CN115026622B

CN115026622B - Universal automatic machining system for complex parts

Info

Publication number: CN115026622B
Application number: CN202210952825.8A
Authority: CN
Inventors: 方伟豪; 于采秀; 余乐平
Original assignee: Langkuai Intelligent Technology Hangzhou Co ltd
Current assignee: Langkuai Intelligent Technology Hangzhou Co ltd
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2022-10-25
Anticipated expiration: 2042-08-10
Also published as: CN115026622A

Abstract

The invention relates to the field of automatic processing, and particularly discloses a universal automatic processing system for complex parts. The universal automatic processing system comprises a processing module, a feeding and discharging module, a feeding module and a discharging module, wherein the processing module comprises a rack, and the feeding and discharging module comprises an operating table and a mechanical arm; the feeding module comprises a feeding conveying assembly, and the feeding conveying assembly is provided with a feeding area and a feeding waiting area; the feeding area is provided with a material stack transferring mechanism, and the feeding waiting area is provided with a material box transferring mechanism; the discharging module comprises a discharging conveying assembly, and the discharging conveying assembly is provided with a discharging area and a discharging stacking area; the ejection of compact district be equipped with the stack transport mechanism, ejection of compact pile up neatly district be equipped with magazine transport mechanism. The general automatic processing system realizes the automatic feeding and discharging of the complex parts through the automatic transfer of the material boxes, and further realizes the automatic processing of the complex parts.

Description

Universal automatic machining system for complex parts

Technical Field

The invention relates to the field of automatic processing, in particular to a universal automatic processing system for complex parts.

Background

Along with the gradual increase of labor cost, the automation of production and processing is an inevitable trend. At present, the automation of processing modules, such as general-purpose numerical control processing centers and special-purpose machine tools, is becoming more and more mature, but there is a certain contradiction between the generality and the processing efficiency of the processing modules. For example, the numerical control machining center has good universality, but is complex to debug, generally needs manual loading and unloading, clamping, tool setting and other operations, has low machining efficiency, and is suitable for small-batch trial production of products; the special machine tool has high processing efficiency but no universality.

One of the important factors hindering the improvement of the production efficiency of the universal machine tool lies in the difficulty in realizing the universality of the loading and unloading module, and particularly, for complex parts, the reliable positioning and the stable transfer of the parts are difficult to realize, so that the automation degree of loading and unloading and the automation degree of processing are restricted.

Disclosure of Invention

The invention aims to solve the technical problem of providing a universal automatic processing system for complex parts, which realizes automatic feeding and discharging of the complex parts through automatic transfer of a material box, and further realizes automatic processing of the complex parts.

In order to solve the technical problems, the technical scheme provided by the invention is as follows: a universal automated processing system for complex parts, comprising at least:

the processing module comprises a rack, and a processing unit and a feeding and discharging station are arranged on the rack;

the feeding and discharging module comprises an operating platform and a mechanical arm, and a feeding area and a discharging area are arranged on the operating platform; the mechanical arm at least comprises three states which respectively correspond to the feeding and discharging station, the feeding area and the discharging area;

the feeding module comprises a feeding conveying assembly, the feeding conveying assembly is provided with a feeding area and a feeding waiting area, and the feeding conveying assembly conveys a stack from the feeding area to the feeding waiting area; the feeding area is provided with a material stack transferring mechanism, the feeding waiting area is provided with a material box transferring mechanism, and the corresponding material box transferring mechanism is used for transferring material boxes from the feeding waiting area to the feeding area;

the discharging module comprises a discharging conveying assembly, the discharging conveying assembly is provided with a discharging area and a discharging stacking area, and the discharging conveying assembly conveys the material stack from the discharging stacking area to the discharging area; the ejection of compact district be equipped with the stack transport mechanism, ejection of compact pile up neatly district be equipped with magazine transport mechanism, the magazine transport mechanism that corresponds is used for carrying the magazine to ejection of compact pile up neatly district from the unloading district.

When processing, at first select the magazine to set up certain quantity and the constant head tank of waiting for processing the part matching in the magazine, will wait to process the part and set up in the constant head tank one by one, through the form of customization constant head tank, various complicated parts of adaptation. Then, stacking the material boxes in sequence, conveying the material boxes to a material stack transferring mechanism of a feeding module in a material stack mode, and conveying the material boxes to a feeding area through the material stack transferring mechanism; the feeding conveying assembly conveys the material stack to a feeding waiting area, the corresponding material box transfer mechanism takes out the material boxes one by one from the feeding waiting area and transfers the material boxes to the feeding area of the operating platform, and finally the mechanical arms take out the parts to be processed one by one from the material boxes of the feeding area and send the parts to be processed into a feeding and discharging station to complete the whole feeding operation.

