CN114603638B - Automatic tool matching equipment and tool matching method - Google Patents
Automatic tool matching equipment and tool matching method Download PDFInfo
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- CN114603638B CN114603638B CN202210422874.0A CN202210422874A CN114603638B CN 114603638 B CN114603638 B CN 114603638B CN 202210422874 A CN202210422874 A CN 202210422874A CN 114603638 B CN114603638 B CN 114603638B
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- cutter
- material box
- manipulator
- cutters
- box
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000007704 transition Effects 0.000 claims abstract description 191
- 239000000463 material Substances 0.000 claims abstract description 140
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 238000005553 drilling Methods 0.000 claims abstract description 16
- 238000003860 storage Methods 0.000 claims abstract description 10
- 238000002360 preparation method Methods 0.000 claims description 53
- 238000001179 sorption measurement Methods 0.000 claims description 17
- 238000009826 distribution Methods 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 claims description 4
- 238000000638 solvent extraction Methods 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims description 2
- 238000007726 management method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000000153 supplemental effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000037452 priming Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F1/00—Perforating; Punching; Cutting-out; Stamping-out; Apparatus therefor
- B26F1/16—Perforating by tool or tools of the drill type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/26—Means for mounting or adjusting the cutting member; Means for adjusting the stroke of the cutting member
- B26D7/2614—Means for mounting the cutting member
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F1/00—Perforating; Punching; Cutting-out; Stamping-out; Apparatus therefor
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/0011—Working of insulating substrates or insulating layers
- H05K3/0044—Mechanical working of the substrate, e.g. drilling or punching
- H05K3/0047—Drilling of holes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F2210/00—Perforating, punching, cutting-out, stamping-out, severing by means other than cutting of specific products
- B26F2210/08—Perforating, punching, cutting-out, stamping-out, severing by means other than cutting of specific products of ceramic green sheets, printed circuit boards and the like
Abstract
The invention belongs to the technical field of cutter management equipment, and discloses automatic cutter distributing equipment and a cutter distributing method, wherein the cutter distributing method is implemented by adopting the automatic cutter distributing equipment; a left material box transition position and a right material box transition position are arranged on the material box transition table; the first manipulator is used for transferring a feed material box between the material box buffer storage and the left material box transition position; the empty box transferring mechanism is used for providing empty equipped material boxes and transferring the equipped material boxes assembled with the preset number of cutters to the drilling machine; the cutter matching transfer mechanism is used for taking out the cutter on the transition position of the right material box from the material feeding box and transferring the cutter to the matched material box on the empty box transfer mechanism. The automatic cutter matching equipment can improve cutter matching accuracy and cutter matching efficiency and reduce cutter matching error probability by adopting the cutter matching method.
Description
Technical Field
The invention relates to the technical field of cutter management equipment, in particular to automatic cutter matching equipment and a cutter matching method.
Background
The PCB board needs the rig to use the cutter of different specification models in drilling process to process the hole of different diameters and quality requirement, because there is the difference in the hole machining frequency of different diameters, the required quantity difference of cutter of different specification models is great. The existing method for solving the problem is to manually count, the reserve quantity and the taking process of the cutter are highly dependent on experience of warehouse management personnel, error rates exist, such as shipping errors or mixing materials, so that processed products are scrapped in batches, meanwhile, the manual warehouse management is insufficient in capability of coping with emergency conditions, and the requirement of continuously changing the cutter demand can be met by large cutter safety stock. Therefore, an automatic tool matching device and a tool matching method are needed to solve the above problems.
Disclosure of Invention
One object of the present invention is to: the automatic cutter matching equipment and the cutter matching method have the advantages that the first manipulator is used for grabbing the next stations of cutters with required specifications and required numbers from the magazine cache library, the accuracy of cutter matching is improved, and the cutter matching error probability is reduced.
To achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, an automated knife dispensing apparatus is provided, comprising:
a machine table;
the material box buffer warehouse is arranged on the machine table and is used for buffering a material supply box provided with a cutter;
the material box transition table is rotatably arranged on the machine table around a vertical axis and positioned at the downstream of the material box buffer storage, and a left material box transition position and a right material box transition position are arranged on the material box transition table;
the first manipulator is arranged on the machine table and is used for transferring the feed material box between the material box buffer warehouse and the left material box transition position;
the empty box transfer mechanism is arranged on the machine table and is used for providing empty equipped material boxes and transferring the equipped material boxes after being assembled with a preset number of cutters to the drilling machine;
the cutter distribution transfer mechanism is arranged between the material box transition table and the empty box transfer mechanism and is used for taking out the cutter on the right material box transition position from the material supply material box and transferring the cutter to the material distribution box on the empty box transfer mechanism.
