CN110549025B - Full-automatic feeding and discharging workstation of laser cutting machine and method thereof - Google Patents
Full-automatic feeding and discharging workstation of laser cutting machine and method thereof Download PDFInfo
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- CN110549025B CN110549025B CN201910967959.5A CN201910967959A CN110549025B CN 110549025 B CN110549025 B CN 110549025B CN 201910967959 A CN201910967959 A CN 201910967959A CN 110549025 B CN110549025 B CN 110549025B
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- 238000003698 laser cutting Methods 0.000 title claims abstract description 48
- 238000007599 discharging Methods 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000012545 processing Methods 0.000 claims abstract description 5
- 238000012546 transfer Methods 0.000 claims description 26
- 238000003860 storage Methods 0.000 claims description 17
- 238000013519 translation Methods 0.000 claims description 16
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 8
- 241000252254 Catostomidae Species 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Laser Beam Processing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a full-automatic feeding and discharging workstation of a laser cutting machine, which comprises a first pair of horizontal guide rails and a second pair of horizontal guide rails, wherein the first pair of guide rails and the second pair of guide rails are arranged in parallel; a pair of guide rail cross beams are horizontally arranged above the first pair of guide rails and the second pair of guide rails, and the extending direction of the guide rail cross beams is perpendicular to the extending direction of the first pair of guide rails/the second pair of guide rails; the invention has simple structure and is convenient for realizing the processes of plate delivery, transportation, detection, feeding, laser cutting and processing and discharging.
Description
Technical Field
The invention belongs to the field of loading and unloading of plate structures.
Background
The loading and unloading process of current panel laser cutting platform often only accomplishes the automation at the loading stage, transports the panel to laser cutting platform through industry sucking disc and cuts, forms the cutting hole of a large amount of fretwork on the panel after the cutting, can't transport again the sucking disc this moment.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides a full-automatic feeding and discharging workstation of a laser cutting machine capable of feeding and discharging materials automatically and a method thereof.
The technical scheme is as follows: in order to achieve the purpose, the full-automatic feeding and discharging workstation of the laser cutting machine comprises a first pair of horizontal guide rails and a second pair of horizontal guide rails, wherein the first pair of guide rails and the second pair of guide rails are arranged in parallel; a pair of guide rail cross beams are horizontally arranged above the first pair of guide rails and the second pair of guide rails, and the extending direction of the guide rail cross beams is perpendicular to the extending direction of the first pair of guide rails/the second pair of guide rails;
one end of the guide rail cross beam is positioned right above one end of the first pair of guide rails, and the other end of the guide rail cross beam is positioned right above one end of the second pair of guide rails;
a laser cutting platform is arranged below the guide rail beam; the laser cutting platform is positioned between the first pair of guide rails and the second pair of guide rails;
the vertical storage rack is arranged at the lower part of the first pair of guide rails; the other end of the second pair of guide rails is a blanking station;
a plate clamping manipulator unit is arranged at one end, close to the second pair of guide rails, of the guide rail cross beam, and an industrial sucker unit is arranged at one end, close to the first pair of guide rails, of the guide rail cross beam; the plate clamping mechanical arm unit and the industrial sucker unit can move in a translational manner along the extending direction of the guide rail beam; the plate clamping mechanical arm unit and the industrial sucker unit can both move to the position right above the laser cutting platform along the guide rail beam;
a plate transfer trolley is arranged on the first pair of guide rails, and the plate transfer trolley moves in a translational manner along the extending direction of the first pair of guide rails; and a blanking trolley is arranged on the second pair of guide rails and moves in a translational manner along the extending direction of the second pair of guide rails.
Further, the guide rail cross beam comprises racks extending along the length direction, and tooth bodies are distributed on the lower side of the racks along the extension direction.
Further, the plate clamping mechanical arm unit and the industrial sucker unit both comprise translation bases; the side part of the translation base is fixedly provided with at least two sliding blocks with equal height, and the upper side of the rack is in sliding fit with the lower ends of the two sliding blocks; the side part of the translation base is also provided with a gear, the gear is positioned between the two sliding blocks, and a driving device in the translation base can drive the gear to rotate; the gear is meshed with the gear bodies distributed in the extending direction of the lower side of the rack; the rotation of the gear can drive the translation base to translate along the rack.
Furthermore, each translational base is further provided with a lifting unit, and a driving device on the translational base can drive the lifting units to do lifting movement.
Further, an industrial sucker is arranged at the lower end of the lifting unit on the industrial sucker unit, and the lifting unit on the industrial sucker unit can drive the industrial sucker to move up and down;
the lower end of the lifting unit on the plate clamping manipulator unit is provided with a plate clamping manipulator, and the lifting unit on the plate clamping manipulator unit can drive the plate clamping manipulator to move up and down.
