CN211074220U - Sheet taking and placing device and sheet processing machine - Google Patents

Sheet taking and placing device and sheet processing machine Download PDF

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Publication number
CN211074220U
CN211074220U CN201921042732.1U CN201921042732U CN211074220U CN 211074220 U CN211074220 U CN 211074220U CN 201921042732 U CN201921042732 U CN 201921042732U CN 211074220 U CN211074220 U CN 211074220U
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sheet
processing
placing
trough
taking
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沈耀强
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沈耀强
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Abstract

The utility model discloses a sheet taking and placing device and a sheet processing machine, wherein the device comprises a material box and a sheet taking and placing mechanical arm; the mechanical arm for taking and placing the sheet comprises a bearing body, a turnover driver and a first driving mechanism; the carrier is provided with a pick-and-place part, the pick-and-place part comprises two pickers used for picking and placing the sheets, the two pickers are respectively arranged at two sides of the carrier along the length direction of the carrier and used for filling the sheets to be processed into the processing area in a translation way relative to the processing area after one picker picks the processed sheets in the processing area. Adopt the same side of supporting body to set up the portion of getting that has two pickers, can make two sheets keep in the coplanar of mechanical arm, only need directly translate certain distance after getting processed sheet when processing district change sheet and can put down and wait to process the sheet, the change time has obtained very big reduction for the latency of processing main shaft obtains very big reduction, has promoted holistic machining efficiency by a wide margin.

Description

Sheet taking and placing device and sheet processing machine
Technical Field
The utility model relates to a glass screen processing technology field of electronic product, concretely relates to sheet is got and is put device and sheet processing machine.
Background
In the 3C industry (Computer, Communication and consumer electronics) screen glass or touch screen glass (such as mobile phone glass) sheet parts are processed, and multi-spindle machine tools and automatic loading and unloading devices thereof are generally used.
For example, chinese patent application No. 201220196703.2 discloses a processing apparatus for a plate material; the chinese patent with application number 201510316063.2 discloses a plate loading and unloading device, a mobile phone glass processing center and a processing method; the chinese patent with application number 201720308268.0 discloses a rotating mechanism for feeding and discharging plates, a plate feeding and discharging device and a machining center; chinese patent application No. 201720450862.3 discloses a stopper, a trough and a bracket for the trough; chinese patent application No. 201210542090.8 discloses a sheet magazine.
Above-mentioned prior art is all trying to solve the automatic unloading efficiency, space, precision, reliable and stable and material piece loading problem of going up of panel.
However, in the patent with application No. 201220196703.2, when material is taken and changed at the processing platform, the swing arm manipulator is adopted, and the swing arm manipulator can only swing 90 degrees, and the material taking and changing handover needs to be realized through one lifting retainer, so that the material taking and changing time is long, the handover is carried out on the lifting retainer, and the risk of scratch damage of glass material pieces is increased. When the double-spindle operation with higher efficiency is realized, the front spindle and the rear spindle are arranged in a mirror symmetry mode, multi-spindle multi-line operation cannot be realized, and the limitation on unit floor area and single-spindle efficiency is obvious.
The Chinese patent with application number 201510316063.2 solves the above problems, firstly, because a rotating mechanism with a rotating rod is adopted, the rotating rod can rotate 360 degrees, a rotating block is arranged on the rotating rod, a double-sided pick-and-place part is arranged on the rotating block, and an additional lifting retainer is not needed; secondly, through the extension of dwang to and set up the turning block that corresponds quantity with processing platform or processing head on the dwang for the multi-thread operation of many main shafts is expanded and is become easily, and the structure is compacter.
Firstly, when more main shafts are expanded, the rotating rods are suspended, so that the precision of material taking and placing is reduced. Even if a rotation lever having both ends supported by two supports is used, as in chinese patent application No. 201720308268.0, the machining accuracy is lowered due to the accumulated error of the multiple spindles, and particularly in batch machining, the process capability (CPK value) of the machine tool equipment is drastically lowered, so that high-accuracy machining cannot be realized, and the controllability is also lowered.
