machine after process finishing
The workpiece completed the process is placed on caching platform by people；
Second lathe issue can feeding signal, control system, which controls robot, will cache the workpiece to be processed clamping of platform to the second machine
Bed is processed；Control system controls robot and workpiece is placed on caching platform after process finishing；
The sending of third lathe can feeding signal；Control system controls on robot clamping caching platform workpiece to be processed to third lathe
Processing；Workpiece is placed on caching platform after process finishing；
Robot will cache work-piece pile the going out in charging basket in blanking bench completed the process on platform；After charging basket is filled out, control system
System control fork truck will go out charging basket transport, replace it is vacant go out charging basket, blanking bench to it is vacant go out charging basket position, continue to charge
Work.
The utility model has the advantages that
The present invention cooperates the double-deck pipeline using double decked flat pallet, and is provided with Double buffer platform and multiple cache bits；For three lathes
Work pieces process process provides the loading and unloading system of intelligent integrated automation；It can be realized the abundant rank of workpiece loading and unloading
It connects；The whole grabbing workpiece for controlling loading and unloading and robot by control system operates, and accuracy is high；Avoid manual record
The problem of production information malfunctions；By the way of straight line walking, lathe and caching platform are built up in robot ambulation for robot simultaneously
Mechanism two sides, more convenient robot work, improve the utilization rate in space；Robot ambulation Distance Shortened also improves certainly
The efficiency of dynamic loading and unloading.
Detailed description of the invention:
Fig. 1 is whole three-dimensional figure of the invention；
Fig. 2 is pan feeding supply unit three-dimensional figure of the invention；
Fig. 3 is robot of the invention and walking mechanism three-dimensional figure；
Fig. 4 is that the No.1 of machine of the present invention caches platform three-dimensional figure；
Fig. 5 is No. two caching platform three-dimensional figure of the invention；
Fig. 6 is discharging unit three-dimensional figure of the invention.
In figure: 11 truss manipulators, 12 charging hoisters, the 13 double-deck pipelines, 14 passback elevators, 21 first lathes,
22 second lathes, 23 third lathe A, 24 third lathe B, 31 robots, 32 robot running gears, 33 inner support clamping jaws, outside 34
Clamping jaw is pressed from both sides, 41 No.1s cache platform, and 42 No. two caching platforms, 51 No.1 blanking bench, 52 No. two blanking bench, 53 go out charging basket.
Specific embodiment
With reference to the accompanying drawings of the specification, the present invention is described further.
A kind of multimachine bed automatic loading and unloading system and method based on robot；Including pan feeding supply unit 1, lathe unit
2, robot and walking unit 3, workpiece cache unit 4 and discharging unit 5, in which:
Pan feeding supply unit 1 includes truss manipulator 11, charging hoister 12, the double-deck pipeline 13 and passback elevator 14, is used
In transmitting product to be processed, and de-stacking full tray, stacking empty pallet；
Lathe unit 2 includes the first lathe 21, the second lathe 22, third lathe A 23 and third lathe B 24, is respectively completed work
The first manufacturing procedure, the second manufacturing procedure and the third manufacturing procedure of part processing；
Robot and walking unit 3 include robot 31 and robot running gear 32, robot can in walking mechanism straight line
It is mobile, and inner support clamping jaw 33 and outer clip clamping jaw 34 are installed in robot, for clamping workpiece；
Workpiece cache unit 4 includes No.1 caching platform 41 and No. two caching platforms 42, for caching the workpiece after each machine tooling；
Discharging unit includes 51, No. two blanking bench 52 of No.1 blanking bench and charging basket 53 out, and robot is by work-piece pile in charging basket out
It is interior, charging basket then will be gone out by fork truck and transported.
As shown in Figure 2；The truss manipulator 11 is made of truss, hoisting mechanism and manipulator, and truss plays a supportive role,
Hoisting mechanism drives manipulator by motor, gear reducer, gear rackwork and reprints the pallet rise and fall of workpiece；Wherein
It is also equipped with gravity of the balance system to balancing machine hand on hoisting mechanism, can not only mitigate the load of motor, can also make
Obtain the lifting more steady and smooth of manipulator and pallet；Manipulator is controlled by cylinder its opening and closing, can be by adjusting dead gear
The position of screw come control manipulator open, closure position.
Control system controls the specific location of manipulator lifting by sensor.
Equipped with sensor and cylinder to detect and position feeding pallet, the double-deck pipeline 13 on the charging hoister 12
Be provided with sensor to control the start and stop of pallet and driving motor two layers, each layer can at most cache two pallets；Passback mentions
Equipped with sensor, cylinder and dead gear to detect and position feeding pallet on the machine of liter.
