CN115431247A - Automatic post-processing device and method for metal plate by robot - Google Patents
Automatic post-processing device and method for metal plate by robot Download PDFInfo
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- CN115431247A CN115431247A CN202210909654.0A CN202210909654A CN115431247A CN 115431247 A CN115431247 A CN 115431247A CN 202210909654 A CN202210909654 A CN 202210909654A CN 115431247 A CN115431247 A CN 115431247A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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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Abstract
The invention provides an automatic post-processing device of a metal plate robot and a processing method thereof, belonging to the technical field of automatic post-processing, and the device comprises an industrial robot, a control mechanism and a workpiece conveying mechanism, wherein the industrial robot is connected with the control mechanism, and the workpiece conveying mechanism is arranged on one side of the industrial robot; the end part of the industrial robot is provided with a workpiece grabbing mechanism, the workpiece grabbing mechanism realizes workpiece circulation by grabbing workpieces from a workpiece conveying mechanism and different stations, and one side of the workpiece conveying mechanism is provided with a workpiece identification mechanism; the industrial robot is provided with a workpiece alignment platform, a workpiece overturning platform and a multi-dimensional floating machining platform around, the workpiece overturning platform is matched with the workpiece grabbing mechanism to overturn workpieces on the front and back sides, and the multi-dimensional floating machining platform realizes constant-force and constant-position post-processing machining through an air bag. The invention realizes the high-precision and high-efficiency full-automatic post-treatment processing of the flat metal plate, improves the processing quality and consistency of the plate and avoids repeated trial assembly and repair.
Description
Technical Field
The invention relates to the technical field of automatic post-processing, in particular to a metal plate piece robot automatic post-processing device and a processing method thereof.
Background
The metal plate is generally subjected to post-treatment before surface treatment or welding, and is generally processed by sawing, flame cutting, plasma cutting, and the like as a ship plate serving as a welding raw material of a ship body. The thickness of the large ship plate is more than 20mm, and after the cutting process, large burrs and cut marks generally exist at the cutting seams. The ship plate cutting seam is subjected to post-treatment process before the tailor-welding, wherein the post-treatment process comprises deburring, chamfering and polishing of the ship plate. The plate parts of a ship reach thousands of more, and the aftertreatment effect has great influence on the weld quality and the total size error of a ship body, and the current aftertreatment processing method mainly uses manual processing and then mainly tries on assembly repeatedly, and mainly has the following problems:
(1) The processing labor intensity is too high. The straight edges of the small regular boat plates can be automatically deburred and chamfered by a beveling machine, but the curved edges or the irregular boat plates are required to be processed close to an after-treatment machine (comprising a deburring machine, a chamfering machine and a grinding machine) in a hand-held mode, and a single part still weighs dozens of kilograms, so that the strength of workers is greatly tested. After the large ship plate is clamped by the clamp, the large ship plate is processed by a manual handheld machine, and the large ship plate is large in processing size, long in time and high in labor intensity.
(2) The processing effect and consistency are poor. Repeated trial assembly and polishing have higher requirements on operator experience, unquantized processing amount and poorer processing consistency. Resulting in uneven subsequent welding seams and easily causing dimensional out-of-tolerance.
(3) The processing time is long and the efficiency is low. The ship plate parts are generally heavier and more complex in edge appearance, and need to be assembled through manual trial and error. Therefore, the post-treatment processing efficiency is low, and the processing time is far longer than that of the post-treatment of the conventional thin plate small parts.
(4) The dust is harmful to human body. The ship plate needs to be repeatedly trial-assembled and polished before being welded, a large amount of metal dust can be generated in the machining process, and great damage is caused to the respiratory system, eyes and skin of an operator.
After consulting related documents, the existing post-processing method mainly comprises manual work and small-sized special machines. Wherein artificial mode needs the people to hold the work piece and is close to the post-processing special plane, and this kind of mode only is applicable to small-size light plate and has that artifical intensity of labour is big, and machining efficiency is low, and the processingquality relies on operation experience and the big risk of human damage. The small-sized special machine mainly aims at carrying out aftertreatment processing on light-weight batch plates, and the special machine system can be provided with an automatic feeding and discharging system, a floating system, a dust removal system and the like according to requirements.
