CN110303345A - A kind of automatic workpieces processing line and its operation method - Google Patents
A kind of automatic workpieces processing line and its operation method Download PDFInfo
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- CN110303345A CN110303345A CN201910671338.2A CN201910671338A CN110303345A CN 110303345 A CN110303345 A CN 110303345A CN 201910671338 A CN201910671338 A CN 201910671338A CN 110303345 A CN110303345 A CN 110303345A
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- 238000012545 processing Methods 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims abstract description 38
- 239000000463 material Substances 0.000 claims abstract description 119
- 238000005259 measurement Methods 0.000 claims abstract description 53
- 238000012795 verification Methods 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 19
- 230000001939 inductive effect Effects 0.000 claims description 18
- 238000007689 inspection Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 claims description 12
- 238000005516 engineering process Methods 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 6
- 238000007514 turning Methods 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000003754 machining Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
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- 238000012797 qualification Methods 0.000 description 2
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
Abstract
The invention discloses a kind of automatic workpieces processing line and its operation methods, processing line includes that tactic more numerically-controlled machine tools and finished workpart examine equipment, it is examined in tactic more numerically-controlled machine tools and finished workpart and is provided with track above equipment, the robot gripper of walking is provided on track, the tactic more numerically-controlled machine tools and finished workpart are examined equipment to be connected in series by the robot gripper of walking, the robot gripper of one control centre's coordinated control walking, numerically-controlled machine tool and finished workpart examine equipment, workpiece feed zone is also disposed with together with examining equipment with tactic more numerically-controlled machine tools and finished workpart, the workpiece feed zone includes charging segment frames, skip car is respectively set before and after charging segment frames and enters area and workpiece material base dimensional measurement verification area, area's positioning is verified in workpiece material base dimensional measurement The robot gripper of walking is set to extend downwardly grabbing workpiece material base in rectilinear orbit vertical lower side.
Description
Technical field
The present invention relates to a kind of automatic workpieces processing line and its operation methods.
Background technique
Machining for multi-process workpiece needs replacing corresponding cutter and fixture when replacing process, if
As soon as completing on process equipment, this needs this equipment to have the function of multistage manufacturing processes, while also to have corresponding card
Tool, however some equipment do not have required complete machining process also, this just needs replacing another equipment processing, each time
Replacement the problem of requiring manpower intervention, bringing be that production efficiency is low, clamping it is lack of standardization it is consistent, do not adapt to batch production
It needs.
Summary of the invention
It is an object of the invention to propose a kind of automatic workpieces processing line and its operation method, by preparing section in charging
Automatic detection to workpiece blank ensure that the correctness into the work piece of process equipment.
To achieve the goals above, the technical scheme is that
A kind of automatic workpieces processing line, including tactic more numerically-controlled machine tools and finished workpart examine equipment, in sequence
The more numerically-controlled machine tools and finished workpart of arrangement are examined and are provided with track above equipment, and the robot of walking is provided on track
Handgrip, the robot gripper of walking by putting the workpiece in numerically-controlled machine tool and finished workpart examines equipment, or from numerically-controlled machine tool and
Finished workpart examines equipment to take out workpiece, examines equipment to concatenate the tactic more numerically-controlled machine tools and finished workpart
Come, robot gripper, numerically-controlled machine tool and the finished workpart of control centre's coordinated control walking examine equipment, wherein with it is suitable
The more numerically-controlled machine tools and finished workpart of sequence arrangement examine equipment to be also disposed with workpiece feed zone, the workpiece charging together
Section includes charging segment frames, skip car is respectively set before and after charging segment frames enters area and workpiece material base dimensional measurement and verify area,
Workpiece material base dimensional measurement, which verifies area and is located in rectilinear orbit vertical lower side, allows the robot gripper of walking to extend downwardly and grab
Workpiece material base is taken, charging segment frames upper end two sides are provided with transmission guide rail, a sucking disk vehicle is across in transmission guide rail, servo
Motor drives sucking disk vehicle to be moved forward and backward along transmission guide rail, and sucking disk vehicle is vertically provided with sucker, and sucker is by workpiece material base from skip car
It takes out to send to workpiece material base dimensional measurement on into the truck in area and verifies area.
Scheme is further: also arranging together with examining equipment with the tactic more numerically-controlled machine tools and finished workpart
It is provided with finished work-piece section, finished work-piece section is a delivery platform, and the robot gripper of walking will complete the work of inspection during manufacture
Part is put on delivery platform, and the workpiece for completing processing is transferred to subsequent processing by delivery platform.
Scheme is further: the more numerically-controlled machine tools and finished workpart examine equipment to be separately positioned in closing warehouse,
Controllable switch window is provided at the top of closing warehouse, the robot gripper of walking is by switch window in multiple numerical control machines
Bed and finished workpart examine the work piece holder position of equipment to be sent into or obtain out workpiece.
Scheme is further: the charging segment frames enter area in skip car and workpiece material base dimensional measurement is verified between area
It is provided with two-dimensional code reader, the sucker of the sucking disk vehicle moves through two-dimensional code reader and reads work after picking up workpiece material base
It is put into workpiece material base dimensional measurement after two dimensional code on part material base and verifies area.
