CN110744312A

CN110744312A - Production line for modular workpiece machining

Info

Publication number: CN110744312A
Application number: CN201911012179.1A
Authority: CN
Inventors: 杨继盛; 武欣竹; 冯雨; 刘爱云; 田小静
Original assignee: Xian Aeronautical Polytechnic Institute
Current assignee: Xian Aeronautical Polytechnic Institute
Priority date: 2019-10-23
Filing date: 2019-10-23
Publication date: 2020-02-04

Abstract

The invention discloses a production line for processing modular workpieces, which comprises a plurality of machine tools, wherein each machine tool comprises a lathe, one side of each lathe is provided with a stock bin, each stock bin comprises a stock bin frame, a stock tray bottom plate is arranged in each stock bin frame, and a stock tray is placed in each stock tray bottom plate; a turnover table is fixed at the top of the stock bin frame, and a turnover device for turning over the workpiece is arranged on the turnover table; the automatic feeding device is characterized by further comprising a stand column, wherein the stand column is movably connected with a mechanical arm used for grabbing workpieces in the storage bin, and the stand column is movably connected to the lathe. The bin, the robot and the lathe are integrated as an automatic processing unit, secondary assembly and adjustment operation on site is not needed, and the quality and performance stability of an automatic product can be ensured.

Description

Production line for modular workpiece machining

Technical Field

The invention belongs to the technical field of machine tools, and relates to a production line for processing modular workpieces.

Background

Along with the increase of automatic processing demand, a lot of automatic machine tool and production line have appeared, produce the line with producing line, perpendicular articulated robot processing if truss automatic machine tool, but all have and produce the line fixed, need produce the line and rearrange when the product changes, mechanical and electric debugging cycle is very long, and the flexibility is low. And because lathe and robot and feed bin are fixed subaerial respectively, so cause the product to need install the debugging at customer department secondary, the construction task is many, and product quality is unstable.

Disclosure of Invention

The invention aims to provide a production line for processing modular workpieces, and solves the problems that an existing automatic production line in the prior art is fixed, cannot be recombined and is poor in flexibility.

The technical scheme adopted by the invention is that the production line for processing the modular workpieces comprises a plurality of machine tools, each machine tool comprises a lathe, a stock bin is arranged on one side of each lathe, each stock bin comprises a stock bin frame, a stock tray bottom plate is arranged in each stock bin frame, and a stock tray is placed in each stock tray bottom plate; a turnover table is fixed at the top of the stock bin frame, and a turnover device for turning over the workpiece is arranged on the turnover table; the automatic feeding device is characterized by further comprising a stand column, wherein the stand column is movably connected with a mechanical arm used for grabbing workpieces in the storage bin, and the stand column is movably connected to the lathe.

The invention is also characterized in that:

the track subassembly is fixed with to the lathe opposite side, and track subassembly and feed bin are located the adjacent both sides of lathe respectively, and stand swing joint is on the track subassembly.

The turnover device comprises a guide rail, the guide rail is fixed on the turnover table, the guide rail is movably connected with a first sliding block, the turnover device further comprises a driving device for driving the first sliding block, a first swing cylinder is arranged on the first sliding block, the first swing cylinder is movably connected with a first air claw through a first connecting piece, a second swing cylinder is further fixed on the bottom plate, the second swing cylinder is movably connected with a second air claw through a second connecting piece, and the second air claw and the first air claw are located on the same straight line.

The first connecting piece and the second connecting piece are both right-angle plates, one side plate of the first connecting piece is fixed on the first swing cylinder, and the other side plate of the first connecting piece is connected with the first air claw; one side plate of the second connecting piece is fixed on the second tilt cylinder, and the other side plate of the second connecting piece is connected with the second air claw.

The driving device comprises a cylinder, a piston rod is arranged in the cylinder and connected to the first sliding block, the two guide rails comprise two guide rails, and the piston rod is located between the two guide rails.

The top of the storage bin frame is also provided with a buffer storage table used for storing workpieces to be transported, and the buffer storage table is positioned outside the overturning table.

The mechanical arm comprises a first mechanical arm, the free end of the first mechanical arm is hinged with a second mechanical arm, and the free end of the second mechanical arm is hinged with a paw; the mechanical arm is connected with the upright post through a connecting piece.