As shown in Figure 3；Rack gear and guide rail are housed on the robot running gear 32, play the work of transmitting power and guiding
With, on robot base equipped with motor, speed reducer and gear give robot linear movement provide power；32 both ends of walking mechanism are equal
Equipped with travel switch and the dead block of polyurethane, once it is more than that predetermined stroke touches travel switch, control system that robot is mobile
It can cut off the power at once, while motor internal contracting brake forces robot to stop movement, if travel switch fails, if polyurethane dead block
It can play the role of buffering and prevent robot from going out walking mechanism；Walking mechanism is equipped with drag chain, so that power cable and signal
Cable can be moved together with random device people, and play the role of protecting cable.
As shown in Fig. 4 and Fig. 5；4 cache bits, Mei Gehuan are equipped on the No.1 caching platform 41 and No. two caching platforms 42
The position for having a positioning column to limit Workpiece storage on position is deposited, each cache bit is also equipped with a sensor to detect cache bit
On whether have workpiece.
As shown in Figure 6；Many steel multi-directional balls are installed, charging basket 53 can be any square in multi-directional ball out on the blanking bench
To sliding, cylinder and sensor are also equipped on blanking bench, cooperation multi-directional ball can will go out charging basket 53 and be accurately located on blanking bench,
And by signal passes to control system to charging basket in place out；The charging basket 53 out is welded by steel pipe and steel plate.
The multimachine bed automatic loading/unloading method based on robot that the present invention also provides a kind of；Using above-mentioned robot multimachine bed
Automatic loading and unloading system；This method comprises:
The double-deck loaded pallets, which are placed on charging hoister 12 and issue feeding, finishes signal to control system；Control system passes through bilayer
Supply line 13 and charging hoister 12, turn round elevator 14 and truss manipulator 11 realizes the feeding work of double decked flat pallet；
Workpiece to be processed in pallet is successively placed on caching platform by robot 31；First lathe 21 issue can feeding signal, control
System control machine device people 31 processed clamps workpiece from caching platform 41 and is used for the first machine tooling 21；Control system controls after process finishing
The workpiece completed the process is placed on caching platform by robot 31；
Second lathe 22 issue can feeding signal, control system, which controls robot 31, will cache the workpiece to be processed clamping of platform to the
Two lathes 22 are processed；Control system controls robot 31 and workpiece is placed on caching platform after process finishing；
The sending of third lathe 23 can feeding signal；Control system controls on the clamping caching platform of robot 31 workpiece to be processed to third
Machine tooling 23；Workpiece is placed on caching platform after process finishing；
Robot 31 will cache work-piece pile the going out in charging basket 53 in blanking bench completed the process on platform；After charging basket 53 is filled out,
Control system controls fork truck and charging basket 53 will transport out, replaces vacant charging basket 53 out, and blanking bench positions vacant charging basket out, after
It is continuous to carry out charging work.
The course of work of this system is done into following elaboration with reference to the accompanying drawings of the specification:
As shown in Figures 1 to 6, upper and lower stacking loaded pallets A together and loaded pallets B are placed on feeding and are promoted by truck driver
On machine 12, and control system feeding is notified to finish by the visualization car-mounted terminal on fork truck, then the roller of charging hoister 12
Cylinder rotation is by double decked flat pallet onwards transmission, and roller stops operating after pallet triggers alignment sensor, and positioning cylinder stretches out will be double
Layer pallet is located on charging hoister 12, and then truss manipulator 11 mentions the upper layer loaded pallets A in the double-deck loaded pallets
Certain altitude is played, the charging hoister 12 rises to a high position, and positioning cylinder retracts then roller rotation, by the fully loaded support of lower layer
Disk B is transported on passback elevator by the top section of the double-deck pipeline 13, when pallet triggers on passback elevator 14
Alignment sensor and dead gear after, the positioning cylinder stretching returned on elevator 14 positions pallet, then returns elevator 14
Drop to low level, for the workpiece in robot crawl pallet；After loaded pallets B leaves charging hoister 12, the truss is mechanical
The upper layer loaded pallets A lifted is placed on the charging hoister 12 by hand 11, and then the charging hoister 12 is by fully loaded support
Disk A is transmitted to the upper layer caching of the double-deck pipeline 13；When the robot takes workpiece in pallet, the passback is promoted
14 positioning cylinder of machine retracts, roller rotation, and return of empty pallets A is transferred to the feeding through the lower layer of the double-deck pipeline 13 and is mentioned
Machine 12 is risen, the charging hoister 12 is promoted to a high position after pallet positioning, lifts return of empty pallets A for the truss manipulator 11
To certain altitude, after return of empty pallets B is transferred to charging hoister 12, the truss manipulator 11 puts return of empty pallets A
Under be stacked on return of empty pallets B, then control system notifies that truck driver will be double-deck by visualization car-mounted terminal on fork truck
Empty pallet is transported.
