CN207924483U - A kind of needle-valve body precision inner circle mill automated system - Google Patents
A kind of needle-valve body precision inner circle mill automated system Download PDFInfo
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- CN207924483U CN207924483U CN201721879237.7U CN201721879237U CN207924483U CN 207924483 U CN207924483 U CN 207924483U CN 201721879237 U CN201721879237 U CN 201721879237U CN 207924483 U CN207924483 U CN 207924483U
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Abstract
The utility model discloses a kind of needle-valve body precision inner circles to grind automated system, needle-valve body precision inner circle is ground automated system and is made of industrial robot, robot base, numerically-controlled machine tool, input and output material platform, material caching platform, safe grating, top protection net, safe fence and switch board etc., Liang Tai robots correspond to the loading and unloading automation processing of four lathes, every numerically-controlled machine tool is equipped with material caching platform and safe grating, and robot is using fixed high fixed on table, realize the automatic flexible production under man-machine symbiosis pattern, safety is good, cost-effective.
Description
Technical field
The utility model is related to arrive industrial automation processing technique field, more particularly to a kind of needle-valve body precision inner circle mill is certainly
Dynamicization system.
Background technology
Field is fabricated in modern mechanical, a large amount of enterprise carries out work pieces process using the numerically-controlled machine tool of high end advanced.
These high-end numerical control machines can be automatically performed the processing of workpiece according to the NC codes finished in advance, and whole process need not be artificial
Intervene.And the loading and unloading of numerically-controlled machine tool are manually operated and complete substantially or by people, main problem is existing for manual operation：It needs
Very high cost of labor goes to complete the work simply repeated, and artificial loading and unloading labor intensity is big, and efficiency is low, of high cost.
In order to reduce cost, working efficiency is improved, more and more enterprises proceed by numerically-controlled machine tool automation loading and unloading
Transformation.One of wherein effective means are to introduce robot or manipulator and matched automation ancillary equipment such as
Handling equipment, safe fence, safe grating etc. realize the safe and efficient automated production of industrial processes.
It is related to the mill automation of needle-valve body precision inner circle both at home and abroad at present and processes relevant loading and unloading mode substantially still with people
Based on work loading and unloading, a small number of improved loading and unloading modes correspond to separate unit numerically-controlled machine tool with separate unit industrial robot and carry out loading and unloading,
There is a problem of that the utilization ratio of loading and unloading and its ancillary equipment is not high.
Utility model content
The purpose of this utility model is to provide a kind of needle-valve body precision inner circles to grind automated system, solves the prior art
The problem that middle production efficiency is low, automation and safety be not high.
Realize that the technical solution of the utility model aim is：A kind of needle-valve body precision inner circle mill automated system, packet
Include industrial robot, numerically-controlled machine tool, input and output material platform, material caching platform, safe grating, top protection net, safe fence and control
Cabinet；Inner circle mill processing of the numerically-controlled machine tool for needle-valve body workpiece, the numerically-controlled machine tool includes for detecting industrial robot
The accidentally safe grating of operation, the industrial robot are installed on pedestal for the numerically-controlled machine tool loading and unloading, the disengaging
Material platform is the loading and unloading buffer storage of needle-valve body workpiece, the movement model that the top protection net is used to force to limit industrial robot
It encloses, is the top protection of personnel travel region, prevents industrial robot from accidentally injuring to the staff to walk in lower section, the material
Caching platform for temporarily placing unqualified needle-valve workpiece, top protection portion both sides off the net be respectively arranged with support personnel into
Go out safe safe fence, the switch board is used for industrial robot, numerically-controlled machine tool, input and output material platform, safe grating and safety
Fence sends or receives corresponding instruction, to industrial robot, numerically-controlled machine tool, input and output material platform, safe grating and safe fence into
The corresponding control of row.
Preferably, the industrial robot end has flexible paw grasping mechanism, can realize to a variety of needle-valve body works
The loading and unloading of part.
Preferably, the industrial robot realizes that the automation under man-machine symbiosis pattern is soft using fixed high fixed on table
Property production.
Preferably, the industrial robot end flexibility paw grasping mechanism includes mounting flange（16）, cylinder fixed angles
Plate（17）, quick-release connector public affairs disk（18）, finished product grip pawl（19）With blank feed appliance（20）.
Preferably, the safe fence is the channel of staff's disengaging, when safe fence is opened, system all devices
It is in emergency stop state, safe fence closing is the precondition of system worked well.