Scheme is further: pressure sensor is provided in the gas circuit of the sucker, pressure sensor is inhaled for measuring
The pressure of workpiece material base is sucked in disk.
Scheme is further: the skip car enters area and is provided with multiple feeding parking stalls, is arranged in each feeding parking stall
There is workpiece inductive pick-up, processing line determines which feeding parking stall to there is workpiece according to workpiece inductive pick-up.
Scheme is further: it includes workpiece placement platform that area is verified in the workpiece material base dimensional measurement, is placed in workpiece flat
The front end of platform is provided with workpiece front and ajusts basal plane locating piece, is respectively arranged with side surface of workpiece pendulum in the two sides of workpiece placement platform
Positive pushing block, the side surface of workpiece of two sides ajust pushing block and are connected separately with rack gear, and two rack gears, which fold, is engaged with gear, two rack gears by
Synchronous relative movement is done in gear drive, is provided with behind the workpiece pushed by cylinder below and is ajusted on rear side of workpiece placement platform
Pushing block is provided with thickness of workpiece detector on the workpiece placement platform that basal plane locating piece is ajusted in front, ajusts along side surface of workpiece
The motion track that pushing block is ajusted behind pushing block and workpiece is respectively arranged with magnetic scale.
A kind of automatic workpieces processing line operation method, including the automatic workpieces processing line, by equipped be processed
The skip car push-in skip car of workpiece material base enters area, starts processing program, feeding inspection process is first carried out in processing program, so
After the robot gripper walked afterwards grabs the workpiece material base examined, numerically-controlled machine tool is sent into according to programmed processing technology and is added
Workpiece is sent into finished workpart again after processing equipment is examined to test and completed to the full-automatic processing of workpiece, wherein is described by work
Feeding inspection process includes the steps that:
It send step 1: starting sucking disk vehicle is moved to after skip car enters area's absorption workpiece material base to workpiece material base dimensional measurement verification
Area；
Step 2: reading the correctness that the two dimensional code being arranged on workpiece material base verifies workpiece material base, alarm if incorrect, it is no
Then continue to execute；
Step 3: the starting workpiece material base dimensional measurement procedure of verification, carries out the workpiece material base for being sent to dimensional measurement verification area
Dimensional verification, determine workpiece material base size whether accurate to dimension requirement, alarm if not meeting, otherwise continue to execute；
Wherein: during drawing workpiece material base, workpiece being sucked by the pressure sensor judgement being arranged in sucker gas circuit
Sucker pressure whether reached preset pressure value, continue to perform the next step operation after reaching preset pressure value, otherwise
Stopping, which continues to execute, to be operated and alarms in next step.
Scheme is further: the skip car enters area and is provided with multiple feeding parking stalls, is arranged in each feeding parking stall
There is workpiece inductive pick-up, multiple skip cars equipped with identical or different processed workpiece material base are pushed into multiple skip cars
Position, described to be according to the feeding numerically-controlled machine tool processing of programmed processing technology: the manufacturing procedure of adjustment workpiece material base, by multiple works
Part material base is respectively fed to different numerically-controlled machine tool simultaneous processings, in which: at least a numerically-controlled machine tool is work pieces process turnover number
It controls lathe and either executes the workpiece finishing operation numerical control machine for processing before finished workpart is examined.
Scheme is further: it includes workpiece placement platform that area is verified in the workpiece material base dimensional measurement, is placed in workpiece flat
The front end of platform is provided with workpiece front and ajusts basal plane locating piece, is respectively arranged with side surface of workpiece pendulum in the two sides of workpiece placement platform
Positive pushing block, the side surface of workpiece of two sides ajust pushing block and are connected separately with rack gear, and two rack gears, which fold, is engaged with gear, two rack gears by
Synchronous relative movement is done in gear drive, is provided with behind the workpiece pushed by cylinder below and is ajusted on rear side of workpiece placement platform
Pushing block is provided with thickness of workpiece detector on the workpiece placement platform that basal plane locating piece is ajusted in front, ajusts along side surface of workpiece
The motion track that pushing block is ajusted behind pushing block and workpiece is respectively arranged with magnetic scale, and thickness of workpiece detector is laser thickness detection
Instrument；The step of described pair of workpiece material base for being sent to dimensional measurement verification area carries out dimensional verification is:
Step 1: with ajusting behind workpiece, pushing block is mobile since rearmost end start bit to be pushed into forward workpiece front for workpiece material base
Ajust basal plane locating piece；
Workpiece material base is pushed away step 2: ajusting pushing block with the respectively arranged side surface of workpiece in two sides and being moved since outermost end start bit
It is put in workpiece placement platform center；
Step 3: thickness of the measuring probe of turning of work piece thickness gauge to the top of workpiece material base measurement workpiece material base, point
The distance of pushing block forward movement Du Qu not be ajusted behind workpiece and side surface of workpiece ajusts the mobile distance of pushing block and determines workpiece material
Thickness, width and the length dimension of base.
