CN205734182U - For many group process equipment co-operating intelligent robot processing lines - Google Patents
For many group process equipment co-operating intelligent robot processing lines Download PDFInfo
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- CN205734182U CN205734182U CN201620681454.4U CN201620681454U CN205734182U CN 205734182 U CN205734182 U CN 205734182U CN 201620681454 U CN201620681454 U CN 201620681454U CN 205734182 U CN205734182 U CN 205734182U
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Abstract
The utility model discloses a kind of for many group process equipment co-operating intelligent robot processing lines, including many groups for having combined the lathe of all manufacturing procedures of workpiece, many groups for assisting the auxiliary device of machine tooling, for placing the blank truck of workpiece blank and the finished product truck of the finished workpart after placing processing；Intelligent robot processing line also includes for the loading and unloading robot of automatic charging and blanking and for ordering about the robot line slideway that loading and unloading robot linearly moves；Loading and unloading robot is arranged on robot line slideway by mounting seat；Lathe is distributed in robot line slideway both sides, and lathe, auxiliary device, blank truck and finished product truck are in the radius of clean-up of loading and unloading robot.Loading and unloading robot complete independently workpiece is by all processing of blank to finished product；It is applicable to the Work-piece processing system of multistation, multiple operation.
Description
Technical field
This utility model relates to intelligent robot processing technique field, especially, relates to a kind of for organizing process equipment more
Co-operating intelligent robot processing line.
Background technology
Existing machine tooling industry, machine management person wishes to improve lathe utilization rate, is reduced as far as machine tool
Allowance for depreciation and loss of assets, this inevitable requirement machine operation person operation in 24 hours so that operator's working strength is big, and for a long time
Work, is easily caused security incident, increases management or operation cost.
The blank work pieces process using lathe is on-the-spot, the powder that on-the-spot existence produces when cutting oil and remove chamfering or sharp edge burr
Dirt easily makes operator occupation disease occur, it addition, during or operator tired operation heavier in the weight ratio of workpiece, sometimes work
Operator's health can be caused danger by part；Workman is difficult to carry out for a long time lathe operation of feeding and discharging, then proposes to use robot
Replacing workman to carry out lathe loading and unloading operation, this will be the trend of a certainty.
Use truss mechanical hand to replace manually carrying out loading and unloading, but mechanical hand is merely able to carry out XYZ three-axis moving, if thinking reality
The existing workpiece complete processing technique of multistation multiple operation is then restricted.
Multiple stage six-joint robot is used to undertake multistation multistage manufacturing processes, it is possible to solve the limitation of truss mechanical hand, but
Cost intensive, controls complexity, requires higher to operator's technology.
Utility model content
This utility model provides a kind of for many group process equipment co-operating intelligent robot processing lines, to solve
Existing machine tooling, needs artificial directly participation, causes labor intensity big, big to injury of human；And use truss mechanical hand,
Multistation add be easily subject to man-hour equipment limit；Use the mode of corresponding each station configuration six-joint robot, cause cost to increase
Add, the technical problem high to personnel requirement.
This utility model provides one to organize process equipment co-operating intelligent robot processing lines, including many groups for more
For having combined the lathe of all manufacturing procedures of workpiece, many groups for having assisted the auxiliary device of machine tooling, for placing work
The blank truck of part blank and the finished product truck of the finished workpart after placing processing；Intelligent robot processing line also includes
For the loading and unloading robot of automatic charging and blanking and straight for ordering about the robot that loading and unloading robot linearly moves
Line guide rail；Loading and unloading robot is arranged on robot line slideway by mounting seat；Lathe is distributed in robot line slideway
Both sides, lathe, auxiliary device, blank truck and finished product truck are in the radius of clean-up of loading and unloading robot.
Further, lathe is set at least five groups, is distributed in the lathe of robot line slideway both sides and misses one another point
Cloth or be distributed toward each other；Loading and unloading robot is on the centrage of intelligent robot processing line.
Further, loading and unloading robot includes six-joint robot and loading and unloading fixture, and loading and unloading fixture is arranged on six axles
On 6th axle of robot.
Further, loading and unloading fixture uses 180 ° of Horizontal clamps, and loading and unloading fixture includes for shooting or sensing work
The visual system of part position, the blowning installation of chip removal of blowing in workpiece process, for grabbing workpiece or release workpiece
Paw and for driving the driving cylinder that paw runs.
Further, visual system includes illuminator, camera lens, filming apparatus or image processing apparatus；Filming apparatus is adopted
With video camera or photographing unit；Paw is removable parts of remodeling.
Further, lathe includes the first lathe, the second lathe, the 3rd lathe, the 4th lathe and the 5th lathe；First
Lathe, the second lathe, the 3rd lathe, the 4th lathe and the 5th lathe are sequentially arranged and are respectively completed respective manufacturing procedure, with
Complete the whole manufacturing procedure of workpiece；Auxiliary device include the first auxiliary device, the second auxiliary device, the 3rd auxiliary device,
4th auxiliary device, the 5th auxiliary device and the 6th auxiliary device.
Further, the first auxiliary device is integrated with servomotor and rotation platform, the visual system on loading and unloading fixture
Cooperate with the servomotor on the first auxiliary device, to complete putting or identification that workpiece laterally identifies of workpiece.
Further, the second auxiliary device uses shaped steel to be welded, and the workbench of the second auxiliary device is provided with multiple
The U-lag varied in size, different size of U-lag is corresponding to the workpiece of different size different model；Loading and unloading robot passes through U
Shape groove as the interim anchor point of workpiece to realize the turn-over operation to workpiece of the loading and unloading robot.
