CN112959118B - Drill bit split charging method - Google Patents
Drill bit split charging method Download PDFInfo
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- CN112959118B CN112959118B CN202110181849.3A CN202110181849A CN112959118B CN 112959118 B CN112959118 B CN 112959118B CN 202110181849 A CN202110181849 A CN 202110181849A CN 112959118 B CN112959118 B CN 112959118B
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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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
- B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
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Abstract
The invention relates to the technical field of PCB drilling, and discloses a drill bit subpackaging method and a drill bit subpackaging device, which are used for subpackaging a plurality of drill bits into corresponding drill bit material boxes, and the drill bit subpackaging method comprises the following steps: step S1 of determining the drill bits required in the drill magazineKinds and number M of drill bits of each kindX(ii) a Determining the number N of the drill material boxes; determining the number L of the suction pieces of the first manipulator; calculating MXQuotient of L and MXThe remainder part of the quotient of L is denoted as AX(ii) a Step S2, the first manipulator dispenses N (M) first drill bits1‑A1) A moiety of (a); step S3, the number of the first drill bits distributed by the first manipulator is NA1A moiety of (a); and S4, repeating the step S2 and the step S3 to sequentially dispense other types of drill bits. The drill bit subpackaging method can subpackage various drill bits into corresponding drill bit material boxes efficiently, so that the machining efficiency of the drill is guaranteed.
Description
Technical Field
The invention relates to the technical field of PCB drilling, in particular to a drill bit subpackaging method and a drill bit subpackaging device.
Background
In the process of drilling a workpiece by the drilling machine, different types of drill bits are required to be used for holes with different diameters and quality requirements, so that the drill bits are required to be respectively arranged in a drill magazine and the drill magazine is arranged in the drilling machine before drilling, and the drilling requirement of a workpiece to be machined is met. When the drilling machine is provided with a plurality of processing shafts, each processing shaft can carry out drilling processing and each processing shaft needs to clamp a drill bit from a corresponding drilling machine material box. Especially for fields such as PCB drilling, it often needs a large amount of drilling processing, therefore needs to be with a large amount of different types of drill bit partial shipment to the rig magazine in order to supply the rig to use, the operating efficiency of rig is directly influenced to the efficiency of drill bit partial shipment. Therefore, a drill bit sub-packaging method and a drill bit sub-packaging device are needed to efficiently sub-package a plurality of drill bits into corresponding drill magazine, thereby ensuring the processing efficiency of the drill.
Disclosure of Invention
The invention aims to provide a drill bit subpackaging method and a drill bit subpackaging device, which can subpackage various drill bits into corresponding drill bit material boxes with high efficiency.
Therefore, the invention adopts the following technical scheme:
a drill bit sub-packaging method is used for sub-packaging a plurality of drill bits into corresponding drill bit material boxes, and comprises the following steps:
step S1, determining the types of the drill bits required in the drill magazine and the number M of the drill bits of each typeXWherein X represents the type of the drill bit, and is an integer greater than or equal to 1;
determining the number N of the drill material boxes;
determining the number L of suction pieces of a first manipulator, wherein each suction piece can suck one drill bit;
calculating the number M of each of said drill bitsXQuotient of the number L of the suction pieces, and dividing MXThe remainder of the quotient of L is denoted AX；
Step S2, the first manipulator sets the number of the first drill bits to N (M)1-A1) The parts of the drilling machine are sequentially arranged in N drilling machine material boxes in a mode of grabbing L drilling bits each time;
step S3, the first manipulator sets the number NA of the first drill bits1The parts are sequentially arranged in N drilling machine material boxes in a sub-packaging mode;
and S4, repeating the step S2 and the step S3 to sequentially sub-mount the drill bits of other types into the N drill box.
Preferably, the number L of the suction pieces of the first robot is an integral multiple of the number N of the drill magazines.
Preferably, the method further includes, before the step S2:
step S20: dividing each of the drill cartridges into i accommodation areas RiEach of the accommodation regions RiCan accommodate the same type of drill bit, the accommodation region RiCorrespond to can accommodate BiA drill bit, and BiL or less, so that the first manipulator is used for subpackaging the accommodating area of the drill boxDomain RiCan get BiThe drill bits are lowered simultaneously.
Preferably, the step S3 specifically includes:
step S31, determining the number L 'of the drill bits transferred by the first manipulator each time, where L' is equal to or less than L;
step S32, the first manipulator sets the number NA of the first drill bits1The parts of the drilling machine are sequentially distributed in N drilling machine material boxes in a mode of grabbing L' drill bits each time.
Preferably, n is 6, L is 12, and 12 of the suction members are arranged in a 2 × 6 array.
Preferably, the method for determining L' in step S31 includes:
when A is1When the number of the drill bits is 5, L' is 10, the first manipulator transfers 10 drill bits at a time and sub-loads the drill bits into the corresponding two drill magazine;
when A is110 or A1When being equal to 11, L' is equal to A1The first manipulator transfers A each time1The drill bits are separately arranged in the corresponding drill box;
when A is1When the value is any one of 1 to 4 or 6 to 9, the first manipulator transfers 12 drill bits at a time and dispenses the drill bits into a corresponding plurality of drill magazine boxes.
Preferably, the intervals between the suction member of the first manipulator and the drill bits of the drill magazine are the same, so that the first manipulator can suck or put down a plurality of drill bits at the same time.
