CN109877654B - Intelligent integrated machine tooling production system of many manipulators - Google Patents
Intelligent integrated machine tooling production system of many manipulators Download PDFInfo
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- CN109877654B CN109877654B CN201910216852.7A CN201910216852A CN109877654B CN 109877654 B CN109877654 B CN 109877654B CN 201910216852 A CN201910216852 A CN 201910216852A CN 109877654 B CN109877654 B CN 109877654B
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Abstract
The invention discloses an intelligent multi-manipulator integrated machining production system which comprises at least one first machining surface lathe and at least one second machining surface lathe matched with the first machining surface lathe, wherein conveying belt modules are arranged on the side parts of the first machining surface lathe and the second machining surface lathe, a feeding module is arranged on the side part of each first machining surface lathe, a manipulator module is arranged on each first machining surface lathe and the second machining surface lathe in a matched mode, a turnover module is arranged on the conveying belt module at the position matched with the first machining surface lathe, and a material blocking positioning module is arranged on the conveying belt module at the position matched with the second machining surface lathe. The intelligent multi-manipulator integrated machining production system has the advantages of being intelligent and high in automation degree, production efficiency can be improved, labor cost can be reduced in practical application, and large-scale automatic application is facilitated.
Description
Technical Field
The invention relates to the field of automatic machining production, in particular to an intelligent multi-manipulator integrated machining production system.
Background
In the field of machining, machining a workpiece often involves multiple processes, and different devices used in different machining processes complete the machining process. In the prior art, the above processes generally have the defects of low automation degree, low processing efficiency, high labor cost and the like, and the defects seriously limit the further realization of automatic production in the field.
In view of the above, the present invention provides a new technical solution to solve the existing technical drawbacks.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an intelligent multi-manipulator integrated machining production system, which solves the technical defects of low automation degree, low production efficiency, high labor cost and the like in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides an intelligent integrated machine tooling production system of multimachine tool hand, includes at least one first machined surface lathe and at least one second machined surface lathe that matches with first machined surface lathe, first machined surface lathe and second machined surface lathe lateral part are provided with the conveyer belt module, and material loading module is installed to each first machined surface lathe lateral part, and each first machined surface lathe and second machined surface lathe all form a complete set and are provided with the manipulator module, be provided with the turn-over module on the conveyer belt module in its position of cooperating first machined surface lathe, its position of cooperating second machined surface lathe of conveyer belt module is provided with the material stopping location module.
As an improvement of the above technical scheme, the feeding module comprises a feeding base and a rotary tray assembly and a jacking assembly which are mounted on the feeding base, the rotary tray assembly is provided with a plurality of rotary placing positions for placing the processing workpieces, and the jacking assembly can jack the processing workpieces placed on the rotary placing positions to a preset position to realize a feeding function.
As a further improvement of the above technical solution, the rotating tray assembly includes a rotating bearing seat, a feeding rotating motor and a rotating limiting seat, the rotating bearing seat is provided with a rotating bearing, the rotating bearing is provided with a rotating gear disc, an output end of the feeding rotating motor is provided with a rotating driving gear which is matched with the rotating gear disc and can drive the rotating gear disc to rotate, the upper portion of the rotating gear disc is provided with a rotating tray, the rotating tray is provided with a plurality of groups of material guiding devices which are uniformly distributed along the circumferential direction, each group of material guiding devices includes a material guiding central tube, a plurality of material guiding guide rods and a material guiding chassis which is penetrated in the material guiding central tube and can move along the material guiding rods, the rotating limiting seat is provided with a limiting cylinder and a limiting pull rod, the rotating tray is provided with a limiting clamping hole matched with the limiting pull rod, the output end of the limiting cylinder is connected to one end of the limiting pull rod and can drive the limiting pull rod to axially move and be clamped in the limiting clamping hole.
As a further improvement of the above technical scheme, the jacking assembly comprises a jacking motor and a jacking support frame, the jacking support frame is fixedly mounted on the feeding base, the upper end and the lower end of the jacking support frame are respectively provided with an upper synchronizing wheel and a lower synchronizing wheel, a feeding synchronous belt is arranged between the upper synchronizing wheel and the lower synchronizing wheel, the front side of the jacking support frame is provided with a feeding guide rail, a feeding sliding plate is mounted on the feeding guide rail and fixedly connected to the feeding synchronous belt through a connecting piece, a feeding plate is mounted on the feeding sliding plate, the output end of the jacking motor is connected with a feeding speed reducer and is connected to the lower synchronizing wheel through the feeding speed reducer, and a plurality of feeding air-avoiding through grooves used for the feeding plate to pass through are uniformly formed in the side edge of the rotary feeding plate.
