CN114890121A - Automatic control system and method for material conveying - Google Patents
Automatic control system and method for material conveying Download PDFInfo
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- CN114890121A CN114890121A CN202210351429.XA CN202210351429A CN114890121A CN 114890121 A CN114890121 A CN 114890121A CN 202210351429 A CN202210351429 A CN 202210351429A CN 114890121 A CN114890121 A CN 114890121A
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- 239000000463 material Substances 0.000 title claims abstract description 181
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims description 70
- 210000000078 claw Anatomy 0.000 claims description 30
- 238000007599 discharging Methods 0.000 claims description 24
- 238000003754 machining Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000011031 large-scale manufacturing process Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 10
- 238000003860 storage Methods 0.000 description 6
- 239000013072 incoming material Substances 0.000 description 5
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Workpieces (AREA)
Abstract
The invention relates to a material conveying automatic control system and a material conveying automatic control method, which completely replace the scheme of realizing automatic material conveying by using a robot arm, and the material conveying automatic control method and the material conveying automatic control system have the advantages that the hardware cost is greatly reduced, the programming complexity is greatly reduced, personnel of a robot arm company are not required to specially debug the robot arm, the personnel of an automatic factory can finish programming and debugging by themselves, the requirements of a production line can be quickly met, and the material conveying automatic control system and the material conveying automatic control method are suitable for large-scale production by adopting the scheme.
Description
Technical Field
The application relates to the technical field of automatic production, in particular to an automatic control system and method for material conveying.
Background
Traditional machine tool machining production line generally arranges in large-scale factory building, and hundreds of machine tools can coproduction, and for guaranteeing production efficiency, nowadays, the mill generally can carry out automated transformation to the machine tool station, for example, the bulk material being processed can use the robot arm to accomplish automatic unloading of going up, and this has improved production efficiency to a certain extent, has broken away from the inefficiency of artifical material loading.
However, when the robot arm is applied in an automation plant, the robot arm is highly dependent on a debugging personnel of a robot arm manufacturer, and a production personnel of the automation plant does not have corresponding capability to complete the debugging and installation of the robot arm. The situation that the machine tool is moved to change the arrangement of the automatic factory frequently occurs due to production requirements, and the positions of the machine tool and the robot arm are changed, so that debugging personnel of a robot arm manufacturer need to be arranged to debug the robot arm again to meet production requirements. Obviously, the above situation brings inconvenience, consumption of personnel and expenses, and time to the automation plant. Particularly, when a robot arm manufacturer cannot allocate debugging personnel for debugging, the production line of an automatic factory is stopped.
Disclosure of Invention
Based on this, it is necessary to provide an automatic feeding and discharging control scheme for replacing the robot arm, which is skillfully designed, and realizes a low-cost, accurate and reliable automatic feeding and discharging scheme by utilizing the cooperative control of the machine tool workbench, the automatic feeding and discharging machine, the material conveying mechanism, the positioning material supporting mechanism and the gripping device of the machine tool.
According to the content of the application, a material conveying automatic control system method is provided, and the material conveying automatic control method is characterized by comprising the following steps:
s1, controlling a driving cylinder in a material conveying mechanism of an automatic feeding and discharging machine outside the machine tool to drive a moving plate to convey a material supporting plate and a jig arranged on the material supporting plate to a positioning material supporting mechanism arranged on a machine tool workbench, wherein the material supporting plate is detachably provided with the jig;
s2, controlling a zero point quick-change device of the positioning material supporting mechanism to clamp the material supporting plate;
s4, controlling the gripping device to move downwards, gripping the jig arranged on the material supporting plate, separating the jig from the material supporting plate and transferring the jig to the gripping device, wherein the gripping device only moves in the vertical direction;
and S6, controlling the gripping device to mount the jig on a second zero quick-change device on the machine tool workbench.