Further, the manipulator comprises a left linear motor and a right linear motor, a left linear push rod of the left linear motor extends leftwards, and a right linear push rod of the right linear motor extends rightwards; the tail end of the left straight push rod is fixedly connected with a left clamping jaw through a left bracket, the tail end of the right straight push rod is fixedly connected with a right clamping jaw through a right bracket, and a left rubber chuck and a right rubber chuck are respectively and fixedly arranged at one ends, close to each other, of the left clamping jaw and the right clamping jaw; the left linear motor and the right linear motor can drive the left rubber chuck and the right rubber chuck to move close to or away from each other.
Further, the blanking trolley comprises a plate bearing platform, four supporting legs are arranged at four corners of the lower side of the plate bearing platform, rollers are arranged at the lower ends of the supporting legs, a limiting rim is integrally arranged on the outline of one side of each roller, and each roller can roll along the second pair of guide rails;
the lower side of the middle part of the blanking trolley is fixedly connected with a horizontal motor mounting frame through a plurality of connecting pieces, a sprocket driving motor is fixedly arranged on the lower side of the motor mounting frame, chain wheel frames are respectively and fixedly arranged at two ends of the motor mounting frame, and a first driven sprocket and a second driven sprocket are rotatably arranged on the chain wheel frames; the driving chain wheel is positioned on the upper side between the first driven chain wheel and the second driven chain wheel;
the chain support groove extends along the length direction of the second pair of guide rails, a chain accommodating groove is formed in the chain support groove along the length direction in an extending mode, a chain is paved in the chain accommodating groove along the length direction, and two ends of the chain are fixedly connected with two ends of the chain support groove;
the chain sequentially spans the lower side of the first driven sprocket, the upper side of the driving sprocket and the lower side of the second driven sprocket; the chain is tightly arranged; the rotation of the driving sprocket can drive the driving sprocket to horizontally displace along the extending direction of the chain bracket through the chain.
Further, the industrial sucker comprises a horizontal sucker support, and a plurality of suckers are uniformly and fixedly arranged on the lower side of the sucker support; the side part of the sucker support is provided with a plate thickness measuring device;
the plate thickness measuring device comprises a first supporting plate fixed on a sucker support, a transverse linear motor is installed on the supporting plate, a second supporting plate is fixedly arranged at the tail end of a transverse linear push rod of the transverse linear motor, a longitudinal linear motor is fixedly installed on the second supporting plate, a third supporting plate is fixedly installed at the tail end of a longitudinal push rod of the longitudinal linear motor, a laser thickness gauge is fixedly installed on the third supporting plate, the laser thickness gauge comprises an upper laser sensor and a lower laser sensor which are mutually corresponding up and down, a thickness measuring area is formed between the upper laser sensor and the lower laser sensor, and the laser thickness gauge can detect the thickness of the plate in the laser thickness measuring area.
Further, the working method of the full-automatic feeding and discharging workstation of the laser cutting machine comprises the following steps:
firstly, stacking and storing a plurality of layers of plates on each layer of skip in an initial vertical storage frame, controlling a plate transfer trolley on a first pair of guide rails to move to the position right below the vertical storage frame in a translational motion mode along the extending direction of the first pair of guide rails, and then starting a skip lifting unit on the vertical storage frame, wherein the skip lifting unit transfers one skip stacked and stored with plates in the vertical storage frame to the plate transfer trolley on the first pair of guide rails;
step two, controlling the plate transfer trolley on the first pair of guide rails to move horizontally along the extending direction of the first pair of guide rails, and synchronously moving the skip along with the plate transfer trolley on the first pair of guide rails until the skip moves to the position right below the industrial sucker unit along with the plate transfer trolley on the first pair of guide rails, and controlling the industrial sucker unit to adsorb the uppermost plate in a plurality of layers of plates stacked on the skip; after the industrial sucker unit adsorbs the plates, the control panel body thickness measuring device measures the thickness of the plates adsorbed by the industrial sucker unit, if the lateral thickness exceeds the expected thickness, the industrial sucker unit adsorbs at least two layers of plates, at least two plates are adhered together, at the moment, the system starts to give an alarm, and a plurality of plates adsorbed on the industrial sucker unit are separated by manual work, a separating mechanical arm or a shaking device, so that the industrial sucker unit only adsorbs a single plate;
controlling the translational displacement of the industrial sucker unit along the guide rail beam until a plate adsorbed on the industrial sucker unit is translational displaced to be right above the laser cutting platform; at the moment, the industrial sucker unit is controlled to release the absorbed plates to the laser cutting platform, and then the industrial sucker unit is controlled to translate and displace along the guide rail beam, so that the industrial sucker unit returns to the initial position again, and the industrial sucker unit can absorb the stacked plates on the lifting vehicle again;
controlling a laser cutting device to cut and punch the plate on the laser cutting platform until the plate on the laser cutting platform is processed into a desired finished plate; at the moment, as the plate surface of the finished plate after processing is cut into a plurality of hole bodies, the finished plate cannot be adsorbed by the industrial sucker;
controlling the translational displacement of the plate clamping manipulator unit along the guide rail beam to enable the translational displacement of the plate clamping manipulator unit to be right above the laser cutting platform, and then clamping the cut plate on the laser cutting platform by the plate clamping manipulator unit; then, the plate clamping manipulator unit is controlled to move in a translational mode along the guide rail beam, the plate clamping manipulator unit returns to the initial position again, at the moment, the plate clamping manipulator unit is located right above the blanking trolley on the second pair of guide rails, at the moment, the plate clamping manipulator unit is controlled to release the finished plate to the plate bearing platform of the blanking trolley, then the blanking trolley is controlled to move to the blanking station along the second pair of guide rails, and then the finished plate on the plate bearing platform is taken away through a manipulator or manually.
