CN117140194A - Machining center with tool magazine for automatically positioning sucker, control system and method - Google Patents
Machining center with tool magazine for automatically positioning sucker, control system and method Download PDFInfo
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- CN117140194A CN117140194A CN202310721478.2A CN202310721478A CN117140194A CN 117140194 A CN117140194 A CN 117140194A CN 202310721478 A CN202310721478 A CN 202310721478A CN 117140194 A CN117140194 A CN 117140194A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 238000003754 machining Methods 0.000 claims abstract description 17
- 230000008859 change Effects 0.000 claims abstract description 7
- 239000000463 material Substances 0.000 claims description 47
- 238000007599 discharging Methods 0.000 claims description 30
- 238000012545 processing Methods 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 238000004886 process control Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 9
- 239000002023 wood Substances 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 9
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
- B23Q41/02—Features relating to transfer of work between machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/15526—Storage devices; Drive mechanisms therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The utility model discloses a machining center with a tool magazine for automatically positioning a sucker, a control system and a control method, wherein the machining center comprises a first machining center and a second machining center which are arranged in a left-right side-by-side mode at intervals, and a robot is arranged between the first machining center and the second machining center; the right side of the first machining center and the left side of the second machining center are both provided with conveying lines; the first machining center and the second machining center comprise a base, a portal frame device, a machine head and a workbench device; the left upright post is connected with a tool magazine device; the machine head comprises a left machine head and a right machine head; the left machine head is provided with a tool changing electric spindle which can be used for matching with a tool magazine device to change tools; the workbench device comprises a plurality of groups of movable workbench mechanisms, wherein the movable workbench mechanisms are automatic positioning movable workbench mechanisms; therefore, the two machining centers are connected in series, the design of controlling the two machining centers simultaneously by one master control is realized, the tool magazine is more intelligent, and the automatic tool changing design is realized.
Description
Technical Field
The utility model relates to the technical field of woodworking machining, in particular to a machining center with a tool magazine for automatically positioning a sucker, a control system and a control method.
Background
With the advent of microprocessors, the world has entered a brand-new numerical control era, and multi-axis controlled machine tools which can be realized by computers are rapidly emerging, so that wood processing has entered an automatic and intelligent era, and the application of numerical control wood processing centers in the wood processing field is becoming more and more common.
In the prior art, the numerical control wood processing center can finish the procedures of routing, vertical drilling and grooving, and can process wood conveniently by means of the wood processing center, so that the production efficiency can be improved. The wood needs to be processed to obtain a finished product, so that besides a wood processing center, other manufacturing procedures are needed to process the wood, and therefore, a production line is formed for one piece of wood from the beginning of the manufacturing to the finished product. In the process of manufacturing the wood, a plurality of production lines usually process simultaneously, and all processing centers for the wood in the prior art are independently operated and cannot be linked with each other in operation, so that a separate feeding and discharging mechanism is required for each processing center to feed and discharge, the cost of equipment is increased, more manpower is required to monitor different processing centers respectively, all the processing centers cannot be linked, and more than two processing centers cannot be controlled simultaneously by one general control, so that the aim of more intelligent production cannot be achieved; and, machining centers in the prior art generally do not have tool magazine, and therefore when different tools need to be replaced, the tools need to be stopped and manually replaced from the outside, so that automatic tool replacement cannot be achieved, and accurate positioning of the tools is difficult to control by manual tool replacement.
Therefore, a new technology is required to be developed to solve the above-mentioned problems.