In addition, because the rotating block is arranged on the rotating rod, the plate is vertically arranged in the material groove, the plate is inserted into the material groove with a certain depth, the material groove stop rod is easy to interfere with the rotating rod, chinese patent application No. 201720450862.3, which is a prior art adapted thereto, discloses a chute and a stopper therefor, when the plate is loaded in the trough and the rotating block on the rotating rod sucks the plate in the trough, the interference between the rotating rod and the trough blocking piece is avoided, the symmetric center of the plate in the vertical direction is difficult to grasp, the loading of the material groove to the plate must have certain fault tolerance, when the rotating block sucks the upper part of the plate, the material part is often failed to be sucked, the chinese patent No. 201220196703.2, which has an eccentric swing arm robot, does not have such a problem, however, the eccentric swing arm manipulator can only swing and rotate 90 degrees, and a lifting retainer is needed for connection, so that a motion line is increased. Chinese patent application No. 201510316063.2 is applied to the embodiment in such a manner that "the upper part of the turning block is fixed to the turning rod so that the turning is an eccentric turning shaft for more effective manipulation. However, in such a manner, the plate material piece is eccentric when rotating, the advancing line of the material taking and replacing manipulator is long when material taking and replacing are performed, the rotating inertia is increased when the plate material piece rotates, and the stability of the plate material piece is reduced.
On the other hand, the rotating mechanism is provided with the rotating rod, the rotating block is arranged on the rotating rod, and the taking and placing part is arranged on the rotating block, so that the mounting links are more, the number of parts is more, the rigidity of the assembly is low, and the assembly and adjustment are complicated.
In addition, the rotating block is arranged on the rotating rod, the thickness size of the switcher at the front side and the back side is increased due to the existence of the rod and the existence of the installation structure, and when the material is fetched and replaced at the material groove end, more empty grooves are reserved in the material groove to be matched with the switcher at the rotating rod in space, so that the capacity of the material groove is reduced. And replace artificial automatic unloader that goes up in reality, hope limited silo occupation size space within range, increase the silo as far as possible and pack into board material spare quantity to improve the silo capacity, thereby make once load the silo after automatic continuous processing time long, the silo change frequency reduces.
Above-mentioned prior art, the processing time is long relative to the time of reloading, therefore, the unloader on it is in idle standby state for a long time when processing, not fully transferred, and the beat is unreasonable, leads to higher unit cost. Especially, when it got to trade on the processing platform for its chinese patent with application number 201510316063.2, take away and need withdraw from the processing district after the processing panel and obtain a upset space and just can will wait to process the panel upset and put down and continue processing on the processing platform, so the time of processing district reloading then greatly increased, processing district still need reserve great space and drive the turning block upset for the dwang and provide the condition, but processing district often still need design other modules, must increase the space occupation degree of equipment again.
In the prior art, the arrangement of the trough is basically divided into two ways: one is that the plates are vertically arranged along the horizontal direction (horizontal trough); one is that the plates are horizontally arranged in the vertical direction (vertical trough). The vertical arrangement direction is positioned by gravity, the plates are separated by a separating sheet in the trough, the plates cannot slide in the trough, the whole trough is easy to transfer, the whole trough occupies a large space in the horizontal direction in equipment, and the trough capacity is low because the separating sheet is arranged between the plates and the space between the plates is large because of special fault tolerance requirements; the other mode, panel is along upper and lower direction horizontal arrangement, horizontal arrangement panel relies on gravity to fix a position about the orientation about the inslot, but the horizontal direction is owing to leave and gets the reloading opening, the easy landing of here, increased the landing risk during the transportation, and the silo is whole to occupy the space of upper and lower direction in equipment, and the space that occupies in the horizontal direction is less (only about half that vertical placing), because the orientation relies on gravity to fix a position naturally about the panel, the spacer that sets up between, there is not special fault-tolerance requirement, the interval is less between the panel, therefore the silo capacity is higher. When the plates are vertically arranged in the trough along the horizontal direction (horizontal trough), the trough has low capacity, large area occupied in the horizontal direction, good fixing and retaining performance and convenient movement and transportation; when the plates are horizontally arranged in the trough along the vertical direction (vertical troughs), the trough has high capacity, occupies small area in the horizontal direction, but has poor fixation and retentivity and is inconvenient to move and transport.
