CN110270874A - A kind of truss-like lathe loading and unloading robot system and its control method - Google Patents

A kind of truss-like lathe loading and unloading robot system and its control method Download PDF

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Publication number
CN110270874A
CN110270874A CN201910331766.0A CN201910331766A CN110270874A CN 110270874 A CN110270874 A CN 110270874A CN 201910331766 A CN201910331766 A CN 201910331766A CN 110270874 A CN110270874 A CN 110270874A
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China
Prior art keywords
charging tray
feeding
workpiece
numerically
blanking
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CN201910331766.0A
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Chinese (zh)
Inventor
张勇军
顾成义
胡水平
沈华宾
张辉
谢国兵
肖雄
米振莉
郭强
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JIANGSU HAIYU MACHINERY CO Ltd
University of Science and Technology Beijing USTB
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JIANGSU HAIYU MACHINERY CO Ltd
University of Science and Technology Beijing USTB
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Priority to CN201910331766.0A priority Critical patent/CN110270874A/en
Publication of CN110270874A publication Critical patent/CN110270874A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/003Cyclically moving conveyors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Turning (AREA)
  • Feeding Of Workpieces (AREA)
  • Manipulator (AREA)

Abstract

The present invention provides a kind of truss-like lathe loading and unloading robot system and its control method, belongs to the automatic processing technique field of lathe.The system includes gantry robot, feeding charging tray, blanking charging tray and numerically controlled lathe, and feeding charging tray and blanking charging tray are located between two numerically-controlled machine tools, and gantry robot carries out workpiece transmission between feeding charging tray, blanking charging tray and numerically-controlled machine tool.Gantry robot uses four-degree-of-freedom structure, including the mobile unit, rotary unit, picking unit, control unit of walking, feeding charging tray for placing cage workpiece to be processed in batches, blanking charging tray uses tower structure, workpiece is delivered to finished product according to processing supplied materials situation by driving motor, area is centrally placed;Numerically controlled lathe includes spindle box, chuck, feed mechanism, control system.The present invention can be realized the flexible switching of feeding charging tray freely put and cage single process is processed with duplexing sequence by the design of easy four-degree-of-freedom and loading and unloading Row control.

Description

A kind of truss-like lathe loading and unloading robot system and its control method
Technical field
The present invention relates to the automatic processing technique fields of lathe, particularly relate to a kind of truss-like lathe loading and unloading robot system And its control method.
Background technique
Numerically-controlled machine tool is widely applied key equipment in metal parts manufacture processing industry, is imitated to machining accuracy, processing Rate has higher requirement, and traditional mode mostly uses greatly the artificial installation for carrying out part on numerically-controlled machine tool, disassembly, and completes Lathe operation, the working environment of machine operation personnel is poor, large labor intensity, and apart from machine tool motion component distance closely with potential Security risk.With digital control and information technology development, number is completed using few people or unmanned integration apparatus Automated production may be implemented in the loading and unloading of control lathe, is the ideal mode of metal parts manufacture processing enterprise.Industrial machine Device people is because of its high degree of automation, the feature of environmental protection is good, distinguishing features and the advantage such as practical, in the machinery manufacturing industry gradually To being more and more widely used, it will the mainstream ancillary equipment as modern mechanical processing.Reasonable industrial robot automation Equipment use can replace operator to complete dangerous, repetition scissors and paste, mitigate human labour intensity, for enterprise's production drop Low cost improves efficiency.