Further, the 3rd auxiliary device is in the downstream of the 3rd lathe, for the semi-finished product work to the 3rd lathe output
Sequence carries out secondary process, and secondary process is that workpiece sharp edge falls blunt or chamfering, and the 4th lathe is in the downstream of the 3rd auxiliary device；The
Six auxiliary device are in the downstream of the 5th lathe, form work for the half-finished product process of the 5th lathe output is carried out secondary process
Part finished product, secondary process is that workpiece sharp edge falls blunt or chamfering；4th auxiliary device is attached to the second lathe, for temporary storage warp
Cross after the first auxiliary device is ajusted and wait and capture the workpiece being processed to the 3rd lathe；5th auxiliary device is for workpiece
Parking and carry out the detection device of workpiece sensing, detection device comprises puts down for parking workpiece the work that detects workpiece
Platform and for guiding the slide rail that work platforms slides, cylinder is connected with work platforms and drives work platforms cunning on slide rail
Dynamic, at least one end of slide rail is provided with the buffer unit for work platforms buffering location；First lathe, the second lathe, the 3rd
Lathe, the 4th lathe and the 5th lathe be laterally equipped with the 5th auxiliary device, in order to the quality inspection to every one procedure.
Further, intelligent robot processing line also includes controlling device, is used for controlling loading and unloading robot, robot straight
Line guide rail, the first auxiliary device, the 3rd auxiliary device and the 6th auxiliary device, and by, the detection signal of the second auxiliary device,
The detection signal of four auxiliary device, the detection signal of the 5th auxiliary device, machine tooling signal, the hydraulically operated fixture detection letter of lathe
Number linked together by cable, thus realize loading and unloading robot and coordinate control and jointly complete intelligence with many group process equipments
Can production management.
Further, control device and comprise PLC control system and touch screen.
Further, intelligent robot processing line also includes for preventing operator from entering the anti-pad of operating area
Hurdle, to prevent the personal security accident in the course of processing.
Further, protective fence comprises and is in the electronic guardrail of loading and unloading robot operation area, electronic lock and warning
Device, electronic guardrail and electronic lock are used for monitoring safe fence door interlock switch state and Monitoring Data feeding back to control dress
Putting, if safety door is opened, control device then controls alarm equipment alarm and stops operation to warn and to control loading and unloading robot.
Further, electronic guardrail and/or electronic lock use light curtain or infrared sensor, by light curtain or infrared sensing
The detection signal of device controls alarm and loading and unloading robot, to prevent operator from entering the operating space of loading and unloading robot.
This utility model has the advantages that
This utility model is for many group process equipment co-operating intelligent robot processing lines, upper and lower by arranging separate unit
Material robot, loading and unloading robot is installed on robot line slideway and can carry out rectilinear translation along robot line slideway,
Use a loading and unloading machine artificial multiple stage lathe and process equipment service, labor management cost can be efficiently reduced, effectively
Promote processing production of parts and the utilization rate of equipment, alleviate business administration cost；Guided by robot line slideway
The rectilinear translation of blanking robot and the rotation of loading and unloading robot itself, thus the work expanding loading and unloading robot covers model
Enclose；Blank truck, finished product truck, many group lathes and many group auxiliary device are respectively arranged on robot line slideway both sides, and locate
In the work coverage of the loading and unloading robot after expanding, use a loading and unloading robot that whole workpiece just can be made raw
Each manufacturing procedure produced on line cooperates with each other processing, thus completes the production from workpiece blank to finished workpart, processing
Process prosthetic participates in, and greatly improves workpiece automatization, the intelligent level of production, can also greatly reduce production simultaneously
Security incident, extenuates the problem that existing enterprise's recruitment is waste significantly.Whole intelligent robot processing line is by a loading and unloading robot
Service all of lathe and auxiliary device, revolutionize traditional machine tool processing technique, improve product quality；Loading and unloading machine
People's complete independently workpiece is by all processing technique of blank to finished product, it is achieved full-automatic processing, omnidistance without artificial participation, keeps away
Exempt from production safety problem；Take up room little, low cost, automaticity of whole processing line be high, it is adaptable to multistation, multiple operation
Work-piece processing system.
In addition to objects, features and advantages described above, this utility model also has other purpose, feature and excellent
Point.Below with reference to figure, this utility model is described in further detail.
Accompanying drawing explanation
The accompanying drawing of the part constituting the application is used for providing being further appreciated by of the present utility model, of the present utility model
Schematic description and description is used for explaining this utility model, is not intended that improper restriction of the present utility model.At accompanying drawing
In:
Fig. 1 be this utility model preferred embodiment for many group process equipment co-operating intelligent robot processing lines
Structural representation；
Fig. 2 is the structural representation of the loading and unloading fixture of this utility model preferred embodiment；
Fig. 3 is the structural representation of the second auxiliary device of this utility model preferred embodiment.
Marginal data:
1, blank truck；2, finished product truck；3, loading and unloading robot；301, loading and unloading fixture；3011, visual system；
3012, blowning installation；3013, paw；3014, cylinder is driven；4, robot line slideway；5, the first lathe；6, the second lathe；
7, the 3rd lathe；8, the 4th lathe；9, the 5th lathe；10, the first auxiliary device；11, the second auxiliary device；1101, U-lag；
12, the 3rd auxiliary device；13, the 4th auxiliary device；14, the 5th auxiliary device；15, the 6th auxiliary device；16, protective fence；
17, device is controlled.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail, but this utility model can be by following
The multitude of different ways limiting and covering is implemented.
Fig. 1 be this utility model preferred embodiment for many group process equipment co-operating intelligent robot processing lines
Structural representation；Fig. 2 is the structural representation of the loading and unloading fixture of this utility model preferred embodiment；Fig. 3 is that this practicality is new
The structural representation of the second auxiliary device of type preferred embodiment.
