CN118255158A - Be applied to unloading equipment on production line - Google Patents

Abstract

The invention relates to loading and unloading equipment applied to a production line, which is applied to an automatic production line, wherein the automatic production line comprises a processing machine tool, one side of the processing machine tool is provided with a processing main shaft, the processing main shaft comprises loading and unloading manipulators, a material box, a positioning mechanism and a transfer conveyor belt, the material box, the positioning mechanism and the transfer conveyor belt are arranged below the loading and unloading manipulators, the loading and unloading manipulators are arranged in the processing machine tool and are arranged on one side of the processing machine tool, which is far away from the processing main shaft, the material box is used for vertically placing a workpiece, the positioning mechanism is used for positioning the workpiece before processing, the transfer conveyor belt is used for transferring the workpiece, and the loading and unloading manipulator is provided with at least one group of first sucker assemblies used for taking and placing the workpiece, and a rotating shaft used for driving the first sucker assemblies to rotate so that the workpiece is horizontally placed or vertically placed. The invention realizes automatic circulation in the processing process of the production line, reduces mutual interference during machine tool processing operation and feeding and discharging operation, effectively improves the production efficiency and improves the feeding and discharging reliability.

Description

Be applied to unloading equipment on production line

Technical Field

The invention relates to loading and unloading equipment applied to a production line, and belongs to the technical field of automatic processing.

Background

At present, with the continuous development of the consumer markets of electronics and automobiles, the demands of digital products using glass as a display screen and a touch screen are also continuously increasing, and the sizes of parts such as the display screen, the touch screen and the like are also continuously increasing. However, the existing glass processing mainly depends on a manual plate placing and taking mode, or can only realize a single machine automatic mode, so that the processing efficiency is low, and the requirement of mass production cannot be met. Meanwhile, the existing single-machine equipment and automatic production line are easy to interfere with each other in machine tool machining and loading and unloading, the reliability of the mechanical arm and the positioning mechanism is affected, and inconvenience is brought to operations such as tool replacement and main shaft maintenance. And in the existing automatic production line, finished products are circulated through the material box, so that the workpiece loading and unloading efficiency is low, the workpiece is easy to damage, and more labor cost is occupied.

Disclosure of Invention

The invention provides loading and unloading equipment applied to a production line, and aims to at least solve one of the technical problems in the prior art. Therefore, the invention provides feeding and discharging equipment applied to a production line, which can reduce the mutual interference among components and improve the processing efficiency.

The technical scheme of the invention relates to feeding and discharging equipment, which is applied to an automatic production line, wherein the automatic production line comprises a processing machine tool, one side of the processing machine tool is provided with a processing main shaft, and the feeding and discharging equipment comprises:

The feeding and discharging mechanical arm is arranged in the processing machine tool and is arranged on one side, away from the processing main shaft, of the processing machine tool;

a material box for vertically placing the workpiece, a positioning mechanism for positioning the workpiece before processing and a transfer conveying belt for transferring the workpiece are arranged below the loading and unloading manipulator;

The feeding and discharging manipulator is provided with at least one group of first sucker assemblies used for picking and placing workpieces, and a rotating shaft used for driving the first sucker assemblies to rotate so that the workpieces are placed horizontally or vertically.

Further, go up unloading manipulator includes pivot subassembly, pivot subassembly is provided with down the connecting block, down the connecting block be opening U type structure down, down the both ends of connecting block respectively with the both ends of rotation axis are connected.

Further, the rotating shaft assembly is movably arranged on a first movable beam, the first movable beam is movably arranged on a manipulator support, and the manipulator support is connected with the processing machine tool.

Further, the first sucking disc subassembly is provided with two at least groups, every two groups first sucking disc subassembly symmetry sets up.

Further, the magazine includes magazine and a plurality of gag lever post, two splint respectively with the both ends of gag lever post are connected.

Further, the splint is U type structure and opening up.

Further, the positioning mechanism is arranged on one side, close to the processing machine tool, of the feeding and discharging manipulator, and the material box and the transfer conveyor belt are arranged on one side, opposite to the processing machine tool, of the positioning mechanism.

Further, one end of the transfer conveyor belt, which is far away from the material box, is leaked to the processing machine tool to be connected with the blanking conveyor belt arranged on the outer side of the processing machine tool.

The technical scheme of the invention relates to a feeding and discharging control method which is applied to the processing production line of the embodiment of the invention; the method comprises the following steps:

N100, acquiring a current procedure processing instruction, and adjusting the pose of the first sucker assembly through the rotating shaft so as to suck vertically placed workpieces in the material box through the first sucker assembly;

n200, after the workpiece is moved to a set position by the feeding and discharging mechanical arm, the pose of the first sucker assembly is adjusted by the rotating shaft, so that the workpiece is placed on the positioning mechanism by the feeding and discharging mechanical arm after being horizontally placed;

And N300, after the workpiece is positioned by the positioning mechanism and processed by the processing machine tool, transferring the workpiece to the transfer conveyor belt by the feeding and discharging mechanical arm.

Further, the first sucker assembly is provided with at least two groups, and each two groups of the first sucker assemblies are symmetrically arranged;

The step N200 comprises the following steps:

N210, after taking out the blank workpiece in the material box through one of the first sucker assemblies of the feeding and discharging mechanical arm and moving the blank workpiece to a set position, adjusting the pose of the first sucker assembly through the rotating shaft to enable the blank workpiece to be horizontally placed and located above the rotating shaft;

N220, after the finishing instruction of the previous working procedure is obtained, moving the finished workpiece to a positioning mechanism through a processing machine tool, and taking up and moving the finished workpiece to a set position through the other first sucker component of the loading and unloading manipulator;

And N230, overturning the first sucker assembly through the rotating shaft so that the blank workpiece is positioned below the rotating shaft, and placing the blank workpiece at the positioning mechanism through the feeding and discharging mechanical arm.