The above prior art has the following problems to be solved:
1. the picking device of the picking and placing part only has one picking device which is put in the material groove after the sheet is taken down from the processing area and then picks up one sheet and puts the sheet into the processing area, or the picking device of the picking and placing part has a pair of picking devices, but after one picking device takes down the sheet, the picking device still needs to be withdrawn from the processing area to adjust the direction of the other picking device, so that the problems of overlong waiting time of a processing spindle and low picking and replacing efficiency are caused;
2. the mechanical structure of the rotating mechanism is simplified, so that the rotating mechanism is simple and quick to assemble and adjust, and the shorter the material taking and changing time in a processing area is, the better the processing efficiency is;
3. further reducing the space occupation of the device, reducing the movement space of the device, or arranging more processing devices in a limited space;
4. the feeding and discharging device is fully adjusted, particularly the mechanical arm for taking and discharging materials is fully adjusted, the idle time of the feeding and discharging device is reduced as much as possible, and the cost of a single machine is reduced;
5. interference of the rotating rod and the trough stopper is avoided, moving lines are reduced, the automatic loading and unloading device can more stably and reliably fetch and replace parts, and the downtime caused by faults is reduced;
6. the capacity of the trough is increased, so that the replacement frequency of the trough is reduced, and the continuous processing time is prolonged.
In short, how to improve efficiency, reduce occupied space and realize stable reliability on the basis of the prior art is an important subject for improving the technical level of production equipment, and finally realizing cost reduction and obtaining good economy.
SUMMERY OF THE UTILITY MODEL
The utility model provides a sheet is got and is put device, sheet processing machine and processing method to solve above-mentioned problem.
The utility model provides a sheet taking and placing device, which comprises a material box and a sheet taking and placing mechanical arm used for taking and placing sheets between the material box and a processing area; the sheet taking and placing mechanical arm comprises a bearing body, a turnover driver and a first driving mechanism, wherein the bearing body extends in the transverse direction serving as the length direction; the method comprises the following steps that a pick-and-place part is arranged on a carrier, the pick-and-place part comprises two pickers used for picking and placing sheets, the two pickers are respectively arranged on two sides of the carrier along the length direction of the carrier and used for filling the sheets to be processed into a processing area in a translation mode relative to the processing area after one picker picks the processed sheets in the processing area; the material box is provided with material grooves for arranging and containing the sheets, and the material grooves are consistent with the taking and placing parts on the sheet taking and placing mechanical arm in quantity and are arranged correspondingly.
Preferably, the supporting body is arranged with at least two groups of taking and placing parts along the length direction on the same surface, and the material groove in the material box is correspondingly provided with more than two parts, so that the taking and placing parts can be expanded more, and the processing efficiency can be improved at double speed.
Preferably, the trough has one end that is set as a hollow area where the sheet material to be processed is not placed at the time of initial processing, and the trough is used for forming a trough common to the sheet material to be processed and the processed sheet material by arranging the processed sheet material from the one end of the hollow area of the trough to the one end of the sheet material to be processed of the trough in order after the processed sheet material is retrieved from the processing area by the pick-and-place unit. The ordered storage or taking out of the sheets is facilitated.
Preferably, the silo has and makes the sheet keep flat and the vertical partition groove of arranging, and the silo sets up preceding lateral plate respectively in vertical and places the district and the district is placed to back lateral plate, and preceding lateral plate is placed the district and is placed the district with back lateral plate and set up dorsad and the opening is opposite. The two placing areas are arranged in parallel, so that the capacity of the trough can be increased, and the method can be suitable for a faster and more orderly sheet storing and taking method.
Preferably, the troughs are provided with separating troughs which enable the sheets to be horizontally arranged and vertically arranged or enable the sheets to be vertically arranged and longitudinally arranged, and the sheets are orderly placed in the troughs, so that orderly taking and placing of the taking and placing part are facilitated.