The invention also provides a drill bit sub-packaging device, based on the drill bit sub-packaging method, the drill bit sub-packaging device is used for sub-packaging a plurality of drill bits into corresponding drill machine material boxes, and comprises:
the workpiece taking station is used for bearing a raw material box, and the drill bit is accommodated in the raw material box;
the subpackaging station is used for bearing a plurality of drilling machine material boxes;
the first mechanical hand can transfer the drill bit in the workpiece taking station to the subpackaging station and subpackage the drill bit into the corresponding drill magazine.
Preferably, the workpiece taking station comprises a bearing position and a buffer position, and the bearing position is used for bearing the raw material box;
the drill bit sub-packaging device further comprises a second manipulator, and the second manipulator is used for transferring the drill bit in the raw material box to the buffer position;
the first manipulator is capable of transferring the drill bit of the buffer site into the corresponding drill magazine.
Preferably, the first manipulator and the second manipulator both comprise a fixing frame and a plurality of suction pieces, the suction pieces are axially slidably arranged on the fixing frame along the suction pieces to suck the drill bits, each suction piece corresponds to one driving assembly, and each driving assembly can independently drive the corresponding suction piece to move.
The invention has the beneficial effects that:
the invention provides a drill bit split charging method, which comprises the following steps: step S1, determining the type of drill bits required in the drill magazine and the number M of drill bits of each typeX(ii) a Determining the number N of the drill material boxes; determining the number L of the suction pieces of the first manipulator; calculating the number M of each type of drill bitXQuotient of the number L of suction pieces, and MXThe remainder of the quotient of L is denoted AX(ii) a Step S2, the first robot sets the number of the first drill bits to N (M)1-A1) The parts are sequentially arranged in N drilling machine material boxes in a mode of grabbing L drill bits each time; step S3, the first manipulator sets the number of the first drill bits to NA1The parts are sequentially arranged in N drilling machine material boxes; and S4, repeating the step S2 and the step S3 to sequentially divide the drill bits of other types into the N drill box. The drill bit subpackaging method can reduce the reciprocating motion times of the first manipulator, so that the drill bit subpackaging efficiency is improved, and the machining efficiency of a drilling machine is ensured.
The drill bit subpackaging device provided by the invention can be used for efficiently subpackaging various drill bits into corresponding drill machine material boxes based on the drill bit subpackaging method, is high in subpackaging efficiency and saves manpower.
Drawings
FIG. 1 is a flow chart of a drill bit racking method provided by embodiments of the present invention;
FIG. 2 is a schematic illustration of a division of a receiving area of a drill magazine provided by an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a drill bit sub-packaging device provided in an embodiment of the present invention;
FIG. 4 is a block diagram of a cache bit according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a second robot provided in an embodiment of the present invention.
In the figure:
1-a workpiece-taking station;
11-a bearer bit;
12-cache bits; 121-cache mounting plate; 122-cache cartridge;
2-split charging station; 21-a drill magazine;
31-a first manipulator; 32-second robot.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.
Example one
As shown in fig. 1 to 5, the present embodiment provides a drill bit sub-packaging method for sub-packaging a plurality of drill bits into corresponding drill magazine 21, the drill bit sub-packaging method includes the following steps:
step S1 is to determine the type of drill bits required in the drill magazine 21 and the number M of drill bits of each typeXWherein X represents the type of the drill bit, and X is an integer greater than or equal to 1;
determining the number N of drill magazine 21;
determining the number L of suction pieces of the first manipulator 31, each suction piece being capable of sucking one drill bit;
calculating the number M of each type of drill bitXQuotient of the number L of suction pieces, and MXThe remainder part of the quotient of L is denoted as AX；
In step S2, the first robot 31 sets the number of the first drill bits to N (M)1-A1) The parts are sequentially arranged in N drilling machine material boxes 21 in a mode of grabbing L drill bits each time;
in step S3, the first robot 31 sets the number of the first drill bits to NA1The parts are sequentially arranged in N drilling machine material boxes 21;
step S4, and repeating step S2 and step S3 to sequentially load the drill bits of the other types into the N drill magazine 21.
The drill bit sub-packaging method can reduce the reciprocating motion times of the first manipulator 31, thereby improving the drill bit sub-packaging efficiency and ensuring the machining efficiency of the drilling machine. In the embodiment, the drill bit sub-packaging method is used for sub-packaging the drill bits of a six-shaft drilling machine, each machining shaft of the six-shaft drilling machine corresponds to one or more types of drilling machine material boxes 21, the drilling machine material boxes 21 corresponding to a plurality of machining shafts are the same, and the machining shafts clamp the required drill bits from the corresponding one or more types of drilling machine material boxes 21 during working. That is, the number N of each drill magazine 21 is 6. Of course, the application range of the drill bit split charging method is not limited to this, and the method can also be used for performing drill bit split charging on other types of drilling machines, such as a single-shaft drilling machine.
For convenience of description, the drill bit sub-packaging method provided by the present embodiment is directed to the same drill magazine 21, and the method for sub-packaging other types of drill magazines 21 is the same as the method for sub-packaging one type of drill magazine 21, and redundant description thereof will not be provided in the present embodiment.