The search of the prior art shows that a special post-processing machine capable of simultaneously deburring and polishing is provided in the Chinese invention patent with the publication number of CN106312769A, and the special post-processing machine can adapt to post-processing of workpieces with different thicknesses by adjusting the height of a polishing mechanism. The invention provides a plate edge cutting and polishing device adopting an air cylinder for jacking in a Chinese invention patent with the publication number of CN 108081057A. But the special machine has the problems of small product application range and high development cost. In recent years, with the large-scale application of industrial robots, dedicated post-processing robot systems are also being valued by more and more enterprises. The invention provides an unmanned aerial vehicle heat dissipation plate polishing system integrating a robot, a feeding and discharging table, a transfer table and a multi-station polishing device in a Chinese invention patent with the publication number of CN 207119989U. However, the robot post-processing system is mainly used for specific batch parts, and the application range is small.
The utility model provides an automatic aftertreatment processing method of plate robot and equipment of integrated visual identification, unloading, automatic alignment, automatic upset and multidimensional floating processing platform in automation, this equipment can be compatible the aftertreatment processing of multiple different specification plates simultaneously, can realize the full-automatic positive and negative aftertreatment of plate, and the multidimensional floating processing platform who uses new design simultaneously can also equip the automatic aftertreatment processing system of robot with big heavy processing equipment in.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a sheet metal piece robot automatic post-processing device and a processing method thereof.
The automatic post-processing machining device for the metal plate robot comprises an industrial robot, a control mechanism and a workpiece conveying mechanism, wherein the workpiece conveying mechanism is used for being matched with the control system to realize workpiece feeding and discharging;
the end part of the industrial robot is provided with a workpiece grabbing mechanism, the workpiece grabbing mechanism realizes workpiece circulation by grabbing workpieces from the workpiece conveying mechanism and different stations, one side of the workpiece conveying mechanism is provided with a workpiece identification mechanism, and the workpiece identification mechanism identifies the type and the front and back of the workpieces and calculates the gravity center of the workpieces through an industrial camera;
the industrial robot is provided with a workpiece alignment platform, a workpiece overturning platform and a multi-dimensional floating machining platform around respectively, the workpiece overturning platform can be provided with a plurality of sets according to workpiece types, the workpiece overturning platform is matched with the workpiece grabbing mechanism to realize the front and back overturning of the workpiece, and the multi-dimensional floating machining platform realizes the post-processing machining of constant force and constant position through an air bag.
In some embodiments, the workpiece alignment platform comprises a small plate alignment platform for aligning a small set of workpieces and a large plate alignment platform for aligning a large set of workpieces, the workpiece alignment platform comprises an alignment platform support and a plate leaning strip, the plate leaning strip is arranged on one side of the alignment platform support, a plate rolling universal ball and a slot are arranged on the upper end face of the alignment platform support, a plate length direction pushing cylinder group and a plate width direction pushing cylinder group are arranged below the alignment platform support, the end parts of the plate length direction pushing cylinder group and the plate width direction pushing cylinder group are respectively provided with a cylinder tail end pushing roller, the cylinder tail end pushing rollers push workpieces to roll in the slot, and the small plate alignment platform and the large plate alignment platform have the same structural arrangement.
In some embodiments, the workpiece overturning platform comprises a small plate overturning platform for overturning a small set of workpieces and a large plate overturning platform for overturning a large set of workpieces, the small plate overturning platform and the large plate overturning platform are respectively provided with an electromagnet group and a detection sensor for detecting whether a workpiece reaches the workpiece overturning platform, and the electromagnet groups are respectively arranged above the small plate overturning platform and the large plate overturning platform.
In some embodiments, a safety fence is arranged around the industrial robot, the safety fence is arranged around the workpiece alignment platform, the workpiece overturning platform and the multi-dimensional floating machining platform, and the control mechanism is arranged outside the safety fence.