After the parts to be processed are processed correspondingly by the processing module, the mechanical arm takes down the processed parts from the feeding and discharging station and sends the parts into the material box of the feeding area. When the number of the processed parts in the material box in the discharging area reaches a preset value, the material box transferring mechanism of the discharging module takes out the material box from the discharging area and transfers the material box to the discharging stacking area to be sequentially stacked into a material stack. When the number of the material boxes in the material stack reaches a preset value, the material stack is conveyed to the discharging area by the discharging conveying assembly, and the material stack transferring mechanism in the discharging area is taken out to complete the whole discharging operation.

Through the general type automated processing system of this application, can automize and accomplish the material loading operation, the operation of unloading and the processing operation of part, realize full automatic processing. Simultaneously, through the setting of magazine and constant head tank, various complicated parts of matching that can be fine to the automatic transportation of replacing the part is transported in the automation of magazine, on the basis of guaranteeing automated processing, fine compromise the commonality.

Preferably, the rack is also provided with at least one processing station, and the processing unit corresponds to the processing station; the processing module further comprises a clamping assembly and a shifting assembly, and the shifting assembly is used for driving the clamping assembly to shift between the processing station and the feeding and discharging station.

Can set up a plurality of centre gripping subassemblies, when one of them centre gripping subassembly goes up unloading operation in the unloading station execution, all the other centre gripping subassemblies can carry out the processing operation at the machining-position station, improve whole machining efficiency.

Preferably, the operating platform is further provided with a material box conveying assembly, and the material box conveying assembly is used for conveying material boxes from the feeding area to the discharging area.

When all parts to be processed in the material feeding area material box are taken out, the material box in the discharging area is transferred to the discharging stacking area, and the material box conveying assembly conveys the material box in the material feeding area to the discharging area for receiving the next part to be processed. Correspondingly, the space of the feeding area is left out to prepare for the next material box for containing the parts to be processed.

Preferably, the loading and unloading module further comprises a clamp library, at least two groups of clamp units are arranged in the clamp library, and the clamp units are detachably connected with the mechanical arm; and a chuck is arranged on the clamp unit.

Aiming at parts of different types and models, the parts can be adapted by changing the form of the clamp unit, the mechanical arm can be adapted to parts of various types and models, and the universality of the equipment is improved.

Preferably, the number of the chucks on each of the chuck units is two.

Two chucks work simultaneously, one of them chuck is used for getting from the material loading district clamp and treats the processing part, and another chuck is used for getting the part that the processing was accomplished from last unloading station clamp, not only can improve and get the efficiency of getting, and the shape difference that can also better adaptation part formed in the course of working guarantees the centre gripping reliability.

Preferably, each stack transferring mechanism comprises two stack transferring executing assemblies, and each stack transferring executing assembly comprises a transferring bracket, a lifting unit and a first driving unit for driving the transferring bracket to horizontally move; the lifting unit is arranged on the transferring support, and a second driving unit for driving the lifting unit to vertically move is further arranged on the transferring support; the lifting unit comprises a lifting piece and a third driving unit for driving the lifting pieces of the two stack transferring executing assemblies to move relatively, and the lifting piece is positioned on one side of the transferring support;

the lifting pieces of the two material stack transferring executing assemblies are oppositely arranged, and a material stack space is formed between the two material stack transferring executing assemblies; when the synchronous driving device works, the two first driving units work synchronously, the two second driving units work synchronously, and the two third driving units work synchronously.

When the feeding operation is carried out, the material stack is firstly sent into the material stack space of the corresponding material stack transfer mechanism, and the third driving unit drives the two lifting pieces to be close to each other until the material stack is clamped. And then the second driving unit works to drive the two lifting pieces to synchronously lift the material stack support. And finally, the first driving unit works to drive the two transfer supports to synchronously and horizontally move in the same direction, and simultaneously, the material stack is transferred to the feeding area to finish feeding operation. And finally, the first driving unit, the second driving unit and the third driving unit work reversely, and the material stack transferring mechanism resets.

Correspondingly, the working principle of the material stack transferring mechanism in the discharging module is consistent with that of the material stack transferring mechanism in the feeding module.

Preferably, the material box transferring mechanism comprises a support frame, and the support frame is provided with a material box clamping unit, a fourth driving unit for driving the material box clamping unit to move horizontally and a fifth driving unit for driving the material box clamping unit to move vertically;

the material box clamping unit comprises a supporting piece, two clamping plates are arranged on the lower side of the supporting piece and are arranged oppositely, and a material box area is formed between the two clamping plates; and the support is also provided with a sixth driving unit for driving the two clamping plates to relatively approach or separate.