Preferably, there is numerically-controlled machine tool safety door, the safety door to be in needle-valve body work pieces process state when numerically-controlled machine tool
When be in off state, be in an open state when numerically-controlled machine tool is in needle-valve body workpiece loading and unloading state；The safe grating is used for
It detects industrial robot accidentally to run, when safe fence is opened, system controls safe grating and starts detection, and simultaneity factor receives peace
Control industrial robot enters emergency stop state when full fence opening signal, when industrial robot unintentionally encounters safe grating, is
System forces control industrial robot emergency stop, and preventing industrial robot, accidentally operation damages personnel.
Preferably, the switch board includes center control CPU and control unit of industrial robot；The center control CPU
Using total using Ethernet between the communication of EhterCAT bus protocols and numerically-controlled machine tool between control unit of industrial robot
Wire protocol is communicated uses Digital I/O interface communication between safe fence, input and output material platform, safe grating；The industrial robot
It is communicated using EhterCAT bus protocols between control unit and robot body servo-driver, and flexible paw gripper
Digital I/O interface communication is used between structure.
Preferably, the numerically-controlled machine tool includes positioned at first numerically-controlled machine tool of one end and the second numerically-controlled machine tool and positioned at another
The third numerically-controlled machine tool and the 4th numerically-controlled machine tool of one end, each numerically-controlled machine tool include safe grating, the industrial machine
People includes the first industrial robot to the first and second lathe loading and unloading and the second work to the third and fourth lathe loading and unloading
Industry robot, first industrial robot are installed on the first pedestal, and second industrial robot is installed on the second pedestal
On, the first input and output material platform and the second input and output material platform, first disengaging are provided between first and second industrial robot
Expect that platform is corresponding with the first industrial robot and the first and second numerically-controlled machine tools and constitutes the first subsystem, second disengaging
Expect that platform is corresponding with the second industrial robot and the third and fourth numerically-controlled machine tool and the second subsystem of composition, described first and the
It is independent of each other independently of each other between two subsystems, between first numerically-controlled machine tool and the 4th opposite numerically-controlled machine tool and second
It is respectively arranged with top protection net between numerically-controlled machine tool and opposite third numerically-controlled machine tool.
The utility model realizes higher production efficiency and positioning accuracy, and the utility model structure with lower cost
Simply, easy to operate, automation and safe coefficient are high.
Other than objects, features and advantages described above, the utility model also has other purposes, feature and excellent
Point.Below with reference to figure, the utility model is described in further detail.
Description of the drawings
Fig. 1 is the overall structure diagram that the utility model needle-valve body precision inner circle grinds automated system.
Fig. 2 is the vertical view that the utility model needle-valve body precision inner circle grinds automated system.
Fig. 3 is the utility model industrial robot end flexibility paw grasping mechanism structural schematic diagram.
Fig. 4 is the utility model control flow schematic diagram.
Fig. 5 is the utility model control flow schematic diagram.
Fig. 6 is the utility model switch board structural schematic diagram.
Specific implementation mode
It is required in being described below to embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
The attached drawing used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the utility model
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Such as Fig. 1, shown in 2, a kind of needle-valve body precision inner circle grinds automated system, including industrial robot, numerically-controlled machine tool, into
Discharge pedestal, material caching platform 9, safe grating 5, top protection net 6, safe fence 15 and switch board 12；The numerically-controlled machine tool is used
Processing is ground in the inner circle of needle-valve body workpiece, the numerically-controlled machine tool includes the safe grating 5 accidentally run for detecting industrial robot,
The industrial robot is installed on pedestal for the numerically-controlled machine tool loading and unloading, the input and output material platform to be needle-valve body workpiece
Loading and unloading buffer storage, the motion range that the top protection net 6 is used to force to limit industrial robot, is personnel travel region
Top protection, prevent industrial robot from accidentally injuring to the staff that walk in lower section, the material caching platform 9 is used to temporarily put
Unqualified needle-valve workpiece is set, the safety that support personnel's disengaging safety is respectively arranged in 6 lower part both sides of the top protection net is enclosed
Column 15, the switch board 12 are used to send to industrial robot, numerically-controlled machine tool, input and output material platform, safe grating 5 and safe fence 15
Or receive corresponding instruction, industrial robot, numerically-controlled machine tool, input and output material platform, safe grating 5 and safe fence 15 are carried out accordingly
Control.
Preferably, in conjunction with Fig. 3, the industrial robot end has flexible paw grasping mechanism, can realize to a variety of
The loading and unloading of needle-valve body workpiece, the industrial robot are realized automatic under man-machine symbiosis pattern using fixed high fixed on table
Change flexible production, the industrial robot flexibility paw grasping mechanism includes mounting flange 16, cylinder fixed angle plate 17, fast changing-over
The public disk 18 of head, finished product gripping pawl 19 and blank feed appliance 20.
