CN116900874A - Full-automatic vehicle-mounted glass milling production line - Google Patents

Abstract

The invention discloses a full-automatic vehicle-mounted glass milling production line, which comprises the following steps: a plurality of processing islands; a finished product assembly line; the processing island comprises at least one CNC milling machine, at least one automatic feeding and discharging machine, a first manipulator and a second manipulator; the first manipulator realizes workpiece transfer between the automatic feeding and discharging machine and the CNC milling machine; the second manipulator is used for transferring the workpiece on the CNC milling machine to a finished product assembly line; each processing island has complete feeding and milling functions, and a plurality of processing islands can process different products, so that the processing flexibility of a production line is improved, and the manufacturing cost of the production line is reduced.

Description

Full-automatic vehicle-mounted glass milling production line

Technical Field

The invention relates to the technical field of numerical control machine tool machining, in particular to a full-automatic vehicle-mounted glass milling production line.

Background

In the field of processing and manufacturing, along with continuous progress of technology and expansion of application range, development of intelligent manufacturing is more and more favored by people; the intelligent manufacturing becomes an important means for converting and upgrading the manufacturing industry and improving the market competitiveness, and the automation is continuously and deeply developed in the future, so that an efficient, flexible, accurate and intelligent manufacturing mode is realized; the numerical control machine is used as a foundation in intelligent manufacturing, plays an irreplaceable role in the industrial development process, and the degree of automation of the numerical control machine is also an important index for evaluating the processing capacity of equipment.

In the production line of on-vehicle glass milling, set up transportation group device at last unloading mechanism's discharge end, along the length direction of conveyer, be provided with a plurality of CNC grinder in conveyer's one side range, pay-off to a plurality of CNC grinder through same conveyer.

Therefore, the feeding mode of the same conveying device to the CNC grinding devices has the problems that the whole line equipment can only process single products, the processing is inflexible, the manufacturing cost is high, and the like.

Disclosure of Invention

In order to overcome at least one defect in the prior art, the invention provides a full-automatic vehicle-mounted glass milling production line, each processing island is provided with complete feeding and milling functions, and a plurality of processing islands can process different products, so that the processing flexibility of the production line is improved, and the manufacturing cost of the production line is reduced.

The invention adopts the technical proposal for solving the problems that:

a fully automatic vehicular glass milling line comprising:

a plurality of processing islands;

a finished product assembly line;

the processing island comprises at least one CNC milling machine, at least one automatic feeding and discharging machine, a first manipulator and a second manipulator;

the first manipulator realizes workpiece transfer between the automatic loading and unloading machine and the CNC milling machine;

the second manipulator is used for transferring the workpiece on the CNC milling machine to the finished product assembly line.

Further, the number of the automatic feeding and discharging machines is one, and the number of the CNC milling machines is two;

the two CNC milling machines are arranged in parallel, the automatic feeding and discharging machine is arranged between the two CNC milling machines, and the first manipulator is used for transferring workpieces on the automatic feeding and discharging machine to the two CNC milling machines.

Further, the CNC milling machine comprises a lathe bed, a cross beam, a workbench and a milling mechanism;

the workbench is movably arranged at the top of the lathe bed, and moves on the lathe bed to approach or depart from the second manipulator;

the cross beam is arranged at the top of the lathe bed and transversely arranged above the workbench in the direction perpendicular to the movement direction of the workbench;

the milling mechanism is movably arranged on the cross beam, moves on the cross beam to cross the workbench, and moves close to or far away from the workbench.

Further, the automatic feeding and discharging machine comprises a feeding and discharging machine frame and a conveying mechanism;

the conveying mechanism is arranged on the feeding and discharging machine frame and is provided with a first conveying direction, and the conveying mechanism conveys the workpiece to the first manipulator in the first conveying direction.

Further, the automatic feeding and discharging machine further comprises at least one lifting assembly;

the conveying mechanism is provided with a sending material level, and the sending material level is provided with the lifting assembly;

when the conveying mechanism is stopped, the sending position stacking device is provided with a plurality of trays, each tray is provided with a workpiece, the lifting assembly clamps a second tray from bottom to top and lifts the second tray upwards so as to place the tray with the bottom layer and only the bottom layer on the conveying mechanism; when the conveying mechanism operates in the first conveying direction, the tray placed on the conveying mechanism and located at the dispensing position on the conveying mechanism is conveyed toward the first manipulator.

Further, along the first transportation direction, the conveying mechanism is further provided with a fixing position, the fixing position is positioned behind the sending position, and the lifting assembly is arranged at the fixing position;

when the tray bearing the workpieces reaches the fixed position, the lifting assembly of the fixed position clamps and lifts the tray upwards so that the tray is separated from the conveying mechanism, and the workpieces in the tray wait for the first manipulator to transfer.

Further, the conveying mechanism is further provided with a tray recovery position, the tray recovery position is located between the sending position and the fixed position, and the fixed position is provided with the lifting assembly;

the conveying mechanism is provided with a second conveying direction, and after the first manipulator transfers the fixedly positioned workpiece;

the lifting component at the fixed position places the empty tray at the fixed position on the conveying mechanism, the conveying mechanism runs along the second conveying direction, and when the empty tray reaches the tray recovery position, the lifting component at the tray recovery position clamps and lifts the empty tray so as to enable the empty tray to be separated from the conveying mechanism.