Disclosure of Invention
In view of the above, the utility model aims at the defects existing in the prior art, and mainly aims to provide a machining center with a tool magazine for automatically positioning a sucker, a control system and a control method, which realize the serial connection of two machining centers, realize the design of controlling the two machining centers simultaneously by one master control, have more intellectualization, have the tool magazine and realize the automatic tool changing design.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
the machining center with the tool magazine for automatically positioning the sucking disc comprises a first machining center and a second machining center which are arranged in a side-by-side mode at intervals, wherein a robot is arranged between the first machining center and the second machining center;
conveying lines are arranged on the right side of the first machining center and the left side of the second machining center; the two conveying lines are arranged at intervals side by side left and right;
each conveying line sequentially comprises a feeding roller, a lifting feeding table, a material taking position and a material discharging position according to the process sequence, wherein the robot reciprocates among the material taking position, the first processing center, the second processing center and the material discharging position, and a backing plate pause position is arranged between the material discharging positions of the two conveying lines;
the first machining center and the second machining center have the same structure, and each of the first machining center and the second machining center comprises a base, a portal frame device, a machine head and a workbench device;
the workbench device is arranged on the base, and the portal frame device can be arranged with the base in a back-and-forth X-direction sliding manner; the machine head can be installed on a cross beam of the portal frame device in a Y-direction sliding way back and forth;
the left and right ends of the cross beam are respectively connected to the left and right sides of the base in a sliding way through a left upright post and a right upright post, and the left upright post is connected with a tool magazine device; the left end and the right end of the cross beam extend out of the left upright post and the right upright post respectively;
the machine head comprises a left machine head and a right machine head; the left machine head and the right machine head are arranged on the cross beam of the portal frame device in a left-right parallel manner and are arranged right above the workbench device; the left machine head is provided with a tool changing electric spindle which can be used for matching with a tool magazine device to change tools;
the workbench device comprises a plurality of groups of movable workbench mechanisms which are arranged on a base along the X direction, wherein the movable workbench mechanisms are automatic positioning movable workbench mechanisms; each group of automatic positioning and moving workbench mechanisms comprises a workbench which is arranged on a base and can slide back and forth in the X direction relative to the base, and a plurality of sucker mechanisms which are independently arranged on each workbench in a Y direction.
As a preferable scheme, the material taking position is provided with a robot material taking roller, the input side of the robot material taking roller is connected to the output side of the lifting feeding table, and one side of the input side of the robot material taking roller is provided with a fixed code scanning gun.
As a preferable scheme, the discharging level and the backing plate pause level are both provided with a stacking lifter.
As a preferred scheme, the automatic feeding device further comprises a center console, wherein the first machining center, the second machining center, the feeding roller, the lifting feeding table and the robot are electrically connected to the center console, and the first machining center and the second machining center are both connected with an electric cabinet which is electrically connected to the center console.
As a preferable scheme, the tool magazine device comprises a base, a cutter head, a plurality of tool bits, a rotating mechanism and a cylinder driving mechanism, wherein the cutter head, the tool bits, the rotating mechanism and the cylinder driving mechanism are arranged on the base; the cylinder driving mechanism is arranged on the upper surface of the cutter head and is used for pneumatically driving the cutter head.
A control system of a machining center with automatic positioning of a sucker with a tool magazine, which is based on the machining center with automatic positioning of the sucker with the tool magazine; the system comprises a central control, a first machining center control system, a second machining center control system, a wire body control system and a robot control system which are respectively connected with the central control;
the first machining center control system and the second machining center control system comprise CNC controllers, wherein each CNC controller comprises a CPU module, an IO module, a motion module and a communication module;
the communication module of the first machining center control system is connected with the spindle frequency converter of the machine head of the first machining center and is connected with the spindle motor of the machine head of the first machining center through the spindle frequency converter of the machine head of the first machining center; the motion module of the first machining center control system is connected with the shaft feeding servo driver of the machine head of the first machining center and is connected with the shaft servo motor of the machine head of the first machining center through the feeding servo driver of the machine head of the first machining center; the IO module of the first machining center control system is connected with a machine tool switching value input signal and a load output signal corresponding to a machine head of the first machining center;
the communication module of the second machining center control system is connected with the spindle frequency converter of the machine head of the second machining center and is connected with the spindle motor of the machine head of the second machining center through the spindle frequency converter of the machine head of the second machining center; the motion module of the second machining center control system is connected with a shaft feeding servo driver of the machine head of the second machining center and is connected with a shaft servo motor of the machine head of the second machining center through the feeding servo driver of the machine head of the second machining center; the IO module of the second machining center control system is connected with a machine tool switching value input signal and a load output signal corresponding to the machine head of the second machining center;
the wire body control system is connected with the roller wire body executing devices of the feeding roller, the lifting feeding table, the robot material taking roller and the stacking lifter through wire body IO ends; the fixed code scanning gun is connected with the wire body control system;
the robot control system comprises a robot IO end, wherein signals are interacted among an IO module of the first machining center control system, an IO module of the second machining center control system, a wire IO end of the wire control system and the robot IO end of the robot control system.
