CN110103034B - Automatic milling and cleaning assembly line for automobile skylight guide rail and working method - Google Patents
Automatic milling and cleaning assembly line for automobile skylight guide rail and working method Download PDFInfo
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- CN110103034B CN110103034B CN201910515789.7A CN201910515789A CN110103034B CN 110103034 B CN110103034 B CN 110103034B CN 201910515789 A CN201910515789 A CN 201910515789A CN 110103034 B CN110103034 B CN 110103034B
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- 238000003801 milling Methods 0.000 title claims abstract description 21
- 238000004140 cleaning Methods 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims description 8
- 238000007664 blowing Methods 0.000 claims abstract description 84
- 238000005498 polishing Methods 0.000 claims abstract description 67
- 238000007599 discharging Methods 0.000 claims abstract description 15
- 210000000078 claw Anatomy 0.000 claims description 25
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 12
- 229910052782 aluminium Inorganic materials 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000227 grinding Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Feeding Of Workpieces (AREA)
Abstract
The invention discloses an automatic milling and cleaning assembly line for an automobile skylight guide rail, which is characterized in that: the device comprises a feeding conveyor, a multifunctional manipulator, a middle rotary table, a carrying manipulator, a first processing center, a second processing center, a first chip blowing device, a polishing table, a polishing manipulator, a second chip blowing device, a discharging conveyor and a fence. Has the advantages of high precision, high efficiency, energy saving and safety.
Description
Technical Field
The invention relates to the technical field of skylight guide rail production equipment, in particular to milling and cleaning equipment for a skylight guide rail.
Background
The sunroof is installed in the roof, can make the interior air circulation of car effectively, increases the entering of fresh air, and the sunroof also can open the field of vision and remove the shooting demand of photographic shooting simultaneously. The automobile skylight guide rail is a frame structure part of the automobile skylight, and is two symmetrical left and right, and after the stamping forming is finished, the automobile skylight guide rail also needs to be subjected to end sawing and milling so as to obtain an opening structure required by assembly. At present, the milling automation degree of the automobile skylight guide rail is not high, a large amount of manpower and material resources are required to be consumed, and the economic benefit and the working efficiency are required to be improved.
Therefore, how to improve the existing milling equipment for the sunroof rail to overcome the above problems is a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide an automatic milling and cleaning assembly line for a high-precision, efficient, energy-saving and safe automobile skylight guide rail.
Another object of the present invention is to provide a method of operating the above pipeline.
Still another object of the present invention is to provide a feeding conveyor with a simple structure and accurate positioning.
The invention also aims to provide a chip blowing device which is efficient, environment-friendly and good in cleaning effect.
Still another object of the present invention is to provide a multifunctional manipulator with multiple functions and reasonable arrangement.
In order to achieve the above purpose, the invention adopts the following technical scheme: an automatic milling and cleaning assembly line for a sunroof guide rail, which is characterized in that: the device comprises a feeding conveyor, a multifunctional manipulator, a middle rotary table, a carrying manipulator, a first processing center, a second processing center, a first chip blowing device, a polishing table, a polishing manipulator, a second chip blowing device, a discharging conveyor and a fence; and a protective door is arranged on the fence. The arrangement of the protective door is convenient for the regular work such as checking, maintaining, cleaning and the like on the assembly line.
The multifunctional manipulator, the transfer table, the carrying manipulator, the first machining center, the second machining center, the first chip blowing device, the polishing table, the polishing manipulator and the second chip blowing device are all positioned in the fence;
the front half part of the feeding conveyor is positioned outside the fence, and the rear half part of the feeding conveyor is positioned in the fence; placing a workpiece on the feeding conveyor by a worker, wherein the feeding conveyor can convey the workpiece to be processed from outside the fence to inside the fence;
the multifunctional manipulator can be respectively extended to the feeding conveyor, the transfer table, the polishing table, the second chip blowing device and the discharging conveyor; the multifunctional manipulator can convey the workpiece from the feeding conveyor to the transfer table;
the transfer table is positioned between the multifunctional manipulator and the carrying manipulator and can be used for placing workpieces;
the handling manipulator can extend to the transfer table, the first machining center, the second machining center and the first chip blowing device respectively; the conveying manipulator can convey the workpiece from the transfer table to the first processing center and the second processing center;
the first machining center and the second machining center are arranged oppositely, and the first machining center and the second machining center can mill a workpiece;
the first chip blowing device is used for blowing off aluminum chips and milling liquid from the milled workpiece; the conveying manipulator can convey workpieces from the first machining center and the second machining center to the first chip blowing device;
the polishing table can be used for placing a workpiece to be polished; the conveying manipulator can convey the workpiece from the first chip blowing device to the transfer table, and the multifunctional manipulator can convey the workpiece from the transfer table to the polishing table;
the polishing manipulator can extend to the polishing table and is used for polishing a workpiece;
the second scrap blowing device is used for blowing aluminum scraps off the polished workpiece; the multifunctional manipulator can convey the workpiece from the polishing table to the second chip blowing device;
the front half part of the blanking conveyor is positioned in the fence, and the rear half part of the blanking conveyor is positioned outside the fence; the multifunctional manipulator can carry the workpiece from the second chip blowing device to the blanking conveyor, the blanking conveyor conveys the processed workpiece from the inside of the fence to the outside of the fence, and the processed workpiece is taken down from the blanking conveyor by a worker.