Preferably, the trough is provided with a separation trough which enables the sheet to be horizontally placed and vertically arranged, the separation trough comprises a front clamping portion and a rear clamping portion, the front clamping portion is fixed to the front portion of the sheet, the rear clamping portion is fixed to the rear portion of the sheet, and the rear clamping portion is lower than the front clamping portion in horizontal position and used for enabling the rear portion of the sheet to sink to form an inclined placement. The trough with the special structure can realize the antiskid of the sheet without arranging any stop part.
Preferably, the silo has and makes the sheet keep flat and along the separating groove of vertical range, sets up the backstop portion that prevents the sheet roll-off when being used for the transport at the silo opening part, and backstop portion movably installs and is used for adding man-hour backstop portion can be putd aside by the silo opening part, can realize that the sheet level is kept flat and has the antiskid function of going out.
Preferably, the bottom of the material box is provided with a material box adjusting and driving device which is used for adjusting the position of the trough in the transverse direction and aligned with the taking and placing part in the longitudinal direction, the material box adjusting and driving device comprises a material box transverse track and a material box driver which drives the material box to move on the material box transverse track, and the material box can be accurately aligned by simple structural design.
Preferably, the bearing body is a bearing plate, the pick-and-place parts are transversely distributed on the bearing plate, one transverse end of the bearing plate is installed on the turnover driver, and the two pickers of each group of the pick-and-place parts are directly arranged on the two sides of the same plane of the bearing plate by taking the transverse turnover axis of the turnover driver as a central line. The plate-type integrated structure design can save more steps for mounting the taking and placing part on the bearing body.
Preferably, the carrying plate is provided with an avoidance groove with an outward opening between adjacent pick-and-place parts. The avoiding groove can lead the bearing body to save materials and have light weight, and the taking and placing part can take and place the sheet material quickly without touching the material groove with the stop lever.
Preferably, one end of the carrier plate for mounting to the tumble driver forms a constricted portion having a width smaller than the width of the carrier plate body, the end of the constricted portion is provided with a mounting portion having a width larger than the width of the constricted portion body, and the mounting portion forms two shoulders for the constricted portion to mount the carrier plate to the tumble driver in the transverse direction. This particular mounting configuration facilitates the mounting of the carrier to the tumble drive by the worker and also facilitates removal for maintenance.
Preferably, the supporting body is used for installing the one end formation plate structure of upset driver, sets up the rectangular channel with supporting body plate structure adaptation on the upset driver, is favorable to the quick installation location of supporting body, also further makes mounting structure more stable.
Preferably, the bearing body is a bearing rod, bearing blocks are transversely distributed and mounted on the bearing rod, two pickers are arranged on the bearing block and serve as two pickers of a group of pick-and-place parts, and although the mounting process is increased due to the matching of the rod and the block, the single bearing block is beneficial to independent replacement and maintenance.
Preferably, the transverse axis of the bearing body is used as a symmetry axis to form a symmetrical structure in the taking and placing part, and the two pickers on the taking and placing part are symmetrically arranged relative to the transverse axis of the bearing body.
Preferably, the first driving mechanism comprises a longitudinal rail, a longitudinal bearing table, a longitudinal driver for driving the longitudinal bearing table to move on the longitudinal rail, a vertical rail arranged on the longitudinal bearing table, a vertical bearing table and a vertical driver for driving the vertical bearing table to move on the vertical rail, and the turnover driver is installed on the vertical bearing table. And a reasonable and simple track design is adopted, so that the driving efficiency is improved, and the occupied space is reduced.
Preferably, processing areas are respectively arranged at two sides of the trough in the longitudinal direction, and the taking and placing part takes and places the sheets between the material box and the processing areas at the two sides. The same mechanical arm and the material box simultaneously supply sheets to the processing areas on the two sides, so that the processing efficiency is greatly improved, and even the production line mode can be expanded.
The utility model discloses in a sheet processing machine that provides, get including foretell sheet and put the device, still including processing main shaft and set up the processing platform that corresponds with the silo in the processing district.