As an optional solution, the empty box transferring mechanism includes:
a blank cartridge cache for providing said priming cartridge;
the cutter matching transition table is rotatably installed on the machine table around a vertical axis and positioned between the material box transition table and the empty box buffer warehouse, and a left cutter matching transition position and a right cutter matching transition position are arranged on the cutter matching transition table;
the warehouse-out module is arranged at the downstream of the cutter matching transition table;
the second manipulator is positioned between the cutter matching transition table and the empty box buffer warehouse, and can transfer the prepared material box on the empty box buffer warehouse to the right cutter matching transition position.
As an optional technical solution, the knife matching transfer mechanism includes:
the transfer transition table is rotatably arranged on the machine table around a vertical axis and positioned between the material box transition table and the cutter matching transition table, and a left transfer transition position and a right transfer transition position are arranged on the transfer transition table;
the third manipulator is positioned between the material box transition table and the transfer transition table and is used for transferring the cutter on the right material box transition position to the left transfer transition position;
the fourth manipulator is positioned between the transfer transition table and the cutter matching transition table and is used for transferring the cutters on the right transfer transition position to the material matching box on the left cutter matching transition position.
As an optional technical scheme, the upper reaches of magazine buffer storehouse still is provided with the warehouse entry module, the warehouse entry module is used for buffering last station provides the feed magazine, first manipulator can with the last feed magazine of warehouse entry module shifts to in the magazine buffer storehouse.
In a second aspect, a method of preparing a knife is provided, the method of preparing a knife being implemented using an automated knife preparing apparatus as described above, the method of preparing a knife comprising the steps of:
s100, taking the feed material box filled with the cutter with the required specification out of the material box buffer warehouse through the first manipulator, placing the feed material box on the left material box transition position, taking the preparation material box out of the empty box buffer warehouse through the second manipulator, and transferring the preparation material box to the right material box transition position;
s200, grabbing a cutter on the transition position of the right material box to a left transition position through a third manipulator;
s300, partitioning the preparation material box, and grabbing a cutter on a right transition position to a preset area of the preparation material box on a left transition position by a fourth manipulator;
s400, transferring the prepared material box on the right cutter matching transition position to a delivery module through the second manipulator, and transferring the prepared material box to a drilling machine through the delivery module.
As an optional solution, before the step S100, the method further includes the step of: s001, the control system sends out a supplemental cutter signal, the outside provides required specification and required quantity according to the supplemental cutter signal, the required specification and the required quantity of cutters are placed on the feed material box and transported to the warehousing module, the label identification device on the warehousing module identifies the feed material box, and the feed material box is transferred to the warehousing position on the material box buffer warehouse through the first manipulator after the identification is correct.
As an optional technical solution, after the step S001, the method further includes the steps of: s002, the control system obtains order information sent by the drilling machine, compares the order information with cutters in the material box buffer library, if the cutters with the required specification meet the quantity requirement, the step S100 is carried out, and if the cutters with the required specification can not meet the quantity requirement, the step S001 is returned.
As an optional solution, before the step S200, the method further includes the step of: s003, identifying label information on the feed box through a label identification device on the feed box transition table, judging whether a cutter on the feed box is of a required specification, if the cutter on the feed box is of the required specification, performing step S200, and if the cutter on the feed box is not of the required specification, grabbing the feed box by the first manipulator and returning the feed box to the original position of the feed box buffer library.
As an optional technical solution, the left transition bits are set to two, and the step S200 specifically includes: obtaining the maximum grabbing amount C of the third manipulator, the number A of the preparation material boxes and the number B of the cutters accommodated in each preparation material box, if A is less than or equal to C, performing step S201, if C is less than or equal to A is less than or equal to 2 XC, performing step S202, and if 2 XC is less than or equal to A is less than or equal to B, performing step S203;
the step S201 is: the third manipulator grabs N cutters from the right material box transition position and equally divides the N cutters to be placed on the two left transition positions, wherein N=A×B;
the step S202 is: the third manipulator firstly grabs M cutters from the material box transition position and places the M cutters on one left transition position, returns to the material box transition position and grabs the M cutters again and places the M cutters on the other left transition position, wherein M=A×B/2;
the step S203 is: the third manipulator firstly grabs a C cutter from the material box transition position and places the C cutter on one of the left transition positions, then returns to the material box transition position and places the C cutter on the other left transition position for the second time, and the rest quantity L is L, wherein L=A×B-2×C, if L is less than or equal to C, the step S201 is returned, if C is less than or equal to L is less than or equal to 2×C, the step S202 is returned, and if 2×C is less than or equal to L, the step S203 is repeated.