The beneficial effects of the invention are as follows.

According to the loading and unloading equipment provided by the embodiment of the invention, the processing area and the loading and unloading area are respectively arranged on the front side and the rear side of the processing machine tool, and the loading and unloading mechanical arm for vertically placing the workpiece and the rotatable workpiece are matched, so that the horizontal position and the vertical position of the large-size workpiece in the narrow machine tool can be changed, the vertical space in the machine tool is fully utilized, the full-automatic loading and unloading of the large-size flat glass and other workpieces in the small compact machine tool (such as a engraving and milling machine) is realized, and the workpiece unloading in the machine tool is carried out by matching with the transfer conveyor belt, so that the synchronous loading and unloading of the loading and unloading mechanical arm is realized in the limited internal space of the processing machine tool, the mutual interference between the loading and unloading operation and the processing operation is effectively avoided, and the dependence on manual loading and unloading is reduced.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is an overall schematic diagram of an automated processing line according to an embodiment of the present invention.

Fig. 2 is a plan view enlarged view of the internal structure of the machine tool at a in fig. 1.

Fig. 3 is a schematic structural view of a processing machine tool and loading and unloading equipment according to an embodiment of the present invention.

Fig. 4 is a side view of a loading and unloading apparatus according to an embodiment of the present invention.

Fig. 5 is a schematic structural view of a positioning mechanism according to an embodiment of the present invention.

Fig. 6 is an enlarged view of the backside of the automated processing line at a in fig. 1.

Reference numerals:

100 machining tools; 110 a processing mechanism; a 111 workbench; 112 machining a main shaft; 120 bed bodies; 130, machining a telescopic guide rail; 140 vacuum adsorption base;

200 feeding and discharging mechanical arms; 210 a manipulator support; 211 a first upright; 212 a first beam; 220 a first carriage; 230 a first movable beam; 240 a first sled; 250 a spindle assembly; 251 spindle link; 252 rotation axis; 253 upper connecting block; 254 lower connecting blocks; 260 a first chuck assembly; 261 vacuum chuck; 270 mounting a bracket;

300 material boxes; 310 splints; 320 limit rods;

400 positioning mechanism; 410 positioning blocks; 411 positioning the concave position; 420 positioning a translation bracket; 430 positioning a connecting bracket; 440 cylinder connection plates; 450 positioning air cylinders;

500. Transferring the transmission belt;

600. a blanking conveying belt;

700 blanking manipulator; 710 a second upright; 720 a second cross member; 730 a second carriage; 740 a connection assembly; 741 adapter plates; 742 connecting rod; 750 a second chuck assembly;

800 work pieces.

Detailed Description

The conception, specific structure, and technical effects produced by the present application will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly or indirectly fixed or connected to the other feature. Further, the descriptions of the upper, lower, left, right, top, bottom, etc. used in the present invention are merely with respect to the mutual positional relationship of the respective constituent elements of the present invention in the drawings.

Furthermore, 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. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any combination of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could also be termed a second element, and, similarly, a second element could also be termed a first element, without departing from the scope of the present disclosure.

Referring to fig. 1 to 6, the automated processing line according to the present invention includes a processing machine 100, a loading and unloading robot 200, a transfer conveyor 500, a unloading conveyor 600, and an unloading robot 700, wherein the loading and unloading robot 200 is used for switching positions between loading and unloading areas and processing areas, processing areas and loading and unloading areas are respectively provided on opposite sides of the processing machine 100, the loading and unloading robot 200 is disposed in the loading and unloading areas, one end of the transfer conveyor 500 is disposed in the loading and unloading areas, the unloading conveyor 600 is disposed at a side of the processing machine 100, and the unloading robot 700 is used for switching positions of the workpiece 800 between the unloading conveyor 600 and the transfer conveyor 500.

Specifically, after the operator places the plurality of blank workpieces 800 at the loading end, the blank workpieces 800 are loaded by the loading and unloading manipulator 200, and after the blank workpieces 800 are machined in the machining area of the machining machine tool 100, the loading and unloading manipulator 200 takes out the finished workpieces 800 and places the finished workpieces 800 at one end of the transfer conveyor 500, the transfer conveyor 500 conveys the finished workpieces 800 to the other end, the unloading manipulator 700 picks up the finished workpieces 800 on the transfer conveyor 500 and places the finished workpieces 800 on the unloading conveyor 600, and the finished workpieces 800 are conveyed to the next process or the unloading end by the unloading conveyor 600. It should be noted that the automated processing line of the present invention is applicable to glass processing.

The multi-station glass processing automatic production line is characterized in that an upper and lower material conveying manipulator 200 is arranged in a processing machine tool 100, a transfer conveying belt 500, a lower material conveying manipulator 700 and a lower material conveying belt 600 are matched, a processing area and an upper and lower material conveying belt are respectively arranged on two opposite sides in the processing machine tool 100, automatic circulation in the processing process of the production line is realized, and meanwhile, the mutual interference between the processing operation of the machine tool and the upper and lower material conveying operation is reduced, so that the waiting operation of parts is avoided, the production efficiency is effectively improved, the pollution manipulator and workpieces 800 such as processing auxiliary liquid and waste scraps are reduced, and the feeding and discharging reliability is improved.

