CN115922420A - Automatic valve block machining system - Google Patents
Automatic valve block machining system Download PDFInfo
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- CN115922420A CN115922420A CN202310024468.3A CN202310024468A CN115922420A CN 115922420 A CN115922420 A CN 115922420A CN 202310024468 A CN202310024468 A CN 202310024468A CN 115922420 A CN115922420 A CN 115922420A
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- 238000003754 machining Methods 0.000 title claims abstract description 32
- 238000007599 discharging Methods 0.000 claims abstract description 36
- 238000012423 maintenance Methods 0.000 claims description 37
- 230000007246 mechanism Effects 0.000 claims description 32
- 239000000463 material Substances 0.000 claims description 25
- 230000007306 turnover Effects 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 12
- 238000003780 insertion Methods 0.000 claims description 7
- 230000037431 insertion Effects 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 230000004044 response Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000017105 transposition Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 2
- 238000000151 deposition Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention relates to the technical field of valve block machining, in particular to an automatic valve block machining system which comprises a traveling track, a machine tool, a robot, a feeding track, a discharging track and a main controller, wherein the machine tool is arranged along the traveling track, the feeding track and the discharging track are both arranged perpendicular to the traveling track and are positioned on the same side of the traveling track, the robot is slidably mounted on the traveling track, the robot performs feeding and discharging operation on the machine tool along the traveling track, and the traveling track, the machine tool, the robot, the feeding track and the discharging track execute instructions of the main controller. The system can transmit information among all machine tools and inform the robot to finish feeding and discharging operations, thereby achieving the purpose of automatic production.
Description
Technical Field
The invention relates to the technical field of valve block machining, in particular to an automatic valve block machining system.
Background
The existing valve block production line has low automation level, the demand of valve block products is continuously increased, and the processing production is single, so that the productivity is seriously insufficient; meanwhile, personnel generally carry out independent shutdown maintenance on a processing station due to great influence of shutdown on productivity, and other stations normally operate.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic valve block machining system, wherein information can be transmitted among machine tools of the system, and a robot is informed of completing feeding and discharging operations, so that the aim of automatic production is fulfilled.
In order to solve the problems, the following technical scheme is provided:
an automatic valve block machining system comprises a traveling track, a machine tool, a robot, a feeding track, a discharging track and a main controller, wherein the machine tool is arranged along the traveling track, the feeding track and the discharging track are both arranged perpendicular to the traveling track and are positioned on the same side of the traveling track, the robot is slidably mounted on the traveling track, the robot performs feeding and discharging operations on the machine tool along the traveling track, and the traveling track, the machine tool, the robot, the feeding track and the discharging track all execute instructions of the main controller;
the system performs the following steps:
step 1: the main controller detects the height of a workpiece on the feeding rail, and if the height of the workpiece is qualified, the feeding rail moves forwards by one station; if the height detection of the workpiece is unqualified, stopping the feeding track, and giving an alarm by equipment;
step 2: the main controller informs the robot to acquire a workpiece from the feeding rail, detects whether the grabbing station at the front end of the feeding rail has the material, and if the grabbing station has the material, the robot takes away the workpiece and the feeding rail moves forwards by one station; if the grabbing station has no workpiece, the feeding rail moves forwards until the grabbing station is detected to have the workpiece, and then the feeding rail stops moving, and at the moment, the robot takes away the workpiece, and meanwhile, the feeding rail moves forwards for one station;
and step 3: taking out the finished workpiece from the machine tool by the robot, and putting the workpiece obtained by the robot in the step 2 on the machine tool to complete the feeding and discharging operations of the machine tool;
and 4, step 4: the main controller informs the robot to place the taken-out workpiece on a station at the rear end of the blanking track to complete blanking, the blanking track moves forwards for one station to reserve a vacancy for next blanking, and the robot returns to the original point after the blanking is completed;
when the machine tool is out of order or needs maintenance, the operator selects the maintenance mode of the machine tool on the main controller as appropriate: normal maintenance and emergency maintenance;
and (4) normal maintenance: if the operator selects normal maintenance, the machine tool is in a normal working state, and if the machine tool is in a working program, the main controller enables the current program to run, and then the machine tool is cut off to enable the machine tool, so that the equipment can be maintained in a safe state;
emergency maintenance: if an operator needs to emergently deal with the problems of the current machine tool and the machine tool is still in a working program, the operator opens the safety door of the machine tool at the moment, the enabling of the machine tool is immediately cut off, and after the maintenance is finished, the main controller finishes the reset of the machine tool.