Further, the lifting assembly comprises a clamping assembly and a lifter, wherein the clamping assembly comprises two clamping hands, the two clamping hands are oppositely arranged at two sides of the first conveying direction of the conveying mechanism, and the two clamping hands are oppositely or reversely telescopic so as to clamp or loosen the tray;

the two clamping hands are arranged on the lifter, the lifter stretches in the height direction of the feeding and discharging machine frame and is used for adjusting the position of the clamping hands in the height direction of the feeding and discharging machine frame.

Further, the clamping assembly further comprises two adjusting machines;

the adjusting machine is arranged on the lifter, the clamping hand is arranged on the adjusting machine, and the adjusting machine is used for adjusting the position of the clamping hand in the height direction of the feeding and discharging machine frame.

Further, the automatic feeding and discharging machine also comprises a positioning rod;

the four sides of the lifting assembly of the sending position and the four sides of the lifting assembly of the tray recycling position are respectively provided with a positioning rod used for positioning two ends of the tray.

Further, the first manipulator comprises a first rack and a first pickup mechanism;

the first rack is transversely arranged above the workbench and the automatic feeding and discharging machine in a direction perpendicular to the movement direction of the workbench;

the first pick-up mechanism is movably arranged on the first rack; the first rack moves transversely across the workbench and the automatic feeding and discharging machine in a direction perpendicular to the movement direction of the workbench, and the first pickup mechanism stretches and contracts in the height direction of the first rack.

Further, the first pick-up mechanism comprises a W-axis connection, a W-axis drive mechanism and at least one first gripper;

the W-axis connecting piece is arranged on the first rack in a sliding manner, the W-axis driving mechanism is arranged on the W-axis connecting piece, and the first grabbing piece is arranged on the W-axis driving mechanism;

the W-axis connecting piece drives the W-axis driving mechanism to stretch across the workbench and the automatic feeding and discharging machine, and the W-axis driving mechanism drives the first grabbing piece to stretch and retract along the height direction of the first rack.

Further, the number of the first grabbing pieces is two, and the two first grabbing pieces are rotatably arranged on the W-axis driving mechanism;

when one first grabbing piece transfers the workpiece of the automatic feeding and discharging machine to the workbench, the other first grabbing piece grabs the machined workpiece on the workbench, the workbench is emptied, and after the first grabbing piece places the workpiece of the automatic feeding and discharging machine on the workbench, the other first grabbing piece transfers the machined workpiece.

Further, the second manipulator comprises a second frame and a second pick-up mechanism;

one end of the second manipulator spans over the finished product assembly line;

the second pickup mechanism is movably arranged on the second frame, reciprocates between the CNC milling machine and the finished product assembly line, and stretches in the height direction of the second frame;

the second pick-up mechanism is used for transferring the workpiece on the CNC milling machine to the finished product assembly line.

Further, the second pick-up mechanism comprises a W2 shaft connection, a W2 shaft drive mechanism, and a second gripper;

the W2 shaft connecting piece is arranged on the second rack in a sliding manner, the W2 shaft driving mechanism is arranged on the W2 shaft connecting piece, and the second grabbing piece is arranged on the W2 shaft driving mechanism;

the W2 shaft connecting piece drives the W2 shaft driving mechanism to stretch across the workbench and the automatic feeding and discharging machine, and the W2 shaft driving mechanism drives the second grabbing piece to stretch and retract along the height direction of the second rack.

Further, the device also comprises a docking machine;

along the transportation direction of the finished product assembly line, the connection machine is arranged at the tail end of the finished product assembly line.

In summary, the full-automatic vehicle-mounted glass milling production line provided by the invention has the following technical effects:

each processing island has complete feeding and milling functions, and a plurality of processing islands can process different products, so that the processing flexibility of a production line is improved, and the manufacturing cost of the production line is reduced; and when the number of CNC milling machines of the same processing island is two, one CNC machine can still process when the other CNC machine stops due to fault, so that the output of each processing island is ensured.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic view of a processing island of the present invention;

FIG. 3 is a schematic view of a CNC milling machine of the present invention;

FIG. 4 is a schematic view of an automatic loader-unloader of the present invention;

FIG. 5 is a schematic view of a lift assembly of the automatic loader and unloader of the present invention;

FIG. 6 is a schematic view of a first manipulator of the present invention;

FIG. 7 is an enlarged view of FIG. 6A;

fig. 8 is a schematic view of a second manipulator of the present invention.

Wherein the reference numerals have the following meanings:

1. processing islands; 11. CNC milling machine; 111. a bed body; 112. a cross beam; 113. a work table; 114. a milling mechanism; 115. a table driving mechanism; 116. a milling mechanism drive; 12. an automatic feeding and discharging machine; 121. a feeding and discharging machine frame; 122. a conveying mechanism; 123. a material sending position; 124. a tray recycling position; 125. fixing the position; 126. a positioning rod; 13. a first manipulator; 131. a first frame; 132. a first pick-up mechanism; 1321. a W1 shaft connector; 1322. a W1 shaft driving mechanism; 1323. a first gripper; 1324. a U-axis driving mechanism; 1325. a U-axis connecting plate; 14. a second manipulator; 141. a second frame; 142. a second pick-up mechanism; 1421. a W2 shaft connector; 1422. a W2 shaft driving mechanism; 1423. a second gripper; 1424. a V-axis driving mechanism; 2. a finished product assembly line; 3. a workpiece; 4. a docking machine; 5. a tray; 6. a lifting assembly; 61. a clamping assembly; 611. a clamping hand; 612. an adjusting machine; 62. a lifter; 63. a fixed bottom plate; 64. and lifting the movable plate.