As an optional technical solution, the fourth manipulator is provided with adsorption holes for adsorbing the tools, the adsorption holes are provided with a row and b rows, the preparation material boxes are provided with m rows and n rows of containing holes for containing the tools, wherein m is greater than a, n is greater than b, each preparation material box needs to be assembled with K tools, K is less than or equal to m×n, if m is less than a×z, and z is a positive integer, step S301 is performed, and if m is less than or equal to z×a+p, z and p are both positive integers, step S302 is performed;
the step S301 is: dividing the preparation material box into z areas, wherein each area has a row of containing holes, each row has n containing holes, the fourth manipulator drives the cutters to move to the position right above the corresponding area, the adsorption holes on the fourth manipulator are aligned with the containing holes on the corresponding area one by one, if K=h1×a, h1 is a positive integer, h1 cutters are placed in each row in the corresponding area, if K=h1×a+t1, h1 and t1 are both positive integers, h1+1 cutters are placed in the first t1 row in the corresponding area, and h1 cutters are placed in the later a-t1 rows;
the step S302 is: dividing the preparation material box into z+1 areas, wherein each of the containing holes in the first z areas is a row, each row is n, each containing hole in the last area is p rows, each row is n, the fourth manipulator drives the cutters to move to the position right above the corresponding area, the adsorption holes on the fourth manipulator are aligned with the containing holes in the corresponding area one by one, for the first z areas, if k=h2×a, h2 are positive integers, h2 cutters are placed in each row in the corresponding area, if k=h2×a+t2, h2 and t2 are positive integers, h2+1 cutters are placed in the first t2 row in the corresponding area, h2 cutters are placed in the subsequent a-t2 row, for the last area, p rows of containing holes are arranged in the last area, each row is n, the fourth manipulator drives the cutters to move to the position right above the corresponding area, the adsorption holes on the fourth manipulator are aligned with the containing holes in the corresponding area one by one, the required number of cutters are placed in the first row, and the required number of cutters is placed in the first row, and the required cutter is placed after the number is placed in the first row and the required cutter is placed in the number is placed after the number is placed.
The invention has the beneficial effects that:
the automatic cutter distributing equipment comprises a machine table, a box buffer warehouse, a box transition table, a first manipulator, an empty box transferring mechanism and a cutter distributing transferring mechanism, wherein when cutter distributing is needed, the empty box transferring mechanism provides empty cutter distributing boxes, meanwhile, the first manipulator takes out a feed box containing cutters with required specifications from the box buffer warehouse and places the feed box on a left box transition position, the box transition table rotates 180 degrees, the positions of the left box transition position and a right box transition position are exchanged, the cutters with required specifications and the feed box follow the rotation of 180 degrees, the cutter distributing mechanism takes out the cutters with required specifications from the feed box to the cutter distributing box of the empty box transferring mechanism, if the cutter distributing requirement is met, the empty box transferring mechanism transfers the cutter distributing box to a drilling machine, and if another cutter with required specifications is needed, the first manipulator takes out the cutter with the required specifications from the box buffer warehouse again until the cutter distributing requirement is met. According to the invention, automatic cutter matching equipment is adopted for cutter matching, so that the accuracy and efficiency of cutter matching can be improved, and the probability of cutter matching error can be reduced.
The invention also provides a cutter matching method, which is implemented by adopting the automatic cutter matching equipment, and the cutter matching steps are set, so that the cutter matching accuracy and cutter matching efficiency can be improved, and the cutter matching error probability can be reduced.
Drawings
The invention is described in further detail below with reference to the drawings and examples;
FIG. 1 is a top view of an automated knife dispensing apparatus according to an embodiment;
FIG. 2 is an enlarged view of a portion of the position A of FIG. 1;
FIG. 3 is an enlarged view of a portion of the B position of FIG. 1;
fig. 4 is a flowchart of a knife matching method according to an embodiment.
In the figure:
10. a machine table; 20. a magazine buffer store; 30. a magazine transition stage; 31. a left magazine transition position; 32. a right magazine transition position; 40. a first manipulator; 50. an empty box cache bank; 60. a cutter matching transition table; 61. a left cutter matching transition position; 62. right cutter matching transition position; 70. a warehouse-out module; 80. a second manipulator; 90. a transit station; 91. a left transition position; 92. transferring the transition position to the right; 110. a third manipulator; 120. a fourth manipulator; 130. and (5) warehousing the module.
Detailed Description
In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, 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 some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
In the description herein, reference to the term "one embodiment," "an example," etc., means 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, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
In the description of this specification, various forms of procedures, reorder, add, or delete steps. For example, the steps described in the present invention may be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and the present invention is not limited herein.