Industrial robot for numerically-controlled machine tool loading and unloading control is broadly divided into articulated robot and gantry robot two Kind.Wherein articulated robot generally uses four to six-freedom degree, and flexible operation, apparatus adaptability is preferable, and precision is mostly used to subtract Fast machine transmission, repetitive positioning accuracy is high, and part processing precision is higher, but control technology is complicated, and robot price is high, follow-up maintenance Higher cost.Gantry robot belongs to Cartesian robot, frequently with the biography of ball screw, synchronous belt or rack-and-pinion Flowing mode, miscellaneous functions, the advantage such as transport and the revolution of automatic loading/unloading and material are relative inexpensiveness between having process concurrently, control System processed is simple, but system generally there are workpiece is put, the bad adaptabilities such as workpiece shapes, processing flow the problems such as.Internal spherical cage It is also referred to as constant velocity cardan joint with external ball cage, is the important component played on automobile to tire transmitting power, cage is a kind of typical And the part for needing lathe in machining to make being in great demand, it all has higher requirements to product processing quality and efficiency.Due to The shape of ball-cage parts, which is commonly referred to as up-thin-low-thick bell and thick one end and generally has, needs chamfering inner hole, many times It needs two procedures that could complete the machining of a finished product, causes general gantry robot automatic in progress ball-cage parts The difficulty when crawl of feeding charging tray consecutive tracking and different manufacturing procedure switchings can be encountered when loading and unloading.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of truss-like lathe loading and unloading robot system and its controlling parties Method is keeping gantry robot's structure simply cheap by the design of easy four-degree-of-freedom and loading and unloading Row control On the basis of, it can be realized the flexible switching that feeding charging tray is freely put and cage single process is processed with duplexing sequence, it should Method can effectively promote the scope of application and overall operation efficiency of numerically-controlled machine tool truss-like loading and unloading robot.
The system includes gantry robot, feeding charging tray, blanking charging tray and numerically controlled lathe, feeding charging tray and blanking charging tray Between two numerically-controlled machine tools, gantry robot carries out workpiece biography between feeding charging tray, blanking charging tray and numerically-controlled machine tool It send;Gantry robot is made of rack-and-pinion, speed reducer, driving motor, rotating mechanism and Pneumatic paw, wherein pneumatic hand Pawl has two, respectively feeding gripper and blanking gripper, and feeding gripper is for grabbing workpiece to be processed, and blanking gripper is for removing Workpiece after processing;Two numerically-controlled machine tools are located at the lower left and lower right of gantry robot's lateral shaft, feeding charging tray and Blanking charging tray is located between two numerically-controlled machine tools, and feeding charging tray places workpiece to be processed, and the placement of blanking charging tray completes the process Workpiece.
Wherein, gantry robot use four-degree-of-freedom structure, including walking mobile unit, rotary unit, picking unit, Control unit, wherein mobile unit includes for driving workpiece to realize the rack-and-pinion of horizontal and vertical movement, speed reducer, driving Motor;Rotary unit is Pneumatic rotary mechanism, for realizing the Pneumatic rotary mechanism of workpiece space angle adjustment, including it is horizontal with Vertical rotation and revolution;Picking unit includes the Pneumatic paw of two grabbing workpieces.Gantry robot's control unit is purlin Posture robot respectively detects and the signal processing unit of executive component, is responsible for exchanging signal with numerically-controlled machine tool and independently completes setting Loading and unloading process.
Feeding charging tray uses step-by-step movement moving method for placing cage workpiece to be processed, feeding charging tray in batches, uses Tower structure, including feeding belt, charging tray collet, close switch, opposite type sensor, feeding motor, feeding belt are located at feeding material The top of disk, using track structure, charging tray collet batch is fixed on feeding belt, for the positioning of workpiece, every charging tray bottom Hold in the palm a corresponding feeding station;The setting of feeding belt periphery for detect each feeding station whether there is or not workpiece close to switch and whether The opposite type sensor that single crawl terminates;Feeding motor drives charging tray collet mobile.
Be arranged altogether in feeding charging tray six close to switch, wherein five close to switch be located side by side at feeding station just on Side, another is mounted below feeding belt close to switch;Opposite type sensor is fixed on the two sides of workpiece grabbing position, Suo Youjian It surveys element signal and all accesses gantry robot's control unit.
Blanking charging tray integrally uses tower structure, and crawler-type mobile feeding belt is arranged in top, by driving motor according to adding Workpiece is delivered to finished product and area is centrally placed by work supplied materials situation.