The machine tool comprises five machine tools corresponding to OP10, OP20, OP30, OP40 and OP50, wherein the OP10, OP20 and OP50 corresponding machine tools are vertical machining centers, and the OP30 and OP40 corresponding machine tools are numerically controlled lathes; the vertical machining center and the numerical control lathe are distributed on two sides of the walking track, and a machining inlet of the machine tool faces the walking track and is convenient for a robot to take and place workpieces;
the feeding rail and the discharging rail are both belt conveyors, each belt conveyor comprises a rack, a conveyor belt and chain plates connected with the conveyor belt are arranged on the rack, a station for storing workpieces is arranged on each chain plate, a height detection mechanism for detecting the height of the workpieces is also arranged on the rack, the height detection mechanism comprises a door-shaped support arranged above the feeding rail, two vertical ends of the door-shaped support are fixedly connected with the rack, height sensors which correspond to the stations on the feeding rail one by one are arranged on the door-shaped support in parallel with the chain plates, and the height sensors are electrically connected with a main controller;
and buffer tables corresponding to the OP10 and OP30 machine tools are arranged on two sides of the walking track.
The chain plate is connected with the rack through the quick-release mechanism, the quick-release mechanism comprises jacks formed in two sides of the chain plate and positioning blocks corresponding to the jacks in the two sides of the chain plate on the rack, round holes are formed in the positioning blocks, bolts are connected into the round holes, and the bolts penetrate through the round holes in the positioning blocks from two sides and are inserted into the jacks, so that the chain plate is fixed.
Be equipped with the camera on the robot, camera and main control unit electric connection so that main control unit detects whether have material in the station of snatching.
The robot comprises a sliding seat, the sliding seat is connected with a rail, the robot is installed on the sliding seat, a turnover mechanism is further arranged on the sliding seat, one end of a workpiece is fixed by the robot through the turnover mechanism, and the other end of the workpiece is clamped by the robot after the workpiece is turned by the turnover mechanism.
Tilting mechanism includes revolving cylinder, die clamping cylinder and jack catch, revolving cylinder fixed mounting is on the slide, the rotatory end at revolving cylinder top with die clamping cylinder links to each other, die clamping cylinder has two expansion ends, is connected with the jack catch of joining in marriage the type with the work piece on two expansion ends, the jack catch leans on the back so that the fixed valve piece.
The robot includes the transposition head, and the transposition head is established in the one end of robot swing joint, the transposition head is the triangular prism structure, and wherein a rectangular face and rotary device's of triangular prism structure output fixed connection all is provided with pneumatic finger on all the other two rectangular faces, and pneumatic finger is used for taking the valve piece.
The transposition head adopts a triangular prism structure with an isosceles right triangle section, and the pneumatic fingers are respectively arranged on two symmetrical waist surfaces of the triangular prism structure.
And protective guards are arranged on the feeding track and the discharging track, are arranged above the belt conveyor and are positioned between the height detection mechanism and the grabbing station, and are used for limiting the robot to cross the protective guards when the robot takes a workpiece from the grabbing station.
The track, the machine tool, the robot, the feeding track and the discharging track are connected with the main controller through a Profinet network protocol.
By adopting the scheme, the method has the following advantages:
the automatic valve block machining system comprises a traveling rail, a machine tool, a robot, a feeding rail, a discharging rail and a main controller, wherein the machine tool is arranged along the traveling rail, the feeding rail and the discharging rail are both arranged perpendicular to the traveling rail and are positioned on the same side of the traveling rail, the robot is slidably mounted on the traveling rail, the robot performs feeding and discharging operation on the machine tool along the traveling rail, and the traveling rail, the machine tool, the robot, the feeding rail and the discharging rail execute instructions of the main controller. Through the steps executed by the system, the risk can be reduced to the maximum extent, and meanwhile, the productivity is guaranteed.