In some embodiments, the control mechanism comprises an electrical control cabinet and a robot control cabinet, the robot control cabinet is connected with the industrial robot, the electrical control cabinet is connected with each station of the post-processing system, and the electrical control cabinet is communicated with the workpiece recognition mechanism (3) controller and the robot control cabinet (12).
In some embodiments, a plurality of sets of workpiece detection sensors are arranged on the workpiece conveying mechanism, the workpiece recognition mechanism further comprises a camera support, a camera controller and a random computer, the industrial camera is arranged on the camera support, the camera support can realize 3-degree-of-freedom camera position adjustment including camera height position adjustment, camera front and back position adjustment and camera rotation position adjustment along the axis direction of the support stand column, the workpiece recognition mechanism can automatically recognize the category of the metal plate and recognize the front and back surfaces to which the irregular plate belongs at present, and the workpiece recognition mechanism can calculate the theoretical gravity center position of the plate by recognizing the profile of the plate.
In some embodiments, the multi-dimensional floating processing platform comprises a floating processing platform base, a floating air bag group, a post-processing tool and an air control system, wherein the floating air bag group is dispersedly arranged on the end face of the processing platform base, the post-processing tool is arranged above the floating air bag group, the air control system is connected with the floating air bag group, and the air control system can respectively adjust the air pressure of each air bag.
In some embodiments, the multidimensional floating processing platform further comprises an upper limiting component and a lower limiting component which limit the floating limit position to ensure that the floating amount is in a reasonable range, wherein the upper limiting component and the lower limiting component comprise a lower limiting part of the floating processing platform and an upper limiting part of the floating processing platform, the lower limiting part of the floating processing platform and the upper limiting part of the floating processing platform are arranged between the post-processing tool and the floating processing platform base, the lower limiting part of the floating processing platform is fixedly arranged on the floating processing platform base, and the upper limiting part of the floating processing platform is arranged on the post-processing tool.
In some embodiments, the workpiece recognition mechanism is provided with a recognition mechanism light source on one side, the recognition mechanism light source is positioned at the bottom of the camera, and the recognition mechanism light sources are distributed on two sides of the workpiece conveying mechanism.
The invention also provides a processing method of the automatic post-processing device of the sheet metal robot, which comprises the automatic post-processing device of the sheet metal robot, the sheet metal is conveyed to the position below the industrial camera from the workpiece conveying mechanism and then stops, the industrial camera identifies the workpiece type, the front side and the back side and calculates the gravity center position, the industrial robot grabs the gravity center position of the workpiece through the workpiece grabbing mechanism, the corresponding workpiece is placed on the corresponding workpiece aligning platform according to the identified workpiece type, the workpiece is automatically aligned, then the workpiece grabbing mechanism conveys the workpiece to the multidimensional floating processing platform for post-processing, after one side of the workpiece is processed, the industrial robot grabs the workpiece to the workpiece overturning platform and then processes the other side, after both sides of the workpiece are processed, the industrial robot returns the workpiece to the workpiece conveying mechanism, and the processed workpiece enters the next process.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention identifies the type and direction of the parts through the industrial camera, and ensures that the same system can be compatible with the post-processing of parts with various specifications;
2. according to the invention, the small plate alignment platform and the large plate alignment platform are used for secondarily calibrating the position of a workpiece and turning the platform to complete automatic turn-over of the plate, so that full-automatic high-precision post-processing and processing of the plate are realized;
3. the invention keeps constant processing pressing force through the multidimensional floating processing platform, realizes the stability of the processing process and ensures good processing consistency;
4. according to the full-automatic plate metal piece post-processing device, the industrial robot is used for full-automatic feeding, discharging and processing, the original manual processing is replaced, the high-precision and high-efficiency full-automatic post-processing of the flat plate metal piece is realized, the processing quality and consistency of the plate piece are improved, the repeated trial assembly and repair are avoided, the working environment of personnel is improved, and occupational diseases are avoided.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of a robotic post-processing device for sheet metal parts according to the present invention;
FIG. 2 is a schematic structural view of a workpiece alignment platform according to the present invention;
FIG. 3 is a schematic structural diagram of a multi-dimensional floating processing platform according to the present invention;
reference numerals:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in figure 1, the structure schematic diagram of the automatic post-processing machining device of the sheet metal part robot comprises an industrial robot 13, a control mechanism and a workpiece conveying mechanism 1 used for being matched with the control system to achieve workpiece feeding and discharging, the industrial robot 13 is connected with the control mechanism, and the workpiece conveying mechanism 1 is arranged on one side of the industrial robot 13. 13 tip of industrial robot is equipped with the work piece and snatchs mechanism 2, and the work piece snatchs mechanism 2 realizes the work piece circulation through snatching the work piece from work piece conveying mechanism 1 and different stations, and the work piece snatchs mechanism 2 mainly comprises snatching support, electro-magnet group, work piece detection sensor, UPS power etc. snatchs the work piece through the electro-magnet, confirms through detecting the sensor that the work piece has or not, and the UPS power guarantees that the electro-magnet does not cut off the power supply, prevents that the work piece from dropping.