It will be appreciated that referring to fig. 1, the automated processing line of the present invention may be provided with a plurality of processing tools 100, and the plurality of processing tools 100 are disposed on both sides of the blanking conveyor 600, respectively. Further, a plurality of processing machines 100 may be used for processing the same process or may be used for processing different processes.

In some embodiments, the processing machine 100 includes at least one processing mechanism 110, where the processing mechanism 110 includes a workbench 111 and at least one processing spindle 112, and the processing spindle 112 is disposed above the workbench 111, so that a multi-station multi-channel arrangement is adopted, and in combination with a manipulator and a conveyor belt, simultaneous processing and circulation of multiple workpieces 800 are achieved, which can effectively improve production efficiency.

Here, the processing machine 100 is illustrated as being provided with two processing mechanisms 110 and two processing spindles 112 for each set of processing mechanisms 110, that is, the processing machine 100 adopts a four-station dual-channel design, referring to fig. 1 and 2, two processing mechanisms 110 are disposed side by side on the front side of the processing machine 100 as a processing area, and a loading and unloading manipulator 200 is disposed on the rear side of the processing machine 100 as a loading and unloading area. Wherein, each processing mechanism 110 can be provided with two processing spindles 112, and accordingly, two workpieces 800 are placed on the workbench 111, so as to realize synchronous processing of the two workpieces 800.

In some embodiments, the machine tool 100 is provided with a bed 120, a machining telescopic rail 130, and a positioning mechanism 400, the machining telescopic rail 130 is disposed on the upper side of the bed 120, the workbench 111 is movably disposed on the machining telescopic rail 130, and the positioning mechanism 400 and the machining mechanism 110 are disposed on two sides of the machining telescopic rail 130 respectively. Referring to fig. 2 and 3, a machining telescopic rail 130 is provided on an upper side of the bed 120, a table 111 for placing a workpiece 800 is provided on the machining telescopic rail 130, a machining spindle 112 is provided above a front side of the machining telescopic rail 130, and a loading and unloading robot 200 is movable above a rear side of the machining telescopic rail 130. In the machining process, the workbench 111 moves to the rear of the machining telescopic guide rail 130, after the feeding and discharging manipulator 200 places the blank workpiece 800 on the workbench 111, the workbench 111 drives the workpiece 800 to move to the front side of the machining telescopic guide rail 130, after the machining main shaft 112 moves downwards to finish machining the workpiece 800, the workbench 111 drives the finished workpiece 800 to move to the rear side of the machining telescopic guide rail 130, and the feeding and discharging manipulator 200 takes the finished workpiece 800 on the workbench 111 and places the finished workpiece 800 on the transfer conveying belt 500.

In some embodiments, the positioning mechanism 400 includes a positioning sensor and a movable positioning block 410, the positioning block 410 being provided with a positioning surface for contacting the workpiece 800, the positioning sensor being disposed on the positioning surface. Referring to fig. 3,4 and 5, the vacuum adsorption base 140 for fixing the workpiece 800 is disposed on the working table 111, the positioning mechanism 400 includes a positioning translation bracket 420, a positioning connection bracket 430 and a plurality of positioning blocks 410, the positioning blocks 410 are fixedly connected to the positioning connection bracket 430, the lower side of the positioning connection bracket 430 is connected to a positioning slide block, the lower side of the positioning slide block is connected to a positioning translation rail, the positioning translation rail is disposed on the positioning translation bracket 420, the positioning translation bracket 420 is disposed on the machine body 120 and is disposed at the rear end of the machining telescopic rail 130, and the positioning translation bracket 420 can be perpendicular to the machining telescopic rail 130.

Further, one end of the positioning translation bracket 420 is connected with a cylinder connecting plate 440, a positioning cylinder 450 is mounted on the cylinder connecting plate 440, and a telescopic end of the positioning cylinder 450 is connected with one end of the positioning connecting bracket 430, so that the positioning block 410 is driven to move left and right by the positioning cylinder 450 to position the workpiece 800 on the vacuum adsorption base 140. It should be noted that, the number of positioning blocks 410 is the same as the number of processing spindles 112, and a plurality of positioning blocks 410 are arranged side by side on the positioning connection bracket 430, so as to simultaneously position a plurality of workpieces 800. It should be noted that the positioning cylinder 450 may be replaced by a stepping motor, a servo motor, or the like.

In some embodiments, the positioning block 410 is provided with a positioning recess 411, and the positioning recess 411 is provided with a positioning sensor, and the position of the workpiece 800 on the vacuum suction base 140 is determined according to the detection feedback of the positioning sensor. Referring to fig. 3 and 5, the positioning block 410 includes a positioning cross plate and a positioning vertical plate which are perpendicular to each other, wherein one side of the positioning cross plate is connected with one side of the positioning vertical plate, so as to form an L-shaped positioning block 410, and one side positioning surface of the positioning cross plate and one side positioning surface of the positioning vertical plate are connected to form a rectangular positioning concave position 411. Further, two positioning sensors are arranged on the positioning surface of the positioning transverse plate and the positioning surface of the positioning vertical plate respectively. It should be noted that, the shape of the positioning concave 411 may be configured to be different shapes such as a circle, an ellipse, or a right angle according to the shape of the workpiece 800, for example, the automated processing line of the present invention is applied to processing square glass, and accordingly, the positioning concave 411 is configured to be a right angle structure.

Specifically, the positioning cross plate is parallel to the positioning translation bracket 420, the positioning vertical plate is parallel to the processing telescopic guide rail 130, and one end of the positioning cross plate, which is close to the positioning cylinder 450, is connected with the rear end of the positioning vertical plate, so that a right-angle positioning concave position 411 with an opening facing away from the positioning cylinder 450 is formed.