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
As shown in fig. 1 to 3, the present embodiment provides an automatic tool matching device, which includes a machine 10, a magazine buffer library 20, a magazine transition stage 30, a first manipulator 40, an empty magazine transfer mechanism, and a tool matching transfer mechanism, wherein the magazine buffer library 20 is installed on the machine 10, and the magazine buffer library 20 is used for buffering a feeding magazine filled with tools; the material box transition table 30 is rotatably installed on the machine table 10 around a vertical axis and is positioned at the downstream of the material box buffer storage 20, and a left material box transition position 31 and a right material box transition position 32 are arranged on the material box transition table 30; the first manipulator 40 is disposed on the machine 10, and the first manipulator 40 is used for transferring the feed cartridge between the cartridge cache 20 and the left cartridge transition position 31; the empty box transfer mechanism is arranged on the machine table 10 and is used for providing empty equipped material boxes and transferring the equipped material boxes after being assembled with a preset number of cutters to the drilling machine; the knife matching transfer mechanism is arranged between the material box transition table 30 and the empty box transfer mechanism, and is used for taking out the knife on the right material box transition position 32 from the material feeding material box and transferring the knife to the material matching box on the empty box transfer mechanism.
The feed magazine stores a plurality of cutters that the specification is the same, and different feed magazines can be equipped with the cutter of different specifications, and the PCB board is through the rig drilling, because the PCB board needs the rig to use the cutter of different specification models at drilling in-process, consequently the rig need be equipped with the cutter of different specifications, and the required quantity of the cutter of every specification needs to be equipped according to actual demand, consequently takes out a certain quantity of cutters from different feed magazines and places on the preparation magazine to make things convenient for the rig to take.
Specifically, if only one specification of tools is required to be provided, the empty magazine transfer mechanism provides empty prepared magazines, and simultaneously the first manipulator 40 takes out the feed magazines containing the tools of the required specification from the magazine cache warehouse 20 and places the feed magazines on the left magazine transition position 31, the magazine transition table 30 rotates 180 degrees, the positions of the left magazine transition position 31 and the right magazine transition position 32 are interchanged, the tools of the required specification and the feed magazines rotate 180 degrees in a following manner, the tool preparing transfer mechanism takes out the tools of the required specification from the feed magazines onto the preparation magazines of the empty magazine transfer mechanism, and the empty magazine transfer mechanism transfers the prepared magazines containing the tools of the required specification to the drilling machine; if more than two types of tools are required to be provided, for example, two types of tools, when one type of tools is provided, the first manipulator 40 can take the previous feed magazine from the left magazine transition position 31 and put it back to the original position of the magazine cache 20, and the first manipulator 40 again takes the feed magazine with the other type of tools from the magazine cache 20, and places the feed magazine on the left magazine transition position 31, the magazine transition table 30 rotates 180 degrees, the positions of the left magazine transition position 31 and the right magazine transition position 32 are interchanged, the required type of tools and the feed magazine follow and rotate 180 degrees, and the cutter allocation transfer mechanism again takes the required number of tools from the feed magazine to the prepared magazine with the former type of tools of the empty magazine transfer mechanism, namely, at this time, the prepared magazine is provided with the two types of tools, and the empty magazine transfer mechanism transfers the prepared magazine to the drilling machine.
The cartridge cache library 20 of the present embodiment may cache a plurality of feed cartridges, for example, ten feed cartridges with cutters of a first specification, eight feed cartridges with cutters of a second specification, and the specifications and the number of the buffered cutters of the cartridge cache library 20 may be set according to actual needs.
Optionally, a visual recognition device is arranged on the cutter matching transfer mechanism, and the visual recognition device can recognize the cutter specification loaded by the feed box.
Alternatively, the first robot 40 is a four-axis robot.
Optionally, the empty box transferring mechanism includes an empty box buffer warehouse 50, a cutter matching transition table 60, a warehouse-out module 70, and a second manipulator 80, where the empty box buffer warehouse 50 is used for providing a material box to be matched; the cutter matching transition table 60 is rotatably installed on the machine table 10 around a vertical axis and positioned between the material box transition table 30 and the empty box buffer warehouse 50, and a left cutter matching transition position 61 and a right cutter matching transition position 62 are arranged on the cutter matching transition table 60; the warehouse-out module 70 is arranged downstream of the cutter-distributing transition table 60; the second manipulator 80 is located between the tool-matching transition station 60 and the empty box buffer magazine 50, the second manipulator 80 is capable of transferring the equipped magazine on the empty box buffer magazine 50 to the right tool-matching transition station 62, and the second manipulator 80 is also capable of transferring the equipped magazine on the right tool-matching transition station 62 to the delivery module 70.
The feed magazine and the preparation magazine belong to the same kind of magazine, and in this embodiment, the feed magazine differs from the preparation magazine only in the use position on the automatic preparation apparatus, specifically, when it is necessary to provide a preparation magazine, the second robot 80 takes out an empty preparation magazine from the empty magazine buffer magazine 50 and places the preparation magazine on the right preparation transition position 62, the preparation transition stage 60 rotates 180 degrees, the positions of the left preparation transition position 61 and the right preparation transition position 62 are interchanged, the empty preparation magazine follows the rotation 180 degrees, and after the preparation transfer mechanism loads a required specification and a required number of tools into the preparation magazine, the second robot 80 transfers the preparation magazine onto the discharge module 70.
