CN110539195B - Multi-station feeding and discharging method - Google Patents
Multi-station feeding and discharging method Download PDFInfo
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- CN110539195B CN110539195B CN201910840114.XA CN201910840114A CN110539195B CN 110539195 B CN110539195 B CN 110539195B CN 201910840114 A CN201910840114 A CN 201910840114A CN 110539195 B CN110539195 B CN 110539195B
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- 238000007599 discharging Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000001681 protective effect Effects 0.000 claims abstract description 35
- 238000003754 machining Methods 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 55
- 239000003638 chemical reducing agent Substances 0.000 claims description 54
- 230000007246 mechanism Effects 0.000 claims description 52
- 210000000707 wrist Anatomy 0.000 claims description 43
- 239000012636 effector Substances 0.000 claims description 16
- 230000002441 reversible effect Effects 0.000 claims description 2
- 238000003672 processing method Methods 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 25
- 230000008569 process Effects 0.000 description 6
- 210000000245 forearm Anatomy 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000000137 annealing Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005111 flow chemistry technique Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
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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
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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
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Abstract
The invention relates to a multi-station loading and unloading method.A loading and unloading channel is formed between two rows of machine tools, and a slide rail is arranged on the loading and unloading channel; each row of machine tools is used for processing a working procedure of a workpiece from front to back; the loading and unloading device is adopted to slide along the slide rail to complete loading and unloading of a plurality of stations of a workpiece, the loading and unloading device comprises a device body and a slide seat matched with the slide rail, and the processing method comprises the following steps: the loading and unloading device is used for grabbing a workpiece at the front end of the loading and unloading channel and then moving the workpiece backwards along the sliding rail, the sliding seat is moved to the back of the opening of the protective cover of the corresponding station, the workpiece is aligned with the opening of the protective cover, and loading and unloading of the first station and the middle station are sequentially completed; and finishing the feeding of the last station; after the feeding of the last station is finished, the sliding seat moves forwards to the front of the opening of the protective cover of the last station, the device body drives the workpiece to move out of the opening of the protective cover of the last station, and the workpiece is sent out from the rear end of the feeding and discharging channel to realize the discharging; the floor area of the machine tool is saved, and meanwhile, the machining efficiency is improved.
Description
Technical Field
The invention relates to a loading and unloading method, in particular to a multi-station loading and unloading method.
Background
In the operation process of the existing machine tool, the loading and unloading operation is generally carried out manually or the loading and unloading operation is carried out by matching a truss manipulator. Wherein, when in manual operation, each machine tool needs to be equipped with personnel, which consumes human resources; and some machine tools such as annealing machine tools have potential safety hazards to workers due to high temperature.
The processing of a workpiece generally needs a plurality of processes, the most common machine tools are special machine tools, the processing efficiency of the workpiece can be greatly improved by adopting the flow processing, generally, one process corresponds to one special machine tool, the plurality of processes correspond to a plurality of special machine tools, and the special machine tools are arranged in a line; in a workshop, in order to maximize the field use, a plurality of rows of machine tools are generally arranged in parallel, workpieces are machined simultaneously, and the width between two adjacent rows of machine tools is generally not too large; if the truss manipulator is used for feeding, the freedom degrees in the XYZ three directions are only provided, the flexibility is not sufficient, each machine tool needs to be provided with operators, the labor cost is high, workpieces are easy to scratch, and the risk of injury of the operators is increased; if the existing feeding manipulator is adopted for feeding, when a feeding and discharging channel between two rows of machine tools is narrow, the manipulator cannot drive a workpiece to rotate in the channel after grabbing the workpiece, the manipulator feeds the workpiece from the front end of the feeding and discharging channel between the two rows of machine tools, the front end of the feeding and discharging channel is close to one end of a first machine tool, the workpiece to be processed is placed in front of the feeding and discharging channel, the manipulator starts to feed and discharge the workpiece from the front end and moves to a next station, the feeding and discharging are continued until the last machine tool, the base of the manipulator is behind in the whole process, and an end effector of the manipulator is at the front end (the manipulator cannot drive the workpiece to rotate due to the narrow feeding and discharging channel after grabbing the workpiece); when the workpiece reaches the last machine tool, the base of the manipulator is behind, the workpiece is in front, the workpiece cannot be discharged from the rear end of the feeding and discharging channel, and the workpiece can only return to discharging, so that the feeding is influenced, and the machining efficiency is greatly influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a multi-station loading and unloading method which is applicable to loading and unloading with a narrow channel and high efficiency.