The beneficial effects are that: the invention has simple structure and is convenient for realizing the processes of plate delivery, transportation, detection, feeding, laser cutting and processing and discharging; the thickness detection procedure is arranged before feeding, so that the phenomenon that two plates are cut by laser under the condition that the two plates are bonded together is effectively avoided.
Drawings
FIG. 1 is a first schematic diagram of the overall structure of the present apparatus;
FIG. 2 is a second schematic diagram of the overall structure of the present apparatus;
FIG. 3 is an enlarged perspective view of the second pair of guide rails of the present apparatus
FIG. 4 is a view of FIG. 3;
FIG. 5 is a schematic diagram of translational displacement of the sheet clamping manipulator unit and the industrial chuck unit along the rail beam;
FIG. 6 is a schematic diagram of the blanking trolley traveling along a second pair of guide rails;
FIG. 7 is a side view of the blanking trolley mated with a second pair of guide rails;
FIG. 8 is a schematic diagram of the cooperation of the blanking trolley and the chain;
FIG. 9 is an enlarged fragmentary schematic view of the sprocket of FIG. 8;
FIG. 10 is a schematic view of a translational base structure of a sheet clamping manipulator unit and an industrial chuck unit;
FIG. 11 is a schematic structural view of a plate clamping manipulator;
FIG. 12 is a first schematic structural view of a thickness measuring device on an industrial chuck unit;
fig. 13 is a second structural schematic diagram of the thickness measuring device on the industrial chuck unit.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
For specific structures and methods of use of the "vertical warehouse rack", "skip lifting unit" and "plate transfer truck" mentioned in this document, reference is made to the invention patent (application number CN 201910378593.8) previously filed and disclosed by the applicant; the first pair of guide rails mentioned in the present specification corresponds to the guide rails described in the patent application and publication of the present applicant (application number CN 201910378593.8), and the guide rails are used for guiding the plate transfer vehicle.
The specific structure of this scheme introduces: the full-automatic feeding and discharging workstation of the laser cutting machine shown in the accompanying drawings 1 to 13 comprises a first pair of horizontal guide rails 8 and a second pair of horizontal guide rails 1, wherein the first pair of guide rails 8 and the second pair of guide rails 1 are arranged in parallel; a pair of guide rail cross beams 6 are horizontally arranged above the first pair of guide rails 8 and the second pair of guide rails 1, and the extending direction of the guide rail cross beams 6 is perpendicular to the extending direction of the first pair of guide rails 8/the second pair of guide rails 1;
one end of the guide rail cross beam 6 is positioned right above one end of the first pair of guide rails 8, and the other end of the guide rail cross beam 6 is positioned right above one end of the second pair of guide rails 1;
a laser cutting platform 5 is arranged below the guide rail cross beam 6; the laser cutting platform 5 is positioned between the first pair of guide rails 8 and the second pair of guide rails 1;
the vertical storage rack 2 is further included, and the other end of the first pair of guide rails 8 is located right below the vertical storage rack 2; the other end of the second pair of guide rails 1 is provided with a blanking station 98;
a plate clamping manipulator unit 4 is arranged at one end, close to the second pair of guide rails 1, of the guide rail cross beam 6, and an industrial sucker unit 7 is arranged at one end, close to the first pair of guide rails 8, of the guide rail cross beam 6; both the plate clamping manipulator unit 4 and the industrial sucker unit 7 can move in a translational manner along the extending direction of the guide rail cross beam 6; both the plate clamping manipulator unit 4 and the industrial sucker unit 7 can be displaced to the position right above the laser cutting platform 5 along the guide rail cross beam 6;
a board transfer trolley is arranged on the first pair of guide rails 8, and the board transfer trolley moves in a translational manner along the extending direction of the first pair of guide rails 8; a blanking trolley 9 is arranged on the second pair of guide rails 1, and the blanking trolley 9 moves in a translational manner along the extending direction of the second pair of guide rails 1; the working principle of the automatic feeding and discharging system is described in detail hereinafter;
the guide rail cross beam 6 comprises a rack 40 extending along the length direction, and a tooth body 41 is distributed on the lower side of the rack 40 along the length direction.
