CN111230565A - Ground rail robot automatic line of thin-wall metal part machining center and control method thereof - Google Patents
Ground rail robot automatic line of thin-wall metal part machining center and control method thereof Download PDFInfo
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- CN111230565A CN111230565A CN202010133695.6A CN202010133695A CN111230565A CN 111230565 A CN111230565 A CN 111230565A CN 202010133695 A CN202010133695 A CN 202010133695A CN 111230565 A CN111230565 A CN 111230565A
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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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- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
-
- 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
- B23Q7/046—Handling workpieces or tools
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Abstract
The invention relates to the technical field of thin-wall metal piece production lines, in particular to a ground rail robot automatic line of a thin-wall metal piece machining center and a control method thereof The production cost is reduced.
Description
Technical Field
The invention relates to the technical field of thin-wall metal piece production lines, in particular to a ground rail robot automatic line of a thin-wall metal piece machining center and a control method thereof.
Background
The thin-wall workpiece is a workpiece frequently used in the field of mechanical production and processing, manual feeding is performed by a plurality of workers in the traditional manual feeding process, errors are easy to occur in the feeding process, the reliability is low, and the labor intensity is high. Because of traditional artifical manual feeding expends the manpower, expends man-hour, has increased manufacturing cost simultaneously, can not satisfy the needs of production more and more. The feeding and discharging of thin-wall workpieces are carried out by adopting common mechanical equipment such as mechanical claws, but the thin-wall workpieces are different in appearance structure, so that the feeding and discharging process needs diversity, and the traditional manual feeding and discharging process cannot meet the requirements.
Disclosure of Invention
The invention aims to provide a ground rail robot automatic line of a thin-wall metal part machining center and a control method thereof, and aims to solve the problems that manual loading and unloading in the prior art consumes manpower and labor hour, and production cost is increased.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic ground rail robot line of a thin-wall metal piece machining center comprises a ground rail robot, a robot quick-change gripper, a gripper storage table, a double-layer feeding and discharging bin, a cleaning machine, a workpiece overturning table and a control cabinet unit for controlling the whole line, the ground rail robot is used for connecting and operating a robot quick-change gripper, the robot quick-change gripper is used for placing and removing a metal piece, a double-layer loading and unloading bin is used for storing and taking the metal piece, a cleaning machine is used for cleaning surface sundries of a processed workpiece, a workpiece overturning platform is used for overturning the workpiece in a turning mode, a control cabinet unit is used for respectively controlling the ground rail robot, the robot quick-change gripper, a gripper storing platform, the double-layer loading and unloading bin, the cleaning machine and the workpiece overturning platform, the robot quick-change gripper is composed of a plurality of different model specified grippers, and all grippers are stored in the gripper storing platform.
Preferably, the ground rail robot includes that steelframe ground rail, ground rail sports car and six joint robot constitute, and the ground rail sports car is installed on steelframe ground rail, and six joint robot install on the ground rail sports car, and the axle head and the cooperation of robot quick change tongs are controlled to six joint robot.
Preferably, the double-layer feeding and discharging bin is used for storing thin-wall cylindrical workpieces, thin-wall shaft workpieces and disc workpieces.
Preferably, the cleaning machine comprises a high-pressure pump, a cleaning liquid nozzle, an air pump and an air nozzle, the high-pressure pump is connected with the cleaning liquid nozzle, the air pump is connected with the air nozzle, the cleaning liquid is output to the cleaning liquid nozzle through the high-pressure pump, the cleaning liquid nozzle washes residual iron scrap and iron slag and stains on the surface of the workpiece in a mode of spraying cleaning liquid, and after cleaning is completed, the air pump sprays gas to the surface of the workpiece through the air nozzle to blow dry.
In order to achieve the above purpose, the invention also provides the following technical scheme: a control method of a ground rail robot automatic line of a thin-wall metal piece machining center comprises the following steps:
(1) preparing the production control program of the corresponding workpiece in the control cabinet unit according to the production requirement of the production line, and preparing the whole production line;
(2) manually placing and storing the blank workpiece in a feeding bin of a feeding and discharging bin;
(3) after the feeding is finished, the six-axis joint robot transfers the corresponding gripper from the gripper storage table, and the gripper grips a blank workpiece to a machine tool machining center for machining the workpiece;
(4) after one side of the workpiece is processed, the gripper takes out the workpiece and places the workpiece on a workpiece overturning platform;
(5) the workpiece overturning platform overturns the workpiece, and then the gripper takes down the overturned workpiece and feeds the workpiece to a machine tool machining center for machining the other side of the workpiece;
(6) after the workpiece is processed, the gripper grips the workpiece and sends the workpiece to a cleaning machine for cleaning and drying the surface of the workpiece;
(7) the cleaned workpiece is placed in a blanking bin of a blanking bin through a gripper;
(8) and manually taking out the processed workpiece in the blanking bin in the next procedure.