As a further improvement of the above technical scheme, the manipulator module comprises a manipulator support frame and an X-axis moving module mounted on the manipulator support frame, wherein a Y-axis moving module is mounted on the X-axis moving module, a Z-axis moving module is mounted on the Y-axis moving module, and a material clamping jig assembly is mounted on the Z-axis moving module;
as the further improvement of the technical scheme, the clamping jig assembly comprises a manipulator chamfering cylinder installed at the output end of the Z-axis moving module, a jig installation plate is installed at the output end of the manipulator chamfering cylinder, a manipulator rotating cylinder and a first pneumatic claw group are installed on the jig installation plate, and a second pneumatic claw group is installed at the output end of the manipulator rotating cylinder.
As a further improvement of the above technical scheme, the X-axis moving module comprises an X-axis base mounted on the manipulator support frame, and an X-axis guide rail and an X-axis rack mounted on the X-axis base, wherein an X-axis slide carriage is mounted on the X-axis guide rail, an X-axis sliding mounting plate is arranged on the X-axis slide carriage, an X-axis reducer is mounted on the X-axis sliding mounting plate, an X-axis driving motor is mounted at the input end of the X-axis reducer, an X-axis gear is arranged at the output end of the X-axis reducer, the X-axis gear is meshed with the X-axis rack, and the X-axis driving motor can drive the X-axis sliding mounting plate to slide on the X-axis guide rail through the X-axis reducer, the X;
as a further improvement of the technical scheme, the Y-axis moving module comprises a Y-axis base fixedly mounted on the X-axis sliding mounting plate, and a Y-axis driving motor, a Y-axis screw nut pair and a Y-axis guide rail fixedly mounted on the Y-axis base, wherein a Y-axis sliding seat is arranged on the Y-axis guide rail, a Y-axis moving mounting plate is arranged on the Y-axis sliding seat, and a screw of the Y-axis screw nut pair is sleeved with a screw rod anti-collision glue;
as a further improvement of the technical scheme, the Z-axis moving module comprises a Z-axis lifting frame and a Z-axis base fixedly installed on the Y-axis moving installation plate, a Z-axis speed reducer is arranged on the Z-axis base, a Z-axis driving motor is installed at the input end of the Z-axis speed reducer, a Z-axis gear is arranged at the output end of the Z-axis speed reducer, a Z-axis guide rail and a Z-axis rack meshed with the Z-axis gear are installed on the side portion of the Z-axis lifting frame, the Z-axis guide rail is fixedly installed on the Y-axis moving installation plate through a Z-axis sliding seat, the Z-axis base is fixedly connected to a nut of the Y-axis screw nut pair, a Z-axis connection plate is installed at the lower end portion of the Z-axis lifting.
As a further improvement of the above technical scheme, the material blocking positioning module is mounted on the conveyor belt module and comprises a material blocking positioning module support frame, a positioning assembly, a lifting material clamping assembly and a material blocking assembly mounted on the material blocking positioning module support frame;
as above-mentioned technical scheme's further improvement, keep off the material subassembly and include that fixed mounting keeps off the material cylinder fixed plate on keeping off material positioning module support frame and install the fender material on keeping off the material cylinder fixed plate and drive actuating cylinder, the output fixed mounting that keeps off the material and drive actuating cylinder has a fender material bottom plate, it installs the reference column through keeping off material linear bearing to keep off the material bottom plate, the lower tip fixed mounting of reference column has the striker plate, be fixed with fender material initial point fixed block on the striker plate, striker plate has seted up on one side and keeps off the material bevel connection structure, be provided with first proximity switch on the fender material bottom plate, keep off material initial point fixed block lower part and install the second proximity switch.
As a further improvement of the above technical solution, the lifting material clamping assembly comprises a material clamping bottom plate fixedly mounted on the support frame of the material stopping and positioning module, the material clamping bottom plate is provided with a material clamping guide rail and a first material clamping cylinder, the material clamping guide rail is provided with a first material clamping slide block and a second material clamping slide block, an output end of the first material clamping cylinder is connected to the first material clamping slide block and can drive the first material clamping slide block to slide on the material clamping guide rail, the first material clamping slide block is provided with a second material clamping cylinder, an output end of the second material clamping cylinder is connected to the second material clamping slide block and can drive the second material clamping slide block to slide on the material clamping guide rail, the second material clamping slide block is provided with a material clamping rotating motor and a material clamping rotating shaft, a material clamping air claw group is mounted at a lower end of the material clamping rotating shaft, a material clamping driven synchronizing wheel is further mounted on the material clamping rotating shaft, an output end of the material clamping rotating motor is provided with a material clamping driving wheel, a clamping synchronous belt is wound between the clamping driving synchronous wheel and the clamping driven synchronous wheel, and the clamping rotary motor can drive the clamping rotary shaft and the clamping gas claw group to rotate through the clamping synchronous belt, the clamping driving synchronous wheel and the clamping driven synchronous wheel;
as a further improvement of the above technical solution, the positioning assembly includes a positioning assembly fixing plate fixed on the side of the conveyor belt module, and a positioning assembly guide rail and a positioning sliding cylinder both mounted on the positioning assembly fixing plate, the positioning assembly guide rail is provided with a positioning assembly sliding plate, the output end of the positioning sliding cylinder is connected to the positioning assembly sliding plate and can drive the positioning assembly sliding plate to slide on the positioning assembly guide rail, the upper part of the positioning assembly sliding plate is fixedly provided with a left and right adjusting plate, the end parts of the left and right adjusting plates are provided with a conversion positioning plate, and the conversion positioning plate is provided with a rotary positioning cylinder.