Preferably, the blanking conveyor is provided with two blanking conveyors and is arranged side by side; the two blanking conveyors are used for conveying the left workpiece and the right workpiece respectively. Because the sunroof guide rail is divided into two symmetrical left and right sides, the split blanking is convenient for workers to split the sunroof guide rail, and the workload of the workers is reduced.
As an improvement, the multifunctional manipulator is also provided with a polishing hand, and can be cooperated with the polishing manipulator to polish the workpiece on the polishing table. On the one hand, the polishing efficiency is improved, and on the other hand, the utilization rate of the multifunctional manipulator is improved.
Specifically, the feeding conveyor comprises a frame body, a driving motor, a driving belt, a connecting rod, a workpiece conveying belt, a clamp block and a detection sensor; the workpiece conveying belts are arranged on the frame body, the driving motor is arranged on the frame body and drives the connecting rods to rotate through the transmission belts, and the connecting rods synchronously drive the workpiece conveying belts on two sides to rotate;
the clamp block is detachably arranged on the workpiece conveying belt through bolts, and one or two positioning columns are detachably arranged on the clamp block; the clamp blocks with one positioning column and the clamp blocks with two positioning columns are alternately arranged on the workpiece conveying belt at the same side; one fixture block is provided with one positioning column, and the other fixture block is provided with two positioning columns; the left workpiece and the right workpiece are transversely alternately and reversely arranged on the clamp block;
the detection sensor is arranged at the tail end of the frame body and used for detecting that the workpiece is conveyed to a fixed point so as to guide the multifunctional manipulator to grasp the workpiece.
The feeding conveyor with the structure can simultaneously and orderly place left and right workpieces on the workpiece conveying belt, so that the multifunctional manipulator can accurately grab the corresponding workpieces, and grabbing errors are avoided.
As an improvement, a plurality of support ring feet are arranged at the bottom of the frame body and are connected to the frame body in a threaded manner; the frame body is provided with an adjusting groove, and one end of the workpiece conveying belt is slidably arranged in the adjusting groove. The support ring feet are used for supporting equipment and adjusting levelness of the equipment.
Specifically, the multifunctional manipulator comprises a base, a mechanical arm and a working hand; the base is fixedly arranged on the ground, the mechanical arm is arranged on the base, the mechanical arm can move randomly in a three-dimensional space, and the working hand is arranged at the front end of the mechanical arm;
the working hand comprises a mounting flange, a shell, parallel air claws, workpiece clamping claws, a sensor, a power head support, a flexible power head and a polishing tool, wherein the mounting flange is connected with the mechanical arm, the shell is fixedly arranged on the mounting flange, the parallel air claws and the workpiece clamping claws are two corresponding groups, the parallel air claws are arranged in the shell, the workpiece clamping claws are arranged on the front side of the shell, the parallel air claws drive the workpiece clamping claws to clamp, the sensor is arranged near the workpiece clamping claws and used for detecting whether a workpiece is clamped in place or not, the power head support is fixedly arranged on the upper side of the shell, the flexible power head is fixedly arranged on the power head support, the polishing tool is arranged on the flexible power head, and the flexible power head drives the polishing tool to move.
First, the power head support, the flexible power head and the polishing cutter form a polishing hand, so that the polishing efficiency can be improved, and the utilization rate of the multifunctional manipulator can be improved. In addition, the polishing hand and the grabbing hand are respectively arranged on the upper side and the front side of the shell, so that the polishing hand and the grabbing hand work respectively without being affected.