Compared with the prior art, the invention has the beneficial effects that: the quick production change of different specification work pieces is realized with the quick change of tongs to the switching of this production line accessible switch board unit in-cell procedure, and the machine tool anchor clamps are general form simultaneously, do not need the manual anchor clamps of changing to make the transfer machine production efficiency of this work piece greatly improve, the human consumption is little, manufacturing cost reduces.
Drawings
FIG. 1 is a top view of an embodiment of the present invention;
FIG. 2 is a front view of an embodiment of the present invention;
FIG. 3 is a flowchart illustrating the control method according to an embodiment of the present invention.
In the figure: 1. a ground rail robot; 11. a steel frame ground rail; 12. a ground track sports car; 13. a six-axis articulated robot; 2. the robot quickly changes the gripper; 3. a gripper storage table; 4. a double-layer feeding and discharging bin; 5. a cleaning machine; 6. a workpiece overturning table; 7. a control cabinet unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 2, the present invention provides a technical solution: an automatic ground rail robot line of a thin-wall metal piece machining center comprises a ground rail robot, a robot quick-change gripper, a gripper storage table, a double-layer feeding and discharging bin, a cleaning machine, a workpiece overturning table and a control cabinet unit for controlling the whole line, the ground rail robot is used for connecting and operating a robot quick-change gripper, the robot quick-change gripper is used for placing and removing a metal piece, a double-layer loading and unloading bin is used for storing and taking the metal piece, a cleaning machine is used for cleaning surface sundries of a processed workpiece, a workpiece overturning platform is used for overturning the workpiece in a turning mode, a control cabinet unit is used for respectively controlling the ground rail robot, the robot quick-change gripper, a gripper storing platform, the double-layer loading and unloading bin, the cleaning machine and the workpiece overturning platform, the robot quick-change gripper is composed of a plurality of different model specified grippers, and all grippers are stored in the gripper storing platform.
The ground rail robot comprises a steel frame ground rail, a ground rail sports car and a six-axis joint robot, wherein the ground rail sports car is installed on the steel frame ground rail, the six-axis joint robot is installed on the ground rail sports car, and the control shaft end of the six-axis joint robot is matched with the robot quick-change gripper.
The double-layer feeding and discharging bin is used for storing thin-wall cylindrical workpieces, thin-wall shaft workpieces and disc workpieces.
The cleaning machine comprises a high-pressure pump, a cleaning liquid nozzle, an air pump and an air nozzle, wherein the high-pressure pump is connected with the cleaning liquid nozzle, the air pump is connected with the air nozzle, the cleaning liquid is output to the cleaning liquid nozzle through the high-pressure pump, the cleaning liquid nozzle washes residual iron scrap and iron slag and stains on the surface of a workpiece in a mode of spraying cleaning liquid, and after cleaning is completed, the air pump sprays gas through the air nozzle to blow dry the surface of the workpiece.
As shown in fig. 3, a control method of a ground rail robot automation line of a thin-wall metal part machining center comprises the following steps:
(1) preparing the production control program of the corresponding workpiece in the control cabinet unit according to the production requirement of the production line, and preparing the whole production line;
(2) manually placing and storing the blank workpiece in a feeding bin of a feeding and discharging bin;
(3) after the feeding is finished, the six-axis joint robot transfers the corresponding gripper from the gripper storage table, and the gripper grips a blank workpiece to a machine tool machining center for machining the workpiece;
(4) after one side of the workpiece is processed, the gripper takes out the workpiece and places the workpiece on a workpiece overturning platform;
(5) the workpiece overturning platform overturns the workpiece, and then the gripper takes down the overturned workpiece and feeds the workpiece to a machine tool machining center for machining the other side of the workpiece;
(6) after the workpiece is processed, the gripper grips the workpiece and sends the workpiece to a cleaning machine for cleaning and drying the surface of the workpiece;
(7) the cleaned workpiece is placed in a blanking bin of a blanking bin through a gripper;
(8) and manually taking out the processed workpiece in the blanking bin in the next procedure.