When the feeding operation is carried out, the material stack is conveyed to the feeding waiting area through the feeding conveying assembly, the fourth driving unit and the fifth driving unit are matched to adjust the position of the material box clamping unit, and the uppermost material box in the material stack enters the material box interval corresponding to the material box clamping unit. The sixth drive unit is then operated to drive the two jaws to cooperatively grip the uppermost magazine in the stack. And finally, the fourth driving unit and the fifth driving unit work in a matched mode, the material box clamping unit and the clamped material box move to the feeding area, the sixth driving unit works, the material box clamping unit loosens the material box, and single material box transferring operation is completed.

Correspondingly, the working principle of the material box transferring mechanism of the discharging module is consistent with that of the material box transferring mechanism of the feeding module.

Preferably, the feeding area, the feeding waiting area, the discharging area and the discharging stacking area are respectively provided with a positioning and stopping assembly, the positioning and stopping assembly comprises a base and a stopping rod piece, and the stopping rod piece is rotatably and movably connected with the base; the base is also provided with a power unit for driving the stopping rod piece to rotate relative to the base;

the positioning and stopping assembly at least has two working states: in a first working state, the stopping rod piece is lifted, and the corresponding material stack cannot pass through; and in the second position, the stopping rod piece falls down, and the corresponding material stack can smoothly pass through.

The positioning and stopping assembly can position and stop the material stack at specific positions on the feeding conveying assembly and the discharging conveying assembly, and conditions are created for automatically completing feeding operation, stacking operation and discharging operation. Under the condition that the conditions are met, stopping the rod piece to fall down, and allowing the material stack to move along the conveying direction; otherwise, the stopping rod piece is lifted, and the material stack cannot move along with the stopping rod piece even if the feeding conveying assembly and the discharging conveying assembly work.

Preferably, the automatic feeding and discharging device further comprises a control module, wherein the control module comprises a controller, and the controller is electrically connected with the processing module, the feeding and discharging module, the feeding module and the discharging module respectively and controls the working states of the processing module, the feeding and discharging module, the feeding module and the discharging module respectively.

Preferably, the control module further comprises a visual detection assembly, the visual detection assembly acquires visual signals of the feeding area and the discharging area in the operating platform, and judges the position information of the corresponding material box and the position information and the contour information of the workpiece in the material box according to the visual signals; the controller controls the mechanical arm and the processing module to work according to the information of the material box and the workpiece.

Drawings

FIG. 1 is a schematic structural diagram of a general-purpose automatic processing system for complex parts according to an embodiment;

FIG. 2 is a top view of the present embodiment of a generic automated processing system for complex parts;

FIG. 3 is a schematic structural diagram illustrating a state where the general-purpose automatic processing system for complex parts does not include a processing module according to the present embodiment;

FIG. 4 is a top view of the universal automated processing system for complex parts according to the present embodiment without the inclusion of a processing module;

FIG. 5 is a schematic structural diagram illustrating a state of a jig unit for replacing the feeding and discharging modules in the universal automatic processing system for complex parts according to the embodiment;

FIG. 6 is a schematic structural diagram of a corresponding state between a loading/unloading module and a loading area in the universal automatic processing system for complex parts according to the present embodiment;

FIG. 7 is a schematic structural diagram of a corresponding state between a loading/unloading module and a loading/unloading station in the universal automatic processing system for complex parts according to the present embodiment;

FIG. 8 is a schematic structural diagram of an operation table of the general-purpose automatic processing system for complex parts according to the embodiment;

FIG. 9 is a schematic structural diagram of a clamping unit of the universal automatic processing system for complex parts according to the present embodiment;

FIG. 10 is a front view of a first type of fixture unit in the universal automated processing system for complex parts according to the present embodiment;

FIG. 11 is a front view of a second type of gripper unit in the universal automated processing system for complex parts according to the present embodiment;

FIG. 12 is a schematic structural diagram of a feeding module of the universal automatic processing system for complex parts according to the present embodiment;

FIG. 13 is a schematic structural diagram illustrating a first state of a stack transferring mechanism in the general-purpose automatic processing system for complex parts according to the embodiment;

FIG. 14 is a schematic structural diagram illustrating a second state of the stack transferring mechanism in the general-purpose automatic processing system for complex parts according to the embodiment;

FIG. 15 is a schematic structural diagram illustrating a first state of a stack transferring and executing assembly in the general-purpose automatic processing system for complex parts according to the embodiment;