As the further improvement of above-mentioned technical scheme, the turn-over module includes fixed mounting the turn-over module support frame on the conveyer belt module, install turn-over chamfer fixing base on the turn-over module support frame, install turn-over chamfer cylinder on the turn-over chamfer fixing base, mounting panel in the middle of the turn-over is installed to the output of turn-over chamfer cylinder, install turn-over revolving cylinder on the mounting panel in the middle of the turn-over, turn-over die clamping cylinder is installed to turn-over revolving cylinder's output, turn-over die clamping cylinder's output is provided with the turn-over clamping jaw.
As a further improvement of the above technical scheme, the material inlet and outlet of the first and second surface-working lathes are both arranged at the top, the material inlet and outlet is provided with a material inlet and outlet door assembly, the material inlet and outlet door assembly comprises a material door chute and a sliding material door matched with the material door chute, the sliding material door is provided with a material door cylinder, the output end of the material door cylinder is directly or indirectly connected with the top of the first surface-working lathe or the second surface-working lathe, and an idler pulley group is arranged between the material door chute and the sliding material door.
The invention has the beneficial effects that: the invention provides an intelligent multi-manipulator integrated machining production system which realizes double-sided machining of workpieces through a first machining surface lathe, a second machining surface lathe, a conveying belt module, a feeding module, a manipulator module, a turn-over module and a material blocking positioning module.
In a word, the intelligent multi-manipulator integrated machining production system overcomes the technical defects of low automation degree, low production efficiency, high labor cost and the like in the prior art.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is an assembly schematic of the present invention;
FIG. 2 is a schematic view of the assembly of the loading module of the present invention;
FIG. 3 is a schematic view of the assembly of the rotating tray assembly of the present invention;
FIG. 4 is a schematic view of the mounting structure of the spacing cylinder of the present invention;
FIG. 5 is an assembled schematic view of a jacking assembly of the present invention;
FIG. 6 is an assembled view of a robot module according to the present invention;
FIG. 7 is a schematic view of the assembly of the clamping jig assembly of the present invention;
FIG. 8 is a schematic view of the assembly of the X-axis moving module of the present invention;
FIG. 9 is an assembled view of the Y-axis moving module of the present invention;
FIG. 10 is a schematic view of the assembly of the Z-axis moving module of the present invention;
FIG. 11 is an assembly view of the Z-axis motion module of the present invention at another angle;
fig. 12 is an assembly schematic view of the striker positioning module of the present invention;
fig. 13 is an assembly view of the dam assembly of the present invention;
FIG. 14 is an assembled view of the lifting and lowering clip assembly of the present invention;
FIG. 15 is an assembled view of the positioning assembly of the present invention;
FIG. 16 is a schematic view of the assembly of the flip module of the present invention;
fig. 17 is an assembly schematic of the access door assembly of the present invention.
Detailed Description
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the connection/connection relations referred to in the patent do not mean that the components are directly connected, but mean that a better connection structure can be formed by adding or reducing connection auxiliary components according to specific implementation conditions. The technical features of the invention can be combined interactively without conflicting with each other, see fig. 1-17.
An intelligent multi-manipulator integrated machining production system comprises at least one first machining surface lathe 1 and at least one second machining surface lathe 2 matched with the first machining surface lathe 1, wherein conveying belt modules 3 are arranged on the side portions of the first machining surface lathe 1 and the second machining surface lathe 2, a feeding module 4 is arranged on the side portion of each first machining surface lathe 1, a manipulator module 5 is arranged on each first machining surface lathe 1 and the second machining surface lathe 2 in a matched mode, a turnover module 6 is arranged on the conveying belt module 3 at the position where the conveying belt module is matched with the first machining surface lathe 1, and a material blocking positioning module 7 is arranged on the conveying belt module 3 at the position where the conveying belt module is matched with the second machining surface lathe 2,
when the invention is implemented, a blank material of a processed workpiece is manually placed in the feeding module 4, and the manipulator module 5 is shifted to clamp the blank material in the feeding module 4 and moves to the position above the first machined surface lathe 1 to wait for a completion signal sent by the first machined surface lathe 1; the manipulator clamp takes the rough blank and moves to the upper part of the 1# lathe chuck to wait for a lathe machining completion signal; after the manipulator module 5 receives a machining completion signal of the first machined surface lathe 1, the manipulator module 5 moves in a combined manner to clamp a product with a machined first surface in the first machined surface lathe 1, after the product is clamped, the manipulator module 5 moves in the first machined surface lathe 1 and buries a blank, after the blank is buried, the manipulator module 5 moves to withdraw from the first machined surface lathe 1, the manipulator module 5 sends a signal to the first machined surface lathe 1, and the first machined surface lathe 1 continues machining another blank; further, the manipulator module 5 puts the workpiece for finishing the first processing surface processing work on the conveyer belt module 3, when the workpiece needs to be turned over, the workpiece is turned over through the turning-over module 6, and the workpiece is conveyed to the next process through the conveyer belt module 3.
