CN110303345B - Full-automatic workpiece processing line and operation method thereof - Google Patents
Full-automatic workpiece processing line and operation method thereof Download PDFInfo
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- CN110303345B CN110303345B CN201910671338.2A CN201910671338A CN110303345B CN 110303345 B CN110303345 B CN 110303345B CN 201910671338 A CN201910671338 A CN 201910671338A CN 110303345 B CN110303345 B CN 110303345B
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- 238000000034 method Methods 0.000 title claims abstract description 43
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- 238000012795 verification Methods 0.000 claims abstract description 39
- 238000003754 machining Methods 0.000 claims description 18
- 230000006698 induction Effects 0.000 claims description 16
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- 239000000523 sample Substances 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 238000004513 sizing Methods 0.000 claims 1
- 239000000047 product Substances 0.000 description 32
- 239000000463 material Substances 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 7
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- 238000000227 grinding Methods 0.000 description 1
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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
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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
- 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 full-automatic workpiece processing line and an operation method thereof, wherein the processing line comprises a plurality of numerical control machines and workpiece finished product inspection equipment which are sequentially arranged, a track is arranged above the plurality of numerical control machines and workpiece finished product inspection equipment which are sequentially arranged, a walking robot gripper is arranged on the track, the walking robot gripper connects the plurality of numerical control machines and workpiece finished product inspection equipment which are sequentially arranged in series, a control center coordinates and controls the walking robot gripper, the numerical control machines and the workpiece finished product inspection equipment, a workpiece feeding section is also arranged together with the plurality of numerical control machines and workpiece finished product inspection equipment which are sequentially arranged, the workpiece feeding section comprises a feeding section frame, a feeding vehicle entering area and a workpiece blank size measurement verification area are respectively arranged in front of and behind the feeding section frame, and the workpiece blank size measurement verification area is positioned at the vertical side of the linear track so that the walking robot gripper can downwards stretch out to grasp a workpiece blank.
Description
Technical Field
The invention relates to a full-automatic workpiece processing line and an operation method thereof.
Background
For machining of multiple-working-procedure workpieces, corresponding cutters and clamps need to be replaced when the working procedure is replaced, if the machining is completed on one machining device, the device is required to have multiple-working-procedure functions, meanwhile, the corresponding clamps are required to be provided, however, some devices are not provided with the required complete machining working procedure, the device needs to be replaced to another device for machining, manual intervention is required for each replacement, and the problems of low production efficiency, inconsistent clamping and incapability of adapting to the requirement of mass production are brought.
Disclosure of Invention
The invention aims to provide a full-automatic workpiece processing line and an operation method thereof, which ensure the correctness of a processed workpiece entering processing equipment by automatically detecting a workpiece blank in a feeding preparation section.
In order to achieve the above object, the technical scheme of the present invention is as follows:
a full-automatic workpiece machining line comprises a plurality of numerical control machines and workpiece finished product inspection equipment which are sequentially arranged, a track is arranged above the plurality of numerical control machines and workpiece finished product inspection equipment which are sequentially arranged, a walking robot gripper is arranged on the track, the walking robot gripper enables the walking robot gripper to downwards stretch out of a workpiece blank by placing the workpiece into the numerical control machines and workpiece finished product inspection equipment or taking the workpiece out of the numerical control machines and workpiece finished product inspection equipment, the plurality of numerical control machines and workpiece finished product inspection equipment which are sequentially arranged are connected in series, a control center cooperatively controls the walking robot gripper, the numerical control machines and workpiece finished product inspection equipment, a workpiece feeding section is also arranged together with the plurality of numerical control machines and workpiece finished product inspection equipment which are sequentially arranged, the workpiece feeding section comprises a feeding section frame, a feeding vehicle entering area and a workpiece blank size measurement verification area are respectively arranged at the front and the back of the feeding section frame, the walking robot gripper can downwards stretch out of the workpiece blank on the vertical side of the linear track, a transmission guide rail is arranged at two sides of the upper end of the feeding section frame, a sucking disc car spans the transmission guide rail, a sucking disc driving a sucking disc to move forward from the feeding disc to the feeding disc area, and the workpiece blank is arranged to the sucking disc is arranged at the feeding disc and the workpiece size measurement area.
The scheme is further as follows: and the finished workpiece sections are arranged together with the numerical control machine tools and the workpiece finished product inspection equipment which are sequentially arranged, the finished workpiece sections are a conveying platform, the walking robot grippers place the processed and inspected workpieces on the conveying platform, and the conveying platform conveys the processed workpieces to the next working procedure.
The scheme is further as follows: the multiple numerical control machine tools and the workpiece finished product inspection equipment are respectively arranged in a closed bin, a controllable switch window is arranged at the top of the closed bin, and a walking robot gripper sends or obtains workpieces at the workpiece clamp positions of the multiple numerical control machine tools and the workpiece finished product inspection equipment through the switch window.