Numerically controlled lathe includes spindle box, chuck, feed mechanism, control system, and wherein spindle box includes main shaft, driver Structure, main function is supporting spindle and makes its rotation, and chuck is mounted in spindle of numerical control lathe front end for fixing work to be processed The hydraulic mechanism of part, feed mechanism be complete machining mechanical part, Control System of NC Machine complete chuck it is elastic, Main shaft start and stop and positioning, cutting output control, and are responsible for exchanging signal with gantry robot's control unit.
The method for controlling the truss-like lathe loading and unloading robot system, comprises the following steps that
S1: cage workpiece to be processed is transmitted by preforming or operator is placed in batches manually at the top of feeding charging tray Feeding belt charging tray collet on;
S2: feeding magazine feed band stepped advancement, until in the detecting close at switch whether there is or not judgement for workpiece Workpiece to be processed will have a row of workpiece to be moved to crawl position, and gantry robot is notified to carry out feeding operation;
S3: gantry robot's feeding gripper carries out grasping manipulation to workpiece to be processed on feeding charging tray, then adjusts Cage workpiece space posture to be processed, while the mobile horizontal and vertical mechanism of gantry robot, cage workpiece to be processed is passed It is sent to above the machine tool door of numerically-controlled machine tool;
S4: waiting the call signal on numerically-controlled machine tool after the completion of a work pieces process, and control unit, which issues, opens machine tool door behaviour Make, cage workpiece to be processed is sent into main shaft of numerical control machine tool parallel position by gantry robot's gripper, at this point, gantry robot The machined completion workpiece on main shaft is subjected to blanking operation with the gripper of no workpiece first, is rotated work to be processed after gripper Part carries out feeding operation;
S5: after the machined completion workpiece grabbed is removed numerically controlled lathe by gantry robot's gripper, control unit hair Lathe door operation is closed out and numerically-controlled machine tool is notified to carry out machining, while will complete the process other numerically-controlled machine tools of Workpiece transfer It carries out the machining of subsequent processing or send to blanking charging tray to be put;
S6: after the processing for completing one or two process, gantry robot's blanking gripper grabs finished work-piece in blanking Charging tray completion is put, and control unit issues blanking charging tray operating instruction, is delivered to finished work-piece by driving motor and is centrally placed Area, while gantry robot's drive feeding gripper carries out the grasping manipulation of next workpiece to be processed.
The advantageous effects of the above technical solutions of the present invention are as follows:
In above scheme, by the design of easy four-degree-of-freedom and loading and unloading Row control, feeding charging tray can be realized It freely puts and the flexible switching of cage single process and the processing of duplexing sequence, is embodied in:
(1) to reduce manufacturing cost, it is mobile that the gantry robot only has horizontal and vertical both direction, therefore installs Front end Pneumatic paw can only on a vertical plane grabbing workpiece, for guarantee feeding magazine feed band strip parking position The space grasping condition for meeting Pneumatic paw is used for accurate stopping close to switch in the bottom installation of feeding magazine feed band;
(2) to realize that feeding charging tray vacancy occurs under artificial or abnormal conditions the accurate judgement of gantry robot when, Avoid the occurrence of the empty process under no workpiece and reduce efficiency, particularly to crawl position previous row setting for workpiece whether there is or not Judgement close to switch, and for detecting the opposite type sensor completed wait the whole feedings of the row of crawl, gantry robot is controlled Unit is determined according to corresponding state waits that the crawl of the upper each position of the row of crawl or empty cross act to feeding charging tray.
(3) gantry robot is specially designed has horizontal rotary unit and double gas with vertical rotary and revolute function Start pawl design so that workpiece the spatial position of the pickup of feeding charging tray and numerically-controlled machine tool loading and unloading have a variety of Posables, Instruction map by gantry robot's control unit to mobile unit and rotary unit executing agency can be realized cage zero The free switching of the single process of part and duplexing sequence processing.