Detailed Description

For a better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

In the description of the present invention, it should be noted 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 the orientations or positional relationships shown in the drawings, only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Example 1

The invention discloses a full-automatic vehicle-mounted glass milling production line, which comprises the following steps:

a plurality of processing islands 1 and a finished product flow line 2;

referring to fig. 1, preferably, the number of processing islands 1 is five, and the five processing islands 1 are disposed on the side of the product flow line 2 along the transportation direction of the product flow line 2, alternatively, the five processing islands 1 may be disposed on the same side of the product flow line 2, or on different sides, and in this embodiment, the five processing islands 1 are disposed on the same side of the product flow line 2; for convenience of description, the transportation direction of the product line 2 will be referred to as X direction, in this embodiment, the X direction is parallel to the horizontal direction, the direction perpendicular to the X direction and parallel to the horizontal plane is the Y direction, and the directions perpendicular to the X direction and the Y direction and vertically upward are the Z directions.

Referring to fig. 2, the processing island 1 includes at least one CNC milling machine 11, at least one automatic loading and unloading machine 12, a first robot 13 and a second robot 14;

the CNC milling machine 11 is arranged on the side edge of the finished product assembly line 2, and the second manipulator 14 is arranged between the finished product assembly line 2 and the CNC milling machine 11;

the first manipulator 13 realizes the transfer of the workpiece 3 between the automatic loading and unloading machine 12 and the CNC milling machine 11; the second robot 14 is used to transfer the workpiece 3 on the CNC milling machine 11 to the finishing line 2.

Specifically, the automatic loading and unloading machine 12 is arranged on one side of the CNC milling machine, and the first manipulator 13 spans over the CNC milling machine and the automatic loading and unloading machine 12 so as to transfer the workpiece 3 on the automatic loading and unloading machine 12 to the CNC milling machine for processing.

Specifically, in this embodiment, the number of CNC milling machines 11 and automatic loading and unloading machines 12 is one.

Referring to fig. 3, the cnc milling machine 11 includes a bed 111, a beam 112, a table 113, and a milling mechanism 114.

The workbench 113 is movably disposed at the top of the machine body 111, the workbench 113 moves on the machine body 111 near to or far from the second manipulator 14, more specifically, according to the well-known arrangement of the machine tool, the CNC milling machine 11 further includes a workbench driving mechanism 115, the workbench driving mechanism 115 is disposed at the top of the machine body, the workbench 113 is movably disposed on the workbench driving mechanism 115, and the workbench driving mechanism 115 drives the workbench 113 to move.

The cross beam 112 is arranged on top of the bed 111 and is arranged transversely above the workbench 113 in a direction perpendicular to the movement direction of the workbench 113; preferably, the beam 112 is disposed at an end of the table 113 near the second robot 14.

The milling mechanism 114 is movably arranged on the beam 112, and the milling mechanism 114 moves on the beam 112 to cross the workbench 113 and moves close to or away from the workbench 113; specifically, the milling mechanism 114 includes a milling base and a milling head, the milling base is slidably provided with the beam 112, the milling head is slidably provided on the milling base, and the milling head is preferably driven by a hydraulic manner, so that the milling head moves in the Z direction to be close to or far from the workbench 113; in addition, the CNC milling machine 11 further includes a milling mechanism drive 116, the milling mechanism drive 116 providing the cross beam 112 and being coupled to the milling mechanism 114 for driving movement of the milling mechanism 114 on the cross beam 112, optionally the milling mechanism drive 116 including, but not limited to, a linear motor or a lead screw.

Referring to fig. 4, the automatic loader and unloader 12 includes a loader and unloader frame 121 and a conveying mechanism 122.

The conveying mechanism 122 is disposed on the loader-unloader frame 121, preferably, the conveying mechanism 122 is a conveying belt, the conveying mechanism 122 has a first conveying direction, the conveying mechanism 122 conveys the workpiece 3 to the first manipulator 13 in the first conveying direction, and the conveying belt controls the conveying of the conveying belt through a motor.

Referring to fig. 6, the first robot 13 includes a first frame 131 and a first pickup mechanism 132; the first rack 131 is transversely arranged above the workbench 113 and the automatic feeding and discharging machine 12 in the direction perpendicular to the moving direction of the workbench 113; the first pick-up mechanism 132 is movably disposed on the first frame 131; the first frame 131 spans the workbench 113 and the automatic loading and unloading machine 12 in a direction perpendicular to the motion direction of the workbench 113, and the first pickup mechanism 132 stretches and contracts in the height direction of the first frame 131; specifically, the first frame 131 is located on a side of the beam 112 remote from the product line 2.

In this embodiment, first picking mechanism 132 includes a W1 shaft connection 1321, a W1 shaft drive mechanism 1322, and a first gripper 1323; the W1 shaft connector 1321 is slidably provided with the first frame 131, the W1 shaft driving mechanism 1322 is provided on the W1 shaft connector 1321, and the first gripper 1323 is provided on the W1 shaft driving mechanism 1322; the W1 shaft connecting piece 1321 drives the W1 shaft driving mechanism 1322 to cross the workbench 113 and the automatic loading and unloading machine 12, and the W1 shaft driving mechanism 1322 drives the first grabbing piece 1323 to stretch along the height direction (i.e., the Z direction) of the first rack 131.