It should be noted that the grasping apparatus is moved only in the up-down direction among the up-down direction movements, that is, only in the up-down direction without moving in the left-right and front-back directions, and of course, the grasping apparatus performs a grasping operation including a rotation operation in addition to the up-down movement.
Further, a step S3 is further included between the steps S2 and S4: controlling the machine tool workbench to move so that the retainer plate on the positioning retainer mechanism moves below a gripping device, wherein the gripping device is fixedly arranged in the machine tool; also included between steps S4 and S6 is step S5: and controlling the machine tool workbench to move so as to drive a second zero point quick-change device arranged on the machine tool workbench to move below the grabbing device.
Further, before step S1, the method further includes:
s11, controlling a lifting rod and a lifting plate in the automatic feeding and discharging machine to move to preset positions;
and S12, controlling the material moving claw in the material conveying mechanism to clamp the retainer plate from two sides and enabling the push block on the material moving claw to be clamped into the clamping groove of the retainer plate.
Further, in step S2, the positioning material supporting mechanism clamps the material supporting plate, specifically, the positioning material supporting plate is a positioning chuck arranged on the material supporting plate and clamped by a second zero-point quick-change device of the positioning material supporting mechanism.
Further, in step S3, the moving the retainer plate on the positioning retainer mechanism to below the gripping device is to move the jig on the retainer plate to below the gripping device.
Further, in step S3, controlling the machine tool table to move, specifically, controlling the machine tool table to perform two-dimensional movement on a plane, so that jigs at different positions move below the gripping device.
Further, step S1 is specifically to control the driving cylinder to drive the moving plate and the retainer plate to move so as to move the retainer plate to the positioning retainer mechanism, trigger a contact switch or a sensor near the driving cylinder when the driving cylinder moves to a predetermined position, and control the driving cylinder to stop working after receiving a signal of the contact switch or the sensor.
Further, after step S6 is completed, the machine tool is controlled to machine the workpiece in the jig, and after the machining is completed, step S7 is performed: the second zero point quick-change device on the machine tool workbench and the jig are controlled to move to the position below the grabbing device, the grabbing device is controlled to grab the jig, the positioning material supporting mechanism on the machine tool workbench is controlled to move to the position below the grabbing device, the grabbing device is controlled to move the jig to the material supporting plate on the positioning material supporting mechanism, the zero point quick-change device is controlled to release the material supporting plate, and the driving cylinder is controlled to drive the movable plate and the material supporting plate to move into the cabinet of the automatic feeding and discharging machine.
Further, step S13 is also included after step S12: and controlling the lifting plate to move downwards to a preset position, so that the material supporting plate is not blocked by the bin supporting plate and moves to the positioning material supporting mechanism.
In addition, the application provides an automatic control system for material conveying, which comprises a positioning material supporting mechanism, an automatic feeding and discharging machine, a grabbing device and a controller, wherein the controller is used for executing the automatic control method for material conveying
The automatic control system and the method for material conveying at least have the following advantages:
the method and the system completely replace the scheme of using a robot arm to realize automatic material conveying, greatly reduce the hardware cost, greatly reduce the programming complexity, do not need personnel of a robot arm company to specially debug the robot arm, can finish programming and debugging by the personnel of an automatic factory, can quickly meet the requirements of a production line, and are suitable for large-scale production by adopting the scheme.
Drawings
FIG. 1 is a schematic structural view of a retainer plate and a positioning retainer mechanism;
2-1, 2-2 and 2-3 are schematic structural views of the retainer plate;
FIG. 3 is a schematic diagram of the automatic feeding and discharging machine, the material supporting mechanism and the machine tool (the grabbing device is omitted);
FIG. 4 is an enlarged view of a machine tool and a part of the position of an automatic feeding and discharging machine and a material supporting mechanism;
FIG. 5 is a schematic structural view including a gripping device (the loading and unloading machine is omitted);
FIG. 6 is a partial schematic structural view;
FIG. 7 is a schematic structural view of a material moving claw;
FIG. 8 is a sectional view of the middle of the material moving claw;
FIG. 9 is a partial cross-sectional view of the front end of the transfer claw;
FIG. 10 is a schematic view of a retainer plate in another embodiment;
FIG. 11 is a schematic structural view of a positioning and supporting mechanism in another embodiment;
FIG. 12 is a flow chart of a control method of the present application;
fig. 13 is a flowchart of another embodiment of the control method of the present application.