In some embodiments, when the loading and unloading manipulator 200 places the blank workpiece 800 at the right angle positioning concave 411, the loading and unloading manipulator 200 drives the workpiece 800 to move backward, so that the rear side of the workpiece 800 contacts with the positioning surface of the positioning cross plate, and after the positioning sensor determines that the workpiece 800 reaches the preset position, the loading and unloading manipulator 200 loosens the workpiece 800, so that the workpiece 800 is placed on the base of the vacuum chuck 261. Then, the positioning cylinder 450 drives the positioning connection bracket 430 and the positioning block 410 to move, so that the positioning surface on the positioning vertical plate contacts with the right side of the workpiece 800, the positioning block 410 pushes the workpiece 800 to move leftwards, after the workpiece 800 is determined to reach the preset position according to the feedback of the positioning cylinder 450 and the positioning sensor, the positioning connection bracket 430 and the positioning block 410 retract to the original position, and the vacuum adsorption base 140 acts to fix the workpiece 800 on the workbench 111, so that the workpiece 800 is positioned before processing by matching the loading and unloading manipulator 200 with the positioning mechanism 400.

In some embodiments, a magazine 300 for storing blank workpieces 800 is disposed in the machine tool 100, the magazine 300 is disposed on a side of the transfer belt 500 facing away from the blanking belt 600, and the positioning mechanism 400 is disposed between the magazine 300 and the machining telescoping rail 130. Referring to fig. 2 and 3, the plurality of processing spindles 112 are disposed side by side on the front side of the bed 120, the magazine 300 and the transfer belt 500 are disposed side by side on the rear side of the bed 120, the positioning translation bracket 420 is disposed between the magazine 300 and the processing telescopic rail 130 and between the transfer belt 500 and the processing telescopic rail 130, the positioning cylinder 450 is disposed on a side of the positioning translation bracket 420 facing away from the blanking belt 600, and the positioning block 410 protrudes toward the processing telescopic rail 130. The loading and unloading robot 200 is disposed above the magazine 300, the positioning mechanism 400, and the transfer belt 500 to switch the positions of the workpieces 800 among the magazine 300, the positioning mechanism 400, and the transfer belt 500.

In some embodiments, the automated processing line of the present invention may be applied to the processing of large-sized flat glass, wherein the large-sized flat glass workpiece 800 is vertically placed in the magazine 300, and the vertical spatial position within the machine tool may be fully utilized. Referring to fig. 3 and 4, the cartridge 300 includes two clamping plates 310 and a plurality of stopper rods 320, the two clamping plates 310 are respectively connected with front and rear ends of the stopper rods 320, the plurality of stopper rods 320 are respectively disposed at left, right and lower sides of the cartridge 300, the workpiece 800 is placed between the two clamping plates 310 from above the cartridge 300, and the left, right and lower sides of the workpiece 800 are respectively in contact with the stopper rods 320. Further, referring to fig. 6, the clamping plate 310 has a U-shaped structure with an upward opening, wherein two limiting rods 320 are connected to the upper side of the clamping plate 310, and the other two limiting rods 320 are connected to the lower side of the clamping plate 310, so that the middle part of the workpiece 800 located at the outermost side of the magazine 300 leaks out, and the vacuum chuck 261 can contact with the middle part of the workpiece 800, which is beneficial to ensuring the reliability and freshness of the workpiece taking and improving the stability of the magazine 300 for storing the workpiece 800.

Referring to fig. 1 to 6, the loading and unloading apparatus according to the present invention is applied to an automated production line, the automated production line includes a processing machine 100, one side of the processing machine 100 is provided with a processing spindle 112, the loading and unloading apparatus includes a loading and unloading manipulator 200, a magazine 300 disposed below the loading and unloading manipulator 200, a positioning mechanism 400, and a transfer belt 500, the loading and unloading manipulator 200 is disposed in the processing machine 100 and is disposed on a side of the processing machine 100 facing away from the processing spindle 112, the magazine 300 is used for vertically placing a workpiece 800, the positioning mechanism 400 is used for positioning the workpiece 800 before processing, the transfer belt 500 is used for transferring the workpiece 800, wherein the loading and unloading manipulator 200 is provided with at least one set of first chuck assemblies 260 for picking and placing the workpiece 800, and a rotation shaft 252 for driving the first chuck assemblies 260 to rotate so as to horizontally place or vertically place the workpiece 800.

The feeding and discharging control method of the technical scheme is applied to an automatic processing production line and at least comprises the following steps:

N100, acquiring a current procedure processing instruction, and adjusting the pose of the first sucking disc assembly 260 through the rotating shaft 252 so as to suck the vertically placed workpiece 800 in the material box 300 through the first sucking disc assembly 260;

N200, after the workpiece 800 is moved to a set position by the feeding and discharging mechanical arm 200, the pose of the first sucker assembly 260 is adjusted by the rotating shaft 252, so that the workpiece 800 is placed on the positioning mechanism 400 by the feeding and discharging mechanical arm 200 after the workpiece 800 is placed horizontally;

n300, after the workpiece 800 is positioned by the positioning mechanism 400 and the workpiece 800 is processed by the processing machine 100, the workpiece 800 is transferred to the transfer belt 500 by the loading and unloading robot 200.