Preferably, in order to reduce the time required for each dispensing of the first manipulator 31, and enable the first manipulator 31 to dispense the corresponding drill magazine 21 while simultaneously lowering a corresponding number of multiple drill bits, step S2 is preceded by:
step S20: each drill magazine 21 is divided into i accommodation areas RiEach accommodating region RiCan accommodate the same type of drill bit, the accommodation region RiCorrespond to can accommodate BiA drill bit, and BiL or less, so that the first manipulator 31 is accommodated in the accommodating area R of the split charging drill material box 21iCan get BiThe drill bits are lowered simultaneously.
Since the machining axes are selected according to the tool number of the drill magazine 21 when selecting a drill from the corresponding drill magazine 21, i.e. when dispensing a drill, there is no restriction on the position of the drill in the drill magazine 21, in order to allow the first robot 31 to simultaneously insert a corresponding number of drills into a drill magazine 21 when dispensing a drill magazine 21, the drill magazine 21 is divided into i receiving areas R before the first robot 31 starts dispensingi. In particular, according to the number M of each type of drillXAnd the number M of each type of drill bitXThe integer part and the remainder part A of the quotient of the number L of the suction pieces of the first robot hand 31XDividing the accommodation region RiEach accommodating region RiThe number of corresponding drill bits is BiAnd the first manipulator 31 can separate B for each timeiThe individual drill bits being simultaneously placed in the respective receiving regions RiIn (1).
It will be appreciated that the receiving region RiThe number of drill bits accommodated is BiAnd B isiThe arrangement of the individual drills needs to be matched with the suction piece of the first manipulator 31 so that the first manipulator 31 can rotate the drill B to a proper angleiThe drill bits are lowered simultaneously without having to be moved to multiple positions in the drill magazine 21 to dispense the drill bits.
In order to reduce the number of times of material taking by the first manipulator 31 and the number of times of transferring between the plurality of drill magazine 21, and to separately load the plurality of drill magazine 21 at the same time, step S3 specifically includes:
step S31, determining the number L 'of the drill bits transferred by the first manipulator 31 each time, where L' is equal to or less than L;
in step S32, the first robot 31 sets the number of the first drill bits to NA1According to each grabbing of LThe mode of drill bit divides in proper order and adorns in N rig magazine 21.
Preferably, the intervals between the suction piece of the first manipulator 31 and the drill bits carried by the drill magazine 21 are the same, so that the first manipulator 31 can suck or put down a plurality of drill bits at a time, the time for sub-packaging the first manipulator 31 is shortened, and the sub-packaging efficiency of the drill bits is improved.
Preferably, the number L of the suction pieces of the first robot 31 is an integral multiple of the number N of the drill magazine 21 so that the first robot 31 can simultaneously separate a plurality of drill magazines 21, and the number of the X-th drill bits to be loaded in the reduction step S3 is NAXThe number of times the first robot 31 is transferred between the plurality of drill magazine 21 is increased, thereby improving the efficiency of drill bit packing.
Since the number N of the drilling machine cartridges 21 in this embodiment is six, preferably, the number L of the suction members of the first manipulator 31 is twelve, and the twelve suction members are arranged in a 2 × 6 array, which not only can separate the six drilling machine cartridges 21 simultaneously to improve the drill bit separate-loading efficiency, but also can realize the close arrangement of the suction members of the first manipulator 31 to match the arrangement of the drill bits in the drilling machine cartridges 21, and facilitates the installation of the control part and the driving part of the suction members.
Further, the method for determining L' in step S31 is specifically as follows:
when A is1When the value is 5, L' is 10, the first manipulator 31 transfers ten drill bits at a time and dispenses them into the corresponding two drill magazine 21;
when A is110 or A1When being equal to 11, L' is equal to A1 First robot 31 transfers a each time1The drill bits are separately arranged in the corresponding drill bit material boxes 21;
when A is1When the value is any of 1 to 4 or 6 to 9, the first robot 31 transfers twelve bits at a time and dispenses them into the corresponding plurality of drill magazine 21.
Specifically, with A1For example, the number of first drills required in each drill magazine 21 is five, and the number of drill magazines 21 is six. When the first manipulator 31 transfers ten bits at a time, the first manipulator31, one material taking can be realized by separately loading two drilling machine material boxes 21, namely, ten drill bits need to be taken by separately loading the first manipulator 31, and the two drill bits move between two adjacent drilling machine material boxes 21 once; to complete the sub-assembly of six drill magazine 21, the first robot 31 needs to take three total times and move three times between adjacent drill magazines 21. If the first manipulator 31 transfers twelve drill bits once, the first manipulator 31 can take materials for the first time to complete the split charging of two drill bit material boxes 21, the third drill bit material box 21 can only be charged with two drill bits, and the first manipulator 31 needs to transfer the drill bits between the three adjacent drill bit material boxes 21 twice; the first manipulator 31 takes materials for the second time, the third and fourth drilling machine material boxes 21 can be completely separated, meanwhile, the fifth drilling machine material box 21 can be only separated with four drill bits, and the first manipulator 31 still needs to be transferred between the adjacent three drilling machine material boxes 21 twice in the process; the first manipulator 31 takes the materials for the third time to sub-mount the fifth and sixth drill magazine 21, and the first manipulator 31 needs to be transferred once between the adjacent two drill magazines 21, and the first manipulator 31 needs to take the materials three times in total and transfer five times between the adjacent multiple drill magazines 21, which is inefficient in sub-mount.