In the figure, 1, a retainer plate; 2. an incoming material supporting plate; 3. fixing the bottom plate; 4. mounting plates are quickly replaced; 5. a zero point quick-change device; 6. a jig; 7. a material moving claw; 8. moving the plate; 9. a slide rail; 10. a driving cylinder; 11. a stock bin support frame; 12. a stock bin supporting plate; 13. a feeding support plate; 14. a machine tool table; 15. a second zero quick-change device; 16. automatic feeding and discharging machines; 17. a lifting rod; 18. a connecting seat; 19. a machine tool; 20. a gripping device; 21. a pulley; 22. a second drive cylinder assembly; 23. a guide rail; 41. a vertical plate; 42. a height adjustment guide block; 43. a height adjusting screw mounting hole; 44. a gas supply connector is quickly replaced; 71. a push block; 72. a spring; 73. a spring adjustment screw; 111. a material supporting front plate; 112. supporting a material rear plate; 113. positioning the chuck; 114. a guide accommodating groove; 115. a first limit surface; 116. a second limiting surface; 117. a jig accommodating groove; 118. a guide pin; 119. a guide positioning groove; 120. and (7) guiding and positioning pins.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
It should be understood that the terms "first", "second", etc. are used herein to describe various information, but the information should not be limited to these terms, which are only used to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Referring to fig. 12, the present invention provides an automatic control method for material transportation, comprising the following steps:
s1, controlling a driving cylinder 10 in a material conveying mechanism of an automatic feeding and discharging machine outside a machine tool to drive a moving plate 8 to convey a material supporting plate 1 and a jig arranged on the material supporting plate 1 to a positioning material supporting mechanism arranged on a machine tool workbench 14, wherein the material supporting plate 1 is detachably provided with a jig 6;
s2, controlling a zero point quick-change device 5 of the positioning material supporting mechanism to clamp the material supporting plate 1;
s4, controlling a gripping device to move downwards, gripping the jig 6 arranged on the retainer plate 1, separating the jig 6 from the retainer plate 1 and transferring the jig 6 to the gripping device 20, wherein the gripping device 20 only moves in the vertical direction;
and S6, controlling the gripping device 20 to mount the jig 6 on the second zero point quick-change device 15 on the machine tool workbench 14.
It should be noted that the above-mentioned gripping device 20 moves only in the vertical direction, which means that the movement is only in the vertical direction, and of course, the gripping device can also perform the gripping operation on the jig 6.
Referring to fig. 13, in another embodiment, a step S3 is further included between the above steps S2 and S4: controlling the machine tool workbench 14 to move so that the retainer plate 1 on the positioning retainer mechanism moves below a gripping device 20, wherein the gripping device 20 is fixedly installed in the machine tool; also included between steps S4 and S6 is step S5: the machine tool workbench 14 is controlled to move so as to drive the second zero point quick-change device 15 installed on the machine tool workbench 14 to move below the gripping device 20.
Further, before step S1, the method further includes:
s11, controlling the lifting rod 17 and the lifting plate in the automatic feeding and discharging machine to move to preset positions;
s12, controlling the material moving claw 7 in the material conveying mechanism to clamp the retainer plate 1 from two sides and enabling the push block 71 on the material moving claw 7 to be clamped in the clamping groove of the retainer plate 1.
Further, in step S2, the positioning material supporting mechanism clamps the material supporting plate 1, specifically, the second zero point quick-change device 15 of the positioning material supporting mechanism clamps the positioning chuck 113 disposed on the material supporting plate.