The scheme is further as follows: the feeding section frame is provided with a two-dimensional code reader between the feeding vehicle entering area and the workpiece blank size measurement verification area, and the sucker of the sucker vehicle sucks the workpiece blank and then moves to read the two-dimensional code on the workpiece blank through the two-dimensional code reader and then put into the workpiece blank size measurement verification area.
The scheme is further as follows: the gas circuit of the sucker is provided with a pressure sensor which is used for measuring the pressure of the workpiece blank sucked by the sucker.
The scheme is further as follows: the feeding car entering area is provided with a plurality of feeding car spaces, each feeding car space is provided with a workpiece induction sensor, and the processing line determines which feeding car space is provided with a workpiece according to the workpiece induction sensors.
The scheme is further as follows: the workpiece blank size measurement verification area comprises a workpiece placement platform, a workpiece front face positioning block is arranged at the front end of the workpiece placement platform, workpiece side face positioning pushing blocks are respectively arranged on two sides of the workpiece placement platform, the workpiece side face positioning pushing blocks on two sides are respectively connected with racks, two racks are engaged with gears in a clamped mode, the two racks are driven by the gears to synchronously and relatively move, a workpiece rear face positioning pushing block pushed by a rear air cylinder is arranged on the rear side of the workpiece placement platform, a workpiece thickness detector is arranged on the workpiece placement platform of the front face positioning block, and magnetic rules are respectively arranged along the moving tracks of the workpiece side face positioning pushing blocks and the workpiece rear face positioning pushing blocks.
The full-automatic workpiece processing line operation method comprises the steps that a feeding trolley filled with a processed workpiece blank is pushed into a feeding trolley entering area, a processing program is started, the processing program firstly executes a feeding inspection flow, a walking robot gripper grabs the inspected workpiece blank and then sends the workpiece blank into a numerical control machine for processing according to an arranged processing technology, and after processing, the workpiece is sent into workpiece finished product inspection equipment for inspection to complete full-automatic processing of the workpiece, wherein the feeding inspection flow comprises the following steps:
the first step: starting a sucker car to move to a feeding car entering area to suck a workpiece blank and then send the workpiece blank to a workpiece blank size measurement verification area;
and a second step of: reading a two-dimensional code arranged on the workpiece blank to verify the correctness of the workpiece blank, alarming if the correctness is incorrect, and otherwise, continuing to execute;
and a third step of: starting a workpiece blank size measurement verification program, performing size verification on the workpiece blank fed into a size measurement verification area, determining whether the size of the workpiece blank meets the machining size requirement, alarming if the size of the workpiece blank does not meet the machining size requirement, otherwise, continuing to execute;
wherein: in the process of sucking the workpiece blank, judging whether the suction cup pressure for sucking the workpiece reaches a preset pressure value or not through a pressure sensor arranged on a suction cup air path, and continuing to execute the next operation after the suction cup pressure reaches the preset pressure value, or stopping to continue to execute the next operation and giving an alarm.
The scheme is further as follows: the feeding car entering area is provided with a plurality of feeding car positions, each feeding car position is provided with a workpiece induction sensor, a plurality of feeding cars provided with the same or different processed workpiece blanks are pushed into the plurality of feeding car positions, and the feeding car is fed into a numerical control machine tool for processing according to the well-arranged processing technology: adjusting the processing procedure of workpiece blanks, respectively feeding a plurality of workpiece blanks into different numerical control machine tools for simultaneous processing, wherein: at least one numerical control machine is a workpiece processing turnover numerical control machine or a workpiece final procedure processing numerical control machine before the inspection of a workpiece finished product is executed.
The scheme is further as follows: the workpiece blank size measurement verification area comprises a workpiece placement platform, a workpiece front face positioning block is arranged at the front end of the workpiece placement platform, workpiece side face positioning pushing blocks are respectively arranged at two sides of the workpiece placement platform, the workpiece side face positioning pushing blocks at two sides are respectively connected with racks, gears are engaged with the two racks in a clamped mode, the two racks are driven by the gears to synchronously and relatively move, a workpiece rear face positioning pushing block pushed by a rear air cylinder is arranged at the rear side of the workpiece placement platform, a workpiece thickness detector is arranged on the workpiece placement platform of the front face positioning block, magnetic rules are respectively arranged along the moving track of the workpiece side face positioning pushing blocks and the workpiece rear face positioning pushing blocks, and the workpiece thickness detector is a laser thickness detector; the step of performing size verification on the workpiece blank fed into the size measurement verification area comprises the following steps:
the first step: a workpiece rear face centering pushing block starts to move from a final start position to push a workpiece blank forward to a workpiece front face centering base surface positioning block;
and a second step of: a workpiece side face centering pushing block which is respectively arranged on two sides starts to move from the starting position of the outermost end to push a workpiece blank to the center of a workpiece placing platform for centering and placing;
and a third step of: and (3) rotating a measuring probe of the workpiece thickness detector to the upper part of the workpiece blank to measure the thickness of the workpiece blank, and respectively reading the forward moving distance of the back correcting pushing block of the workpiece and the moving distance of the side correcting pushing block of the workpiece to determine the thickness, width and length dimensions of the workpiece blank.