Preferably, the machining main shafts, the taking and placing parts and the material grooves are consistent in number and are arranged in a one-to-one correspondence mode in the longitudinal direction, and the machining efficiency and the machining accuracy can be improved by the one-to-one arrangement mode in the longitudinal direction.
Preferably, the processing area is internally provided with a longitudinal slide rail used for the processing table to move longitudinally, the processing table is driven by a processing table driver to move longitudinally along the longitudinal slide rail, and the processing table is used as a moving workbench, so that the longitudinal stroke of the mechanical arm can be reduced, the processing efficiency is greatly improved, the material taking and changing space of the processing area can be greatly increased, and the material taking and placing efficiency is facilitated.
Preferably, the sheet taking and placing mechanical arm can move longitudinally and vertically relative to the machine table under the drive of the first driving mechanism, a fixed beam type portal frame is arranged on one side of the machine table in the longitudinal direction, a transverse rail and a transverse driver used for driving the processing spindle to move on the transverse rail are arranged on the fixed beam type portal frame, a longitudinal moving table capable of moving longitudinally on the machine table is arranged below the processing spindle on the machine table, the processing table is arranged on the longitudinal moving table, a material box is arranged on one side of the machine table opposite to the processing spindle, stable operation and integral carrying of the whole equipment can be guaranteed through the matching of the machine table and the fixed beam type portal frame, and installation spaces of various accessories can be provided on the machine table.
Preferably, the material groove is provided with a hollow groove area with the width larger than the thickness of the taking and placing part at one end of the material groove in the arrangement direction of the sheets, the processed sheets are arranged from the hollow groove area to the other end, and the arrangement of the hollow groove area is more favorable for orderly taking and placing the sheets.
Preferably, the rear side of the fixed beam type portal frame is provided with a tool magazine, the tool magazine is internally provided with a tool bit mounting seat corresponding to the machining spindle, the machine table is provided with a longitudinal slide rail, the longitudinal slide rail is provided with a tool bit conveying mechanism used for moving between the tool magazine and the machining spindle to replace a tool bit, the tool bit conveying mechanism is provided with a clamping part used for clamping the tool bit to be taken down or loaded from the tool magazine or the machining spindle, the rear side of the fixed beam type portal frame is provided with a longitudinal slide rail used for matching the tool magazine with the machine table, so that the tool bit is prevented from being polluted, and the space of the machine table is fully utilized.
Preferably, the sheet picking and placing device further comprises a machine table, the first driving mechanism drives the sheet picking and placing mechanical arm to move longitudinally and vertically relative to the machine table, fixed beam type portal frames are arranged on two sides of the machine table in the longitudinal direction, transverse rails and transverse drivers used for driving the machining spindles to move on the transverse rails are arranged on the fixed beam type portal frames, a machining area is arranged on the machine table below the machining spindles, and the material box is installed between the two machining areas. The working efficiency can be greatly improved under the condition of basically not increasing the occupied space.
The automatic sheet taking and placing machine further comprises parallel machines arranged on two longitudinal sides or one longitudinal side of the machine, fixed beam type portal frames provided with processing spindles are arranged on two longitudinal sides or one longitudinal side of each parallel machine, the fixed beam type portal frames on the parallel machines are arranged back to the fixed beam type portal frames close to the machines, and sheet taking and placing mechanical arms, processing areas and material boxes which are the same as those on the machines are arranged on the parallel machines. A plurality of machines can be arranged in parallel to form a production line, so that the processing efficiency is improved, and even a uniform processing procedure is formed.
Preferably, a shared tool magazine is arranged between the parallel machine table and a fixed beam type portal frame arranged back to back of the machine table, a tool bit mounting seat corresponding to the machining spindle is arranged in the shared tool magazine, a shared longitudinal slide rail is arranged on the machine table and the parallel machine table, a tool bit conveying mechanism used for moving between the tool magazine and the machining spindles on two sides of the fixed beam type portal frame arranged back to replace a tool bit is arranged on the shared longitudinal slide rail, and a clamping part used for clamping and taking down or loading the tool bit from the inside of the tool magazine or the machining spindle is arranged on the tool bit conveying mechanism. The two parallel machines share the tool magazine and can also share the tool bit conveying mechanism, so that only space on the machines is fully utilized, and the structural design of the two machines of the tool magazine also greatly saves corresponding material cost and control cost.