When the workpiece is conveyed to the second machined surface lathe 2 along the conveyor belt module 3, the material blocking positioning module 7 blocks the workpiece and realizes positioning, after the workpiece is positioned, the material blocking positioning module 7 sends a signal to the corresponding manipulator module 5, and the manipulator module 5 corresponding to the second machined surface lathe 2 clamps the positioned workpiece and moves to the position above the second machined surface lathe 2 to wait for the workpiece to be positioned
The signal is accomplished in the processing of second machined surface lathe 2, and after the signal is accomplished in the processing of second machined surface lathe 2 was received to corresponding manipulator module 5, manipulator module 5 presss from both sides and gets the work piece that has accomplished the second surface processing and buries the work piece that needs to carry out the second processing, and after the work piece was buried the corresponding position of second machined surface lathe 2, manipulator module 5 pressed from both sides and gets the work piece that has accomplished the second surface processing and the work piece is placed on conveyer belt module 3.
In this embodiment, the first surface lathe 1 and the second surface lathe 2 each have 3 lathes, and an implementer can set the number of various devices to match them according to a specific machining time, so that the whole production system can maximize the production efficiency, and has an advantage of high application flexibility.
Preferably, the feeding module 4 includes a feeding base 41, and a rotating tray assembly 42 and a jacking assembly 44 which are installed on the feeding base 41, the rotating tray assembly 42 has a plurality of rotating placement positions for placing the processing workpieces, and the jacking assembly 44 can jack the processing workpieces placed on the rotating placement positions to a preset position to realize the feeding function.
Preferably, the rotating tray assembly 42 includes a rotating bearing seat 421 mounted on the feeding base 41, a feeding rotating motor 422 and a rotating limiting seat 423, the rotating bearing seat 421 is mounted with a rotating bearing, the rotating bearing is mounted with a rotating toothed disc 424, an output end of the feeding rotating motor 422 is provided with a rotating driving gear 425 matching the rotating toothed disc 424 and driving the rotating toothed disc 424 to rotate, the upper portion of the rotating toothed disc 424 is mounted with a rotating tray 426, the rotating tray 426 is provided with a plurality of sets of material guiding devices uniformly distributed along the circumferential direction, each set of material guiding device includes a material guiding central tube 427, a plurality of material guiding rods 428 and a material guiding base 429 penetrating through the material guiding central tube 427 and capable of moving along the material guiding rods 428, the rotating limiting seat 423 is mounted with a limiting cylinder 430 and a limiting pull rod 431, the rotating tray 426 is provided with a limiting clamping hole 432 matching the limiting pull rod 431, the output end of the limit cylinder 430 is connected to one end of the limit pull rod 431 and can drive the limit pull rod 431 to axially move and be clamped in the limit clamping hole 432.
Preferably, the jacking assembly 44 includes a jacking motor 441 and a jacking support frame 442 fixedly mounted on the feeding base 41, the upper and lower ends of the jacking support frame 442 are respectively provided with an upper synchronizing wheel 443 and a lower synchronizing wheel 444, a feeding synchronous belt is wound between the upper synchronizing wheel 443 and the lower synchronizing wheel 444, the front side of the jacking support frame 442 is provided with a feeding guide rail 445, a feeding sliding plate 446 is mounted on the feeding guide rail 445, the feeding sliding plate 446 is fixedly connected to the feeding synchronous belt through a connecting member, a feeding plate 447 is mounted on the feeding sliding plate 446, the output end of the jacking motor 441 is connected with a feeding speed reducer 448 and is connected to the lower synchronizing wheel 444 through the feeding speed reducer 448, and a plurality of feeding space-avoiding through grooves 433 for the feeding plate 447 to pass through are uniformly formed along the side of the rotary tray 426.
Preferably, the manipulator module 5 comprises a manipulator support frame 51 and an X-axis moving module 52 mounted on the manipulator support frame 51, a Y-axis moving module 53 is mounted on the X-axis moving module 52, a Z-axis moving module 54 is mounted on the Y-axis moving module 53, and a material clamping jig assembly 55 is mounted on the Z-axis moving module 54;
preferably, the clamping jig assembly 55 comprises a manipulator chamfering cylinder 551 installed at the output end of the Z-axis moving module 54, a jig mounting plate 552 is installed at the output end of the manipulator chamfering cylinder 551, a manipulator rotating cylinder 553 and a first air gripper group 554 are installed on the jig mounting plate 552, and a second air gripper group 555 is installed at the output end of the manipulator rotating cylinder 553.