Further, in step S3, moving the retainer plate 1 on the positioning retainer mechanism to the position below the gripping device 20 specifically includes: so that the tools 6 on the retainer plate move below the gripping device 20.
In another embodiment, in step S3, the controlling the movement of the machine tool table 14 specifically includes: the machine tool worktable 14 is controlled to perform two-dimensional movement on a plane, so that the jigs 6 at different positions move below the gripping device 20.
Further, step S1 is specifically to control the driving cylinder 10 to drive the moving plate 8 and the retainer plate 1 to move so as to move the retainer plate 1 to the positioning retainer mechanism, trigger a contact switch or a sensor (not shown) near the driving cylinder when the driving cylinder 10 moves to a predetermined position, and control the driving cylinder to stop working after receiving a signal of the contact switch or the sensor.
In another embodiment, after step S6 is completed, the machine tool is controlled to machine the workpiece in the jig 6, and after the machining is completed, step S7 is performed: controlling the second zero point quick-change device 15 and the jig 6 on the machine tool workbench 14 to move to the position below the gripping device 20, controlling the gripping device to grip the jig 6, controlling the positioning material supporting mechanism on the machine tool workbench to move to the position below the gripping device 20, controlling the gripping device 20 to move the jig 6 to the material supporting plate 1 on the positioning material supporting mechanism, controlling the zero point quick-change device 5 to release the material supporting plate, and controlling the driving cylinder 10 to drive the movable plate 8 and the material supporting plate 1 to move to the cabinet of the automatic feeding and discharging machine.
Further, step S13 is also included after step S12: the lifting plate is controlled to move downwards to a preset position, so that the retainer plate is not blocked by the bin support plate 12 and moves to the positioning retainer mechanism.
The invention also provides an automatic control system for material conveying, which comprises a positioning material supporting mechanism, an automatic feeding and discharging machine and gripping device 20 and a controller, wherein the controller is used for executing the automatic control method for material conveying.
It should be noted that the controller may be an external controller that is only responsible for executing the steps S1, S2, S4 and S6, for example, the controller is installed inside the automatic feeding and discharging machine 16, and the controller communicates with the controller of the machine tool itself and transmits the control command. The controller may be an integrated controller that performs the steps S1-S6, and specifically, the controller of the present application is used to control the operation of the machine tool and the automatic loader/unloader 16 together.
In order to facilitate understanding of the control method and system, details of a corresponding mechanical system for realizing control are explained in terms of structural principles.
Referring to fig. 1-4, the material conveying mechanism and the positioning and supporting mechanism are described in detail as follows.
The material conveying mechanism comprises a material supporting plate 1, a material bin, a material moving claw 7, a moving plate 8, a driving air cylinder 10, a sliding rail 9 and a feeding supporting plate 13, the driving air cylinder 10 and the sliding rail 9 are installed on the feeding supporting plate 13, the feeding supporting plate 13 is a supporting part in an external cabinet (an automatic feeding and discharging machine) and is used for supporting and fixing the driving air cylinder 10 and the sliding rail 9, the material bin comprises a material bin supporting frame 11 and a material bin supporting plate 12, the material bin supporting plate 12 is used for supporting and containing the fixed material supporting plate 1, and the material bin supporting frame 11 is used for supporting and fixing the material bin supporting plate 12. The moving plate 8 is arranged on the feeding supporting plate 13 through a slide rail 9, the moving plate 8 can slide along the slide rail 9, and the moving claw 7 is arranged on the moving plate 8.