The beneficial effects of the present invention are:
1. realizing the full-automatic processing of workpiece.
2. by setting two-dimensional code reader and workpiece material base dimensional measurement verify area can to processed blank into
Row verifies examine twice, avoids wrong blank, and with uniqueness, this uniqueness will always for outbound from getting on the bus to surviving for workpiece
Continue to that part use is scrapped.
3. multiple blanks to be processed, flexibly adjustment manufacturing procedure can be prepared simultaneously by multiple feeding parking stalls of setting
It is processed while realization to multiple turned blanks, improves the utilization rate and processing efficiency of equipment.
The present invention will be described in detail with reference to the accompanying drawings and examples.
Detailed description of the invention
Fig. 1 is processing line overall structure elevational schematic view；
Fig. 2 is processing line overall structure floor map；
Fig. 3 is processing line workpiece feed segment structure schematic diagram；
Plot structure schematic diagram is verified in Fig. 4 workpiece material base dimensional measurement；
Fig. 5 is that pushing block rack drives structural schematic diagram is ajusted in workpiece placement platform side；
Fig. 6 is the revolution positioning mechanism structural schematic diagram in finished workpart inspection equipment；
Fig. 7 is the turntable head frame structural schematic diagram for turning round positioning mechanism structure；
Fig. 8 is the platform tailstock structure schematic diagram for turning round positioning mechanism structure.
Specific embodiment
A kind of automatic workpieces processing line is as depicted in figs. 1 and 2 a kind of automatic workpieces for being suitable for batch machining
Processing line, the automatic workpieces processing line include that tactic more numerically-controlled machine tools 1 and finished workpart examine equipment 2, work
Part product inspection equipment is using a kind of three-coordinates measuring machine, and numerically-controlled machine tool is at least three or more, and arrangement can be straight line
Arrangement, is also possible to bend alignment；Numerically-controlled machine tool can be same type of, such as numerically controlled lathe, be also possible to different type
Numerically-controlled machine tool for example, both having included numerically controlled lathe further include CNC milling machine or numerically control grinder, according to the needs of processing technology into
Row Combination Design；More numerically-controlled machine tools 1 are used to complete the manufacturing procedure to workpiece, and finished workpart examines equipment 2 to be used for completion
The measurement of the workpiece of processing detects.Examine the top of equipment that rail is set in tactic more numerically-controlled machine tools and finished workpart
Road 3 is provided with the robot gripper 4 of walking on track, and the robot gripper of walking is by putting the workpiece in numerically-controlled machine tool and work
Part product inspection equipment, or examine equipment to take out workpiece from numerically-controlled machine tool and finished workpart, by tactic more number of units
Control lathe and finished workpart examine equipment to be connected in series, and the processing of a computer controlling center Coordination Treatment processing line is examined
Information and robot gripper, numerically-controlled machine tool and finished workpart the inspection equipment for controlling walking, computer controlling center can be set
Interlocking parallel control, the control of computer controlling center are perhaps set simultaneously with Master Control Room in Master Control Room or at the scene at the scene
It is provided with database in computer processed, processing program and the input acquisition of the workpiece to be machined editted are stored in database
Workpiece to be machined workpiece number and dimension information.It can will be added on control computer or on other computers
The number and dimension information of work workpiece export an associated two dimensional code phase, and two dimensional code is attached on workpiece blank, wherein
It is also disposed with workpiece feed zone 5 together with examining equipment with tactic more numerically-controlled machine tools and finished workpart, such as Fig. 3 institute
Show, the workpiece feed zone includes charging segment frames, and skip car is respectively set before and after charging segment frames and enters area 501 and workpiece material
Area 502 is verified in base dimensional measurement, and workpiece material base dimensional measurement verification area, which is located in rectilinear orbit vertical lower side, makes the machine of walking
People's handgrip 4 can extend downwardly grabbing workpiece material base, and charging segment frames upper end two sides are provided with transmission guide rail 503, a suction
For jiggering 504 across in transmission guide rail, servo motor drives sucking disk vehicle to be moved forward and backward along transmission guide rail, and sucking disk vehicle is vertically provided with
Sucker 505, one row of sucker are arranged at intervals with multiple, and sucker, which enters workpiece material base from skip car on the truck in area to take out, to be sent to work
Area is verified in part material base dimensional measurement.
In embodiment: as depicted in figs. 1 and 2, being set with the tactic more numerically-controlled machine tools and finished workpart inspection
Standby to be also disposed with finished work-piece section 6 together, finished work-piece section is the delivery platform for having belt pulley, and delivery platform is fixed
Position is in rectilinear orbit vertical lower side, and the workpiece for completing inspection during manufacture is put on delivery platform by the robot gripper of walking, by passing
Send platform that the workpiece for completing processing is transferred to subsequent processing.