The beneficial effects of the invention are as follows:
1. realizing the full-automatic processing of the workpiece.
2. The two-dimensional code reader and the workpiece blank size measurement verification area can be used for carrying out two-time verification on the processed blank, so that blank error is avoided, and the workpiece has uniqueness from loading to survival and delivery, and the uniqueness is continued until the part is scrapped.
3. A plurality of blanks to be processed can be prepared simultaneously through the plurality of charging spaces, and the flexible adjustment processing procedure realizes simultaneous processing of a plurality of processed blanks, so that the utilization rate and the processing efficiency of the equipment are improved.
The invention is described in detail below with reference to the drawings and examples.
Drawings
FIG. 1 is a schematic elevational view of the overall construction of a processing line;
FIG. 2 is a schematic plan view of the overall structure of the processing line;
FIG. 3 is a schematic view of a work piece feed section of a processing line;
FIG. 4 is a schematic diagram of a workpiece blank size measurement verification area;
FIG. 5 is a schematic diagram of a rack drive mechanism of a side centering pusher of a workpiece placement platform;
FIG. 6 is a schematic diagram of a rotary positioning mechanism in a workpiece end product inspection apparatus;
FIG. 7 is a schematic view of a turret head structure of the turret positioning mechanism;
fig. 8 is a schematic view of a tailstock structure of the swing positioning mechanism.
Detailed Description
The full-automatic workpiece processing line is a full-automatic workpiece processing line suitable for batch processing, as shown in fig. 1 and 2, and comprises a plurality of numerical control machine tools 1 and workpiece finished product inspection equipment 2 which are sequentially arranged, wherein the workpiece finished product inspection equipment adopts a three-coordinate measuring instrument, and the number of the numerical control machine tools is at least three, and the numerical control machine tools can be arranged in a straight line or in a bent line; the numerical control machine tools can be of the same type, such as a numerical control lathe, or of different types, such as a numerical control lathe, a numerical control milling machine or a numerical control grinding machine, and are designed in a combined mode according to the requirements of the processing technology; the numerical control machine tools 1 are used for completing the machining process of workpieces, and the workpiece finished product inspection equipment 2 is used for measuring and detecting the machined workpieces. The automatic processing system is characterized in that a track 3 is arranged above a plurality of numerical control machines and workpiece finished product inspection devices which are sequentially arranged, a walking robot gripper 4 is arranged on the track, the walking robot gripper is used for placing workpieces into the numerical control machines and workpiece finished product inspection devices or taking the workpieces out of the numerical control machines and workpiece finished product inspection devices, the numerical control machines and workpiece finished product inspection devices which are sequentially arranged are connected in series, a computer control center is used for processing and inspecting information of a processing line in a coordinated mode and controlling the walking robot gripper, the numerical control machines and the workpiece finished product inspection devices, the computer control center can be arranged on site or in a general control room, or interlocking parallel control is simultaneously arranged on the site and the general control room, a database is arranged in a control computer of the computer control center, and an edited processing program of the processed workpieces and workpiece serial number and size information of the processed workpieces which are input and collected are stored in the database. The two-dimensional code is attached to the workpiece blank, wherein a workpiece feeding section 5 is further arranged together with a plurality of numerical control machine tools and workpiece finished product inspection equipment which are sequentially arranged, as shown in fig. 3, the workpiece feeding section comprises a feeding section frame, a feeding car entering area 501 and a workpiece blank size measurement verification area 502 are respectively arranged on the front and the back of the feeding section frame, the workpiece blank size measurement verification area is positioned on the vertical lower side of a linear track, so that a walking robot gripper 4 can downwards stretch out to grasp the workpiece blank, two sides of the upper end of the feeding section frame are provided with transmission guide rails 503, a sucker car 504 spans on the transmission guide rails, a servo motor drives the sucker car to move back and forth along the transmission guide rails, a sucker 505 is downwards arranged on the trolley, a plurality of suckers are arranged at intervals, and the workpiece blank is taken out from the feeding car entering area to the workpiece blank size measurement area.
In the examples: as shown in fig. 1 and 2, a finished workpiece section 6 is also arranged together with the plurality of numerical control machine tools and the finished workpiece inspection equipment which are sequentially arranged, the finished workpiece section is a conveying platform with a belt pulley, the conveying platform is positioned at the vertical lower side of the linear track, a walking robot gripper places a workpiece which is subjected to machining inspection on the conveying platform, and the conveying platform conveys the machined workpiece to the next working procedure.