Referring to fig. 4 and 5, when at least two groups of first suction cup assemblies 260 are provided and each two groups of first suction cup assemblies 260 are symmetrically arranged, the loading and unloading manipulator 200 can immediately load the blank workpiece 800 after loading and unloading the finished workpiece 800, and the loading and unloading operations at least include the following steps:

N210, after the blank workpiece 800 in the material box 300 is taken out and moved to a set position by one of the first sucker assemblies 260 of the feeding and discharging mechanical arm 200, the pose of the first sucker assembly 260 is adjusted by the rotating shaft 252, so that the blank workpiece 800 is horizontally placed and is positioned above the rotating shaft 252;

N220, after the finishing instruction of the previous working procedure is obtained, the finished workpiece 800 is moved to the positioning mechanism 400 by the processing machine 100, and the finished workpiece 800 is taken up and moved to a set position by the other first sucking disc component 260 of the feeding and discharging manipulator 200;

And N230, turning over the first sucker assembly 260 through the rotary shaft 252 so that the blank workpiece 800 is positioned below the rotary shaft 252, and placing the blank workpiece 800 at the positioning mechanism 400 through the feeding and discharging mechanical arm 200.

In some embodiments, the loading and unloading robot 200 is provided with a robot bracket 210, a first slide carriage 220, a first movable beam 230, a first slide plate 240, and a spindle assembly 250 for picking and placing the workpiece 800, where the robot bracket 210 is disposed on a first upright 211 and a first cross beam 212. Referring to fig. 3 and 4, the first upright columns 211 and the first cross beams 212 are provided in two, the two first upright columns 211 are respectively disposed at the left side and the right side of the bed 120, the first upright columns 211 are hollow square frames, two ends of each first cross beam 212 are respectively connected with one side upper ends of the two first upright column 211 frames, and one ends of the material box 300, the positioning mechanism 400 and the transfer transmission belt 500 are disposed between the two upright columns and below the first cross beams 212. The two first slide carriages 220 are respectively arranged on the upper sides of the two cross beams in a left-right movable way, two ends of the first movable beam 230 are respectively connected with the two first slide carriages 220, the first slide plate 240 is arranged on the first movable beam 230 in a front-back movable way, and the rotating shaft assembly 250 is arranged on the first slide plate 240 in a up-down movable way, so that the rotating shaft assembly 250 moves on the XYZ three axes.

In some embodiments, the rotating shaft assembly 250 includes a rotating shaft connecting frame 251, a rotating shaft 252, and a rotating shaft driver for driving the rotating shaft 252 to rotate, and at least one set of first chuck assemblies 260, the rotating shaft connecting frame 251 is movably disposed on the first sliding plate 240, the rotating shaft 252 is rotatably disposed on the rotating shaft connecting frame 251, and the first chuck assemblies 260 are disposed on the rotating shaft 252. Referring to fig. 3,4 and 6, the rotating shaft connecting frame 251 includes an upper connecting block 253 and a lower connecting block 254, the lower connecting block 254 is in an inverted U-shaped structure, that is, the lower connecting block 254 includes a cross bar and two vertical bars, and two ends of the cross bar are respectively connected with upper ends of the two vertical bars. The upper side of the upper connection block 253 is connected with the first slide plate 240, the lower end of the upper connection block 253 is connected with the upper side middle part of the lower connection block 254 (i.e. the upper side of the middle part of the cross bar thereof), the lower side two ends of the lower connection block 254 (i.e. the lower ends of the two vertical bars thereof) are respectively connected with the two ends of the rotating shaft 252, and the rotating driver is arranged on the lower connection block 254 and the rotating end thereof is connected with the rotating shaft 252. The first chuck assembly 260 is fixedly coupled to the rotary shaft 252 and is rotatable with the rotary shaft 252. It will be appreciated that each first suction cup assembly 260 is provided with at least one vacuum suction cup 261. In some embodiments, each first suction cup assembly 260 is provided with four vacuum suction cups 261.

Specifically, when the processing machine 100 needs to perform blank workpiece 800 loading, the loading and unloading manipulator 200 moves on XY to move the clamp assembly above the magazine 300, the rotation shaft 252 rotates to vertically place the vacuum chuck 261 of the first chuck assembly 260, the first chuck assembly 260 moves down along the Z axis to enable the vacuum chuck 261 to reach the side of the workpiece 800, and the suction end of the vacuum chuck 261 faces the workpiece 800. The first chuck assembly 260 moves forward or backward, so that after the vacuum chuck 261 sucks the side surface of the workpiece 800, the first chuck assembly 260 drives the workpiece 800 to move upward, after the workpiece 800 leaves the magazine 300 and reaches a set height, the rotating shaft 252 drives the first chuck assembly 260 to rotate, so that the workpiece 800 is horizontally placed, then the first chuck assembly 260 moves along three axes to horizontally place the workpiece 800 on the positioning assembly, and after the workpiece 800 is positioned by the positioning assembly, the processing main shaft 112 processes the workpiece 800. Referring to fig. 3, the first movable beam 230 in the loading and unloading manipulator 200 of the present invention may have a shorter length, so as to implement an axial short-span single-drive or dual-drive beam structure, which is different from the existing axial long-span single-drive or dual-drive beam structure, and may be applied to internal loading and unloading of a small compact machine tool.

In some embodiments, the first chuck assembly 260 is provided with at least two groups, wherein the vacuum chucks 261 of each two groups of the first chuck assembly 260 face opposite directions, so that the loading and unloading robot 200 can synchronously load and unload the workpiece 800, and the processing efficiency is provided. In this embodiment, two processing spindles 112 are disposed on each processing mechanism 110, two vacuum suction bases 140 are disposed on the corresponding working tables 111 of each processing mechanism 110, four groups of first suction cup assemblies 260 are disposed symmetrically on the left side of the rotating shaft 252, two other groups of first suction cup assemblies 260 are disposed symmetrically on the right side of the rotating shaft 252, and one of the suction cups on the left side faces the same direction as one of the suction cups on the right side, and the other suction cup on the left side faces the same direction as the other suction cup on the right side.