In order to purify processing environment: the more numerically-controlled machine tools and finished workpart examine equipment to be separately positioned on closing warehouse
It in 7, closes and is provided with controllable switch window 701 at the top of warehouse, the robot gripper of walking is by switch window more
A numerically-controlled machine tool and finished workpart examine the work piece holder position of equipment to be sent into or obtain out workpiece, and the closing warehouse is provided with
Thermostat makes warehouse remain at the temperature of a setting.
In order to guarantee the correctness of workpiece material base: the charging segment frames enter area in skip car and workpiece material base size is surveyed
Amount is verified and is provided with two-dimensional code reader 8 between area, and the sucker of the sucking disk vehicle moves through two dimension after picking up workpiece material base
Code reader reads the two dimensional code on workpiece material base, is put into workpiece material base dimensional measurement after confirmation number is correct and verifies area.
In order to guarantee that sucker reliably picks up workpiece material base, it is provided with pressure sensor in the gas circuit of the sucker, presses
Force snesor is arranged in sucker gas circuit, and pressure sensor is for measuring the pressure that workpiece material base is sucked in sucker.
In order to realize batch machining: as shown in Figure 1, Figure 2 and Figure 3, the skip car enters area and is provided with multiple skip cars
Position, is provided with workpiece inductive pick-up 9 in each feeding parking stall, and inductive pick-up is a kind of diffusing reflection inductive switch, processing
Line determines which feeding parking stall to there is workpiece according to workpiece inductive pick-up, while being additionally provided with anticollision on feeding parking stall
Locating piece, in place limit sensors sense and skip car self-locking device 10.Whether limit sensors induction in place has vehicle, enters in vehicle
Self-locking device fixes truck with eccentric shaft and realizes positioning behind parking stall.
Wherein: area 502 is verified in workpiece material base dimensional measurement can carry out different designs according to the workpiece shapes of processing, this
Embodiment is the design carried out for the workpiece blank of plate, as shown in figure 4, area's packet is verified in the workpiece material base dimensional measurement
Include workpiece placement platform, workpiece placement platform includes two rows of wheel platform 502-1, and there are a channels among two rows of wheel platforms
502-2 is provided with workpiece front in the front end of workpiece placement platform and ajusts basal plane locating piece 502-2, in workpiece placement platform
Two sides are respectively arranged with side surface of workpiece and ajust pushing block 502-3 and 502-4, as shown in figure 5, the side surface of workpiece of two sides ajusts pushing block point
It is not connected with rack gear 502-5 and 502-6, two rack gears, which fold, between two rack gears is provided with a gear 502-7, two teeth
Item and gear are intermeshed, and two rack gears do synchronous opposed moving belts by gear drive and start building to put in part pair, are placed in workpiece
It is provided on rear side of platform behind the workpiece pushed by cylinder below and ajusts pushing block 502-8, there are one among two rows of wheel platforms
A channel 502-9 ajusts pushing block 502-8 behind workpiece and is arranged in the 502-9 of channel, ajusts the workpiece of basal plane locating piece in front
Thickness of workpiece detector 11 is provided on placement platform, thickness of workpiece detector is fixed on a rotatable bracket 502-10
On, it is ajusted along side surface of workpiece and ajusts the motion track of pushing block behind pushing block and workpiece and be respectively arranged with magnetic scale.
Wherein:
Pushing and ajusting the cylinder of pushing block 502-8 behind workpiece is magnetic no-rod cylinder 12, can use the drive of magnetic no-rod cylinder
Moving pulse counts the measurement as vertical scale, can also be parallel to cylinder and a grating magnetic scale 13 is arranged to carry out vertical scale
Measurement, the push rod 502-11 connection cylinder and grating magnetic scale of pushing block are ajusted behind workpiece.
It is easy shown in Fig. 4 and Fig. 5, the attachment base 502- that pushing block 502-3 and 502-4 pass through two sides under it is ajusted in side
12 connection rack gear 502-5 and 502-6, attachment base slide on support sliding rail 502-13, and gear 502-7 can pass through stepper motor
Rotation is driven, the present embodiment is to drive to rotate by cylinder 14, and the setting of grating magnetic scale is on support sliding rail, since two rack gears are done
Relative movement, mobile distance is equal, therefore need to only be arranged on the support sliding rail of side grating magnetic scale can, count
When calculation by the data of measurement multiplied by 2 be lateral dimension.
Plot structure is verified in above-mentioned workpiece material base dimensional measurement ensure that the workpiece blank after ajusting is exactly in platform
Between position, facilitate robot gripper 4 hand adjusted according to the dimension data of offer and grab the firm grabbing workpiece material base in direction.