A plurality of sets of workpiece detection sensors are arranged on the workpiece conveying mechanism 1, and when no workpiece exists on the grabbing station, the conveying belt automatically runs until the workpiece to be processed is conveyed to the grabbing station; when the post-processing of the workpiece is finished and no workpiece exists on the blanking station, the robot puts the workpiece into the blanking station, and the conveying belt automatically operates to convey the workpiece to the next station.
One side of the workpiece conveying mechanism 1 is provided with a workpiece recognition mechanism 3, and the workpiece recognition mechanism 3 recognizes the type and the front and back of the workpiece and calculates the gravity center of the workpiece through an industrial camera. The workpiece recognition mechanism 3 further comprises a camera support, a camera controller and a random computer, an industrial camera is arranged on the camera support, the camera support can achieve 3-degree-of-freedom camera position adjustment including camera height position adjustment, camera front and back position adjustment and camera rotation position adjustment along the axis direction of the support stand column, and the camera can move and adjust height at any position in the plane of the conveying mechanism, so that the camera can be guaranteed to be capable of well focusing and recognizing workpieces.
The workpiece recognition mechanism 3 can automatically recognize the types of the metal plates and recognize the front and back of the irregular plates, and the workpiece recognition mechanism 3 can calculate the theoretical gravity center position of the plates by recognizing the outlines of the plates. And one side of the workpiece recognition mechanism 3 is provided with a recognition mechanism light source 5, the recognition mechanism light source 5 is positioned at the bottom of the camera, and the recognition mechanism light sources 5 are distributed at two sides of the workpiece conveying mechanism 1. The light source can be adjusted in irradiation height and angle, and is in the form of strip line light source.
The industrial robot 13 is respectively provided with a workpiece alignment platform, a workpiece turnover platform and a multi-dimensional floating machining platform 8, the workpiece turnover platforms can be provided with a plurality of sets according to workpiece types, the workpiece turnover platforms are matched with the workpiece grabbing mechanism 2 to realize front and back turnover of the workpiece, and the multi-dimensional floating machining platform 8 realizes constant force and constant position post-processing machining through an air bag.
As shown in fig. 2, the structural schematic diagram of the workpiece alignment platform is shown, the workpiece alignment platform includes a small plate alignment platform 6 for aligning a small set of workpieces and a large plate alignment platform 10 for aligning a large set of workpieces, the large plate alignment platform 10 includes an alignment platform support 14 and a plate leaning strip 18, the plate leaning strip 18 is disposed on one side of the alignment platform support 14, a plate rolling universal ball 17 and a slot are disposed on an upper end face of the alignment platform support 14, a plate length direction pushing cylinder group 15 and a plate width direction pushing cylinder group 16 are disposed below the alignment platform support 14, cylinder end pushing rollers are disposed at end portions of the plate length direction pushing cylinder group 15 and the plate width direction pushing cylinder group 16, respectively, the cylinder end pushing rollers push the workpieces to roll in the slot, and the small plate alignment platform 6 and the large plate alignment platform 10 are arranged in the same structure. The air cylinders in different directions push the workpiece to roll on the plate rolling universal ball 17 successively, so that the workpiece is close to the leaning column, and the leaning position of the workpiece is determined after the workpiece is pushed repeatedly for many times.