After loaded pallets position on passback elevator 14, and the workpiece without caching on the cache bit 1 of No.1 caching platform 41
When, robot 31 along robot running gear 32 can be moved to appropriate location, then with inner support clamping jaw 33 by workpiece A from upper material torr
It takes out and is placed on the cache bit 1 of No.1 caching platform 41 in disk.
When the first lathe 21 be in can feeding state when, lathe can will be sent to control system to feeding signal, work as control
After system is emitted to the instruction of the first lathe feeding, robot 31 moves appropriate location along walking mechanism 32, then uses outer clip clamping jaw
34 clamping workpiece A are placed on the fixture of the first lathe 21, and rear outer clip clamping jaw 34 leaves lathe and issues processable letter workpiece in place
Number, then 21 fixture of the first lathe fixes the processing for starting the first procedure after workpiece；First lathe 21 can cut workpiece A
At two identical workpiece B, after process finishing the first lathe 21 can blanking signal be sent to control system, then robot
It is moved to appropriate location along walking mechanism 32, is in two times taken the workpiece after processing from the first lathe 21 with outer clip clamping jaw 34
Out, it is individually placed on the cache bit 2 and cache bit 3 of No.1 caching platform 41.
When the second lathe 22 be in can feeding state when, lathe can will be sent to control system to feeding signal, work as control
After system is emitted to the instruction of the second lathe feeding, robot 31 moves appropriate location along walking mechanism 32, then uses outer clip clamping jaw
34 are in two times placed on two workpiece B on the fixture of the second lathe 22, and rear outer clip clamping jaw 34 leaves lathe and issues workpiece in place
Processable signal, then clamp workpiece starts to process；After process finishing the second lathe 22 can blanking signal be sent to
Control system, then 31 Robot walking mechanism 32 of robot is moved to appropriate location, with outer clip clamping jaw 34 in two times by two
A workpiece, which takes out, to be placed on the cache bit 1 and cache bit 2 of No. two caching platforms 42.
When third lathe A 23 be in can feeding state when, lathe can will be sent to control system to feeding signal, work as control
After system processed is emitted to the instruction of third lathe A feeding, robot 31 moves appropriate location along walking mechanism 32, is then pressed from both sides with outer clip
The workpiece that pawl 34 clamps on No. two caching platform cache bits 1 are put on the fixture of third lathe A 23, workpiece in place after outer clip clamping jaw
34 leave lathe and issue processable signal, and then clamp workpiece starts to process；23 meeting of third lathe A after process finishing
Can blanking signal be sent to control system, then 31 Robot walking mechanism 32 of robot is moved to appropriate location, with outer
Folder clamping jaw 34, which takes out workpiece, to be placed on the cache bit 3 of No. two caching platforms 42.
When third lathe B24 be in can feeding state when, lathe can will be sent to control system to feeding signal, work as control
After system is emitted to the instruction of third lathe B24 feeding, robot 31 moves appropriate location along walking mechanism 32, is then pressed from both sides with outer clip
The workpiece that pawl 34 clamps on No. two caching platform cache bits 2 are put on the fixture of third lathe B24, workpiece in place after outer clip clamping jaw 34
It leaves lathe and issues processable signal, then clamp workpiece starts to process；Third lathe B24 can after process finishing
Blanking signal is sent to control system, and then 31 Robot walking mechanism 32 of robot is moved to appropriate location, is pressed from both sides with outer clip
Pawl 34, which takes out workpiece, to be placed on the cache bit 4 of No. two caching platforms 42.
The inner support clamping jaw of robot 31 clamps the workpiece on the cache bit 3 of No. two caching platforms, and stacking is on blanking bench 51
Out in charging basket, then the inner support clamping jaw of robot 31 clamps the workpiece on the cache bit 4 of No. two caching platforms, and stacking is in blanking bench 51
On go out charging basket in.
Each go out charging basket in can 4 layers of workpiece of code, when on No.1 blanking bench 51 go out charging basket fill workpiece after, robot can will
Workpiece continues stacking going out in charging basket on No. two blanking bench 52, while control system passes through the visualization car-mounted terminal on fork truck
The charging basket out for filling workpiece on No.1 blanking bench 51 is transported and changes an empty charging basket out by notice truck driver；Work as fork truck
Driver will go out charging basket and be placed on blanking bench, notify control system to place empty discharging by the visualization car-mounted terminal on fork truck
Basket, while the sensor on blanking bench detects on blanking bench after having charging basket out, control positioning cylinder stretches out, and charging basket out is accurate
It is located on blanking bench, after sensors in place detects out that charging basket positions completely, notice control system goes out charging basket and is in available
State.