For the workpiece blank of plate, as shown in figure 3, the robot gripper 4 has symmetrically arranged two opponent to grab, often
One opponent grabs is equipped with plate grabbing groove 401 relatively, and is that two grabbing grooves, grabbing groove are equipped with 30 ° of notch angle of wedge a up and down,
Two opponents grab to be driven by straight line cylinder 402, according to engineering practice, is best suited for crawl plate, setting using 30 ° of the notch angle of wedge
Grabbing groove can preferably suitable for plurality of specifications plate grab；Straight line cylinder can keep the correct operating status of gripper,
It is matched with sensor and control system, the straight line cylinder driving handgrip of bi-directional drive accurately controls crawl process, realizes quasi-
Really and stablize flooring board crawl and moving process, wherein two opponents, which grab, can be divided into main gripper and assistant's pawl, the width of main gripper
Greater than the width of assistant's pawl, it can fit preferably be suitable for different working environments in this way.At work, two pairs of gripper crawls are in plate
Two symmetrical edges of material, plate can be picked up and be moved, and control system can be accurately controlled the movement of each pair of gripper, reach
To crawl position, and it can avoid machine pawl and excessively collided with plate.It is lesser that the lesser assistant's pawl of width is adapted to operating space
Working environment.When being grabbed to some plates compared with small dimension, can also only be operated with a pair of main gripper.Certainly, this
Structure hand grabs the workpiece and material that can be used for grip axes class and other shapes.
In embodiment: reply three-coordinates measuring machine is provided with workpiece revolution positioning mechanism, and workpiece revolution positioning mechanism is used for
Position fixed measured workpiece, Fig. 5, Fig. 6, Fig. 7, the revolution positioning mechanism includes that three-coordinates measuring machine measures workbench 202-
1, turntable head frame 202 and turntable tailstock 203 are fixedly installed on work top, turntable head frame and turntable tailstock are coaxially set relatively
It sets, turntable head frame includes fixed head frame pedestal 202-1 on the table, passes through fixture respectively on turntable head frame and turntable tailstock
Seat is provided with air-actuated jaw, and the clamping fixture seat of turntable head frame is driven by servo motor to be rotated.Wherein: as shown in fig. 6, in head frame pedestal
It is provided with revolution head bracket 202-2 on 202, revolution head bracket is provided with the head frame air-actuated jaw 202-3 being driven by the cylinder, one
A servo motor 202-4 drives swiveling head holder pivots by retarder 202-5, and encoder 202- is provided on servo motor
6, it can control the angle of revolution head bracket rotation by encoder, realize three-coordinates measuring machine to the multiangular measurement of workpiece.
As shown in fig. 7, the turntable tailstock 203 includes tailstock-carrier 203-1 and tailstock platform base 203-2, tailstock is flat
Platform pedestal is fixed on work top, and the clamping fixture seat 203-3 rotation of turntable tailstock is fixed on tailstock-carrier, is had on clamping fixture seat
The telescopic arm of cylinder, cylinder connects tailstock air-actuated jaw 203-4, and line slideway auxiliary 203-5 is provided on tailstock platform base,
That is: two linear guides disposed in parallel, tailstock-carrier are slidably arranged on line slideway auxiliary, parallel on tailstock platform base
It is fixedly installed rodless cylinder 203-6 in line slideway auxiliary, the lever arm 203-7 connection tailstock-carrier of rodless cylinder simultaneously drives tail
Seat support is moved forward and backward along line slideway auxiliary, stay-supported linear encoder is provided on the line slideway auxiliary, stay-supported is straight
Line coding device is used to incude the moving distance of tailstock-carrier, and workpiece inductive pick-up is provided on the clamping fixture seat of turntable tailstock
203-7, workpiece inductive pick-up are used to sense that the air-actuated jaw issued on signal driving turntable tailstock after workpiece to clamp workpiece.
The working principle of revolution positioning mechanism is: workpiece is transported on the measurement workbench of three-coordinate instrument by manipulator and is laid flat,
Workpiece one end is clamped by the fixture of turntable head frame first, then moves tailstock-carrier, when workpiece inductive pick-up touches workpiece
When the other end, the fixture started on tailstock-carrier clamps the workpiece other end, then discharges the measurement of mechanical hand starting three-coordinate instrument
Process.Whole process accomplishes reception workpiece, clamps workpiece, and rotational workpieces position workpiece, rotational workpieces after detection, and manipulator adds
The coherent not card resistance of motion flow movement that rear measured material decontrols workpiece is held, is swift in motion reliable, rotational positioning resetting essence
Degree is high, and fixture aid is strong, does not move after positioning, and reception workpiece angle is consistent with labor and materials angle is sent out, and accomplishes whole movement nothing
People's post, whole flow process automation
In order to guarantee that touching is reliable: the workpiece inductive pick-up is arranged on the clamping fixture seat between air-actuated jaw or more collet.
Do not occur to touch firmly after tailstock-carrier is mobile to the end in order to prevent: be moved before and after tailstock-carrier on tailstock platform base
Dynamic tail end is respectively arranged with damper 203-8 and 203-9, and damper is used to prevent the overshoot of tailstock-carrier.
Since the rotation that clamping fixture seat is dereliction kinetic energy is fixed on tailstock-carrier, in order not to occur arbitrarily rotating: described turn
The clamping fixture seat of platform tailstock is fixed on tailstock-carrier by the rotation of bidirectional damper bearing.