Preferably, the safe fence 15 is the channel of staff's disengaging, and when safe fence is opened, system is all to be set
Standby to be in emergency stop state, safe fence closing is the precondition of system worked well.
Preferably, there is numerically-controlled machine tool safety door, the safety door to be in needle-valve body work pieces process state when numerically-controlled machine tool
When be in off state, be in an open state when numerically-controlled machine tool is in needle-valve body workpiece loading and unloading state；The safe grating 5 is used for
It detects industrial robot accidentally to run, when safe fence 15 is opened, system controls safe grating 5 and starts detection, and simultaneity factor connects
Control industrial robot enters emergency stop state when receiving 15 opening signal of safe fence, when industrial robot unintentionally encounters safe grating
When 5, system force control industrial robot emergency stop, prevent industrial robot accidentally operation personnel are damaged.
Preferably, in conjunction with Fig. 6, the switch board 12 includes center control CPU and control unit of industrial robot；In described
It is used using between the communication of EhterCAT bus protocols and numerically-controlled machine tool between centre control CPU and control unit of industrial robot
Ethernet bus protocols are communicated uses Digital I/O interface communication between safe fence, input and output material platform, safe grating；It is described
It is communicated using EhterCAT bus protocols between control unit of industrial robot and robot body servo-driver, and flexible
Digital I/O interface communication is used between paw grasping mechanism.
Preferably, the numerically-controlled machine tool includes positioned at first numerically-controlled machine tool 1 of one end and the second numerically-controlled machine tool 2 and being located at
The third numerically-controlled machine tool 10 and the 4th numerically-controlled machine tool 11 of the other end, each numerically-controlled machine tool include safe grating 5, the work
Industry robot includes to the first industrial robot 4 of the first and second lathe loading and unloading and to the third and fourth lathe loading and unloading
Second industrial robot 14, first industrial robot 4 are installed on the first pedestal 3, and second industrial robot 14 is pacified
Loaded on the second pedestal 13, the first input and output material platform 7 and the second input and output material are provided between first and second industrial robot
Platform 8, the first input and output material platform 7 is corresponding with the first industrial robot 4 and the first and second numerically-controlled machine tools and constitutes first
Subsystem, the second input and output material platform 8 is corresponding with the second industrial robot 14 and the third and fourth numerically-controlled machine tool and constitutes
Second subsystem is independent of each other independently of each other between first and second subsystem, first numerically-controlled machine tool 1 and opposite
It is anti-that top is respectively arranged between 4th numerically-controlled machine tool 11 and between the second numerically-controlled machine tool 2 and opposite third numerically-controlled machine tool 10
Protecting wire net 6.
In conjunction with Fig. 4,5, it is a kind of that using above-mentioned needle-valve body precision inner circle mill automated system is such as weighed, to carry out needle-valve body accurate
The control method of inner circle mill automation processing, this method includes：The loading and unloading that needle-valve body workpiece is carried out by input and output material platform are slow
It deposits；The loading and unloading action of needle-valve body workpiece is carried out by industrial robot；Inner circle is carried out to needle-valve body workpiece by numerically-controlled machine tool
Mill processing.
