CN207696174U - One drag four manipulators with high-gloss CNC automatic loading and unloading system - Google Patents

Abstract

The utility model discloses a one-to-four manipulator system for cooperating with a high-light CNC automatic loading and unloading system, including a one-to-four manipulator, a high-light CNC processing automatic feeding mechanism, a manipulator control box, and a first high-light CNC machine, a second high-light CNC machine, a third high-light CNC machine, and a fourth high-light CNC machine. The first, second, third, and fourth high-light CNC machines are connected to the one-to-four manipulator, and the second high-light CNC machine and the third high-light CNC machine are provided with a high-light CNC processing automatic feeding mechanism, and a manipulator control box is provided in the high-light CNC processing automatic feeding mechanism. The utility model one-to-four manipulator can cooperate with four high-light CNCs for loading and unloading, reducing costs, improving production efficiency, low maintenance costs, small space occupation, significantly improving efficiency, and saving transit space and various resource costs brought by transit.

Description

One drag four manipulators with high-gloss CNC automatic loading and unloading system

technical field

The utility model relates to the technical field of machinery, in particular to a high-gloss CNC automatic loading and unloading system with one dragging four manipulators.

Background technique

The existing high-gloss industry uses manual operations to pick and place high-gloss CNC machines. Manual loading and unloading has the following defects: Manual loading and unloading is affected by the proficiency and technical level of the operators. Differences, even working attitudes and many other factors will cause uneven quality of processed products, high defect rate, large waste of raw materials, long processing time, etc., that is, high rate of "three injuries"; manual loading and unloading may cause work-related injuries. The probability increases, especially in such a long-term operation situation; with the employment situation of higher and higher labor costs, labor difficulties have become a problem for the further development of many enterprises, which virtually leads to an increase in manufacturing costs; the particularity of the 3C industry: The impact of low and peak seasons on enterprises is particularly obvious. It is difficult to achieve a good match between the number of workers and the uniformity of production orders, which leads to difficult control of the production rhythm. Another way is to use the articulated robot to cooperate with the high-gloss CNC operation mode, but this cost is too high for ordinary small and medium-sized enterprises to afford, and the technical threshold is too high, and the requirements for the comprehensive quality of users are relatively high. , so there is no way to promote it in high-gloss CNC companies. The above situations show that the current situation of high-gloss CNC processing has greatly hindered the further development of production, and the use of one-to-four manipulators with high-gloss CNC processing and loading and unloading to replace the existing manual operation mode is not only harmful to human resources. The great liberation of manipulators allows manipulators to replace manpower to complete simple and inefficient models, and human resources are used where the value of people as the main body can be best utilized. One-to-four manipulators cooperate with high-gloss CNC processing and loading and unloading. At present, there is no technical precedent for this cooperation in the market. In addition to the manual operation mode, there is also a joint robot cooperation method on the market, but the robot cooperation method, There will be many disadvantages as follows: high cost and low efficiency. According to the placement of the existing high-gloss machine, one robot can only cooperate with one high-gloss CNC for loading and unloading. If the placement of the high-gloss CNC machine is changed, it will Chaoyuan has a neat vertical and horizontal planning of the machine, and the workshop looks messy; it takes up a lot of space, and each high-gloss machine needs a specific space to place the robot, and the robot needs a large safe operating area. Fences, as the safe use of machines and the safety of personnel, etc., all limit the auxiliary development of the existing model for the high-gloss CNC industry, and cannot promote the industrial automation process of the high-gloss automation industry.

Utility model content

The purpose of this utility model is to provide a one-drag four manipulator with a high-gloss CNC automatic loading and unloading system for the above-mentioned deficiencies in the prior art. A one-drag four manipulator can cooperate with four high-gloss CNCs for loading and unloading, greatly reducing costs and improving production efficiency. The maintenance cost is low, and the floor space is small, which significantly improves the efficiency and advantages, and saves the transit space and various resource costs caused by the transit.

The technical scheme that the utility model adopts for achieving the above object is:

One-drag four manipulators cooperate with high-gloss CNC automatic loading and unloading system, including one-drag four-manipulator, high-gloss CNC processing automatic feeding mechanism, manipulator control box and the first high-gloss CNC machine, the second high-gloss CNC machine, the third high-gloss CNC machine and the fourth high-gloss CNC machine CNC machines, the first high-gloss CNC machine, the second high-gloss CNC machine, the third high-gloss CNC machine, and the fourth high-gloss CNC machine are connected with one dragging four manipulators, and the second high-gloss CNC machine and the third high-gloss CNC machine are equipped with high-gloss CNC processing automatic feeding mechanism, high-gloss CNC processing automatic feeding mechanism is equipped with a manipulator control box.