FIG. 16 is a schematic structural diagram illustrating a second state of a stack transferring and executing assembly in the general-purpose automatic processing system for complex parts according to the embodiment;

FIG. 17 is a rear side view of the stack transferring and actuating assembly of the universal automated processing system for complex parts according to the present embodiment;

FIG. 18 is a schematic structural diagram of a lift unit of the general-purpose automated processing system for complex parts according to the present embodiment;

fig. 19 is a schematic structural diagram of the magazine transferring mechanism in the general-purpose automatic processing system for complex parts according to the embodiment in the first state;

fig. 20 is a schematic structural diagram of the magazine transferring mechanism in the general-purpose automatic processing system for complex parts according to the embodiment in the second state;

FIG. 21 is a schematic structural diagram of a magazine transferring structure of the general-purpose automatic processing system for complex parts according to the embodiment;

fig. 22 is a structural formal diagram of a material box transferring structure in the general-purpose automatic processing system for complex parts according to the embodiment;

FIG. 23 is a schematic structural diagram of a stopping assembly in a first state in the general-purpose automated processing system for complex parts according to the present embodiment;

fig. 24 is a schematic structural diagram of the stopping assembly in the second state in the general-purpose automatic processing system for complex parts according to the embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Examples

As shown in fig. 1-4, a general-purpose automatic processing system for complex parts at least comprises a processing module 8, a loading and unloading module 1, a feeding module 5 and a discharging module 3.

Specifically, as shown in fig. 1 and 2, the processing module 8 includes a frame, and a processing unit and a loading and unloading station 81 are disposed on the frame. As a preferred embodiment, the frame is further provided with at least one processing station, and the processing unit corresponds to the processing station. For complex parts, a plurality of processing stations and processing units can be arranged, and the whole processing process is completed in a step-by-step multi-station processing mode. The processing module 8 further comprises a clamping assembly and a shifting assembly, wherein the shifting assembly is used for driving the clamping assembly to shift between the processing station and the feeding and discharging station 81. Can set up a plurality of centre gripping subassemblies, when one of them centre gripping subassembly was gone up unloading operation in the execution of unloading station 81, all the other centre gripping subassemblies can carry out the processing operation at the processing station, improve whole machining efficiency.

Specifically, as shown in fig. 5 to 7, the loading and unloading module 1 includes an operation platform 12 and a mechanical arm 13, and the operation platform 12 is provided with a loading area 15 and a unloading area 11. The operation table 12 is further provided with a material box conveying assembly, and the material box conveying assembly is used for conveying material boxes from the feeding area 15 to the discharging area 11. When all parts to be processed in the material box of the feeding area 15 are taken out, the material box conveying component conveys the material box of the feeding area 15 to the blanking area 11 for receiving the next processed part.

As shown in fig. 5-7, the cartridge delivery assembly includes a delivery channel disposed on the operation table 12, and a delivery power member for pushing the cartridge to move along the delivery channel. As a specific implementation mode, the conveying power part can be a roller paved along the conveying channel and a motor driving the roller to rotate, and a material box arranged on the roller is pushed to move through the rotation of the roller. As another specific embodiment, the conveying power part comprises a guide wheel laid along the conveying channel and a driving chain arranged along the conveying channel, a driving part connected with the material box is arranged on the driving chain, and when the driving chain runs, the driving chain drives the material box to synchronously move through the driving part.

As shown in fig. 5-7, the mechanical arm 13 at least includes three position states, which respectively correspond to the loading and unloading station 81, the loading area 15 and the unloading area 11, and when the mechanical arm 13 corresponds to the loading area 15, the material taking operation from the material box of the loading area 15 is performed; when the mechanical arm 13 corresponds to the loading and unloading station 81, performing an operation of taking down the machined part from the clamping unit of the loading and unloading station 81 and feeding the part to be machined; when the mechanical arm 13 corresponds to the blanking area 11, an operation of feeding the processed parts into the magazine in the blanking area 11 is performed.

As shown in fig. 5-7, the loading and unloading module 1 further includes a clamp library 14, at least two sets of clamp units 16 are disposed in the clamp library 14, and the clamp units 16 are detachably connected to the robot arm 13. The chuck unit 16 is provided with a chuck 161. Aiming at parts of different types and models, the parts of various types and models can be clamped by the mechanical arm 13 through the adaptation in the mode of replacing the clamp unit 16, and the universality is improved.