The first chip blowing device and the second chip blowing device have the same structure and comprise a body frame, a clamp, a movable frame, a driving device and a chip receiving vehicle;
the body frame is provided with an upright post arranged along the vertical direction, and the clamp is arranged at two ends of the upright post and used for fixing a workpiece;
the movable frame is arranged on the upright post in a sliding manner along the vertical direction, a chip blowing area is arranged on the inner side of the movable frame, a plurality of gas spray heads are arranged in the chip blowing area, and the gas spray heads are connected with a gas pipe; when the movable frame slides on the upright post, the workpiece passes through the scrap blowing area, so that the gas spray head scans and blows the workpiece in the vertical direction;
the driving device is arranged on the body frame and is used for driving the movable frame to slide on the upright post;
the chip receiving trolley is positioned below the body frame and is used for receiving the blown aluminum chips or milling liquid.
The chip blowing device can utilize the gas spray heads of the multiple groups to carry out scanning type flushing on the workpiece, can blow all places of the workpiece, and ensures that chips can be blown cleanly.
Further specifically, the driving device comprises a fixed seat, a stepping motor, an upper gear assembly, a lower gear assembly and a conveying chain; the fixed seat is fixedly arranged at the upper end of the body frame, the stepping motor is arranged on the fixed seat, the upper gear assembly is rotationally arranged on the fixed seat, the lower gear assembly is rotationally arranged at the lower end of the body frame, the conveying chain is circumferentially arranged between the upper gear assembly and the lower gear assembly, and the stepping motor can drive the upper gear assembly to rotate and is matched with the lower gear assembly to drive the conveying chain to move; the movable frame is fixedly arranged on the conveying chain, and the conveying chain drives the movable frame to slide on the upright post; the outside of the conveying chain is also coated with a separation plate; the structure is simple and reliable, and the isolation plate is used for isolating the conveying chain and the body frame, so that the aluminum scraps are prevented from entering the conveying chain to cause clamping stagnation.
The number of the upright posts is four, and the upright posts are distributed in a rectangular shape; two groups of first pulleys are respectively arranged on two sides of the movable frame, and each group of first pulleys can abut against the front upright post and the rear upright post to slide along the front-rear direction; two groups of second pulleys are further arranged on two sides of the movable frame, and the two groups of second pulleys can abut against the left upright post and the right upright post to slide along the left direction and the right direction; a fixed pin is also arranged in the movable frame, and the movable frame is connected with the conveying chain through the fixed pin; a baffle plate is also arranged in front of the movable frame. The structure has double stations, so that left and right workpieces can be cleaned at the same time, and the working efficiency is improved; the baffle is used for blocking aluminum scraps from leaking.
As an improvement, the chip receiving trolley is rectangular, and four handles are arranged on four sides of the chip receiving trolley; the bottom of the chip receiving trolley is arranged on the roller; the chip receiving truck is arranged below the chip receiving hopper. The arrangement of the handle and the roller is convenient for moving the chip receiving trolley. The chip receiving hopper is arranged so that aluminum chips can enter the chip receiving trolley more easily.
A working method of an automatic milling and cleaning assembly line for an automobile skylight guide rail comprises the following steps:
s1: manually feeding the materials to a feeding conveyor;
s2: the multifunctional manipulator is arranged on the feeding conveyor;
s3: feeding the multifunctional manipulator to a transfer table;
s4: carrying the manipulator to the transfer table to grasp the piece;
s5: carrying the mechanical arm to feed to a first processing center or a second processing center;
s6: the first machining center and the second machining center mechanically process the workpiece;
s7: carrying a mechanical arm to a first machining center or a second machining center for discharging and grabbing parts;
s8: feeding the conveying manipulator to a first chip blowing device;
s9: the first chip blowing device blows chips to clean the workpiece;
s10: carrying a manipulator to a first chip blowing device for discharging and grabbing parts;
s11: discharging the conveying manipulator to a transfer table;
s12: the multifunctional manipulator grabs the piece from the middle rotary table;
s13: feeding the multifunctional manipulator to a polishing table;
s14: the multifunctional manipulator and the polishing manipulator cooperatively polish and deburr the workpiece;
s15: the multifunctional manipulator feeds the polishing table to the blanking grabbing piece;
s16: feeding the multifunctional manipulator to a second chip blowing device;
s17: the second chip blowing device blows chips to clean the workpiece;
s18: the multifunctional manipulator feeds the grabbing piece from the second chip blowing device;
s19: the multifunctional mechanical arm is used for feeding to a feeding conveyor;
s20: and (5) workpiece blanking and conveying, and manually blanking.
Compared with the prior art, the invention has the advantages that:
1. according to the scheme, through reasonable layout, the utilization rate of each device is greatly improved, especially the utilization rate of a plurality of manipulators (single manipulator is higher in selling price, so that in order to reduce equipment cost, the number of manipulators is often reduced in an automatic assembly line, the utilization rate of the manipulators is improved), and the equipment cost is reduced while the work efficiency of the whole assembly line is ensured.