As it is shown in figure 1, the present embodiment for many group process equipment co-operating intelligent robot processing lines, including many
Group for having combined the lathe of all manufacturing procedures of workpiece, many groups for assisting the auxiliary device of machine tooling, for placing
The blank truck 1 of workpiece blank and the finished product truck 2 of the finished workpart after placing processing；Intelligent robot processing line is also
Including the loading and unloading robot 3 for automatic charging and blanking and for ordering about the machine that loading and unloading robot 3 linearly moves
Device people's line slideway 4；Loading and unloading robot 3 is arranged on robot line slideway 4 by mounting seat；Lathe is distributed in robot
Line slideway 4 both sides, lathe, auxiliary device, blank truck 1 and finished product truck 2 are in the radius of clean-up of loading and unloading robot 3
In.This utility model is for many group process equipment co-operating intelligent robot processing lines, by arranging separate unit charging & discharging machine
Device people 3, loading and unloading robot 3 is installed on robot line slideway 4 and can carry out rectilinear translation along robot line slideway 4,
Use a loading and unloading machine artificial multiple stage lathe and process equipment service, labor management cost can be efficiently reduced, effectively
Promote processing production of parts and the utilization rate of equipment, alleviate business administration cost；Guided by robot line slideway 4
The rotation of the rectilinear translation of blanking robot 3 and loading and unloading robot 3 itself, thus the work expanding loading and unloading robot 3 is covered
Lid scope；Blank truck 1, finished product truck 2, many group lathes and many group auxiliary device are respectively arranged on robot line slideway 4 liang
Side, and be in the work coverage of the loading and unloading robot 3 after expansion, use a loading and unloading robot 3 just can make
Each manufacturing procedure in whole workpiece production line cooperates with each other processing, thus completes from workpiece blank to finished workpart
Producing, course of processing prosthetic participates in, and greatly improves workpiece automatization, the intelligent level of production, simultaneously can also be very big
Ground reduces work safety accident, significantly extenuates the problem that existing enterprise's recruitment is waste.Whole intelligent robot processing line is by a platform
Blanking robot 3 services all of lathe and auxiliary device, revolutionizes traditional machine tool processing technique, improves product matter
Amount；Loading and unloading robot 3 complete independently workpiece is by all processing technique of blank to finished product, it is achieved full-automatic processing, omnidistance
Participate in without artificial, it is to avoid production safety problem；Take up room little, low cost, automaticity of whole processing line is high, it is adaptable to
Multistation, the Work-piece processing system of multiple operation.Fig. 1 showing, separate unit loading and unloading robot 3 is respectively at robot straight line and leads
The first feeding position on rail 4 and the job area of the 3rd feeding position.
As it is shown in figure 1, in the present embodiment, lathe is set at least five groups.It is distributed in the machine of robot line slideway 4 both sides
Bed misses one another and is distributed or is distributed toward each other or is distributed toward each other.The order of placement of machining tool is according to the processing work of workpiece
Skill order is arranged and is uniformly distributed according to lathe sizes and types, so that the feeding position of lathe is in loading and unloading
In the same radius of turn of robot 3, thus reduce the regulation to loading and unloading robot 3 and control, improve work efficiency.Loading and unloading
Robot 3 is in the center of intelligent robot processing line.
As depicted in figs. 1 and 2, in the present embodiment, loading and unloading robot 3 includes six-joint robot and loading and unloading fixture 301.
Loading and unloading fixture 301 is arranged on the 6th axle of six-joint robot.Convenient accurate to loading and unloading fixture 301 Multi-orientation multi-angle
Control.
As depicted in figs. 1 and 2, in the present embodiment, loading and unloading fixture 301 uses 180 ° of Horizontal clamps.Can capture simultaneously
Multiple workpiece, improve the efficiency of workpiece transfer processing.Loading and unloading fixture 301 includes for shooting or sensing regarding of the location of workpiece
Vision system 3011, the blowning installation 3012 of chip removal of blowing in workpiece process, for grabbing workpiece or release workpiece
Paw 3013 and for driving the driving cylinder 3014 that paw 3013 runs.Use vision localization, it is not necessary to design specialized fixture,
Save high Special Clamps Design expense, reduce cost.Alternatively, loading and unloading fixture 301 uses double-clamp structure, to promote
Working (machining) efficiency.
As depicted in figs. 1 and 2, in the present embodiment, visual system 3011 includes illuminator, camera lens, filming apparatus or figure
As processing means.Replace human eye to carry out non-cpntact measurement and judgement, improve the flexibility and automaticity produced, substitute artificial ginseng
With, it is to avoid personnel on site operates the infringement causing human body, it is possible to be operated for a long time.Filming apparatus uses video camera or photograph
Camera.Paw 3013 is removable parts of remodeling.Different paws 3013 can be selected with model according to the shape of workpiece, with
It is adapted to different work pieces process needs.Use vision localization, it is not necessary to design specialized fixture, save high Special Clamps Design
Expense, reduces cost.Robot complete independently workpiece is by all processing technique of blank to finished product, it is achieved full-automatic processing,
Omnidistance without artificial participation, it is to avoid production safety problem.By machine vision technique, sensing technology, servo control technique, industrial machine
The automatic technologies such as device people's control technology incorporate traditional machine tool processing technique, and General Promotion machines automatization, intelligent level,
Greatly Improving The Quality of Products, reduces product rejection rate.
As it is shown in figure 1, in the present embodiment, lathe includes first lathe the 5, second lathe the 6, the 3rd lathe the 7, the 4th lathe
8 and the 5th lathe 9.First lathe the 5, second lathe the 6, the 3rd lathe the 7, the 4th lathe 8 and the 5th lathe 9 is sequentially arranged and respectively
Complete respective manufacturing procedure, to complete the whole manufacturing procedure of workpiece.Auxiliary device includes the first auxiliary device 10, second
Auxiliary device the 11, the 3rd auxiliary device the 12, the 4th auxiliary device the 13, the 5th auxiliary device 14 and the 6th auxiliary device 15.Multiple
Lathe and multiple auxiliary device form the complete production line being made up of multiple work pieces process stations and manufacturing procedure.Alternatively,
Can need, according to workpiece, the auxiliary device that selects the lathe of varying number and match with lathe, complete to add meeting workpiece
The needs of work technological process.
As depicted in figs. 1 and 2, in the present embodiment, the first auxiliary device 10 is integrated with servomotor and rotation platform.Up and down
Visual system 3011 on material clamp 301 cooperates with the servomotor on the first auxiliary device 10, to complete the pendulum of workpiece
Put or identification that workpiece laterally identifies.Improve workpiece to confirm and the accuracy of location, improve the precision of work pieces process.