Drawings
FIG. 1 is a schematic view of an automated valve block machining system of the present invention;
FIG. 2 is a schematic structural view of the feeding and discharging rail of the present invention;
FIG. 3 is a top view of the robot of the present invention;
FIG. 4 is an enlarged schematic view of the structure at A in FIG. 2;
fig. 5 is a schematic structural view of the turnover mechanism of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1:
as shown in fig. 1 a valve block automatic processing system, including walking track 1, lathe, robot 2, material loading track 3, unloading track 4 and main control unit, the lathe arranges along walking track 1, material loading track 3, unloading track 4 all perpendicular to walking track 1 arrange and both all are located walking track 1's homonymy, 2 slidable mounting of robot are on walking track 1, robot 2 carries out the unloading operation along walking track 1 to the lathe, and walking track 1, lathe, robot 2, material loading track 3, unloading track 4 all carry out main control unit's instruction.
The system performs the following steps:
step 1: the main controller detects the height of the workpiece 5, and if the height of the workpiece 5 is detected to be qualified, the feeding rail 3 moves forwards by one station; and if the height of the workpiece 5 is unqualified, stopping the feeding rail 3 and giving an alarm by the equipment.
Step 2: the main controller informs the robot 2 to obtain the workpiece 5 from the feeding rail 3, detects whether the grabbing station 301 at the front end of the feeding rail 3 has material, if the grabbing station 301 has material, the robot 2 takes away the workpiece 5, and meanwhile, the feeding rail 3 moves forward by one station; if the grabbing station 301 does not have the workpiece 5, the feeding rail 3 moves forwards until the grabbing station 301 detects that the workpiece 5 exists, and then the robot 2 stops moving, takes away the workpiece 5, and meanwhile, the feeding rail 3 moves forwards by one station.
And step 3: and the robot 2 takes out the finished workpiece 5 from the machine tool, and then puts the workpiece 5 obtained by the robot 2 in the step 2 on the machine tool to finish the loading and unloading operation of the machine tool.
And 4, step 4: the main controller informs the robot 2 to place the taken-out workpiece 5 on a station at the rear end of the blanking track 4 to complete blanking, the blanking track 4 moves forwards one station to reserve a vacant position for next blanking, and the robot 2 returns to the original point after the blanking is completed.
In the operation process of the system, if a machine tool has faults or needs maintenance, an operator can select on the main controller according to three maintenance modes of shutdown maintenance, normal maintenance and emergency maintenance.
The off-line maintenance is maintenance of the machine tool in a state where the machine tool is shut off and stopped.
The normal maintenance means that the main controller enables the current program to be run and then cuts off the enabling of the machine tool if the machine tool is in a working program under the normal working state so that the equipment can be maintained in a safe state; because the machine tool is suddenly stopped to cause that half of the processed workpieces 5 are scrapped or other unpredictable economic losses are caused, the operation of the machine tool can be stopped after the ongoing process is finished by the maintenance mode, so that the scrapping of the workpieces 5 is avoided, and the process disorder in the next processing is avoided, thereby reducing the losses to the maximum extent.
The emergency maintenance refers to that the machine tool has a fault needing emergency treatment, an operator needs to immediately treat the current machine tool, but the machine tool is still in a working program at the moment, and the machine tool can be immediately cut off when the operator selects the emergency maintenance or opens a safety door of the machine tool on a main controller. This kind of maintenance mode has set up two trigger ends, set up the button of urgent maintenance promptly on main control unit and open the emergency exit promptly, the former utilizes button and main control unit to cut off the signal connection of enabling, the latter emergency exit is equivalent to the fuse, emergency exit in the use with main control unit electric connection, after opening the emergency exit, then cut off its signal of telecommunication with main control unit, equivalent to blown the fuse, then main control unit cuts off the lathe immediately and enables, furthest guarantees operating personnel's safety, need reset after the maintenance is accomplished. After the machine tool is shut down, the unfinished workpiece is typically manually removed.
There are two ways to reset the emergency maintenance: the first is that when the operator completes the fault processing of the machine tool and confirms that no fault exists, the operator recovers the safety door and goes to the main controller for resetting (at the moment, the manipulator does not carry out loading and unloading on the machine tool); another processing mode is to submit a maintenance mode on a maintenance interface, when the processing is finished, the operator closes the safety door, the main controller presses a reset button, and the main controller presumes the current maintenance mode of the machine tool under the condition that the main controller has no fault (if the operation is not proper, the machine tool cannot be started); a second approach is generally used, which allows standardization in the use by the operator.
