CN112008596A

CN112008596A - Feeding and discharging mechanical arm and horizontal grinding machining center

Info

Publication number: CN112008596A
Application number: CN201910469045.6A
Authority: CN
Inventors: 袁志刚
Original assignee: Shenzhen Create Century Machinery Co Ltd
Current assignee: Shenzhen Create Century Machinery Co Ltd
Priority date: 2019-05-31
Filing date: 2019-05-31
Publication date: 2020-12-01

Abstract

The invention discloses a feeding and discharging manipulator and a horizontal grinding machining center, which comprise: the device comprises a U-axis driving assembly, a W1 axis driving assembly, a V axis driving assembly, a W2 axis driving assembly, a turnover driving assembly and a transfer assembly. The overturning driving component is arranged at the bottom end of the W2 shaft driving component, so that overturning movement during workpiece taking and placing is realized; the W2 shaft driving component is arranged at the bottom end of the W1 shaft driving component, so that the telescopic motion of taking and placing the workpiece is realized; the V-axis driving component realizes the positioning movement of the glass to be processed parallel to the Y axis; the W1 shaft driving component is arranged on the U shaft driving component to realize the up-and-down movement of the workpiece parallel to the Z shaft; the U-axis driving assembly is arranged on the manipulator mounting seat, so that the workpiece between the trough, the positioning table and the workbench can move left and right in parallel with the X axis, and the workpiece on the positioning table can move in parallel with the X axis. According to the technical scheme, multi-axis linkage of the feeding and discharging manipulator device is realized, and then automatic feeding and discharging of the horizontal grinding machining center are realized.

Description

Feeding and discharging mechanical arm and horizontal grinding machining center

Technical Field

The invention relates to the technical field of numerical control machining, in particular to a feeding and discharging mechanical arm and a horizontal grinding machining center.

Background

The horizontal grinding machining center for machining the 3D curved surfaces of glass, ceramics and sapphire in the market has fewer machine types, 3D modeling products appear in 3C product designs such as smart phones, smart watches, tablet computers, wearable intelligent products, instrument boards and the like in succession, and along with the development of the 3C industry, the application of the 3D curved surfaces becomes a trend, so that the horizontal grinding machining center for machining the 3D curved surface glass has larger market demands, and the characteristics of the 3D curved surface glass meet the design requirements of the 3C products.

The existing automatic loading and unloading mechanical arm is generally in three-axis linkage (the left and right and the up and down are parallel to the X axis and the Z axis of a machine tool, a rotating shaft is additionally arranged), a positioning mechanism is specially designed and installed for processing products, for example, a positioning angle-leaning cylinder is needed, and due to the problems of water vapor, waste chips and the like generated in the processing process of a horizontal grinding processing center, the positioning mechanism is in a fault, so that the working stability of a mechanical arm device is seriously influenced; in addition, the horizontal grinding machining center equipped with the manipulator has low machining efficiency, so that the requirement of customers with the automatic feeding and discharging machining function of the horizontal grinding machining center cannot be met.

Disclosure of Invention

The invention mainly aims to provide a machine tool which can realize accurate and automatic feeding and discharging processing of a horizontal grinding processing center without specially designing and installing a positioning mechanism.

In order to achieve the above object, the present invention provides a loading and unloading manipulator and a horizontal grinding machining center, including:

u axle drive assembly, U axle servo motor, U axle motion module, U axle slide, the cab apron is crossed to the U axle, W1 axle drive assembly, W1 axle servo motor, W1 axle motion module, W1 axle slide, V axle drive assembly, W2 axle drive assembly, first cylinder, second cylinder, upset drive assembly, A1 axle revolving cylinder, A2 axle revolving cylinder, tool cleaning device, robotic arm fixed plate, robotic arm III, manipulator mount pad.

The turnover driving assembly is arranged at the bottom end of the W2 shaft driving assembly, turnover movement of taking and placing a workpiece is achieved, and the turnover driving assembly is provided with at least one rotary cylinder. Specifically, when the manipulator device takes in and takes out materials, the two grippers of the manipulator device respectively turn over 0-90 degrees on an A1 axis and an A2 axis.

The W2 axle drive assembly is installed in the bottom of W1 axle drive assembly, realizes getting the telescopic motion when work piece, putting the work piece, and W2 axle drive assembly is provided with at least one and drives actuating cylinder.

The V-axis driving assembly is arranged at the connection position of the W1 axis driving assembly and the W2 axis driving assembly, and the positioning movement of the glass to be processed, which is parallel to the Y axis, is realized.