The plate clamping mechanical arm unit 4 and the industrial sucker unit 7 comprise a translation base 44; at least two sliding blocks 28 with equal height are fixedly arranged on the side parts of the translation base 44, and the upper side of the rack 40 is in sliding fit with the lower ends of the two sliding blocks 28; the side part of the translation base 44 is also provided with a gear 39, the gear 39 is positioned between the two sliding blocks 28, and a driving device in the translation base 44 can drive the gear 39 to rotate; the gear 39 is meshed with a gear body 41 which is distributed on the lower side of the rack 40 in the extending direction; rotation of the gear 39 causes the translational pedestal 44 to translate along the rack 40.
A lifting unit 43 is further disposed on each translational pedestal 44, and a driving device on the translational pedestal 44 can drive the lifting unit 43 to perform lifting motion.
The lower end of the lifting unit 43 on the industrial sucker unit 7 is provided with an industrial sucker 7.1, and the lifting unit 43 on the industrial sucker unit 7 can drive the industrial sucker 7.1 to move up and down;
the lower end of the lifting unit 43 on the plate clamping manipulator unit 4 is provided with a plate clamping manipulator 4.1, and the lifting unit 43 on the plate clamping manipulator unit 4 can drive the plate clamping manipulator 4.1 to move up and down.
The manipulator 4.1 comprises a left linear motor 30 and a right linear motor 31, wherein a left linear push rod 32 of the left linear motor 30 extends leftwards, and a right linear push rod 35 of the right linear motor 31 extends rightwards; the tail end of the left straight push rod 32 is fixedly connected with a left clamping jaw 34 through a left bracket 100, the tail end of the right straight push rod 35 is fixedly connected with a right clamping jaw 38 through a right bracket 101, and a left rubber clamping head 36 and a right rubber clamping head 37 are respectively fixedly arranged at one ends, close to each other, of the left clamping jaw 34 and the right clamping jaw 38; the left and right linear motors 30 and 31 can drive the left and right rubber chucks 36 and 37 to move close to or away from each other; the mutual approaching movement between the left rubber gripping head 36 and the right rubber gripping head 37 can grip the plate which has been cut;
the blanking trolley 9 comprises a plate bearing platform 13, four supporting legs 20 are arranged at four corners of the lower side of the plate bearing platform 13, idler wheels 17 are arranged at the lower ends of the supporting legs 20, a limit rim 24 is integrally arranged on the outline of one side of each idler wheel 17, and each idler wheel 17 can roll along the second pair of guide rails 1; the front and rear ends of the second pair of guide rails 1 in the embodiment are respectively provided with a front roller limiting pile 18 and a rear roller limiting pile 19, and the front roller limiting pile 18 and the rear roller limiting pile 19 can prevent the rollers 17 from rolling forwards or backwards until the rollers are separated from the two ends of the second pair of guide rails 1;
the lower side of the middle part of the blanking trolley 9 is fixedly connected with a horizontal motor mounting frame 22 through a plurality of connecting pieces 21, a chain wheel driving motor 27 is fixedly arranged on the lower side of the motor mounting frame 22, chain wheel frames 25 are respectively and fixedly arranged at two ends of the motor mounting frame 22, and a first driven chain wheel 10 and a second driven chain wheel 11 are rotatably arranged on the chain wheel frames 25; the driving chain wheel 12 is further included, a motor output shaft 26 of the chain wheel driving motor 27 is in transmission connection with the driving chain wheel 12, the motor output shaft 26 can drive the driving chain wheel 12 to rotate, and the driving chain wheel 12 is positioned on the upper side between the first driven chain wheel 10 and the second driven chain wheel 11; the stroke precision and the motion stability of the blanking trolley are effectively improved by adopting a fixed linear chain transmission structure;
the chain support groove 16 extends along the length direction of the second pair of guide rails 1, a chain accommodating groove 012 is arranged in the chain support groove 16 along the length direction in an extending manner, a chain 15 is paved in the chain accommodating groove 012 along the length direction, and two ends of the chain 15 are fixedly connected with two ends of the chain support groove 16; the chain bracket 16 prevents the straight chain from being bent by gravity.