By executing the steps, the system automatically cuts off the energy after the equipment finishes a working period, can furthest reduce the risk and simultaneously ensure the productivity, and reduces the accident rate to the minimum.
Example 2:
as shown in fig. 2, in the present embodiment, the system includes a walking track 1, a machine tool, a robot 2, a feeding track 3, a discharging track 4, and a main controller, wherein the machine tool includes five machine tools corresponding to OP10, OP20, OP30, OP40, and OP50, where the OP10, OP20, and OP50 correspond to the machine tool being a vertical machining center, and the OP30, OP40 correspond to the machine tool being a numerically controlled lathe; the vertical machining center and the numerical control lathe are distributed on two sides of the walking track 1, and a machining inlet of the machine tool faces the walking track 1 and is convenient for the robot 2 to take and place the workpiece 5; the material loading track 3, the unloading track 4 all are perpendicular to the walking track 1 and arrange and both all are located walking track 1's homonymy, 2 slidable mounting of robot are on walking track 1, 2 go up the unloading operation along walking track 1 to the lathe, walking track 1, lathe, robot 2, material loading track 3, unloading track 4 all carry out main control unit's instruction. The system performs the steps and maintenance mode of example 1 during operation and maintenance.
Further, material loading track 3, unloading track 4 are belt conveyor, all set up the station that is used for depositing work piece 5 on every link joint 7, be provided with the height detection mechanism who is used for detecting the height of work piece 5 in material loading track 3's the frame 6, height detection mechanism is including installing door type support 8 in material loading track 3 top, two vertical ends of door type support 8 with frame 6 links firmly, be provided with the altitude sensor 9 with the last station one-to-one of material loading track 3 with link joint 7 parallel arrangement on the door type support 8, the sensor that its adopted is loose displacement touch sensor (the model is HG-C1100), altitude sensor 9 and main control unit electric connection. The workpiece 5 is placed in a station of the chain plate 7, and when the workpiece 5 just passes below the height sensor 9 along with the approach of the chain plate 7 to the height detection mechanism, the height sensor 9 detects the height of the workpiece 5, if the height of the workpiece is qualified, the workpiece is conveyed forwards continuously, and if the height of the workpiece is unqualified, the workpiece is stopped and fed back to the main controller to send an alarm. Because work piece 5 is taken in batches via robot 2, can effectively take work piece 5 through the depth of snatching of adjusting robot 2 when work piece 5 highly is unanimous, can not take place to the clamping part undersize or too big of work piece 5, the condition that work piece 5 that causes slips or install not in place on the lathe. Namely, the position for clamping the workpiece 5 has errors, and the height detection of the workpiece 5 after being placed in the station ensures that the workpieces 5 processed in the same batch have the same specification. If the specifications of the workpieces 5 are different, the equipment gives an alarm.
As shown in fig. 4, the belt conveyor includes a frame 6 and a link plate 7 connected to the frame 6, the link plate 7 is connected to the frame 6 through a quick release mechanism, the quick release mechanism includes insertion holes formed in both sides of the link plate 7, and a positioning block 11 is disposed on the frame 6 and corresponds to the insertion holes in both sides of the link plate 7, a circular hole is formed in the positioning block 11, a bolt 12 is connected to the circular hole, the bolt 12 penetrates through the circular holes in the positioning block 11 from both sides and is inserted into the insertion holes, so as to fix the link plate 7, and when the link plate is detached, the bolt 12 only needs to be pulled out from the insertion holes, so that the fixation of the link plate 7 can be released. Like this through the form feed of monoblock link joint 7, improve machining efficiency, reduce the feed degree of difficulty.
Example 3:
in this embodiment, the rest of the components are the same as those in embodiment 2, but the robot 2 is a joint robot 2, and a camera is arranged at the top of the joint robot 2, when the robot 2 executes an instruction for grabbing the workpiece 5, the robot 2 is close to the feeding rail 3, and then the camera at the top of the joint robot is displaced above the grabbing station 301, so that whether the grabbing station 301 has the material or not can be checked through the camera, and the camera is electrically connected with the main controller, so that the result checked by the camera is fed back to the main controller, and the main controller can send a next instruction conveniently.