Preferably, the one-to-four manipulator includes three manipulator mounting bases, a horizontal Z-axis part, a drawing X-axis part, an upper and lower Y-axis part of the arm, and a manipulator control box, and the horizontal Z-axis part is arranged on the manipulator installation Above the base, the drawing X-axis part is set above the drawing X-axis part, the lower part of the upper and lower Y-axis parts of the arm is fixed on the manipulator installation base, and the upper and lower Y-axis parts of the arm are connected to the Describe the horizontal Z-axis part and the drawing X-axis part.

Preferably, the high-gloss CNC machining automatic feeding mechanism includes a tooling installation frame, a tooling adjustment profile, a blister box, and a fine positioning fixture. The tooling adjustment profile is arranged on the tooling installation frame, and the side of the tooling adjustment profile There is a profile end cover at the top, the blister box is set on the tooling adjustment profile, the side of the blister box is provided with a blister box to adjust the left rib and a blister box to adjust the right rib, the precision The positioning fixture is connected with the tooling adjustment profile through the slide rail.

Preferably, the fine positioning fixture includes a rotary cylinder mounting base plate, a rotary cylinder located on the rotary cylinder mounting base plate, a wide claw cylinder, and a rotary positioning platform plate, the rotary cylinder is connected with a wide claw mounting plate, and the wide claw There are two sets of wide-claw cylinders with different strokes on the mounting plate. The wide-claw cylinder is provided with a wide-claw cylinder mounting piece. connected, the wide-claw cylinder mounting piece is movably connected with a wide-claw clip.

Preferably, the wide claw cylinder is MHL2-16D wide claw cylinder or MHL2-10D2 wide claw cylinder, and the wide claw cylinder mounting piece is MHL2-16D wide claw cylinder mounting piece or MHL2-10D2 wide claw cylinder mounting piece .

Preferably, the rotary cylinder is MSQB20A rotary cylinder.

Preferably, the two groups of wide-claw cylinders with different strokes are arranged in the XY axial direction, and the number of the wide-claw cylinder mounting pieces is four and arranged symmetrically.

Preferably, there are four support columns.

Preferably, a shelter is provided on the bottom plate on which the rotary cylinder is installed.

Preferably, the tool mounting frame includes a transverse support frame and a longitudinal support frame connected to the transverse support frame.

Compared with the prior art, the utility model has the following beneficial effects:

1. This utility model uses one-to-four manipulators instead of labor to cooperate with high-gloss CNC enterprises. The cost of investment is relatively low. After one-time investment, only a small amount of maintenance costs are needed in the later stage, which can reach or even exceed the economic benefits generated by the original manual work. ; The standardized loading and unloading mode of the manipulator during production, the processed product quality is uniform, and the production efficiency is stable, which virtually ensures the yield rate of product production, increases production, saves raw materials, and improves the competitiveness of the enterprise; the production capacity is flexible and controllable. Work 24 hours a day; use manipulators to load and unload materials, reduce the flow of personnel in the workshop, and make the workshop neat and beautiful; greatly reduce labor costs, provide a safer working environment, reduce the labor intensity of workers, reduce labor risks, and greatly reduce labor costs. reduced labor costs.

2. The utility model has one dragging four manipulators and high-gloss CNC for loading and unloading, which can effectively solve various problems such as low processing efficiency, high defect rate, large waste of raw materials, and high rate of "three injuries" brought about by manual operation and high-gloss CNC. , and the high cost brought by the use of articulated robots and the inconvenience caused by use and maintenance. The use efficiency of the manipulator is improved. One cycle with four manipulators can cooperate to complete the loading and unloading of four high-gloss CNCs, especially for some products that require two high-gloss CNCs to complete the two processes of the same product. At the same time, the efficiency and advantages are more obvious, and it also saves the transit space and various resources brought by the transit; four high-gloss CNCs are matched with one manipulator for loading and unloading, and the installation of the manipulator occupies a small space, which can hardly be changed. The layout of the production workshop virtually reduces the installation and use costs of the enterprise;

3. The use efficiency of the manipulator is improved. One cycle with four manipulators can cooperate to complete the loading and unloading of four high-gloss CNCs. resources, etc.; four high-gloss CNCs are matched with one manipulator for loading and unloading. The space occupied by the installation manipulator is small, and the layout of the original production workshop can hardly be changed, which invisibly reduces the installation and use costs of the enterprise. Contributions to development should come from strength.