2. This scheme only needs two workman to go up unloading work, can be great saving human cost, and can guarantee work efficiency.
3. The setting of rail plays the effect of protection isolation, improves the security of this scheme.
4. The scheme is a full-automatic assembly line, and has higher processing precision compared with the traditional processing method.
Drawings
Fig. 1 is a schematic overall layout of a preferred embodiment according to the present invention.
Fig. 2 is a schematic view of a station arrangement according to a preferred embodiment of the invention.
Fig. 3 is a flow chart according to a preferred embodiment of the present invention.
Fig. 4 is a schematic perspective view of a loading conveyor according to a preferred embodiment of the present invention.
Fig. 5 is a top view of a loading conveyor in accordance with a preferred embodiment of the present invention.
Fig. 6 is an enlarged view at a in fig. 5 according to a preferred embodiment of the present invention.
Fig. 7 is an exploded view of a clamp block in accordance with a preferred embodiment of the present invention.
Fig. 8 is a schematic perspective view of a multifunctional robot according to a preferred embodiment of the present invention.
Fig. 9 is a schematic perspective view of a working hand according to a preferred embodiment of the present invention.
Fig. 10 is a schematic perspective view of a chip blowing device (i.e., a first chip blowing device and a second chip blowing device, hereinafter, the same) according to a preferred embodiment of the present invention.
Fig. 11 is a schematic view showing an internal structure of a chip blowing device according to a preferred embodiment of the present invention.
Fig. 12 is an exploded view of a chip blowing device according to a preferred embodiment of the present invention.
Fig. 13 is an exploded view of a movable frame, a driving device, in accordance with a preferred embodiment of the present invention.
Fig. 14 is a schematic perspective view of a movable frame according to a preferred embodiment of the present invention.
Fig. 15 is a top view of a movable frame in accordance with a preferred embodiment of the present invention.
Fig. 16 is a schematic perspective view of a chip-receiving truck according to a preferred embodiment of the present invention.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art.
In the description of the present invention, it should be noted that, for the azimuth words such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the azimuth and positional relationships are based on the azimuth or positional relationships shown in the drawings, it is merely for convenience of describing the present invention and simplifying the description, and it is not to be construed as limiting the specific scope of protection of the present invention that the device or element referred to must have a specific azimuth configuration and operation.
As shown in fig. 1 to 16, a preferred embodiment of the present invention includes a loading conveyor 1, a multi-purpose robot 2, a transfer table 3, a handling robot 4, a first machining center 5, a second machining center 6, a first chip blowing device 7, a grinding table 8, a grinding robot 9, a second chip blowing device 10, a blanking conveyor 101, and a fence 102;
the multifunctional manipulator 2, the transfer platform 3, the carrying manipulator 4, the first machining center 5, the second machining center 6, the first chip blowing device 7, the polishing platform 8, the polishing manipulator 9 and the second chip blowing device 10 are all positioned in the fence;
the front half part of the feeding conveyor 1 is positioned outside the fence 102, and the rear half part of the feeding conveyor 1 is positioned in the fence 102; the work piece is placed on the feeding conveyor 1 by a worker 100, and the feeding conveyor 1 can convey the work piece to be processed from outside the fence 102 to inside the fence 102;
the multifunctional manipulator 2 can be respectively extended to the feeding conveyor 1, the transfer table 3, the polishing table 8, the second chip blowing device 10 and the discharging conveyor 101; the multifunctional manipulator 2 can convey the workpiece from the feeding conveyor 1 to the transfer table 3;
the transfer table 3 is positioned between the multifunctional manipulator 2 and the carrying manipulator 4, and the transfer table 3 can be used for placing workpieces;
the carrying manipulator 4 can respectively extend to the intermediate rotary table 3, the first processing center 5, the second processing center 6 and the first chip blowing device 7; the carrying manipulator 4 can carry the workpiece from the middle turntable 3 to the first machining center 5 and the second machining center 6;
the first machining center 5 and the second machining center 6 are arranged oppositely, and the first machining center 5 and the second machining center 6 can mill a workpiece;
the first scrap blowing device 7 is used for blowing aluminum scraps off the milled workpiece; the conveying mechanical arm 4 can convey the workpiece from the first processing center 5 and the second processing center 6 to the first chip blowing device 7;
the polishing table 8 can be used for placing a workpiece to be polished; the conveying mechanical arm 4 can convey the workpiece from the first chip blowing device 7 to the transfer table 3, and the multifunctional mechanical arm 2 can convey the workpiece from the transfer table 3 to the polishing table 8;
the polishing manipulator 9 can extend to the polishing table 8 and is used for polishing a workpiece;
the second scrap blowing device 10 is used for blowing aluminum scraps off the polished workpiece; the multifunctional manipulator 2 can convey the workpiece from the polishing table 8 to the second chip blowing device 10;
the front half part of the blanking conveyor 101 is positioned in the fence 102, and the rear half part of the blanking conveyor 101 is positioned outside the fence 102; the multifunctional manipulator 2 can carry the workpiece from the second chip blowing device 10 to the blanking conveyor 101, the blanking conveyor 101 conveys the processed workpiece from the inside of the fence 102 to the outside of the fence 102, and the processed workpiece is taken down from the blanking conveyor 101 by a worker. In this embodiment, the blanking conveyor 101 has two, and is arranged side by side; two blanking conveyors 101 are used to convey left and right workpieces, respectively.