As shown in fig. 9 to 11, the number of the chucks 161 on each of the chuck units 16 is two. Two chucks 161 work simultaneously, one of them chuck 161 is used for getting from material loading district 15 clamp and treats the processing part, and another chuck 161 is used for getting the part that the processing was accomplished from last unloading station 81 clamp, not only can improve and get efficiency, can also better adaptation part in the shape difference that the course of working formed, guarantee the centre gripping reliability.

As a preferred embodiment, as shown in fig. 5-7, a specific form of collet 161 is provided for clamping of the cylinder head cover, which is a complex part provided with a central hole and the central hole is a stepped hole. Correspondingly, the collet 161 is an internal expanding collet 161. Specifically, the chuck 161 includes at least two expansion arms 162 arranged in parallel and a driving member for driving the expansion arms 162 to approach and separate from each other, and during clamping, the expansion arms 162 approach each other and are inserted into the central hole, and after entering the central hole, the expansion arms 162 separate from each other and expand in the central hole, thereby realizing the internal expansion type clamping of the part.

Further, as shown in fig. 5 to 7, a positioning step is respectively disposed on an outer side of each expansion arm, and when the collet 161 is inserted into the central hole of the cylinder end cover, the collet 161 starts to expand and expand after the positioning step abuts against the step in the positioning hole. The collet 161 is accurately positioned with the cylinder end cap in the direction of the axis of the central bore.

Because the model of cylinder end cover is more, and the aperture of locating hole is different on the different model cylinder end covers, and the degree of depth of step is also different, in order to adapt to the cylinder end cover of different models, needs to set up the chuck 161 of different specifications and be equipped with. Specifically, a plurality of positioning steps may be provided on each expansion arm of the same chuck 161, and the corresponding positioning steps on different expansion arms are located on the same plane, i.e., as shown in fig. 10. As another specific embodiment, each expansion arm on the same chuck 161 is provided with a positioning step, and the positioning steps on different expansion arms are not coplanar, and each positioning step corresponds to a cylinder end cover of a different type, that is, the state shown in fig. 11.

Specifically, as shown in fig. 4, 12 and 19, the feeding module 5 includes a feeding conveying assembly 52, the feeding conveying assembly 52 is provided with a feeding area 53 and a feeding waiting area 51, and the feeding conveying assembly 52 conveys the stack from the feeding area 53 to the feeding waiting area 51. Feeding district 53 be equipped with material buttress transport mechanism 4, material loading waiting area 51 be equipped with magazine transport mechanism 2, corresponding magazine transport mechanism 2 is used for transporting the magazine from material loading waiting area 51 to material loading area 15.

Specifically, as shown in fig. 4, the discharging module 3 includes a discharging conveying assembly 32, the discharging conveying assembly 32 is provided with a discharging area 33 and a discharging stacking area 31, and the discharging conveying assembly 32 conveys the material stacks from the discharging stacking area 31 to the discharging area 33; ejection of compact district 33 be equipped with stack transport mechanism 4, ejection of compact pile up neatly district 31 be equipped with magazine transport mechanism 2, the magazine transport mechanism 2 that corresponds is used for carrying the magazine to ejection of compact pile up neatly district 31 from unloading district 11.

As shown in fig. 12, the feed conveyor assembly 52 includes a conveyor path and a conveyor power member for propelling the stack 6 along the conveyor path. As a specific implementation mode, the conveying power part can be a roller laid along the conveying channel and a motor driving the roller to rotate, and the material stack arranged on the roller is pushed to move through the rotation of the roller. As another specific implementation manner, the conveying power part comprises a guide wheel laid along the conveying channel and a driving chain arranged along the conveying channel, a driving part connected with the material stack is arranged on the driving chain, and when the driving chain runs, the driving chain drives the material stack to move synchronously through the driving part.

The construction and operation of the outfeed conveyor assembly 32 is identical to that of the infeed conveyor mechanism, differing only in the direction of conveyance.

As a specific embodiment, as shown in fig. 12-17, each of the stack transferring mechanisms 4 includes two stack transferring executing assemblies 41, and each of the stack transferring executing assemblies 41 includes a transferring bracket 411, a lifting unit 412, and a first driving unit 413 for driving the transferring bracket 411 to move horizontally. The lifting unit 412 is arranged on the transferring bracket 411, and a second driving unit 414 for driving the lifting unit 412 to move vertically is further arranged on the transferring bracket 411. The lifting unit 412 comprises a lifting piece and a third driving unit 415 for driving the lifting piece of the stack transferring execution assembly to move relatively, and the lifting piece is positioned on one side of the transferring support 411. Two the relative setting of lifting of stack transfer performing component 41, just two the stack transfer performing component 41 between form the stack space. During operation, the two first driving units 413 operate synchronously, the two second driving units 414 operate synchronously, and the two third driving units 415 operate synchronously.

