CN109333316B - Full-automatic polishing production line - Google Patents
Full-automatic polishing production line Download PDFInfo
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- CN109333316B CN109333316B CN201811474414.2A CN201811474414A CN109333316B CN 109333316 B CN109333316 B CN 109333316B CN 201811474414 A CN201811474414 A CN 201811474414A CN 109333316 B CN109333316 B CN 109333316B
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- 238000005498 polishing Methods 0.000 title claims abstract description 149
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 37
- 239000000463 material Substances 0.000 claims abstract description 99
- 238000007599 discharging Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 27
- 230000007306 turnover Effects 0.000 claims description 19
- 210000000078 claw Anatomy 0.000 claims description 14
- 238000004140 cleaning Methods 0.000 claims description 14
- 238000012546 transfer Methods 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 5
- 230000001939 inductive effect Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000000737 periodic effect Effects 0.000 abstract 1
- 238000013461 design Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a full-automatic polishing production line, which comprises an automatic feeding device, a main feeding line of a product to be processed, a main receiving line of a processed product and an automatic receiving device; the main material feeding line of the product to be processed and the main material receiving line of the processed product are both product conveying belts, and are arranged at intervals up and down; the system comprises a to-be-processed product distributing line and a processed product distributing and receiving line which are arranged at intervals up and down, wherein the to-be-processed product distributing line and the processed product distributing and receiving line are a group of component lines, a plurality of polishing robots are arranged along the extending direction of the group of component lines, the feeding ends of the polishing robots are connected with the to-be-processed product distributing line, and the discharging ends of the polishing robots are connected with the processed product distributing and receiving line; the automatic feeding device is arranged at the feeding end of the main feeding line of the product to be processed; the automatic receiving device is arranged at the discharging end of the processed product separating and receiving line; therefore, the unmanned workshop can be truly realized, only periodic equipment maintenance personnel are needed, the labor and the working intensity of workers are reduced, and the production efficiency and the product quality are greatly improved.
Description
Technical Field
The invention relates to the technical field of polishing production lines, in particular to a full-automatic polishing production line.
Background
In the prior art, a single machine is generally adopted for processing in a polishing processing enterprise, so that more manpower participates in the whole processing process, the labor cost is high, the production efficiency is limited, and the further improvement is difficult; in fact, the labor is intense at present, people are difficult to recruit, and many enterprises face manpower shortage and difficulty.
Later, some pipelined automatic production lines have also appeared in the industry, but, it only integrates more than two processes, and its production line does not cover the whole process, therefore, the human cost still remains high, and still, there is degree of automation and intelligent degree not high in current automatic production line, for example: the feeding is manual feeding and discharging; and when the existing production line is easy to stop for processing due to the occurrence of a fault of one machine, other related machines are stopped for waiting, so that the production efficiency is greatly reduced, and the production cost and the production time of enterprises are greatly influenced.
Accordingly, in the present invention, the applicant has studied a new technical solution to solve the above problems.
Disclosure of Invention
In view of the above, the present invention aims at overcoming the drawbacks of the prior art, and its main objective is to provide a fully automatic feeding device, which can truly realize unmanned workshops, only needs regular equipment maintenance personnel, reduces labor force and labor intensity, and greatly improves production efficiency and product quality.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a full-automatic polishing production line comprises an automatic feeding device, a main feeding line of a product to be processed, a main receiving line of a processed product and an automatic receiving device; wherein:
the main material feeding line of the product to be processed and the main material receiving line of the processed product are both product conveying belts, and are arranged at intervals up and down; a plurality of product to be processed distributing and receiving lines are arranged along the main product to be processed feeding line, and a plurality of processed product distributing and receiving lines are arranged along the main processed product receiving line, and the product to be processed distributing and receiving lines and the processed product distributing and receiving lines are arranged at an upper-lower interval in a one-to-one correspondence manner; a plurality of diversion feeding ends are arranged on the main feeding line of the product to be processed so as to be connected with the corresponding distributing line of the product to be processed; the main processed product receiving line is provided with a plurality of converging receiving ends for connecting corresponding processed product dividing and receiving lines;
the system comprises a to-be-processed product distributing line and a processed product distributing and receiving line which are arranged at intervals up and down, wherein the to-be-processed product distributing line and the processed product distributing and receiving line are a group of component lines, a plurality of polishing robots are arranged along the extending direction of the group of component lines, the feeding ends of the polishing robots are connected with the to-be-processed product distributing line, and the discharging ends of the polishing robots are connected with the processed product distributing and receiving line;
the automatic feeding device is arranged at the feeding end of the main feeding line of the product to be processed; the automatic feeding device comprises a feeding robot, an empty tray placing area and a material tray placing area; the feeding end of the main feeding line of the product to be processed is provided with an inductor for inducing the product to be in place; the feeding robot is provided with a feeding main control unit, a feeding robot claw and a displacement driving mechanism for controlling the feeding robot claw to reciprocate between the material tray placing area and the product conveying belt of the main feeding line of the product to be processed and between the material tray placing area and the empty tray placing area; the feeding machine gripper is provided with a feeding gripper seat, and a product sucking disc, a tray sucking disc and a tray sucking cylinder which are arranged on the feeding gripper seat, wherein the product sucking disc and the tray sucking disc are respectively arranged below the feeding gripper seat, the tray sucking cylinder comprises a cylinder body and a telescopic rod, the cylinder body is arranged on the feeding gripper seat, and the lower end of the telescopic rod is connected with the tray sucking disc; the feeding main control unit is respectively connected with the sensor, the displacement driving mechanism and the tray sucking cylinder;
the automatic receiving device is arranged at the discharging end of the processed product separating and receiving line.