And the positioning of initial bit is rotated for convenience: a frame clamping fixture seat rotation initial bit sense is provided on turntable head frame
Inductive sensing device 202-7 is provided with tailstock clamping fixture seat rotation initial bit inductive pick-up 203-10 on turntable tailstock.Especially exist
The tailstock clamping fixture seat rotation initial bit inductive pick-up being arranged on turntable tailstock, can remind controllers to need tailstock fixture
Seat is rotated to initial position.
Automatic workpieces processing line operation method based on above-mentioned automatic workpieces processing line, in which: automatic workpieces add
Work line includes that tactic more numerically-controlled machine tools and finished workpart examine equipment, in more numerically-controlled machine tools being sequentially arranged and
Finished workpart is examined and is provided with track above equipment, the robot gripper of walking is provided on track, the robot of walking is grabbed
Hand examines equipment by putting the workpiece in numerically-controlled machine tool and finished workpart, or examines equipment to take out from numerically-controlled machine tool and finished workpart
The tactic more numerically-controlled machine tools and finished workpart are examined equipment to be connected in series by workpiece, and a control centre is coordinated
The robot gripper, numerically-controlled machine tool and finished workpart for controlling walking examine equipment, with tactic more numerically-controlled machine tools and work
Part product inspection equipment is also disposed with workpiece feed zone together, and the workpiece feed zone includes charging segment frames, feed zone
Skip car is respectively set before and after frame and enters area and workpiece material base dimensional measurement verification area, it is fixed that area is verified in workpiece material base dimensional measurement
Position allows the robot gripper of walking to extend downwardly grabbing workpiece material base in rectilinear orbit vertical lower side, on charging segment frames
End two sides are provided with transmission guide rail, and for a sucking disk vehicle across in transmission guide rail, servo motor drives sucking disk vehicle along transmission guide rail
It is moved forward and backward, sucking disk vehicle is vertically provided with sucker, and sucker, which enters workpiece material base from skip car on the truck in area to take out, to be sent to work
Area is verified in part material base dimensional measurement.Skip car push-in skip car equipped with processed workpiece material base is entered into area, starting processing
Feeding inspection process is first carried out in program, processing program, and the robot gripper then walked grabs the workpiece material base examined
Afterwards, according to programmed processing technology be sent into numerically-controlled machine tool processing, after processing again by workpiece be sent into finished workpart examine equipment into
Performing check is completed to the full-automatic processing of workpiece, wherein the feeding inspection process include the steps that be:
It send step 1: starting sucking disk vehicle is moved to after skip car enters area's absorption workpiece material base to workpiece material base dimensional measurement verification
Area；
Step 2: reading the correctness that the two dimensional code being arranged on workpiece material base verifies workpiece material base identity, reported if incorrect
It is alert, otherwise continue to execute；
Step 3: the starting workpiece material base dimensional measurement procedure of verification, carries out the workpiece material base for being sent to dimensional measurement verification area
Dimensional verification, determine workpiece material base size whether accurate to dimension requirement, alarm if not meeting, otherwise continue to execute；
Wherein: during drawing workpiece material base, workpiece being sucked by the pressure sensor judgement being arranged in sucker gas circuit
Sucker pressure whether reached preset pressure value, continue to perform the next step operation after reaching preset pressure value, otherwise
Stopping, which continues to execute, to be operated and alarms in next step.
Wherein one row of sucker is arranged at intervals with multiple, and method further comprises: being added according to known in control centre
The size of work blank determines that the sucker enabled obtains quantity, avoids unnecessary waste, such as program is that a fabrication plan sequentially refers to
Fixed labor and materials specification feeding sequence, sucker overall length are evenly distributed with 4 suckers, and labor and materials are divided into three kinds of length specifications, when labor and materials are according to sucker
Uniformly distributed size programs corresponding three kinds of length labor and materials in advance, which corresponds to automatically when selecting fabrication plan, and program default is grabbed assorted
Material, enables several sucker air suction functions automatically, and in order to insure, spy has installed pressure sensor additional in each sucker gas circuit, when
After sucker has done aspiratory action, pressure sensor monitoring government pressure, if pressure oscillation is more than setting value or decompression shape
State, lower step movement are not carried out.
Wherein: after being detected to workpieces processing, for testing result, the method further includes: if detection
Qualification, the workpiece that will test qualification are put into finished work-piece section and are sent to qualified area；If detection is unqualified, will test underproof
Workpiece is put into finished work-piece section and is sent to unqualified area；And it will test result and be sent to control centre.
In method: the skip car enters area and is provided with multiple feeding parking stalls, each feeding parking stall is provided with workpiece
Multiple skip cars equipped with same or different processed workpiece material base are pushed into multiple feeding parking stalls, institute by inductive pick-up
Stating to be sent into numerically-controlled machine tool according to programmed processing technology and process is: the manufacturing procedure of adjustment workpiece material base, by multiple workpiece material
Base is respectively fed to different numerically-controlled machine tool simultaneous processings, in order to guarantee that processing will not be because of whole lathes all in work pieces process work
The intermediate link of sequence carries out the processing of the next step after having a machine tool process finishing without the other lathe transfers of normal direction,
Therefore, wherein at least having a numerically-controlled machine tool is that work pieces process turnover numerically-controlled machine tool either executes the work before finished workpart is examined
Part finishing operation numerical control machine for processing.