Specifically, as shown in fig. 12 to 17, the first driving unit 413 includes a first guide rail and a first driving element, the transferring bracket 411 is disposed on the first guide rail, and the first driving element drives the transferring bracket 411 to move along the first guide rail. The lifting unit 412 is slidably disposed on the transferring bracket 411 along the vertical direction, and the second driving member includes a second driving member disposed on the transferring bracket 411.

The sliding installation seat is arranged on the first guide rail. The third drive unit comprises a third guide rail and a third driving piece which are arranged on the sliding installation seat, the transferring support is connected with the third guide rail in a sliding mode, and the third driving piece drives the transferring support to move along the third guide rail. The first guide rail is not parallel to the third guide rail.

As shown in fig. 18, the lifting members are provided with limiting grooves 4121, the limiting grooves 4121 of the two lifting members are arranged oppositely, and the upper sides and the outer sides of the limiting grooves 4121 are opened. When the material stack is transferred, the material stack is arranged in the limiting groove 4121.

In order to ensure that the two first driving units 413, the two second driving units 414, and the two third driving units 415 respectively work synchronously, the first driving member, the second driving member, and the third driving unit 415 are cylinders or hydraulic cylinders, and the same valve is used to control the working states of the two first driving members, correspondingly, the same valve is used to control the working states of the two second driving members, and the same valve is used to control the working states of the two third driving units 415.

In the case of a loading operation, the stack 6 is first fed into the stack space of the corresponding stack transfer mechanism 4 and the third drive unit 415 drives the two lifting members towards each other until the stack 6 is gripped, i.e. in the state shown in fig. 13. The second drive unit 414 is then operated to drive the two lifting members synchronously upwards to lift the stack 6. Finally, the first driving unit 413 is operated to drive the two transfer supports 411 to synchronously move horizontally in the same direction, and simultaneously transfer the material pile 6 to the feeding area 53, thereby completing the feeding operation, i.e., the state shown in fig. 14. Finally, the first driving unit 413, the second driving unit 414 and the third driving unit 415 work in reverse in sequence, and the material pile transferring mechanism 4 is reset.

Correspondingly, the theory of operation of material buttress transport mechanism 4 is unanimous with the theory of operation of material buttress transport mechanism 4 in the feeding module 5 in the ejection of compact module 3, and the difference only lies in the direction of transfer of material buttress 6 different, should rationally derive the theory of operation of material buttress transport mechanism 4 in the ejection of compact module 3 according to the theory of operation of material buttress transport mechanism 4 in the feeding module 5 as skilled person.

Specifically, as shown in fig. 19 to 22, the magazine transfer mechanism 2 includes a support frame 22, and the support frame 22 is provided with a magazine clamping unit 21, a fourth driving unit 23 for driving the magazine clamping unit 21 to move horizontally, and a fifth driving unit 24 for driving the magazine clamping unit 21 to move vertically. The magazine clamping unit 21 comprises a support 211, two clamping plates 212 are arranged on the lower side of the support 211, the two clamping plates 212 are arranged oppositely, and a magazine section is formed between the two clamping plates 212. The support 211 is further provided with a sixth driving unit 213 for driving the two clamping plates 212 to move relatively close to or away from each other.

As a specific embodiment, as shown in fig. 21-22, a sliding block is slidably disposed on the supporting frame 22 in the horizontal direction, the supporting member 211 is slidably disposed on the sliding block in the horizontal direction, the fourth driving unit 23 drives the sliding block to slide in the horizontal direction relative to the supporting frame 22, and the fifth driving unit 24 drives the supporting member 211 to slide in the vertical direction relative to the sliding block. The sixth driving unit 213 is disposed on the support 211. The fourth driving unit 23, the fifth driving unit 24 and the sixth driving unit 213 are electric cylinders, air cylinders or hydraulic cylinders.

Specifically, as shown in fig. 22, the inner side of the clamping plate 212 is provided with a convex portion for matching with the bottom of the magazine to prevent the magazine from falling off during the transferring process. The support 211 is provided with a distance sensor for measuring the distance between the support 211 and the material box, so as to ensure that the material box is reliably clamped one by one.

During the feeding operation, the material stack is conveyed to the feeding waiting area 51 through the feeding conveying assembly 52, and the fourth driving unit 23 and the fifth driving unit 24 cooperate to adjust the position of the magazine clamping unit 21 until the topmost magazine in the material stack enters the magazine section corresponding to the magazine clamping unit 21, i.e. the state shown in fig. 19. The sixth drive unit 213 is then operated to drive the two clamping plates 212 into engagement with the uppermost magazine in the stack. Finally, the fourth driving unit 23 and the fifth driving unit 24 work in a matched mode, the material box clamping unit 21 and the clamped material box move to the feeding area 15, the sixth driving unit 213 works, the material box clamping unit 21 loosens the material box, and single material box transferring operation is completed, namely the state shown in fig. 20.