As a preferable scheme, the roller wire body executing device is connected with a feeding roller, a lifting feeding table, a robot material taking roller and a corresponding wire body roller motor of the stacking lifter.
A process control method using the control system of the machining center with automatic positioning of the suction cup with the tool magazine according to any one of the preceding claims, comprising the steps of:
step 1: the traveling crane enters the plate to trigger a feeding travel switch;
step 2: the feeding roller is operated to a stop position to stop;
step 3: entering a lifting feeding table; meanwhile, whether the lifting feeding table is idle or not is detected, if yes, the lifting feeding table is entered, and if not, feeding is waited for in the feeding roller;
step 4: lifting the feeding table roller to start and stop when the stopping position is reached;
step 5: detecting whether the robot material taking roller is idle, if so, pushing materials into the robot material taking roller by the lifting feeding table until the robot material taking position is reached, and if not, waiting for feeding by the lifting feeding table;
step 6: the fixed code scanning gun scans codes; meanwhile, whether the fixed code scanning gun scans codes or not is detected, if yes, the plate ID is updated; if not, alarming and manually scanning codes;
step 7: detecting whether a backing plate exists or not; if yes, a backing plate signal is sent, and the last plate signal is sent; if not, the plate is in place;
step 8: sending a feeding signal to the robot, sending a plate update signal to the master control, and sending a plate ID to the master control;
step 9: the robot receives a total control feeding and discharging instruction and a plate size signal;
step 10: executing by a robot;
step 11: detecting whether a machining center has stations idle; if yes, the robot feeds the plate to a processing center, the processing center starts processing, and meanwhile, signals of the plate taking position and the feeding position returned by the robot are sent to a master control; if not, detecting whether the machining center has stations for machining;
step 12: if the station processing of the processing center is detected to be finished, detecting whether a stacking position exists at the discharging position or not, if so, taking a plate by a robot, discharging the plate to a stacking lifter at the discharging position, and if not, detecting whether a backing plate exists or not; here, it is detected whether there is a pallet, if yes, it returns to step 11, if not, the robot grabs the pallet from the pallet rest stacker crane to the palletizing position at the lower level.
As a preferable scheme, in step 12, after the robot takes the board and feeds the board to the stacking lifter at the feeding level, it is detected whether the stacking level of the stacking lifter at the feeding level reaches the discharging condition, if yes, plc performs discharging, if not, a signal is sent to plc stacking level to move down by one layer, where plc drives the stacking level of the stacking lifter at the feeding level to move down by one layer.
As a preferred solution, in step 10, at the same time, the robot receives the pallet signal and stacks the pallet to the pallet rest position of the pallet stacker crane.
Compared with the prior art, the utility model has obvious advantages and beneficial effects, in particular, the technical proposal shows that the utility model mainly comprises the steps that the robot is arranged between the first processing center and the second processing center, and the robot reciprocates among the material taking position, the first processing center, the second processing center and the material discharging position, thus realizing the serial connection of the two processing centers, realizing the design of controlling the two processing centers at the same time by one master control, having more intellectualization, reducing the equipment cost, reducing the labor and improving the production efficiency; secondly, a tool magazine device is connected to the left upright post, and a tool changing electric spindle is arranged on the left machine head, so that the tool changing electric spindle can be used for matching with the tool magazine device to change tools, and therefore the tool changer is provided with the tool magazine, and the automatic tool changing design is realized; and the control system comprises a central control and a first machining center control system, a second machining center control system, a wire body control system and a robot control system which are respectively connected with the central control, and the control system is matched with the specific machining control method steps, so that the reliable, intelligent, efficient and stable operation of the machining control of the two machining centers can be ensured, the phenomena of bushing plates, wrong plates, waiting for delay of working hours and the like are avoided, and the full-automatic unmanned operation of the whole machine is realized.
In order to more clearly illustrate the structural features, technical means, and specific objects and functions attained by the present utility model, the present utility model will be described in further detail with reference to the accompanying drawings and the specific embodiments.