The W1 shaft driving component is arranged on the U shaft driving component to realize the up and down movement of the workpiece parallel to the Z shaft. The W1 shaft driving assembly comprises a W1 shaft servo motor, a W1 shaft motion module and a W1 shaft sliding plate; the W1 shaft servo motor drives the W1 shaft motion module to slide on the W1 shaft sliding plate.

The transfer assembly is arranged at the bottom end of the W1 shaft driving assembly, and the workpiece is transferred from the positioning jig to the processing jig.

The U-axis driving assembly comprises a U-axis servo motor, a U-axis motion module and a U-axis sliding plate; the U-axis servo motor drives the U-axis movement module, and the U-axis movement module drives the U-axis sliding plate to slide on the U-axis movement module. The U-axis driving assembly further comprises a U-axis transition plate, and the U-axis transition plate is used for mounting the W-axis driving assembly. The U-axis driving assembly is installed on the manipulator mounting seat, so that the workpiece can move among the trough, the positioning jig and the processing jig, and the glass to be processed can be positioned on the positioning jig in the U-axis direction.

The jig cleaning device is provided with a plurality of uniform air outlet holes, so that the air flow coverage area can be effectively increased, and the cleaning effect of the glass to be processed is improved.

The manipulator mounting seat is used for mounting and fixing the manipulator device on the top of an outer protection metal plate of the horizontal grinding machining center.

In addition, 1# magazine position, 2# magazine position, 3# magazine position are horizontal straight line and place, there is certain clearance with positioning jig's right angle shoulder position and place, the Y axle through the lathe removes to the position of getting and put raw material glass, it is a straight line to ensure raw material glass position on the processing jig of lathe workstation and positioning jig, it is accurate to guarantee the raw material glass location on positioning jig, thereby make and to put on processing jig accurately by robotic arm III, guarantee the lathe to raw material glass's machining precision.

The feeding and discharging mechanical arm and the horizontal grinding machining center have the following beneficial effects:

the U-axis and the V-axis of the feeding and discharging manipulator and the horizontal grinding machining center are pre-positioned on the raw material glass through a simple structure, so that a positioning mechanism on a positioning jig is saved, fault factors caused by the fact that the positioning machine is provided with water vapor and waste chips generated by machining are eliminated, and the working stability of the manipulator device is improved.

The feeding and discharging mechanical arm and the horizontal grinding machining center have full-automatic functions, and the glass sheets on the raw material/finished product material box are taken and placed by designing five driving assemblies, so that the automatic feeding and discharging of the glass sheets are realized, the production efficiency and the yield are greatly improved, and the production cost is saved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural view of an embodiment of a feeding and discharging manipulator and a horizontal grinding machining center of the invention;

FIG. 2 is a schematic view of the initial position structure of the loading and unloading manipulator and the horizontal grinding machining center of the invention;

FIG. 3 is a schematic view of a feeding and discharging manipulator and a material box and a positioning jig of a horizontal grinding machining center of the invention;

the reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	U-shaft driving assembly	110	U-axis servo motor
120	U-axis motion module	130	U-shaft sliding plate
				140	U-axis transition plate	200	W1 axle drive assembly
210	W1 axle servo motor	220	W1 axle motion module
				230	W1 axle sliding plate	300	V-axis drive assembly
400	W2 axle drive assembly	410	First cylinder
				420	The second cylinder	500	Turnover driving assembly
510	A1 axle revolving cylinder	520	A2 axle revolving cylinder
				600	Cleaning device for jig	700	Transfer assembly
710	Mechanical arm III	800	Raw material glass
				810	1# Material box position	820	2# Material box position
830	3# Material box position	840	Positioning jig
				850	Processing jig	900	Manipulator mount pad

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

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 inventive step, are within the scope of the present invention.

It should be noted that all the directionality in the embodiment of the present invention is only used to explain the relative positional relationship between the components, the movement condition, and the like as shown in the drawings, and if the specific posture is changed, the directionality indication is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the respective embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

In a specific embodiment, the following are defined: the robot has U, V, W three-axis coordinates and is parallel to the X, Y, Z three-axis coordinates of the machine tool, respectively. The manipulator coordinate comprises a U axis, a V axis and a W axis which are mutually perpendicular, and an A axis which rotates by 0-90 degrees around the V axis.

The invention provides a feeding and discharging mechanical arm and a horizontal grinding machining center.

As shown in fig. 1, fig. 1 is a schematic perspective view of an embodiment of a loading and unloading manipulator and a horizontal grinding machining center of the present invention.