Referring to fig. 3 and 6, for example, the first suction cup assembly 260A1 and the first suction cup assembly 260A2 are symmetrically disposed about the rotation axis 252, the first suction cup assembly 260B1 and the first suction cup assembly 260B2 are disposed as above, and suction cups of the first suction cup assembly 260A1 and the first suction cup assembly 260B1 are oriented the same, and suction cups of the first suction cup assembly 260A2 and the first suction cup assembly 260B2 are oriented the same. After the first chuck assemblies 260A1 and B1 of the loading and unloading robot 200 suck the blank workpiece 800 in the magazine 300, the rotation shaft 252 rotates to horizontally place the blank workpiece 800 and to place the workpiece 800 above the first chuck assemblies 260A2 and B2, the rotation shaft assembly 250 moves to the upper side of the positioning assembly, the first chuck assemblies 260A2 and B2 move down to suck the finished workpiece 800 on the positioning assembly, then the rotation shaft assembly 250 drives the blank workpiece 800 and the finished workpiece 800 to rise to a set height, the rotation shaft 252 turns over the first chuck assembly 260 to place the blank workpiece 800 and the first chuck assemblies 260A1 and B1 below, the finished workpiece 800 and the first chuck assemblies 260A2 and B2 above, the rotation shaft assembly 250 moves down to place the blank workpiece 800 on the positioning assembly, the loading of the processing machine tool 100 is completed, the rotation shaft assembly 250 moves to the upper side of the transfer conveyor 500 and turns over the first assembly 260 again, the finished workpiece 800 is placed below and horizontally, the loading and unloading robot 200 places the blank workpiece 800 on the transfer conveyor 500 to complete the processing machine tool 800.

The automatic processing production line of the invention sets the processing area and the feeding and discharging area on the front side and the rear side of the processing machine 100 respectively, and is matched with the material box 300 for vertically placing the workpiece 800 and the feeding and discharging manipulator 200 for rotating the workpiece 800, so that the horizontal position and the vertical position of the large-size workpiece 800 in the narrow machine tool can be changed, the vertical space in the machine tool is fully utilized, the full-automatic feeding and discharging of the large-size flat glass and other workpieces 800 in the small compact machine tool (such as a engraving and milling machine) is realized, and the workpiece 800 in the machine tool is discharged and the workpiece 800 outside the machine tool is circulated by matching with the transferring and conveying belt 500, thereby realizing the synchronous feeding and discharging of the feeding manipulator 200 in the limited inner space of the processing machine tool 100, realizing the full-automatic feeding and discharging in the machine tool, simultaneously effectively avoiding the mutual interference between the feeding and discharging operation and the processing operation in the four-station processing, and reducing the dependence on manual feeding and discharging.

It is understood that the loading and unloading device comprising the loading and unloading manipulator 200, the magazine 300, the positioning mechanism 400 and the transfer belt 500 according to the present invention may be installed on the machine tool 100 as a module. Specifically, the lower side of the loading and unloading apparatus is provided with a mounting bracket 270, the mounting bracket 270 is a triangle-like frame, the vertical side of the mounting bracket 270 may be fixedly connected to the side of the bed 120, the horizontal top surface of the mounting bracket 270 may be used to mount the loading cassette 300, the positioning mechanism 400 and the transfer belt 500, and the positioning block 410 of the positioning mechanism 400 is oriented to the table 111. And the two sides of the first upright post 211 of the loading and unloading manipulator 200 are respectively arranged on the mounting bracket 270 and the lathe bed 120, so that loading and unloading equipment can be mounted on the rear side of the processing machine 100, and the production and the installation of the equipment and the layout of a production line are facilitated.

In some embodiments, one end of the transfer belt 500 is disposed inside the processing machine 100 and below the loading and unloading robot 200, the other end of the transfer belt 500 is leaked outside the processing machine 100, and the unloading belt 600 is disposed outside the processing machine 100 and beside the end of the transfer belt 500. After the loading and unloading robot 200 places the finished workpiece 800 on the transfer conveyor 500, the transfer conveyor 500 conveys the finished workpiece 800 to the other end thereof, and the unloading robot 700 picks up the workpiece 800 on the transfer conveyor 500 and places it on the unloading conveyor 600. It will be appreciated that the transfer conveyor 500 may be perpendicular to the blanking conveyor 600, thereby facilitating space utilization and compact configuration of the growth line. Specifically, the finished workpiece 800 is transported to the outside of the processing machine 100 by moving left and right, and after the discharging robot 700 transfers the finished workpiece 800 from the transfer conveyor 500 to the discharging conveyor 600, the discharging conveyor 600 drives the finished workpiece 800 to move back and forth to reach the next process or to reach the discharging end.

In some embodiments, a plurality of processing machines 100 of the automated processing line are provided, and the plurality of processing machines 100 are symmetrically disposed at both sides of the discharging conveyor 600. For example, referring to fig. 1, six processing machines 100 are provided on an automated processing line, and three processing machines 100 are provided on both sides of a blanking conveyor 600.