Drawings
FIG. 1 is a schematic diagram of the overall structural layout of an embodiment of the present utility model;
FIG. 2 is a perspective view of the overall assembly of a machining center according to an embodiment of the utility model;
FIG. 3 is a schematic perspective view of a tool magazine apparatus according to an embodiment of the present utility model;
FIG. 4 is a control system block diagram of an embodiment of the present utility model;
FIG. 5 is a flow chart of a process control method according to an embodiment of the utility model;
FIG. 6 is an enlarged schematic view of structure A of FIG. 5;
FIG. 7 is an enlarged schematic view of structure B of FIG. 5;
fig. 8 is an enlarged schematic view of structure C of fig. 5.
The attached drawings are used for identifying and describing:
10. first machining center 11 and base
12. Portal frame device 121, left column
122. Right column 123, cross beam
13. Workbench device 131 and workbench
132. Suction cup mechanism 14, left hand head
15. Right machine head 20, machining center No. two
30. Robot 40, feeding roller
50. Lifting feeding table 60 and material taking position
61. Robot material taking roller 62 and code scanning gun
70. Discharging level 80, backing plate pause level
90. Tool magazine device 91 and base
92. Cutterhead 93 and cutter head
94. Rotary mechanism 941 and rotary seat
942. Rotation shaft 943 and driving unit
95. Cylinder driving mechanism 96, connecting plate
97. Support column 101 and stacking lifter
102. Center console 103 and electric cabinet
104. A safety light band.
Detailed Description
Referring to fig. 1 to 8, specific structures of embodiments of the present utility model are shown.
The machining center with the tool magazine for automatically positioning the sucking discs comprises a first machining center 10 and a second machining center 20 which are arranged in a side-by-side mode at intervals, wherein a robot 30 is arranged between the first machining center 10 and the second machining center 20; wherein:
the first machining center 10 and the second machining center 20 have the same structure, and the first machining center 10 and the second machining center 20 each comprise a base 11, a portal frame device 12, a machine head and a workbench device 13; the workbench device 13 is arranged on the base 11, and the portal frame device 12 is arranged with the base 11 in a back and forth X-direction sliding manner; the machine head is arranged on a cross beam 123 of the portal frame device 12 in a Y-direction sliding way back and forth; the left and right ends of the cross beam 123 are slidably connected to the left and right sides of the base 11 through a left upright post 121 and a right upright post 122, and the left upright post 121 is connected with a tool magazine device 90; the left and right ends of the cross beam 123 extend to the outside of the left upright post 121 and the right upright post 122 respectively; the machine heads comprise a left machine head 14 and a right machine head 15; the left machine head 14 and the right machine head 15 are arranged on the cross beam 123 of the portal frame device 12 in parallel left and right and are arranged right above the workbench device 13; the left machine head 14 is provided with a tool changing electric spindle, the tool changing electric spindle can be used for matching with the tool magazine device 90 to change tools, when the tools need to be changed, the control system can control the tool changing electric spindle to match with the tool magazine device 90 to change tools pneumatically and automatically, and the existing pneumatic automatic tool changing structure and the existing tool changing electric spindle can be adopted; the workbench device 13 comprises a plurality of groups of movable workbench 131 mechanisms which are arranged along the X direction and are arranged on the base 11, wherein the movable workbench 131 mechanisms are automatic positioning movable workbench 131 mechanisms; each group of the automatic positioning and moving table 131 mechanism comprises a table 131 which is arranged on the base 11 and can slide back and forth in the X direction relative to the base 11, and a plurality of sucking disc mechanisms 132 which are independently arranged on each table 131 in a Y direction in a sliding manner. Here, the first machining center 10 and the second machining center 20 may be an existing gantry numerical control machining center, for example: the utility model patent of China patent number 201920405723.8, grant bulletin number CN210705191U and grant bulletin day 2020, month 06 and 09 discloses a gantry numerical control machining center, which is not described in detail herein for brevity and reduction of the space.