In order to clean the processing environment: the multiple numerical control machine tools and the workpiece finished product inspection equipment are respectively arranged in a closed bin 7, a controllable switch window 701 is arranged at the top of the closed bin, a walking robot gripper sends or obtains workpieces at workpiece clamp positions of the multiple numerical control machine tools and the workpiece finished product inspection equipment through the switch window, and a constant temperature device is arranged in the closed bin, so that the bin is always kept at a set temperature.
In order to ensure the correctness of the workpiece blank: the feeding section frame is provided with a two-dimensional code reader 8 between the feeding vehicle entering area and the workpiece blank size measurement verification area, and the sucker of the sucker vehicle sucks the workpiece blank and then moves to read the two-dimensional code on the workpiece blank through the two-dimensional code reader, and the workpiece blank size measurement verification area is placed after the number is confirmed to be correct.
In order to ensure that the sucker reliably sucks the workpiece blank, a pressure sensor is arranged on a gas path of the sucker, and the pressure sensor is arranged on the gas path of the sucker and is used for measuring the pressure of the sucker sucking the workpiece blank.
To achieve batch processing: as shown in fig. 1, 2 and 3, the feeding car entering area is provided with a plurality of feeding car spaces, each feeding car space is provided with a workpiece induction sensor 9, the induction sensor is a diffuse reflection induction switch, the processing line determines which feeding car space is provided with a workpiece according to the workpiece induction sensor, and meanwhile, the feeding car space is also provided with an anti-collision positioning block, an in-place limiting sensor and a feeding car self-locking device 10. The in-place limit sensor senses whether a vehicle exists or not, and the self-locking device uses the eccentric shaft to fix the dead vehicle to realize positioning after the vehicle enters a parking space.
Wherein: the workpiece blank size measurement verification area 502 can be designed differently according to the shape of a machined workpiece, as shown in fig. 4, the workpiece blank size measurement verification area comprises a workpiece placement platform, the workpiece placement platform comprises two rows of roller platforms 502-1, a channel 502-9 is reserved between the two rows of roller platforms, a workpiece front face positioning block 502-2 is arranged at the front end of the workpiece placement platform, workpiece side face positioning blocks 502-3 and 502-4 are respectively arranged on two sides of the workpiece placement platform, as shown in fig. 5, the workpiece side face positioning blocks on two sides are respectively connected with racks 502-5 and 502-6, a gear 502-7 is arranged between the two racks in a clamped mode, the two racks are meshed with the gear, the two racks are driven by the gear to move synchronously and relatively to drive the workpiece to be centered and placed, a channel 502-9 is reserved between the two rows of roller platforms, a workpiece front face positioning block 502-8 is arranged on the rear face positioning block 502-8, a workpiece front face detector is arranged on the workpiece front face positioning block, and a workpiece front face detector is arranged on the workpiece front face positioning block 502-9, and a workpiece front face detector is arranged on the workpiece front face positioning block and a workpiece detector is arranged on the workpiece front face positioning block.
Wherein:
the cylinder for pushing the workpiece back straightening push block 502-8 is a magnetic rodless cylinder 12, the driving pulse count of the magnetic rodless cylinder can be used as the longitudinal dimension measurement, and a grating magnetic ruler 13 can be arranged parallel to the cylinder to measure the longitudinal dimension, and the push rod 502-11 of the workpiece back straightening push block is connected with the cylinder and the grating magnetic ruler.
As shown in fig. 4 and 5, the side centering push blocks 502-3 and 502-4 are connected with the racks 502-5 and 502-6 below the side centering push blocks through the connecting seats 502-12 on two sides, the connecting seats slide on the supporting slide rail 502-13, the gear 502-7 can be driven to rotate by a stepping motor, the embodiment is driven to rotate by the air cylinder 14, the grating magnetic ruler is arranged on the supporting slide rail, and the moving distance is equal because the two racks are relatively moved, so that the measured data is multiplied by 2 to obtain the transverse dimension only by arranging the grating magnetic ruler on the supporting slide rail on one side during calculation.
The workpiece blank size measurement verification area structure ensures that the workpiece blank after being aligned is just positioned at the middle part of the platform, and the robot gripper 4 can conveniently adjust the gripping direction to firmly grip the workpiece blank according to the provided size data.
For a plate-shaped workpiece blank, as shown in fig. 3, the robot gripper 4 is provided with two pairs of symmetrical grippers, each pair of grippers is provided with a plate gripping groove 401, and is an upper gripping groove and a lower gripping groove, the gripping grooves are provided with a slot wedge angle a of 30 degrees, the two pairs of grippers are driven by a linear cylinder 402, the slot wedge angle of 30 degrees is adopted to be most suitable for gripping plates according to engineering practice, and the arranged gripping grooves can be better suitable for gripping plates with various specifications; the straight line cylinder can keep the correct running state of paw, cooperatees with sensor and control system, and the straight line cylinder drive tongs of two-way drive can accurate control snatchs the process, realizes accurate and stable floor material snatchs and removes the process, and wherein, two pairs of tongs can divide into main paw and auxiliary paw, and the width of main paw is greater than the width of auxiliary paw, and adaptable better is applicable to different operational environment like this. When the device works, the two handles are grabbed at two symmetrical edges of the plate, the plate can be grabbed and moved, the control system can accurately control the movement of each handle to reach the grabbing position, and excessive collision between the two handles and the plate can be avoided. The auxiliary paw with smaller width can adapt to the working environment with smaller operation space. When grabbing some smaller-sized plates, only one pair of main claws can be used for operation. Of course, the structure of the hand grip can also be used for gripping workpieces and materials of shaft types and other shapes.