In addition, the multifunctional manipulator 2 is also provided with a polishing manipulator which can cooperate with the polishing manipulator 9 to polish the workpiece on the polishing table 8. The fence 102 is provided with a guard door 121.
Further specifically, the feeding conveyor 1 includes a frame 11, a driving motor 12, a driving belt 13, a connecting rod 14, a workpiece conveying belt 15, a clamp block 16 and a detection sensor 17; the workpiece conveying belts 15 are two, the driving motor 12 is arranged on the frame 11, the driving motor 12 drives the connecting rod 14 to rotate through the transmission belt 13, and the connecting rod 14 synchronously drives the workpiece conveying belts 15 on two sides to rotate; the clamp block 16 is detachably arranged on the workpiece conveying belt 15 through bolts 162, and one or two positioning columns 161 are detachably arranged on the clamp block 16; and on the same side workpiece conveying belt 15, a clamp block 16 with one positioning column 161 and a clamp block 16 with two positioning columns 161 are alternately arranged; on the side-by-side gripper blocks 16, one gripper block 16 has one positioning column 161 and the other gripper block 16 has two positioning columns 161; the left workpiece and the right workpiece are transversely alternately and reversely placed on the clamp block 16; the detection sensor 17 is disposed at the tail end of the frame 11, and is used for detecting that the workpiece is conveyed to a fixed point, so as to guide the multifunctional manipulator 2 to grasp the workpiece.
Wherein, a plurality of support ring feet 111 are arranged at the bottom of the frame 11, and the support ring feet 111 are connected to the frame 11 through threads; the frame 11 is provided with an adjusting groove 151, and one end of the workpiece conveying belt 15 is slidably arranged in the adjusting groove 151. For adjusting the tightness of the work conveying belt 15.
The multifunctional manipulator comprises a base 21, a mechanical arm 22 and a working hand 23; the base 21 is fixedly arranged on the ground, the mechanical arm 22 is arranged on the base 21, the mechanical arm 22 can randomly act in a three-dimensional space, and the working hand 23 is arranged at the front end of the mechanical arm 22; the working hand 23 comprises a mounting flange 231, a shell 232, parallel air claws 233, workpiece clamping claws 234, a sensor 235, a power head bracket 236, a flexible power head 237 and a polishing tool 238, wherein the mounting flange 231 is connected with the mechanical arm 22, the shell 232 is fixedly arranged on the mounting flange 231, the parallel air claws 233 and the workpiece clamping claws 234 are correspondingly arranged in the shell 232, the workpiece clamping claws 234 are arranged on the front side of the shell 232, the parallel air claws 233 drive the workpiece clamping claws 234 to clamp, the sensor 235 is arranged near the workpiece clamping claws 234 and used for detecting whether a workpiece is clamped in place or not, the power head bracket 236 is fixedly arranged on the upper side of the shell 232, the flexible power head 237 is fixedly arranged on the power head bracket 236, the polishing tool 238 is arranged on the flexible power head 237, and the flexible power head 237 drives the polishing tool 238 to move.
The first chip blowing device 7 and the second chip blowing device 10 have the same structure and comprise a body frame 71, a clamp 72, a movable frame 73, a driving device 74 and a chip receiving trolley 75; the body frame 71 is provided with a vertical column 711 arranged along the vertical direction, and clamps 72 are arranged at two ends of the vertical column 711 and used for fixing a workpiece; the movable frame 73 is arranged on the upright 711 in a sliding manner along the vertical direction, a chip blowing area is arranged on the inner side of the movable frame 73, a plurality of gas spray heads 734 are arranged in the chip blowing area, and the gas spray heads 734 are connected with the gas pipes 730; when the movable frame 73 slides on the upright 711, the workpiece passes through the scrap blowing area, so that the gas spray head 734 scans and blows to the workpiece along the vertical direction; the driving device 74 is arranged on the body frame 71, and the driving device 74 is used for driving the movable frame 73 to slide on the upright 711; the chip receiving cart 75 is located below the body frame 71 for receiving the blown aluminum chips or milling liquid.