As a preferable scheme, the automatic material receiving device comprises a material receiving robot, wherein the material receiving robot is provided with a material receiving main control unit, a material receiving robot claw, a material receiving sucker and a turnover mechanism for controlling the 90-degree turnover of the material receiving sucker.
As a preferable scheme, the main feeding line of the product to be processed and the distributing line of the product to be processed and the main receiving line of the product to be processed and the distributing and receiving line of the product to be processed are connected through a first material moving robot.
Preferably, a first transfer robot is shared by a plurality of component lines to complete the connection between the main product feed line and the product feed line, and between the main processed product take-up line and the product take-up line.
As a preferable scheme, the feeding end of the polishing robot is connected with the product to be processed and the material distributing line, and the discharging end of the polishing robot is connected with the processed product distributing and receiving line through second material moving robots, and each polishing robot is provided with a second material moving robot.
As a preferable scheme, the polishing robot comprises a frame platform, a polishing manipulator arranged on the frame platform, a polishing jig for polishing work, a secondary positioning jig for positioning by means of self weight of a workpiece, and a workpiece turnover area for placing the workpiece; the polishing main control unit is also included;
the polishing manipulator is provided with a polishing grabbing unit and a polishing unit; the polishing manipulator is connected with an automatic driving device to control the reciprocating displacement of the polishing manipulator among the workpiece turnover area, the secondary positioning jig and the polishing jig;
the secondary positioning jig comprises an inclined plate and two stop blocks arranged on the inclined plate, the inclined plate is obliquely arranged relative to the frame platform, the stop blocks are obliquely upwards arranged in an extending mode, the two stop blocks form a right angle, and the two stop blocks enclose a secondary positioning area on the inclined plate;
the polishing jig is provided with an automatic adsorption positioning unit for positioning a workpiece;
the polishing main control unit is respectively connected with the polishing grabbing unit, the polishing unit, the automatic driving device and the automatic adsorption positioning unit.
As a preferable scheme, the automatic cleaning device is further arranged, and an automatic transfer device is connected between the automatic cleaning device and the automatic receiving device.
As a preferable mode, the first material moving robot is provided with a vision system.
As a preferred embodiment, the main product feed line, the main processed product take-up line, the dispensing line and the dispensing line are each provided with a conveying drive device and a corresponding conveying controller.
Compared with the prior art, the invention has obvious advantages and beneficial effects, in particular, the technical proposal shows that the invention mainly forms a full-automatic polishing production line through the arrangement of an automatic feeding device, a main feeding line of a product to be processed, a plurality of polishing robots arranged along the extending direction of a shunt line, a main receiving line of the processed product and an automatic receiving device, thereby really realizing an unmanned workshop, reducing the labor and the working intensity of workers and greatly improving the production efficiency and the product quality by only needing periodical equipment maintenance personnel;
secondly, the automatic feeding device realizes automatic feeding of the product conveyor belt and removal and returning of empty trays, multiple layers of products can be placed at one time, labor intensity of workers is reduced, labor cost can be greatly saved, production efficiency and quality are effectively improved, grabbing points and the number of the grabbed trays are set by an internal program of a machine, the robot can automatically feed according to a set value, the operation efficiency of the robot is high, and the situation of stacking can be effectively avoided through an inductor on the conveyor belt after grabbing;
moreover, the polishing robot is improved in design, the workpiece is secondarily positioned through the secondary positioning jig, and then the workpiece is placed on the polishing jig by the polishing manipulator for polishing and polishing, so that the polishing robot is simple in structural design, high in positioning speed and high in accuracy, the production efficiency of the workpiece is improved, the cost is low, and the manpower is greatly reduced;
the whole automatic polishing production line covers all links of automatic feeding, automatic feeding and distribution, automatic discharging and collecting, automatic receiving and cleaning and the like, and the transfer among all links is also automatically realized.