The connecting piece includes the slide rail, and the slide rail is fixed on the stand lateral wall, still including the second slider that can follow the slide rail up-and-down motion, the second slider is articulated with first arm.

The other side of the upright post is provided with a supporting plate, the supporting plate and the sliding rail are respectively positioned on two parallel side surfaces of the upright post, the side surface of the supporting plate is provided with a gear, the supporting plate is also provided with a motor, and an output shaft of the motor is connected with the gear; the track component comprises a rack matched with the gear, and the rack is fixed on the lathe.

The supporting plate is also provided with two third sliding blocks which are parallel to each other, the third sliding blocks are respectively positioned on two sides of the rack, the track assembly further comprises a guide rail matched with the third sliding blocks, and the guide rail is fixed on the lathe.

The invention has the beneficial effects that: according to the production line for processing the modular workpieces, the stock bin, the robot and the lathe are integrated into a whole to be used as an automatic processing unit, secondary assembly and adjustment operation is not needed on site, and the quality and performance stability of an automatic product can be ensured; the gripper of the five-axis joint robot can freely move at any position in the space near the front side of the lathe, the robot grabs a workpiece from a material tray and sends the workpiece into the lathe for processing, the workpiece is taken out after the processing is finished and put back to a stock bin or is transmitted to the next machine tool for processing in the next procedure, various production lines with two-sequence processing ratios are freely combined, and the problems that an existing automatic production line is fixed, cannot be recombined and is poor in flexibility can be solved; the robot is dismantled and gets off and use as producing the line manipulator, can strengthen functional unit's reuse rate, improves and produces the line flexibility.

Drawings

FIG. 1 is a schematic structural view of a modular workpiece processing line of the present invention;

FIG. 2 is a schematic view of the structure of a machine tool in a modular workpiece processing line of the present invention;

FIG. 3 is a schematic structural view of a bin in a production line for modular workpiece processing according to the present invention;

FIG. 4 is a schematic structural view of a turning device in a production line for modular workpiece processing according to the present invention;

FIG. 5 is a schematic diagram of a buffering table in an in-line modular workpiece processing apparatus according to the present invention;

FIG. 6 is a schematic view of a robot arm in a modular workpiece processing line of the present invention;

FIG. 7 is a schematic structural diagram of a bin control system in a production line for modular workpiece processing according to the present invention;

fig. 8 is a schematic structural view of another embodiment of a modular workpiece processing line of the present invention.

In the figure, 1, a lathe, 2, a bin, 3, a track assembly, 4, a mechanical arm, 5, a bin frame, 5-1, a tray groove, 6, a tray bottom plate, 7, a tray, 8, a turnover table, 9, a turnover device, 10, a guide rail, 11, a first sliding block, 11-1, a platform, 11-2, a sub sliding block, 12, a first swing cylinder, 13, a first connecting piece, 14, a first air claw, 15, a second swing cylinder, 16, a second connecting piece, 17, a second air claw, 18, a driving device, 18-1, an air cylinder, 18-2, a piston rod, 19, a buffer table, 20, a stand column, 21, a slide rail, 22, a second sliding block, 23, a first mechanical arm, 24, a second mechanical arm, 25, a hand claw, 26, an electromagnet, 27, a supporting plate, 28, a gear, 29, a motor, 30, a rack, 31, a third sliding block, 32, a support frame, 33, a support frame, 34, a positioning pin, 35. distance sensor, 36 controller, 101 first workpiece processing machine, 102 second workpiece processing machine, 103 third workpiece processing machine, 201 workpiece processing machine a, 202 workpiece processing machine B.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

A production line for processing modular workpieces is shown in figure 1 and comprises a plurality of machine tools, and is shown in figure 2, each machine tool comprises a lathe 1, a bin 2 is arranged on one side of each lathe 1, each bin 2 comprises a bin frame 5, a material tray bottom plate 6 is arranged in each bin frame 5, and a material tray is placed in each material tray bottom plate 6; a turnover table 8 is fixed at the top of the bin frame 5, and a turnover device 9 for turning over the workpiece is arranged on the turnover table 8; the automatic loading machine further comprises a stand column 20, wherein the stand column 20 is movably connected with a mechanical arm 4 used for grabbing workpieces in the storage bin 2, and the stand column 20 is movably connected to the lathe 1.