Specifically, the driving device 74 includes a fixed base 741, a stepping motor 742, an upper gear assembly 743, a lower gear assembly 744, and a transmission chain 745; the fixed seat 741 is fixedly arranged at the upper end of the body frame 71, the stepping motor 742 is arranged on the fixed seat 741, the upper gear assembly 743 is rotationally arranged on the fixed seat 741, the lower gear assembly 744 is rotationally arranged at the lower end of the body frame 71, the conveying chain 745 is circumferentially arranged between the upper gear assembly 743 and the lower gear assembly 744, and the stepping motor 742 can drive the upper gear assembly 743 to rotate and is matched with the lower gear assembly 744 to drive the conveying chain 745 to move; the movable frame 73 is fixedly arranged on the conveying chain 745, and the conveying chain 745 drives the movable frame 73 to slide on the upright 711; the conveyor chain 745 is also externally coated with a spacer 746.
The number of the upright posts 711 is four, and the upright posts are distributed in a rectangular shape; two groups of first pulleys 731 are respectively arranged on two sides of the movable frame 73, and each group of first pulleys 731 can abut against the front and rear two upright posts 711 along the front and rear directions to slide; two groups of second pulleys 732 are arranged on two sides of the movable frame 73, and the two groups of second pulleys 732 can abut against the left and right upright posts 711 to slide along the left and right directions; a fixed pin 733 is also arranged in the movable frame 73, and the movable frame 73 is connected with a conveying chain through the fixed pin 733; a baffle 735 is also provided in front of the movable frame 73.
In the embodiment, the chip receiving trolley 75 is rectangular, and four handles 751 are arranged on four sides of the chip receiving trolley 75; the bottom of the chip receiving trolley 75 is arranged on the roller 752. A chip receiving hopper 76 is arranged below the body frame, and a chip receiving trolley 75 is arranged below the chip receiving hopper 76.
The workflow of this embodiment is as follows:
s1: manually feeding the materials to a feeding conveyor;
s2: the multifunctional manipulator is arranged on the feeding conveyor;
s3: feeding the multifunctional manipulator to a transfer table;
s4: carrying the manipulator to the transfer table to grasp the piece;
s5: carrying the mechanical arm to feed to a first processing center or a second processing center;
s6: the first machining center and the second machining center mechanically process the workpiece;
s7: carrying a mechanical arm to a first machining center or a second machining center for discharging and grabbing parts;
s8: feeding the conveying manipulator to a first chip blowing device;
s9: the first chip blowing device blows chips to clean the workpiece;
s10: carrying a manipulator to a first chip blowing device for discharging and grabbing parts;
s11: discharging the conveying manipulator to a transfer table;
s12: the multifunctional manipulator grabs the piece from the middle rotary table;
s13: feeding the multifunctional manipulator to a polishing table;
s14: the multifunctional manipulator and the polishing manipulator cooperatively polish and deburr the workpiece;
s15: the multifunctional manipulator feeds the polishing table to the blanking grabbing piece;
s16: feeding the multifunctional manipulator to a second chip blowing device;
s17: the second chip blowing device blows chips to clean the workpiece;
s18: the multifunctional manipulator feeds the grabbing piece from the second chip blowing device;
s19: the multifunctional mechanical arm is used for feeding to a feeding conveyor;
s20: and (5) workpiece blanking and conveying, and manually blanking.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. An automatic milling and cleaning assembly line for a sunroof guide rail, which is characterized in that: the device comprises a feeding conveyor, a multifunctional manipulator, a middle rotary table, a carrying manipulator, a first processing center, a second processing center, a first chip blowing device, a polishing table, a polishing manipulator, a second chip blowing device, a discharging conveyor and a fence; a protective door is arranged on the fence;
the multifunctional manipulator, the transfer table, the carrying manipulator, the first machining center, the second machining center, the first chip blowing device, the polishing table, the polishing manipulator and the second chip blowing device are all positioned in the fence;
the front half part of the feeding conveyor is positioned outside the fence, and the rear half part of the feeding conveyor is positioned in the fence; placing a workpiece on the feeding conveyor by a worker, wherein the feeding conveyor can convey the workpiece to be processed from outside the fence to inside the fence;
the multifunctional manipulator can be respectively extended to the feeding conveyor, the transfer table, the polishing table, the second chip blowing device and the discharging conveyor; the multifunctional manipulator can convey the workpiece from the feeding conveyor to the transfer table;
the transfer table is positioned between the multifunctional manipulator and the carrying manipulator and can be used for placing workpieces;