As shown in fig. 3, the magazine apparatus 90 includes a base 91, a cutter head 92 mounted on the base 91, a plurality of cutter heads 93, a rotation mechanism 94, and a cylinder driving mechanism 95, wherein one end of the base 91 is fixedly connected to the outer side of the left upright 121 through a connecting plate 96, the rotation mechanism 94 is mounted above one side of the base 91, the rotation mechanism 94 includes a rotation seat 941 mounted on one side of the base 91, a rotation shaft 942 mounted on the rotation seat 941, and a driving unit 943 for driving the rotation shaft 942, the base 91 is connected with a support column 97 on one side of the rotation mechanism 94, the cutter head 92 is located above the rotation seat 941 and connected to the upper end of the rotation shaft 942, the upper end of the rotation shaft 942 passes through the cutter head 92 and is connected to the lateral extension of the support column 97, and the cutter heads 93 are mounted on the lower end face of the cutter head 92 along a ring shape in sequence at intervals; the cylinder driving mechanism 95 is mounted on the upper surface of the cutter 92, and is used for pneumatically driving the cutter head 93.
The right side of the first machining center 10 and the left side of the second machining center 20 are both provided with conveying lines; the two conveying lines are arranged at intervals side by side left and right; each conveying line sequentially comprises a feeding roller 40, a lifting feeding table 50, a material taking position 60 and a material discharging position 70 according to the process sequence, the robot 30 reciprocates among the material taking position 60, the first processing center 10, the second processing center 20 and the material discharging position 70, and a backing plate pause position 80 is arranged between the material discharging positions 70 of the two conveying lines.
The material taking position 60 is provided with a robot material taking roller 61, the input side of the robot material taking roller 61 is connected to the output side of the lifting feeding table 50, and one side of the input side of the robot material taking roller 61 is provided with a fixed code scanning gun 62. The discharging level 70 and the pad suspension level 80 are both provided with a stacker crane 101. In addition, it still includes well accuse platform 102, processing center 10, no. two processing centers 20, feeding cylinder 40, lift feeding platform 50, robot 30 electric connection are in well accuse platform 102, processing center 10, no. two processing centers 20 all are connected with electric cabinet 103, electric cabinet 103 electric connection is in well accuse platform 102. A safety light band 104 is arranged between the center console 102 and the machining center.
Next, referring to fig. 4, a control system of a machining center with automatic positioning of a suction cup with a tool magazine is described, which is based on the foregoing machining center with automatic positioning of a suction cup with a tool magazine; the system comprises a central control, a first machining center 10 control system, a second machining center 20 control system, a wire body control system and a robot 30 control system which are respectively connected with the central control;
the first machining center 10 control system and the second machining center 20 control system comprise CNC controllers, wherein each CNC controller comprises a CPU module, an IO module, a motion module and a communication module;
the communication module of the first machining center 10 control system is connected with the spindle frequency converter of the machine head of the first machining center 10 and is connected with the spindle motor of the machine head of the first machining center 10 through the spindle frequency converter of the machine head of the first machining center 10; the motion module of the first machining center 10 control system is connected with a shaft feeding servo driver of the machine head of the first machining center 10 and is connected with a shaft servo motor of the machine head of the first machining center 10 through the feeding servo driver of the machine head of the first machining center 10; the IO module of the control system of the first machining center 10 is connected with a machine tool switching value input signal and a load output signal corresponding to the machine head of the first machining center 10;
the communication module of the control system of the second machining center 20 is connected to the spindle frequency converter of the machine head of the second machining center 20, and is connected to the spindle motor of the machine head of the second machining center 20 through the spindle frequency converter of the machine head of the second machining center 20; the motion module of the control system of the second machining center 20 is connected with a shaft feeding servo driver of the machine head of the second machining center 20 and is connected with a shaft servo motor of the machine head of the second machining center 20 through the feeding servo driver of the machine head of the second machining center 20; the IO module of the control system of the second machining center 20 is connected with a machine tool switching value input signal and a load output signal corresponding to the machine head of the second machining center 20;
the wire body control system is connected with the roller wire body executing devices of the feeding roller 40, the lifting feeding table 50, the robot material taking roller 61 and the stacking lifter 101 through wire body IO ends; the fixed code scanning gun 62 is connected to a wire body control system;
the robot 30 control system comprises a robot 30IO end, wherein signals are interacted among an IO module of the first machining center 10 control system, an IO module of the second machining center 20 control system, a line IO end of the line control system and a robot 30IO end of the robot 30 control system.