The technical scheme for solving the technical problems is as follows: a multi-station loading and unloading method is characterized in that a loading and unloading channel is formed between two rows of machine tools, each row of machine tools comprises a plurality of machine tools arranged in parallel, slide rails are arranged on the loading and unloading channel, and the distances between the two rows of machine tools and the slide rails are the same; each row of machine tools are respectively used for a working procedure of processing the workpiece from front to back until the last machine tool finishes processing the workpiece; the loading and unloading device slides along the slide rail to complete loading and unloading of a plurality of stations of a workpiece;
the feeding and discharging device comprises a device body and a sliding seat, the device body is arranged on the sliding seat, and the sliding seat is matched with the sliding rail; the device body comprises a base, a waist seat, a large arm, a small arm, a wrist, a head and an end effector, wherein the lower part of the waist seat is arranged on the base, and the waist seat can horizontally rotate relative to the base; the lower end of the large arm is connected with the upper part of the waist seat, the large arm can swing up and down relative to the waist seat, and the lower end of the large arm is hinged with the outer wall of the lower part of the waist seat through a telescopic mechanism; the tail end of the small arm is connected with the upper end of the large arm, and the small arm can swing up and down relative to the large arm; the head end of the small arm is connected with the wrist part, and the wrist part can rotate relative to the small arm; the wrist is connected with the head, and the head can swing relative to the wrist; the head is connected with the end effector through a flange, the flange can rotate relative to the head, and the end effector is fixedly connected with the flange;
the loading and unloading device drives the workpiece to move from front to back along a row of machine tools and processes one by one, and the specific processing method comprises the following steps:
step 1, grabbing a workpiece by using an end effector before a first station;
step 4, the sliding seat continues to move backwards, the sliding seat moves to the rear of the opening of the protective cover of the last station, and the device body drives the workpiece to complete feeding of the last station; after the workpiece is machined, the end effector moves the workpiece to the opening of the protective cover of the last station, and at the moment, the sliding seat moves forwards to the front of the opening of the protective cover of the last station, and the workpiece is guaranteed not to move; then, the device body drives the workpiece to move out of the opening of the protective cover of the last station, and the workpiece is sent out from the rear end of the feeding and discharging channel, so that discharging is achieved.
Furthermore, the waist seat is hollow, a first transmission mechanism is arranged in the waist seat, and the first transmission mechanism can drive the waist seat to rotate on the base; the first transmission mechanism comprises a first motor, and the first motor is connected with the waist seat through a first speed reducer.
Further, the upper portion of waist seat is equipped with the drive big arm wobbling second drive mechanism, second drive mechanism includes the second motor, the second motor pass through the second speed reducer with the lower extreme of big arm is connected.
Furthermore, the tail end of the small arm is provided with a third transmission mechanism, the third transmission mechanism can drive the small arm to swing relative to the large arm, the third transmission mechanism comprises a third motor, and the third motor is connected with the small arm through a third speed reducer.
Furthermore, the forearm is of a hollow structure, a fourth transmission mechanism for driving the wrist to swing is arranged inside the forearm, the fourth transmission mechanism comprises a fourth motor, and the fourth motor is connected with the wrist through a fourth speed reducer.
Furthermore, a fifth transmission mechanism capable of driving the head to swing is further arranged on the small arm, the fifth transmission mechanism comprises a fifth motor and a fifth speed reducer, a fifth intermediate transmission assembly is further arranged between the fifth motor and the fifth speed reducer, the fifth intermediate transmission assembly comprises a first straight gear pair, a hollow shaft sleeve and a first bevel gear pair, and the hollow shaft sleeve is arranged along the length direction of the small arm; first straight-gear pair include first straight-gear and with first straight-gear meshes the second straight-gear mutually, first straight-gear is installed on the output shaft of fifth motor, the second straight-gear is installed the tail end of cavity axle sleeve, first bevel gear pair includes first bevel gear and second bevel gear, first bevel gear is installed the head end of cavity axle sleeve, second bevel gear installs on the input shaft of fifth speed reducer, the input shaft of fifth speed reducer is fixed on the wrist, the output shaft of fifth speed reducer is fixed on the head, the wrist with the head is hollow casing, the fifth speed reducer is installed in the head.