In the examples: the work piece rotary positioning mechanism is used for positioning and fixing a measured work piece, and is shown in fig. 5, 6 and 7, the rotary positioning mechanism comprises a three-coordinate measuring machine measuring workbench 202-1, a turntable headstock 202 and a turntable tailstock 203 are fixedly arranged on the workbench surface, the turntable headstock and the turntable tailstock are coaxially and oppositely arranged, the turntable headstock comprises a headstock base 202-1 fixed on the workbench, pneumatic clamps are respectively arranged on the turntable headstock and the turntable tailstock through clamp bases, and the clamp bases of the turntable headstock are driven to rotate by a servo motor. Wherein: as shown in fig. 6, a turret bracket 202-2 is arranged on a headstock base 202, a headstock pneumatic clamp 202-3 driven by an air cylinder is arranged on the turret bracket, a servo motor 202-4 drives the turret bracket to rotate through a speed reducer 202-5, an encoder 202-6 is arranged on the servo motor, and the rotating angle of the turret bracket can be controlled through the encoder, so that multi-angle measurement of a three-coordinate measuring instrument on a workpiece is realized.
As shown in fig. 7, the turntable tailstock 203 includes a tailstock support 203-1 and a tailstock platform base 203-2, the tailstock platform base is fixed on the working table, a fixture base 203-3 of the turntable tailstock is rotationally fixed on the tailstock support, a cylinder is provided on the fixture base, a telescopic arm of the cylinder is connected with a tailstock pneumatic fixture 203-4, and a linear guide rail pair 203-5 is provided on the tailstock platform base, namely: the two parallel arrangement's linear guide, tailstock support slide and set up on the linear guide is vice, is parallel to the linear guide on tailstock platform base pair fixed be provided with rodless cylinder 203-6, and tailstock support is connected to rodless cylinder's movable arm 203-7 and drive tailstock support along linear guide pair back and forth movement be provided with stay-supported linear encoder on the linear guide is vice, and stay-supported linear encoder is used for responding to the travel distance of tailstock support, is provided with work piece induction sensor 203-7 on the anchor clamps seat of revolving stage tailstock, and work piece induction sensor is used for sending signal drive revolving stage tailstock after the work piece is sensed and is gripped the work piece.
The working principle of the rotary positioning mechanism is as follows: the workpiece is horizontally placed on a measuring workbench of the three-coordinate instrument by a manipulator, one end of the workpiece is clamped by a clamp of a turntable head frame, then a tailstock support is moved, when a workpiece induction sensor touches the other end of the workpiece, the clamp on the tailstock support is started to clamp the other end of the workpiece, and then the manipulator is released to start a measuring process of the three-coordinate instrument. The whole process is to receive the workpiece, clamp the workpiece, rotate the workpiece, position the workpiece, rotate the workpiece after detection, the measuring clamp releases the workpiece after the manipulator is held, the action is coherent and unblocked, the action is rapid and reliable, the repeated positioning precision of the rotation positioning is high, the clamp is powerful, the workpiece is not moved after positioning, the angle of the workpiece is consistent with the angle of the work material to be sent out, the whole process is unattended, and the whole process is automatic
To ensure reliable touch: the workpiece induction sensor is arranged on a clamp seat between the upper clamp head and the lower clamp head of the pneumatic clamp.
To prevent the tailstock holder from moving to the head without hard touch: dampers 203-8 and 203-9 are respectively arranged at the head and tail ends of the tailstock support moving back and forth on the tailstock platform base, and are used for preventing overshoot of the tailstock support.
Because the clamp seat is fixed on the tailstock bracket in a rotation way without active energy, the clamp seat does not rotate randomly: the clamp seat of the turntable tailstock is rotationally fixed on the tailstock bracket through a bidirectional damping bearing.
And to facilitate the positioning of the rotation initiation bits: a headstock clamp seat rotation initiation position sensing sensor 202-7 is arranged on the turntable headstock, and a tailstock clamp seat rotation initiation position sensing sensor 203-10 is arranged on the turntable tailstock. Particularly, the tailstock fixture seat rotating initial position induction sensor arranged on the tailstock of the turntable can remind a control person of rotating the tailstock fixture seat to an initial position.