The above is an overview of the technical solution of the utility model, and the utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

Fig. 1 is a schematic diagram of cooperation between the one-to-four manipulator of the present invention and the high-gloss CNC;

Fig. 2 is another schematic diagram of cooperation between the one-to-four manipulator of the present invention and the high-gloss CNC;

Fig. 3 is a schematic block diagram of the structure of one dragging four manipulators of the present utility model;

Fig. 4 is the overall structural diagram of the high-gloss CNC processing automatic feeding mechanism of the present invention;

Fig. 5 is the overall structural diagram of the fine positioning fixture of the present invention;

Fig. 6 is a diagrammatic schematic block diagram of the coordination of the one-to-four manipulator of the present invention and the high-gloss CNC;

Fig. 7 is a partial schematic block diagram of the coordination diagram of the one-to-four manipulator of the utility model and the high-gloss CNC;

Fig. 8 is a partial schematic block diagram of the coordination diagram of the one-to-four manipulator of the present invention and the high-gloss CNC.

Detailed ways:

In order to make the purpose, technical solutions and advantages of the present utility model clearer, the following examples will be described in detail. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.

1-8, the one-drag four manipulator provided in this embodiment cooperates with the high-gloss CNC automatic loading and unloading system, including the one-drag four manipulator, the high-gloss CNC processing automatic feeding mechanism, the manipulator control box and the first high-gloss CNC machine 100 and the second high-gloss CNC machine 100 and the second high-gloss CNC machine 100. CNC machine 200, the third high-gloss CNC machine 300 and the fourth high-gloss CNC machine 400, the first high-gloss CNC machine, the second high-gloss CNC machine, the third high-gloss CNC machine, and the fourth high-gloss CNC machine are connected with one dragging four manipulators 500, and the first high-gloss CNC machine The second high-gloss CNC machine and the third high-gloss CNC machine are equipped with a high-gloss CNC machining automatic feeding mechanism 600, and the high-gloss CNC machining automatic feeding mechanism is provided with a manipulator control box.

Wherein, as shown in Figure 3, the one-to-four manipulator includes three manipulator mounting bases 1000, a horizontal Z-axis part 2000, a drawing X-axis part 3000, an upper and lower Y-axis part 4000 of the arm, and a manipulator control box. The part 2000 is set above the manipulator mounting base 1000, the drawing X-axis part 3000 is set above the drawing X-axis part 3000, and the lower part of the upper and lower Y-axis parts 4000 of the arm is fixed on the manipulator mounting base 1000 Above, the upper and lower Y-axis part 4000 of the arm connects the horizontal Z-axis part 2000 and the drawing X-axis part 3000 .

As shown in Figure 4, the high-gloss CNC machining automatic feeding mechanism includes a tooling installation frame 11, a tooling adjustment profile 12, a blister box 16, and a fine positioning fixture 18. The tooling adjustment profile is arranged on the tooling installation frame, and the side of the tooling adjustment profile The profile end cover 13 is provided, the blister box is set on the tooling adjustment profile, the side of the blister box is provided with a blister box adjusting left rib 15 and a blister box adjusting right rib 14, and the fine positioning fixture 18 passes through the slide rail Connect with tooling adjustment profile. Among them, the tooling installation frame includes a horizontal support frame 19 and a vertical support frame 20 connected with the horizontal support frame. The label 17 is a product to be processed, which is arranged on the tooling adjustment profile. The frame is the finished product placement area. There are two blister boxes.

Wherein, as shown in Figure 5, the fine positioning fixture 18 includes a rotary cylinder mounting base plate 1, a rotary cylinder 2 located on the rotary cylinder mounting base plate, a wide claw cylinder and a rotary positioning platform plate 9, and the rotary cylinder is connected with a wide claw mounting plate 3 , two sets of wide-claw cylinders 4(5) with different strokes are arranged on the wide-claw mounting plate, wide-claw cylinder mounting pieces 7(6) are arranged on the wide-claw cylinder, and the support column set above the end of the wide-claw mounting plate 8 is connected with the rotary positioning platform plate 9, and there are four support columns, and the wide claw cylinder mounting piece is movably connected with a wide claw clip 10. Among them, wide claw cylinder 4 (5) is MHL2-16D wide claw cylinder or MHL2-10D2 wide claw cylinder, wide claw cylinder mounting piece 7 (6) is MHL2-16D wide claw cylinder mounting piece or MHL2-10D2 wide claw cylinder installation piece. Rotary cylinder 2 is MSQB20A rotary cylinder. Two sets of wide-claw cylinders with different strokes are arranged in the XY axis, and the mounting pieces of the wide-claw cylinders are four and symmetrically arranged in pairs. There is an escape position on the bottom plate of the rotary cylinder installation.