Preferably, the first pick-up mechanism 132 further includes a U-axis driving mechanism 1324 and a U-axis connecting plate 1325, the U-axis driving mechanism 1324 is fixed on the first frame 131 by the U-axis connecting plate 1325, and the U-axis driving mechanism 1324 spans the workbench 113 and the automatic loading and unloading machine 12, more specifically, the U-axis driving mechanism 1324 spans the discharging end of the automatic loading and unloading machine 12 (the end of the automatic loading and unloading machine 12 near the CNC milling machine 11); the W1 shaft connector 1321 is slidably disposed on the U shaft driving mechanism 1324, and the W1 shaft driving mechanism 1322 is fixed on the side surface of the W1 shaft connector 1321, preferably, the W1 shaft driving mechanism 1322 includes, but is not limited to, a linear motor, a pneumatic cylinder, and the like; preferably, the first grabbing member 1323 includes a grabbing driving mechanism and grabbing members, the grabbing driving mechanism is disposed on the W1 shaft connecting member 1321, the grabbing members are disposed on the grabbing driving mechanism, the grabbing members are first suckers, the number of the first grabbing members 1323 can be one, but in this embodiment, in order to achieve stable grabbing, two first grabbing members 1323 are disposed on the W1 shaft driving mechanism 1322 in the width direction of the automatic feeding and discharging machine 12.

Referring to fig. 8, the second robot 14 includes a second rack 141 and a second pickup mechanism 142; one end of the second manipulator 14 spans over the finished product assembly line 2; the second pickup mechanism 142 is movably arranged on the second frame 141, the second pickup mechanism 142 reciprocates between the CNC milling machine 11 and the finished product assembly line 2, and the second pickup mechanism 142 stretches and contracts in the height direction of the second frame 141; the second pick-up mechanism 142 is used to transfer the workpiece 3 on the CNC milling machine 11 to the production line 2.

In this embodiment, the second pick-up mechanism 142 includes a W2 shaft connection 1421, a W2 shaft drive mechanism 1422, and a second gripper 1423; the W2 shaft connecting member 1421 is slidably provided with the second rack 141, the W2 shaft driving mechanism 1422 is provided on the W2 shaft connecting member 1421, and the second gripping member 1423 is provided on the W2 shaft driving mechanism 1422; the W2 shaft connecting member 1421 drives the W2 shaft driving mechanism 1422 to traverse the workbench 113 and the automatic loading and unloading machine 12, and the W2 shaft driving mechanism 1422 drives the second grabbing member 1423 to stretch along the height direction (i.e. the Z direction) of the second frame 141.

Preferably, the second pick-up mechanism 142 further includes a V-axis driving mechanism 1424, the V-axis driving mechanism 1424 is disposed on the second rack 141, the W2-axis connecting member 1421 is slidably disposed on the V-axis driving mechanism 1424, and the W2-axis driving mechanism 1422 is, but not limited to, a linear motor and a hydraulic cylinder; preferably, the second grabbing piece 1423 includes a V-axis connecting seat and a transferring piece, the V-axis connecting seat is disposed on the W2-axis driving mechanism 1422, the transferring piece is disposed on the V-axis connecting seat, the grabbing piece is a second sucker, in this embodiment, at least two second suckers are a group, and multiple groups of second suckers are uniformly disposed at intervals in parallel to the transverse direction of the beam 112; in particular, the second suction cups of each set of second suction cups are arranged parallel to the direction of movement of the table 113.

In addition, the full-automatic vehicle-mounted glass milling production line also comprises a connector 4; along the transportation direction of the finished product assembly line 2, the connector 4 is arranged at the tail end of the finished product assembly line 2.

According to the above, the production steps of the full-automatic vehicle-mounted glass milling production line are as follows:

as shown in fig. 1, a finished product assembly line 2 is arranged behind five processing islands 1, the tail end of the finished product assembly line 2 is connected with a connector 4, and all the devices are reset to initial positions; before the production line is started, the single workpiece 3 is placed on the conveying mechanism 122 of the automatic loading and unloading machine 12 of each processing island 1.

Step 1, automatic feeding of the workpiece 3

After the production line is started, the conveying mechanism 122 is operated in the first conveying direction to convey the workpiece 3 to the first manipulator 13, and when the workpiece 3 reaches below the U-axis driving mechanism 1324, the conveying mechanism 122 stops operating; the U-axis driving mechanism 1324 drives the first chuck to move to the upper side of the workpiece 3, the W1-axis driving mechanism 1322 drives the first chuck to descend and abut against the workpiece 3, the grabbing driving mechanism drives the first chuck to open vacuum to firmly adsorb the workpiece 3 on the first chuck, the W1-axis driving mechanism 1322 drives the first chuck to ascend, the U-axis driving mechanism 1324 drives the first chuck to move to the upper side of the workbench 113, the W1-axis driving mechanism 1322 drives the first chuck to descend to place the workpiece 3 on the workbench 113, the grabbing driving mechanism drives the first chuck to release grabbing of the workpiece 3 to place the workpiece 3 on the workbench 113, the W1-axis driving mechanism 1322 drives the first chuck to ascend, and the U-axis driving mechanism 1324 drives the first chuck to move to the upper side of the conveying mechanism 122 to wait for grabbing of the next round of the workpiece 3.

Step 2, processing the workpiece 3

After the workpiece 3 moves onto the workbench 113 of the CNC milling machine 11, the CNC milling machine 11 is started, and the workpiece 3 on the workbench can be processed through the linear motion of the X, Y, Z shaft driving mechanism and the rotary motion of the main shaft, that is, the workbench driving mechanism 115 drives the workbench 113 to reach the position below the milling head (that is, the workpiece 3 reaches the position below the milling head), and of course, the milling head can also move on the cross beam 112 to adjust the position above the workpiece 3; the milling head descends to process the workpiece 3, and the milling head ascends after the processing is completed.