Preferably, the control logic of the control method includes：The automation control logic of first subsystem is：First into
Discharge pedestal reaches discharge position up and down, and ' material 1 ' signal in place is sent out to switch board center control CPU；First numerically-controlled machine tool is current
When not having needle-valve body work pieces process, ' not busy 1 ' signal is sent out to switch board center control CPU；First numerically-controlled machine tool currently into
When hand-manipulating of needle valve body work pieces process, ' busy 1 ' signal is sent out to switch board center control CPU；Needle is currently completed in first numerically-controlled machine tool
When valve body work pieces process, is sent out to switch board center control CPU and ' complete 1 ' signal；Second numerically-controlled machine tool is currently without needle-valve body
When work pieces process, ' not busy 2 ' signals are sent out to switch board center control CPU；Second numerically-controlled machine tool is currently carrying out needle-valve body work
When part is processed, ' busy 2 ' signals are sent out to switch board center control CPU；Second numerically-controlled machine tool is currently completed needle-valve body workpiece and adds
Working hour sends out to switch board center control CPU and ' completes 2 ' signals；Switch board center control CPU receives the first input and output material platform
After ' material is in place ' signal, the state that waits for the first numerically-controlled machine tool and the second numerically-controlled machine tool to be fed back to control unit of industrial robot
The status signal of signal, the feedback includes：
' busy 1 ', ' when busy 2 ', system continues waiting for；
' spare time 1 ', ' when the spare time 2 ', system sends the ' order of feeding 1 ' to control unit of industrial robot；
' complete 1 ', ' when completing 2 ', system sends the ' order of blanking 1 ' to control unit of industrial robot；
' spare time 1 ', ' when busy 2 ', system sends the ' order of feeding 1 ' to control unit of industrial robot；
' spare time 1 ', ' when completing 2 ', system sends the ' order of feeding 1 ' to control unit of industrial robot；
' busy 1 ', ' when the spare time 2 ', system sends the ' order of feeding 2 ' to control unit of industrial robot；
' busy 1 ', ' when completing 2 ', system sends the ' order of blanking 2 ' to control unit of industrial robot；
' complete 1 ', ' when busy 2 ', system sends the ' order of blanking 1 ' to control unit of industrial robot；
' complete 1 ', ' when the spare time 2 ', system sends the ' order of feeding 2 ' to control unit of industrial robot；
Control unit of industrial robot receives ' feeding 1 ' or ' feeding 2 ' when ordering, and drives robot body and end soft
Property paw grasping mechanism carry out the feeding work of corresponding numerically-controlled machine tool, capture needle-valve body workpiece from the upper discharge position of input and output material platform,
And it is installed to the work pieces process position of corresponding numerically-controlled machine tool；
Control unit of industrial robot receives ' blanking 1 ' or ' blanking 2 ' when ordering, and drives robot body and end soft
Property paw grasping mechanism carry out the blanking work of corresponding numerically-controlled machine tool, the needle-valve body workpiece of corresponding numerically-controlled machine tool Working position is taken
Go out, and be put into the lower discharge position of input and output material platform, the control logic of the second subsystem is identical as the control logic of the first subsystem.
A kind of workflow of case study on implementation is as follows：
Operational preparation：Parts to be processed NC codes download in numerically-controlled machine tool, and cutter is ready to, each parameter zero of lathe position
（As lathe closes the door carefully）, other equipment（Material caches platform, industrial robot, input and output material platform）Zero；
Switch board is arranged：Fully automatic operation is there are two types of set-up mode, and one is that host computer assigns fabrication order, and one is this
Ground production setting.When equipment gets to remote control, host computer can assign fabrication order, including processing part kind, process number of components
Amount.When getting to local, it can equally select processing needle-valve body kind and process needle-valve body quantity, after setting is fully completed, enter
The production and processing stage.
The production and processing stage：Artificial system of pressing starts processing button（System control cabinet）, center controls CPU and can be deposited at it
The relevant parameter of processing part is transferred in reservoir, and relevant parameter is transferred into corresponding equipment：By the first industrial robot
Program is in EhterCAT bus transfers to the first control unit of industrial robot；By the program of the second industrial robot with
In EhterCAT bus transfers to two control unit of industrial robot.System control process is as shown in Figure 4,5
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (8)
1. a kind of needle-valve body precision inner circle grinds automated system, it is characterised in that including industrial robot, numerically-controlled machine tool, input and output material
Platform, material cache platform（9）, safe grating（5）, top protection net（6）, safe fence（15）And switch board（12）, the numerical control
Inner circle mill processing of the lathe for needle-valve body workpiece, the numerically-controlled machine tool includes the safety accidentally run for detecting industrial robot
Grating（5）, the industrial robot is installed on pedestal for the numerically-controlled machine tool loading and unloading, and the input and output material platform is needle-valve
The loading and unloading buffer storage of body workpiece, the top protection net（6）Motion range for forcing restriction industrial robot, is people
The top protection of member travel region prevents industrial robot from accidentally injuring to the staff to walk in lower section, the material caching platform
（9）For temporarily placing unqualified needle-valve workpiece, in the top protection net（6）Lower part both sides be respectively arranged with support personnel into
Go out safe safe fence（15）, the switch board（12）For to industrial robot, numerically-controlled machine tool, input and output material platform, safety light
Grid（5）And safe fence（15）It sends or receives corresponding instruction, to industrial robot, numerically-controlled machine tool, input and output material platform, safety light
Grid（5）And safe fence（15）Accordingly controlled.
2. a kind of needle-valve body precision inner circle according to claim 1 grinds automated system, it is characterised in that：The industry
Robot end has flexible paw grasping mechanism, can realize the loading and unloading to a variety of needle-valve body workpiece.