Furthermore, a sixth transmission mechanism capable of driving the flange to rotate is further arranged on the small arm, the sixth transmission mechanism comprises a sixth motor and a sixth speed reducer, a sixth intermediate transmission assembly is further arranged between the sixth motor and the sixth speed reducer, the sixth intermediate transmission assembly comprises a second straight gear pair, an intermediate shaft, a second bevel gear pair, a third straight gear and a third bevel gear pair, the intermediate shaft is arranged inside the hollow shaft sleeve, and a bearing is arranged between the intermediate shaft and the hollow shaft sleeve; the second spur gear pair comprises a third spur gear and a fourth spur gear meshed with the third spur gear, the third spur gear is installed on an output shaft of the sixth motor, the fourth spur gear is installed at the tail end of the intermediate shaft, the second spur gear pair comprises a third bevel gear and a fourth bevel gear meshed with the third bevel gear, the third bevel gear is arranged at the head end of the intermediate shaft, the fourth bevel gear is installed at one end of the first connecting shaft, and the first connecting shaft is installed on the head; the third straight gear pair comprises a fifth straight gear and a sixth straight gear meshed with the fifth straight gear, the fifth straight gear is installed at the other end of the first connecting shaft, and the sixth straight gear is installed at one end of the second connecting shaft; the third bevel gear pair comprises a fifth bevel gear and a sixth bevel gear meshed with the fifth bevel gear, the fifth bevel gear is installed at the other end of the second connecting shaft, the sixth bevel gear is installed on an input shaft of the sixth speed reducer, and an output shaft of the sixth speed reducer is connected with the flange.
Further, the telescopic mechanism is a power-assisted cylinder.
And the base motor enables the base to move along the sliding rail through a gear rack mechanism.
And further, feeding and discharging of machine tools of the first station and the middle station are respectively realized in the step 2 and the step 3, when the machine tools of the first station and the middle station are used for feeding and discharging, the sliding seat, the waist seat, the large arm, the small arm, the wrist part, the head part and the flange move in a coupling mode, the workpiece is placed into the machine tools, feeding of the workpiece is realized, and the workpiece is discharged in a reverse motion mode.
The invention has the beneficial effects that: when the width of the feeding and discharging channel between two rows of machine tools is not enough to enable a manipulator to drive a workpiece to rotate greatly, the feeding and discharging device with 7 degrees of freedom is adopted, and the workpiece is rotated after the device body moves by means of the position of the opening of the machine tool protective cover, so that the workpiece can be fed from the front end of the feeding and discharging channel, and can be discharged from the rear end of the feeding and discharging channel, and the processing efficiency is improved; and the floor area of the machine tool is saved.
Drawings
FIG. 1 is a schematic view showing a state where a block-shaped material is gripped by a device body according to the present invention;
FIG. 2 is an exploded view of the apparatus body and carriage of the present invention;
FIG. 3 is a schematic view of the present invention in use;
FIG. 4 is a schematic view of the connection between the apparatus body and the slider according to the present invention;
FIG. 5 is a top view of FIG. 4;
FIG. 6 is a cross-sectional view taken along line A-A of FIG. 5;
FIG. 7 is an enlarged view of a portion of FIG. 6 at A;
FIG. 8 is an enlarged partial view of FIG. 6 at B;
FIG. 9 is a schematic view of the wrist of the present invention;
FIG. 10 is a schematic view of the head according to the present invention;
FIG. 11 is a schematic view of the invention in use at a single station;
FIG. 12 is a diagram of an initial state of the present invention in use;
FIG. 13 is a schematic view showing a state where a block-shaped material is loaded at a first station in the present invention;
FIG. 14 is a schematic view showing a state where a block-shaped material is removed from a workpiece at a final station in the present invention;
FIG. 15 is a schematic view showing a state after the slide carriage is moved forward when the block material is fed at the last station in the present invention;
FIG. 16 is a schematic view showing a state where a processed block-shaped material is pushed out from the rear end of a loading and unloading path in the present invention (only the last station is shown);