Correspondingly, the working principle of the material box transferring mechanism 2 of the discharging module 3 is consistent with that of the material box transferring mechanism 2 of the feeding module 5, and the difference is only that the transferring direction of the material box is different. As a person skilled in the art should be able to reasonably deduce the working principle of the magazine transferring mechanism 2 in the discharging module 3 according to the working principle of the magazine transferring mechanism 2 in the feeding module 5.

When processing, at first select the magazine to set up certain quantity and the constant head tank of waiting for processing the part matching in the magazine, will wait to process the part and set up in the constant head tank one by one, through the form of customization constant head tank, various complicated parts of adaptation. Then, the material boxes are sequentially stacked and sent to a material stack transfer mechanism 4 of a feeding module 5 in a material stack mode, and are sent to a feeding area 53 through the material stack transfer mechanism 4; the feeding conveying assembly 52 conveys the material stacks to the feeding waiting area 51, the corresponding material box transfer mechanisms 2 take out the material boxes from the feeding waiting area 51 one by one and convey the material boxes to the feeding area 15 of the operating platform 12, and finally the mechanical arms 13 take out the parts to be processed from the material boxes of the feeding area 15 one by one and send the parts to the feeding and discharging station 81 to complete the whole feeding operation.

After the parts to be machined are subjected to corresponding machining operations by the machining module 8, the mechanical arm 13 takes the machined parts from the feeding and discharging station 81 and sends the parts into the material box of the feeding area 11. When the number of the processed parts in the material box of the blanking area 11 reaches a preset value, the material box transfer mechanism 2 of the discharging module 3 takes out the material box from the blanking area 11 and transfers the material box to the discharging stacking area 31 to be sequentially stacked into a material stack. When the number of the material boxes in the material stack reaches a preset value, the material stack is conveyed to the material discharging area 33 by the material discharging conveying assembly 32 and taken out through the material stack transferring mechanism 4 of the material discharging area 33, and the whole discharging operation is completed.

Further, as shown in fig. 12, the feeding area 53, the feeding waiting area 51, the discharging area 33 and the discharging and palletizing area 31 are respectively provided with a positioning and stopping assembly 7. As shown in fig. 23 and 24, the positioning and stopping assembly 7 includes a base 72 and a stopping rod 71, and the stopping rod 71 is rotatably movably connected with the base 72. The base 72 is also provided with a power unit for driving the stopping rod 71 to rotate relative to the base 72. The positioning and stopping assembly 7 has at least two working states: in the first working state, the stopping rod piece 71 is lifted, and the corresponding material stack cannot pass through; in the second position, the stop bar 71 falls and the corresponding stack can pass through smoothly. Specifically, the power unit is an air cylinder that drives the stop rod 71 to rotate relative to the base 72.

The positioning and stopping assembly 7 can position and stop the material stacks at specific positions on the feeding conveying assembly 52 and the discharging conveying assembly 32, and conditions are created for automatically completing feeding operation, stacking operation and discharging operation. In the case of a condition being satisfied, the stop bars 71 fall, allowing the stack to move in the conveying direction; otherwise, the stop bars 71 are raised and the stack does not follow even if the infeed conveyor assembly 52 and the outfeed conveyor assembly 32 are operating.

In particular, the free end of the interception bar 71 is arranged towards the front end of the conveying channel, i.e. after the stack has been conveyed to the position corresponding to the positioning and interception assembly 7. In the first position the free end of the stop bars 71 contacts and pushes against the stack, preventing the stack from advancing further along the transfer path, i.e. as shown in figure 23. When the advance of the stack is allowed to continue, the power unit drives the stop bars 71 to fall and separate from the stack, releasing the obstruction to the forward movement of the stack, i.e. the condition shown in fig. 24. It should be noted that, in the process of dropping the stop bars 71 for the stock pile to contact the stop bars 71, the stop bars 71 need to push the stock pile first to retreat by a partial distance before dropping smoothly.

As a preferred embodiment, as shown in fig. 8, the loading area 15 and the unloading area 11 of the operating table 12 are also provided with a positioning and stopping assembly 7 respectively, for keeping the position of the loading box in the loading area 15 and the loading area 15 determined during the loading operation and the unloading operation, and better cooperating with the mechanical arm 13.