As shown in figures 1 and 3, in the present embodiment, the second auxiliary device 11 uses shaped steel to be welded.Second auxiliary device
The workbench of 11 is provided with multiple U-lag 1101 varied in size.Different size of U-lag 1101 is different corresponding to different size
The workpiece of model.Loading and unloading robot 3 passes through the U-lag 1101 interim anchor point as workpiece to realize loading and unloading robot 3
Turn-over operation to workpiece.Alternatively, the workbench of the second auxiliary device 11 has one corresponding to each U-lag 1101
For detecting the detection device whether workpiece is in place.
As it is shown in figure 1, in the present embodiment, the 3rd auxiliary device 12 is in the downstream of the 3rd lathe 7, for the 3rd lathe
The half-finished product process of 7 outputs carries out secondary process.Secondary process can be that workpiece sharp edge falls blunt or workpiece sharp edge chamfering.4th machine
Bed 8 is in the downstream of the 3rd auxiliary device 12.6th auxiliary device 15 is in the downstream of the 5th lathe 9, for the 5th lathe 9
The half-finished product process of output carries out secondary process and forms finished workpart.Secondary process can be that workpiece sharp edge falls blunt or workpiece sharp edge
Chamfering.4th auxiliary device 13 is attached to the second lathe 6, and waits after the first auxiliary device 10 is ajusted for temporary storage
Capture the workpiece being processed to the 3rd lathe 7.5th auxiliary device 14 is the inspection parking and carrying out workpiece sensing for workpiece
Survey device.Detection device comprises for parking workpiece the work platforms detecting workpiece and for guiding work platforms
The slide rail slided, cylinder is connected with work platforms and drives work platforms to slide on slide rail, and at least one end of slide rail is provided with
Buffer unit for work platforms buffering location.First lathe the 5, second lathe the 6, the 3rd lathe the 7, the 4th lathe 8 and the 5th
Lathe 9 be laterally equipped with the 5th auxiliary device 14, in order to the quality inspection to every one procedure.First lathe the 5, second lathe
6, the 3rd lathe the 7, the 4th lathe 8 and the 5th lathe 9 be laterally equipped with the 5th auxiliary device 14, in order to every one procedure
Quality inspection.
In the present embodiment, intelligent robot processing line also includes controlling device 17, is used for controlling loading and unloading robot 3, machine
Device people's line slideway the 4, first auxiliary device the 10, the 3rd auxiliary device 12 and the 6th auxiliary device 15, and general, the second auxiliary device
11 detection signal, the 4th auxiliary device 13 detection signal, the detection signal of the 5th auxiliary device 14, machine tooling signal,
The hydraulically operated fixture detection signal of lathe is linked together by cable, thus realizes loading and unloading robot 3 and organize process equipment more
Coordinate to control and jointly complete intelligence production management.Control device 17 and comprise PLC control system and touch screen.Intelligent robot
Processing line also includes for preventing operator from entering the protective fence 16 of operating area, to prevent the personnel in the course of processing from pacifying
Full accident.Protective fence 16 comprises and is in the electronic guardrail of loading and unloading robot 3 operation area, electronic lock and alarm device.Electricity
Sub-guardrail and electronic lock are used for monitoring safe fence door interlock switch state and Monitoring Data feeding back to control device 17.If peace
Air cock is opened, and control device 17 then controls alarm equipment alarm and stops operation to warn and to control loading and unloading robot 3.Electronics protects
Hurdle and/or electronic lock use light curtain or infrared sensor, control alarm by the detection signal of light curtain or infrared sensor
With loading and unloading robot 3, to prevent operator from entering the operating space of loading and unloading robot 3.
During enforcement, it is provided that a kind of with the process equipment co-operating intelligent robot processing line such as lathe, this processing line
Comprise the first lathe the 5, second lathe the 6, the 3rd lathe the 7, the 4th lathe 8 and the 5th lathe 9, and each lathe is equipped with corresponding hydraulic pressure
Fixture, blank truck 1, finished product truck the 2, first auxiliary device the 10, second auxiliary device the 11, the 3rd auxiliary device the 12, the 4th are auxiliary
Help device the 13, the 5th auxiliary device 14 and the 6th auxiliary device 15 and protective fence 16.First lathe the 5, second lathe the 6, the 3rd
Lathe the 7, the 4th lathe 8 and the distribution of the 5th lathe 9 symmetric arrays, robot line slideway 4 is positioned at lathe arrangement axis of symmetry center,
Loading and unloading robot 3 is arranged in the mounting seat of robot line slideway 4, and it is organic that loading and unloading robot 3 radius of clean-up covers institute
Bed and auxiliary device.Blank truck 1 is arranged side by side, and is placed on robot line slideway 4 front end；Finished product truck 2 is arranged side by side,
And it being placed on the side of the 3rd lathe 7, loading and unloading robot 3, by moving on robot line slideway 4, completes the first lathe
5, the workpiece loading and unloading of the second lathe the 6, the 3rd lathe the 7, the 4th lathe 8 to the 5th lathe 9, workpiece automatic alignment, workpiece are installed
The technique such as blunt is fallen in the sharp change of Hole chamfering technique, workpiece, is finally completed the technological process that workpiece is processed from blank to finished product automatically.With existing
Having technology to compare, workpiece participates in without operator in the course of processing, i.e. manufacturing procedure is independently operated by robot completely, because of
This, save manpower and management cost, alleviate labor intensity of operating staff, improve product automation level of processing, improving product matter
Amount and production efficiency.Thus realize multistation multiple operation lathe and automatically process, improving production efficiency, reduces production cost.