The technical proposal can be seen that, because the utility model adopts the same side of the supporting body to be provided with the taking and placing part with two pickers, two sheets can be kept on the same side of the mechanical arm, when the sheets are changed in the processing area, the sheets to be processed can be put down only by directly translating for a certain distance after the sheets are taken, thereby reversing the thought that the sheets can be changed only by overturning the mechanical arm in the processing area in the past, or two different processing tables or even a buffer area are needed to be matched for material changing, because the mechanical arm in the processing area only needs to translate for a smaller distance relatively, the sheets can be changed, the changing time is greatly reduced, the waiting time of the processing main shaft is greatly reduced, the whole processing efficiency is greatly improved, and simultaneously, the material groove structure for arranging the sheets is matched, when the processing main shaft can process the sheets, the sheets can be put into the material groove with enough time and can be orderly stored and, the access efficiency is improved. Simultaneously vertical silo or horizontal silo can be selected to the mode of silo, can select suitable silo mode according to different scenes, more be favorable to the different model processing machines of adaptation, especially at the vertical silo of adaptation, get to put the material more high-efficient and vertically go up occupation space and obtain reducing, the stroke of arm is few, the length of board also can obtain reducing, further reduce the vacant lot in workshop and occupy, more be favorable to realizing the design direction who integrates, the essence miniaturize.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic perspective view of a processing machine of a vertical type trough in which sheets are obliquely placed according to embodiment 1 of the present invention;
fig. 2 is a schematic side view of a processing machine of a vertical type trough in which sheets are obliquely arranged according to embodiment 1 of the present invention;
fig. 3 is a schematic perspective view of a processing machine using a horizontal type trough according to embodiment 1 of the present invention;
fig. 4 is a schematic side view of a processing machine using a horizontal type chute according to embodiment 1 of the present invention;
fig. 5 is a schematic plan view of a sheet pick-and-place robot arm with a special structure according to embodiment 2 of the present invention;
fig. 6 is a schematic perspective view of an improved sheet picking and placing mechanical arm based on fig. 5 in embodiment 2 of the present invention;
fig. 7 and 8 are schematic diagrams of the taking and placing part for taking and placing materials when a vertical type trough with obliquely placed sheets is adopted in embodiment 3 of the present invention;
fig. 9 is a schematic structural view of a processing machine of an island processing type and a production line type according to embodiment 4 of the present invention;
FIG. 10 is a flow chart of a processing method according to embodiment 5 of the present invention;
fig. 11, 12 and 13 are schematic diagrams of the material changing in the processing area, the material taking and discharging in the horizontal type trough by the taking and placing part in embodiment 6 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Example 1:
in this embodiment and the following other embodiments, the specific orientation is helpful for the reader to understand the technical solution more clearly, but the definition of the direction when the device is rearranged is not absolutely limited. Referring to fig. 1, the X-axis direction is a horizontal direction, i.e., a direction in which the supporting body extends, the Y-axis direction is a vertical direction, i.e., a direction in which the pick-and-place unit is driven from the trough to the processing area, and the Z-axis direction is a vertical direction, i.e., an up-and-down direction of the processing spindle.