The full-automatic workpiece processing line operation method based on the full-automatic workpiece processing line comprises the following steps: the full-automatic workpiece processing line comprises a plurality of numerical control machines and workpiece finished product inspection equipment which are sequentially arranged, a track is arranged above the plurality of numerical control machines and workpiece finished product inspection equipment which are sequentially arranged, a walking robot gripper is arranged on the track, the walking robot gripper enables the walking robot gripper to downwards extend out of and grasp workpiece blanks by placing the workpieces into the numerical control machines and workpiece finished product inspection equipment or taking the workpieces out of the numerical control machines and workpiece finished product inspection equipment, the plurality of numerical control machines and workpiece finished product inspection equipment which are sequentially arranged are connected in series, a control center cooperatively controls the walking robot gripper, the numerical control machines and workpiece finished product inspection equipment, a workpiece feeding section is also arranged together with the plurality of numerical control machines and workpiece finished product inspection equipment which are sequentially arranged, the workpiece feeding section comprises a feeding section frame, a feeding vehicle entering area and a workpiece blank size measurement verification area are respectively arranged in front of and behind the feeding section frame, the workpiece blank size measurement area is positioned on the vertical side of the linear track, a conveying guide rail is arranged on two sides of the upper end of the feeding section frame, a sucker car spans the conveying guide rail, a sucker car drives a sucker disc to move along the conveying guide rail, and a workpiece blank is arranged on the sucker disc to the workpiece blank measurement area. Pushing a feeding vehicle provided with a workpiece blank to be processed into a feeding vehicle entering area, starting a processing program, firstly executing a feeding inspection flow by the processing program, then grabbing the inspected workpiece blank by a walking robot gripper, then sending the workpiece blank into a numerical control machine for processing according to an arranged processing technology, and then sending the workpiece into workpiece finished product inspection equipment for inspection after processing to complete full-automatic processing of the workpiece, wherein the feeding inspection flow comprises the following steps:
the first step: starting a sucker car to move to a feeding car entering area to suck a workpiece blank and then send the workpiece blank to a workpiece blank size measurement verification area;
and a second step of: reading a two-dimensional code arranged on a workpiece blank to verify the correctness of the identity of the workpiece blank, alarming if the identity of the workpiece blank is incorrect, otherwise, continuing to execute;
and a third step of: starting a workpiece blank size measurement verification program, performing size verification on the workpiece blank fed into a size measurement verification area, determining whether the size of the workpiece blank meets the machining size requirement, alarming if the size of the workpiece blank does not meet the machining size requirement, otherwise, continuing to execute;
wherein: in the process of sucking the workpiece blank, judging whether the suction cup pressure for sucking the workpiece reaches a preset pressure value or not through a pressure sensor arranged on a suction cup air path, and continuing to execute the next operation after the suction cup pressure reaches the preset pressure value, or stopping to continue to execute the next operation and giving an alarm.
Wherein the sucking disc is arranged in a row at intervals and a plurality of sucking discs are arranged in a row at intervals, and the method further comprises the following steps: according to the known size of the blank to be processed in the control center, the number of activated suckers is determined to avoid unnecessary waste, for example, the procedure is to only process the feeding sequence of the specification of the work material specified by the planning sequence, 4 suckers are uniformly distributed on the whole length of the suckers, the work material is divided into three length specifications, when the work material is corresponding to the three length work materials according to the uniformly distributed sizes of the suckers, the data are automatically corresponding when the processing plan is selected by programming in advance, the procedure defaults to grasp what material, a plurality of suction functions of the suckers are automatically started, and for safety, a pressure sensor is additionally arranged on each suction cup air path, after the suction cup performs suction action, the pressure sensor monitors the management pressure, if the pressure fluctuation exceeds a set value, or the pressure loss state, the next action is not performed.
Wherein: after the workpiece is inspected, the method further includes, for the inspection result: if the detection is qualified, placing the qualified workpiece into a finished workpiece section and conveying the qualified workpiece section to a qualified area; if the detection is unqualified, placing the unqualified workpiece into a finished workpiece section and conveying the finished workpiece section to an unqualified area; and sending the detection result to a control center.
The method comprises the following steps: the feeding car entering area is provided with a plurality of feeding car positions, each feeding car position is provided with a workpiece induction sensor, a plurality of feeding cars provided with the same or different processed workpiece blanks are pushed into the plurality of feeding car positions, and the feeding car is fed into a numerical control machine tool for processing according to the well-arranged processing technology: and (3) adjusting the processing procedure of the workpiece blanks, respectively feeding the plurality of workpiece blanks into different numerical control machines for simultaneous processing, and once one machine tool finishes processing, the workpiece blanks cannot be transferred to other machine tools for processing in the next procedure, so that the machining cannot be performed because all the machine tools are in the middle link of the workpiece processing procedure, and at least one numerical control machine tool is a workpiece machining turnover numerical control machine tool or a workpiece finishing procedure before the inspection of a workpiece finished product is performed.