And, the roller wire body executing device is connected to the feeding roller 40, the lifting feeding table 50, the robot material taking roller 61 and the corresponding wire body roller motor of the stacking lifter 101.
Referring to fig. 5 to 8, a processing control method of a control system of a processing center adopting the sucker with a tool magazine for automatic positioning includes the following steps:
step 1: the traveling crane enters the plate to trigger a feeding travel switch;
step 2: the feed roller 40 is run to a stop position;
step 3: entering a lifting feeding table 50; meanwhile, whether the lifting feeding table 50 is idle or not is detected, if yes, the lifting feeding table 50 is entered, and if not, feeding is waited for in the feeding roller 40;
step 4: the roller of the lifting feeding table 50 is started, and the roller reaches a stop position to stop;
step 5: detecting whether the robot material taking roller 61 is idle, if so, pushing materials into the robot material taking roller 61 by the lifting feeding table 50 until the robot 30 takes the material level 60, and if not, waiting for feeding by the lifting feeding table 50;
step 6: the fixed code scanning gun 62 scans codes; meanwhile, whether the fixed code scanning gun 62 scans codes is detected, if yes, the plate ID is updated; if not, alarming and manually scanning codes;
step 7: detecting whether a backing plate exists or not; if yes, a backing plate signal is sent, and the last plate signal is sent; if not, the plate is in place;
step 8: sending a feeding signal to the robot 30, a plate update signal to the master, and a plate ID to the master;
step 9: the robot 30 receives the total control feeding and discharging instruction and the plate size signal;
step 10: the robot 30 performs; meanwhile, the robot 30 receives the pad signal and stacks the pad to the stacking lifter 101 of the pad suspension position 80;
step 11: detecting whether a machining center has stations idle; if yes, the robot 30 feeds the plate to a processing center, the processing center starts processing, and meanwhile, the robot 30 returns signals of the plate taking position and the feeding position to be sent to a master control; if not, detecting whether the machining center has stations for machining;
step 12: if the station processing of the processing center is detected to be finished, detecting whether a stacking position exists in the blanking position 70 or not, if so, taking a plate by the robot 30 and blanking to a stacking lifter 101 of the blanking position 70, and if not, detecting whether a backing plate exists or not; here, it is detected whether there is a pallet, if yes, the process returns to step 11, and if not, the robot 30 grips the pallet from the pallet suspending position 80 to the pallet stacking position of the discharging position 70 by the pallet stacking lifter 101.
Preferably, in step 12, after the robot 30 takes the board and feeds the board to the stacker crane 101 of the feeding level 70, it detects whether the stacker position of the stacker crane 101 of the feeding level 70 reaches the discharge condition, if yes, plc performs the discharge, if not, it sends a signal to plc stacker position to move down by one layer, where plc drives the stacker position of the stacker crane 101 of the feeding level 70 to move down by one layer.
In summary, the design key point of the utility model is that the robot is arranged between the first processing center and the second processing center, and the robot reciprocates among the material taking position, the first processing center, the second processing center and the material discharging position, so that the robot can realize the serial connection of the two processing centers, realize the design of controlling the two processing centers simultaneously by one master control, be more intelligent, reduce the equipment cost, reduce the labor and improve the production efficiency; secondly, a tool magazine device is connected to the left upright post, and a tool changing electric spindle is arranged on the left machine head, so that the tool changing electric spindle can be used for matching with the tool magazine device to change tools, and therefore the tool changer is provided with the tool magazine, and the automatic tool changing design is realized; and the control system comprises a central control and a first machining center control system, a second machining center control system, a wire body control system and a robot control system which are respectively connected with the central control, and the control system is matched with the specific machining control method steps, so that the reliable, intelligent, efficient and stable operation of the machining control of the two machining centers can be ensured, the phenomena of bushing plates, wrong plates, waiting for delay of working hours and the like are avoided, and the full-automatic unmanned operation of the whole machine is realized.