In embodiments 1, 2, and 3, each robot 2 includes a sliding base 13, the sliding base 13 is connected to a rail, the robot 2 is mounted on the sliding base 13, and the two sliding bases are matched with each other through an electric sliding rail, so that the robot 2 can automatically move on the sliding base 13, further, a turnover mechanism 14 is further disposed on the sliding base 13, the robot 2 fixes one end of the workpiece 5 by the turnover mechanism 14, and the turnover mechanism 14 is used for clamping the other end of the workpiece 5 by the robot 2 after the workpiece 5 is turned over. The turnover mechanism 14 comprises a rotary cylinder 1401, a clamping cylinder 1402 and a jaw 1403, wherein the rotary cylinder 1401 is fixedly arranged on the sliding seat 13, the rotary end of the top of the rotary cylinder 1401 is connected with the clamping cylinder 1402, the clamping cylinder 1402 is provided with two movable ends 1404, the jaw 1403 matched with the workpiece 5 is connected to the two movable ends 1404, and the jaw 1403 is arranged behind the jaw 1403 so as to fix the workpiece 5, as shown in fig. 5. During operation, the robot 2 firstly takes materials from the feeding rail 3, secondly performs feeding and discharging for the OP10 machine tool 18, then realizes overturning of new and old workpieces 5 through the robot 2, performs feeding and discharging for the OP20 machine tool 19, and then performs feeding and discharging for the OP30 machine tool 201, after the workpieces 5 are unloaded from the OP30 machine tool 201, the workpieces 5 are sent to the clamping jaws 1403 of the overturning mechanism 14 again to be clamped by the two clamping jaws 1403 for overturning, the robot 2 takes away the overturned workpieces 5, then performs feeding and discharging for the OP40 machine tool, and then performs feeding and discharging for the OP50 machine tool 21, and after all the working procedures are completed, the robot 2 places the workpieces 5 on the feeding rail 4.
As shown in fig. 3, the grabbing part of the robot 2 includes an indexing head 15, the indexing head 15 is arranged at one end of a swing joint of the robot 2, the indexing head 15 is of a triangular prism structure, one rectangular surface of the triangular prism structure is fixedly connected with an output end of the rotating device, pneumatic fingers 16 are arranged on the other two rectangular surfaces, and the pneumatic fingers 16 are used for taking the workpiece 5. In the actual process, the transposition head 15 adopts a triangular prism structure with an isosceles right triangle section, and the pneumatic fingers 16 are arranged on two symmetrical waist surfaces, so that the precision of the robot 2 for replacing the workpiece 5 is improved.
Example 4:
in this embodiment, the rest of the components are the same as those in embodiment 3, but the same guard rail 17 is provided on the feeding rail 3 and the discharging rail 4, the guard rail 17 is positioned above the feeding rail 3 and the discharging rail 4 in a mesh shape and is also positioned between the height detection mechanism and the grabbing station 301 of the feeding rail 3, and when the guard rail 17 is provided, the robot 2 cannot move over the guard rail 17, thereby improving the safety.
In the present embodiment, since the single-piece machining cycle of the OP10 machine 18 is faster than that of the OP20 machine 19 during the actual machining process, and the OP20 machine 19 is a key node of the whole-line output, the buffer table 10 is provided near the OP10 machine 18 to avoid the shutdown of the OP20 machine 19 when the OP10 machine 18 changes tools, so as to ensure the whole-line output. In practical process, because the tool of the OP30 machine tool 201 is replaced frequently, the buffer tables 10 arranged near the OP30 machine tool 201 can relieve the production stop of the OP30 machine tool 201 caused by the tool replacement after shutdown, and further ensure the machining efficiency, the buffer numbers of the two buffer tables 10 are 24, as can be seen from fig. 1, the buffer tables 10 corresponding to the OP10 and the OP30 machine tool 201 are arranged on both sides of the walking track 1.