Step 3. Automatic discharging of workpiece 3

When the processing of the workpiece 3 is completed, the workbench 113 moves to one end, close to the second manipulator 14, of the workbench driving mechanism 115, at this time, the workpiece 3 is located below the second sucker, the W2 shaft driving mechanism drives the second sucker to descend and grasp the workpiece 3 on the workbench 113, the second sucker ascends, the V shaft driving mechanism drives the second sucker to move to the upper part of the finished product assembly line 2, the second sucker descends and places the workpiece 3 on the finished product assembly line 2, and the finished product assembly line 2 conveys the workpiece 3 to the docking machine 4; the second sucker ascends and moves towards the CNC milling machine to return.

And 4. Repeating the steps 1 to 3, and finishing automatic feeding and discharging and processing of the workpieces 3 in the single-group processing island 1.

The processing island 1 and the finished product assembly line 2 realize automatic control through the sensors, so that automatic feeding, positioning, processing, blanking and cleaning of the workpiece 3 are realized; the number of times of turnover of the workpiece is effectively increased, so that the product yield and the processing efficiency are improved; and each processing island 1 of the production line can simultaneously process workpieces 3 with different specifications, so that the flexibility of processing products is greatly improved.

The first frame 131 of the first manipulator 13 and the second frame 141 of the second manipulator 14 may be respectively provided with a first gripping member 1323 and a second gripping member 1423, which are respectively arranged on the two bases, so as to realize the transfer of the workpiece.

Example two

On the basis of the first embodiment, referring to fig. 4, to implement automatic feeding of the conveying mechanism 122, the automatic feeding and discharging machine 12 further includes at least one lifting assembly 6; the conveying mechanism 122 is provided with a delivery level 123, and the delivery level 123 is provided with a lifting assembly 6; when the conveying mechanism 122 is stopped, the delivery position 123 is stacked with a plurality of trays 5, each tray 5 holds one workpiece 3 therein, and the lifting assembly 6 clamps the second tray 5 from bottom to top and lifts up to place only the bottom tray 5 on the conveying mechanism 122; when the conveyor 122 is operated in the first transport direction, the tray 5 placed on the conveyor 122 at the upper dispensing level 123 is transported to the first robot 13.

Preferably, the lifting assembly 6 comprises a clamping assembly 61 and a lifter 62, the clamping assembly 61 comprises two clamping hands 611, the two clamping hands 611 are oppositely arranged at two sides of the conveying mechanism 122 in the first conveying direction, and the two clamping hands 611 are opposite or reversely telescopic to clamp or loosen the tray 5; the two clamping hands 611 are arranged on the lifter 62, and the lifter 62 stretches and contracts in the height direction of the upper and lower machine frames 121, so as to adjust the positions of the clamping hands 611 in the height direction of the upper and lower machine frames 121; preferably, the clamping assembly 61 is a clamping cylinder, and the front end of a telescopic rod of the clamping cylinder is provided with a clamping block; the lifter 62 is a lifting cylinder; in addition, the clamping assembly 61 may be a clamping linear motor and the lifter 62 may be a lifting linear motor.

Preferably, the lifter 62 is disposed on the loader-unloader frame 121, more specifically, the lifting assembly 6 further includes a fixed bottom plate 63 and a lifting movable plate 64; the fixed bottom plate 63 is connected to the upper and lower machine frame 121 and is located below the conveying mechanism 122, a guide sleeve is arranged at the top of the fixed bottom plate 63, a guide pillar is arranged at the bottom of the lifting movable plate 64 and movably arranged in the guide sleeve to realize the movement of the lifting movable plate 64 above the fixed bottom plate 63, the lifter 62 is mounted on the fixed bottom plate 63, a telescopic rod of the lifter 62 is connected to the bottom of the lifting movable plate 64 and is used for driving the lifting movable plate 64 to lift in the vertical direction, two ends of the lifting movable plate 64 respectively protrude out of two sides of the conveying mechanism 122, and two clamping hands 611 are respectively arranged at two ends of the lifting movable plate 64.

Referring to fig. 5, specifically, before the production line starts, that is, the conveying mechanism 122 is stopped, the distributing station 123 is stacked with a plurality of trays 5, each tray 5 holds one workpiece 3, two clamping fingers 611 of the lifting assembly 6 clamp the second tray 5 from bottom to top, and the lifter 62 lifts the clamping fingers 611 to prevent the tray 5 with the bottom layer and only the tray 5 on the conveying mechanism 122; when the conveyor 122 is operated in the first transport direction, to transport the tray 5 of the dispensing station 123 on the conveyor 122 to the first robot 13; after the workpieces 3 on the tray 5 are transferred by the first manipulator 13, the tray 5 can be transferred; according to the above, when the next workpiece 3 at the dispensing position 123 needs to be transported to the first robot 13, the conveyor mechanism 122 is stopped, the lifter 62 of the lifting assembly 6 is lowered, all the trays 5 are placed on the conveyor mechanism 122 again, the two grippers 611 are reversely retracted to release the tray 5 at the bottom, the lifter 62 lifts the two grippers 611 upward so that the two grippers 611 are aligned with the second tray 5 from bottom to top respectively, the two grippers 611 are retracted toward each other to clamp the tray 5, then the lifter 62 lifts the grippers 611 again to prevent the tray 5 at the bottom and only the tray 5 at the bottom from being placed on the conveyor mechanism 122, and the conveyor mechanism 122 again transports the tray 5 to the first robot 13, so that the above is repeated, and no further description is required.