When the one-drag four-manipulator in this embodiment cooperates with the high-gloss CNC automatic loading and unloading system to work: before the manipulator and the high-gloss CNC are started, the operator has prepared the materials to be processed and the blister boxes in sequence, and after the switch signal is activated, the manipulator follows the program According to the set parameters, the first workpiece to be processed is sucked by the jig plate at the end of the arm, and is grabbed by the manipulator to the fine positioning fixture. After the product to be processed is positioned, the product is moved into the high-gloss CNC by the manipulator jig , the manipulator fixture will first take out the product that has just been processed, and then embed the workpiece that has just been positioned into the fixture. After confirmation, the manipulator moves out to a safe area, and places the product that has just been processed in the finished product storage area. in the blister box. After completing a cycle, the manipulator continues the action of the previous cycle.

One-to-four manipulators will automatically place the product to be processed on the corresponding high-gloss CNC machine for processing according to the system signal feedback.

After the processed products in the first layer of blister boxes are all processed, the manipulator sucks up the empty disks that have just been processed through the suction fixture at the end, and places them on the top of the blister boxes in the finished product storage area, and connects them with the first layer. The blister boxes are stacked and placed neatly.

The high-gloss CNC processing automatic feeding mechanism continues to work with the manipulator and high-gloss CNC until all the products to be processed are processed, and the finished products are placed and stacked. After all workpieces are processed, the manipulator gives a signal of processing completion, and the high-gloss CNC processing automatic feeding machine completes a full cycle of work.

The operation process of the one-to-four manipulator in this embodiment combined with the high-gloss CNC automatic loading and unloading system:

1. Through manual work, put a stack of blister boxes to the preset position of the automatic feeding mechanism.

2. Start the start switch on the control switch box, the manipulator starts to work, put the product to be processed on the fine positioning fixture through the pick-and-place jig at the end of the machine, after completing the fine positioning step, the manipulator takes the product to be processed again Go to the 1# high-gloss CNC, take out the product that has just been processed, put the product to be processed on the processing fixture in the high-gloss CNC, the manipulator leaves, the processing fixture closes, the high-gloss CNC starts to work, and at the same time, the manipulator puts the processed Put the product into the blister box, continue to take another piece of product to be processed, complete the fine positioning step, and take it out of the 2# high-gloss CNC by the robot to complete the taking out and putting in the product.

3. Continue the cycle of the previous cycle.

4. After the whole plate is processed, the manipulator will automatically pick up the empty plate to the finished product stacking place of the feeding mechanism.

5. After the products in the entire stack of blister boxes have been processed, and the stacking of the processed products is completed, the manipulator stops working and sends out.

The working principle of the high-gloss CNC processing automatic feeding mechanism in this embodiment is: its specific work: before the start of the manipulator and the high-gloss CNC, the operator has prepared the materials to be processed and the blister boxes in sequence, and after the switch signal is started, the manipulator presses According to the parameters set by the program, the first piece of workpiece to be processed is sucked by the jig plate at the end of the arm, and is grabbed by the manipulator to the fine positioning jig. Inside, the manipulator jig will first take out the product that has just been processed, and then embed the workpiece that has just been positioned into the fixture. After confirmation, the manipulator moves out to a safe area, and places the product that has just been processed in the finished product storage area Inside the blister box. After completing a cycle, the manipulator continues the action of the previous cycle. After the processed products in the first layer of blister boxes are all processed, the manipulator sucks up the empty disks that have just been processed through the suction fixture at the end, and places them on the top of the blister boxes in the finished product storage area, and connects them with the first layer. The blister boxes are stacked and placed neatly. The high-gloss CNC processing automatic feeding mechanism continues to work with the manipulator and high-gloss CNC until all the products to be processed are processed, and the finished products are placed and stacked. After all workpieces are processed, the manipulator gives a signal of processing completion, and the high-gloss CNC processing automatic feeding machine completes a full cycle of work.

The working principle of the fine positioning fixture in this embodiment is: by setting two sets of wide-claw cylinders with different strokes, and installing a wide-claw cylinder mounting piece on the wide-claw cylinder and then cooperating with a wide-claw clip, the wide-claw clip can be in The cylinder mounting piece can move freely to adapt to processing workpieces of different sizes, and there is a shelter on the bottom plate of the rotating cylinder to prevent damage to the four corners of the product. When working, when the product to be processed is put into the fine positioning fixture through the pick-and-place fixture plate at the end of the manipulator, the suction 1 signal on the pick-and-place fixture of the manipulator is disconnected, and the fine positioning middle and wide claw cylinder is started. Solenoid valve signal, the two wide claw cylinders are tightened at the same time, and the product to be processed is pushed from the periphery to the center point through the wide claw clip, so that the product to be processed can be fixed at a fixed coordinate parameter, so that the jig at the end of the manipulator The product is taken on the same coordinate parameter every time, thus ensuring the repeated positioning accuracy and precise positioning of the manipulator.