For the Work piece processing methods organizing process equipment co-operating intelligent robot processing lines more, use above-mentioned for
Many group process equipment co-operating intelligent robot processing lines, comprise the following steps: arrange by matrix form on blank truck 1
Put workpiece blank, and make blank truck 1 be in feeding position；Loading and unloading robot 3 is in the first feeding position, passes through visual system
3011 obtain the placement location of workpiece blank on blank trucks 1, and take a workpiece from blank truck 1 and be placed on the first lathe
On 5, complete first working procedure processing by the first lathe 5；Treating that the first lathe 5 machines, loading and unloading robot 3 is by workpiece half
Finished product takes out and is placed on above the U-lag 1101 of the second auxiliary device 11, and then below U-lag 1101, grabbing workpiece half becomes
Product are also placed on the second auxiliary device 11, complete the upset of workpiece semi-finished product；Loading and unloading robot 3 is from the second auxiliary device 11
Upper grabbing workpiece semi-finished product are placed on the second lathe 6, complete second operation work processing；Loading and unloading robot 3 is from the second lathe 6
Workpiece semi-finished product after upper crawl second manufacturing procedure are placed on the first auxiliary device 10, by loading and unloading robot 3
Visual system 3011 on loading and unloading fixture 301 and the servomotor coordinating operation on the first auxiliary device 10, complete workpiece half
The identification ajusted or workpiece semi-finished product side is identified of finished product；Workpiece after loading and unloading robot 3 will ajust is placed on second
On the placement position of the 4th auxiliary device 13 belonging to lathe 6；Loading and unloading robot 3 captures the workpiece on the 4th auxiliary device 13 half
Moved to the second feeding position by robot line slideway 4 after finished product, and workpiece semi-finished product are placed on the 3rd lathe 7 and carry out the
The processing of three process, and export the 3rd road manufacturing procedure workpiece semi-finished product；Loading and unloading robot 3 captures from the 3rd lathe 7
Workpiece semi-finished product are placed on the 3rd auxiliary device 12 carrying out the 4th road manufacturing procedure processing；Loading and unloading robot 3 is auxiliary from the 4th
Help grabbing workpiece semi-finished product on device 13 to be placed on the 4th lathe 8 and carry out the 5th road manufacturing procedure processing；Loading and unloading robot 3
From the 4th lathe 8 grabbing workpiece semi-finished product and move to the 3rd feeding position, workpiece semi-finished product are taken out and is placed on the 5th lathe 9
Carry out the 6th procedure processing on hydraulically operated fixture, and export the 6th road manufacturing procedure workpiece semi-finished product；Loading and unloading robot 3 is from
Take out the 6th road manufacturing procedure workpiece semi-finished product on five lathes 9, be placed in the 6th auxiliary device 15, carry out sharp change and fall blunt operation shape
Become finished workpart；Loading and unloading robot 3 falls blunt finished workpart be placed on completing sharp change on finished product truck 2, thus completes work
The part course of processing from blank to finished product.
With with the process equipment co-operating intelligent robot processing lines such as lathe, including at least five lathes and many groups
Auxiliary device.Also include blank truck 1, loading and unloading robot 3, robot line slideway 4, finished product truck 2, protective fence 16 and
Control device 17.Robot line slideway 4 is placed on the first to the 5th lathe symmetrical centre axle, and loading and unloading robot 3 is installed
In the mounting seat of robot line slideway 4.Robot line slideway 4 is used for installing blanking robot 3, and makes loading and unloading
Robot 3 can complete the translation operation from feeding position to blanking position.Make loading and unloading robot 3 can complete from feeding position to
The translation operation of blanking position.
First lathe 5, processes for workpiece to be processed W carries out first time, and exports first operation semi-finished product.Second
Lathe 6, processes for workpiece to be processed W first operation semi-finished product carry out second time, and exports second operation work semi-finished product.
3rd lathe 7, processes for workpiece to be processed W second operation work semi-finished product carry out third time, and exports three process half
Finished product.3rd auxiliary device 12, for workpiece to be processed W three process semi-finished product carry out the 4th processing, and exports the
Four procedure semi-finished product.4th lathe 8 for carrying out the 5th processing and defeated by workpiece to be processed W the 4th procedure semi-finished product
Go out five processes semi-finished product.5th lathe 9, for workpiece to be processed W five processes semi-finished product being carried out the 6th processing,
And export the 6th procedure semi-finished product.6th auxiliary device 15, for carrying out the by workpiece to be processed W the 6th procedure semi-finished product
Seven processing, and export finished product.Loading and unloading robot 3 is for carrying out loading and unloading for lathe, and loading and unloading robot 3 is from blank material
Take workpiece to be processed blank on car 1, by moving on robot line slideway 4, thus complete workpiece to be processed W from the 1st～7
Procedure process, finally in blanking position, workpiece W finished product is placed on finished product truck 2, it is achieved workpiece from blank to finished product from
The dynamicization course of processing.Compared with existing machine tooling technology, this utility model is for many group co-operating machines of process equipment
People's Intelligent Machining line, artificial only need to be placed in good order for the blank of workpiece W on blank truck 1, and is put by blank truck 1
Putting in feeding position, start operation button, loading and unloading robot 3 can be automatically obtained all process steps processing of workpiece W；So, joint
Save manpower, reduced labor intensity, improved plant factor and production efficiency, it also avoid due to manual operation
Cause the quality problems that workpiece scratches or error causes, considerably reduce product rejection rate, entering it addition, avoid manually sucking
The dust produced during row work pieces process.The independent whole operations operating work pieces process of loading and unloading robot 3, are greatly enhanced product
Concordance, improves the working environment of workers, saves management cost for enterprise.
Intelligent robot processing line comprises the first feeding position, the second feeding position, the 3rd feeding position, first detecting position etc. four
Robot working position, wherein, loading and unloading robot 3 radius of clean-up of the first feeding position cover blank truck the 1, first lathe 5, the
The 5th auxiliary device the 14, second lathe 6 belonging to two auxiliary device 11 and the first lathe 5.Wherein loading and unloading robot 3 is first
～the 3rd feeding position complete all process steps of work pieces process, and first～the 3rd working position and the first detecting position complete manually
Sampling observation operation.Machining tool is five, and symmetrical along robot line slideway 4 together with each auxiliary device, charging & discharging machine
Device people 3 is positioned at the center of processing line.