Exemplarily, two kinds of drill bits need to be distributed into the drill magazine 21, each drill magazine 21 can accommodate fifty drill bits, and the fifty drill bits are arranged in a 5 × 10 array, and the number N of the drill magazines 21 is 6; wherein the number M of first type bits required per drill magazine 21114, the number M of second drills required per magazine 2126, wherein the drill magazine 21 is not full. The specific sub-packaging process of the drill bit is as follows:
step S1, determining the types of the drill bits needed in the drill magazine 21 as two, the number M of the first type of drill bits needed in each drill magazine 21114, number M of bits of the second type required per drill magazine 212＝6；
The number N of drill magazine 21 is 6;
the number L of the suction pieces of the first robot 31 is 12, and twelve suction pieces are arranged in a 2 × 6 array;
in each drill magazine 21Number M of first drill bits1The quotient of the number L of the suction pieces is 1 in the integer part and A in the remainder part 12; determining the number M of second type bits in each drill magazine 212The quotient of the number L of the suction pieces is 0 in the integer part and A in the remainder part2＝6。
Step S20, the storage region R is provided for each drill magazine 21iThe division of (2). For the first type of drill, it requires two accommodation areas R1And R2Wherein R is1For L-12 bits, R2Corresponds to A12 drill bits; the second type of drill requires a receiving region R3，R3Corresponding to 6 drills; one accommodation area division is shown in fig. 2.
Step S2, the first manipulator 31 picks up the drill bits six times, and each time the drill bits are picked up and placed into the receiving area R of the corresponding drill magazine 211To complete the receiving areas R in the six drill magazine 211And (4) subpackaging.
Step S3, the first robot 31 accommodates six drill magazine 21 in the storage region R2Performing split charging, specifically comprising:
step S31, determining the number L' of drill bits per transfer of the first manipulator 31, due to the number M of first drill bits in each drill magazine 211Remainder portion A of the quotient of the number L of the suckers1＝2，Lˊ＝12；
Step S32, the first manipulator 31 grabs 12 drill bits at a time and sequentially dispenses the drill bits to the receiving area R of each drill magazine 212In (1).
Step S4, repeating step S2 and step S3 to accommodate the accommodation regions R of six drill magazine 213And (6) subpackaging.
Example two
As shown in fig. 3 to 5, the present embodiment provides a drill bit sub-packaging device for sub-packaging a plurality of drill bits into corresponding drill magazine 21, the drill bit sub-packaging device includes a pick-up station 1, a sub-packaging station 2 and a first manipulator 31, the pick-up station 1 is used for carrying a raw material box 11, and the raw material box 11 contains a drill bit; the split charging station 2 is used for bearing a plurality of drilling machine material boxes 21; the first robot 31 is able to transfer the drill bits in the raw material magazine 11 to the racking station 2 and to racking into the corresponding drill magazine 21. The drill bit sub-packaging device can conveniently sub-package various drill bits into the corresponding drill bit material boxes 21, and can realize full-automatic sub-packaging of the drill bits, so that labor is saved, and the problem that manual sub-packaging is prone to errors when the number of the drill bits to be sub-packaged is too large is solved; in addition, this drill bit partial shipment device can also absorb simultaneously or put down a plurality of drill bits, and the partial shipment is efficient.
In the present embodiment, the drill bit separate loading device is used for separate loading of a drill magazine 21 of a six-shaft drill. The six-shaft drilling machine comprises six machining shafts, each machining shaft can perform drilling machining, each machining shaft corresponds to one or more drilling machine material boxes 21, each drilling machine material box 21 comprises multiple drill bits, and the number of the drill bits is multiple; the types of drill bits loaded in the drill magazine 21 corresponding to the plurality of machining axes are the same as the number of drill bits required for each type. Of course, the arrangement of the drill magazine 21 is not limited thereto, and may be arranged according to actual drill needs; the application range of the drill bit split charging device is not limited to the above, and the drill bit split charging device can also be used for split charging of a drill bit of a single-shaft drilling machine, and the embodiment does not limit the above.
When the drill bits are subpackaged, firstly, the raw material box 11 is placed to the workpiece taking station 1, and in the embodiment, a plurality of drill bits of the same kind are accommodated in the raw material box 11; and then a plurality of drill magazine 21 are placed in the split charging station 2. Preferably, the plurality of drilling machine material boxes 21 are arranged in an array, the drilling machine material boxes 21 corresponding to six processing shafts of the six-shaft drilling machine are respectively positioned in different columns or different rows, so that the first mechanical hand 31 can simultaneously sub-mount the drill bits in the raw material box 11 into the six drilling machine material boxes 21, the reciprocating motion times of the first mechanical hand 31 between the workpiece taking station 1 and the sub-mounting station 2 can be reduced, and the sub-mounting efficiency is high; and six drilling machine material boxes 21 corresponding to the six processing shafts can be transferred at one time, so that the transfer efficiency and the assembly efficiency of transferring the drilling machine material boxes 21 which are subjected to split charging to the six drilling machines are improved, and the processing efficiency of the six drilling machines is improved. In addition, the number of the drill magazine 21 corresponding to each machining axis may be plural, and may be set according to actual needs. In the present embodiment, there are two drill magazine 21 for each machining axis, that is, there are two drill magazines 21 in total in the present embodiment, and the number of each drill magazine 21 is six.