in the drawings, the parts names represented by the respective reference numerals are listed as follows: 1. a sliding seat, 2, a base, 3, a waist seat, 4, a big arm, 5, a small arm, 6, a wrist, 6-1, a wrist connecting shaft boss, 7, a head, 7-1, a head connecting shaft boss, 7-2, a lower end of the head, 8, a flange, 9, an end pick-up, 10, a first motor, 11, a second motor, 12, a third motor, 13, a fifth motor, 14, a sixth motor, 15, a telescopic cylinder, 16, a machine tool protective cover, 16-1, a protective cover opening, 17, a block material, 18, a sliding rail, 19, a first speed reducer, 20, a fourth motor, 21, a fourth speed reducer, 22, a first straight gear, 23, a second straight gear, 24, a hollow shaft sleeve, 25, a first bevel gear, 26, a second bevel gear, 27, a third straight gear, 28, a fourth straight gear, 29, a middle shaft, 30, a third bevel gear, 31, and a fourth bevel gear, 32. a fifth spur gear 33, a sixth spur gear 34, a fifth bevel gear 35, a sixth bevel gear 36, a sixth speed reducer 37, a first connecting shaft 38, a second connecting shaft 39 and a fifth speed reducer.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1-10, in the multi-station loading and unloading method, a loading and unloading channel is formed between two rows of machine tools, each row of machine tools comprises a plurality of machine tools arranged in parallel, slide rails are arranged on the loading and unloading channel, and the distances between the two rows of machine tools and the slide rails are the same; each row of machine tools are respectively used for a working procedure of processing the workpiece from front to back until the last machine tool finishes processing the workpiece; the loading and unloading device slides along the slide rail to complete loading and unloading of a plurality of stations of a workpiece;
the loading and unloading device comprises a device body, the device body comprises a base 2, a waist seat 3, a large arm 4, a small arm 5, a wrist 6, a head 7 and an end effector 9, the lower part of the waist seat 3 is arranged on the base 2, and the waist seat 3 can horizontally rotate relative to the base 2; the lower end of the large arm 4 is connected with the upper part of the waist seat 3, the large arm 4 can swing up and down relative to the waist seat 3, and the lower end of the large arm 4 is hinged with the outer wall of the lower part of the waist seat 3 through a telescopic mechanism; the tail end of the small arm 5 is connected with the upper end of the large arm 4, and the small arm 5 can swing up and down relative to the large arm 4; the wrist portion 6 is connected to the head end of the small arm 5, and the wrist portion 6 is rotatable with respect to the small arm 5; a wrist connecting shaft boss 6-1 is arranged on one side of the wrist 6, a wrist connecting hole is arranged on the other side of the wrist 6, the middle of the head 7 is of a U-shaped structure, two inner walls of the U-shaped structure are respectively provided with a head connecting hole matched with the wrist connecting shaft boss 6-1 and a head connecting shaft boss 7-1 matched with the wrist connecting hole, and the head 7 can swing up and down relative to the wrist 6; the lower end 7-2 of the head is connected to the end-effector 9 by a flange 8, the flange 8 being rotatable relative to the head 7, and the end-effector 9 being fixedly connected to the flange 8.
The waist seat 3 is hollow, a first transmission mechanism is arranged in the waist seat 3, and the first transmission mechanism can drive the waist seat 3 to rotate on the base 2; the first transmission mechanism comprises a first motor 10, and the first motor 10 is connected with the waist seat 3 through a first speed reducer 19.
The upper portion of waist seat 3 is equipped with the drive big arm 4 wobbling second drive mechanism, second drive mechanism includes second motor 11, second motor 11 pass through the second speed reducer with the lower extreme of big arm 4 is connected.
The tail end of the small arm 5 is provided with a third transmission mechanism, the third transmission mechanism can drive the small arm 5 to swing relative to the large arm 4, the third transmission mechanism comprises a third motor 12, and the third motor 12 is connected with the small arm 5 through a third speed reducer.
The small arm 5 is of a hollow structure, a fourth transmission mechanism which drives the wrist portion 6 to swing is arranged inside the small arm 5, the fourth transmission mechanism comprises a fourth motor 20, and the fourth motor 20 is connected with the wrist portion 6 through a fourth speed reducer 21. The fourth transmission mechanism is inside the small arm 5.