Loading and unloading robot 3 is made up of six-joint robot, loading and unloading fixture 301, and loading and unloading fixture 301 is arranged on six axle machines
On 6th axle of device people.Loading and unloading fixture 301 is 180 ° of Horizontal clamps, it is possible to clamping two pieces workpiece W simultaneously, and configuration vision system
System 3011, blowning installation 3012, driving cylinder 3014, chuck body, paw 3013.Paw 3013 is parts of remodeling, according to work
The difference of part W and change different paw, in order to make production line adapt to the batch production of different workpieces.
Robot line slideway 4 is spliced by the first guide rail and the second guide rail, and the mounting seat of robot is arranged on machine
On people's line slideway 4, and robot line slideway 4 overall employing chemical bolt fastens on the ground, it is ensured that loading and unloading robot 3
From feeding position to the stable movement of blanking position.End at the first guide rail and the second guide rail is provided with stopping means and transports robot
Move and carry out mechanical position limitation.
Multiple workpiece W blanks are placed on described blank truck 1 by manual mode of operation in good orderly, it may be assumed that hair
Blank car upper strata prefabricated workpiece putting hole, for the location of workpiece blank W.Manually workpiece to be processed W blank is pressed 3X4 or 2X2
Be placed on blank truck, workpiece place five layers, finally by operator, blank truck 1 is placed on described first
Feeding position, to facilitate robot to capture.Alternatively, blank truck 1 is according to the differently configured limited post of different workpieces W and different works
Part places arrangement, i.e. square cross W presses 3X4 arrangement and places, and round piece is pressed 2X2 arrangement and placed.Additionally blank truck 1 and finished product
Truck 2, position, left, center, right is provided with stopping means, the most only needs to place truck by defined position, and steps on and brake, nothing
Need other to operate.
First auxiliary device 10 is integrated by servomotor with rotation platform, by the visual system on loading and unloading fixture 301
3011 and the first servomotor coordinating operations on auxiliary device 10, complete workpiece W ajust or workpiece side LOG identifies.Can
Selection of land, the first auxiliary device 10 is provided with detection device, whether there is workpiece W in real time, have on detection the 3rd auxiliary device 12
Effect avoids the accident problem that robot repetitive operation causes workpiece W to collide.
Second auxiliary device 11 uses shaped steel to be welded, and its workbench is provided with four kinds of different size of U-lags 1101,
The corresponding different workpieces W of different U-lags 1101.Workpiece to be processed W is placed on the U of the second auxiliary device 11 by loading and unloading robot 3
Above shape groove 1101, then grabbing workpiece W transfers from U-lag 1101 in loading and unloading robot 3, completes the turn-over operation of workpiece W.Can
Selection of land, the second auxiliary device 11 is equipped with detection device and blowning installation, and its function is: one, detection device detection the second auxiliary dress
Put and whether there is workpiece, it is to avoid robot repetitive operation causes the accident problem that workpiece W collides；Two, detection device and air blowing
Device control units coordinates, and after workpiece W is taken away by loading and unloading robot 3, blowning installation is by residual on the second auxiliary device
Iron filings blow away, in order to avoid affecting workpiece W crudy.
5th auxiliary device 14 is detection device, comprises cylinder, slide rail, work platforms and buffering stop block.5th is auxiliary
Device 14 is helped to be individually positioned in first～the 5th lathe side, it is simple to be accomplished manually the quality inspection of every one manufacturing procedure.The
Being also provided with the control knob of different mode on five auxiliary device 14, when artificial needs detect, loading and unloading robot 3 is
Detecting position placement workpiece can be moved to supply manually to detect, the most not place workpiece, improve the productive temp of workpiece W.
Control device 17, be used for controlling loading and unloading robot 3, robot line slideway 4, the first auxiliary device the 10, the 3rd
Auxiliary device 12 and the 6th auxiliary device 15, and remaining auxiliary device is detected signal, machine tooling signal, hydraulically operated fixture detects
Signal is linked together by cable, thus realizes the equipment coordinations such as robot and lathe and control, and jointly completes intelligence and produces pipe
Reason.Control device 17 and comprise PLC control system and touch screen.Intelligent Machining line also comprises and prevents operator from entering operating area
Protective fence 16, with the personal security accident in the only course of processing.Alternatively, protective fence 16 also comprise be in robot make
The electronic guardrail in industry district, electronic lock and alarm device, electronic guardrail and electronic lock are used for monitoring safe fence door interlock switch
State, and Monitoring Data is fed back to control device 17, if safety door is opened, control device 17 and then control alarm equipment alarm to show
Warn, and control loading and unloading robot 3 stops operation, and effectively prevents security incident from producing, reduces business administration cost.
Alternatively, fence and electronic lock can also use light curtain or infrared sensor, detect signal by it, control
Alarm and robot.Prevent operator from entering robot manipulation district, improve the security reliability in workpiece process.
With the quantity of process equipment co-operating intelligent robot processing line machining tool, the numbers of permutations of truck such as lathes
Mentioning in the quantity literary composition incessantly of amount and auxiliary device, actual quantity can configure according to client's actual demand.