Detailed description of the invention
Fig. 1 is that the truss-like lathe loading and unloading robot system architecture towards two numerically-controlled machine tools of the embodiment of the present invention shows It is intended to;
Fig. 2 is the feeding material tray structure schematic diagram of truss-like lathe loading and unloading robot system of the present invention;
Fig. 3 is the control system signal interaction schematic diagram of truss-like lathe loading and unloading robot system of the present invention;
Fig. 4 is truss-like lathe loading and unloading robot system loading and unloading flow diagram of the present invention.
Wherein: 1- gantry robot;2- numerically-controlled machine tool;3- feeding charging tray;4- blanking charging tray;31- feeding belt;32- material It tries to get to the heart of a matter support;The close switch of 33-;34- opposite type sensor;35- feeding motor.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool Body embodiment is described in detail.
The present invention provides a kind of truss-like lathe loading and unloading robot system and its control method.
As shown in Figure 1, the system includes gantry robot 1, feeding charging tray 3, blanking charging tray 4 and numerically controlled lathe 2, feeding Charging tray 3 and blanking charging tray 4 are located between two numerically-controlled machine tools 2, and gantry robot 1 is in feeding charging tray 3,4 sum number of blanking charging tray It controls and carries out workpiece transmission between lathe 2;Gantry robot 1 by rack-and-pinion, speed reducer, driving motor, rotating mechanism and Pneumatic paw composition, wherein Pneumatic paw has two, respectively feeding gripper and blanking gripper;Two numerically-controlled machine tools 2 distinguish position In the lower left and lower right of 1 lateral shaft of gantry robot, feeding charging tray 3 and blanking charging tray 4 be located at two numerically-controlled machine tools 2 it Between, feeding charging tray 3 places workpiece to be processed, and blanking charging tray 4 places the workpiece completed the process.
As shown in Fig. 2, feeding charging tray use tower structure, including feeding belt 31, charging tray collet 32, close to switch 33, Opposite type sensor 34, feeding motor 35, feeding belt 31 are located at the top of feeding charging tray 3, using track structure, charging tray collet 32 Batch is fixed on feeding belt 31, for the positioning of workpiece, the corresponding feeding station of every charging tray collet 32;Feeding belt 31 weeks Side setting for detect each feeding station whether there is or not workpiece close to switch 33 and whether the opposite type sensor of single crawl end 34;Feeding motor 35 drives charging tray collet 32 mobile, to drive the workpiece to be processed for being placed in collet top mobile.Feeding It is arranged six in charging tray 3 altogether close to switch 33, wherein five are located side by side at the surface of feeding station close to switch 33, for examining Survey on corresponding feeding station that whether there is or not workpieces to be processed, if the station inspection is to no workpiece, gantry robot's gripper The position to be crossed in feeding space-time, prevents that the leakage of workpiece from grabbing, sky is grabbed, another is mounted below feeding belt 31 close to switch 33, For detecting whether a feed disk collet moves to crawl position, guarantee that feeding belt accurately stops when moving;It is sensed to penetrating Whether device 34 is fixed on the two sides of workpiece grabbing position, detect all by feeding on the charging tray collet of current crawl position, when right The conducting of sensor 34 is penetrated, that is, represents the row not to the workpiece of feeding, feeding motor 35 rotates at this time, by next feed disk bottom Delivery is sent to wait the row of crawl.
Fig. 3 show lathe automatic loading/unloading gantry robot's control system signal interaction schematic diagram, truss-like machine People's control system need the signal that acquires mainly include close to switching signal, opposite type sensor signal, machine tool door switching signal etc., It simultaneously also include that can be realized numerically-controlled machine tool to complete the process signal, operating status letter with what gantry robot's automatic interlock was run Number etc..The X-axis and Z axis mobile unit of the main control gantry robot of the output of gantry robot's control unit, gripper Execution unit of rotary unit, the pick-and-place execution unit of gripper and numerically-controlled machine tool etc. and feeding charging tray and blanking charging tray Logic control.