Optionally, get and all be equipped with location structure on the station 1 and the partial shipment station 2 to fix a position raw materials box 11 and a plurality of rig magazine 21 respectively, thereby make first manipulator 31 can be in getting a station 1 and partial shipment station 2 and a plurality of rig magazine 21 within a definite time according to predetermineeing route reciprocating motion, can make drill bit partial shipment device's compact structure, simplify drill bit partial shipment device's control system, and save drill bit partial shipment device's manufacturing cost. Illustratively, the positioning structure is a positioning groove or a positioning block.
Optionally, each positioning structure further corresponds to a clamping structure, and the clamping structure can clamp the raw material box 11 or the drill magazine 21, so as to prevent the raw material box 11 and the plurality of drill magazines 21 from shifting during the movement of the first manipulator 31 and affecting the sub-packaging process of the drill bit. Illustratively, the clamping structure includes a suction assembly that secures the feedstock cartridge 11 and the plurality of drill magazines 21 by vacuum suction. Of course, the positioning structure and the clamping structure are not limited to this, in other embodiments, the positioning block and the clamping block may be used to cooperate to position and clamp the raw material box 11 and the drill magazine 21, and may be set according to actual needs, which is not limited in this embodiment.
It will be appreciated that the predetermined path includes the reciprocating movement of the first robot 31 between the picking station 1 and the racking station 2 to effect transfer of the drill bit, and the movement of the first robot 31 between the plurality of drill magazines 21 to effect racking of the drill bit. In addition, the drill head racking apparatus further includes a controller to control a preset path of the first robot 31 and a sucking/dropping operation of the plurality of drill heads by the first robot 31.
Further, the workpiece taking station 1 comprises a bearing position 11 and a buffer position 12, wherein the bearing position 11 is used for bearing the raw material box; the drill bit sub-packaging device further comprises a second manipulator 32, the second manipulator 32 is used for transferring the drill bits in the raw material boxes to the buffer positions 12, and the first manipulator 31 is used for transferring the drill bits in the buffer positions 12 to the corresponding drill material boxes 21. It can be understood that the first manipulator 31 is only used for transferring the drill bit, and the second manipulator 32 is used for transferring and subpackaging the drill bit, so that the time for the first manipulator 31 to reciprocate between the part taking station 1 and the drill magazine 21 can be shortened, and the subpackaging efficiency of the drill bit is improved.
Specifically, the first manipulator 31 is a two-axis manipulator, the first manipulator 31 reciprocates between the bearing position 11 and the buffer position 12 to transfer the drill bit, and the transfer efficiency is high; the second manipulator 32 is a four-axis manipulator which can reciprocate between the buffer storage position 12 and the subpackaging station 2 and among the plurality of drill magazine 21 to transfer and subpackage the drill bits with high subpackaging precision. Of course, the arrangement of the first manipulator 31 and the second manipulator 32 is not limited to this, and other types of manipulators may be used to implement the transfer and the sub-packaging of the drill, and the arrangement may be performed according to actual needs, which is not limited in this embodiment.
The material box 11 can be placed on the extractor station 1, for example, by manual operation or by a third robot. When manual operation is adopted, the sequence of placing the raw material boxes 11 needs to be matched with the preset path of the first manipulator 31, so that the drill bits in various raw material boxes 11 can be accurately subpackaged into the corresponding drilling machine material boxes 21; when the third manipulator is used to place the material boxes 11, the third manipulator reciprocates between the warehouse or buffer store and the pickup station 1 to place the material boxes 11 on the pickup station 1 in a certain order. The step of discerning raw material box 11 when placing raw material box 11 has been avoided in above-mentioned setting, need not additionally to set up recognition mechanism and judgement mechanism, and partial shipment is efficient, control is simple and compact structure.
Preferably, the number of the first manipulators 31 is multiple, and the multiple first manipulators 31 work independently to transfer the drill bits on the buffer positions 12 and sub-mount the drill bits into the corresponding drill magazine 21, so that the sub-mounting efficiency of the drill bits is further improved. Similarly, the number of the second robot 32 may be set to be plural, and the plural second robots 32 operate independently to transfer the drill bits in the material cassette 11 to the buffer level 12.
It can be understood that different types of drill bits can be loaded on the buffer locations 12, so as to expand the application range of the drill bit subpackaging device and make the subpackaging more flexible. Specifically, when the first manipulator 31 needs to dispense a plurality of drill bits at a time, the second manipulator 32 can transfer the corresponding plurality of drill bits to the buffer position 12 in advance, and the first manipulator 31 sucks all the drill bits on the buffer position 12 at a time and dispenses them into the corresponding drill magazine 21.
Further, in order to reduce the waiting time of the first manipulator 31, the drill bit that remains the partial shipment all the time on the buffer position 12 is guaranteed, thereby improving the efficiency of drill bit transfer and partial shipment, buffer position 12 includes buffer drive assembly, buffer mounting panel 121 and a plurality of buffer magazine 122, and on buffer mounting panel 121 was located to a plurality of buffer magazine 122 interval rings, buffer drive assembly's output and buffer mounting panel 121 linked to each other, it is rotatory to drive a plurality of buffer magazine 122 with drive buffer mounting panel 121. When the first manipulator 31 absorbs all the drill bits on one cache magazine 122 at one time and dispenses the drill bits, the second manipulator 32 continuously reciprocates between the bearing position 11 and the cache position 12 to transfer the drill bits in the raw material magazine 11 to other cache magazines 122, after the second manipulator 32 fills up another cache magazine 122, the cache driving assembly drives the cache magazines 122 to rotate, so that the filled cache magazine 122 moves to the corresponding position to wait for the first manipulator 31 to take the material, and the second manipulator 32 continues to transfer the drill bits to other cache magazines 122, thereby improving the efficiency of transferring and dispensing the drill bits.