In some embodiments, the blanking manipulator 700 includes a second upright 710, a second cross beam 720, a second slide carriage 730, a connection assembly 740, and at least one second suction cup assembly 750, the second upright 710 is vertically fixed on the ground, the second cross beam 720 is fixed on the second upright 710, the second slide carriage 730 is movably disposed on the second cross beam 720, the connection assembly 740 is movably disposed on the second cross beam 720, and the second suction cup assembly 750 is fixedly disposed on the connection assembly 740. Referring to fig. 6, a beam connector is connected between the upper end of the second pillar 710 and the second beam 720. The crossbeam connecting piece is the type right angle, and the horizontal plate of crossbeam connecting piece is connected with the upper end of second stand 710, and the vertical plate of crossbeam connecting piece is connected with the side of second crossbeam 720, and the second crossbeam 720 is connected with the second slide carriage 730 that can control the removal dorsad to the side of vertical plate, and the downside of second slide carriage 730 is connected with coupling assembling 740 and second sucking disc subassembly 750.

Specifically, the connection assembly 740 includes an adapter plate 741, a connecting rod 742 and a lifting cylinder, the lifting cylinder is disposed on the second slide carriage 730, the upper side of the adapter plate 741 is connected with the telescopic end of the lifting cylinder, the lower side of the adapter plate 741 is connected with the upper side of the connecting rod 742, and the lower side of the connecting rod 742 is connected with the second sucker assembly 750. The connection assembly 740 and the second suction cup assembly 750 are driven to move up and down by the lifting cylinder, so that the workpiece 800 is taken and put, and the second suction cup assembly 750 is driven to move left and right by the second slide carriage 730, so that the workpiece 800 on the transfer conveyor 500 is transferred to the blanking conveyor 600. It should be noted that the positioning cylinder 450 may be replaced by a stepping motor, a servo motor, or the like.

The automatic processing production line adopts an internal four-axis manipulator and an external two-axis manipulator to replace the traditional mode of realizing production line circulation by means of a multi-degree-of-freedom robot through matching the transfer conveyor belt 500 and the blanking conveyor belt 600, realizes the processing of the multi-station multi-channel workpiece 800, and effectively avoids the mutual interference between the feeding and the blanking and the processing operation by adopting a layout mode that the processing area and the feeding and the blanking areas are provided with two opposite sides of a machine tool, thereby effectively reducing the control complexity of the system, reducing the requirement on the space of a production field, effectively improving the production efficiency and reducing the production cost.

In some embodiments, the plurality of processing machines 100 are symmetrically disposed on both sides of the blanking conveyor 600, and correspondingly, the plurality of blanking robots 700 are symmetrically disposed on both sides of the blanking conveyor 600. Further, two symmetrically disposed blanking manipulators 700 may share a second cross member 720. Referring to fig. 1 and 6, the second beam 720 is perpendicular to the discharging conveyor 600 and is disposed above the discharging conveyor 600, two ends of the second beam 720 protrude from two sides of the discharging conveyor 600, and two columns are respectively disposed on two sides of the discharging conveyor 600 and are respectively connected with two ends of the second beam 720. The two transfer conveyor belts 500 are symmetrically disposed at both sides of the blanking conveyor belt 600, and both ends of the second cross member 720 are disposed above the two transfer conveyor belts 500, respectively.

In some embodiments, multiple sets of second chuck assemblies 750 are coupled to the coupling assembly 740 to enable simultaneous transfer of multiple workpieces 800. Further, the number of second chuck assemblies 750 connected to each of the connection assemblies 740 is the same as the number of processing spindles 112 provided for each of the processing mechanisms 110. For example, each processing mechanism 110 is provided with two processing spindles 112, and correspondingly, each connection assembly 740 is provided with two second chuck assemblies 750. Further, each second chuck assembly 750 is provided with at least one vacuum chuck 261, such as four vacuum chucks 261 per second chuck assembly 750. Specifically, the connecting rod 742 is parallel to the second cross beam 720, the two groups of second suction cup assemblies 750 are symmetrically disposed on the left side and the right side of the connecting rod 742, and the two groups of second suction cup assemblies 750 move up and down along with the connecting rod 742 synchronously, so that two finished workpieces 800 can be transferred simultaneously.

Referring to fig. 1 to 6, the control method of the automated processing line according to the technical solution of the present invention is applied to the automated processing line according to the embodiment of the present invention, and the control method at least includes the following steps:

S100, acquiring a current process machining instruction, driving the loading and unloading manipulator 200 to take out a blank workpiece 800 from the material box 300, driving the workbench 111 to reach a preset loading and unloading position, and placing the workpiece 800 on the positioning mechanism 400 through the loading and unloading manipulator 200;

s200, after the blank workpiece 800 is positioned on the positioning mechanism 400, driving the workbench 111 to move the blank workpiece 800 to a preset processing position so as to process the workpiece 800;

S300, when receiving a current process completion instruction, driving the workbench 111 to move the finished workpiece 800 to a loading and unloading position, and taking the finished workpiece 800 by the loading and unloading manipulator 200 and placing the finished workpiece 800 on the transfer conveyor 500;

S400, after the finished workpiece 800 is transported to the outside of the processing machine 100 by the transfer conveyor 500, the finished workpiece 800 is transferred from the transfer conveyor 500 to the blanking conveyor 600 by the blanking robot 700, so that the finished workpiece 800 is transferred.