The material moving claw 7 can convey the material supporting plate 7 to the positioning material supporting mechanism, the positioning material supporting mechanism comprises an incoming material supporting plate 2, a fixing base plate 3, a quick-change mounting plate 4, a vertical plate 41 and a zero point quick-change device 5, the fixing base plate 3 is mounted on a machine tool workbench 14, the vertical plate 41 is fixedly mounted on the fixing base plate 3, the quick-change mounting plate 4 is adjustably and oppositely fixed on the vertical plate 41 in a relative position, the zero point quick-change device 5 is mounted on the quick-change mounting plate 4, and the incoming material supporting plate 2 is fixedly mounted on the quick-change mounting plate 4. The number of the incoming material supporting plates 2 is 2, a plurality of pulleys 21 are further installed on the incoming material supporting plates 2, and the pulleys 21 are used for supporting the material supporting plates 1 in a sliding mode so as to reduce friction. Be provided with altitude mixture control guide block 42 on quick change mounting panel 4, riser 41 is provided with altitude mixture control guide block holding tank, height adjusting screw (not shown) and height adjusting screw mounting hole 43, and height adjusting screw passes height adjusting screw mounting hole 43 and with height adjusting guide block 42 threaded connection, and the reciprocating of height adjusting guide block 42 can be realized to rotatory height adjusting screw, drives quick change mounting panel 4 and zero point quick change device 5 and reciprocates, so, carry flitch 1 that comes all can with zero point quick change device 5 accurate cooperation under the different altitude value circumstances, be unlikely to the unable complex condition to appear. Furthermore, a quick-change gas supply connection 44 is provided on the quick-change mounting plate 4, so that the introduction or disconnection of external gas releases or clamps the zero point quick-change device 5.
The material conveying mechanism is used for conveying the jig and the processed workpiece in the jig to the positioning material supporting mechanism, and certainly, after the processed workpiece is conveyed to the positioning material supporting mechanism, the jig and the processed workpiece in the jig are still installed on the material supporting plate, that is, the material supporting plate 1 is conveyed to the positioning material supporting mechanism together. Therefore, the jig and the processed workpiece in the jig can move together with the positioning material supporting mechanism, and the positioning material supporting mechanism is arranged on the machine tool workbench 14, so that the positioning material supporting mechanism can move together with the machine tool workbench 14 after the machine tool workbench 14 obtains a moving instruction sent by a machine tool controller. It should be noted that, referring to fig. 5, a gripping device 20 is further disposed on the machine tool, which is fixed on one side of the cutter head and fixed on the machine tool, and the gripping device can only move up and down (it is emphasized here that the gripping device moves up and down, rather than left and right and back and forth, and of course, the gripping device also performs gripping actions in addition to up and down, and the gripping actions also include rotation actions and tensioning actions), when the standby bed worktable 14 drives the positioning material supporting mechanism and the material supporting plate 1 to move and make any jig on the material supporting plate 1 just move to the right below of the gripping device 20, the gripping device 20 moves down and grips the jig on the material supporting plate 1, then the gripping device 20 moves up to a certain predetermined position, the machine tool worktable 14 moves towards the direction of the gripping device 20, when the second zero point quick change device 15 on the standby bed worktable 14 is located right below the gripping device 20, the gripping device 20 moves downwards and moves the jig onto the second zero-point quick-change device 15, the second zero-point quick-change device 15 then clamps and fixes the jig, and after the above process is completed, according to the instruction of the machine tool controller, the workpiece in the jig can be processed according to the process program (for example, the machine tool controller controls the spindle to move and rotate and the tool mounted on the spindle processes the workpiece). It should be noted that, the second zero point quick-change device 15 is different from the zero point quick-change device 5, and may also clamp the jig to rotate, and the structure is relatively more complex, and the structure of the zero point quick-change device 5 is simple and is only used for positioning and clamping the retainer plate 1, and the second zero point quick-change device 15 and the zero point quick-change device 5 are also different in the object clamped in the present application, one is a clamping jig, and the other is a clamping retainer plate 1; the zero-point quick-change device 5 and the second zero-point quick-change device 15 can both realize high-precision positioning and clamping. The gripping means of the present application are not described in detail, but are described in detail in other patents filed by the applicant.