Further, in order to achieve stable gripping of the workpiece 3 by the first manipulator 13, along the first transport direction, the conveying mechanism 122 is further provided with a fixing position 125, the fixing position 125 is located behind the dispensing position 123, and the fixing position 125 is provided with a lifting assembly 6; when the pallet 5 carrying the workpieces 3 reaches the fixed position 125, the lifting assembly 6 of the fixed position 125 clamps and lifts the pallet 5 upward so that the pallet 5 is disengaged from the conveying mechanism 122 and the workpieces 3 in the pallet 5 wait for the first robot 13 to transfer.

Specifically, according to the above, when the tray 5 having the workpieces 3 carried thereon is transported from the spontaneous level 123 to the fixed level 125, the conveying mechanism 122 is stopped, the lifting assembly 6 behind the fixed level 125 lifts the tray 5 of the fixed level 125 so that the tray 5 is far away from the conveying mechanism 122, the first manipulator 13 transfers the workpieces 3 in the tray 5, and then the lifting assembly 6 is placed on the conveying mechanism 122 so as to transfer the empty tray 5, and the lifting assembly 6 behind the fixed level 125 lifts and places the lifting assembly 6 with reference to the spontaneous level 123 on the tray 5, which will not be described again.

Further, in order to avoid frequent manual transfer of the empty tray 5 of the fixing position 125, in this embodiment, the conveying mechanism 122 is further provided with a tray recovery position 124, the tray recovery position 124 is located between the sending position 123 and the fixing position 125, and the fixing position 125 is provided with a lifting assembly 6; the conveying mechanism 122 has a second conveying direction, and after the first manipulator 13 transfers the workpiece 3 with the fixed position 125; the lifting assembly 6 of the fixed position 125 places the empty tray 5 of the fixed position 125 on the conveying mechanism 122, the conveying mechanism 122 operates in the second conveying direction, and when the empty tray 5 reaches the tray recovery position 124, the lifting assembly 6 of the tray recovery position 124 clamps and lifts the empty tray 5 so as to separate the empty tray 5 from the conveying mechanism 122.

Specifically, as can be appreciated from the foregoing, the second transporting direction is opposite to the first transporting direction, so that the conveying mechanism 122 can perform control in both directions by forward and reverse rotation of the motor; importantly, when the empty tray 5 of the fixed position 125 is placed on the conveying mechanism 122, the conveying mechanism 122 is operated in the second conveying direction, the empty tray 5 moves towards the tray recovery position 124, when the empty tray 5 reaches the tray recovery position 124, the conveying mechanism 122 stops rotating, the lifting assembly 6 of the tray recovery position 124 lifts the tray 5 and separates from the conveying mechanism 122, and the lifting of the lifting assembly 6 of the tray recovery position 124 to the lifting assembly 6 of the empty tray 5 can refer to the lifting assembly 6 of the sending position 123, which will not be described here.

When the pallet 5 carrying the workpieces 3 moves from the loading position 123 to the fixing position 125, the pallet 5 carrying the workpieces 3 passes through the bottom of the empty pallet 5 in the pallet recovery position 124.

In addition, when the second empty tray 5 moves from the fixing position 125 to the tray recycling position 124 and reaches the lower side of the empty tray 5 of the tray recycling position 124, the conveying mechanism 122 stops, at this time, the lifting assembly 6 of the tray recycling position 124 descends to stack the previous tray 5 above the second empty tray 5, and the lifting assembly 6 of the tray recycling position 124 clamps and lifts the second empty tray 5, so as to reciprocally collect the empty tray 5.

Preferably, the clamping hand 611 is aligned to two ends of the tray 5 by lifting the lifter 62, and the clamping assembly 61 further comprises two adjusting machines 612 for ensuring precise alignment between the clamping hand 611 and the two ends of the tray 5; the adjusting machine 612 is disposed on the lifter 62, the clamping hand 611 is disposed on the adjusting machine 612, and the adjusting machine 612 is used for adjusting the position of the clamping hand 611 in the height direction of the loader frame 121.

Preferably, the adjusting machine 612 is an adjusting cylinder, the other adjusting machine 612 may be an adjusting linear motor, the two ends of the lifting moving plate 64 are respectively provided with the adjusting machine 612, the adjusting machine 612 stretches in the vertical direction to drive the clamping hand 611 to be at the height position in the vertical direction, that is, the adjusting machine 612 adjusts the two ends of the Ji Yutuo tray 5 by the clamping hand 611, and after the clamping hand 611 clamps the two ends of the tray 5, the tray 5 is lifted by the lifting machine 62.

Specifically, according to the embodiment, the workpiece 3 is transferred to the product line 2 after the machining is completed by the workbench 113, but in this embodiment, the machined workpiece 3 may be transferred to the tray recycling position 124, specifically, the number of the first gripping members 1323 is two, and the two first gripping members 1323 are rotatably disposed on the W1 shaft driving mechanism 1322; when one first gripper 1323 transfers the workpiece 3 of the automatic loader-unloader 12 to the table 113, the other first gripper 1323 grips the processed workpiece 3 on the table 113, and that table 113 is emptied, after one first gripper 1323 places the workpiece 3 of the automatic loader-unloader 12 on the table 113, the other first gripper 1323 transfers the processed workpiece 3.