Further, in embodiments 1, 2, 3, and 4, the traveling rail 1, the machine tool, the robot 2, the loading rail 3, and the unloading rail 4 are connected to the main controller by Profinet protocol.
The specific operation process of the invention is as follows:
the system achieves the aim of automatic production by executing the following steps to connect all the stations in series.
OP01 machine tool feeding preposition work: a worker puts the chain plate 7 holding the workpiece 5 on a station of the feeding rail 3, the feeding rail 3 is started, the workpiece 5 automatically moves forward one station to detect the height of the workpiece 5, the height is qualified, the next station is automatically detected, unqualified equipment gives an alarm, and the operator handles the workpiece. When the robot 2 finishes taking the last workpiece 5, the feeding track 3 automatically advances to a station.
Feeding an OP01 machine tool: the OP10 machine tool 18 requests feeding, the main controller informs the robot 2 to go to the feeding track 3 to take materials, the robot 2 takes the workpiece 5 to feed the OP10 machine tool 18, and simultaneously requests a response signal for the machine tool OP 10.
Blanking by an OP10 machine tool 18: the OP10 machine 18 requests blanking and the master controller informs the robot 2 to remove the workpiece 5 from the OP10 machine 18 and requests a response signal to the OP10 machine 18.
Emptying the OP10 buffer table 10: the OP10 machine 18 is finished and the OP20 machine 19 has no request and the main controller informs the robot 2 to put the workpiece 5 in the corresponding position of the OP10 buffer station 10.
The OP10 cache station 10 fetches: the OP20 machine 19 requests a load, the OP10 machine 18 is working and the robot 2 is not picking from the OP10 machine 18, the main controller informs the robot 2 to go to the OP10 buffer station 10 to pick the corresponding workpiece 5.
Feeding on an OP20 machine tool 19: the OP20 machine tool 19 requests for feeding, the main controller informs the robot 2 to put the workpiece 5 into the OP20 machine tool 19, at this time, the robot 2 takes out the workpiece 5 processed by the OP20 machine tool 19, puts in a new workpiece 5 for processing, and simultaneously requests the response signal to the machine tool OP 20.
Blanking by an OP20 machine tool 19: the OP20 machine 19 requests blanking and the master controller informs the robot 2 to remove the workpiece 5 from the OP20 machine 19 and requests a response signal to the OP20 machine 19.
Emptying by an OP20 cache table 10:
when the products A are produced, the OP20 machine tool 19 finishes processing, the OP30 machine tool 201 and the OP40 machine tool 202 have no request, and the main controller informs the robot 2 to put the workpiece 5 into the corresponding position of the OP20 cache table 10;
when B products are produced, the OP20 machine 19 is finished, the OP50 machine 21 has no request, and the main controller informs the robot 2 to put the workpiece 5 into the corresponding position of the OP20 buffer table 10.
The OP20 cache station 10 fetches the material:
when the products of type a are produced, the OP30 machine tool 201 and the OP40 machine tool 202 request feeding, and the OP20 machine tool 19 is processing, that is, the robot 2 does not take the materials from the OP20 machine tool 19, the main controller informs the robot 2 to go to the OP20 cache table 10 to take the corresponding workpieces 5;
when B products are produced, the OP50 machine 21 requests the feeding, the OP20 machine 19 is machining and the OP20 machine 19 is machining, i.e. the robot 2 does not take the corresponding workpiece 5 from the OP20 machine 19, the main controller informs the robot 2 to go to the OP20 buffer station 10.
Feeding and discharging of an OP30 machine tool 201 and an OP40 machine tool 202: the OP30 machine tool 201 and the OP40 machine tool 202 request the loading and unloading, and the robot 2 takes out the workpiece 5 of the OP30 machine tool 201 and the OP40 machine tool 202, puts a new workpiece 5 in the workpiece for machining, and simultaneously requests the response signals to the OP30 machine tool 201 and the OP40 machine tool 202.
And (3) material loading and overturning: the OP30 machine tool 201 and the OP40 machine tool 202 request the turning, the robot 2 takes out the workpiece 5 from the OP30 machine tool 201 and the OP40 machine tool 202, puts the workpiece 5 into the turning mechanism 14 for turning, takes out the turned workpiece 5, puts the workpiece back into the OP30 machine tool 201 and the OP40 machine tool 202, and simultaneously requests response signals to the OP30 machine tool 201 and the OP40 machine tool 202.