Alternatively, the second robot 80 is a four-axis robot.
Optionally, the knife matching transfer mechanism includes a transfer transition table 90, a third manipulator 110 and a fourth manipulator 120, where the transfer transition table 90 is rotatably installed on the machine 10 around a vertical axis and located between the magazine transition table 30 and the knife matching transition table 60, and a left transfer transition position 91 and a right transfer transition position 92 are provided on the transfer transition table 90; the third manipulator 110 is located between the magazine transition stage 30 and the transfer transition stage 90, and the third manipulator 110 is configured to transfer the tool on the right magazine transition stage 32 to the left transfer transition stage 91; the fourth manipulator 120 is located between the transfer transition station 90 and the tool-matching transition station 60, and the fourth manipulator 120 is configured to transfer the tools at the right transfer transition station 92 to the matching cassettes at the left tool-matching transition station 61.
Optionally, the fourth robot 120 is provided in two.
Optionally, the third robot 110 and the fourth robot 120 are both four-axis robots.
Specifically, when the cutter needs to be transferred, the third manipulator 110 grabs the cutter on the right magazine transition position 32 and transfers the cutter to the left transfer transition position 91, the transfer transition table 90 rotates 180 degrees, the positions of the left transfer transition position 91 and the right transfer transition position 92 are exchanged, the cutter follows and rotates 180 degrees, and the fourth manipulator 120 grabs the cutter on the right transfer transition position 92 and transfers the cutter to the prepared magazine on the left cutter distribution transition position 61.
Optionally, a warehouse-in module 130 is further disposed at an upstream of the magazine cache 20, where the warehouse-in module 130 is configured to cache a supply magazine provided at a previous station, and the first manipulator 40 is capable of transferring the supply magazine on the warehouse-in module 130 into the magazine cache 20.
As shown in fig. 4, the present embodiment further provides a tool matching method, which is implemented by the above automatic tool matching device, and the tool matching method includes the following steps:
s100, taking out the feed cartridge containing the required specification of the tool from the cartridge cache bank 20 by the first manipulator 40 and placing the feed cartridge on the left cartridge transition position 31, and taking out the preparation cartridge from the empty cartridge cache bank 50 by the second manipulator 80 and transferring the preparation cartridge to the right tool transition position 62.
S200, grabbing the cutter on the right magazine transition position 32 to the left transition position 91 through the third manipulator 110.
And S300, partitioning the preparation material box, and grabbing the cutter on the right transfer transition position 92 into a preset area of the preparation material box on the left cutter preparation transition position 61 by the fourth manipulator 120.
S400, transferring the prepared material box on the right cutter matching transition position 62 to the ex-warehouse module 70 through the second manipulator 80, and transferring the prepared material box to the drilling machine through the ex-warehouse module 70.
The automatic cutter matching equipment of the embodiment operates by adopting the cutter matching method, can avoid cutter matching errors caused by manual cutter matching operation, has high cutter matching efficiency, can trace back cutter information sources, and is suitable for automatic management.
Optionally, before step S100, the method further includes the steps of: s001, the control system sends out a supplementary cutter signal, the outside provides required specification and required quantity according to the supplementary cutter signal, the required specification and required quantity of cutters are placed on the feeding box and transported to the warehousing module 130, the label identification device on the warehousing module 130 identifies the feeding box, and the feeding box is transferred to the warehousing position on the box cache library 20 through the first manipulator 40 after the feeding box is confirmed to be free of errors.
Optionally, after step S001, the method further includes the steps of: s002, the control system obtains order information sent by the drilling machine, compares the order information with cutters in the material box cache library 20, if the cutters with the required specification meet the quantity requirement, the step S100 is performed, and if the cutters with the required specification can not meet the quantity requirement, the step S001 is returned. The warehouse entry of the cutters can be made in advance through the steps S001 and 002, so that the magazine cache warehouse 20 is ensured to store a sufficient number of cutters with required specifications.
Optionally, before step S200, the method further includes the steps of: s003, identifying label information on the feed box through a label identification device on the feed box transition table 30, judging whether the cutter on the feed box is of a required specification, if the cutter on the feed box is of the required specification, performing step S200, and if the cutter on the feed box is not of the required specification, grabbing the feed box by the first manipulator 40 and returning the feed box to the original position of the feed box cache library 20. Through step S003, mixing can be avoided, and accuracy of cutter equipment is improved.
Optionally, the left transition bits 91 are set to two, and step S200 is specifically: the maximum gripping amount C of the third robot 110, the number a of prepared magazines, and the number B of tools accommodated in each prepared magazine are acquired, and if a×b is equal to or smaller than C, step S201 is performed, if C is equal to or smaller than a×b is equal to or smaller than 2×c, step S202 is performed, and if 2×c is equal to or smaller than a×b, step S203 is performed.