Specifically, referring to fig. 7, two first gripping members 1323 are disposed perpendicular to each other, and when one first gripping member 1323 of the two first gripping members is transferring the workpiece 3 of the automatic loader/unloader 12 to the table 113, the empty tray 5 located at the fixed position 125 is stationary at this time, and one first gripping member 1323 of the two first gripping members is facing downward; when the first gripping members 1323 reach above the work table 113, one first gripping member 1323 rotates 90 ° away from the finished product line 2, and the other first gripping member 1323 faces downward; after the other first gripper 1323 moves downward and grips the processed workpiece 3 on the table 113, the first gripper 1323 is lifted; the other first gripper 1323 is turned 90 ° in the direction of the production line 2, at which time one first gripper 1323 is turned downwards again, so that the workpieces 3 from the automatic feeder 12 are also turned downwards, and after the workpieces 3 from the automatic feeder 12 have been placed downwards on the table 113, the finished workpieces 3 are transferred to the pallet 5 in the fixed position 125 and prevented from being transported from the pallet 5 to the pallet recovery position 124.

Further, the automatic loader and unloader 12 also includes a positioning rod 126; positioning rods 126 are respectively arranged around the sending position 123 and around the tray recycling position 124, and preferably, the positioning rods 126 are arranged at four corners of the sending position 123 and the tray recycling position 124; the positioning bar 126 positions the tray.

Example III

On the basis of the first embodiment and the second embodiment, referring to fig. 1, two CNC milling machines 11 of each processing island 1 are provided, the two CNC milling machines 11 are respectively arranged at two sides of the automatic feeding and discharging machine 12, a first manipulator spans over the two CNC milling machines 11 to feed the two CNC milling machines 11, and the two CNC milling machines 11 are correspondingly provided with two second manipulators 14.

In addition, two CNC milling machines 11 may be provided with automatic loading and unloading machines 12, respectively, and it may be appreciated that the second manipulator 14 spans both CNC milling machines 11 and two automatic loading and unloading machines 12.

More importantly, two CNC milling machines 11 of the same processing island 1 can process the same or different products at the same time, and in addition, if one CNC milling machine 11 of the same processing island 1 fails, the other CNC milling machine 11 can still continue to process so as to ensure the working efficiency of the processing island 1.

The technical means disclosed by the scheme of the invention is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.

Claims (16)

1. A full-automatic vehicle-mounted glass milling production line, comprising:

a plurality of processing islands (1);

a finished product assembly line (2);

the processing island (1) comprises at least one CNC milling machine (11), at least one automatic feeding and discharging machine (12), a first manipulator (13) and a second manipulator (14);

the first manipulator (13) realizes the transfer of the workpiece (3) between the automatic loading and unloading machine (12) and the CNC milling machine (11);

the second manipulator (14) is used for transferring the workpiece (3) on the CNC milling machine (11) to the finished product assembly line (2).

2. The full-automatic vehicle-mounted glass milling production line according to claim 1, wherein the number of the automatic loading and unloading machines (12) is one, and the number of the CNC milling machines (11) is two;

the two CNC milling machines (11) are arranged in parallel, the automatic feeding and discharging machine (12) is arranged between the two CNC milling machines (11), and the first manipulator (13) is used for transferring the workpiece (3) on the automatic feeding and discharging machine (12) to the two CNC milling machines (11).

3. A fully automatic on-board glass milling production line according to claim 1 or 2, characterized in that the CNC milling machine (11) comprises a bed (111), a cross beam (112), a table (113) and a milling mechanism (114);

the workbench (113) is movably arranged at the top of the lathe bed (111), and the workbench (113) moves on the lathe bed (111) to be close to or far away from the second manipulator (14);

the cross beam (112) is arranged at the top of the lathe bed (111) and transversely arranged above the workbench (113) in the direction perpendicular to the movement direction of the workbench (113);

the milling mechanism (114) is movably arranged on the cross beam (112), and the milling mechanism (114) moves on the cross beam (112) to cross the workbench (113) and moves close to or far away from the workbench (113).

4. A fully automatic on-board glass milling line according to claim 1 or 2, characterized in that the automatic loader-unloader (12) comprises a loader-unloader frame (121) and a conveyor mechanism (122);

the conveying mechanism (122) is arranged on the feeding and discharging machine frame (121), the conveying mechanism (122) is provided with a first conveying direction, and the conveying mechanism (122) conveys the workpiece (3) to the first manipulator (13) in the first conveying direction.

5. A fully automatic on-board glass milling line according to claim 4, characterized in that the automatic loading and unloading machine (12) also comprises at least one lifting assembly (6);

the conveying mechanism (122) is provided with a sending material position (123), and the sending material position (123) is provided with the lifting assembly (6);

when the conveying mechanism (122) is stopped, the sending position (123) is stacked and provided with a plurality of trays (5), each tray (5) is used for bearing one workpiece (3), and the lifting assembly (6) clamps the second tray (5) from bottom to top and lifts the second tray upwards so as to place the tray (5) with the bottom layer and only the tray (5) on the conveying mechanism (122); when the conveying mechanism (122) operates in the first conveying direction, the tray (5) placed on the conveying mechanism (122) and located at the dispensing position (123) on the conveying mechanism is conveyed toward the first manipulator (13).

6. The fully automatic vehicle-mounted glass milling production line according to claim 5, characterized in that the conveying mechanism (122) is further provided with a fixed position (125) along a first transportation direction, the fixed position (125) is located behind the dispensing position (123), and the fixed position (125) is provided with the lifting assembly (6);

when the tray (5) bearing the workpieces (3) reaches the fixed position (125), the lifting assembly (6) of the fixed position (125) clamps and lifts the tray (5) upwards so that the tray (5) is separated from the conveying mechanism (122), and the workpieces (3) in the tray (5) wait for the first manipulator (13) to transfer.