In order to more clearly illustrate the structural features and efficacy of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a schematic top view of a fully automated polishing line according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of an automatic feeding apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic view of a feeding robot gripper of an automatic feeding apparatus according to an embodiment of the present invention;
FIG. 4 is a top view of a polishing robot in an embodiment of the invention;
FIG. 5 is a schematic perspective view of a polishing robot in an embodiment of the invention;
FIG. 6 is a schematic diagram of a secondary positioning jig of a polishing robot according to an embodiment of the invention.
FIG. 7 is a schematic view showing the general structure of a polishing unit of a polishing robot in an embodiment of the present invention;
fig. 8 is a top view of a polishing unit of the polishing robot in an embodiment of the present invention.
The attached drawings are used for identifying and describing:
101. automatic feeding device 102 and main feeding line of product to be processed
103. Main receiving line 104 and automatic receiving device for processed products
105. Processed product separating and receiving line 106 and first material moving robot
107. Polishing robot 108 and automatic cleaning device
109. Automatic transfer device
1. Robot 2, empty tray placement area
3. Material tray placing area 4 and product conveying belt
5. Inductor 6 and claw seat
7. Sucking disc 8 for sucking product and sucking tray
9. Suction tray cylinder 10, empty tray
11. Material tray 12, base
13. First and second rotating arms 14, second rotating arm
15. A first horizontal rotating part 16 and a second horizontal rotating part
17. Suction product suction cup vacuum detection unit 18 and suction tray suction cup vacuum detection unit
100. Rack platform 110 and manipulator
120. Polishing jig 130 and secondary positioning jig
131. Sloping plate 132, stop block
140. Workpiece turnaround area 141, pallet
150. Automatic consumable replacement mechanism
20. Driving gear ring 21 and gear ring fixing seat
22. Electric spindle 30, gear
31. Gear upper bearing 32 and gear lower bearing
33. Coupling screw 34, chassis coupler
35. A grinding head chassis.
Detailed Description
Referring to fig. 1 to 8, specific structures of embodiments of the present invention are shown, which are applicable but not limited to the polishing industry of electronic 3C products.
A full-automatic polishing production line comprises an automatic feeding device 101, a main product feeding line 102, a main processed product receiving line 103 and an automatic receiving device 104; wherein:
the main feeding line 102 and the main receiving line 103 of the processed product are both product conveyor belts, and are arranged at intervals up and down; a plurality of product to be processed distributing and receiving lines are arranged along the main product to be processed delivering line 102, a plurality of processed product distributing and receiving lines 105 are arranged along the main processed product receiving line 103, and the product to be processed distributing and receiving lines 105 are arranged in a one-to-one correspondence with the upper and lower intervals; a plurality of diversion feeding ends are arranged on the main feeding line 102 of the product to be processed so as to be connected with the corresponding distributing lines of the product to be processed; the processed product main receiving line 103 is provided with a plurality of converging receiving ends for engaging the corresponding processed product dividing receiving line 105.
The product to be processed and a processed product distribution and receiving line 105 are arranged at a vertical interval as a group of component lines, so that each line machine takes the product from the lower layer of each production line to process, and the product is placed into the upper layer production line after the processing is completed. A plurality of polishing robots 107 are arranged along the extending direction of a group of component flow lines, the feeding ends of the polishing robots 107 are connected with the product distributing line to be processed, and the discharging ends of the polishing robots 107 are connected with the processed product distributing and receiving line 105. The polishing robots 107 may be arranged in a linear manner, or may be arranged at a plurality of angles such as 90 degrees, even 180 degrees, etc. according to the workshop position, and only the extending direction of the current dividing line needs to be changed accordingly. The main feeding line 102 and the dispensing line of the product to be processed, and the main receiving line 103 and the dispensing line 105 of the processed product are all connected by a first transfer robot 106. A first transfer robot 106 is shared by a plurality of component lines to complete the engagement between the main product feed line 102 and the dispensing line, and between the main processed product take-up line 103 and the dispensing line 105. The first material moving robot 106 is configured with a vision system, and is responsible for positioning and shooting of the product to be processed, and the first material moving robot 106 disposed along the main material feeding line 102 of the product to be processed may share a set of vision system.
The feeding end of the polishing robot 107 is connected with the product to be processed and the material distributing line, and the discharging end of the polishing robot 107 is connected with the processed product distributing and receiving line 105 through a second material moving robot, and each polishing robot 107 is provided with a second material moving robot.