Preferably, the X-axis moving module 52 includes an X-axis base 521 mounted on the manipulator support frame 51, and an X-axis guide rail 522 and an X-axis rack 523 mounted on the X-axis base 521, where the X-axis guide rail 522 is mounted with an X-axis slide carriage 524, the X-axis slide carriage 524 is provided with an X-axis sliding mounting plate 525, the X-axis sliding mounting plate 525 is mounted with an X-axis reducer 526, an input end of the X-axis reducer 526 is mounted with an X-axis driving motor 527, an output end of the X-axis reducer 526 is provided with an X-axis gear 528, the X-axis gear 528 is engaged with the X-axis rack 523, and the X-axis driving motor 527 can drive the X-axis sliding mounting plate 525 to slide on the X-axis guide rail 522 through the X-axis reducer 526, the X-axis gear 528, and;
preferably, the Y-axis moving module 53 includes a Y-axis base 531 fixedly mounted on the X-axis sliding mounting plate 525, a Y-axis driving motor 532 fixedly mounted on the Y-axis base 531, a Y-axis screw nut pair 533, and a Y-axis guide rail 534, the Y-axis guide rail 534 is provided with a Y-axis sliding base 535, the Y-axis sliding base 535 is provided with a Y-axis moving mounting plate 536, and a screw of the Y-axis screw nut pair 533 is sleeved with a screw anti-collision rubber 537;
preferably, the Z-axis moving module 54 includes a Z-axis crane 541 and a Z-axis base 542 fixedly mounted on the Y-axis moving mounting plate 536, the Z-axis base 542 is provided with a Z-axis reducer 543, an input end of the Z-axis reducer 543 is provided with a Z-axis driving motor 544, an output end of the Z-axis reducer 543 is provided with a Z-axis gear 545, a side of the Z-axis crane 541 is provided with a Z-axis guide rail 546 and a Z-axis rack 547 engaged with the Z-axis gear 545, the Z-axis guide rail 546 is fixedly mounted on the Y-axis moving mounting plate 536 through a Z-axis slider 548, the Z-axis base 542 is fixedly connected to a nut of the Y-axis screw nut pair 533, a Z-axis connecting plate 549 is mounted at a lower end of the Z-axis crane 541, and the material clamping jig assembly 55 is mounted on the.
Preferably, the material blocking positioning module 7 is mounted on the conveyor belt module 3 and comprises a material blocking positioning module support frame 71, a positioning assembly 72, a lifting material clamping assembly 74 and a material blocking assembly 73 mounted on the material blocking positioning module support frame 71;
preferably, the material blocking assembly 73 comprises a material blocking cylinder fixing plate 731 fixedly mounted on the material blocking positioning module supporting frame 71 and a material blocking driving cylinder 732 mounted on the material blocking cylinder fixing plate 731, an output end fixed mounting of the material blocking driving cylinder 732 is provided with a material blocking bottom plate 733, the material blocking bottom plate 733 is provided with a positioning column 735 through a material blocking linear bearing 734, the lower end part fixed mounting of the positioning column 735 is provided with a material blocking plate 736, a material blocking original point fixing block 737 is fixed on the material blocking plate 736, a material blocking bevel opening structure is arranged on one side of the material blocking plate 736, a first proximity switch 738 is arranged on the material blocking bottom plate 733, and a second proximity switch 739 is mounted on the lower part of the material blocking original point fixing block 737.
Preferably, the lifting material clamping assembly 74 includes a material clamping bottom plate 741 fixedly mounted on the material stopping and positioning module supporting frame 71, the material clamping bottom plate 741 is provided with a material clamping guide rail 742 and a first material clamping cylinder 743, the material clamping guide rail 742 is provided with a first material clamping slider 744 and a second material clamping slider 745, an output end of the first material clamping cylinder 743 is connected to the first material clamping slider 744 and can drive the first material clamping slider 744 to slide on the material clamping guide rail 742, the first material clamping slider 744 is provided with a second material clamping cylinder 746, an output end of the second material clamping cylinder 746 is connected to the second material clamping slider 745 and can drive the second material clamping slider 745 to slide on the material clamping guide rail 742, the second material clamping slider 745 is provided with a material clamping rotating motor 747 and a material clamping rotating shaft 748, a material clamping air claw group 749 is mounted at a lower end of the material clamping rotating shaft 748, a material clamping driven synchronizing wheel 750 is further mounted on the material clamping rotating shaft 748, a material clamping driving synchronous wheel 751 is arranged at the output end of the material clamping rotary motor 747, a material clamping synchronous belt 752 is wound between the material clamping driving synchronous wheel 751 and the material clamping driven synchronous wheel 750, and the material clamping rotary motor 747 can drive the material clamping rotary shaft 748 and the material clamping air claw group 749 to rotate through the material clamping synchronous belt 752, the material clamping driving synchronous wheel 751 and the material clamping driven synchronous wheel 750;
preferably, the positioning assembly 72 includes a positioning assembly fixing plate 721 fixed to the side of the conveyor belt module 3, a positioning assembly guide rail 722 mounted on the positioning assembly fixing plate 721, and a positioning sliding cylinder 723, the positioning assembly guide rail 722 is provided with a positioning assembly sliding plate 724, an output end of the positioning sliding cylinder 723 is connected to the positioning assembly sliding plate 724 and can drive the positioning assembly sliding plate 724 to slide on the positioning assembly guide rail 722, a left and right adjusting plate 725 is fixedly mounted on the upper portion of the positioning assembly sliding plate 724, a conversion positioning plate 726 is mounted at an end of the left and right adjusting plate 725, and a rotation positioning cylinder 727 is mounted on the conversion positioning plate 726.