The embodiment of the utility model provides a sheet processing machine, as shown in fig. 1, including processing main shaft 1 and processing platform 2, still include that the sheet is got and is put the device, the processing main shaft has included spindle motor 11 and processing tool bit 12, and processing tool bit 12 is removable so that process the work piece sheet of different grade type. The machining table 2 is disposed in a machining area, which is an area defined by a person and is actually used to distinguish a trough area from a machining area. The sheet is processed in the processing zone and access is accomplished in the chute area. In some cases, only one processing table is provided in the processing area, and the processing table is a processing area, and in some cases, the processing table is movable in the longitudinal direction, and the movable area of the processing table is used as the processing area. For part of processing machines, a machine table is not needed, and a processing main shaft and a processing table are directly arranged on a production line; it should be further noted that the embodiment is exemplified by a processing spindle for engraving, milling and carving, but other processing machines may be a sweeping machine, a polishing machine, or even a material conveyor, so for the sheet material taking and placing device, the processing area does not need to be provided with the processing spindle, and the processing area may be only a material transfer area of the material conveyor. As a processing machine needing closed environment processing, the processing machine also comprises a machine table 9, wherein the machine table can adopt a marble machine table or a metal machine table, and a protective cover can be arranged on the machine table to ensure that the processing environment is closed, so that the safety is ensured. In this embodiment, the longitudinal rail is installed on one of the two lateral sides of the machine table 9, which is beneficial to the spatial layout of the whole machine. One side of the machine platform in the longitudinal direction is provided with a fixed beam type portal frame 91, the fixed beam type portal frame 91 is provided with a transverse rail and a transverse driver for driving a processing spindle to move on the transverse rail, the processing spindle can move vertically and transversely relative to a processing area, a longitudinal moving platform 20 which can move longitudinally on the machine platform is arranged on the machine platform 9 below the processing spindle 1, the processing platform 2 is arranged on the longitudinal moving platform 20, the processing platform is uniformly arranged by the moving platform, so that the unified control is facilitated, and the unified installation and maintenance are also more convenient. Not all of the associated drive mechanisms need to be shown in fig. 1.
For a multi-spindle processing machine, the tool bit needs to be replaced, in this embodiment, a tool magazine 6 is disposed at the rear side of the fixed beam type gantry, a tool bit mounting seat 61 corresponding to the processing spindle 1 is disposed in the tool magazine 6, a longitudinal slide rail 62 is disposed on the machine table 9, a tool bit transport mechanism 63 for moving between the tool magazine 6 and the processing spindle 1 to replace the tool bit is disposed on the longitudinal slide rail 62, and a clamping portion 64 for clamping the tool bit to be removed from or attached to the tool magazine 6 or the processing spindle 1 is disposed on the tool bit transport mechanism 63. The tool magazine 6 is arranged on the rear side of the fixed beam type portal frame 9, so that the tool magazine is beneficial to isolation from the machining spindle 1, pollution to a headstock is reduced, tool bits are convenient to replace, interference of the tool magazine to the machining spindle is reduced, the mobile station 20 can even share the longitudinal slide rail 62 arranged on the tool magazine, or the tool bit conveying mechanism 63 can even share the longitudinal slide rail of the mobile station 20, and the only space of a machine table is efficiently utilized.
The sheet taking and placing device is used for providing a taking and placing function for the processing machine, and comprises a material box 3 and a sheet taking and placing mechanical arm 5 used for taking and placing sheets 4 between the material box 3 and the processing area (the processing table 2); the pick-and-place robot 5 includes a carrier 51 extending in the transverse direction as the longitudinal direction, a flip driver 52 for driving the carrier 51 to flip about the longitudinal direction as the axis, and a first driving mechanism 53 for driving the flip driver and the carrier to move in the vertical and longitudinal directions.
The carrier 51 is provided with a pick-and-place unit 510, the pick-and-place unit 510 is used for picking and placing sheets, the pick-and-place unit includes two pickers 511 and 512 for picking and placing sheets, the two pickers are actually used as two modules of the pick-and-place unit, the pick-and-place unit may have specific structural characteristics, or may only include two pickers and a bearing or mounting structure, which plays a role of picking and placing, one picker is responsible for picking and placing a sheet correspondingly, the pickers may adopt suckers, one picker may adopt a large sucker, or may include several small suckers, for example, in fig. 1, 4 small suckers are used and distributed in a rectangular shape as one picker.