The method comprises the following steps: for batch processing of plate workpieces, the workpiece blank size measurement verification area comprises a workpiece placement platform, a workpiece front face correcting base positioning block is arranged at the front end of the workpiece placement platform, workpiece side face correcting pushing blocks are respectively arranged at two sides of the workpiece placement platform, the workpiece side face correcting pushing blocks at two sides are respectively connected with racks, two racks are meshed with gears in a clamping mode, the two racks are driven by the gears to synchronously and relatively move, the workpiece can be driven to be placed in a centered mode, a workpiece rear face correcting pushing block pushed by a rear cylinder is arranged at the rear side of the workpiece placement platform, a workpiece thickness detector is arranged on the workpiece placement platform of the front face correcting base positioning block, magnetic rules are respectively arranged along the moving tracks of the workpiece side face correcting pushing blocks and the workpiece rear face correcting pushing blocks, and the workpiece thickness detector is a laser thickness detector; the step of performing size verification on the workpiece blank fed into the size measurement verification area comprises the following steps:
the first step: a workpiece rear face centering pushing block starts to move from a final start position to push a workpiece blank forward to a workpiece front face centering base surface positioning block;
and a second step of: a workpiece side face centering pushing block which is respectively arranged on two sides starts to move from the starting position of the outermost end to push a workpiece blank to the center of a workpiece placing platform for centering and placing;
and a third step of: and (3) rotating a measuring probe of the workpiece thickness detector to the upper part of the workpiece blank to measure the thickness of the workpiece blank, and respectively reading the forward moving distance of the back correcting pushing block of the workpiece and the moving distance of the side correcting pushing block of the workpiece to determine the thickness, width and length dimensions of the workpiece blank.
Wherein: the workpiece blank size measurement verification area structure ensures that the workpiece blank after being aligned is exactly positioned at the middle part of the platform, so that the method further comprises the step that the robot gripper adjusts the gripping direction to firmly grip the workpiece blank according to the measured size data.
Claims (8)
1. A full-automatic workpiece processing line comprises a plurality of numerical control machine tools and workpiece finished product inspection equipment which are sequentially arranged, a track is arranged above the plurality of numerical control machine tools and workpiece finished product inspection equipment which are sequentially arranged, a walking robot gripper is arranged on the track, the walking robot gripper can downwards stretch out of and grasp a workpiece by putting the workpiece into the numerical control machine tools and the workpiece finished product inspection equipment or taking the workpiece out of the numerical control machine tools and the workpiece finished product inspection equipment, the plurality of numerical control machine tools and the workpiece finished product inspection equipment which are sequentially arranged are connected in series, a control center cooperatively controls the walking robot gripper, the numerical control machine tools and the workpiece finished product inspection equipment, and is characterized in that a workpiece feeding section is also arranged together with the plurality of numerical control machine tools and the workpiece finished product inspection equipment which are sequentially arranged, the workpiece feeding section comprises a feeding section frame, a feeding vehicle entering area and a workpiece blank size measurement area are respectively arranged in front of and behind the feeding section frame, the walking robot gripper can downwards stretch out of and grasp the workpiece blank by positioning the workpiece on the vertical side of the linear track, a transmission guide rail is arranged on two sides of the upper end of the feeding section frame, a trolley crosses over the transmission guide rail, a sucker is driven by a sucker and a workpiece sizing block is arranged on the sucker and is moved from the sucker to the feeding section;
a pressure sensor is arranged on the gas path of the sucker and is used for measuring the pressure of the workpiece blank sucked by the sucker;
the feeding car entering area is provided with a plurality of feeding car spaces, each feeding car space is provided with a workpiece induction sensor, and the processing line determines which feeding car space is provided with a workpiece according to the workpiece induction sensors.
2. The machining line according to claim 1, wherein a finished workpiece section is arranged together with the plurality of numerical control machine tools and the workpiece finishing inspection equipment which are arranged in sequence, the finished workpiece section is a conveying platform, the walking robot hand grip places the workpiece subjected to machining inspection on the conveying platform, and the conveying platform conveys the machined workpiece to the next process.
3. The processing line of claim 1, wherein the plurality of numerically-controlled machine tools and the workpiece finish inspection equipment are respectively arranged in a closed bin, a controllable switch window is arranged at the top of the closed bin, and the walking robot grippers send or acquire workpieces at workpiece clamp positions of the plurality of numerically-controlled machine tools and the workpiece finish inspection equipment through the switch window.
4. The processing line according to claim 1, wherein the feeding section frame is provided with a two-dimensional code reader between the feeding vehicle entering area and the workpiece blank size measurement verification area, and the suction disc of the suction disc vehicle sucks the workpiece blank and moves the workpiece blank to read the two-dimensional code on the workpiece blank through the two-dimensional code reader and then put into the workpiece blank size measurement verification area.