Step S201 is: the third robot 110 grabs N tools from the right magazine transition 32 and equally places the N tools on the two left transition transitions 91, where n=a×b.
Step S202 is: the third manipulator 110 first grabs M cutters from the magazine transition position and places them on one of the left transition positions 91, and returns to the magazine transition position to again grab M cutters and place them on the other left transition position 91, where m=a×b++2.
Step S203 is: the third manipulator 110 first grabs the C-bit tool from the magazine transition position and places it on one of the left transition positions 91, then returns to the magazine transition position and places it on the other left transition position 91 for the second time, and the remaining number L, where l=a×b-2×c, returns to step S201 if L is less than or equal to C, returns to step S202 if C is less than or equal to L is less than or equal to 2×c, and repeats step S203 if 2×c is less than or equal to L.
As an embodiment, the maximum grabbing amount of the third manipulator 110 is 12, and each of the left tool matching transition position 61 and the right tool matching transition position 62 can respectively place 6 tool matching boxes, when b=1, i.e. each tool matching box needs to be loaded with 1 tool, step S201 is performed, and when b=2, i.e. each tool matching box needs to be loaded with 2 tools, step S202 is performed; when b=3, that is, each preparation cartridge needs to be loaded with 3 tools, step S203 is performed, in step S203, the third manipulator 110 first grabs 12 tools from the cartridge transition position and places them on one of the left transition positions 91, then returns to the cartridge transition position and places 12 tools on the other left transition position 91, and the remaining number 12 accords with the case of step S201, that is, returns to step S201.
Optionally, the fourth manipulator 120 is provided with adsorption holes for adsorbing the tools, the adsorption holes are provided with a row and b rows, the equipped material boxes are provided with receiving holes for receiving the tools, the receiving holes are provided with m rows and n rows, where m > a, n > b, each equipped material box needs to be assembled with K tools, K is less than or equal to m×n if m=a×z, and z is a positive integer, step S301 is performed, and if m=z×a+p, z and p are both positive integers, step S302 is performed.
Step S301 is: dividing the preparation material box into z areas, wherein each area has a row of containing holes, each row has n containing holes, the fourth manipulator 120 drives the cutters to move to the position right above the corresponding area, the adsorption holes on the fourth manipulator 120 are aligned with the containing holes on the corresponding area one by one, if K=h1×a, h1 is a positive integer, h1 cutters are placed in each row in the corresponding area, if K=h1×a+t1, h1 and t1 are positive integers, h1+1 cutters are placed in the first t1 row in the corresponding area, and h1 cutters are placed in the subsequent a-t1 rows.
As an embodiment, the adsorption holes on the fourth manipulator 120 are provided with 2 rows and 6 holes on each row, the accommodating holes on the preparation magazine are provided with 4 rows and 10 holes on each row, 4=2×2, that is, step S301 is performed, in step S301, the preparation magazine is divided into 2 areas, if each preparation magazine needs to be assembled with 6 tools, 3 tools of the first row on the fourth manipulator 120 are placed in 3 accommodating holes of the first row of the corresponding area, 3 tools of the second row on the fourth manipulator 120 are placed in 3 accommodating holes of the second row of the corresponding area, and if each preparation magazine needs to be assembled with 6 tools, 3 tools of the first row on the fourth manipulator 120 are placed in 3 accommodating holes of the first row of the corresponding area, 3 tools of the second row on the fourth manipulator 120 are placed in 3 accommodating holes of the second row of the corresponding area.
Step S302 is: dividing the preparation material box into z+1 areas, wherein each of the containing holes in the first z areas is a row, each row is n, each containing hole in the last area is p rows, each row is n, the fourth manipulator 120 drives the cutters to move to the position right above the corresponding area, the adsorption holes in the fourth manipulator 120 are aligned with the containing holes in the corresponding area one by one, for the first z areas, if k=h2×a, h2 are positive integers, h2 cutters are placed in each row in the corresponding area, if k=h2×a+t2, h2 and t2 are positive integers, h2+1 cutters are placed in the first t2 row in the corresponding area, h2 cutters are placed in the subsequent a-t2 row, for the last area, each row is n, the fourth manipulator 120 drives the cutters to move to the position right above the corresponding area, the adsorption holes in the fourth manipulator 120 are aligned with the containing holes in the corresponding area, the number of cutters is first placed in the first row, and then the required number of cutters is placed in the first row Kong Fangman, and the required cutters are placed in the first row until the required number of cutters is reached.