3. a kind of needle-valve body precision inner circle according to claim 1 grinds automated system, it is characterised in that：The industrial machine
Device people realizes the automatic flexible production under man-machine symbiosis pattern using fixed high fixed on table.
4. a kind of needle-valve body precision inner circle according to claim 2 grinds automated system, it is characterised in that：The industrial machine
Device people end flexibility paw grasping mechanism includes mounting flange（16）, cylinder fixed angle plate（17）, quick-release connector public affairs disk（18）, at
Product grip pawl（19）With blank feed appliance（20）.
5. a kind of needle-valve body precision inner circle according to claim 1 grinds automated system, it is characterised in that：The safety is enclosed
Column（15）For the channel of staff's disengaging, when safe fence is opened, system all devices are in emergency stop state, enclose safely
Column closing is the precondition of system worked well.
6. a kind of needle-valve body precision inner circle according to claim 1 grinds automated system, it is characterised in that：Numerical control machine bed accessory
There is safety door, the safety door is in off state when numerically-controlled machine tool is in needle-valve body work pieces process state, at numerically-controlled machine tool
It is in an open state when needle-valve body workpiece loading and unloading state；The safe grating（5）It is accidentally run for detecting industrial robot, when
Safe fence（15）When opening, system controls safe grating（5）Start detection, simultaneity factor receives safe fence（15）Open letter
Number when control industrial robot enter emergency stop state, when industrial robot unintentionally encounters safe grating（5）, system pressure control
Industrial robot emergency stop, preventing industrial robot, accidentally operation damages personnel.
7. a kind of needle-valve body precision inner circle according to claim 2 grinds automated system, it is characterised in that：The switch board
（12）Including center control CPU and control unit of industrial robot；It is described center control CPU and control unit of industrial robot it
Between using EhterCAT bus protocols communication numerically-controlled machine tool between using Ethernet bus protocols communication and safe fence,
Digital I/O interface communication is used between input and output material platform, safe grating；The control unit of industrial robot and robot body are watched
It takes and is communicated using EhterCAT bus protocols between driver, it is logical using digital I/O interface between flexible paw grasping mechanism
News.
8. needle-valve body precision inner circle according to claim 7 grinds automated system, it is characterised in that：The numerically-controlled machine tool packet
Include the first numerically-controlled machine tool positioned at one end（1）With the second numerically-controlled machine tool（2）And the third numerically-controlled machine tool positioned at the other end（10）
With the 4th numerically-controlled machine tool（11）, each numerically-controlled machine tool includes safe grating（5）, the industrial robot includes to first
With the first industrial robot of the second lathe loading and unloading（4）With the second industrial robot to the third and fourth lathe loading and unloading
（14）, first industrial robot（4）It is installed on the first pedestal（3）On, second industrial robot（14）It is installed on
Two pedestals（13）On, the first input and output material platform is provided between first and second industrial robot（7）With the second input and output material platform
（8）, the first input and output material platform（7）With the first industrial robot（4）And first and second numerically-controlled machine tool it is corresponding and constitute
First subsystem, the second input and output material platform（8）With the second industrial robot（14）And third and fourth numerically-controlled machine tool it is opposite
The second subsystem should and be constituted, is independent of each other independently of each other between first and second subsystem, first numerically-controlled machine tool
（1）With the 4th opposite numerically-controlled machine tool（11）Between and the second numerically-controlled machine tool（2）With opposite third numerically-controlled machine tool（10）It
Between be respectively arranged with top protection net（6）.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721879237.7U CN207924483U (en) | 2017-12-28 | 2017-12-28 | A kind of needle-valve body precision inner circle mill automated system |
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| CN201721879237.7U CN207924483U (en) | 2017-12-28 | 2017-12-28 | A kind of needle-valve body precision inner circle mill automated system |
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| CN207924483U true CN207924483U (en) | 2018-09-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107918361A (en) * | 2017-12-28 | 2018-04-17 | 中国船舶重工集团公司第七六研究所 | A kind of needle-valve body precision inner circle mill automated system and its control method |
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2017
- 2017-12-28 CN CN201721879237.7U patent/CN207924483U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107918361A (en) * | 2017-12-28 | 2018-04-17 | 中国船舶重工集团公司第七六研究所 | A kind of needle-valve body precision inner circle mill automated system and its control method |
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Address after: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Patentee after: The 716th Research Institute of China Shipbuilding Corp. Patentee after: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. Patentee after: JARI AUTOMATION Co.,Ltd. CHINA Address before: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Patentee before: 716TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Patentee before: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. Patentee before: JARI AUTOMATION Co.,Ltd. CHINA |