The foregoing description is only a preferred embodiment of the present utility model, and is not intended to limit the technical scope of the present utility model, so any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical principles of the present utility model are still within the scope of the technical solutions of the present utility model.
Claims (10)
1. The utility model provides a take sucking disc automatic positioning's of tool magazine machining center which characterized in that: the robot is arranged between the first machining center and the second machining center;
conveying lines are arranged on the right side of the first machining center and the left side of the second machining center; the two conveying lines are arranged at intervals side by side left and right;
each conveying line sequentially comprises a feeding roller, a lifting feeding table, a material taking position and a material discharging position according to the process sequence, wherein the robot reciprocates among the material taking position, the first processing center, the second processing center and the material discharging position, and a backing plate pause position is arranged between the material discharging positions of the two conveying lines;
the first machining center and the second machining center have the same structure, and each of the first machining center and the second machining center comprises a base, a portal frame device, a machine head and a workbench device;
the workbench device is arranged on the base, and the portal frame device can be arranged with the base in a back-and-forth X-direction sliding manner; the machine head can be installed on a cross beam of the portal frame device in a Y-direction sliding way back and forth;
the left and right ends of the cross beam are respectively connected to the left and right sides of the base in a sliding way through a left upright post and a right upright post, and the left upright post is connected with a tool magazine device; the left end and the right end of the cross beam extend out of the left upright post and the right upright post respectively;
the machine head comprises a left machine head and a right machine head; the left machine head and the right machine head are arranged on the cross beam of the portal frame device in a left-right parallel manner and are arranged right above the workbench device; the left machine head is provided with a tool changing electric spindle which can be used for matching with a tool magazine device to change tools;
the workbench device comprises a plurality of groups of movable workbench mechanisms which are arranged on a base along the X direction, wherein the movable workbench mechanisms are automatic positioning movable workbench mechanisms; each group of automatic positioning and moving workbench mechanisms comprises a workbench which is arranged on a base and can slide back and forth in the X direction relative to the base, and a plurality of sucker mechanisms which are independently arranged on each workbench in a Y direction.
2. The machining center with automatic positioning of suction cups of a tool magazine according to claim 1, wherein: the feeding device is characterized in that a robot feeding roller is arranged at the feeding position, the input side of the robot feeding roller is connected to the output side of the lifting feeding table, and a fixed code scanning gun is arranged on one side of the input side of the robot feeding roller.
3. The machining center with automatic positioning of suction cups of a tool magazine according to claim 1, wherein: and the discharging level and the backing plate pause level are both provided with a stacking lifter.
4. The machining center with automatic positioning of suction cups of a tool magazine according to claim 1, wherein: the automatic feeding device is characterized by further comprising a center console, wherein the first machining center, the second machining center, the feeding roller, the lifting feeding console and the robot are electrically connected to the center console, and the first machining center and the second machining center are both connected with an electric cabinet which is electrically connected to the center console.
5. The machining center with automatic positioning of suction cups of a tool magazine according to claim 1, wherein: the tool magazine device comprises a base, a cutter disc, a plurality of tool bits, a rotating mechanism and a cylinder driving mechanism, wherein the cutter disc, the tool bits, the rotating mechanism and the cylinder driving mechanism are arranged on the base; the cylinder driving mechanism is arranged on the upper surface of the cutter head and is used for pneumatically driving the cutter head.