Similarly, bear position 11 including getting a drive assembly and getting a mounting panel, a plurality of former feed cassette 11 can the interval ring locate get on the mounting panel, get a drive assembly's output with get a mounting panel and link to each other to the drive is got a mounting panel and is driven a plurality of former feed cassette 11 rotations. When the second manipulator 32 finishes taking out a raw material box 11, the taking-out driving assembly drives a plurality of raw material boxes 11 to rotate, so that the other raw material box 11 filled with the drill bit rotates to a corresponding position to wait for the second manipulator 32 to take out the raw material box 11, and meanwhile, the taken-out raw material box 11 is taken down manually or by a third manipulator and is put into a new raw material box 11, so that the waiting time of the second manipulator 32 is shortened, and the drill bit transfer and split charging efficiency is improved. It is understood that the material box 11 from which the material has been taken may be an empty box, which is placed into the empty box recovery mechanism by a human or third robot; the raw material box 11 which has taken the workpiece can be left with the un-split drill bits, and the left un-split drill bits are put back to a warehouse or a cache by a manual or third manipulator.
Similar with buffer memory position 12 and the setting that bears position 11, partial shipment station 2 also can be including partial shipment drive assembly and partial shipment mounting panel, a plurality of rig magazine 21 set up on the partial shipment mounting panel, partial shipment drive assembly's output links to each other with the partial shipment mounting panel, it is rotatory to drive a plurality of rig magazine 21 with the partial shipment mounting panel, so that the rig magazine 21 of accomplishing the partial shipment rotates to corresponding position and waits for the assembly, treat the rig magazine 21 of partial shipment rotatory to corresponding position simultaneously, first manipulator 31 continues to treat the rig magazine 21 of partial shipment and carries out the partial shipment.
Optionally, in order to achieve the suction of the drill bit, each of the first manipulator 31 and the second manipulator 32 includes a fixing frame and a plurality of suction members, the plurality of suction members are axially slidably disposed on the fixing frame along the self-body to suck the drill bit, each suction member corresponds to one driving assembly, and each driving assembly can independently drive the corresponding suction member to move, so that the first manipulator 31 can flexibly suck or put down a plurality of drill bits within a range of the maximum suction quantity according to the need of taking and placing each time, thereby improving the efficiency of taking and placing the drill bits; in addition, the interference between the drill bit sucked by the first manipulator 31 and the drill bit in the magazine when the drill bit is sucked or put down can be avoided.
Illustratively, the suction piece is a suction pipe which can be sleeved on the handle of the corresponding drill bit to realize suction of the drill bit, so as to drive the drill bit to transfer.
Specifically, each suction pipe is connected with a vacuum generator, when a drill bit needs to be sucked, the first mechanical arm 31 or the second mechanical arm 32 moves to a corresponding position, the vertical driving assembly drives the corresponding suction pipe to move downwards and is sleeved on the handle of the drill bit, and the vacuum generator works and forms a certain vacuum degree between the suction pipe and the handle of the drill bit so as to suck the drill bit and drive the drill bit to move; when the drill bit needs to be put down, the vacuum generator stops working, and the air pressure between the suction pipe and the handle of the drill bit is restored to the atmospheric pressure, so that the suction pipe puts down the drill bit. The drill bit is sucked through the suction pipe, the sucking reliability of the first mechanical arm 31 and the second mechanical arm 32 can be guaranteed, and the drill bit is prevented from falling off in the transferring process. Of course, in other embodiments, a fixture or the like may also be used to grasp a workpiece, and the setting may be performed according to actual needs, which is not limited in this embodiment.
Illustratively, the vertical drive assembly includes a pneumatic cylinder that is fast acting and responsive. Of course, in other embodiments, the suction pipe may be driven to ascend and descend by using an electrified coil, a hydraulic cylinder, and the like, and the suction pipe may be set according to actual needs, which is not limited in this embodiment.
Preferably, the intervals between the drill bit in the raw material box 11, the drill bit on the drill magazine 21, the suction pipe on the first robot 31, and the suction pipe of the second robot 32 are the same, so that the first robot 31 and the second robot 32 can simultaneously suck or drop a plurality of drill bits, thereby improving the transfer and dispensing efficiency of the drill bits. It can be understood that the number and the arrangement mode of the pipettes of the first manipulator 31 are the same as the number and the arrangement mode of the drill bits when the buffer magazine 122 is filled with the drill bits, so that the first manipulator 31 can suck and transfer all the drill bits on the buffer magazine 122 at a time, and the transfer and the split charging efficiency of the drill bits can be improved.
Preferably, the number of the suction pieces of the first manipulator 31 is an integral multiple of the number of the drilling machine shafts, the first manipulator 31 can simultaneously dispense the drilling machine magazine 21 corresponding to a plurality of processing shafts, and the dispensing efficiency of the drill is high.