7. The fully automatic vehicle-mounted glass milling production line according to claim 6, wherein the conveying mechanism (122) is further provided with a tray recovery position (124), the tray recovery position (124) is located between the sending position (123) and the fixing position (125), and the fixing position (125) is provided with the lifting assembly (6);

the conveying mechanism (122) has a second conveying direction, when the first manipulator (13) transfers the workpiece (3) of the fixed position (125);

the lifting assembly (6) of the fixed position (125) places the empty tray (5) of the fixed position (125) on the conveying mechanism (122), the conveying mechanism (122) operates along the second conveying direction, and when the empty tray (5) reaches the tray recovery position (124), the lifting assembly (6) of the tray recovery position (124) clamps and lifts the empty tray (5) so as to enable the empty tray (5) to be separated from the conveying mechanism (122).

8. A fully automatic vehicle-mounted glass milling production line according to any one of claims 5-7, characterized in that the lifting assembly (6) comprises a clamping assembly (61) and a lifter (62), the clamping assembly (61) comprises two clamping hands (611), the two clamping hands (611) are oppositely arranged at two sides of the first conveying direction of the conveying mechanism 122, and the two clamping hands (611) are mutually opposite or reversely telescopic so as to clamp or loosen the tray (5);

the two clamping hands (611) are arranged on the lifter (62), and the lifter (62) stretches in the height direction of the feeding and discharging machine frame (121) so as to adjust the position of the clamping hands (611) in the height direction of the feeding and discharging machine frame (121).

9. The fully automatic on-board glass milling line according to claim 8, characterized in that the clamping assembly (61) further comprises two adjustment machines (612);

the adjusting machine (612) is arranged on the lifter (62), the clamping hand (611) is arranged on the adjusting machine (612), and the adjusting machine (612) is used for adjusting the position of the clamping hand (611) in the height direction of the feeding and discharging machine frame (121).

10. The fully automatic on-board glass milling line of claim 7, wherein the automatic loader-unloader (12) further comprises a positioning rod (126);

positioning rods (126) are respectively arranged around the lifting assembly (6) of the sending position (123) and around the lifting assembly (6) of the tray recycling position (124) and used for positioning two ends of the tray (5).

11. A fully automatic vehicle-mounted glass milling production line according to claim 3, characterized in that the first manipulator (13) comprises a first frame (131) and a first pick-up mechanism (132);

the first rack (131) is transversely arranged above the workbench (113) and the automatic feeding and discharging machine (12) in the direction perpendicular to the movement direction of the workbench (113);

the first pick-up mechanism (132) is movably arranged on the first rack (131); the first rack (131) moves transversely to the workbench (113) and the automatic feeding and discharging machine (12) in a direction perpendicular to the movement direction of the workbench (113), and the first pickup mechanism (132) stretches and contracts in the height direction of the first rack (131).

12. The fully automatic vehicle-mounted glass milling production line of claim 11, wherein the first pick-up mechanism (132) comprises a W1 shaft connection (1321), a W1 shaft drive mechanism (1322) and at least one first gripper (1323);

the W1 shaft connecting piece (1321) is slidably arranged on the first rack (131), the W1 shaft driving mechanism (1322) is arranged on the W1 shaft connecting piece (1321), and the first grabbing piece (1323) is arranged on the W1 shaft driving mechanism (1322);

the W1 shaft connecting piece (1321) drives the W1 shaft driving mechanism (1322) to stretch across the workbench (113) and the automatic feeding and discharging machine (12), and the W1 shaft driving mechanism (1322) drives the first grabbing piece (1323) to stretch along the height direction of the first rack (131).

13. The full-automatic vehicle-mounted glass milling production line according to claim 12, wherein the number of the first grabbing pieces (1323) is two, and the two first grabbing pieces (1323) are rotatably arranged on the W1 shaft driving mechanism (1322);

when one first grabbing piece (1323) transfers the workpiece (2) of the automatic feeding and discharging machine (12) to the workbench (113), the other first grabbing piece (1323) grabs the processed workpiece (3) on the workbench (113), and the workbench (113) is emptied, after one first grabbing piece (1323) places the workpiece (2) of the automatic feeding and discharging machine (12) on the workbench (113), the other first grabbing piece (1323) transfers the processed workpiece (3).

14. A fully automatic vehicle-mounted glass milling production line according to claim 3, characterized in that the second robot (14) comprises a second frame (141) and a second pick-up mechanism (142);

one end of the second manipulator (14) spans over the finished product assembly line (2);

the second pickup mechanism (142) is movably arranged on the second frame (141), the second pickup mechanism (142) reciprocates between the CNC milling machine (11) and the finished product assembly line (2), and the second pickup mechanism (142) stretches in the height direction of the second frame (141);

the second pick-up mechanism (142) is used for transferring the workpiece (3) on the CNC milling machine (11) to the finished product production line (2).

15. The fully automated vehicular glass milling line of claim 14, wherein the second pick-up mechanism (142) comprises a W2 shaft connection (1421), a W2 shaft drive mechanism (1422), and a second grasping member (1423);

the W2 shaft connecting piece (1421) is slidably provided with the second rack (141), the W2 shaft driving mechanism (1422) is arranged on the W2 shaft connecting piece (1421), and the second grabbing piece (1423) is arranged on the W2 shaft driving mechanism (1422);

the W2 shaft connecting piece (1421) drives the W2 shaft driving mechanism (1422) to stretch across the workbench (113) and the automatic feeding and discharging machine (12), and the W2 shaft driving mechanism (1422) drives the second grabbing piece (1423) to stretch along the height direction of the second rack (141).

16. The fully automatic vehicle-mounted glass milling production line according to claim 1, further comprising a docking machine (4);

along the transportation direction of the finished product assembly line (2), the connection machine (4) is arranged at the tail end of the finished product assembly line (2).