Fig. 4 show the flow chart that gantry robot carries out automatic loading/unloading operation to two lathes simultaneously, here with Process description is carried out for the two procedures of same workpiece of two machine toolings, the specific steps are as follows:
Step 1: gantry robot's gripper reaches above feeding charging tray, and whether judge feeding charging tray has work wait the row of crawl Part, it is no to then follow the steps 2 if thening follow the steps 3;
Step 2: the feeding motor rotation of feeding charging tray, the mobile row of feeding belt execute step 1;
Step 3: the movement of gantry robot's gripper mobile unit reaches at feeding, adjusts crawl angle by rotary unit Degree, picking unit driving execute feeding action;
Step 4: the gripper of grabbing workpiece is transported to one top of numerically-controlled machine tool by the movement of gantry robot's mobile unit, Numerically-controlled machine tool one is waited to complete the process;
Step 5: after numerically-controlled machine tool one completes the process sending call signal, numerically-controlled machine tool one opening, gantry robot Mobile unit and rotary unit act respectively, and the place of reloading that paw mechanism moves to numerically-controlled machine tool one is carried out refueling operation, by Blanking gripper removes the workpiece of the machined completion of numerically-controlled machine tool one, then has feeding gripper to install workpiece to be processed;
Step 6: after completing one refueling operation of numerically-controlled machine tool, paw mechanism is transported in the movement of gantry robot's mobile unit One top of numerically-controlled machine tool is moved, machine tool door is closed, the starting processing automatically of numerically-controlled machine tool one;
Step 7: the gripper of grabbing workpiece is transported to two top of numerically-controlled machine tool by the movement of gantry robot's mobile unit, Numerically-controlled machine tool two is waited to complete the process;;
Step 8: after numerically-controlled machine tool two completes the process sending call signal, numerically-controlled machine tool two openings, gantry robot Mobile unit and rotary unit act respectively, and the place of reloading that paw mechanism moves to numerically-controlled machine tool two is carried out refueling operation, by Blanking gripper removes the finished work-piece of the machined completion of numerically-controlled machine tool two, then the work that feeding gripper will be removed from numerically-controlled machine tool one Part is installed on numerically-controlled machine tool two;
Step 9: after completing two refueling operation of numerically-controlled machine tool, paw mechanism is transported in the movement of gantry robot's mobile unit Two top of numerically-controlled machine tool is moved, machine tool door is closed, the starting processing automatically of numerically-controlled machine tool two;
Step 10: the gripper for carrying finished work-piece is moved to blanking charging tray by the movement of gantry robot's mobile unit Blanking operation is carried out, while finished work-piece transport is completed in blanking motor rotation, completes a working cycles.It continues thereafter with and executes step Rapid 1.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims (6)

1. a kind of truss-like lathe loading and unloading robot system, it is characterised in that: including gantry robot (1), feeding charging tray (3), blanking charging tray (4) and numerically controlled lathe (2), feeding charging tray (3) and blanking charging tray (4) are located between two numerically-controlled machine tools (2), Gantry robot (1) carries out workpiece transmission between feeding charging tray (3), blanking charging tray (4) and numerically-controlled machine tool (2);Truss-like Robot (1) is made of rack-and-pinion, speed reducer, driving motor, rotating mechanism and Pneumatic paw, and wherein Pneumatic paw has two Only, respectively feeding gripper and blanking gripper;Two numerically-controlled machine tools (2) are located at a left side for gantry robot (1) lateral shaft Lower section and lower right, feeding charging tray (3) and blanking charging tray (4) are located between two numerically-controlled machine tools (2), and feeding charging tray (3) is placed Workpiece to be processed, blanking charging tray (4) place the workpiece completed the process.
2. truss-like lathe loading and unloading robot system according to claim 1, it is characterised in that: the truss-like machine People (1) uses four-degree-of-freedom structure, including walking mobile unit, rotary unit, picking unit, control unit, wherein mobile single Member includes rack-and-pinion, speed reducer, driving motor;Rotary unit is Pneumatic rotary mechanism;Picking unit includes two crawl works The Pneumatic paw of part.