The automatic receiving device 104 is arranged at the discharging end of the processed product separating and receiving line 105. The automatic material receiving device 104 comprises a material receiving robot, wherein the material receiving robot is provided with a material receiving main control unit, a material receiving machine paw, a material receiving sucker and a turnover mechanism for controlling the 90-degree turnover of the material receiving sucker. The receiving machine paw has the function of automatic lifting and translation; the work piece is transported horizontally at the discharge end of the processed product distribution line 105, for example: the work piece is the cell-phone backshell, and the back cell-phone backshell is put flat product conveyer belt of having processed product owner receipts stockline 103 and carries, and after receiving the material sucking disc on the material machine hand claw absorbs the work piece, in the material machine hand claw from the discharge end of having processed product branch receipt stockline 105 transfer to the in-process of receiving the material basket, accomplish the upset of receiving the material sucking disc, namely: the workpiece is changed into a vertical type from a flat type and then inserted into a corresponding separation groove in the material receiving basket, so that the workpiece is placed in order.
An automatic cleaning device 108 is also arranged, and an automatic transfer device 109 is connected between the automatic cleaning device 108 and the automatic receiving device 104. The material receiving basket is generally designed to be a hollow structure and can be composed of a plurality of connecting rods, so that the whole material receiving basket is placed into the automatic cleaning device 108 for cleaning in the cleaning process, the cleaning is convenient, and the cleaning effect is guaranteed.
The main product feed line 102, the main processed product feed line 103, the main processed product feed line, and the main processed product feed line 105 are each provided with a feed drive device and a corresponding feed controller.
As shown in fig. 2 and 3, the automatic feeding apparatus 101 employed in the present embodiment will be mainly described below:
the automatic feeding device 101 is arranged at the feeding end of a main feeding line 102 of a product to be processed; the automatic feeding device 101 comprises a feeding robot, an empty tray placing area and a material tray placing area; the feeding end of the main feeding line 102 of the product to be processed is provided with an inductor for inducing the product to be in place; the feeding robot is provided with a feeding main control unit, a feeding robot hand claw and a displacement driving mechanism for controlling the feeding robot hand claw to reciprocate between the material tray placing area and the product conveying belt of the main feeding line 102 of the product to be processed and between the material tray placing area and the empty tray placing area; the feeding machine gripper is provided with a feeding gripper seat, and a product sucking disc, a tray sucking disc and a tray sucking cylinder which are arranged on the feeding gripper seat, wherein the product sucking disc and the tray sucking disc are respectively arranged below the feeding gripper seat, the tray sucking cylinder comprises a cylinder body and a telescopic rod, the cylinder body is arranged on the feeding gripper seat, and the lower end of the telescopic rod is connected with the tray sucking disc; the feeding main control unit is respectively connected with the sensor, the displacement driving mechanism and the tray sucking cylinder.
Here, the empty tray placing area 2, the material tray placing area 3, and the product conveyor of the main feeding line 102 for the product to be processed are sequentially arranged. The feeding robot 1 is arranged corresponding to the material tray placing area 3. The material tray placing area 3 is provided with a limiting block convenient to position and place. Here, the empty tray placing area 2 and the material tray placing area 3 are arranged on a material table together; the feeding robot 1 is located at the rear side of the material table, the product conveyor belt 4 of the main product feeding line to be processed 102 is arranged at the right side of the material table, and the empty tray placing area 2 is located at the left side of the material tray placing area 3.
The feeding robot 1 is provided with a base, and the displacement driving mechanism is connected between the base and the feeding robot claw; the displacement driving mechanism comprises a first rotating arm 13, a second rotating arm 14 and a horizontal rotating disk; the lower end of the first rotating arm 13 is pivoted to the upper end of the base so as to be installed in a back-and-forth rotating way relative to the base, and the lower end of the second rotating arm 14 is pivoted to the upper end of the first rotating arm 13 so as to be installed in a back-and-forth rotating way relative to the first rotating arm 13; the horizontal rotating assembly is provided with a first horizontal rotating part 15 and a second horizontal rotating part 16 which rotate horizontally relatively; one end of the first horizontal rotating part 15 is pivoted to the upper end of the second rotating arm 14 to be installed in a back-and-forth rotating manner relative to the second rotating arm 14; the second horizontal rotation part 16 is connected to the jaw housing 6. Here, the suction tray cylinders 9 are provided with two suction tray cylinders, which are respectively located at both sides of the jaw seat 6, and thus the suction tray suction cups 8 are also arranged at both sides of the suction product suction cup 7 to better suck the empty tray.
The vacuum detection device is also provided with a suction product suction cup vacuum detection unit 17 and a suction tray suction cup vacuum detection unit 18, wherein the suction product suction cup vacuum detection unit 17 and the suction tray suction cup vacuum detection unit 18 are respectively connected with the main control unit. The suction product sucking disc vacuum detection unit 17 and the suction tray sucking disc vacuum detection unit 18 are respectively arranged on a track seat where the product conveying belt 4 of the main feeding line of the product to be processed is located.