The other side of the lathe 1 is fixed with a track component 3, the track component 3 and the bin 2 are respectively positioned at two adjacent sides of the lathe 1, and the upright post 20 is movably connected on the track component 3.

As shown in fig. 3, specifically, the bin rack 5 is a hollow frame, a plurality of parallel tray grooves 5-1 are formed along the inner wall of the bin rack 5, the tray bottom plate 6 is inserted into the tray grooves 5-1, and the tray bottom plate 6 can move in the bin rack 5 along the tray grooves 5-1. The silo 2 is fixed to the lathe 1 by means of a support 32. The positioning pin 34 is fixed on the tray 7, or the opening of the tray 7 is used for positioning the workpiece, and the workpiece is placed on the positioning pin 34 on the tray 7 or the positioning hole of the tray 7.

As shown in fig. 4, the turnover device 9 includes a guide rail 10, the guide rail 10 is fixed on the turnover table 8, the guide rail 10 is movably connected with a first slide block 11, the turnover device further includes a driving device 18 for driving the first slide block 11, a first swing cylinder 12 is arranged on the first slide block 11, the first swing cylinder 12 is movably connected with a first air claw 14 through a first connecting piece 13, a second swing cylinder 15 is further fixed on the bottom plate 9, and the second swing cylinder 15 is fixed on the bottom plate 9 through a supporting frame 33. The second swing cylinder 15 is movably connected with a second air claw 17 through a second connecting piece 16, the second air claw 17 and the first air claw 14 are located on the same straight line, when the robot works, the axis of the second air claw 17 is perpendicular to the bottom plate 9, the axis of the first air claw 14 is parallel to the axis of the bottom plate 9, after the second air claw 17 grabs a workpiece sent by the robot 4, the second swing cylinder 15 drives the second air claw 17 to turn over for 90 degrees to enable the axis of the workpiece to be in a horizontal state, the driving device 18 pulls the first sliding block 11 to enable the first air claw 14 to be close to the second air claw 17, the first air claw 14 clamps the workpiece, the second air claw 17 loosens the workpiece, the driving device 18 pushes the first air claw 14 to return to the original position, the first swing cylinder 12 drives the first air claw 14 to turn over for 90 degrees, at the moment, the axis of the first air claw 14 is perpendicular to the bottom plate 9, and 180.

The first connecting piece 13 and the second connecting piece 16 are both right-angle bent plates, one side plate of the first connecting piece 13 is fixed on the first swing cylinder 12, and the other side plate of the first connecting piece 13 is connected with the first pneumatic claw 14; one side plate of the second link member 16 is fixed to the second tilt cylinder 15, and the other side plate of the second link member 16 is connected to the second air jaw 17.

The driving device 18 is driven by an air cylinder and comprises an air cylinder 18-1, a piston rod 18-2 is arranged in the air cylinder 18-1, the piston rod 18-2 is connected to the first sliding block 11, the number of the guide rails 10 is two, and the piston rod 18-2 is located between the two guide rails 10. The first sliding block 11 comprises a platform 11-1, two parallel sub sliding blocks 11-2 are fixed on the lower surface of the platform 11-1, the sub sliding blocks 11-2 are respectively sleeved on two guide rails 10 and can move along the guide rails 10, a piston rod 18-2 is connected with the platform 11-1, and a first tilt cylinder 12 is fixed on the platform 11-1.

As shown in fig. 5, the top of the bin rack 5 is further provided with a buffer storage platform 19 for storing the workpieces to be transferred, and the buffer storage platform is located outside the overturning platform 8.

As shown in fig. 6, the mechanical arm 4 comprises a first mechanical arm 23, a second mechanical arm 24 is hinged to the free end of the first mechanical arm 23, a claw 25 is hinged to the free end of the second mechanical arm 24, and an electromagnet 26 capable of dragging the tray bottom plate 6 is arranged on the claw 25; the robot arm 4 is connected to the column 20 by a connecting member. The connecting piece includes slide rail 21, and slide rail 21 fixes at the 20 lateral walls of stand, still including the second slider 22 that can follow slide rail 21 up-and-down motion, and second slider 22 is articulated with first arm 23, and electro-magnet 26 attracts charging tray bottom plate 6 outwards to move, stretches out feed bin 2 to a certain position, and electro-magnet 26 cuts off the power supply.