the handling manipulator can extend to the transfer table, the first machining center, the second machining center and the first chip blowing device respectively; the conveying manipulator can convey the workpiece from the transfer table to the first processing center and the second processing center;
the first machining center and the second machining center are arranged oppositely, and the first machining center and the second machining center can mill a workpiece;
the first chip blowing device is used for blowing off aluminum chips and milling liquid from the milled workpiece; the conveying manipulator can convey workpieces from the first machining center and the second machining center to the first chip blowing device;
the polishing table can be used for placing a workpiece to be polished; the conveying manipulator can convey the workpiece from the first chip blowing device to the transfer table, and the multifunctional manipulator can convey the workpiece from the transfer table to the polishing table;
the polishing manipulator can extend to the polishing table and is used for polishing a workpiece;
the second scrap blowing device is used for blowing aluminum scraps off the polished workpiece; the multifunctional manipulator can convey the workpiece from the polishing table to the second chip blowing device;
the front half part of the blanking conveyor is positioned in the fence, and the rear half part of the blanking conveyor is positioned outside the fence; the multifunctional manipulator can convey the workpiece from the second chip blowing device to the blanking conveyor, the blanking conveyor conveys the processed workpiece from the inside of the fence to the outside of the fence, and the processed workpiece is taken down from the blanking conveyor by a worker;
the multifunctional manipulator is also provided with a polishing hand, and can be used for polishing the workpiece on the polishing table in cooperation with the polishing manipulator;
the feeding conveyor comprises a frame body, a driving motor, a transmission belt, a connecting rod, a workpiece conveying belt, a clamp block and a detection sensor; the workpiece conveying belts are arranged on the frame body, the driving motor is arranged on the frame body and drives the connecting rods to rotate through the transmission belts, and the connecting rods synchronously drive the workpiece conveying belts on two sides to rotate;
the clamp block is detachably arranged on the workpiece conveying belt through bolts, and one or two positioning columns are detachably arranged on the clamp block; the clamp blocks with one positioning column and the clamp blocks with two positioning columns are alternately arranged on the workpiece conveying belt at the same side; one fixture block is provided with one positioning column, and the other fixture block is provided with two positioning columns; the left workpiece and the right workpiece are transversely alternately and reversely arranged on the clamp block;
the detection sensor is arranged at the tail end of the frame body and is used for detecting that a workpiece is conveyed to a fixed point so as to guide the multifunctional manipulator to grasp the workpiece;
the multifunctional manipulator comprises a base, a mechanical arm and a working hand; the base is fixedly arranged on the ground, the mechanical arm is arranged on the base, the mechanical arm can move randomly in a three-dimensional space, and the working hand is arranged at the front end of the mechanical arm;
the working hand comprises a mounting flange, a shell, parallel air claws, workpiece clamping claws, a sensor, a power head support, a flexible power head and a polishing cutter, wherein the mounting flange is connected with the mechanical arm, the shell is fixedly arranged on the mounting flange, the parallel air claws and the workpiece clamping claws are correspondingly arranged in the shell, the workpiece clamping claws are arranged on the front side of the shell, the parallel air claws drive the workpiece clamping claws to clamp, the sensor is arranged near the workpiece clamping claws and used for detecting whether a workpiece is clamped in place or not, the power head support is fixedly arranged on the upper side of the shell, the flexible power head is fixedly arranged on the power head support, the polishing cutter is arranged on the flexible power head, and the flexible power head drives the polishing cutter to move; the first chip blowing device and the second chip blowing device have the same structure and comprise a body frame, a clamp, a movable frame, a driving device and a chip receiving vehicle;
the body frame is provided with an upright post arranged along the vertical direction, and the clamp is arranged at two ends of the upright post and used for fixing a workpiece;
the movable frame is arranged on the upright post in a sliding manner along the vertical direction, a chip blowing area is arranged on the inner side of the movable frame, a plurality of gas spray heads are arranged in the chip blowing area, and the gas spray heads are connected with a gas pipe; when the movable frame slides on the upright post, the workpiece passes through the scrap blowing area, so that the gas spray head scans and blows the workpiece in the vertical direction;
the driving device is arranged on the body frame and is used for driving the movable frame to slide on the upright post;
the chip receiving trolley is positioned below the body frame and is used for receiving the blown aluminum chips or milling liquid.