Furthermore, the automatic feeding and discharging device further comprises a control module which comprises a controller, wherein the controller is electrically connected with the processing module 8, the feeding and discharging module 1, the feeding module 5 and the discharging module 3 respectively and controls the working states of the processing module 8, the feeding and discharging module 1, the feeding module 5 and the discharging module 3 respectively.

Furthermore, as shown in fig. 8, the control module further includes a visual detection assembly 17, and the visual detection assembly 17 obtains visual signals of the feeding area 15 and the discharging area 11 in the operating platform 12, and determines the position information of the corresponding material box, and the position information and the contour information of the workpiece in the material box according to the visual signals. The controller controls the operation of the mechanical arm 13 and the processing module 8 according to the information of the material box and the workpiece. Specifically, the visual inspection unit 17 includes an image pickup device disposed above the operation table 12.

In conclusion, the above description is only for the preferred embodiment of the present invention and should not be construed as limiting the present invention, and any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A universal automated processing system for complex parts, comprising at least:

the discharging module comprises a discharging conveying assembly, the discharging conveying assembly is provided with a discharging area and a discharging stacking area, and the discharging conveying assembly conveys the stack from the discharging stacking area to the discharging area; the discharging area is provided with a material stack transferring mechanism, the discharging stacking area is provided with a material box transferring mechanism, and the corresponding material box transferring mechanism is used for conveying material boxes from the discharging area to the discharging stacking area;

each material stack transferring mechanism comprises two material stack transferring executing components, and each material stack transferring executing component comprises a transferring bracket, a lifting unit and a first driving unit for driving the transferring bracket to horizontally move; the lifting unit is arranged on the transferring bracket, and the transferring bracket is also provided with a second driving unit for driving the lifting unit to vertically move;

the lifting pieces of the two stack transferring executing assemblies are oppositely arranged, and a stack space is formed between the two stack transferring executing assemblies; when the two driving units work, the two first driving units work synchronously, and the two second driving units work synchronously.

2. The universal automated processing system according to claim 1, wherein: the rack is also provided with at least one processing station, and the processing unit corresponds to the processing station; the processing module further comprises a clamping assembly and a shifting assembly, and the shifting assembly is used for driving the clamping assembly to shift between the processing station and the feeding and discharging station.

3. The universal automated processing system according to claim 1, wherein: the operation table is also provided with a material box conveying assembly, and the material box conveying assembly is used for conveying material boxes from the feeding area to the discharging area.

4. The universal automated processing system according to claim 1, wherein: the feeding and discharging module further comprises a clamp library, at least two groups of clamp units are arranged in the clamp library, and the clamp units are detachably connected with the mechanical arm; and a chuck is arranged on the clamp unit.

5. The universal automated processing system according to claim 4, wherein: the number of the clamping heads on each clamping unit is two.

6. The universal automated processing system according to claim 1, wherein:

the lifting unit comprises lifting pieces and a third driving unit for driving the lifting pieces of the two material pile transferring execution assemblies to move relatively;

when the two third driving units work, the two third driving units work synchronously.

7. The universal automated processing system according to claim 1, wherein: the material box transferring mechanism comprises a support frame, and a material box clamping unit, a fourth driving unit for driving the material box clamping unit to horizontally move and a fifth driving unit for driving the material box clamping unit to vertically move are arranged on the support frame;

8. The universal automated processing system according to claim 1, wherein: the feeding area, the feeding waiting area, the discharging area and the discharging stacking area are respectively provided with a positioning stop assembly, the positioning stop assembly comprises a base and a stop rod piece, and the stop rod piece is rotatably and movably connected with the base; the base is also provided with a power unit for driving the stopping rod piece to rotate relative to the base;

the positioning stop component at least has two working states: in a first working state, the stopping rod piece is lifted, and the corresponding material stack cannot pass through; in the second position, the stop rod falls down and the corresponding material stack can pass through smoothly.

9. The universal automated processing system according to any one of claims 1-8, wherein: the automatic feeding and discharging device is characterized by further comprising a control module, wherein the control module comprises a controller, and the controller is electrically connected with the processing module, the feeding and discharging module and the discharging module respectively and controls the working states of the processing module, the feeding and discharging module and the discharging module respectively.

10. The universal automated processing system according to claim 9, wherein: the control module also comprises a visual detection assembly, the visual detection assembly acquires visual signals of a feeding area and a discharging area in the operating platform and judges the position information of the corresponding material box and the position information and the contour information of the workpiece in the material box according to the visual signals; the controller controls the mechanical arm and the processing module to work according to the information of the material box and the workpiece.