In this embodiment, the feeding and discharging manipulator and the horizontal grinding machining center include: the device comprises a U-axis driving assembly 100, a U-axis servo motor 110, a U-axis motion module 120, a U-axis sliding plate 130, a U-axis transition plate 140, a W1-axis driving assembly 200, a W1-axis servo motor 210, a W1-axis motion module 220, a W1-axis sliding plate 230, a V-axis driving assembly 300, a W2-axis driving assembly 400, a first air cylinder 410, a second air cylinder 420, an overturning driving assembly 500, an A1-axis rotating air cylinder 510, an A2-axis rotating air cylinder 520, a jig cleaning device 600, a transfer assembly 700, a manipulator arm III710, raw material glass 800, a 1# magazine position 810, a 2# magazine position 820, A3 # magazine position 830, a positioning jig 840, a processing jig 850 and a manipulator mounting seat 900; wherein the content of the first and second substances,

the U-axis driving assembly 100 comprises a U-axis servo motor 110, a U-axis motion module 120, a U-axis sliding plate 130, a U-axis transition plate 140 and the like; the U-axis servo motor (110) drives the U-axis movement module (120), and the U-axis movement module (120) drives the U-axis sliding plate (130) to slide on the U-axis movement module (120); the U-axis transition plate (140) is used for mounting a W1 axis driving assembly (200); the W1 shaft driving assembly comprises a W1 shaft servo motor 210, a W1 shaft motion module 220 and a W1 shaft sliding plate 230; the W1 shaft servo motor 210 is used for driving the W1 shaft motion module 220 to slide on the W1 shaft sliding plate 230; the V-axis driving assembly 300 is a V-axis cylinder and is used for the mechanical arm device to perform forward and backward pushing actions on a V axis; the first driving assembly 400 comprises a W1 shaft cylinder 410 and a W2 shaft cylinder 420, which are used for the manipulator device to push up and down on the W1 and W2 shafts; the second driving assembly 500 comprises an a1 shaft rotating cylinder 510 and an a2 shaft rotating cylinder 520, and is used for the two grippers of the manipulator device to respectively rotate 0-90 degrees on an a1 shaft and an a2 shaft when the manipulator device takes and places materials; the jig cleaning device 600 is provided with a plurality of uniform air outlet holes, so that the air flow coverage area can be effectively increased, and the cleaning effect on the raw material glass 800 is improved; the transfer assembly (700) is arranged at the bottom end of the W1 shaft driving assembly (400), and the transfer of the workpiece from the positioning jig (840) to the processing jig (850) is realized; the No. 1 material box position 810 is an empty material box in an initial state; the 2# material box position 820 and the 3# material box position 830 are material boxes filled with raw material glass 800; the positioning jig 840 is used for pre-positioning the raw material glass 800; the processing jig 850 is used for processing and fixing the raw material glass 800; the manipulator mounting seat 900 is used for mounting and fixing the manipulator device on the top of an outer protection metal plate of a horizontal grinding machining center, so that the manipulator is in an inverted hanging state, and the space on a lathe bed is saved.

As shown in fig. 2 and 3, fig. 2 and 3 are schematic structural views of the combination of the loading and unloading manipulator and the horizontal grinding center applied to the machine tool at the initial position, the magazine and the positioning jig.

The specific operation is explained in a decomposition way as follows:

the loading and unloading manipulator and the U-axis driving assembly 100, the W1 axis driving assembly 200, the V-axis driving assembly 300, the W2 axis driving assembly 400 and the overturning driving assembly 500 of the horizontal grinding machining center are respectively arranged at initial positions.

The U-axis motion module 120 moves right to the # 2 magazine position 820, the first cylinder 410 pushes downward to extend the corresponding robot arm I to the position set by the control program, the a 1-axis rotation cylinder 510 rotates to rotate the robot arm I to the 90 ° position, and the W1-axis motion module 220 moves downward to the position where the first piece of raw material glass 800 is sucked.

After the first air cylinder 410 pushes the mechanical arm I downwards to complete the action of grabbing the raw material glass 800, the W1 axis movement module 220 moves upwards to the safe height, the mechanical arm I corresponding to the first air cylinder 410 resets to 0 °, and the first air cylinder 410 moves back upwards.

The U-axis motion module 120 moves right to the 2# magazine position 820, the second cylinder 420 pushes downward to extend the corresponding robot arm II to the position set by the control program, the a 2-axis rotation cylinder 520 rotates to rotate the robot arm II to the 90 ° position, and the W1-axis motion module 220 moves downward to the position where the second piece of raw material glass 800 is sucked.