The forearm 5 is further provided with a fifth transmission mechanism capable of driving the head 7 to swing, the fifth transmission mechanism comprises a fifth motor 13 and a fifth speed reducer, a fifth intermediate transmission assembly is further arranged between the fifth motor 13 and the fifth speed reducer, the fifth intermediate transmission assembly comprises a first straight gear pair, a hollow shaft sleeve 24 and a first bevel gear pair, and the hollow shaft sleeve 24 is arranged along the length direction of the forearm 5; the first spur gear pair comprises a first spur gear 22 and a second spur gear 23 engaged with the first spur gear 22, the first spur gear 22 is mounted on the output shaft of the fifth motor 13, the second spur gear 23 is mounted at the tail end of the hollow shaft sleeve 24, the first bevel gear pair comprises a first bevel gear 25 and a second bevel gear 26 engaged with the first bevel gear 25, the first bevel gear 25 is mounted at the head end of the hollow shaft sleeve 24, the second bevel gear 26 is mounted on the input shaft of the fifth speed reducer 39, the input shaft of the fifth speed reducer is fixed on the wrist portion 6, the output shaft of the fifth speed reducer 39 is fixed on the head portion 7, the wrist portion 6 and the head portion 7 are hollow shells, and the fifth speed reducer 39 is mounted in the head portion 7; the head 7 swings through a fifth motor 13, a fifth transmission mechanism and a fifth speed reducer; because the transmission between the fifth motor 13 and the fifth speed reducer passes through the fourth speed reducer 21, when the fourth motor 20 and the fourth speed reducer 21 drive the wrist part 6 to rotate relative to the small arm 5, the first bevel gear pair forms a planetary gear train transmission, and the head part 7 acts as a planet carrier, if the wrist part 6 and the head part 7 are ensured to be relatively static and not interfered by the fifth speed reducer 39, the fifth motor 13 rotates to perform follow-up compensation motion.
The small arm 5 is further provided with a sixth transmission mechanism capable of driving the flange 8 to rotate, the sixth transmission mechanism comprises a sixth motor 14 and a sixth speed reducer 36, a sixth intermediate transmission assembly is further arranged between the sixth motor 14 and the sixth speed reducer 36, the sixth intermediate transmission assembly comprises a second straight gear pair, an intermediate shaft 29, a second bevel gear pair, a third straight gear and a third bevel gear pair, the intermediate shaft 29 is arranged inside the hollow shaft sleeve 24, and a bearing is arranged between the intermediate shaft 29 and the hollow shaft sleeve 24; the second spur gear pair comprises a third spur gear 27 and a fourth spur gear 28 engaged with the third spur gear 27, the third spur gear 27 is mounted on the output shaft of the sixth motor 14, the fourth spur gear 28 is mounted at the tail end of the intermediate shaft 29, the second spur gear pair comprises a third bevel gear 30 and a fourth bevel gear 31 engaged with the third bevel gear 30, the third bevel gear 30 is arranged at the head end of the intermediate shaft 29, the fourth bevel gear 31 is mounted at one end of a first connecting shaft 37, and the first connecting shaft 37 is mounted on the head portion 7; the third spur gear pair comprises a fifth spur gear 32 and a sixth spur gear 33 meshed with the fifth spur gear 32, the fifth spur gear 32 is installed at the other end of the first connecting shaft 3, and the sixth spur gear 33 is installed at one end of a second connecting shaft 38; the third bevel gear pair comprises a fifth bevel gear 34 and a sixth bevel gear 35 meshed with the fifth bevel gear 34, the fifth bevel gear 34 is mounted at the other end of the second connecting shaft 38, the sixth bevel gear 35 is mounted on an input shaft of a sixth speed reducer 36, and an output shaft of the sixth speed reducer 36 is connected with the flange 8; since the transmission between the sixth motor 14 and the sixth speed reducer 36 passes through the head 7, when the head 7 and the wrist 6 swing relatively, the third spur gear pair constitutes a planetary gear train, wherein the head 7 serves as a planetary rod, and if it is ensured that the relative rest of the flange 8 and the head 7 is not disturbed by the sixth speed reducer 36, the sixth motor 14 rotates to follow up the compensation motion; in the expected situation that the fifth motor 13 and the sixth motor 14 output motion, the flange 8 and the head 7 are relatively static when the fifth reducer drives the wrist 6 to swing relative to the head 7. The telescopic mechanism is a power-assisted cylinder 15.
The device also comprises a sliding seat motor (not shown in the figure), wherein the sliding seat motor enables the sliding seat to move along the sliding rail through a gear rack mechanism.