According to the technical scheme, the machine tool machining center comprises a machining center machine tool A and a machining center machine tool B;
the quick-change method for the six-axis joint robot comprises the steps that quick-change is conducted between the six-axis joint robot and the hand grips, male plugs of the hand grips mounted on the six-axis joint robot are quickly changed, female plugs arranged on the hand grips are quickly changed, and the male plugs and the female plugs can be quickly linked and matched;
the steel frame ground rail 11 is welded and spliced by adopting steel square pipes, is guided and transmitted by adopting a linear guide rail mode, is driven by adopting a servo motor to drive a gear rack, has the characteristics of high repeated positioning precision, high response speed, stable and reliable operation and the like, is specially designed with a dustproof pedal on which a person can tread, protects the linear guide rail, the rack and other moving parts, and greatly improves the reliability and prolongs the service life;
go up the unloading feed bin including last feed bin and lower feed bin, the structure that the feed bin adopted qigong drive frock board to remove sets up, the work piece that the realization was placed in the feed bin is according to the difference of material loading angle, the work piece that the realization was fixed the angle to the material loading carries out the angular positioning of work piece, go up the unloading feed bin and adopt steel base whole welding to form, guarantee that equipment operation is reliable and stable, double-deck frock board adopts linear guide to lead and the transmission, positioning accuracy high wear is few and bearing capacity is strong, adopt the cylinder to drive, and buffer and spacing have been done to the frock board, guarantee the accurate nature of location. Wherein the workpiece positioning tool on the tool plate can be replaced in a certain range to be suitable for loading and unloading workpieces of different specifications.
An electromagnetic valve is connected between the air pump and the air nozzle, and the electromagnetic valve is used for controlling the air injection mode to blow the surface of the workpiece to a certain degree.
The workpiece overturning platform only needs to place the workpiece on the overturning platform by using the gripper, then fix the workpiece, and realize the overturning of the workpiece by adopting a mode that the gripper grips from the back side.
According to the above description, by way of example in fig. 3, the steps of the production line control method are as follows:
s1: preparing the whole production line by allocating the production control program of the corresponding workpiece according to the production requirement of the production line;
s2: manually filling a layer of workpieces on the manual feeding and discharging side of the double-layer storage bin, then pressing a feeding button, moving the layer of the fed blank workpieces to the robot feeding and discharging side of the double-layer storage bin, automatically giving a signal to the robot by a program, and transferring a corresponding gripper by the robot to grab the workpieces to a machine tool A to feed and discharge;
s3: the robot discharges materials from the machine tool A to the overturning platform for overturning;
s4: the robot loads and unloads from the machine tool B;
s5: the robot discharges materials from the machine tool B and moves to the cleaning machine to clean the surface of the workpiece;
s6: the robot grabs the workpiece from the cleaning machine to the upper and lower storage bins for blanking.
S7: one-layer workpiece is manually fed and discharged on manual feeding and discharging sides of double-layer storage bin
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a thin wall metalwork machining center ground rail robot transfer machine which characterized in that: the robot comprises a ground rail robot, a robot quick-change gripper, a gripper storage platform, a double-layer feeding and discharging bin, a cleaning machine, a workpiece overturning platform and a control cabinet unit for controlling the whole line, wherein the ground rail robot is used for connecting and operating the robot quick-change gripper, the robot quick-change gripper is used for removing metal parts, the double-layer feeding and discharging bin is used for storing and taking the metal parts, the cleaning machine is used for cleaning surface sundries of the processed workpieces, the workpiece overturning platform is used for turning and overturning the workpieces, the control cabinet unit is used for respectively controlling the ground rail robot, the robot quick-change gripper, the gripper storage platform, the double-layer feeding and discharging bin, the cleaning machine and the workpiece overturning platform, the robot quick-change gripper is composed of a plurality of different model specified grippers, and all grippers are stored in the gripper storage platform.
2. The ground rail robot automation line of the thin-wall metal part machining center according to claim 1, characterized in that: the ground rail robot comprises a steel frame ground rail, a ground rail sports car and a six-axis joint robot, wherein the ground rail sports car is installed on the steel frame ground rail, the six-axis joint robot is installed on the ground rail sports car, and the control shaft end of the six-axis joint robot is matched with the robot quick-change gripper.
3. The ground rail robot automation line of the thin-wall metal part machining center according to claim 1, characterized in that: the double-layer feeding and discharging bin is used for storing thin-wall cylindrical workpieces, thin-wall shaft workpieces and disc workpieces.