According to the disclosure and teaching of the above specification, those skilled in the art to which the present utility model belongs can also change and modify the above embodiment. Therefore, the utility model is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the utility model should also fall within the scope of protection of the claims of the utility model.

Claims (10)

1. One-to-four manipulators cooperate with high-gloss CNC automatic loading and unloading system, which is characterized in that it includes one-to-four manipulators, high-gloss CNC processing automatic feeding mechanism, manipulator control box, first high-gloss CNC machine, second high-gloss CNC machine, and third high-gloss CNC machine CNC machine and the fourth high-gloss CNC machine, the first high-gloss CNC machine, the second high-gloss CNC machine, the third high-gloss CNC machine, and the fourth high-gloss CNC machine are connected with one dragging four manipulators, the second high-gloss CNC machine and the third high-gloss CNC machine There is an automatic feeding mechanism for high-gloss CNC processing, and a manipulator control box is installed in the automatic feeding mechanism for high-gloss CNC processing. 2. The one-drag four-manipulator combined with high-gloss CNC automatic loading and unloading system according to claim 1, characterized in that, the one-drag four-manipulator includes three manipulator mounting bases, a horizontal Z-axis part, a drawing X-axis part, The upper and lower Y-axis parts of the arm and the control box of the manipulator, the horizontal Z-axis part is arranged above the installation base of the manipulator, the drawing X-axis part is arranged above the drawing X-axis part, and the upper and lower Y-axis parts of the arm The lower part of the arm is fixed on the installation base of the manipulator, and the upper and lower Y-axis parts of the arm are connected to the horizontal Z-axis part and the drawing X-axis part. 3. The one-drag four-manipulator combined with high-gloss CNC automatic loading and unloading system according to claim 1, characterized in that, the high-gloss CNC automatic feeding mechanism includes a tooling mounting frame, a tooling adjustment profile, a blister box and a fine positioning fixture , the tooling adjustment profile is set on the tooling mounting frame, the side of the tooling adjustment profile is provided with a profile end cover, the blister box is set on the tooling adjustment profile, the side of the blister box There is a blister box to adjust the left rib and a blister box to adjust the right rib, and the fine positioning fixture is connected to the tooling adjustment profile through a slide rail. 4. As claimed in claim 3, the one-to-four manipulator cooperates with the high-gloss CNC automatic loading and unloading system, wherein the precise positioning fixture includes a rotating cylinder mounting base plate, a rotating cylinder mounted on the rotating cylinder mounting base plate, and a wide claw The cylinder and the rotary positioning platform plate, the rotary cylinder is connected with a wide claw mounting plate, the wide claw mounting plate is provided with two sets of wide claw cylinders with different strokes, and the wide claw cylinder is provided with a wide claw cylinder mounting piece, The upper end of the wide-claw mounting plate is connected to the rotary positioning platform plate through a set support column, and the wide-claw cylinder mounting piece is movably connected with a wide-claw clip. 5. The one-drag four-manipulator combined with high-gloss CNC automatic loading and unloading system as claimed in claim 4, characterized in that, the wide-claw cylinder is MHL2-16D wide-claw cylinder or MHL2-10D2 wide-claw cylinder, and the wide-claw cylinder is The claw cylinder mounting piece is MHL2-16D wide claw cylinder mounting piece or MHL2-10D2 wide claw cylinder mounting piece. 6. The one-to-four manipulator combined with high-gloss CNC automatic loading and unloading system according to claim 4, characterized in that, the rotary cylinder is MSQB20A rotary cylinder. 7. The one-drag four-manipulator combined with high-gloss CNC automatic loading and unloading system according to claim 4, characterized in that the two sets of wide claw cylinders with different strokes are arranged in the XY axial direction, and the wide claw cylinder mounting pieces It is four and arranged symmetrically in pairs. 8. The one-drag four-manipulator combined with high-gloss CNC automatic loading and unloading system according to claim 4, characterized in that there are four support columns. 9. The one-drag four-manipulator combined with high-gloss CNC automatic loading and unloading system according to claim 4, characterized in that, the mounting bottom plate of the rotary cylinder is provided with a shelter. 10. The one-drag four-manipulator combined with high-gloss CNC automatic loading and unloading system according to claim 4, characterized in that, the tooling installation frame includes a horizontal support frame and a vertical support frame connected with the horizontal support frame.