Feeding on an OP50 machine tool 21: the OP50 machine tool 21 requests for feeding, the main controller informs the robot 2 to place the workpiece 5 in the turnover mechanism 14, then takes out the turnover workpiece 5 to feed the OP50 machine tool 21, simultaneously requests a response signal for the OP50 machine tool 21, and simultaneously the robot 2 takes out the workpiece 5 processed by the OP50 machine tool 21 to be placed at a corresponding position of the blanking track 4;
blanking by an OP50 machine tool 21: when the OP50 machine tool 21 requests blanking, the main controller informs the robot 2 to take materials from the OP50 machine tool 21, and the main controller responds to the request of the machine tool after the materials are taken; the robot 2 executes a blanking program, the workpiece 5 is placed at a position corresponding to the blanking track 4, and the robot 2 returns to the original point after the blanking is finished.
Claims (10)
1. The automatic valve block machining system is characterized by comprising a traveling track (1), a machine tool, a robot (2), a feeding track (3), a discharging track (4) and a main controller, wherein the machine tool is arranged along the traveling track (1), the feeding track (3) and the discharging track (4) are both arranged perpendicular to the traveling track (1) and are positioned on the same side of the traveling track (1), the robot (2) is slidably mounted on the traveling track (1), the robot (2) carries out feeding and discharging operations on the machine tool along the traveling track (1), and the traveling track (1), the machine tool, the robot (2), the feeding track (3) and the discharging track (4) execute instructions of the main controller;
the system performs the following steps:
step 1: the main controller detects the height of a workpiece (5) on the feeding track (3), and if the height of the workpiece (5) is detected to be qualified, the feeding track (3) moves forwards by one station; if the height of the workpiece (5) is unqualified, stopping the feeding track (3) and giving an alarm by equipment;
step 2: the main controller informs the robot (2) to acquire the workpiece (5) from the feeding rail (3), detects whether the grabbing station (301) at the front end of the feeding rail (3) has material, if the grabbing station (301) has material, the robot (2) takes away the workpiece (5), and meanwhile, the feeding rail (3) moves forward by one station; if the grabbing station (301) is not provided with the workpiece (5), the feeding rail (3) moves forwards until the grabbing station (301) is detected to be provided with the workpiece (5), and then the robot (2) takes away the workpiece (5), and meanwhile, the feeding rail (3) moves forwards by one station;
and step 3: the robot (2) takes out the finished workpiece (5) from the machine tool, and then places the workpiece (5) obtained by the robot (2) in the step (2) on the machine tool to complete the feeding and discharging operation of the machine tool;
and 4, step 4: the main controller informs the robot (2) to place the taken workpiece (5) on a station at the rear end of the blanking track (4) to complete blanking, the blanking track (4) moves forward to one station to reserve a vacant position for next blanking, and the robot (2) returns to the original point after the blanking is completed;
when the machine tool is out of order or needs maintenance, the operator selects the maintenance mode of the machine tool on the main controller as appropriate: normal maintenance and emergency maintenance;
and (4) normal maintenance: if the operator selects normal maintenance, the machine tool is in a normal working state, if the machine tool is in a working program, the main controller enables the current program to run completely, and then the machine tool is cut off to enable the machine tool, so that the equipment can be maintained in a safe state;
emergency maintenance: if an operator needs to emergently deal with the problems of the current machine tool and the machine tool is still in a working program, the operator opens the safety door of the machine tool at the moment, the enabling of the machine tool is immediately cut off, and after the maintenance is finished, the main controller finishes the reset of the machine tool.