Next, the operation flow of the automatic feeding apparatus 101 of the present embodiment will be described in general:
1. before starting up, an operator places the material tray 11 in the material tray placing area 3, and can use a limiting block to realize placing and positioning;
2. pressing a start button, enabling a feeding robot to move into a material tray 11 to grasp products, and then placing the products on a product conveyor belt 4 of a main material feeding line of the products to be processed (a manipulator can grasp products in the uppermost material tray 11 in sequence);
3. when the product in one layer of material tray is grabbed, the tray sucking cylinder 9 can downwards move to grab the empty tray 10 and is placed in the empty tray placing area 2;
4. the feeding machine gripper can sequentially circulate according to the action until the products of a plurality of layers of material trays are completely grabbed;
5. after the feeding machine claw is finished, the feeding machine claw is automatically in a stop state;
6. then, the total placing robot takes charge of taking the empty trays away, and places a plurality of new layers of material trays in a material tray placing area, and starts to automatically feed the next stack of products; of course, considering production line cost and actual conditions, in this link, an operator may be used instead to take the whole empty trays and place a new plurality of layers of material trays in the material tray placement area.
It should be noted that: according to the product size and the tray size, the material trays with corresponding layers can be placed at a time, and the design can be changed as appropriate or as required in the actual design.
As shown in fig. 4 to 8, next, the polishing robot 107 employed in the present embodiment is mainly described:
the polishing robot 107 comprises a frame platform, a polishing manipulator 110 arranged on the frame platform, a polishing jig 120 for polishing work, a secondary positioning jig 130 for positioning by means of the self weight of a workpiece, and a workpiece turnover area 140 for placing the workpiece; the polishing main control unit is also included; wherein, the polishing manipulator 110 is provided with a polishing grabbing unit and a polishing unit; the polishing manipulator is connected with an automatic driving device to control the polishing manipulator 110 to reciprocate between the workpiece turnover area 140, the secondary positioning jig 130 and the polishing jig 120; the secondary positioning jig 130 comprises an inclined plate 131 and two stop blocks 132 arranged on the inclined plate 131, wherein the inclined plate 131 is obliquely arranged relative to the rack platform 110, and an included angle between the inclined plate 131 and a horizontal plane is 30-75 degrees; preferably, the inclined plate 131 is an acrylic plate. The two check blocks are obliquely upwards arranged to form a right angle, and the two check blocks enclose a secondary positioning area on the sloping plate; the two stoppers 132 are separately arranged, or the two stoppers 132 are integrally connected and arranged in an L-shaped structure; preferably, the two stoppers 132 are preferably force glue stoppers. The polishing jig is provided with an automatic adsorption positioning unit for positioning a workpiece; the polishing main control unit is respectively connected with the polishing grabbing unit, the polishing unit, the automatic driving device and the automatic adsorption positioning unit.
In this embodiment, the frame platform 100 is further provided with an automatic consumable replacement mechanism 150, the polishing manipulator 110 is reciprocally displaced between the automatic consumable replacement mechanism 150 and the workpiece transfer area 140, the secondary positioning jig 130, and the polishing jig 120, and the automatic consumable replacement mechanism 150 is connected to the main control unit; like this, only need add the consumptive material on the automatic mechanism 150 of changing of consumptive material, automatic change the consumptive material of polishing unit through polishing manipulator 110, it is fast to change the consumptive material, has improved work piece polishing's production efficiency, and the error is few when the consumptive material is changed, is difficult for makeing mistakes, improves the yield of work piece.
Considering that a worker can be reminded of replacing another batch of workpieces to be processed after the workpieces are processed, a prompting signal lamp for prompting the completion of the processing is further arranged on the frame platform 100, and the prompting signal lamp is connected to the main control unit; likewise, the cue signal light is also used to cue the addition of consumables of the foregoing consumable automatic change mechanism 150.
In this embodiment, the automatic adsorption positioning unit includes a vacuum hole and a vacuum source communicating with the vacuum hole, and the main control unit is connected to control on-off of the vacuum source.
The polishing jig 120, the workpiece turnover area 140 and the secondary positioning jig 130 are sequentially arranged from front to back, the consumable automatic replacement mechanism 150 is positioned at the rear side of the workpiece turnover area 140, and the consumable automatic replacement mechanism 150 is positioned at the right side of the secondary positioning jig 130; here, the rack platform 100 is divided into a first area and a second area which are arranged left and right; the polishing tool 120, the workpiece transferring area 140, the secondary positioning tool 130, and the consumable automatic replacement mechanism 150 are all located in the first area; the polishing robot 110 is installed at the second region; preferably, a tray 141 is disposed on the workpiece turnover area 140, and a plurality of workpieces, which are denoted by letters a to K, are disposed on the tray 141 in a spaced arrangement. The whole polishing machine is reasonable in structural arrangement, on one hand, the whole structure of the machine is more compact, miniaturization of the machine is facilitated, on the other hand, the manipulator is facilitated to complete all actions in the minimum reciprocating stroke, and polishing efficiency is improved.