The workpiece overturning platform comprises a small plate overturning platform 7 used for overturning a small set of workpiece and a large plate overturning platform 9 used for overturning a large set of workpiece, the small plate overturning platform 7 and the large plate overturning platform 9 are respectively provided with an electromagnet group and a detection sensor used for detecting whether the workpiece reaches the workpiece overturning platform, and the electromagnet groups are respectively arranged above the small plate overturning platform 7 and the large plate overturning platform 9. After the post-processing of one of the surfaces of the plate part is completed, the industrial robot 13 picks up the workpiece and places the workpiece on the turnover table. Then the electromagnet group at the tail end of the industrial robot 13 is loosened, the electromagnet on the overturning platform is electrified, then the grabbing system of the industrial robot 13 moves to the bottom of the workpiece, and the workpiece is grabbed again to carry out post-treatment processing on the other surface.
Be provided with security fence 4 around industrial robot 13, security fence 4 encircles work piece alignment platform, work piece upset platform, the setting of multidimension floating machining platform 8, and control mechanism sets up outside security fence 4. Control mechanism includes electrical control cabinet 11 and robot control cabinet 12, and robot control cabinet 12 is connected the setting with industrial robot 13, and electrical control cabinet 11 is connected the setting with each station of aftertreatment system, and electrical control cabinet and 3 controllers of work piece recognition mechanism and the communication of robot control cabinet 12.
As shown in fig. 3, which is a schematic structural diagram of the multi-dimensional floating processing platform 8, the multi-dimensional floating processing platform 8 includes a floating processing platform base 20, floating airbag groups 24, a post-processing tool 22, and an air control system, the floating airbag groups 24 are dispersedly disposed on an end surface of the processing platform base, and the post-processing tool 22 is disposed above the floating airbag groups 24, so as to achieve relative stability of a processing machine position and provide a constant pressing force for processing a workpiece. The air control system is connected with the floating air bag group 24 and can respectively adjust the air pressure of each air bag, so that the upper surface level of the processing machine and the constant processing pressing force are ensured.
The multidimensional floating processing platform 8 further comprises an upper limiting component and a lower limiting component which limit the floating limit position to ensure that the floating amount is within a reasonable range, the upper limiting component and the lower limiting component comprise a lower limiting 21 of the floating processing platform and an upper limiting 23 of the floating processing platform, the lower limiting 21 of the floating processing platform and the upper limiting 23 of the floating processing platform are arranged between a post-processing tool 22 and a floating processing platform base 20, the lower end part of the lower limiting 21 of the floating processing platform is fixedly arranged on the floating processing platform base 20, and the upper end part of the upper limiting 23 of the floating processing platform is arranged on the post-processing tool 22. The multidimensional floating processing platform 8 can realize bidirectional floating of the shaft and the diameter, compensate the motion trail error of the robot and ensure the consistency of the processing effect of parts.
The motion trail of the robot can be determined in a teaching mode or an off-line programming mode. The teaching mode is suitable for the condition that the metal plate member category quantity is definite, the processing track of each plate member is taught in advance, and the plate member can be automatically processed when being identified. The off-line programming mode is suitable for the condition that the category number of the metal plate is uncertain, after the camera identifies the front and the back of the workpiece and calculates the theoretical gravity center position of the plate, the robot remembers the relative position of each station through teaching, and the motion track of each station when the workpiece is grabbed can be calculated by combining the gravity center position of the workpiece.