2. The automatic valve block machining system according to claim 1, wherein the machine tools include five machine tools corresponding to OP10, OP20, OP30, OP40 and OP50, wherein the OP10, OP20 and OP50 corresponding machine tools are vertical machining centers, and the OP30 and OP40 corresponding machine tools are numerically controlled lathes; the vertical machining center and the numerical control lathe are distributed on two sides of the walking track (1), and a machining inlet of the machine tool faces the walking track (1) to facilitate the robot (2) to take and place the workpiece (5);
the feeding track (3) and the discharging track (4) are both belt conveyors, each belt conveyor comprises a rack (6), each rack (6) is provided with a conveyor belt and chain plates (7) connected with the conveyor belt, each chain plate (7) is provided with a station for storing a workpiece (5), each rack (6) is also provided with a height detection mechanism for detecting the height of the workpiece (5), each height detection mechanism comprises a door-shaped support (8) arranged above the feeding track (3), two vertical ends of each door-shaped support (8) are fixedly connected with the racks (6), height sensors (9) which correspond to the stations on the feeding track (3) one by one are arranged on the door-shaped supports (8) in parallel with the chain plates (7), and the height sensors (9) are electrically connected with a main controller;
and buffer tables (10) corresponding to the OP10 and OP30 machine tools are arranged on two sides of the walking track (1).
3. The automatic valve block machining system according to claim 2, wherein the chain plate (7) is connected with the rack (6) through a quick-release mechanism, the quick-release mechanism comprises insertion holes formed in two sides of the chain plate (7) and positioning blocks (11) corresponding to the insertion holes in the two sides of the chain plate (7) on the rack (6), round holes are formed in the positioning blocks (11), bolts (12) are connected in the round holes, and the bolts (12) penetrate through the round holes in the positioning blocks (11) from two sides and are inserted into the insertion holes, so that the chain plate (7) is fixed.
4. The automatic valve block machining system according to claim 2, wherein a camera is arranged on the robot (2), and the camera is electrically connected with the main controller so that the main controller can detect whether materials exist in the grabbing station (301).
5. The automatic valve block machining system according to any one of claims 1 to 4, wherein the robot (2) comprises a sliding seat (13), the sliding seat (13) is connected with a rail, the robot (2) is mounted on the sliding seat (13), a turnover mechanism (14) is further arranged on the sliding seat (13), one end of the workpiece (5) is fixed by the robot (2) through the turnover mechanism (14), and the turnover mechanism (14) is used for clamping the other end of the workpiece (5) after the workpiece (5) is turned over by the robot (2).
6. The automatic valve block machining system according to claim 5, characterized in that the turnover mechanism (14) comprises a rotary cylinder (1401), a clamping cylinder (1402) and jaws (1403), the rotary cylinder (1401) is fixedly mounted on the sliding seat (13), the rotary end of the top of the rotary cylinder (1401) is connected with the clamping cylinder (1402), the clamping cylinder (1402) is provided with two movable ends (1404), the jaws (1403) matched with the workpiece (5) are connected to the two movable ends (1404), and the jaws (1403) are arranged behind each other so as to fix the workpiece (5).
7. The automatic valve block machining system according to claim 5, wherein the robot (2) comprises an indexing head (15), the indexing head (15) is arranged at one end of a swing joint of the robot (2), the indexing head (15) is of a triangular prism structure, one rectangular surface of the triangular prism structure is fixedly connected with an output end of the rotating device, and pneumatic fingers (16) are arranged on the other two rectangular surfaces and are used for taking workpieces (5).
8. The automatic valve block machining system according to claim 7, wherein the indexing head (15) is of a triangular prism structure with a cross section of an isosceles right triangle, and the pneumatic fingers (16) are respectively arranged on two symmetrical waist surfaces of the triangular prism structure.
9. The automatic valve block machining system according to claim 2, wherein protective guards (17) are arranged on the feeding rail (3) and the discharging rail (4), and the protective guards (17) are arranged above the belt conveyor and between the height detection mechanism and the grabbing station (301) and used for limiting the robot (2) to pass over the protective guards (17) when the robot (2) takes the workpiece (5) from the grabbing station (301).
10. The automatic valve block machining system according to claim 1, wherein the traveling rail (1), the machine tool, the robot (2), the feeding rail (3), the discharging rail (4) and the main controller are connected through a Profinet network protocol.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310024468.3A CN115922420A (en) | 2023-01-09 | 2023-01-09 | Automatic valve block machining system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310024468.3A CN115922420A (en) | 2023-01-09 | 2023-01-09 | Automatic valve block machining system |
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| CN115922420A true CN115922420A (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310024468.3A Pending CN115922420A (en) | 2023-01-09 | 2023-01-09 | Automatic valve block machining system |
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