Preferably, turn-over module 6 includes fixed mounting at the turn-over module support frame 61 on conveyer belt module 3, install turn-over chamfer fixing base 62 on the turn-over module support frame 61, install turn-over chamfer cylinder 63 on the turn-over chamfer fixing base 62, mounting panel 64 in the middle of the turn-over is installed to turn-over chamfer cylinder 63's output, install turn-over revolving cylinder 65 in the middle of the turn-over on mounting panel 64, turn-over die clamping cylinder 66 is installed to turn-over revolving cylinder 65's output, turn-over clamping cylinder 66's output is provided with turn-over clamping jaw 67.
Preferably, the material inlet and outlet of the first processing surface lathe 1 and the second processing surface lathe 2 are both arranged at the top, the material inlet and outlet is provided with a material inlet and outlet door assembly 8, the material inlet and outlet door assembly 8 comprises a material door sliding groove 81 and a sliding material door 82 matched with the material door sliding groove 81, the sliding material door 82 is provided with a material door air cylinder 83, the output end of the material door air cylinder 83 is directly or indirectly connected with the top of the first processing surface lathe 1 or the second processing surface lathe 2, and an idler pulley group 84 is arranged between the material door sliding groove 81 and the sliding material door 82.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides an intelligent integrated machine tooling production system of many manipulators which characterized in that: the automatic material conveying device comprises at least one first processing surface lathe (1) and at least one second processing surface lathe (2) matched with the first processing surface lathe (1), wherein a conveying belt module (3) is arranged on the side parts of the first processing surface lathe (1) and the second processing surface lathe (2), a feeding module (4) is arranged on the side part of each first processing surface lathe (1), a manipulator module (5) is arranged on each first processing surface lathe (1) and the second processing surface lathe (2) in a matched mode, a turn-over module (6) is arranged on the conveying belt module (3) at the position matched with the first processing surface lathe (1), and a material stopping and positioning module (7) is arranged at the position matched with the second processing surface lathe (2) of the conveying belt module (3);
the material blocking positioning module (7) is arranged on the conveyor belt module (3) and comprises a material blocking positioning module support frame (71), a positioning assembly (72), a lifting material clamping assembly (74) and a material blocking assembly (73) arranged on the material blocking positioning module support frame (71);
the material blocking assembly (73) comprises a material blocking cylinder fixing plate (731) fixedly mounted on a material blocking positioning module supporting frame (71) and a material blocking driving cylinder (732) mounted on the material blocking cylinder fixing plate (731), the output end of the material blocking driving cylinder (732) is fixedly mounted with a material blocking bottom plate (733), the material blocking bottom plate (733) is provided with a positioning column (735) through a material blocking linear bearing (734), the lower end part of the positioning column (735) is fixedly mounted with a material blocking plate (736), the material blocking plate (736) is fixedly provided with a material blocking original point fixing block (737), one side of the material blocking plate (736) is provided with a material blocking bevel connection structure, the material blocking bottom plate (733) is provided with a first proximity switch (738), and the lower part of the material blocking original point fixing block (737) is provided with a second proximity switch (739);
the lifting clamping assembly (74) comprises a clamping bottom plate (741) fixedly mounted on a supporting frame (71) of the material blocking positioning module, a clamping guide rail (742) and a first clamping cylinder (743) are arranged on the clamping bottom plate (741), a first clamping slide block (744) and a second clamping slide block (745) are arranged on the clamping guide rail (742), the output end of the first clamping cylinder (743) is connected to the first clamping slide block (744) and can drive the first clamping slide block (744) to slide on the clamping guide rail (742), a second clamping cylinder (746) is arranged on the first clamping slide block (744), the output end of the second clamping cylinder (746) is connected to the second clamping slide block (745) and can drive the second clamping slide block (745) to slide on the clamping guide rail (742), a clamping rotating motor (747) and a clamping rotating shaft (748) are mounted on the second clamping slide block (745), the material clamping device is characterized in that a material clamping air claw group (749) is installed at the lower end part of the material clamping rotating shaft (748), a material clamping driven synchronizing wheel (750) is further installed on the material clamping rotating shaft (748), a material clamping driving synchronizing wheel (751) is arranged at the output end of the material clamping rotating motor (747), a material clamping synchronous belt (752) is wound between the material clamping driving synchronizing wheel (751) and the material clamping driven synchronizing wheel (750), and the material clamping rotating motor (747) can drive the material clamping rotating shaft (748) and the material clamping air claw group (749) to rotate through the material clamping synchronous belt (752), the material clamping driving synchronizing wheel (751) and the material clamping driven synchronizing wheel (750);