A machining method of a metal plate automatic post-processing machining device comprises the steps that ship plate workpieces are conveyed to the position below an industrial camera from a workpiece conveying mechanism 1 and then are stopped, the industrial camera identifies workpiece types, the front side and the back side and calculates the gravity center position, the industrial robot 13 grabs the gravity center position of the workpieces through a workpiece grabbing mechanism 2, the corresponding workpieces are placed on a corresponding workpiece aligning platform according to the identified workpiece types, the workpieces are automatically aligned and then conveyed to a multi-dimensional floating machining platform 8 through the workpiece grabbing mechanism 2 for post-processing machining, after one side of the workpieces is machined, the industrial robot 13 grabs the workpieces to the workpiece overturning platform and then processes the other side, after the two sides of the workpieces are machined, the industrial robot 13 returns the workpieces to the workpiece conveying mechanism 1, and the machined workpieces enter a post-processing procedure.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The automatic post-processing machining device for the metal plate robot is characterized by comprising an industrial robot (13), a control mechanism and a workpiece conveying mechanism (1) used for being matched with the control system to realize workpiece feeding and discharging, wherein the industrial robot (13) is connected with the control mechanism, and the workpiece conveying mechanism (1) is arranged on one side of the industrial robot (13);
the end part of the industrial robot (13) is provided with a workpiece grabbing mechanism (2), the workpiece grabbing mechanism (2) realizes workpiece circulation by grabbing workpieces from the workpiece conveying mechanism (1) and different stations, one side of the workpiece conveying mechanism (1) is provided with a workpiece recognition mechanism (3), and the workpiece recognition mechanism (3) recognizes the types and the front and back of the workpieces through an industrial camera and calculates the gravity center of the workpieces;
set up work piece alignment platform, work piece upset platform and multidimension floating processing platform (8) around industrial robot (13) respectively, work piece upset platform can set up many sets according to the work piece classification, work piece upset platform is through the cooperation the work piece snatchs the positive and negative upset that the work piece was realized in mechanism (2), multidimension floating processing platform (8) realize the aftertreatment processing of constant force and constant position through the gasbag.
2. The sheet metal piece automatic post-processing machining device of claim 1, wherein the workpiece aligning platform comprises a small plate aligning platform (6) for aligning a small set of workpieces and a large plate aligning platform (10) for aligning a large set of workpieces, the workpiece aligning platform comprises an aligning platform support (14) and a plate leaning strip (18), the plate leaning strip (18) is arranged on one side of the aligning platform support (14), the upper end face of the aligning platform support (14) is provided with a plate rolling universal ball (17) and a slot, a plate length direction pushing cylinder group (15) and a plate width direction pushing cylinder group (16) are arranged below the aligning platform support (14), the ends of the plate length direction pushing cylinder group (15) and the plate width direction pushing cylinder group (16) are respectively provided with a cylinder tail end pushing roller, the cylinder tail end pushing rollers push workpieces to roll in the slot, and the small plate aligning platform (6) and the large plate aligning platform (10) have the same structure.
3. The sheet metal piece robot automatic post-processing machining device according to claim 2, characterized in that the workpiece overturning platform comprises a small plate overturning platform (7) for overturning a small set of workpieces and a large plate overturning platform (9) for overturning a large set of workpieces, the small plate overturning platform (7) and the large plate overturning platform (9) are respectively provided with an electromagnet group and a detection sensor for detecting whether a workpiece reaches the workpiece overturning platform, and the electromagnet groups are respectively arranged above the small plate overturning platform (7) and the large plate overturning platform (9).
4. A sheet metal piece robot automatic post-processing machining device according to claim 1, characterized in that a safety fence (4) is arranged around the industrial robot (13), the safety fence (4) is arranged around the work piece aligning platform, the work piece overturning platform, the multi-dimensional floating machining platform (8), and the control mechanism is arranged outside the safety fence (4).
5. A robotic post-treatment machining device for sheet metal pieces according to claim 4, characterized in that said control means comprise an electric control cabinet (11) and a robot control cabinet (12), said robot control cabinet (12) being arranged in connection with said industrial robot (13), said electric control cabinet (11) being arranged in connection with the stations of the post-treatment machining system, and said electric control cabinet being in communication with the work recognition means (3) controller and the robot control cabinet (12).