Specifically, as shown in fig. 7, the tray bottom plate 6 is made of an iron material, the gripper 25 is provided with a distance sensor 35, the distance sensor 35 is electrically connected with a controller 36, and the controller 36 is electrically connected with the electromagnet 26; after the distance sensor 35 senses that the distance from the tray bottom plate 6 to the distance sensor is smaller than a first preset distance, the controller 36 controls the electromagnet 26 to be electrified, and the claw 25 attracts the tray bottom plate 6 to move outwards by a second preset distance; the second preset distance is less than or equal to the length of the tray bottom plate 6, and the controller 36 controls the electromagnet 26 to be powered off; after the claw 25 finishes grabbing the workpiece, the claw 25 pushes the tray bottom plate 6 to move inwards for a second preset distance, and the tray bottom plate 6 finishes resetting.

The second slider 22 is connected with the first mechanical arm 23 through a rotating shaft, the first mechanical arm 23 is positioned below the second slider 22, the first mechanical arm 23 is connected with the second mechanical arm 24 through a rotating shaft, and the second mechanical arm 24 is positioned below the first mechanical arm 23. The robot 4 is a five-axis joint robot.

A supporting plate 27 is arranged on the other side of the upright post 20, the supporting plate 27 and the slide rail 21 are respectively positioned on two parallel side surfaces of the upright post 20, a gear 28 is arranged on the side surface of the supporting plate 27, a motor 29 is also arranged on the supporting plate 27, an output shaft of the motor 29 is connected with a speed reducer, and an output shaft of the speed reducer is connected with the gear 28; the track assembly 3 includes a rack 30 that is adapted to the gear 28, the rack 30 being fixed to the lathe 1.

The supporting plate 27 is further provided with two third sliding blocks 31 which are parallel to each other, the third sliding blocks 31 are respectively located on two sides of the rack 30, the track assembly 3 further comprises a guide rail 32 which is matched with the third sliding blocks 31, and the guide rail 32 is fixed on the side wall of the lathe 1.

The working process of the production line for processing the modular workpiece comprises the following steps:

when the lathe 1 is fed, the second sliding block 22 moves to a required height along the sliding rail 21, the first mechanical arm 23 and the second mechanical arm 24 swing to a material taking position, the electromagnet 26 sequentially magnetically attracts the material tray bottom plate 6, so that the material tray 7 extends out of the material bin frame 5, and the paw 25 grabs a workpiece on the material tray 7; when the workpiece is turned over, when the gripper 25 places the workpiece on the second pneumatic gripper 17, the second pneumatic gripper 17 and the second swing cylinder 15 drive the second pneumatic gripper 17 to turn over by 90 degrees, so that the axis of the workpiece is in a horizontal state, the driving device 18 pulls the first sliding block 11 to enable the first pneumatic gripper 14 to be close to the second pneumatic gripper 17, the first pneumatic gripper 14 clamps the workpiece, the second pneumatic gripper 17 releases the workpiece, the driving device 18 pushes the first pneumatic gripper 14 to return to the original position, the first swing cylinder 12 drives the first pneumatic gripper 14 to turn over by 90 degrees, at the moment, the axis of the first pneumatic gripper 14 is perpendicular to the bottom plate 9, and the workpiece is turned over by 180 degrees; after the turning is completed, the gripper 25 feeds the workpiece on the first gripper 14 to the lathe 1 for machining.

The utility model provides a production line of modularization work piece processing, includes the production line of many above-mentioned modularization work piece processing, and the production line of many modularization work piece processing is placed side by side, and perhaps the production line of per two modularization work piece processing is placed oppositely.