the positioning assembly (72) comprises a positioning assembly fixing plate (721) fixed on the side of the conveyor belt module (3), and a positioning assembly guide rail (722) and a positioning sliding cylinder (723) which are arranged on the positioning assembly fixing plate (721), wherein the positioning assembly guide rail (722) is provided with a positioning assembly sliding plate (724), the output end of the positioning sliding cylinder (723) is connected to the positioning assembly sliding plate (724) and can drive the positioning assembly sliding plate (724) to slide on the positioning assembly guide rail (722), a left adjusting plate and a right adjusting plate (725) are fixedly arranged on the upper portion of the positioning assembly sliding plate (724), a conversion positioning plate (726) is arranged at the end portion of the left adjusting plate and the right adjusting plate (725), and a rotary positioning cylinder (727) is arranged on the.
2. The intelligent multi-manipulator integrated machining production system according to claim 1, wherein: the feeding module (4) comprises a feeding base (41) and a rotary material tray assembly (42) and a jacking assembly (44) which are arranged on the feeding base (41), wherein the rotary material tray assembly (42) is provided with a plurality of rotary placing positions for placing processing workpieces, and the jacking assembly (44) can jack the processing workpieces placed on the rotary placing positions to a preset position to realize the feeding function.
3. The intelligent multi-manipulator integrated machining production system according to claim 2, wherein: the rotary charging tray assembly (42) comprises a rotary bearing seat (421) arranged on a charging base (41), a charging rotary motor (422) and a rotary limiting seat (423), wherein the rotary bearing seat (421) is provided with a rotary bearing, a rotary gear disc (424) is arranged on the rotary bearing, the output end of the charging rotary motor (422) is provided with a rotary driving gear (425) which is matched with the rotary gear disc (424) and can drive the rotary gear disc (424) to rotate, the upper part of the rotary gear disc (424) is provided with a rotary charging tray (426), the rotary charging tray (426) is provided with a plurality of groups of material guiding devices which are uniformly distributed along the circumferential direction, each group of material guiding devices comprises a material guiding central pipe (427), a plurality of material guiding guide rods (428) and a material guiding chassis (429) which is arranged in the material guiding central pipe (427) in a penetrating way and can move along the material guiding rods (428), install spacing cylinder (430) and spacing pull rod (431) on rotatory spacing seat (423), seted up the cooperation on rotatory charging tray (426) spacing card hole (432) of spacing pull rod (431), the output of spacing cylinder (430) is connected to spacing pull rod (431) one end and can drive spacing pull rod (431) axial displacement and block in spacing card hole (432).
4. The intelligent multi-manipulator integrated machining production system of claim 3, wherein: the jacking assembly (44) comprises a jacking motor (441) and a jacking support frame (442) which are fixedly arranged on the loading base (41), the upper end and the lower end of the jacking support frame (442) are respectively provided with an upper synchronizing wheel (443) and a lower synchronizing wheel (444), a feeding synchronous belt is wound between the upper synchronous wheel (443) and the lower synchronous wheel (444), a feeding guide rail (445) is arranged at the front side of the jacking support frame (442), a feeding sliding plate (446) is arranged on the feeding guide rail (445), the feeding sliding plate (446) is fixedly connected to the feeding synchronous belt through a connecting piece, a feeding plate (447) is installed on the feeding sliding plate (446), the output end of the jacking motor (441) is connected with a feeding speed reducer (448) and is connected to the lower synchronizing wheel (444) through the feeding speed reducer (448), the side edge of the rotary material tray (426) is uniformly provided with a plurality of feeding and clearance through grooves (433) for the feeding plate (447) to pass through.
5. The intelligent multi-manipulator integrated machining production system according to claim 1, wherein: the manipulator module (5) comprises a manipulator support frame (51) and an X-axis moving module (52) arranged on the manipulator support frame (51), a Y-axis moving module (53) is arranged on the X-axis moving module (52), a Z-axis moving module (54) is arranged on the Y-axis moving module (53), and a material clamping jig assembly (55) is arranged on the Z-axis moving module (54);
press from both sides material tool subassembly (55) including installing manipulator chamfer cylinder (551) at Z axle removal module (54) output, tool mounting panel (552) are installed to the output of manipulator chamfer cylinder (551), install manipulator revolving cylinder (553) and first gas claw group (554) on tool mounting panel (552), second gas claw group (555) are installed to the output of manipulator revolving cylinder (553).