Referring to fig. 1-9, the storage bin includes 4 stacked storage bin support frames 11 and storage bin support plates 12, a through groove is formed in the center of the feeding support plate 13, the storage bin can move up and down through the through groove, after the storage bin moves to a predetermined position, the second driving cylinder assembly 22 drives the material moving claw 7 to enter a clamping state from an opening state (see fig. 6, the material moving claw 7 can move along the guide rail 23), at this time, the material moving claw is clamped into the guide accommodating groove 114 of the material supporting plate 1, and the moving plate 8 moves leftwards from the right initial position and drives the material moving claw 7 to move towards the positioning material supporting mechanism. It should be noted that after the pushing block 71 of the material moving claw 7 is clamped into the clamping groove of the material supporting plate 1, the material moving claw 7 can push the material supporting plate 1 to move leftward, after the positioning chuck 113 of the material supporting plate 1 is clamped into the zero point quick-change device 5, the material supporting plate 1 stops moving, and then the zero point quick-change device 5 clamps and fixes the material supporting plate 1. It should be noted that when the material moving claw 7 clamps the retainer plate 1, the push block 71 of the material moving claw 7 can be clamped into the clamping groove of the retainer plate 1; or the pushing block 71 is not clamped in the clamping groove of the retainer plate 1, and the to-be-moved plate 8 drives the material moving claw 7 to be clamped in the clamping groove of the retainer plate 1 at a certain time point after the material moving claw moves towards the positioning material supporting mechanism in the guide accommodating groove 114 of the retainer plate 1. It should be noted that the number of the bin support frames 11 and the bin support plates 12 stacked in the bin may be selected according to the requirement, and the number may be 1 to N, where N is a natural number. Referring to fig. 2-1, 2-2, 2-3 and 9, the pushing block 71 on the material moving claw 7 is adjusted by a spring adjusting screw 73, the spring adjusting screw 73 is in threaded connection with the body of the material moving claw 7, and a spring is sleeved on the spring adjusting screw 73 and can push the pushing block 71 to move outwards, so that the pushing block 71 can be clamped in the clamping groove of the retainer plate 1, and the material moving claw 7 can push the retainer plate 1 to move back and forth.
Referring to fig. 2-1, 2-2 and 2-3, a retainer plate 1 is provided with a mounting hole and a concave elongated guide receiving groove 114, the mounting hole is used for mounting a positioning chuck 113, the positioning chuck is used for being abutted with a zero point quick-change device 5 so as to position and clamp the retainer plate 1, the guide receiving groove 114 is used for receiving a material moving claw 7 of a material conveying mechanism, an inward concave clamping groove is further arranged at the upper end of the guide receiving groove 114, the clamping groove is provided with a first limiting surface 115 and a second limiting surface 116, the first limiting surface 115 and the second limiting surface 116 are oppositely arranged, the first limiting surface 115 is used as a first stressed surface when the retainer plate 1 is driven, so that the first stressed surface is stressed and then the retainer plate 1 is driven to move along a first direction, the second limiting surface 116 is used as a second stressed surface when the retainer plate 1 is driven, so that the second stressed surface is then the retainer plate 1 is driven In a second direction opposite to the first direction. Thus, the material supporting plate 1 can realize the feeding and the discharging. The retainer plate 1 further includes a jig receiving groove 117 and a guide pin 118, the guide pin 118 is mounted on a bottom surface of the jig receiving groove 117, and the guide pin 118 is used for guiding the jig to position the jig in the jig receiving groove 117.
The retainer plate 1 further comprises a guide positioning groove 119, and the guide positioning groove 119 is used for positioning the retainer plate 1 on the positioning retainer mechanism. In fig. 2-1, 2-2 and 2-3, 1 guide positioning groove 119 is provided with a downward opening, which is matched with a guide block (not shown) on a quick-change mounting plate in a positioning and supporting mechanism. Of course, referring to FIG. 10, the shape and number of guide detents 119 may be other, such as 2 guide detents 119 in FIG. 10. In fig. 11, the number of the guide positioning pins 120 on the vertical plate 4 is 2, which corresponds to 2 guide positioning grooves in fig. 10.