In some embodiments, the invention is applicable to large-size glass automated processing lines composed of a plurality of four-station two-channel compact numerical control machine tools. For example, referring to fig. 1, the automated processing line of the present invention is provided with six blanking robots 700 and a blanking conveyor 600 for six processing tools 100. Two machining mechanisms 110 are provided for each machining region within each machining tool 100, and each machining mechanism 110 is provided with two machining spindles 112, thereby achieving four-station two-channel machining for each tool. Correspondingly, the positioning mechanism 400 is provided with four positioning blocks 410, each positioning block 410 positions the workpiece 800 before feeding the workpiece to the processing main shaft 112, and the four positioning blocks 410 realize synchronous movement through the positioning connecting bracket 430, so that a plurality of workpieces 800 can be synchronously positioned. The loading and unloading manipulator 200 is connected with the first sucking disc subassembly 260, and the unloading manipulator 700 is connected with two sets of second sucking disc subassemblies 750, thereby can realize the processing lathe 100 of cooperation binary channels, can carry out the synchronous loading and unloading of two work pieces 800, and, the magazine 300 of work pieces 800 is placed vertically in the cooperation, the full-automatic production line processing of loading and unloading of the jumbo size work piece 800 of multistation multichannel can effectively improve production efficiency, and be favorable to reducing the mutual interference of lathe processing and loading and unloading, improve processingquality.

The present invention is not limited to the above embodiments, but can be modified, equivalent, improved, etc. by the same means to achieve the technical effects of the present invention, which are included in the spirit and principle of the present disclosure. Are intended to fall within the scope of the present invention. Various modifications and variations are possible in the technical solution and/or in the embodiments within the scope of the invention.

Claims (10)

1. Feeding and discharging equipment, characterized in that is applied to automated production line, automated production line includes processing lathe (100), one side of processing lathe (100) is provided with processing main shaft (112), includes:

The feeding and discharging mechanical arm (200) is arranged in the processing machine tool (100) and is arranged on one side, away from the processing main shaft (112), of the processing machine tool (100);

A material box (300) for vertically placing the workpiece (800), a positioning mechanism (400) for positioning the workpiece (800) before processing and a transfer conveying belt (500) for transferring the workpiece (800) are arranged below the loading and unloading manipulator (200);

The feeding and discharging manipulator (200) is provided with at least one group of first sucker assemblies (260) for picking and placing workpieces (800), and a rotating shaft (252) for driving the first sucker assemblies (260) to rotate so that the workpieces (800) are placed horizontally or vertically.

2. The feeding and discharging device according to claim 1, wherein the feeding and discharging manipulator (200) comprises a rotating shaft assembly (250), the rotating shaft assembly (250) is provided with a lower connecting block (254), the lower connecting block (254) is of a U-shaped structure with a downward opening, and two ends of the lower connecting block (254) are respectively connected with two ends of the rotating shaft (252).

3. The loading and unloading device according to claim 2, wherein the rotating shaft assembly (250) is movably arranged on a first movable beam (230), the first movable beam (230) is movably arranged on a manipulator support (210), and the manipulator support (210) is connected with the processing machine tool (100).

4. The loading and unloading device according to claim 1, wherein the first suction cup assemblies (260) are provided with at least two groups, and each two groups of the first suction cup assemblies (260) are symmetrically arranged.

5. The feeding and discharging device according to claim 1, wherein the cartridge (300) comprises a cartridge (300) and a plurality of limit bars (320), and two clamping plates (310) are respectively connected with two ends of the limit bars (320).

6. The loading and unloading apparatus of claim 5, wherein the clamping plate (310) is of a U-shaped structure with an opening facing upwards.

7. The loading and unloading device according to claim 1, wherein the positioning mechanism (400) is disposed on a side of the loading and unloading manipulator (200) close to the processing machine tool (100), and the magazine (300) and the transfer conveyor belt (500) are disposed on a side of the positioning mechanism (400) facing away from the processing machine tool (100).

8. The loading and unloading apparatus of claim 1, wherein an end of the transfer conveyor (500) remote from the magazine (300) is externally leaked to the processing machine (100) to be connected with an unloading conveyor (600) provided outside the processing machine (100).

9. A loading and unloading control method applied to the processing line of any one of claims 1 to 9; the method comprises the following steps:

N100, acquiring a current procedure machining instruction, and adjusting the pose of the first sucker assembly (260) through the rotating shaft (252) so as to suck up a vertically placed workpiece (800) in the material box (300) through the first sucker assembly (260);

N200, after the workpiece (800) is moved to a set position by the feeding and discharging mechanical arm (200), the pose of the first sucker assembly (260) is adjusted by the rotating shaft (252), so that the workpiece (800) is horizontally placed, and after the workpiece (800) is horizontally placed, the workpiece (800) is placed on the positioning mechanism (400) by the feeding and discharging mechanical arm (200);

N300, after the workpiece (800) is positioned by the positioning mechanism (400) and the workpiece (800) is processed by the processing machine tool (100), the workpiece (800) is transferred to the transfer conveyor belt (500) by the feeding and discharging mechanical arm (200).

10. The feeding and discharging control method according to claim 9, wherein the first suction cup assemblies (260) are provided with at least two groups, and each two groups of the first suction cup assemblies (260) are symmetrically arranged;

The step N200 comprises the following steps:

n210, after taking out the blank workpiece (800) in the material box (300) through one of the first sucker assemblies (260) of the feeding and discharging mechanical arm (200) and moving the blank workpiece to a set position, adjusting the pose of the first sucker assembly (260) through the rotating shaft (252) to enable the blank workpiece (800) to be horizontally placed and located above the rotating shaft (252);

N220, after the finishing instruction of the previous working procedure is obtained, moving the finished workpiece (800) to the positioning mechanism (400) through the processing machine tool (100), and taking up and moving the finished workpiece (800) to a set position through the other first sucker assembly (260) of the loading and unloading manipulator (200);

And N230, overturning the first sucker assembly (260) through the rotating shaft (252) so as to enable the blank workpiece (800) to be positioned below the rotating shaft (252), and placing the blank workpiece (800) at the positioning mechanism (400) through the feeding and discharging mechanical arm (200).