For the processing methods organizing process equipment co-operating intelligent robot processing lines more, including: manually will place
Five layers, and two blank trucks that workpiece is placed as 3X4 on request are placed on feeding position.At the beginning of workpiece W processing, loading and unloading
Robot 3 is in the first feeding position, and loading and unloading robot 3 obtains workpiece to be processed W blank on blank truck by visual system
Placement location, and from blank truck 1, take a workpiece be placed on the first lathe 5, the first operation completing workpiece W adds
Work；Treating that the first lathe 5 machines, the first lathe 5 is processed the workpiece semi-finished product W1 of first operation by loading and unloading robot 3
Taking out, loading and unloading robot 3 rotates to an angle, and workpiece W1 is placed on above the U-lag 1101 of the second auxiliary device 11, on
Grabbing workpiece W1 transfers from U-lag 1101 in blanking robot 3, and the workpiece semi-finished product of first operation place the second auxiliary device
On 11, rapid grabbing workpiece W1, then workpiece W1 will be put on the second lathe 6 by loading and unloading robot 3, complete workpiece W1 second
Procedure is processed, and exports the semi-finished product W2 of second manufacturing procedure workpiece W.Loading and unloading robot 3 captures from the second lathe 6
The semi-finished product W2 of second manufacturing procedure workpiece, rotates to an angle, and is placed on by workpiece W2 on the first auxiliary device 10, passes through
Visual system 3011 on the loading and unloading fixture 301 of loading and unloading robot 3 coordinates with the servomotor on the first auxiliary device 10
Operation, completes ajusting or being identified workpiece side LOG of workpiece W2；Afterwards, the workpiece after loading and unloading robot 3 will ajust
Place position for No. 1 that is placed on the 4th auxiliary device 13 belonging to the second lathe 6.Loading and unloading robot 3 completes in the first feeding position
After second workpiece to be processed W2 processing, loading and unloading robot 3 utilizes the three-jaw of the other end to capture the 4th belonging to the second lathe 6
The semi-finished product W2 of No. 1 second manufacturing procedure workpiece W placing position on auxiliary device 13, then loading and unloading robot 3 moves to
Second feeding position, is placed on the semi-finished product W2 of two pieces second manufacturing procedure workpiece W on the hydraulically operated fixture of the 3rd lathe 7 and carries out
Three process is processed, and exports the semi-finished product W3 of the 3rd road manufacturing procedure workpiece W.Loading and unloading robot 3 is by the 3rd road processing work
The semi-finished product W3 of sequence workpiece W takes out from the 3rd lathe 7, and loading and unloading robot 3 rotates to an angle, and at the 3rd auxiliary device 12
On complete described 4th procedure processing, and export the semi-finished product W4 of 2 the 4th road manufacturing procedure workpiece W.Loading and unloading machine
People 3 rotates to an angle, and the semi-finished product W4 of two pieces the 4th road manufacturing procedure workpiece W is placed on the hydraulically operated fixture of the 4th lathe 8
On carry out the processing of described five processes, and export the semi-finished product W5 of 2 the 5th road manufacturing procedure workpiece W.Loading and unloading machine
The semi-finished product W5 of two pieces the 5th road manufacturing procedure workpiece W is taken out by people 3 from the 4th lathe 8, rotates to an angle, and moves to the
Three feeding positions, by enterprising for the hydraulically operated fixture that the semi-finished product W5 taking-up of 2 the 5th road manufacturing procedure workpiece W is placed on the 5th lathe 9
The 6th procedure processing described in row, and export the semi-finished product W6 of 2 the 6th road manufacturing procedure workpiece W.Loading and unloading robot 3 from
Taking out the semi-finished product W6 of 2 the 6th road manufacturing procedure workpiece W on 5th lathe 9, then loading and unloading robot 3 rotates certain angle
Degree, falls blunt operation at the 6th auxiliary device carrying out sharp change, and last loading and unloading robot 3 falls blunt two pieces workpiece by completing sharp change
W7 is placed on finished product truck 2, thus completes the workpiece course of processing from blank to finished product.
The process equipment co-operating intelligent robot processing lines such as employing and lathe, can use a loading and unloading machine
Artificial multiple stage lathe and process equipment service, can efficiently reduce labor management cost, effectively promotes processing work piece production effect
Rate and the utilization rate of equipment, alleviate business administration cost.Use and add with the co-operating intelligent robot of process equipment such as lathe
Work line, workpiece all process steps Jun You robot complete independently from blank to finished product, prosthetic participates in, greatly improves workpiece
Automatization, the intelligent level of production, can also greatly reduce work safety accident simultaneously, significantly extenuate existing enterprise's recruitment waste
Problem.Production line uses vision to be accurately positioned, and is effectively improved clamping workpiece precision, thus improves the overall processing of product
Efficiency and crudy.Production line uses high end control system to control, and carries out product when remodeling, only need to produce in control system
Product program change and replacing process equipment fixture, it becomes possible to realize product overall processing flow process and change, and without being proficient in machine simultaneously
Bed operation and the operator of robot manipulation, processing line is simple to operate, convenient.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for this
For the technical staff in field, this utility model can have various modifications and variations.All in spirit of the present utility model and principle
Within, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (10)
1. for many group process equipment co-operating intelligent robot processing lines,
Including many groups for having combined the lathe of all manufacturing procedures of workpiece, many groups for having assisted the auxiliary of described machine tooling
Device, for placing the blank truck (1) of workpiece blank and for placing the finished product truck (2) of the finished workpart after processing；
It is characterized in that,
Described intelligent robot processing line also includes for the loading and unloading robot (3) of automatic charging and blanking and is used for ordering about
The robot line slideway (4) that described loading and unloading robot (3) is linearly moved；
Described loading and unloading robot (3) is arranged in described robot line slideway (4) by mounting seat；
Described lathe is distributed in described robot line slideway (4) both sides,
Described lathe, described auxiliary device, described blank truck (1) and described finished product truck (2) are in described charging & discharging machine
In the radius of clean-up of device people (3).
The most according to claim 1 for many group process equipment co-operating intelligent robot processing lines, its feature exists
In,
Described lathe is set at least five groups,
It is distributed in the lathe of described robot line slideway (4) both sides to miss one another distribution or be distributed toward each other；
Described loading and unloading robot (3) is on the centrage of intelligent robot processing line.
The most according to claim 2 for many group process equipment co-operating intelligent robot processing lines, its feature exists
In,
Described loading and unloading robot (3) includes six-joint robot and loading and unloading fixture (301),
Described loading and unloading fixture (301) is arranged on the 6th axle of described six-joint robot.
The most according to claim 3 for many group process equipment co-operating intelligent robot processing lines, its feature exists
In,
Described loading and unloading fixture (301) uses 180 ° of Horizontal clamps,
Described loading and unloading fixture (301) includes the visual system (3011) for shooting or sense the location of workpiece, for workpiece
The course of processing is blown chip removal blowning installation (3012), for grabbing workpiece or the release paw (3013) of workpiece and be used for
Drive the driving cylinder (3014) that described paw (3013) runs.
The most according to claim 4 for many group process equipment co-operating intelligent robot processing lines, its feature exists
In,
Described visual system (3011) includes illuminator, camera lens, filming apparatus or image processing apparatus；
Described filming apparatus uses video camera or photographing unit；
Described paw (3013) is removable parts of remodeling.