The chain 15 sequentially spans the lower side of the first driven sprocket 10, the upper side of the driving sprocket 12 and the lower side of the second driven sprocket 11; and the chain 15 is tightly arranged; the rotation of the driving chain wheel 12 can drive the driving chain wheel to horizontally displace along the extending direction of the chain bracket 16 through the chain 15, and then finally drive the blanking trolley 9 to horizontally displace along the length direction of the second pair of guide rails 1.
The industrial sucker 7.1 comprises a horizontal sucker support 51, and a plurality of suckers 58 are uniformly and fixedly arranged on the lower side of the sucker support 51; the side part of the sucker support 51 is provided with a plate thickness measuring device;
the plate thickness measuring device comprises a first supporting plate 57 fixed on a sucker bracket 51, a transverse linear motor 52 is installed on the supporting plate 57, a second supporting plate 56 is fixedly installed at the tail end of a transverse linear push rod 53 of the transverse linear motor 52, a longitudinal linear motor 54 is fixedly installed on the second supporting plate 56, a third supporting plate 55 is fixedly installed at the tail end of a longitudinal push rod of the longitudinal linear motor 54, a laser thickness meter 62 is fixedly installed on the third supporting plate 55, the laser thickness meter 62 comprises an upper laser sensor 61 and a lower laser sensor 59 which are mutually corresponding up and down, a thickness measuring area 60 is formed between the upper laser sensor 61 and the lower laser sensor 59, and the laser thickness meter 62 can detect the thickness of a plate body horizontal to the thickness measuring area 60; the laser thickness gauge 62 of the present embodiment is formed by vertically reflecting an upper laser sensor 61 and a lower laser sensor 59, the upper laser sensor 61 and the lower laser sensor 59 respectively measure the position of the upper surface and the position of the lower surface of the measured plate, and the thickness of the measured body is obtained by comparing the position of the upper surface and the position of the lower surface of the measured plate, and the laser thickness gauge 62 of the present embodiment may be an LPBH-C series thickness gauge; the specific operation process is as follows; after the industrial sucking disc unit 7 adsorbs the plate, the transverse linear motor 52 is controlled to make the transverse linear push rod 53 do extension movement, so that the longitudinal linear motor 54 and the laser thickness gauge 62 extend outwards together, and the subsequent descending movement of the laser thickness gauge 62 is enough not to interfere with the plate adsorbed by the industrial sucking disc unit 7; then, the longitudinal linear motor 54 is controlled to extend the longitudinal linear push rod seat of the longitudinal linear motor 54, so that the laser thickness gauge 62 is displaced downwards until the height of the plate absorbed by the industrial sucker unit 7 is located between the upper laser sensor 61 and the lower laser sensor 59, the longitudinal linear motor 54 is suspended, then the transverse linear motor 52 is controlled to shorten the transverse linear push rod 53, so that the longitudinal linear motor 54 and the laser thickness gauge 62 retract inwards together until the edge of the plate absorbed by the industrial sucker unit 7 enters the laser thickness measuring area 60, finally, the laser thickness gauge 62 is started to measure the thickness of the plate absorbed by the industrial sucker unit 7, if the lateral thickness exceeds the expected thickness, it is indicated that the industrial sucker unit 7 absorbs at least two layers of plates, at least two plates are adhered together, at the moment, the system starts to alarm, and the plurality of plates absorbed by the industrial sucker unit 7 are separated by a manual, split mechanical arm or a shaking device, and finally, the industrial sucker unit 7 absorbs only a single plate.