4. The ground rail robot automation line of the thin-wall metal part machining center according to claim 1, characterized in that: the cleaning machine comprises a high-pressure pump, a cleaning liquid nozzle, an air pump and an air nozzle, wherein the high-pressure pump is connected with the cleaning liquid nozzle, the air pump is connected with the air nozzle, the cleaning liquid is output to the cleaning liquid nozzle through the high-pressure pump, the cleaning liquid nozzle washes residual iron scrap and iron slag and stains on the surface of a workpiece in a mode of spraying cleaning liquid, and after cleaning is completed, the air pump sprays gas through the air nozzle to blow dry the surface of the workpiece.
5. A control method of a ground rail robot automatic line of a thin-wall metal part machining center is characterized by comprising the following steps: the method comprises the following steps:
(1) preparing the production control program of the corresponding workpiece in the control cabinet unit according to the production requirement of the production line, and preparing the whole production line;
(2) manually placing and storing the blank workpiece in a feeding bin of a feeding and discharging bin;
(3) after the feeding is finished, the six-axis joint robot transfers the corresponding gripper from the gripper storage table, and the gripper grips a blank workpiece to a machine tool machining center for machining the workpiece;
(4) after one side of the workpiece is processed, the gripper takes out the workpiece and places the workpiece on a workpiece overturning platform;
(5) the workpiece overturning platform overturns the workpiece, and then the gripper takes down the overturned workpiece and feeds the workpiece to a machine tool machining center for machining the other side of the workpiece;
(6) after the workpiece is processed, the gripper grips the workpiece and sends the workpiece to a cleaning machine for cleaning and drying the surface of the workpiece;
(7) the cleaned workpiece is placed in a blanking bin of a blanking bin through a gripper;
(8) and manually taking out the processed workpiece in the blanking bin in the next procedure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010133695.6A CN111230565A (en) | 2020-03-02 | 2020-03-02 | Ground rail robot automatic line of thin-wall metal part machining center and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010133695.6A CN111230565A (en) | 2020-03-02 | 2020-03-02 | Ground rail robot automatic line of thin-wall metal part machining center and control method thereof |
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| Publication Number | Publication Date |
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| CN111230565A true CN111230565A (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010133695.6A Pending CN111230565A (en) | 2020-03-02 | 2020-03-02 | Ground rail robot automatic line of thin-wall metal part machining center and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114988105A (en) * | 2022-08-08 | 2022-09-02 | 中国信息通信研究院 | Intelligent material grabbing device and method |
| CN115922420A (en) * | 2023-01-09 | 2023-04-07 | 质咖品菲(常州)智能装备有限公司 | Automatic valve block machining system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2930006A1 (en) * | 1979-07-24 | 1981-02-12 | Gildemeister Ag | Machine-tool mechanical loading grab - has spring components held rigid during transport and allowing movement during transfer |
| CN203610972U (en) * | 2013-12-19 | 2014-05-28 | 济南东普机器制造有限公司 | Automatic machining production line of driven bevel gear |
| CN204321751U (en) * | 2014-12-22 | 2015-05-13 | 济南东普机器制造有限公司 | A kind of disc-like workpiece automatic production line |
| CN206561227U (en) * | 2017-02-28 | 2017-10-17 | 武汉瑞松北斗汽车装备有限公司 | Wheel cover of automobile flexible automation welding production line |
-
2020
- 2020-03-02 CN CN202010133695.6A patent/CN111230565A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2930006A1 (en) * | 1979-07-24 | 1981-02-12 | Gildemeister Ag | Machine-tool mechanical loading grab - has spring components held rigid during transport and allowing movement during transfer |
| CN203610972U (en) * | 2013-12-19 | 2014-05-28 | 济南东普机器制造有限公司 | Automatic machining production line of driven bevel gear |
| CN204321751U (en) * | 2014-12-22 | 2015-05-13 | 济南东普机器制造有限公司 | A kind of disc-like workpiece automatic production line |
| CN206561227U (en) * | 2017-02-28 | 2017-10-17 | 武汉瑞松北斗汽车装备有限公司 | Wheel cover of automobile flexible automation welding production line |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114988105A (en) * | 2022-08-08 | 2022-09-02 | 中国信息通信研究院 | Intelligent material grabbing device and method |
| CN115922420A (en) * | 2023-01-09 | 2023-04-07 | 质咖品菲(常州)智能装备有限公司 | Automatic valve block machining system |
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