The workpiece in the invention takes a block material as an example, as shown in fig. 11-16, the block material is a square block, the length F is 1600mm, the width G of the opening 16-1 of the protective cover is 2500mm, the width of the feeding and discharging channel is 3000mm, the feeding and discharging device drives the block material to move from front to back along a row of machine tools, and the processing is performed one by one, in this embodiment, two rows of machine tools are provided, each row of machine tools comprises 3 special machine tools, as shown in fig. 12, a state diagram when an end picker of the feeding and discharging device grabs the block material from the front end is shown in fig. 12, the front end C of the feeding and discharging channel in the invention is one end close to the first processing station, the rear end D of the feeding and discharging channel is one end close to the last processing station, and is marked in fig. 12;
the specific processing method comprises the following steps:
step 1, grabbing a block material by an end effector before a first station, specifically, coupling motion of a sliding seat 1, a waist seat 3, a large arm 4, a small arm 5, a wrist 6, a head 7 and flanges 8 and 7 is carried out, so that the end effector 9 accurately grabs the block material 17, as shown in fig. 12;
step 4, the sliding base 1 continues to move backwards, the sliding base 1 moves to the rear of the opening 16-1 of the protective cover of the last station, as shown in fig. 14, the device body drives the block-shaped material 17 to complete feeding of the last station, after the block-shaped material 17 is processed, the end picking device 9 moves the block-shaped material 17 to the opening 16-1 of the protective cover of the last station, at the moment, the sliding base 1 moves forwards to the front of the opening 16-1 of the protective cover of the last station, at the moment, the block-shaped material 17 is kept still, as shown in fig. 15, then the device body drives the block-shaped material 17 to move out from the opening 16-1 of the protective cover of the last station, a workpiece is sent out from the rear end of the feeding and discharging channel, and discharging is achieved as shown in fig. 16; the diversion of the bulk material 17 is achieved by the space of the shield opening 16-1.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A multi-station loading and unloading method is characterized in that a loading and unloading channel is formed between two rows of machine tools, each row of machine tools comprises a plurality of machine tools arranged in parallel, slide rails are arranged on the loading and unloading channel, and the distances between the two rows of machine tools and the slide rails are the same; each row of machine tools are respectively used for a working procedure of processing the workpiece from front to back until the last machine tool finishes processing the workpiece; the loading and unloading device slides along the slide rail to complete loading and unloading of a plurality of stations of a workpiece;
the feeding and discharging device comprises a device body and a sliding seat, the device body is arranged on the sliding seat, and the sliding seat is matched with the sliding rail; the device body comprises a base, a waist seat, a large arm, a small arm, a wrist, a head and an end effector, wherein the lower part of the waist seat is arranged on the base, and the waist seat can horizontally rotate relative to the base; the lower end of the large arm is connected with the upper part of the waist seat, the large arm can swing up and down relative to the waist seat, and the lower end of the large arm is hinged with the outer wall of the lower part of the waist seat through a telescopic mechanism; the tail end of the small arm is connected with the upper end of the large arm, and the small arm can swing up and down relative to the large arm; the head end of the small arm is connected with the wrist part, and the wrist part can rotate relative to the small arm; the wrist is connected with the head, and the head can swing relative to the wrist; the head is connected with the end effector through a flange, the flange can rotate relative to the head, and the end effector is fixedly connected with the flange;
the workpiece moves from front to back along a row of machine tools and is machined one by one, and the specific machining method comprises the following steps:
step 1, grabbing a workpiece by using an end effector before a first station;
step 2, the sliding seat drives the device body and the workpiece to move backwards to the opening of the protective cover of the first station, the sliding seat moves to the rear of the opening of the protective cover of the first station, and the device body drives the workpiece to realize feeding and discharging of the workpiece from the opening of the protective cover of the first station;
step 3, after the blanking of the first station is finished, the sliding seat continues to move backwards, the device body drives the workpieces to finish the feeding and blanking of the middle station one by one, and the sliding seat is always positioned behind the opening of the protective cover of the corresponding station when the workpieces are fed and blanked;
step 4, the sliding seat continues to move backwards, the sliding seat moves to the rear of the opening of the protective cover of the last station, and the device body drives the workpiece to complete feeding of the last station; after the workpiece is machined, the end effector moves the workpiece to the opening of the protective cover of the last station, and at the moment, the sliding seat moves forwards to the front of the opening of the protective cover of the last station, and the workpiece is guaranteed not to move; then, the device body drives the workpiece to move out of the opening of the protective cover of the last station, and the workpiece is sent out from the rear end of the feeding and discharging channel, so that discharging is achieved.
2. The multi-station loading and unloading method as claimed in claim 1, wherein the waist seat is hollow, and a first transmission mechanism is installed inside the waist seat, and the first transmission mechanism can drive the waist seat to rotate on the base; the first transmission mechanism comprises a first motor, and the first motor is connected with the waist seat through a first speed reducer.