The whole working method and working principle of the full-automatic feeding and discharging workstation of the laser cutting machine comprise the following steps:
firstly, stacking and storing a plurality of layers of plates on each layer of skip 91 in an initial vertical storage frame 2, controlling a plate transfer trolley on a first pair of guide rails 8 to move horizontally to the position right below the vertical storage frame 2 along the extending direction of the first pair of guide rails 8, and then starting a skip lifting unit 92 on the vertical storage frame 2, wherein the skip lifting unit 92 transfers one skip 91 which stacks and stores plates in the vertical storage frame 2 to the plate transfer trolley on the first pair of guide rails 8;
step two, controlling the translational displacement of the plate transfer trolley on the first pair of guide rails 8 along the extending direction of the first pair of guide rails 8, and synchronously translational displacement of the skip 91 along with the plate transfer trolley on the first pair of guide rails 8 until the skip 91 moves to the position right below the industrial sucker unit 7 along with the plate transfer trolley on the first pair of guide rails 8, and controlling the industrial sucker unit 7 to adsorb the uppermost plate in the plurality of layers of plates stacked on the skip 91; after the industrial sucker unit 7 adsorbs the plates, the control panel body thickness measuring device measures the thickness of the plates adsorbed by the industrial sucker unit 7, if the lateral thickness exceeds the expected thickness, the industrial sucker unit 7 adsorbs at least two layers of plates, at least two plates are adhered together, at the moment, the system starts to give an alarm, and a plurality of plates adsorbed on the industrial sucker unit 7 are separated by manual work, a separating mechanical arm or a shaking device, so that the industrial sucker unit 7 adsorbs only a single plate;
step three, controlling the translational displacement of the industrial sucker unit 7 along the guide rail beam 6 until a plate adsorbed on the industrial sucker unit 7 is translational displaced to be right above the laser cutting platform 5; at the moment, the industrial sucker unit 7 is controlled to release the absorbed plates to the laser cutting platform 5, and then the industrial sucker unit 7 is controlled to move horizontally along the guide rail beam 6, so that the industrial sucker unit 7 returns to the initial position again, and the industrial sucker unit 7 can absorb the stacked plates on the lifting car 91 again;
step four, controlling a laser cutting device to cut and punch the plate on the laser cutting platform 5 until the plate on the laser cutting platform 5 is processed into a desired finished plate; at the moment, as the plate surface of the finished plate after processing is cut into a plurality of hole bodies, the finished plate cannot be adsorbed by the industrial sucker;
step five, controlling the translational displacement of the plate clamping manipulator unit 4 along the guide rail beam 6 to enable the translational displacement of the plate clamping manipulator unit 4 to be right above the laser cutting platform 5, and then clamping the cut plate on the laser cutting platform 5 by the plate clamping manipulator unit 4; then the translational displacement of the plate clamping manipulator unit 4 along the guide rail beam 6 is controlled, so that the plate clamping manipulator unit 4 returns to the initial position again, at the moment, the plate clamping manipulator unit 4 is positioned right above the blanking trolley 9 on the second pair of guide rails 1, at the moment, the plate clamping manipulator unit 4 is controlled to release the finished plate to the plate bearing platform 13 of the blanking trolley 9, then the blanking trolley 9 is controlled to displace to the blanking station 98 along the second pair of guide rails 1, and then the finished plate on the plate bearing platform 13 is taken away by a manipulator or manually.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (6)
1. Full-automatic unloading workstation of going up of laser cutting machine, its characterized in that: the device comprises a first pair of horizontal guide rails (8) and a second pair of horizontal guide rails (1), wherein the first pair of guide rails (8) and the second pair of guide rails (1) are arranged in parallel; a pair of guide rail cross beams (6) are horizontally arranged above the first pair of guide rails (8) and the second pair of guide rails (1), and the extending direction of the guide rail cross beams (6) is perpendicular to the extending direction of the first pair of guide rails (8)/the second pair of guide rails (1);
one end of the guide rail cross beam (6) is positioned right above one end of the first pair of guide rails (8), and the other end of the guide rail cross beam (6) is positioned right above one end of the second pair of guide rails (1);
a laser cutting platform (5) is arranged below the guide rail cross beam (6); the laser cutting platform (5) is positioned between the first pair of guide rails (8) and the second pair of guide rails (1);
the vertical storage rack (2) is further included, and the other end of the first pair of guide rails (8) is located right below the vertical storage rack (2); the other end of the second pair of guide rails (1) is provided with a blanking station (98);
one end, close to the second pair of guide rails (1), of the guide rail cross beam (6) is provided with a plate clamping manipulator unit (4), and one end, close to the first pair of guide rails (8), of the guide rail cross beam (6) is provided with an industrial sucker unit (7); both the plate clamping mechanical arm unit (4) and the industrial sucker unit (7) can translate and displace along the extending direction of the guide rail cross beam (6); the plate clamping mechanical arm unit (4) and the industrial sucker unit (7) can both move to the position right above the laser cutting platform (5) along the guide rail cross beam (6);