The frame platform 100 is provided with a first openable protective door corresponding to the workpiece turnover area 140; the rack platform 100 is provided with a second openable protective door corresponding to the consumable automatic replacement mechanism 150; of course, the outside of the frame platform can be provided with a protective door.
As shown in fig. 7 and 8, which show the structure of a grinding unit, such a power planetary grinding head assembly may be preferable to improve the grinding and polishing quality.
The electric planetary polishing head assembly comprises an electric main shaft 22, a driving gear ring 20, a gear 30 and a polishing head 40; wherein: the driving gear ring 20 is an inner gear ring, and the driving gear ring 20 has a plurality of inner teeth arranged along the circumferential direction at intervals; the gear 30 is an external gear, and the gear 30 is provided with a plurality of external teeth which are arranged along the circumferential spacing; the outer diameter of the gear 30 is smaller than the inner diameter of the driving gear ring 20; preferably, the outer diameter of the gear is smaller than the inner diameter of the driving gear ring and larger than one half of the inner diameter of the driving gear ring. The external teeth of the gear 30 are meshed with the internal teeth of the driving gear ring 20;
the electric spindle 22 is in driving connection with the driving gear ring 20, and the gear 30 is connected with the polishing head 40; the gear 30 simultaneously generates two rotation actions under the transmission action of the driving gear ring 20, one is that the gear 30 rotates along with the driving gear ring 20 around the axis of the driving gear ring 20, and the other is that the gear 30 rotates around the axis of the gear 30; here, the number of internal teeth of the driving ring gear is greater than the number of external teeth of the gear, for example: the number of internal teeth of the driving gear ring 20 is 12, and the number of external teeth of the gear 30 is 10.
In this embodiment, the gear 30 is connected with a chassis coupler for mounting a polishing head, the chassis coupler is provided with a connection hole, the polishing head has a polishing head chassis, the polishing head chassis is provided with a connection position, and the connection hole of the chassis coupler is adapted to the connection position of the polishing head chassis to form a fixed connection; the upper end and the lower end of the gear 30 are respectively provided with a gear upper bearing 31 and a gear lower bearing 32; screw holes are formed in the gear upper bearing 31 and the gear lower bearing 32; a coupling screw 33 is further provided, and both ends of the coupling screw 33 are respectively adapted to screw holes of the gear upper bearing 31 and the gear lower bearing 32 so as to detachably assemble the gear upper bearing 31 and the gear lower bearing 32 on the gear 30.
In view of the assembled connection of the driving gear ring 20 with the gear 30, the driving gear ring 20 is provided with a gear ring fixing seat 21 for positioning the driving gear ring 20, the gear ring fixing seat 21 is connected with a spindle mounting part, and the spindle mounting part is adapted to the electric spindle 22; the spindle mounting part is detachably matched with the electric spindle 22;
here, the gear ring fixing seat 21 is assembled and connected with the driving gear ring 20 through screws; the gear ring fixing seat 21 is provided with a plurality of first threaded holes, the driving gear ring 20 is provided with a plurality of second threaded holes, and the first threaded holes and the second threaded holes are connected through a screw to form positioning connection between the driving gear ring 20 and the gear ring fixing seat 21; preferably, the plurality of first threaded holes are circumferentially spaced along the top end surface of the ring gear fixing seat 21, and the plurality of second threaded holes are circumferentially spaced along the top end surface of the driving ring gear 20.
In the embodiment, two rotary actions are generated simultaneously under the transmission action of the driving gear ring through the gear, so that the polishing head continuously changes the polishing direction, the rotary trace generated by concentric rotation of the polishing head is solved, the structural design is simple, the cost is low, and the production efficiency and the yield of products are improved; and the ingenious design of the tooth shape ensures that the gear can only rotate around the edge of the inner gear ring of the driving gear ring, solves the problem that the polishing head generates a rotating trace when rotating concentrically, and simultaneously solves the defects of high polishing cost, low rotating speed weakness and high noise during polishing of the polishing machine.