Preferably, the number of the suction pieces on the first manipulator 31 is twelve, and twelve suction pieces are arranged in a 2 × 6 array, so that the first manipulator 31 can be compact in structure to match the intervals of the suction pieces of the first manipulator 31 with the intervals of the drill bits in the drilling machine magazine 21, the reciprocating times of the first manipulator 31 between the buffer position 12 and the sub-packaging station 2 can be reduced, and the sub-packaging efficiency of the drill bits is improved. Of course, the arrangement of the first manipulator 31 is not limited to this, and in other embodiments, when the types of drill bits loaded in the drill magazine 21 corresponding to a plurality of processing axes and the number required for each drill bit are different, the number of the suction pieces of the first manipulator 31 may also be set to be greater than the number of the axes of the drill to achieve simultaneous dispensing of the drill magazines 21 corresponding to a plurality of processing axes, and may be set according to actual dispensing requirements, which is not limited in this embodiment.
In this embodiment, the raw material box 11 can hold fifty drills, and the fifty drills are arranged in a 5 × 10 array when the raw material box 11 is fully loaded; five suction pieces are arranged on the second manipulator 32, and the five suction pieces are arranged in a 5 x 1 array; each cache magazine 122 can contain twelve drill bits, and the twelve drill bits are arranged in a 2 x 6 array when the cache magazine 122 is fully loaded; the number of the suction pieces of the first manipulator 31 is twelve, and the twelve suction pieces are arranged in a 2 × 6 array; the number of the drill box 21 on the sub-packaging station 2 is twelve, the twelve drill box 21 are arranged in a 2 x 6 array, fifty drill bits can be contained in each drill box 21, and fifty drill bits are arranged in a 5 x 10 array. Of course, the arrangement of the raw material box 11, the buffer magazine 122, the first robot 31, the second robot 32, and the drill magazine 21 is not limited to this, and may be arranged according to the actual drill dispensing requirement, and this embodiment does not limit this.
Illustratively, the drill bit split charging device works as follows: first, a first type of drill bit is loaded into a plurality of drill magazine 21. The second manipulator 32 firstly transfers the drill bits in the corresponding raw material boxes 11 to the corresponding buffer storage box 122, and the buffer storage box 122 can load twelve drill bits at most, and it can be understood that the buffer storage box 122 may be full or not full, and may be set according to the requirement of the first manipulator 31 for each split charging. While the second manipulator 32 transfers the drill bits to one buffer magazine 122, the first manipulator 31 simultaneously takes out and dispenses all the drill bits in another buffer magazine 122 to the corresponding drill magazine 21.
EXAMPLE III
The present embodiment provides a drill separate-loading apparatus, which is different from the second embodiment in the arrangement of the first robot 31.
In the present embodiment, the number of the suction members of the first robot 31 is fifty, and the fifty suction members are arranged in a 5 × 10 array, and the first robot 31 can suck fifty drill bits at a time and transfer them to the dispensing station 2 for dispensing. Of course, the arrangement of the first robot 31 is not limited to this, and may be set according to actual needs.
Specifically, when the total number of drill bits required for all the drill magazine 21 is greater than fifty, the first manipulator 31 sucks fifty drill bits in the raw material magazine 11 and transfers them directly to the racking station 2 and racking them into the corresponding drill magazine 21; when the number of drill bits required for all the drill magazine 21 is less than fifty, the first robot 31 sucks the required number of drill bits at a time, transfers them and dispenses them into the corresponding drill magazine 21.
Wherein the transfer and the separate loading efficiency of the drill can be improved by reducing the total path when the first robot 31 performs the separate loading.
It is understood that the first robot 31 can simultaneously suck fifty drill bits in one raw material box 11, and at this time, the buffer station 12 and the second robot 32 may not be provided, and the first robot 31 directly sucks fifty drill bits in the raw material box 11 and dispenses them into the plurality of drill magazine boxes 21; the buffer station 12 and the second robot hand 32 may be provided to shorten the distance of the reciprocating movement of the first robot hand 31.
The first manipulator 31 may also respectively suck a plurality of drill bits from the plurality of material boxes 11, the total number of the plurality of drill bits is fifty, in order to reduce the waiting time of the first manipulator 31 at the workpiece taking station 1, the second manipulator 32 transfers the drill bits from the plurality of material boxes 11 to the buffer position 12, and the first manipulator 31 sucks the drill bits from the buffer position 12 at a time and dispenses the drill bits. At this time, fifty bits can be accommodated in each buffer magazine 122 of the buffer bay 12.
It will be appreciated that the buffer position 12 and the arrangement of the suction elements on the first robot 31 are determined according to the drill bit split requirements. Specifically, when the sub-packaging process of the drill bit is complicated, for example, the first manipulator 31 needs to reciprocate among a plurality of drill magazine 21 or in one drill magazine 21 to sub-package the drill bit, referring to the drill bit sub-packaging apparatus of the second embodiment, the buffer position 12 needs to be arranged to reduce the waiting time of the first manipulator 31 as much as possible, so as to improve the sub-packaging efficiency of the drill bit; when the sub-packaging process of the first manipulator 31 is simple, for example, the drill magazine 21 needs a large number of identical drill bits, referring to the drill sub-packaging device of the third embodiment, the number of the drill bits sucked or put down by the first manipulator 31 at a time is increased by increasing the number of the sucking parts, so that the sub-packaging efficiency of the drill bits is improved.