Example 1

The production line for processing the modular workpieces comprises three production lines for processing the modular workpieces, as shown in fig. 1, and can adapt to the conditions of 1: 1. 1:2 and 2:1 without moving the original machine tool equipment. The working process is as follows:

when the ratio of the first sequence to the second sequence is 2:1, the first workpiece processing machine 101 and the second workpiece processing machine 102 perform first-sequence processing, and the third workpiece processing machine 103 performs second-sequence processing; after the first workpiece processing machine 101 finishes processing, the robot 4 of the first workpiece processing machine 101 places the first-order finished product on the buffer table 19 of the second workpiece processing machine 102; the second workpiece processing machine tool 102 places the first-order finished products on the buffer table 19 on the overturning table 8, the overturning table 8 overturns the first-order finished products by 180 degrees, the robot 4 of the second workpiece processing machine tool 102 transfers the first-order finished products to the buffer table 19 of the third workpiece processing machine tool 103, the robot 4 of the third workpiece processing machine tool 103 sends the first-order finished products on the buffer table 19 to the lathe 1 for processing, and the first-order finished products are placed in the bin 2 of the third workpiece processing machine tool 103 after the processing is completed. After the first workpiece processing machine tool 101 is transferred to the third workpiece processing machine tool 103, the second workpiece processing machine tool 102 takes out the workpiece from the self bin 2, and after the workpiece is processed on the lathe 1, the workpiece is sent to the overturning platform 8, and after the overturning is finished, the workpiece is placed on the buffer storage platform 19 of the third workpiece processing machine tool 103, and the third workpiece processing machine tool 103 is waited for grabbing and processing.

When the ratio of the first sequence to the second sequence is 1:2, the robot 4 of the first workpiece processing machine tool 101 grabs a workpiece from the local stock bin 2 and puts the workpiece on the lathe 1 after the workpiece is processed, the robot 4 of the second workpiece processing machine tool 102 grabs the workpiece on the cache table 19 and sends the workpiece to the local machine tool for processing, the robot 4 of the second workpiece processing machine tool 102 is put on the local machine tool overturning table 8 after the workpiece is processed and overturns the workpiece, the workpiece is sent to the cache table 19 of the third workpiece processing machine tool 103 after the overturning is completed, the workpiece on the cache table 19 is grabbed by the third workpiece processing machine tool 103 and processed on the local machine 1, and the workpiece is put into the local. After the second workpiece processing machine 102 finishes the task of transferring the workpiece from the first workpiece processing machine 101, the workpiece is picked up from the local buffer table 19 and processed in the lathe 1, and after the processing, the workpiece is placed on the buffer table 19 of the third workpiece processing machine 103.

When the proportion of the first sequence and the second sequence is 1:1, the robot of the first workpiece processing machine tool 101 grabs the workpiece from the local stock bin 2, the workpiece is placed on the overturning platform 8 of the second workpiece processing machine tool 102 to overturn after the workpiece is processed on the lathe 1, the robot 4 of the second workpiece processing machine tool 102 grabs the workpiece on the overturning platform 8 and sends the workpiece to the local lathe 1 for processing, and the workpiece is placed in the local stock bin 2 after the processing is finished.

A production line for processing the same modularized workpiece is added on one side of the third workpiece processing machine tool 103, so that a second-order ratio 1 can be completed: 1, the operation cycle is the same as that of the production line with the second-order 1:1 ratio, and the flexibility of the production line is higher than that of the existing rigid production line.

Example 2

As shown in fig. 8, when two modular workpiece processing lines are placed face to face for a second-order process, the workpiece processing machine a201 is not associated with the robot 4, and the workpiece processing machine B202 is not associated with the magazine 2. A paw 25 of the workpiece processing machine tool B202 takes a workpiece from the bin 2 and sends the workpiece to the workpiece processing machine tool A201 for processing in sequence, the workpiece is overturned on the overturning platform 2 after being processed, and then the workpiece is grabbed by the robot 4 and sent to the lathe 1 of the workpiece processing machine tool A201 for processing; after the second-order processing is completed, the robot 4 picks the workpiece and puts the workpiece back into the bin 2.

According to the production line for processing the modular workpieces, the stock bin, the robot and the lathe are integrated into a whole to be used as an automatic processing unit, secondary assembly and adjustment operation is not needed on site, and the quality and performance stability of an automatic product can be ensured; the gripper of the five-axis joint robot can freely move at any position in the space near the front side of the lathe, the robot grabs a workpiece from a material tray and sends the workpiece into the lathe for processing, the workpiece is taken out after the processing is finished and put back to a stock bin or is transmitted to the next machine tool for processing in the next procedure, various production lines with two-sequence processing ratios are freely combined, and the problems that an existing automatic production line is fixed, cannot be recombined and is poor in flexibility can be solved; the robot is disassembled to be used as a manipulator of the production line, so that the repeated utilization rate of functional parts can be enhanced, and the flexibility of the production line is improved; when the joint robot moves to the other side of the lathe, the joint robot can be used as a common numerical control lathe, the occupied space is small, and the normal operation and maintenance are not influenced.