After the second cylinder 420 pushes the mechanical arm II downwards to complete the action of grabbing the raw material glass 800, the W1 axis movement module 220 moves upwards to a safe height, the mechanical arm II corresponding to the second cylinder 420 resets to 0 °, and the second cylinder 420 moves back upwards.

The U-axis movement module 120 moves rightwards, the mechanical arm I corresponding to the first air cylinder 410 and the mechanical arm II corresponding to the second air cylinder 420 are respectively pushed downwards, the V-axis driving assembly 300 is pushed backwards, the U-axis movement module 120 moves to a position above the positioning jig 840, the jig cleaning device 600 starts an air blowing function to effectively clean the surface of the positioning jig 840, and the distance between the raw material glass 800 and the right-angle shoulder position is 1-2mm, and the distance between the raw material glass 800 and the upper plane of the positioning jig is about 1-2 mm.

The U-axis motion module 120 continues moving rightward, the right side of the raw material glass 800 abuts against a right-angled shoulder position, the V-axis drive component 300 moves forward, the rear side of the raw material glass 800 abuts against a shoulder position of a rear positioning jig, at this time, the upper and lower manipulator devices complete the positioning action of the raw material glass 800, and the U-axis motion module 120 and the W1-axis motion module 220 both move to a safe position.

The robot arm I corresponding to the first air cylinder 410 and the robot arm II corresponding to the second air cylinder 420 respectively move back upwards, the U-axis motion module 120 moves rightwards, the W1-axis motion module 220 moves downwards, and the robot arm III710 sucks the positioned raw material glass on the positioning jig 840.

The W1 axis motion module 220 moves upward, the U axis motion module 120 moves rightward to above the processing fixture 850, and the fixture cleaning device 600 starts the blowing function to effectively clean the surface of the processing fixture 850.

When a workbench of the horizontal grinding machining center moves to the position of taking and placing the raw material glass 800 along the Y axis, the W1 axis movement module 220 moves downwards to place the raw material glass 800 on the machining jig 850, the U axis movement module 120 and the W1 axis movement module 220 move to the safe position, and at this time, the loading and unloading manipulator device finishes all loading actions. At this time, the machine tool processing system is started, and a processing program is started to process the raw material glass 800.

When the raw material glass 800 is processed by the horizontal grinding center, the feeding and discharging manipulator device continues to repeat the specific steps to complete the preset positioning action on the raw material glass 800, at this time, the preset positioned raw material glass is arranged on the manipulator III710, and the manipulator is in a standby state.

After the raw material glass 800 is processed by the horizontal grinding center, the workbench moves to the position of a manipulator to be finished, the jig cleaning device 600 starts the air blowing function to effectively clean the surface of the finished glass, the U-axis motion module 120 moves rightwards to the position above the processing jig 850, the mechanical arm I corresponding to the first air cylinder 410 and the mechanical arm II corresponding to the second air cylinder 420 are respectively pushed out downwards, the W1 axis motion module 220 moves downwards, and the mechanical arm I and the mechanical arm II simultaneously suck the finished glass on the processing jig 850.

The first air cylinder 410 and the second air cylinder 420 both retract upwards, the W1 axis motion module 220 moves upwards, the U axis motion module 120 moves leftwards, the workbench of the machine tool moves towards the Y axis to the position for taking and placing the raw material glass 800, the jig cleaning device 600 starts the air blowing function to effectively clean the surface of the processing jig 850, and the mechanical arm III710 is located above the processing jig 850.

The W1 shaft movement module 220 moves downward, the raw material glass 800 is placed on the processing jig 850, and the loading and unloading manipulator device completes all loading actions and resets to a safe position. At this time, the machine tool processing system is started, and the processing program is started to process the raw material glass 800.

The U-axis motion module 120 moves to the 1# magazine position 810 leftward, the robot arm II corresponding to the second cylinder 420 pushes out downward, the a 2-axis rotation cylinder 520 rotates to a 90 ° position, and the W1-axis motion module 220 moves downward to a position for placing the first glass product.

After the robot arm II corresponding to the second cylinder 420 completes the action of placing the finished glass, the W1 axis motion module 220 moves upward to a safe height, the a2 axis rotation cylinder 520 of the robot arm II resets to 0 °, and the second cylinder 420 moves back upward.