In method: for the batch machining of plate workpiece, it includes that workpiece is placed that area is verified in the workpiece material base dimensional measurement
Platform is provided with workpiece front in the front end of workpiece placement platform and ajusts basal plane locating piece, in the two sides of workpiece placement platform point
It is not provided with side surface of workpiece and ajusts pushing block, the side surface of workpiece of two sides ajusts pushing block and is connected separately with rack gear, and two rack gears are folded and nibbled
Conjunction has gear, and two rack gears do synchronous relative movement by gear drive, can accomplish to drive in workpiece pair and put, place in workpiece
It is provided on rear side of platform behind the workpiece pushed by cylinder below and ajusts pushing block, put in the workpiece that basal plane locating piece is ajusted in front
It is provided with thickness of workpiece detector on horizontalization platform, the motion track for ajusting pushing block behind pushing block and workpiece is ajusted along side surface of workpiece
It is respectively arranged with magnetic scale, thickness of workpiece detector is laser thickness detector；Described pair is sent to the work that area is verified in dimensional measurement
The step of part material base progress dimensional verification, is:
Step 1: with ajusting behind workpiece, pushing block is mobile since rearmost end start bit to be pushed into forward workpiece front for workpiece material base
Ajust basal plane locating piece；
Workpiece material base is pushed away step 2: ajusting pushing block with the respectively arranged side surface of workpiece in two sides and being moved since outermost end start bit
It is put in workpiece placement platform center；
Step 3: thickness of the measuring probe of turning of work piece thickness gauge to the top of workpiece material base measurement workpiece material base, point
The distance of pushing block forward movement Du Qu not be ajusted behind workpiece and side surface of workpiece ajusts the mobile distance of pushing block and determines workpiece material
Thickness, width and the length dimension of base.
Wherein: plot structure is verified in workpiece material base dimensional measurement ensure that the workpiece blank after ajusting is exactly in platform
Between position, therefore hand is adjusted according to the dimension data of measurement the method further includes, the robot gripper and grabs direction
Firm grabbing workpiece material base.
Claims (10)
1. a kind of automatic workpieces processing line, including tactic more numerically-controlled machine tools and finished workpart examine equipment, suitable
The more numerically-controlled machine tools and finished workpart of sequence arrangement, which are examined, is provided with track above equipment, and the machine of walking is provided on track
People's handgrip, the robot gripper of walking is by putting the workpiece in numerically-controlled machine tool and finished workpart examines equipment or from numerically-controlled machine tool
It examines equipment to take out workpiece with finished workpart, the tactic more numerically-controlled machine tools and finished workpart is examined into equipment concatenation
Get up, robot gripper, numerically-controlled machine tool and the finished workpart of control centre's coordinated control walking examine equipment, and feature exists
In, it is also disposed with workpiece feed zone together with tactic more numerically-controlled machine tools and finished workpart inspection equipment, it is described
Workpiece feed zone includes charging segment frames, and skip car is respectively set before and after charging segment frames and enters area and workpiece material base dimensional measurement
Area is verified, workpiece material base dimensional measurement verification area, which is located in rectilinear orbit vertical lower side, keeps the robot gripper of walking downward
Grabbing workpiece material base is stretched out, charging segment frames upper end two sides are provided with transmission guide rail, a sucking disk vehicle is across in transmission guide rail
On, servo motor drives sucking disk vehicle to be moved forward and backward along transmission guide rail, and sucking disk vehicle is vertically provided with sucker, sucker by workpiece material base from
Skip car, which enters on the truck in area to take out to send to workpiece material base dimensional measurement, verifies area.
2. processing line according to claim 1, which is characterized in that with the tactic more numerically-controlled machine tools and workpiece
Product inspection equipment is also disposed with finished work-piece section together, and finished work-piece section is a delivery platform, the robot of walking
The workpiece for completing inspection during manufacture is put on delivery platform by handgrip, and the workpiece for completing processing is transferred to next work by delivery platform
Sequence.
3. processing line according to claim 1, which is characterized in that the more numerically-controlled machine tools and finished workpart examine equipment
It is separately positioned in closing warehouse, closes and be provided with controllable switch window at the top of warehouse, the robot gripper of walking is logical
It crosses switch window and examines the work piece holder position of equipment to be sent into or obtain out workpiece in multiple numerically-controlled machine tools and finished workpart.
4. processing line according to claim 1, which is characterized in that the charging segment frames enter area and workpiece in skip car
Material base dimensional measurement is verified and is provided with two-dimensional code reader between area, and the sucker of the sucking disk vehicle moves after picking up workpiece material base
It is put into workpiece material base dimensional measurement after the two dimensional code that two-dimensional code reader is read on workpiece material base and verifies area.
5. processing line according to claim 1, which is characterized in that be provided with pressure sensing in the gas circuit of the sucker
Device, pressure sensor is for measuring the pressure that workpiece material base is sucked in sucker.