a plate transfer trolley is arranged on the first pair of guide rails (8), and the plate transfer trolley moves in a translational manner along the extending direction of the first pair of guide rails (8); a blanking trolley (9) is arranged on the second pair of guide rails (1), and the blanking trolley (9) moves in a translational manner along the extending direction of the second pair of guide rails (1);
the plate clamping mechanical arm unit (4) and the industrial sucker unit (7) comprise a translation base (44);
a lifting unit (43) is further arranged on each translation base (44), and a driving device on each translation base (44) can drive the lifting unit (43) to do lifting movement;
the lower end of a lifting unit (43) on the plate clamping manipulator unit (4) is provided with a plate clamping manipulator (4.1), and the lifting unit (43) on the plate clamping manipulator unit (4) can drive the plate clamping manipulator (4.1) to move up and down;
the plate clamping manipulator (4.1) comprises a left linear motor (30) and a right linear motor (31), a left linear push rod (32) of the left linear motor (30) extends leftwards, and a right linear push rod (35) of the right linear motor (31) extends rightwards; the tail end of the left straight push rod (32) is fixedly connected with a left clamping jaw (34) through a left bracket (100), the tail end of the right straight push rod (35) is fixedly connected with a right clamping jaw (38) through a right bracket (101), and one ends, close to each other, of the left clamping jaw (34) and the right clamping jaw (38) are respectively fixedly provided with a left rubber clamping head (36) and a right rubber clamping head (37); the left linear motor (30) and the right linear motor (31) can drive the left rubber chuck (36) and the right rubber chuck (37) to move close to or away from each other;
the lower end of a lifting unit (43) on the industrial sucker unit (7) is provided with an industrial sucker (7.1), the industrial sucker (7.1) comprises a horizontal sucker support (51), and a plurality of suckers (58) are uniformly and fixedly arranged on the lower side of the sucker support (51); the side part of the sucker support (51) is provided with a plate thickness measuring device, the plate thickness measuring device measures the thickness of the plate adsorbed by the industrial sucker unit (7), and if the measured thickness exceeds the expected value, the industrial sucker unit (7) adsorbs at least two plates adhered together;
the lifting unit (43) on the industrial sucker unit (7) can drive the industrial sucker (7.1) to move up and down.
2. The full-automatic loading and unloading workstation of laser cutting machine according to claim 1, wherein: the guide rail cross beam (6) comprises a rack (40) extending along the length direction, and tooth bodies (41) are distributed on the lower side of the rack (40) in the extending degree direction.
3. The full-automatic loading and unloading workstation of laser cutting machine according to claim 2, wherein: the side part of the translation base (44) is fixedly provided with at least two sliding blocks (28) with equal height, and the upper side of the rack (40) is in sliding fit with the lower ends of the two sliding blocks (28); the side part of the translation base (44) is also provided with a gear (39), the gear (39) is positioned between the two sliding blocks (28), and a driving device in the translation base (44) can drive the gear (39) to rotate; the gear (39) is meshed with a gear body (41) distributed in the extending direction of the lower side of the rack (40); the rotation of the gear (39) can drive the translation base (44) to translate along the rack (40).
4. A fully automatic loading and unloading workstation for a laser cutting machine according to claim 3, wherein: the blanking trolley (9) comprises a plate bearing platform (13), four supporting legs (20) are arranged at four corners of the lower side of the plate bearing platform (13), rollers (17) are arranged at the lower ends of the supporting legs (20), a limit rim (24) is integrally arranged on the outline of one side of each roller (17), and each roller (17) can roll along the second pair of guide rails (1);
the lower side of the middle part of the blanking trolley (9) is fixedly connected with a horizontal motor mounting frame (22) through a plurality of connecting pieces (21), a chain wheel driving motor (27) is fixedly arranged on the lower side of the motor mounting frame (22), chain wheel frames (25) are respectively and fixedly arranged at two ends of the motor mounting frame (22), and a first driven chain wheel (10) and a second driven chain wheel (11) are rotatably arranged on the chain wheel frames (25); the motor output shaft (26) of the sprocket driving motor (27) is in transmission connection with the driving sprocket (12), the motor output shaft (26) can drive the driving sprocket (12) to rotate, and the driving sprocket (12) is positioned at the upper side between the first driven sprocket (10) and the second driven sprocket (11);
the chain support groove (16) extends along the length direction of the second pair of guide rails (1), a chain accommodating groove (012) is formed in the chain support groove (16) in an extending mode along the length direction, a chain (15) is paved in the groove of the chain accommodating groove (012) along the length direction, and two ends of the chain (15) are fixedly connected with two ends of the chain support groove (16);
the chain (15) sequentially spans the lower side of the first driven sprocket (10), the upper side of the driving sprocket (12) and the lower side of the second driven sprocket (11); and the chain (15) is tightly arranged; the rotation energy of the driving chain wheel (12) drives the driving chain wheel to horizontally displace along the extending direction of the chain bracket (16) through the chain (15).