The U-axis motion module 120 moves to the 1# magazine position 810 leftward, the robot arm I corresponding to the first cylinder 410 pushes out downward, the a 1-axis rotation cylinder 510 rotates to a 90 ° position, and the W1-axis motion module 220 moves downward to a second finished glass placing position.

After the mechanical arm I finishes the action of placing the finished glass, the W1 axis movement module 220 moves upwards to a safe height, the mechanical arm I corresponding to the first cylinder 410 moves back upwards to rotate to a position of 0 degree by the a1 axis rotation cylinder 510, and thus, the feeding and discharging manipulator device finishes the whole set of feeding and discharging actions, and the operation is repeated in a circulating manner.

As shown in fig. 3, the 1# material box position 810, the 2# material box position 820 and the 3# material box position 830 are placed in a horizontal straight line, and are placed with a certain gap at the right-angle shoulder position of the positioning jig 840, and the raw material glass 800 is taken and placed by moving along the Y axis of the machine tool, so that the raw material glass 800 is ensured to be in a straight line with the positioning jig 840 at the position on the machine tool workbench where the processing jig 850 is positioned, and the positioning jig 840 is ensured to accurately position the glass to be processed, so that the mechanical arm III710 can be accurately placed on the processing jig 850, and the processing precision of the machine tool on the raw material glass 800 is ensured.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. Go up unloading manipulator, its characterized in that includes: a U-axis driving component (100), a W1 axis driving component (200), a V-axis driving component (300), a W2 axis driving component (400) and a turning sucker component (500);

the overturning driving component (500) is arranged at the bottom end of the W2 shaft driving component (400) to realize overturning motion when taking and placing workpieces;

the W2 shaft driving assembly (400) is installed on the V shaft driving assembly (300), so that when the overturning sucker assembly (500) takes and places a workpiece above the trough, the motion in the W shaft direction is prolonged;

the V-axis driving assembly (300) is arranged on the W1 axis driving assembly (200) to realize the positioning movement of the workpiece parallel to the Y axis;

the W1 shaft driving component (200) is arranged on the U shaft driving component (100) to realize the up-and-down movement in the W shaft direction when the overturning sucker component (500) takes and places a workpiece;

the U-axis driving assembly (100) is installed on the manipulator installation seat, so that the workpiece between the material groove, the positioning table and the workbench moves left and right in parallel with the X axis, and the workpiece on the positioning table moves in parallel with the X axis.

2. The loading and unloading robot of claim 1, further comprising a transfer unit (700), wherein the transfer unit (700) is juxtaposed to the W2 spindle drive unit (400) on the W1 spindle drive unit (200), and the transfer unit (700) is connected to the flip chuck unit (500) to effect the transfer of the position of the workpiece.

3. The loading and unloading manipulator according to claim 1, wherein the U-axis driving assembly (100) comprises a U-axis servo motor (110), a U-axis motion module (120), and a U-axis slide plate (130); the U-axis servo motor (110) drives the U-axis movement module (120), and the U-axis movement module (120) drives the U-axis sliding plate (130) to slide on the U-axis movement module (120).

The U-axis drive assembly (100) further comprises a U-axis transition plate (140); the U-axis transition plate (140) is used for mounting a W-axis driving assembly (200).

4. The loading and unloading robot hand of claim 1, wherein the W1 shaft driving assembly (200) comprises a W1 shaft servomotor (210), a W1 shaft motion module (220), a W1 shaft slide plate (230); the W1 shaft servo motor (210) drives the W1 shaft motion module (220) to slide on the W1 shaft sliding plate (230).

5. The loading and unloading robot hand of claim 1, wherein the W2 axle drive assembly (400) is provided with at least one drive cylinder.

6. The loading and unloading robot hand according to claim 1, characterised in that the overturning driving assembly (500) is provided with at least one rotating cylinder.

7. The loading and unloading manipulator of claim 1, further comprising a jig cleaning device (600), wherein the jig cleaning device (600) has a plurality of uniform air outlets, which can effectively increase the coverage area of the air flow and improve the cleaning effect of the glass to be processed.

8. The horizontal grinding machining center is characterized by comprising the feeding and discharging manipulator of claim 1, a positioning jig (840) and a machining jig (850), and the workpiece is transferred from the positioning jig (840) to the machining jig (850) through the transfer assembly (700).

9. The horizontal grinding machining center according to claim 8, further comprising a manipulator mounting seat (900), wherein the manipulator mounting seat (900) is used for mounting a manipulator device on the top of the outer protective sheet metal of the horizontal grinding machining center.