3. The multi-station loading and unloading method as claimed in claim 2, wherein a second transmission mechanism for driving the large arm to swing is arranged at the upper part of the waist seat, the second transmission mechanism comprises a second motor, and the second motor is connected with the lower end of the large arm through a second speed reducer.
4. The multi-station loading and unloading method as claimed in claim 3, wherein a third transmission mechanism is arranged at the tail end of the small arm, the third transmission mechanism can drive the small arm to swing relative to the large arm, the third transmission mechanism comprises a third motor, and the third motor is connected with the small arm through a third speed reducer.
5. The multi-station loading and unloading method as claimed in claim 4, wherein the small arm is of a hollow structure, a fourth transmission mechanism for driving the wrist to swing is arranged inside the small arm, the fourth transmission mechanism comprises a fourth motor, and the fourth motor is connected with the wrist through a fourth speed reducer.
6. The multi-station loading and unloading method as claimed in claim 5, wherein a fifth transmission mechanism capable of driving the head to swing is further arranged on the small arm, the fifth transmission mechanism comprises a fifth motor and a fifth speed reducer, a fifth intermediate transmission assembly is further arranged between the fifth motor and the fifth speed reducer, the fifth intermediate transmission assembly comprises a first straight gear pair, a hollow shaft sleeve and a first bevel gear pair, and the hollow shaft sleeve is arranged along the length direction of the small arm; first straight-gear pair include first straight-gear and with first straight-gear meshes the second straight-gear mutually, first straight-gear is installed on the output shaft of fifth motor, the second straight-gear is installed the tail end of cavity axle sleeve, first bevel gear pair includes first bevel gear and second bevel gear, first bevel gear is installed the head end of cavity axle sleeve, second bevel gear installs on the input shaft of fifth speed reducer, the input shaft of fifth speed reducer is fixed on the wrist, the output shaft of fifth speed reducer is fixed on the head, the wrist with the head is hollow casing, the fifth speed reducer is installed in the head.
7. The multi-station loading and unloading method as claimed in claim 6, wherein a sixth transmission mechanism capable of driving the flange to rotate is further arranged on the small arm, the sixth transmission mechanism comprises a sixth motor and a sixth speed reducer, a sixth intermediate transmission assembly is further arranged between the sixth motor and the sixth speed reducer, the sixth intermediate transmission assembly comprises a second spur gear pair, an intermediate shaft, a second bevel gear pair, a third spur gear and a third bevel gear pair, the intermediate shaft is arranged inside the hollow shaft sleeve, and a bearing is arranged between the intermediate shaft and the hollow shaft sleeve; the second spur gear pair comprises a third spur gear and a fourth spur gear meshed with the third spur gear, the third spur gear is installed on an output shaft of the sixth motor, the fourth spur gear is installed at the tail end of the intermediate shaft, the second spur gear pair comprises a third bevel gear and a fourth bevel gear meshed with the third bevel gear, the third bevel gear is arranged at the head end of the intermediate shaft, the fourth bevel gear is installed at one end of the first connecting shaft, and the first connecting shaft is installed on the head; the third straight gear pair comprises a fifth straight gear and a sixth straight gear meshed with the fifth straight gear, the fifth straight gear is installed at the other end of the first connecting shaft, and the sixth straight gear is installed at one end of the second connecting shaft; the third bevel gear pair comprises a fifth bevel gear and a sixth bevel gear meshed with the fifth bevel gear, the fifth bevel gear is installed at the other end of the second connecting shaft, the sixth bevel gear is installed on an input shaft of the sixth speed reducer, and an output shaft of the sixth speed reducer is connected with the flange.
8. The multi-station loading and unloading method as claimed in claim 1, wherein the telescopic mechanism is a power-assisted cylinder.
9. A multi-station loading and unloading method as claimed in any one of claims 1-8, wherein loading and unloading of the machine tool at the first station and the middle station are respectively realized in step 2 and step 3, and when the machine tool at the first station and the middle station is used for loading and unloading, the sliding seat, the waist seat, the large arm, the small arm, the wrist, the head and the flange are in coupled motion, so that a workpiece is placed into the machine tool, loading of the workpiece is realized, and unloading of the workpiece is completed through reverse motion.
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| CN201910840114.XA CN110539195B (en) | 2019-09-06 | 2019-09-06 | Multi-station feeding and discharging method |
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