Claims

1. The production line for processing the modularized workpieces is characterized by comprising a plurality of machine tools, wherein each machine tool comprises a lathe (1), a bin (2) is arranged on one side of each lathe (1), each bin (2) comprises a bin frame (5), a material tray bottom plate (6) is arranged in each bin frame (5), and a material tray (7) is placed in each material tray bottom plate (6); a turnover table (8) is fixed at the top of the bin frame (5), and a turnover device (9) for turning over a workpiece is arranged on the turnover table (8); the automatic feeding device is characterized by further comprising an upright post (20), wherein the upright post (20) is movably connected with a mechanical arm (4) used for grabbing workpieces in the stock bin (2), and the upright post (20) is movably connected to the lathe (1).

2. The production line for modular workpiece processing according to claim 1, wherein a rail assembly (3) is fixed to the other side of the lathe (1), the rail assembly (3) and the bin (2) are respectively located on two adjacent sides of the lathe (1), and the column (20) is movably connected to the rail assembly (3).

3. The production line for machining the modular workpieces as claimed in claim 2, wherein the turnover device (9) comprises a guide rail (10), the guide rail (10) is fixed on the turnover table (8), the guide rail (10) is movably connected with a first sliding block (11), the production line further comprises a driving device (18) for driving the first sliding block (11), a first swing cylinder (12) is arranged on the first sliding block (11), the first swing cylinder (12) is movably connected with a first air claw (14) through a first connecting piece (13), a second swing cylinder (15) is further fixed on the bottom plate (9), the second swing cylinder (15) is movably connected with a second air claw (17) through a second connecting piece (16), and the second air claw (17) and the first air claw (14) are located on the same straight line.

4. The modular workpiece processing line as claimed in claim 3, wherein the first connecting member (13) and the second connecting member (16) are right-angled plates, one lateral plate of the first connecting member (13) is fixed to the first oscillating cylinder (12), and the other lateral plate of the first connecting member (13) is connected to the first air gripper (14); one side plate of the second connecting piece (16) is fixed on the second tilt cylinder (15), and the other side plate of the second connecting piece (16) is connected with the second air claw (17).

5. A modular workpiece processing line as in claim 3, wherein the drive means (18) comprise a cylinder (18-1), a piston rod (18-2) being arranged inside the cylinder (18-1), the piston rod (18-2) being connected to the first slide (11), the guide (10) comprising two, the piston rod (18-2) being located between the two guide (10).

6. The production line for modular workpiece processing according to claim 2, wherein a buffer station (19) for storing the workpieces to be transferred is further provided on top of the magazine rack (5), said buffer station being located outside the turning station (8).

7. The modular workpiece processing line as claimed in claim 2, wherein the robot arm (4) comprises a first robot arm (23), the free end of the first robot arm (23) being hinged to a second robot arm (24), the free end of the second robot arm (24) being hinged to a gripper (25); the mechanical arm (4) is connected with the upright post (20) through a connecting piece.

8. The production line for modular workpiece processing according to claim 7, wherein the connecting member comprises a slide rail (21), the slide rail (21) is fixed to a side wall of the column (20), and further comprises a second slide block (22) capable of moving up and down along the slide rail (21), and the second slide block (22) is hinged to the first robot arm (23).

9. The production line for modular workpiece processing according to claim 7, wherein a supporting plate (27) is provided at the other side of the upright (20), the supporting plate (27) and the slide rail (21) are respectively provided at two parallel sides of the upright (20), a gear (28) is provided at the side of the supporting plate (27), a motor (29) is further provided on the supporting plate (27), and an output shaft of the motor (29) is connected to the gear (28); the track assembly (3) comprises a rack (30) matched with the gear (28), and the rack (30) is fixed on the lathe (1).

10. The modular workpiece processing line as claimed in claim 9, wherein the pallet (27) is further provided with two third slides (31) parallel to each other, the third slides (31) are respectively located on two sides of the rack (30), the track assembly (3) further comprises a guide rail (32) adapted to the third slides (31), and the guide rail (32) is fixed to the lathe (1).