In the description of the present specification, it is to be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description of the present embodiment and simplification of description, but do not indicate or imply that the device or structure referred to must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured" are to be construed broadly and encompass, for example, both fixed and removable connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first feature being in direct contact with the second feature, and may also include the recitation of the first feature being in contact with the second feature, but rather being in contact with the additional feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.
In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (7)
1. A drill bit subpackaging method is used for subpackaging a plurality of drill bits into corresponding drill bit material boxes and is characterized by comprising the following steps:
step S1, determining the type of drill bits required in the drill magazine (21) and the number M of the drill bits of each typeXWherein X represents the type of the drill bit, and is an integer greater than or equal to 1;
determining the number N of said drill magazines (21);
determining the number L of suction pieces of a first manipulator (31), each suction piece being capable of sucking one drill bit;
calculating the number M of each of said drill bitsXQuotient of the number L of the suction pieces, and dividing MXThe remainder of the quotient of L is denoted AX；
Step S2, the first manipulator (31) sets the number N (M) of the first type of the drill bits1-A1) The parts are sequentially arranged in N drilling machine material boxes (21) in a mode of grabbing L drilling bits each time;
step S3, theThe first mechanical arm (31) enables the number of the first drill bits to be NA1The parts are sequentially arranged in N drilling machine material boxes (21);
and S4, repeating the step S2 and the step S3, and sequentially distributing the drill bits of other types into the N drill box boxes (21).
2. Drill bit racking method according to claim 1, characterized in that the number L of said suction pieces of said first robot (31) is an integer multiple of the number N of said drill magazine (21).
3. The drill bit racking method according to claim 1, further comprising, prior to said step S2:
step S20: dividing each of the drill cartridges (21) into i accommodation regions RiEach of the accommodation regions RiCan accommodate the same type of drill bit, the accommodation region RiCorrespond to can accommodate BiA drill bit, and BiL or less, so that the first manipulator (31) dispenses the drilling machine magazine (21) in the receiving area RiCan get BiThe drill bits are lowered simultaneously.
4. The drill bit racking method according to claim 1, wherein said step S3 specifically comprises:
step S31, determining the number L 'of the drill bits transferred by the first manipulator (31) each time, where L' is equal to or less than L;
step S32, the first manipulator (31) sets the number of the first drill bits to NA1The parts of the drilling machine are sequentially distributed in N drilling machine material boxes (21) in a mode of grabbing L' drilling bits each time.
5. The drill bit dispensing method of claim 4, wherein N-6, L-12, and 12 of said suction members are arranged in a 2 x 6 array.
6. The drill bit dispensing method according to claim 5, wherein the determination method of L' in the step S31 is:
when A is1When the number is 5, L' is 10, the first manipulator (31) transfers 10 drill bits at a time and dispenses the drill bits into two corresponding drill magazine (21);
when A is110 or A1When being equal to 11, L' is equal to A1The first manipulator (31) transfers A each time1The drill bits are subpackaged into the corresponding drill machine material boxes (21);
when A is1When the value is any one of 1 to 4 or 6 to 9, the first manipulator (31) transfers 12 drill bits at a time and dispenses the drill bits into the corresponding plurality of drill magazine (21).
7. Drill bit racking method according to claim 1, wherein said pick-up of said first robot (31) and said drill bit of said drill magazine (21) are spaced at the same interval so that said first robot (31) can pick up or drop down a plurality of said drill bits simultaneously.
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| CN114603638B (en) * | 2022-04-21 | 2024-01-30 | 深圳市金洲精工科技股份有限公司 | Automatic tool matching equipment and tool matching method |
| CN114750223B (en) * | 2022-04-21 | 2024-02-23 | 深圳市金洲精工科技股份有限公司 | Automatic cutter returning equipment and cutter returning method |
| CN115689452B (en) * | 2022-11-14 | 2023-06-20 | 深圳市金洲精工科技股份有限公司 | Drill stock planning management method |
| CN117429796A (en) * | 2023-12-07 | 2024-01-23 | 深圳市金洲精工科技股份有限公司 | Drill bit arrangement method and equipment |
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| DE102005043399B4 (en) * | 2005-09-08 | 2009-06-10 | Tixbo Tiefbohr-Center Gmbh & Co.Kg | Device for machining with automatic tool change and method for automatically changing tools on the device for machining |
| CN103084795A (en) * | 2012-11-14 | 2013-05-08 | 柳州易舟汽车空调有限公司 | Method for machining machine shell of scroll compressor |
| CN203141194U (en) * | 2013-02-07 | 2013-08-21 | 宁波海良精机有限公司 | Shaft full-automatic servo mechanical arm |
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| CN110831330B (en) * | 2018-08-14 | 2021-03-23 | 苏州维嘉科技股份有限公司 | Drill cutter arrangement method and device |
| CN209287754U (en) * | 2018-11-22 | 2019-08-23 | 苏州运昊设备制造有限公司 | A kind of automatic assembly line manipulator divides BIN machine |
| CN109807670A (en) * | 2019-02-21 | 2019-05-28 | 广东科杰机械自动化有限公司 | A kind of manipulator for double Z axis lathes and double Z axis lathes using it |
| CN112070282B (en) * | 2020-08-21 | 2021-09-07 | 五邑大学 | Array type gang drill processing optimization method, device, equipment and storage medium |
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