The most according to claim 5 for many group process equipment co-operating intelligent robot processing lines, its feature exists
In,
Described lathe includes the first lathe (5), the second lathe (6), the 3rd lathe (7), the 4th lathe (8) and the 5th lathe
(9)；
Described first lathe (5), described second lathe (6), described 3rd lathe (7), described 4th lathe (8) and the described 5th
Lathe (9) is sequentially arranged；
Auxiliary device includes the first auxiliary device (10), the second auxiliary device (11), the 3rd auxiliary device (12), the 4th auxiliary
Device (13), the 5th auxiliary device (14) and the 6th auxiliary device (15).
The most according to claim 6 for many group process equipment co-operating intelligent robot processing lines, its feature exists
In,
Described first auxiliary device (10) is integrated with servomotor and rotation platform,
Visual system (3011) on described loading and unloading fixture (301) and the servomotor phase on described first auxiliary device (10)
Coordinate mutually.
The most according to claim 6 for many group process equipment co-operating intelligent robot processing lines, its feature exists
In,
Described second auxiliary device (11) uses shaped steel to be welded,
The workbench of described second auxiliary device (11) is provided with multiple U-lag (1101) varied in size,
Different size of described U-lag (1101) is corresponding to the workpiece of different size different model；
Described loading and unloading robot (3) by described U-lag (1101) as the interim anchor point of workpiece.
The most according to claim 6 for many group process equipment co-operating intelligent robot processing lines, its feature exists
In,
Described 3rd auxiliary device (12) is in the downstream of described 3rd lathe (7), and described 4th lathe (8) is in the 3rd auxiliary
The downstream of device (12)；
Described 6th auxiliary device (15) is in the downstream of described 5th lathe (9)；
Described 4th auxiliary device (13) is attached to described second lathe (6)；
Described 5th auxiliary device (14) is the detection device parking and carrying out workpiece sensing for workpiece, described detection device bag
Containing for parking workpiece the work platforms that workpiece is detected and for the slide rail guiding work platforms to slide, cylinder and
Work platforms connects and drives work platforms to slide on slide rail, and it is fixed that at least one end of slide rail is provided with for work platforms buffering
The buffer unit of position；
Described first lathe (5), described second lathe (6), described 3rd lathe (7), described 4th lathe (8) and the described 5th
Lathe (9) be laterally equipped with described 5th auxiliary device (14).
10. according to processing for many group co-operating intelligent robots of process equipment according to any one of claim 6 to 9
Line, it is characterised in that
Described intelligent robot processing line also includes controlling device (17), is used for controlling loading and unloading robot (3), robot straight line
Guide rail (4), the first auxiliary device (10), the 3rd auxiliary device (12) and the 6th auxiliary device (15), and general, the second auxiliary device
(11) detection signal, the detection signal of the 4th auxiliary device (13), the detection signal of the 5th auxiliary device (14), machine tooling
Signal, the hydraulically operated fixture detection signal of lathe are linked together by cable；
Described control device (17) comprises PLC control system and touch screen；
Described intelligent robot processing line also includes the protective fence (16) for preventing operator from entering operating area；Described
Protective fence (16) comprises electronic guardrail, electronic lock and the alarm device being in loading and unloading robot (3) operation area；
Described electronic guardrail and/or described electronic lock use light curtain or infrared sensor.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922082A (en) * | 2016-06-30 | 2016-09-07 | 长沙长泰机器人有限公司 | Intelligent robot machining line and intelligent robot machining method |
| CN106774208A (en) * | 2016-12-23 | 2017-05-31 | 西安交通大学 | Group's visual machine collaborative assembly method and model system |
| CN107081772A (en) * | 2017-06-19 | 2017-08-22 | 苏州紫金港智能制造装备有限公司 | A kind of robot flexibility Surface Milling producing unit |
| CN107253079A (en) * | 2017-06-19 | 2017-10-17 | 江西洪都航空工业集团有限责任公司 | A kind of arm-and-hand system for many lathe automatic loading/unloadings |
| CN112621390A (en) * | 2020-12-28 | 2021-04-09 | 常熟希那基汽车零件有限公司 | Multi-process automatic production control method and multi-process automatic production line |
| CN114229418A (en) * | 2021-12-01 | 2022-03-25 | 珠海格力智能装备技术研究院有限公司 | Work piece transfer device and production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922082A (en) * | 2016-06-30 | 2016-09-07 | 长沙长泰机器人有限公司 | Intelligent robot machining line and intelligent robot machining method |
| CN105922082B (en) * | 2016-06-30 | 2018-01-23 | 长沙长泰机器人有限公司 | Intelligent robot processing line and intelligent robot processing method |
| CN106774208A (en) * | 2016-12-23 | 2017-05-31 | 西安交通大学 | Group's visual machine collaborative assembly method and model system |
| CN106774208B (en) * | 2016-12-23 | 2017-12-26 | 西安交通大学 | Group's visual machine collaborative assembly method and model system |
| CN107081772A (en) * | 2017-06-19 | 2017-08-22 | 苏州紫金港智能制造装备有限公司 | A kind of robot flexibility Surface Milling producing unit |
| CN107253079A (en) * | 2017-06-19 | 2017-10-17 | 江西洪都航空工业集团有限责任公司 | A kind of arm-and-hand system for many lathe automatic loading/unloadings |
| CN107081772B (en) * | 2017-06-19 | 2023-05-16 | 苏州紫金港智能制造装备有限公司 | Flexible curved surface milling production device of robot |
| CN112621390A (en) * | 2020-12-28 | 2021-04-09 | 常熟希那基汽车零件有限公司 | Multi-process automatic production control method and multi-process automatic production line |
| CN112621390B (en) * | 2020-12-28 | 2024-03-01 | 常熟希那基汽车零件有限公司 | Multi-station automatic production control method and multi-station automatic production line |
| CN114229418A (en) * | 2021-12-01 | 2022-03-25 | 珠海格力智能装备技术研究院有限公司 | Work piece transfer device and production line |
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