Next, the flow of the operation of the polishing robot 107 of the present embodiment will be described in general:
1. before starting up, a user firstly places a tray 141 filled with workpieces in a workpiece turnover area 140, adds new consumables in a consumable automatic replacement mechanism 150, and starts up a machine through a main control unit;
2. the manipulator 11 moves to the consumable automatic replacement mechanism 150, the manipulator 11 is switched to the polishing unit, and the polishing unit bonds new consumable on the consumable automatic replacement mechanism 150;
3. the manipulator 11 moves to the workpiece turnover area 140, the manipulator 11 is converted to a grabbing unit and grabs the workpiece on the position A, and then the workpiece is moved to the secondary positioning jig 130 to accurately position the workpiece;
4. after the workpiece is positioned, the grabbing unit of the manipulator 11 grabs the workpiece and places the workpiece on the polishing jig 120;
5. when a workpiece is placed on the polishing jig 120, the workpiece is sucked on the jig by an automatic sucking and positioning unit of the polishing jig 120, so that the workpiece is prevented from falling off during processing;
6. the manipulator 11 converts the grabbing unit into a polishing unit and polishes the workpiece;
7. after the workpiece is polished, the polishing unit of the manipulator 11 is converted into a grabbing unit, and the polished workpiece is grabbed and put back to the original position A;
8. the robot 11 moves to the consumable automatic replacement mechanism 150, and replaces the old consumable of the polishing unit of the robot 11 with a new consumable (here, the old consumable is torn off first, and the new consumable is bonded);
9. the manipulator 11 moves to the workpiece turnover area 140 again, and is converted to a grabbing unit to grab the workpiece at the position B on the tray 141, and then moves to the secondary positioning jig 130 to accurately position, and after positioning, the workpiece is placed on the polishing jig 120 through the grabbing unit, and is polished by the polishing unit;
10. repeating the above actions, and completing all the processing of the workpieces at the positions A to K in the tray 141;
11. after the whole processing of the workpiece is completed, a prompting signal lamp on the rack platform 100 is turned on to prompt a user to replace the tray 141 and add new consumable materials on the consumable material automatic replacement mechanism 150.
The foregoing is only one use procedure in this embodiment, and may be adjusted according to actual situations.
Preferably, a storage cabinet is further disposed below the rack platform 100, and the storage cabinet can be used for placing workpieces to be processed or consumable materials of the automatic consumable material replacement mechanism 150, so that time for replacing the processed workpieces and consumable materials is reduced, and the speed is high.
In summary, the design of the invention is mainly characterized in that the automatic feeding device, the main feeding line of the product to be processed, a plurality of polishing robots arranged along the extending direction of the diversion line, the main receiving line of the processed product and the automatic receiving device are arranged to form a full-automatic polishing production line, thereby truly realizing an unmanned workshop, only needing regular equipment maintenance personnel, reducing the labor and the working intensity of workers and greatly improving the production efficiency and the product quality;
secondly, the automatic feeding device realizes automatic feeding of the product conveyor belt and removal and returning of empty trays, multiple layers of products can be placed at one time, labor intensity of workers is reduced, labor cost can be greatly saved, production efficiency and quality are effectively improved, grabbing points and the number of the grabbed trays are set by an internal program of a machine, the robot can automatically feed according to a set value, the operation efficiency of the robot is high, and the situation of stacking can be effectively avoided through an inductor on the conveyor belt after grabbing;
moreover, the polishing robot is improved in design, the workpiece is secondarily positioned through the secondary positioning jig, and then the workpiece is placed on the polishing jig by the polishing manipulator for polishing and polishing, so that the polishing robot is simple in structural design, high in positioning speed and high in accuracy, the production efficiency of the workpiece is improved, the cost is low, and the manpower is greatly reduced;
the whole automatic polishing production line covers all links of automatic feeding, automatic feeding and distribution, automatic discharging and collecting, automatic receiving and cleaning and the like, and the transfer among all links is also automatically realized.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical principles of the present invention are still within the scope of the technical solutions of the present invention.