6. A control system of a machining center with a tool magazine and capable of automatically positioning a sucker is characterized in that: a machining center automatically positioned based on the suction cup with a tool magazine according to any one of claims 1 to 5; the system comprises a central control, a first machining center control system, a second machining center control system, a wire body control system and a robot control system which are respectively connected with the central control;
the first machining center control system and the second machining center control system comprise CNC controllers, wherein each CNC controller comprises a CPU module, an IO module, a motion module and a communication module;
the communication module of the first machining center control system is connected with the spindle frequency converter of the machine head of the first machining center and is connected with the spindle motor of the machine head of the first machining center through the spindle frequency converter of the machine head of the first machining center; the motion module of the first machining center control system is connected with the shaft feeding servo driver of the machine head of the first machining center and is connected with the shaft servo motor of the machine head of the first machining center through the feeding servo driver of the machine head of the first machining center; the IO module of the first machining center control system is connected with a machine tool switching value input signal and a load output signal corresponding to a machine head of the first machining center;
the communication module of the second machining center control system is connected with the spindle frequency converter of the machine head of the second machining center and is connected with the spindle motor of the machine head of the second machining center through the spindle frequency converter of the machine head of the second machining center; the motion module of the second machining center control system is connected with a shaft feeding servo driver of the machine head of the second machining center and is connected with a shaft servo motor of the machine head of the second machining center through the feeding servo driver of the machine head of the second machining center; the IO module of the second machining center control system is connected with a machine tool switching value input signal and a load output signal corresponding to the machine head of the second machining center;
the wire body control system is connected with the roller wire body executing devices of the feeding roller, the lifting feeding table, the robot material taking roller and the stacking lifter through wire body IO ends; the fixed code scanning gun is connected with the wire body control system;
the robot control system comprises a robot IO end, wherein signals are interacted among an IO module of the first machining center control system, an IO module of the second machining center control system, a wire IO end of the wire control system and the robot IO end of the robot control system.
7. The control system of the machining center with automatic positioning of the suction cups of the magazine according to claim 6, wherein: the roller line body executing device is connected with the corresponding line body roller motor of the feeding roller, the lifting feeding table, the robot material taking roller and the stacking lifter.
8. A process control method of a control system of a machining center employing the automatic positioning of a suction cup with a tool magazine according to claim 6 or 7, characterized in that: the method comprises the following steps:
step 1: the traveling crane enters the plate to trigger a feeding travel switch;
step 2: the feeding roller is operated to a stop position to stop;
step 3: entering a lifting feeding table; meanwhile, whether the lifting feeding table is idle or not is detected, if yes, the lifting feeding table is entered, and if not, feeding is waited for in the feeding roller;
step 4: lifting the feeding table roller to start and stop when the stopping position is reached;
step 5: detecting whether the robot material taking roller is idle, if so, pushing materials into the robot material taking roller by the lifting feeding table until the robot material taking position is reached, and if not, waiting for feeding by the lifting feeding table;
step 6: the fixed code scanning gun scans codes; meanwhile, whether the fixed code scanning gun scans codes or not is detected, if yes, the plate ID is updated; if not, alarming and manually scanning codes;
step 7: detecting whether a backing plate exists or not; if yes, a backing plate signal is sent, and the last plate signal is sent; if not, the plate is in place;
step 8: sending a feeding signal to the robot, sending a plate update signal to the master control, and sending a plate ID to the master control;
step 9: the robot receives a total control feeding and discharging instruction and a plate size signal;
step 10: executing by a robot;
step 11: detecting whether a machining center has stations idle; if yes, the robot feeds the plate to a processing center, the processing center starts processing, and meanwhile, signals of the plate taking position and the feeding position returned by the robot are sent to a master control; if not, detecting whether the machining center has stations for machining;
step 12: if the station processing of the processing center is detected to be finished, detecting whether a stacking position exists at the discharging position or not, if so, taking a plate by a robot, discharging the plate to a stacking lifter at the discharging position, and if not, detecting whether a backing plate exists or not; here, it is detected whether there is a pallet, if yes, it returns to step 11, if not, the robot grabs the pallet from the pallet rest stacker crane to the palletizing position at the lower level.
9. The machining control method of the control system of the machining center with automatic positioning of the suction cups of the tool magazine according to claim 8, wherein: in step 12, after the robot takes the board and feeds the board to the stacking lifter at the feeding level, it is detected whether the stacking level of the stacking lifter at the feeding level reaches the discharging condition, if yes, plc performs discharging, if not, a signal is sent to plc stacking level to move down by one layer, and here, plc drives the stacking level of the stacking lifter at the feeding level to move down by one layer.
10. The machining control method of the control system of the machining center with automatic positioning of the suction cups of the tool magazine according to claim 8, wherein: in step 10, at the same time, the robot receives the pallet signal and stacks the pallet to the pallet rest position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310721478.2A CN117140194A (en) | 2023-06-16 | 2023-06-16 | Machining center with tool magazine for automatically positioning sucker, control system and method |
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