It should be noted that the number of the zero point quick-change devices 5 may be 1, or may be 2 or more, and the setting may be adjusted according to the requirement. The number of zero point quick change devices 5 in fig. 2-1, 2-2 and 2-3 is 2, whereas in fig. 11 the number of zero point quick change devices 5 is 1.
The retainer plate 1 may be an integral structure or may be a front retainer plate 111 and a rear retainer plate 112, and at this time, the front retainer plate 111 is provided with a positioning chuck 113, and the guide positioning slot 119 is disposed on the front retainer plate 111.
Further, referring to fig. 3 and 4, the present application also provides an automatic feeding and discharging machine 16 including a lifting mechanism including a lifting rod 17 and a lifting plate (not shown) on which the magazine is mounted, and further, a magazine support plate 12 is mounted on the lifting plate (in fig. 3 and 4, the lifting plate under the magazine support frame 11 is not marked). The lifting plate can pass through a through groove arranged in the center of the feeding support plate 13 to move up and down to realize lifting, so that materials in different layers in the stacked storage bin are conveyed out. Further, a connecting seat 18 is arranged outside the automatic feeding and discharging machine 16, and the automatic feeding and discharging machine 16 is fixedly connected with a machine tool 19 through the connecting seat 18. It should be noted that the number of the lifting rods 17 can be set according to actual needs, and the driving manner of the lifting rods 17 can also be hydraulic, pneumatic or electric, without any limitation.
The tool and the processed workpiece are conveyed and positioned by using the material conveying mechanism and the positioning material supporting mechanism, particularly, the zero point quick-change device 5 and the gripping device capable of ascending and descending are adopted in the positioning material supporting mechanism, so that the tool and the processed workpiece can be accurately positioned and conveyed to a preset position to facilitate subsequent processing, compared with a mode of positioning and conveying the tool and the processed workpiece by using a three-coordinate robot arm on a production line, the tool and the processed workpiece have low cost, the positioning precision of the zero point quick-change device 5 completely meets the processing requirement, and after the scheme of the application is used, repeated debugging is not needed because of moving of machine tool equipment or misplacing and moving of the robot arm, the robot arm needs to be debugged on site by a robot arm manufacturer, and an engineer of a common automatic factory does not have the capability, and the scheme of this application is fixed a position, is realized snatching and is transported with material conveying mechanism with grabbing device oscilaltion with the quick change device at zero point, and the debugging of this equipment, the automation personnel of mill just can oneself accomplish, and the programming debugging is simple relatively, makes things convenient for follow-up maintenance greatly. In a word, compared with a scheme of realizing automatic production by using a robot arm, the scheme of the application has incomparable cost advantage and debugging and maintenance convenience. Especially, this application installation zero point quick change device realizes the location of material and carries on the lathe workstation, sets up grabbing device and realizes snatching of material, is the creative scheme that is different from prior art completely. In addition, the machine tool workbench also participates in positioning (for example, the machine tool workbench needs to move so as to drive a zero point quick-change device installed on the machine tool workbench to move to a position under the grabbing device to realize jig transfer), and the positioning precision of the machine tool workbench is very high, namely the high-precision positioning and conveying scheme of the zero point quick-change device and the machine tool workbench replaces the scheme of positioning, grabbing and conveying by using a robot mechanical arm in the prior art, and the automation cost and the reliability are not affected at all.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. An automatic control method for material conveying is characterized by comprising the following steps:
s1, controlling a driving cylinder in a material conveying mechanism of an automatic feeding and discharging machine outside the machine tool to drive a moving plate to convey a material supporting plate and a jig arranged on the material supporting plate to a positioning material supporting mechanism arranged on a machine tool workbench, wherein the material supporting plate is detachably provided with the jig;
s2, controlling a zero point quick-change device of the positioning material supporting mechanism to clamp the material supporting plate;
s4, controlling a gripping device to move downwards, gripping a jig arranged on the material supporting plate, separating the jig from the material supporting plate and transferring the jig to the gripping device, wherein the gripping device only moves in the vertical direction;
and S6, controlling the gripping device to mount the jig on a second zero quick-change device on the machine tool workbench.