Claims (7)
1. A full automatization polishing production line, its characterized in that: comprises an automatic feeding device, a main feeding line of a product to be processed, a main receiving line of a processed product and an automatic receiving device; wherein:
the main material feeding line of the product to be processed and the main material receiving line of the processed product are both product conveying belts, and are arranged at intervals up and down; a plurality of product to be processed distributing and receiving lines are arranged along the main product to be processed feeding line, and a plurality of processed product distributing and receiving lines are arranged along the main processed product receiving line, and the product to be processed distributing and receiving lines and the processed product distributing and receiving lines are arranged at an upper-lower interval in a one-to-one correspondence manner; a plurality of diversion feeding ends are arranged on the main feeding line of the product to be processed so as to be connected with the corresponding distributing line of the product to be processed; the main processed product receiving line is provided with a plurality of converging receiving ends for connecting corresponding processed product dividing and receiving lines;
the system comprises a to-be-processed product distributing line and a processed product distributing and receiving line which are arranged at intervals up and down, wherein the to-be-processed product distributing line and the processed product distributing and receiving line are a group of component lines, a plurality of polishing robots are arranged along the extending direction of the group of component lines, the feeding ends of the polishing robots are connected with the to-be-processed product distributing line, and the discharging ends of the polishing robots are connected with the processed product distributing and receiving line; the polishing robot comprises a frame platform, a polishing manipulator arranged on the frame platform, a polishing jig for polishing work, a secondary positioning jig for positioning by means of self weight of a workpiece, and a workpiece turnover area for placing the workpiece; the polishing main control unit is also included; the polishing manipulator is provided with a polishing grabbing unit and a polishing unit; the polishing manipulator is connected with an automatic driving device to control the reciprocating displacement of the polishing manipulator among the workpiece turnover area, the secondary positioning jig and the polishing jig; the secondary positioning jig comprises an inclined plate and two stop blocks arranged on the inclined plate, the inclined plate is obliquely arranged relative to the frame platform, the stop blocks are obliquely upwards arranged in an extending mode, the two stop blocks form a right angle, and the two stop blocks enclose a secondary positioning area on the inclined plate; the polishing jig is provided with an automatic adsorption positioning unit for positioning a workpiece; the polishing main control unit is respectively connected with the polishing grabbing unit, the polishing unit, the automatic driving device and the automatic adsorbing and positioning unit;
the automatic feeding device is arranged at the feeding end of the main feeding line of the product to be processed; the automatic feeding device comprises a feeding robot, an empty tray placing area and a material tray placing area; the feeding end of the main feeding line of the product to be processed is provided with an inductor for inducing the product to be in place; the feeding robot is provided with a feeding main control unit, a feeding robot claw and a displacement driving mechanism for controlling the feeding robot claw to reciprocate between the material tray placing area and the product conveying belt of the main feeding line of the product to be processed and between the material tray placing area and the empty tray placing area; the feeding machine gripper is provided with a feeding gripper seat, and a product sucking disc, a tray sucking disc and a tray sucking cylinder which are arranged on the feeding gripper seat, wherein the product sucking disc and the tray sucking disc are respectively arranged below the feeding gripper seat, the tray sucking cylinder comprises a cylinder body and a telescopic rod, the cylinder body is arranged on the feeding gripper seat, and the lower end of the telescopic rod is connected with the tray sucking disc; the feeding main control unit is respectively connected with the sensor, the displacement driving mechanism and the tray sucking cylinder;
the automatic material receiving device is arranged at the discharge end of the processed product distribution receiving material line and comprises a material receiving robot, wherein the material receiving robot is provided with a material receiving main control unit, a material receiving machine claw, a material receiving sucker and a turnover mechanism for controlling the 90-degree turnover of the material receiving sucker.
2. The full-automatic polishing production line according to claim 1, wherein: the main feeding line of the product to be processed is connected with the distributing line of the product to be processed, and the main receiving line of the processed product is connected with the distributing and receiving line of the processed product through a first material moving robot.
3. A fully automated polishing line according to claim 2, characterized in that: a first transfer robot is shared by a plurality of component lines to complete the connection between the main feed line of the product to be processed and the dispensing line of the product to be processed and between the main receiving line of the processed product and the dispensing receiving line of the processed product.
4. The full-automatic polishing production line according to claim 1, wherein: the feeding end of the polishing robot is connected with the product to be processed and the material distributing and receiving line of the processed product, the discharging end of the polishing robot is connected with the material distributing and receiving line of the processed product through second material moving robots, and each polishing robot is provided with a second material moving robot.
5. The full-automatic polishing production line according to claim 1, wherein: the automatic cleaning device is further arranged, and an automatic transfer device is connected between the automatic cleaning device and the automatic receiving device.
6. A fully automated polishing line according to claim 3, wherein: the first material moving robot is provided with a vision system.
7. The full-automatic polishing production line according to claim 1, wherein: the main material feeding line, the main material receiving line, the distributing material and the distributing material are respectively provided with a conveying driving device and a corresponding conveying controller.
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| CN201811474414.2A CN109333316B (en) | 2018-12-04 | 2018-12-04 | Full-automatic polishing production line |
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| CN110757220A (en) * | 2019-10-21 | 2020-02-07 | 东莞市鸿昱精密电子科技有限公司 | CNC automatic machining system and machining method thereof |
| CN110900093A (en) * | 2019-11-26 | 2020-03-24 | 广州创研工业技术研究院有限公司 | Be used for aerifing unloading equipment and workstation of cabinet welded |
| CN112454350B (en) * | 2020-10-19 | 2022-04-29 | 中国电子科技集团公司第三十八研究所 | High-precision rapid visual positioning system and method for multilayer disordered materials |
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