6. The automatic post-processing device of a sheet metal piece robot according to claim 1, wherein a plurality of sets of workpiece detection sensors are arranged on the workpiece conveying mechanism (1), the workpiece recognition mechanism (3) further comprises a camera support, a camera controller and a random computer, the industrial camera is arranged on the camera support, the camera support can realize 3-degree-of-freedom camera position adjustment including camera height position adjustment, camera front and back position adjustment and camera rotation position adjustment along the axis direction of a support upright post, the workpiece recognition mechanism (3) can automatically recognize the type of the sheet metal piece and recognize the front and back of the irregular sheet metal piece, and the workpiece recognition mechanism (3) can calculate the theoretical gravity center position of the sheet metal piece by recognizing the profile of the sheet metal piece.
7. The automatic post-processing processingequipment of sheet metal robot of claim 1, characterized in that multidimension floating processing platform (8) is including floating processing platform base (20), unsteady gasbag group (24), aftertreatment processing instrument (22) and gas accuse system, unsteady gasbag group (24) dispersion sets up on the terminal surface of processing platform base, aftertreatment processing instrument (22) set up the top of unsteady gasbag group (24), the gas accuse system with unsteady gasbag group (24) are connected the setting, the gas accuse system can adjust the atmospheric pressure of every gasbag respectively.
8. The automatic post-processing machining device of sheet metal piece robot of claim 7, characterized in that, the multidimensional floating machining platform (8) further comprises an upper limit component and a lower limit component which limit the floating limit position and guarantee the floating amount in a reasonable range, the upper limit component and the lower limit component comprise a floating machining platform lower limit (21) and a floating machining platform upper limit (23), the floating machining platform lower limit (21) and the floating machining platform upper limit (23) are arranged between the post-processing machining tool (22) and the floating machining platform base (20), the lower end part of the floating machining platform lower limit (21) is fixedly arranged on the floating machining platform base (20), and the upper end part of the floating machining platform upper limit (23) is arranged on the post-processing machining tool (22).
9. The sheet metal piece processing robot automatic post-processing device according to claim 6, characterized in that the workpiece recognition means (3) is provided with a recognition means light source (5) on one side, the recognition means light source (5) is located at the bottom of the camera, and the recognition means light source (5) is distributed on both sides of the workpiece conveying means (1).
10. A machining method of a robot post-processing machining device for sheet metal, characterized by comprising the robot post-processing machining device for sheet metal according to any one of claims 1 to 9, wherein the robot post-processing machining device for sheet metal is stopped after a sheet metal is conveyed from the workpiece conveying mechanism (1) to below the industrial camera, the industrial camera identifies the type, front and back of a workpiece and calculates the gravity center position, the industrial robot (13) grabs the gravity center position of the workpiece through the workpiece grabbing mechanism (2), selects a corresponding workpiece to be placed on the corresponding workpiece aligning platform according to the identified type of the workpiece, the workpiece is conveyed to the multi-dimensional floating machining platform (8) for post-processing machining through the workpiece grabbing mechanism (2) after the workpiece is automatically aligned, the industrial robot (13) grabs the two surfaces of the workpiece to turn over the workpiece on the workpiece overturning platform after one surface of the workpiece is machined, and then machines the other surface of the workpiece, and the industrial robot (13) returns the workpiece to the workpiece conveying mechanism (1) after one surface of the workpiece is machined, and the workpiece enters a post-machining process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210909654.0A CN115431247A (en) | 2022-07-29 | 2022-07-29 | Automatic post-processing device and method for metal plate by robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210909654.0A CN115431247A (en) | 2022-07-29 | 2022-07-29 | Automatic post-processing device and method for metal plate by robot |
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| CN115431247A true CN115431247A (en) | 2022-12-06 |
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| CN202210909654.0A Pending CN115431247A (en) | 2022-07-29 | 2022-07-29 | Automatic post-processing device and method for metal plate by robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117047065A (en) * | 2023-09-01 | 2023-11-14 | 中信戴卡股份有限公司 | Knuckle die-casting blank and post-treatment process thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117047065A (en) * | 2023-09-01 | 2023-11-14 | 中信戴卡股份有限公司 | Knuckle die-casting blank and post-treatment process thereof |
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