3. truss-like lathe loading and unloading robot system according to claim 1, it is characterised in that: the feeding charging tray (3) use tower structure, including feeding belt (31), charging tray collet (32), close to switch (33), opposite type sensor (34), on Expect motor (35), feeding belt (31) is located at the top of feeding charging tray (3), and using track structure, charging tray collet (32) batch is solid It is scheduled on feeding belt (31), for the positioning of workpiece, the corresponding feeding station of every charging tray collet (32);Feeding belt (31) week Side setting for detect each feeding station whether there is or not workpiece close to switch (33) and whether sensing to penetrating of terminating of single crawl Device (34);Feeding motor (35) drives charging tray collet (32) mobile.
4. truss-like lathe loading and unloading robot system according to claim 3, it is characterised in that: the feeding charging tray (3) it is arranged six in altogether close to switch (33), wherein five are located side by side at the surface of feeding station close to switch (33), in addition One is mounted below feeding belt (31) close to switch (33);Opposite type sensor (34) is fixed on the two sides of workpiece grabbing position.
5. truss-like lathe loading and unloading robot system according to claim 1, it is characterised in that: the blanking charging tray (4) whole to use tower structure, crawler-type mobile feeding belt is arranged in top, by driving motor according to processing supplied materials situation by work Part is delivered to finished product and area is centrally placed.
6. the method for controlling truss-like lathe loading and unloading robot system described in claim 1, it is characterised in that: including step It is as follows:
S1: cage batch workpiece to be processed is placed on the feeding belt charging tray collet at the top of feeding charging tray;
S2: feeding magazine feed band stepped advancement will have a row of workpiece until detecting workpiece to be processed close at switch It is moved to crawl position, gantry robot is notified to carry out feeding operation;
S3: gantry robot's feeding gripper carries out grasping manipulation to workpiece to be processed on feeding charging tray, then adjusts to be added Work cage workpiece space posture, while the mobile horizontal and vertical mechanism of gantry robot, cage workpiece to be processed is transmitted to Above the machine tool door of numerically-controlled machine tool;
S4: waiting the call signal on numerically-controlled machine tool after the completion of a work pieces process, and control unit, which issues, opens lathe door operation, purlin Cage workpiece to be processed is sent into main shaft of numerical control machine tool parallel position by posture robot hand, at this point, gantry robot is first The machined completion workpiece on main shaft is subjected to blanking operation with the gripper of no workpiece, rotate after gripper by workpiece to be processed into The operation of row feeding;
S5: after the machined completion workpiece grabbed is removed numerically controlled lathe by gantry robot's gripper, control unit, which issues, is closed It closes lathe door operation and numerically-controlled machine tool is notified to carry out machining, while the progress of other numerically-controlled machine tools of Workpiece transfer will be completed the process The machining of subsequent processing or send to blanking charging tray is put;
S6: after the processing for completing one or two process, gantry robot's blanking gripper grabs finished work-piece in blanking charging tray Completion is put, and control unit issues blanking charging tray operating instruction, is delivered to finished work-piece by driving motor and area is centrally placed, together When gantry robot drive feeding gripper to carry out the grasping manipulation of next workpiece to be processed.
CN201910331766.0A 2019-04-23 2019-04-23 A kind of truss-like lathe loading and unloading robot system and its control method Pending CN110270874A (en)

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CN110977590A (en) * 2019-12-25 2020-04-10 乔登卫浴(江门)有限公司 Automatic feeding and discharging mechanical arm of numerical control lathe and lathe processing system thereof
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CN114290028A (en) * 2022-01-20 2022-04-08 中车青岛四方机车车辆股份有限公司 Equipment, press-fitting machine and method for feeding and discharging
CN114919971A (en) * 2022-06-10 2022-08-19 临海市新睿电子科技有限公司 Truss robot charging tray positioning system
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CN115922420A (en) * 2023-01-09 2023-04-07 质咖品菲(常州)智能装备有限公司 Automatic valve block machining system

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Application publication date: 20190924