Claims (9)
1. a kind of multimachine bed automatic loading and unloading system based on robot；It is characterised by comprising:
Pan feeding supply unit is made of truss manipulator, charging hoister, the double-deck pipeline and passback elevator, for transmitting
Product to be processed, and de-stacking full tray, stacking empty pallet；
Lathe unit includes the first lathe, the second lathe, third lathe A and third lathe B, is respectively completed work pieces process
First manufacturing procedure, the second manufacturing procedure and third manufacturing procedure；
Robot and walking unit, are made of robot and robot running gear, and robot can move straight line in walking mechanism
It is dynamic；
Workpiece cache unit caches platform and No. two caching platforms by No.1 and forms, for caching the workpiece after each machine tooling；
Discharging unit, charging basket forms by two blanking bench and out, robot by work-piece pile in charging basket out, then will by fork truck
Charging basket is transported out.
2. the multimachine bed automatic loading and unloading system based on robot as described in claim 1；It is characterized in that, the pan feeding is defeated
Unit, lathe unit, robot and walking unit are sent, workpiece cache unit and discharging unit pass through control system control.
3. the multimachine bed automatic loading and unloading system based on robot as described in claim 1；It is characterized in that, the truss machine
Tool hand is made of truss, hoisting mechanism and manipulator, and hoisting mechanism is driven mechanical by motor, gear reducer, gear rackwork
Hand and the pallet rise and fall for reprinting workpiece.
4. the multimachine bed automatic loading and unloading system based on robot as claimed in claim 3；It is characterized in that, the elevator
Gravity of the balance system to balancing machine hand is also equipped on structure；The manipulator is controlled by cylinder its opening and closing, can lead to
The position of the dead gear screw of adjustment is crossed to control the position that manipulator is opened, is closed.
5. the multimachine bed automatic loading and unloading system based on robot as described in claim 1；It is characterized in that, the feeding mentions
Sensor is provided with to control to detect and position feeding pallet, two layers of the double-deck pipeline equipped with sensor and cylinder on the machine of liter
The start and stop of pallet and driving motor processed, each layer can at most cache two pallets；Return elevator on equipped with sensor, cylinder and
Dead gear is to detect and position feeding pallet.
6. the multimachine bed automatic loading and unloading system based on robot as described in claim 1；It is characterized in that, the robot
Rack gear and guide rail are housed in walking mechanism, play a part of to transmit power and guiding；The artificial six-joint robot of machine, robot
It moves linearly equipped with motor, speed reducer and gear to robot on pedestal and power is provided；Walking mechanism both ends are respectively arranged with stroke and open
Pass and the dead block of polyurethane, once it is more than that predetermined stroke touches travel switch that robot is mobile, control system can be cut off at once
Power supply, while motor internal contracting brake forces robot to stop movement, if travel switch fails, polyurethane dead block if, can play buffering
And prevent robot from going out the effect of walking mechanism；Walking mechanism is equipped with drag chain, and power cable and signal cable can be with random devices
People moves together, and plays the role of protecting cable.
7. the multimachine bed automatic loading and unloading system based on robot as described in claim 1；It is characterized in that, the No.1 is slow
It deposits and is equipped with 4 cache bits on platform and No. two caching platforms, have a positioning column on each cache bit to limit the position of Workpiece storage
It sets, whether each cache bit is also equipped with a sensor has workpiece on cache bit to detect.
8. the multimachine bed automatic loading and unloading system based on robot as described in claim 1；It is characterized in that, the blanking bench
On many steel multi-directional balls are installed, charging basket any direction can slide in multi-directional ball out, be also equipped on blanking bench cylinder and
Sensor, cooperation multi-directional ball can will go out charging basket and be accurately located on blanking bench, and signal passes to control system in place by charging basket out
System；The charging basket out is welded by steel pipe and steel plate.