6. processing line according to claim 1, which is characterized in that the skip car enters area and is provided with multiple skip cars
Position is provided with workpiece inductive pick-up in each feeding parking stall, and processing line is determined according to workpiece inductive pick-up at which
There is workpiece in feeding parking stall.
7. processing line according to claim 1 or 6, which is characterized in that the workpiece material base dimensional measurement verifies area and includes
Workpiece placement platform is provided with workpiece front in the front end of workpiece placement platform and ajusts basal plane locating piece, in workpiece placement platform
Two sides be respectively arranged with side surface of workpiece and ajust pushing block, the side surface of workpiece of two sides ajusts pushing block and is connected separately with rack gear, two teeth
Item, which folds, is engaged with gear, and two rack gears do synchronous relative movement by gear drive, is provided on rear side of workpiece placement platform
Pushing block is ajusted behind the workpiece pushed by cylinder below, is provided with work on the workpiece placement platform that basal plane locating piece is ajusted in front
Part thickness gauge is ajusted along side surface of workpiece and ajusts the motion track of pushing block behind pushing block and workpiece and be respectively arranged with magnetic scale.
8. a kind of automatic workpieces processing line operation method, including automatic workpieces processing line described in claim 1 will be equipped with quilt
The skip car push-in skip car of the workpiece material base of processing enters area, starts processing program, and feeding inspection is first carried out in processing program
Process after the robot gripper then walked grabs the workpiece material base examined, is sent into number according to programmed processing technology
Machine tooling is controlled, workpiece is sent into finished workpart again after processing equipment is examined to test and completed to the full-automatic processing of workpiece,
It is characterized in that, the feeding inspection process include the steps that be:
It send step 1: starting sucking disk vehicle is moved to after skip car enters area's absorption workpiece material base to workpiece material base dimensional measurement verification
Area；
Step 2: reading the correctness that the two dimensional code being arranged on workpiece material base verifies workpiece material base, alarm if incorrect, it is no
Then continue to execute；
Step 3: the starting workpiece material base dimensional measurement procedure of verification, carries out the workpiece material base for being sent to dimensional measurement verification area
Dimensional verification, determine workpiece material base size whether accurate to dimension requirement, alarm if not meeting, otherwise continue to execute；
Wherein: during drawing workpiece material base, workpiece being sucked by the pressure sensor judgement being arranged in sucker gas circuit
Sucker pressure whether reached preset pressure value, continue to perform the next step operation after reaching preset pressure value, otherwise
Stopping, which continues to execute, to be operated and alarms in next step.
9. according to the method described in claim 8, it is characterized in that, the skip car, which enters area, is provided with multiple feeding parking stalls,
Each feeding parking stall is provided with workpiece inductive pick-up, by equipped with identical or different processed workpiece material base it is multiple on
Truck is pushed into multiple feeding parking stalls, described to be according to the feeding numerically-controlled machine tool processing of programmed processing technology: adjustment workpiece material base
Manufacturing procedure, multiple workpiece material bases are respectively fed to different numerically-controlled machine tool simultaneous processings, in which: an at least numerical control machine
Bed is that work pieces process turnover numerically-controlled machine tool either executes the workpiece finishing operation numerical control machine for processing before finished workpart is examined.
10. according to the method described in claim 8, it is characterized in that, it includes workpiece that area is verified in the workpiece material base dimensional measurement
Placement platform is provided with workpiece front in the front end of workpiece placement platform and ajusts basal plane locating piece, the two of workpiece placement platform
Side is respectively arranged with side surface of workpiece and ajusts pushing block, and the side surface of workpiece of two sides ajusts pushing block and is connected separately with rack gear, two rack gear phases
Folder is engaged with gear, and two rack gears do synchronous relative movement by gear drive, are provided on rear side of workpiece placement platform by rear
Pushing block is ajusted behind the workpiece that face cylinder pushes, workpiece thickness is provided on the workpiece placement platform that basal plane locating piece is ajusted in front
Detector is spent, is ajusted along side surface of workpiece and is ajusted the motion track of pushing block behind pushing block and workpiece and be respectively arranged with magnetic scale, workpiece
Thickness gauge is laser thickness detector；The described pair of workpiece material base for being sent to dimensional measurement verification area carries out dimensional verification
Step is:
Step 1: with ajusting behind workpiece, pushing block is mobile since rearmost end start bit to be pushed into forward workpiece front for workpiece material base
Ajust basal plane locating piece；
Workpiece material base is pushed away step 2: ajusting pushing block with the respectively arranged side surface of workpiece in two sides and being moved since outermost end start bit
It is put in workpiece placement platform center；
Step 3: thickness of the measuring probe of turning of work piece thickness gauge to the top of workpiece material base measurement workpiece material base, point
The distance of pushing block forward movement Du Qu not be ajusted behind workpiece and side surface of workpiece ajusts the mobile distance of pushing block and determines workpiece material
Thickness, width and the length dimension of base.
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