5. The processing line according to claim 1, wherein the workpiece blank size measurement verification area comprises a workpiece placement platform, a workpiece front face positioning block is arranged at the front end of the workpiece placement platform, workpiece side face positioning pushing blocks are respectively arranged at two sides of the workpiece placement platform, the workpiece side face positioning pushing blocks at two sides are respectively connected with racks, the two racks are meshed with gears in a clamped mode, the two racks are driven by the gears to synchronously and relatively move, a workpiece rear face positioning pushing block pushed by a rear cylinder is arranged at the rear side of the workpiece placement platform, a workpiece thickness detector is arranged on the workpiece placement platform of the front face positioning block, and magnetic scales are respectively arranged along the moving tracks of the workpiece side face positioning pushing blocks and the workpiece rear face positioning pushing blocks.
6. The full-automatic workpiece processing line operation method comprises the steps of pushing a feeding vehicle filled with a processed workpiece blank into a feeding vehicle entering area, starting a processing program, firstly executing a feeding inspection flow, then grabbing the inspected workpiece blank by a walking robot gripper, then sending the workpiece blank into a numerical control machine for processing according to an arranged processing technology, and then sending the workpiece into workpiece finished product inspection equipment for inspection after processing to finish full-automatic workpiece processing, and is characterized in that the feeding inspection flow comprises the following steps:
the first step: starting a sucker car to move to a feeding car entering area to suck a workpiece blank and then send the workpiece blank to a workpiece blank size measurement verification area;
and a second step of: reading a two-dimensional code arranged on the workpiece blank to verify the correctness of the workpiece blank, alarming if the correctness is incorrect, and otherwise, continuing to execute;
and a third step of: starting a workpiece blank size measurement verification program, performing size verification on the workpiece blank fed into a size measurement verification area, determining whether the size of the workpiece blank meets the machining size requirement, alarming if the size of the workpiece blank does not meet the machining size requirement, otherwise, continuing to execute;
wherein: in the process of sucking the workpiece blank, judging whether the suction cup pressure for sucking the workpiece reaches a preset pressure value or not through a pressure sensor arranged on a suction cup air path, and continuing to execute the next operation after the suction cup pressure reaches the preset pressure value, or stopping to continue to execute the next operation and giving an alarm.
7. The method of claim 6, wherein the loading carriage entering area is provided with a plurality of loading spaces, each loading space is provided with a workpiece induction sensor, the plurality of loading carriages filled with the same or different processed workpiece blanks are pushed into the plurality of loading spaces, and the feeding into the numerical control machine tool according to the arranged processing technology is as follows: adjusting the processing procedure of workpiece blanks, respectively feeding a plurality of workpiece blanks into different numerical control machine tools for simultaneous processing, wherein: at least one numerical control machine is a workpiece processing turnover numerical control machine or a workpiece final procedure processing numerical control machine before the inspection of a workpiece finished product is executed.
8. The method according to claim 6, wherein the workpiece blank size measurement verification area comprises a workpiece placement platform, a workpiece front face positioning block is arranged at the front end of the workpiece placement platform, workpiece side face positioning pushing blocks are respectively arranged at two sides of the workpiece placement platform, the workpiece side face positioning pushing blocks at two sides are respectively connected with racks, gears are meshed with the two racks in a clamped mode, the two racks are driven by the gears to synchronously move relatively, a workpiece rear face positioning pushing block pushed by a rear cylinder is arranged at the rear side of the workpiece placement platform, a workpiece thickness detector is arranged on the workpiece placement platform of the front face positioning block, magnetic rules are respectively arranged along the moving tracks of the workpiece side face positioning pushing blocks and the workpiece rear face positioning pushing blocks, and the workpiece thickness detector is a laser thickness detector; the step of performing size verification on the workpiece blank fed into the size measurement verification area comprises the following steps:
the first step: a workpiece rear face centering pushing block starts to move from a final start position to push a workpiece blank forward to a workpiece front face centering base surface positioning block;
and a second step of: a workpiece side face centering pushing block which is respectively arranged on two sides starts to move from the starting position of the outermost end to push a workpiece blank to the center of a workpiece placing platform for centering and placing;
and a third step of: and (3) rotating a measuring probe of the workpiece thickness detector to the upper part of the workpiece blank to measure the thickness of the workpiece blank, and respectively reading the forward moving distance of the back correcting pushing block of the workpiece and the moving distance of the side correcting pushing block of the workpiece to determine the thickness, width and length dimensions of the workpiece blank.
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| CN110773779B (en) * | 2019-11-08 | 2020-09-22 | 江苏科技大学 | Intelligent plate part machining production line combining general purpose and special equipment |
| CN114161229B (en) * | 2021-12-14 | 2022-10-04 | 电子科技大学 | Device and method for machining rotary structure for electric slit |
| CN114434216B (en) * | 2022-04-07 | 2022-06-28 | 宁波佳比佳智能科技有限公司 | Automatic feeding and discharging system of combined machine tool |
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