6. The intelligent multi-manipulator integrated machining production system of claim 5, wherein: the X-axis moving module (52) comprises an X-axis base (521) arranged on the manipulator supporting frame (51), an X-axis guide rail (522) and an X-axis rack (523) which are arranged on the X-axis base (521), an X-axis sliding seat (524) is arranged on the X-axis guide rail (522), an X-axis sliding installation plate (525) is arranged on the X-axis sliding seat (524), an X-axis speed reducer (526) is arranged on the X-axis sliding mounting plate (525), an X-axis driving motor (527) is arranged at the input end of the X-axis speed reducer (526), the output end of the X-axis speed reducer (526) is provided with an X-axis gear (528), the X-axis gear (528) is meshed with the X-axis rack (523), and the X-axis driving motor (527) can drive the X-axis sliding mounting plate (525) to slide on the X-axis guide rail (522) through the X-axis speed reducer (526), the X-axis gear (528) and the X-axis rack (523);
the Y-axis moving module (53) comprises a Y-axis base (531) fixedly mounted on an X-axis sliding mounting plate (525), a Y-axis driving motor (532), a Y-axis screw nut pair (533) and a Y-axis guide rail (534) fixedly mounted on the Y-axis base (531), wherein a Y-axis sliding seat (535) is arranged on the Y-axis guide rail (534), the Y-axis moving mounting plate (536) is arranged on the Y-axis sliding seat (535), and a screw rod of the Y-axis screw nut pair (533) is sleeved with a screw rod anti-collision glue (537);
the Z-axis moving module (54) comprises a Z-axis lifting frame (541) and a Z-axis base (542) fixedly arranged on the Y-axis moving mounting plate (536), a Z-axis speed reducer (543) is arranged on the Z-axis base (542), a Z-axis driving motor (544) is arranged at the input end of the Z-axis speed reducer (543), a Z-axis gear (545) is arranged at the output end of the Z-axis speed reducer (543), a Z-axis guide rail (546) and a Z-axis rack (547) meshed with the Z-axis gear (545) are arranged on the side part of the Z-axis lifting frame (541), the Z-axis guide rail (546) is fixedly arranged on the Y-axis movable mounting plate (536) through a Z-axis sliding seat (548), the Z-axis base (542) is fixedly connected to the nut of the Y-axis screw nut pair (533), a Z-axis connecting plate (549) is arranged at the lower end part of the Z-axis lifting frame (541), the material clamping jig assembly (55) is installed on the Z-axis connecting plate (549).
7. The intelligent multi-manipulator integrated machining production system according to claim 1, wherein: turn-over module (6) include turn-over module support frame (61) of fixed mounting on conveyer belt module (3), install turn-over chamfer fixing base (62) on turn-over module support frame (61), install turn-over chamfer cylinder (63) on turn-over chamfer fixing base (62), mounting panel (64) in the middle of the turn-over is installed to the output of turn-over chamfer cylinder (63), install turn-over revolving cylinder (65) in the middle of the turn-over on mounting panel (64), turn-over die clamping cylinder (66) are installed to the output of turn-over revolving cylinder (65), the output of turn-over die clamping cylinder (66) is provided with turn-over clamping jaw (67).
8. The intelligent multi-manipulator integrated machining production system according to claim 1, wherein: the feeding and discharging ports of the first machined surface lathe (1) and the second machined surface lathe (2) are arranged at the tops, the feeding and discharging ports are respectively provided with a feeding and discharging door assembly (8), the feeding and discharging door assembly (8) comprises a material door sliding groove (81) and a sliding material door (82) matched with the material door sliding groove (81), a material door air cylinder (83) is installed on the sliding material door (82), the output end of the material door air cylinder (83) is directly or indirectly connected with the tops of the first machined surface lathe (1) or the second machined surface lathe (2), and an idler pulley group (84) is arranged between the material door sliding groove (81) and the sliding material door (82).
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| CN111069711B (en) * | 2019-12-26 | 2020-08-25 | 淮阴工学院 | Automatic feeding and discharging manipulator device of numerical control gear milling machine |
| CN111451843B (en) * | 2020-04-23 | 2025-02-07 | 浙江维克机械科技有限公司 | Tap intelligent manufacturing production line |
| CN114918740A (en) * | 2022-05-30 | 2022-08-19 | 玉环普天单向器有限公司 | Isolator output shaft production line |
| CN115156975A (en) * | 2022-07-09 | 2022-10-11 | 上海通成企业发展有限公司 | Automatic turning equipment and automatic turning process |
| CN118288111A (en) * | 2024-05-14 | 2024-07-05 | 正代(广东)机械科技有限公司 | A machine tool linkage production line and control method thereof |
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