2. The automated milling and cleaning assembly line for the sunroof rail of claim 1, wherein: the two blanking conveyors are arranged side by side; the two blanking conveyors are used for conveying the left workpiece and the right workpiece respectively.
3. The automated milling and cleaning assembly line for the sunroof rail of claim 1, wherein: the bottom of the frame body is provided with a plurality of support ring feet which are connected to the frame body in a threaded manner; the frame body is provided with an adjusting groove, and one end of the workpiece conveying belt is slidably arranged in the adjusting groove.
4. The automated milling and cleaning assembly line for the sunroof rail of claim 1, wherein: the driving device comprises a fixed seat, a stepping motor, an upper gear assembly, a lower gear assembly and a conveying chain; the fixed seat is fixedly arranged at the upper end of the body frame, the stepping motor is arranged on the fixed seat, the upper gear assembly is rotationally arranged on the fixed seat, the lower gear assembly is rotationally arranged at the lower end of the body frame, the conveying chain is circumferentially arranged between the upper gear assembly and the lower gear assembly, and the stepping motor can drive the upper gear assembly to rotate and is matched with the lower gear assembly to drive the conveying chain to move; the movable frame is fixedly arranged on the conveying chain, and the conveying chain drives the movable frame to slide on the upright post; the outside of the conveying chain is also coated with a separation plate;
the number of the upright posts is four, and the upright posts are distributed in a rectangular shape; two groups of first pulleys are respectively arranged on two sides of the movable frame, and each group of first pulleys can abut against the front upright post and the rear upright post to slide along the front-rear direction; two groups of second pulleys are further arranged on two sides of the movable frame, and the two groups of second pulleys can abut against the left upright post and the right upright post to slide along the left direction and the right direction; a fixed pin is also arranged in the movable frame, and the movable frame is connected with the conveying chain through the fixed pin; a baffle plate is also arranged in front of the movable frame.
5. The automated milling and cleaning assembly line for the sunroof rail of claim 1, wherein: the chip receiving trolley is rectangular, and four handles are arranged on four sides of the chip receiving trolley; the bottom of the chip receiving trolley is arranged on the roller; the chip receiving truck is arranged below the chip receiving hopper.
6. The working method of the automatic milling and cleaning assembly line for the automobile skylight guide rail according to claim 1 comprises the following steps:
s1: manually feeding the materials to a feeding conveyor;
s2: the multifunctional manipulator is arranged on the feeding conveyor;
s3: feeding the multifunctional manipulator to a transfer table;
s4: carrying the manipulator to the transfer table to grasp the piece;
s5: carrying the mechanical arm to feed to a first processing center or a second processing center;
s6: the first machining center and the second machining center mechanically process the workpiece;
s7: carrying a mechanical arm to a first machining center or a second machining center for discharging and grabbing parts;
s8: feeding the conveying manipulator to a first chip blowing device;
s9: the first chip blowing device blows chips to clean the workpiece;
s10: carrying a manipulator to a first chip blowing device for discharging and grabbing parts;
s11: discharging the conveying manipulator to a transfer table;
s12: the multifunctional manipulator grabs the piece from the middle rotary table;
s13: feeding the multifunctional manipulator to a polishing table;
s14: the multifunctional manipulator and the polishing manipulator cooperatively polish and deburr the workpiece;
s15: the multifunctional manipulator feeds the polishing table to the blanking grabbing piece;
s16: feeding the multifunctional manipulator to a second chip blowing device;
s17: the second chip blowing device blows chips to clean the workpiece;
s18: the multifunctional manipulator feeds the grabbing piece from the second chip blowing device;
s19: the multifunctional mechanical arm is used for feeding to a feeding conveyor;
s20: and (5) workpiece blanking and conveying, and manually blanking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910515789.7A CN110103034B (en) | 2019-06-14 | 2019-06-14 | Automatic milling and cleaning assembly line for automobile skylight guide rail and working method |
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| CN201910515789.7A CN110103034B (en) | 2019-06-14 | 2019-06-14 | Automatic milling and cleaning assembly line for automobile skylight guide rail and working method |
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| CN110103034B true CN110103034B (en) | 2024-04-12 |
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| CN112130529A (en) * | 2020-08-31 | 2020-12-25 | 中国科学院沈阳自动化研究所 | Force-sensing-based multi-assembly-station operation safety system and implementation method thereof |
| CN113695922B (en) * | 2021-10-29 | 2022-01-18 | 宁波昌余精铝有限公司 | Machining and forming equipment for automobile skylight guide rail |
| CN117140194A (en) * | 2023-06-16 | 2023-12-01 | 南兴装备股份有限公司 | Machining center with tool magazine for automatically positioning sucker, control system and method |
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