9. a kind of multimachine bed automatic loading/unloading method based on robot；It is characterized in that；Using any institute of such as claim 1-8
State based on robot multimachine bed automatic loading and unloading system；This method comprises:
The double-deck loaded pallets, which are placed on charging hoister and issue feeding, finishes signal to control system；Control system passes through the double-deck fortune
Defeated line and charging hoister, turn round elevator and truss manipulator realizes the feeding work of double decked flat pallet；
Workpiece to be processed in pallet will be successively placed on caching platform by robot；First lathe issue can feeding signal, control
System control machine device people is used for the first machine tooling from No.1 caching platform clamping workpiece；Control system controls machine after process finishing
The workpiece completed the process is placed on caching platform by people；
Second lathe issue can feeding signal, control system, which controls robot, will cache the workpiece to be processed clamping of platform to the second machine
Bed is processed；Control system controls robot and workpiece is placed on caching platform after process finishing；
The sending of third lathe can feeding signal；Control system controls on robot clamping caching platform workpiece to be processed to third lathe
Processing；Workpiece is placed on caching platform after process finishing；
Robot will cache work-piece pile the going out in charging basket in blanking bench completed the process on platform；After charging basket is filled out, control system
System control fork truck will go out charging basket transport, replace it is vacant go out charging basket, blanking bench to it is vacant go out charging basket position, continue to charge
Work.
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| CN109623470A (en) * | 2019-01-25 | 2019-04-16 | 江门市奥斯龙机械有限公司 | Lathe and manipulator cooperate automatic loading/unloading method |
| CN110014074A (en) * | 2019-04-12 | 2019-07-16 | 广西汽车集团有限公司 | A kind of automobile workpiece hole punched device |
| CN110589331A (en) * | 2019-09-20 | 2019-12-20 | 上海发那科机器人有限公司 | Material distribution robot system and processing method |
| CN111003519A (en) * | 2019-12-10 | 2020-04-14 | 安徽共生物流科技有限公司 | Semi-automatic unloading commodity circulation skip |
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| CN116213537A (en) * | 2023-05-08 | 2023-06-06 | 海斯坦普汽车组件（昆山）有限公司 | Combined type preheats thermoforming production line |
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| CN109623470A (en) * | 2019-01-25 | 2019-04-16 | 江门市奥斯龙机械有限公司 | Lathe and manipulator cooperate automatic loading/unloading method |
| CN110014074A (en) * | 2019-04-12 | 2019-07-16 | 广西汽车集团有限公司 | A kind of automobile workpiece hole punched device |
| CN110014074B (en) * | 2019-04-12 | 2024-09-03 | 广西汽车集团有限公司 | Automobile workpiece punching device |
| CN110589331A (en) * | 2019-09-20 | 2019-12-20 | 上海发那科机器人有限公司 | Material distribution robot system and processing method |
| CN110589331B (en) * | 2019-09-20 | 2024-04-05 | 上海发那科机器人有限公司 | Material distributing robot system and processing method |
| CN111003519A (en) * | 2019-12-10 | 2020-04-14 | 安徽共生物流科技有限公司 | Semi-automatic unloading commodity circulation skip |
| CN111222785B (en) * | 2020-01-04 | 2023-09-26 | 暖流信息科技（上海）有限公司 | Logistics system and execution method for manufacturing precise copper pipe |
| WO2021227389A1 (en) * | 2020-05-14 | 2021-11-18 | 苏州苏大维格科技集团股份有限公司 | Photoetching device provided with power-off protection apparatuses |
| CN112296735A (en) * | 2020-10-30 | 2021-02-02 | 江苏方时远略科技咨询有限公司 | Multi-station automatic feeding and discharging machine tool machining system and working method thereof |
| CN112660842A (en) * | 2021-01-07 | 2021-04-16 | 东风本田汽车有限公司 | Robot and vision-based feeding and discharging stacking device and feeding and discharging stacking method thereof |
| CN113095622A (en) * | 2021-03-10 | 2021-07-09 | 广州明珞装备股份有限公司 | Production control system and method |
| CN113021010A (en) * | 2021-03-11 | 2021-06-25 | 杭州三奥智能科技有限公司 | Automatic production line with vision guide robot for feeding and discharging, unstacking and stacking |
| CN115108209A (en) * | 2021-03-18 | 2022-09-27 | 博世华域转向系统有限公司 | Full-automatic loading and unloading system and method integrating inventory management function |
| CN113182860A (en) * | 2021-04-14 | 2021-07-30 | 上海运城制版有限公司 | Automatic control method and system for steel pipe stock house unit |
| CN113752031B (en) * | 2021-10-21 | 2023-09-08 | 中铁建电气化局集团第一工程有限公司 | Production and processing equipment for wrist arms |
| CN113752031A (en) * | 2021-10-21 | 2021-12-07 | 中铁建电气化局集团第一工程有限公司 | Cantilever production and processing equipment |
| CN116213537A (en) * | 2023-05-08 | 2023-06-06 | 海斯坦普汽车组件（昆山）有限公司 | Combined type preheats thermoforming production line |
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