As an embodiment, the adsorption holes on the fourth manipulator 120 are arranged in 2 rows and 6 holes are arranged on each row, the accommodating holes on the preparation magazine are arranged in 5 rows and 10 holes are arranged on each row, 5=2×2+1 is performed, that is, step S302 is performed, in step S302, the preparation magazine is divided into 3 areas, in the first two areas, the accommodating holes in each area are 2 rows and 10 holes in each row, the accommodating hole in the last area is 1 row and 10 accommodating holes in the row, if each preparation magazine needs to be assembled with 6 tools, 3 tools in the first row on the fourth manipulator 120 are placed in 3 accommodating holes in the first row in the corresponding area, 3 tools in the second row on the fourth manipulator 120 are placed in 3 accommodating holes in the second row in the corresponding area, after the accommodating holes in the first two areas are all filled with tools, 6 tools in the first row on the fourth manipulator 120 are placed in 6 accommodating holes in the last row, and then 4 tools in the last row on the fourth manipulator 120 are placed in the last accommodating holes in the second row; if 7 tools are required to be assembled in each preparation magazine, the 4 tools in the first row on the fourth manipulator 120 are placed in the 4 receiving holes in the first row in the corresponding region, and the 3 tools in the second row on the fourth manipulator 120 are placed in the 3 receiving holes in the second row in the corresponding region.
Furthermore, the foregoing description of the preferred embodiments and the principles of the invention is provided herein. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. An automated knife dispensing apparatus, comprising:
a machine (10);
a material box buffer storage (20) which is arranged on the machine (10), wherein the material box buffer storage (20) is used for buffering a material supply material box filled with a cutter;
the material box transition table (30) is rotatably arranged on the machine table (10) around a vertical axis and positioned at the downstream of the material box buffer storage (20), and a left material box transition position (31) and a right material box transition position (32) are arranged on the material box transition table (30);
the first manipulator (40) is arranged on the machine table (10), and the first manipulator (40) is used for transferring the feed material box between the material box buffer warehouse (20) and the left material box transition position (31);
the empty box transfer mechanism is arranged on the machine table (10) and is used for providing empty equipped material boxes and transferring the equipped material boxes after being assembled with a preset number of cutters to the drilling machine;
the cutter distribution transfer mechanism is arranged between the material box transition table (30) and the empty box transfer mechanism and is used for taking out the cutters on the right material box transition position (32) from the material feeding material box and transferring the cutters to the material distribution box on the empty box transfer mechanism;
the empty box transfer mechanism includes:
-a magazine buffer store (50) for providing said equipped magazine;
the cutter matching transition table (60) is rotatably arranged on the machine table (10) around a vertical axis and positioned between the material box transition table (30) and the empty box buffer library (50), and a left cutter matching transition position (61) and a right cutter matching transition position (62) are arranged on the cutter matching transition table (60);
the warehouse-out module (70) is arranged at the downstream of the cutter matching transition table (60);
and the second manipulator (80) is positioned between the cutter matching transition table (60) and the empty box slow storage (50), and the second manipulator (80) can transfer the prepared material box on the empty box slow storage (50) to the right cutter matching transition position (62).
2. The automated knife dispensing apparatus of claim 1, wherein the knife dispensing transfer mechanism comprises:
the transfer transition table (90) is rotatably arranged on the machine table (10) around a vertical axis and positioned between the material box transition table (30) and the cutter matching transition table (60), and a left transfer transition position (91) and a right transfer transition position (92) are arranged on the transfer transition table (90);
a third manipulator (110) located between the cartridge transition station (30) and the transfer station (90), the third manipulator (110) being configured to transfer a tool on the right cartridge transition station (32) to the left transfer station (91);
and the fourth manipulator (120) is positioned between the transit transition table (90) and the cutter matching transition table (60), and the fourth manipulator (120) is used for transferring the cutters on the right transit transition position (92) to the material matching box on the left cutter matching transition position (61).
3. The automated knife dispensing apparatus of claim 1, wherein a warehouse entry module (130) is further disposed upstream of the magazine buffer library (20), the warehouse entry module (130) is configured to cache the supply magazine provided at the previous station, and the first manipulator (40) is configured to transfer the supply magazine on the warehouse entry module (130) into the magazine buffer library (20).
4. A knife dispensing method, characterized in that it is implemented with an automated knife dispensing apparatus according to any one of claims 1 to 3, comprising the steps of:
s100, taking the feed material box with the required specification cutter out of the material box buffer storage (20) through the first manipulator (40) and placing the feed material box on the left material box transition position (31), and taking the preparation material box out of the empty box buffer storage (50) through the second manipulator (80) and transferring the preparation material box to the right material box transition position (62);
s200, grabbing a cutter on the right material box transition position (32) to a left transition position (91) through a third manipulator (110);
s300, partitioning the preparation material box, and grabbing a cutter on a right transfer transition position (92) into a preset area of the preparation material box on a left cutter preparation transition position (61) through a fourth manipulator (120);
s400, transferring the prepared material box on the right cutter matching transition position (62) to a delivery module (70) through the second manipulator (80), and transferring the prepared material box to a drilling machine through the delivery module (70).