2. The automatic control method for material conveying according to claim 1,
also included between steps S2 and S4 is step S3: controlling the machine tool workbench to move so that the retainer plate on the positioning retainer mechanism moves below a gripping device, wherein the gripping device is fixedly arranged in the machine tool;
also included between steps S4 and S6 is step S5: and controlling the machine tool workbench to move so as to drive a second zero point quick-change device arranged on the machine tool workbench to move below the grabbing device.
3. The automatic control method for material conveying according to claim 1, characterized by, before step S1, further comprising:
s11, controlling a lifting rod and a lifting plate in the automatic feeding and discharging machine to move to a preset position;
and S12, controlling the material moving claw in the material conveying mechanism to clamp the retainer plate from two sides and enabling the push block on the material moving claw to be clamped into the clamping groove of the retainer plate.
4. The automatic control method for material conveying according to claim 1, characterized in that in step S2, the positioning material supporting mechanism clamps the material supporting plate, specifically, a second zero point quick-change device of the positioning material supporting mechanism clamps a positioning chuck arranged on the material supporting plate.
5. The method according to claim 1, wherein in step S3, the material supporting plate on the positioning material supporting mechanism is moved below a gripping device, specifically, jigs on the material supporting plate are moved below the gripping device.
6. The automatic control method for material conveying according to claim 2, characterized in that in step S3, the machine tool workbench is controlled to move, specifically, the machine tool workbench is controlled to perform two-dimensional movement on a plane, so that jigs at different positions move below the gripping device.
7. The automatic control method for material conveying according to claim 1, wherein step S1 is specifically to control a driving cylinder to drive a moving plate and the retainer plate to move so as to move the retainer plate to the positioning retainer mechanism, trigger a contact switch or a sensor near the driving cylinder when the driving cylinder moves to a predetermined position, and control the driving cylinder to stop working after receiving a signal of the contact switch or the sensor.
8. The automatic control method for material conveying according to claim 2, wherein after step S6 is completed, the machine tool is controlled to machine the workpiece in the jig, and after the machining is completed, step S7 is performed: controlling the second zero point quick-change device on the machine tool workbench and the jig to move to the position below the gripping device, controlling the gripping device to grip the jig, controlling the positioning material supporting mechanism on the machine tool workbench to move to the position below the gripping device, controlling the gripping device to move the jig to the material supporting plate on the positioning material supporting mechanism, controlling the zero point quick-change device to release the material supporting plate, and controlling the driving cylinder to drive the movable plate and the material supporting plate to move to the machine cabinet of the automatic feeding and discharging machine.
9. The automatic control method for material conveying according to claim 3, further comprising step S13 after step S12: and controlling the lifting plate to move downwards to a preset position, so that the material supporting plate is not blocked by the bin supporting plate and moves to the positioning material supporting mechanism.
10. The automatic control method for material conveying according to claim 3, wherein the step S12 is specifically: and controlling the material moving claw in the material conveying mechanism to be clamped into the guide accommodating groove in the material supporting plate from two sides of the material supporting plate, and controlling the movable plate to move towards the positioning material supporting mechanism so as to drive the material moving claw to extend into the guide accommodating groove in the material supporting plate until the push block on the material moving claw is clamped into the clamping groove in the guide accommodating groove.
11. An automatic control system for material conveying, which comprises a positioning material supporting mechanism, an automatic feeding and discharging machine, a gripping device and a controller, wherein the controller is used for executing the automatic control method for material conveying according to any one of claims 1 to 8.
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