5. The full-automatic loading and unloading workstation of laser cutting machine according to claim 4, wherein: the plate thickness measuring device comprises a first supporting plate (57) fixed on a sucker support (51), a transverse linear motor (52) is installed on the first supporting plate (57), a second supporting plate body (56) is fixedly installed at the tail end of a transverse linear push rod (53) of the transverse linear motor (52), a longitudinal linear motor (54) is fixedly installed on the second supporting plate body (56), a third supporting plate body (55) is fixedly installed at the tail end of the longitudinal push rod of the longitudinal linear motor (54), a laser thickness meter (62) is fixedly installed on the third supporting plate body (55), an upper laser sensor (61) and a lower laser sensor (59) which correspond to each other up and down are arranged on the laser thickness meter (62), a thickness measuring area (60) is formed between the upper laser sensor (61) and the lower laser sensor (59), and the laser thickness meter (62) can detect the thickness of a plate body which is horizontal to the laser thickness measuring area (60).
6. The working method of the full-automatic feeding and discharging workstation of the laser cutting machine according to claim 5, comprising the following steps:
firstly, stacking and storing a plurality of layers of plates on each layer of skip (91) in an initial vertical storage frame (2), controlling a plate transfer trolley on a first pair of guide rails (8) to move horizontally to the position right below the vertical storage frame (2) along the extending direction of the first pair of guide rails (8), and then starting a skip lifting unit (92) on the vertical storage frame (2), wherein the skip lifting unit (92) transfers one skip (91) which stacks and stores plates in the vertical storage frame (2) to the plate transfer trolley on the first pair of guide rails (8);
step two, controlling the translational displacement of the plate transfer trolley on the first pair of guide rails (8) along the extending direction of the first pair of guide rails (8), and synchronously translational displacement of the skip car (91) along with the plate transfer trolley on the first pair of guide rails (8) until the skip car (91) moves to the position right below the industrial sucker unit (7) along with the plate transfer trolley on the first pair of guide rails (8), and controlling the industrial sucker unit (7) to absorb the uppermost plate in a plurality of layers of plates stacked on the skip car (91); after the industrial sucker unit (7) adsorbs the plates, the control panel body thickness measuring device measures the thickness of the plates adsorbed by the industrial sucker unit (7), if the lateral thickness exceeds the expected thickness, the industrial sucker unit (7) adsorbs at least two layers of plates, at least two plates are adhered together, at the moment, the system starts to give an alarm, and a plurality of plates adsorbed by the industrial sucker unit (7) are separated by a manual, separate mechanical hand or a shaking device, so that the industrial sucker unit (7) only adsorbs a single plate;
controlling the translational displacement of the industrial sucker unit (7) along the guide rail cross beam (6) until a plate adsorbed on the industrial sucker unit (7) is translational displaced to the position right above the laser cutting platform (5); at the moment, the industrial sucker unit (7) is controlled to release the absorbed plates to the laser cutting platform (5), and then the industrial sucker unit (7) is controlled to move in a translational mode along the guide rail cross beam (6), so that the industrial sucker unit (7) returns to the initial position again, and the industrial sucker unit (7) can absorb the stacked plates on the lifting vehicle (91) again;
controlling a laser cutting device to cut and punch the plate on the laser cutting platform (5) until the plate on the laser cutting platform (5) is processed into a desired finished plate; at the moment, as the plate surface of the finished plate after processing is cut into a plurality of hole bodies, the finished plate cannot be adsorbed by the industrial sucker;
controlling the translational displacement of the plate clamping manipulator unit (4) along the guide rail cross beam (6) to enable the translational displacement of the plate clamping manipulator unit (4) to be right above the laser cutting platform (5), and then clamping the cut plate on the laser cutting platform (5) by the plate clamping manipulator unit (4); then the sheet clamping manipulator unit (4) is controlled to move in a translational mode along the guide rail cross beam (6), the sheet clamping manipulator unit (4) returns to the initial position again, at the moment, the sheet clamping manipulator unit (4) is located right above the blanking trolley (9) on the second pair of guide rails (1), at the moment, the sheet clamping manipulator unit (4) is controlled to release a finished sheet to the sheet bearing platform (13) of the blanking trolley (9), then the blanking trolley (9) is controlled to move to the blanking station (98) along the second pair of guide rails (1), and then the finished sheet is taken away from the sheet bearing platform (13) through a manipulator or a manual work.
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Effective date of registration: 20240126 Address after: 214000 Tianshun Road, Yangshan supporting area, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Applicant after: WUXI SHENCHONG FORGING MACHINE Co.,Ltd. Country or region after: China Address before: 214000, No. 3 Lutong Road, Yangshan Supporting Zone, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Applicant before: JIANGSU SHENGCHI INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region before: China |
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