5. The method according to claim 4, further comprising, before said step S100, the steps of: s001, a control system sends out a supplementary cutter signal, the outside provides required specifications and required quantity of cutters according to the supplementary cutter signal, the required specifications and the required quantity of cutters are placed on the feeding box and transported to a warehousing module (130), a label identification device on the warehousing module (130) identifies the feeding box, and after the identification, the feeding box is transferred to a warehousing position on a box buffer library (20) through a first manipulator (40).
6. The method according to claim 5, further comprising the step of, after said step S001: s002, the control system obtains order information sent by the drilling machine, compares the order information with cutters in the material box cache library (20), if the cutters with the required specification meet the quantity requirement, the step S100 is performed, and if the cutters with the required specification can not meet the quantity requirement, the step S001 is returned.
7. The method according to claim 4, further comprising, before said step S200, the steps of: s003, identifying label information on the feed material box through a label identification device on the material box transition table (30), judging whether the cutter on the feed material box is of a required specification, if the cutter on the feed material box is of the required specification, performing step S200, and if the cutter on the feed material box is not of the required specification, grabbing the feed material box by the first manipulator (40) and returning the feed material box to the original position of the material box buffer warehouse (20).
8. The method according to claim 4, wherein the left transition bits (91) are set to two, and the step S200 is specifically: obtaining a maximum grabbing amount C of the third manipulator (110), the number A of the preparation material boxes and the number B of the cutters accommodated in each preparation material box, if A multiplied by B is less than or equal to C, performing step S201, if C is less than or equal to A multiplied by B is less than or equal to 2 multiplied by C, performing step S202, and if 2 multiplied by C is less than or equal to A multiplied by B, performing step S203;
the step S201 is: the third manipulator (110) grabs N cutters from the right material box transition position (32) and equally divides the N cutters on the two left transition positions (91), wherein N=A×B;
the step S202 is: the third manipulator (110) firstly grabs M cutters from the material box transition position and places the M cutters on one left transition position (91), returns to the material box transition position and grabs the M cutters again and places the M cutters on the other left transition position (91), wherein M=A×B/2;
the step S203 is: the third manipulator (110) firstly grabs a C-branch cutter from the material box transition position and places the C-branch cutter on one left transition position (91), then returns to the material box transition position, and secondly grabs the C-branch cutter and places the C-branch cutter on the other left transition position (91), wherein L=A×B-2×C, if L is less than or equal to C, the step S201 is returned, if C is less than or equal to L is less than or equal to 2×C, the step S202 is returned, and if 2×C is less than or equal to L, the step S203 is repeated.
9. The knife matching method according to claim 4, wherein the fourth manipulator (120) is provided with adsorption holes for adsorbing knives, the adsorption holes are provided with a row and b for each row, the preparation boxes are provided with containing holes for containing knives, the containing holes are provided with m rows and n for each row, wherein m > a, n > b, each preparation box needs to be assembled with K knives, K is less than or equal to m×n if m=a×z, and z is a positive integer, step S301 is performed, and if m=z×a+p, z and p are both positive integers, step S302 is performed;
the step S301 is: dividing the preparation material box into z areas, wherein each area is provided with a row of containing holes, each row is provided with n containing holes, the fourth manipulator (120) drives the cutters to move to the position right above the corresponding area, the adsorption holes on the fourth manipulator (120) are aligned with the containing holes on the corresponding area one by one, if K=h1×a, h1 is a positive integer, h1 cutters are placed in each row in the corresponding area, if K=h1×a+t1, h1 and t1 are both positive integers, h1 cutters are placed in the first t1 row in the corresponding area, and h1 cutters are placed in the subsequent a-t1 rows;
the step S302 is: dividing the preparation material box into z+1 areas, wherein each containing hole in the first z areas is a row, each row is n, each containing hole in the last area is p rows, each row is n, the fourth manipulator (120) drives the cutter to move to the position right above the corresponding area, the adsorption holes in the fourth manipulator (120) are aligned with the containing holes in the corresponding area one by one, for the first z areas, if k=h2×a, h2 is a positive integer, each row of the corresponding area is provided with h2 cutters, if k=h2×a+t2, h2 and t2 are positive integers, then the first t2 rows of the corresponding area are provided with h2+1 cutters, the later a-t2 rows are provided with h2 cutters, for the last area, each row is n, the fourth manipulator (120) drives the cutter to move to the position right above the corresponding area, for the adsorption holes in the fourth manipulator (120) are aligned with the corresponding area, the required number of the required cutters is placed on the first row of the first row, and the required number of the required cutters is placed after the first row of the required K is placed until the required number of the required cutters is reached, and the required number of the required cutters is placed on the first row of the cutters.
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