The pick-and-place unit 510 in this embodiment is configured to reverse the conventional design, two pickers 511 and 512 of the pick-and-place unit 510 are respectively disposed on two sides of the carrier 51 along a direction perpendicular to the length direction of the carrier 51, fig. 2 is a side view of the carrier, the length direction of the carrier is exactly perpendicular to the paper surface in fig. 2, fig. 1 shows a three-dimensional structure of the carrier, which is equivalent to that one pick-and-place unit intersects with the cross of the carrier to form a cross structure, fig. 1 shows a structure in which 4 pick-and-place units are arranged in a manner of extending along the length direction (transverse direction) of the carrier, for example, the carrier 51 rotates until the two pickers 511 and 512 of the pick-and-place unit 510 face downward, and the two pickers are disposed on the front and rear sides of the carrier in the longitudinal direction, and the two pickers are disposed on the same plane of the carrier, so that one picker 511 can pick up a processed sheet 4 in the processing area (processing station The sheet to be processed is filled in the processing area, the replacement of the sheet in the processing area can be realized without turning over, and the process that the sheet is placed in the processing area by the pickup device in a manner that the pickup device can be translated relative to the processing area comprises the process that the pickup device is lifted up and put down and translated in the air; as a special adaptation, the magazine 3 has troughs for arranging sheets, that is, the sheets are placed in sequence, the troughs are corresponding to the number of the picking and placing parts on the mechanical arm for picking and placing sheets, for example, if there is only one picking and placing part, there is only one trough, and the troughs are correspondingly arranged on the traveling route of the picking and placing part, so that the picking and placing parts have the best convenience for picking and placing sheets to the troughs, the magazine 3 in fig. 1 has 4 troughs, the four troughs are arranged side by side in the transverse direction, either the troughs are independently assembled together or one magazine is divided into four troughs, and fig. 1 also shows 4 picking and placing parts corresponding to the 4 troughs. The processing machine is a device for engraving and milling the engraved sheet, and therefore, a processing table 2 is provided, the sheet 4 is processed on the processing table 2, the processing table 2 is provided in a processing area corresponding to a trough, and also corresponding to the traveling path of the pick-and-place unit 510, so that the starting point and the ending point of the sheet are two points and one line of optimum short-cut paths, which is beneficial to shortening the traveling path of the pick-and-place unit for picking and placing the sheet.
It is understood that the two pickers 511 and 512 on the two sides are disposed on the same plane, which may be the same plane in the same plane, as shown in fig. 2, but of course, the two pickers may also be different planes on the same plane, and the different planes refer to two planes having a certain height difference but the same direction, so as to prevent the two pickers in front and behind and the material on the pickers from interfering and colliding with the auxiliary devices such as the fixture during the switching process when the auxiliary devices such as the positioning fixture higher than the workpiece are disposed on the processing table.
In order to promote machining efficiency, simultaneously the embodiment of the utility model provides an in the supporting body along horizontal extension form certain length, also for the portion of getting is put to the extension installation on it provides the condition, the supporting body is arranged along length direction on the same side and is got the portion of getting more than two sets of at least, the silo in the magazine also correspondingly has more than two. The same plane of the carrier refers to the same plane with respect to the turning, i.e. the pickers on the carrier all face the same plane. Taking the processing machine in fig. 1 as an example, four pick-and-place units are provided on the same carrier, which corresponds to eight pickers, and four troughs are provided in the magazine. The material box is a carrier of the material groove, the material groove can also be independently formed into the material box, or the material boxes are assembled by a plurality of material grooves, and the material boxes are assembled by a plurality of material grooves and are easy to uniformly install, disassemble and maintain. The trough in the material box can be a vertical trough, such as the trough in fig. 1 and fig. 2 is a vertical trough, or can be a horizontal trough, such as the trough in fig. 3 and fig. 4 is a horizontal trough, that is, the trough has partition troughs which enable the sheets to be horizontally arranged and vertically arranged or enable the sheets to be vertically arranged and longitudinally arranged. The sheets are horizontally arranged and vertically arranged, the trough is a vertical trough, and the height of the trough determines the capacity of the sheets. The sheets are arranged vertically and horizontally, the trough is a horizontal trough, and the length of the trough determines the capacity of the sheets.
Because get the material in-process, the silo probably will have a bit position skew on horizontal, if adopt artifical debugging then need too many manpower and time cost, set up one in this embodiment and be used for adjusting the silo position on horizontal so that silo vertically with get the magazine adjustment drive arrangement who puts the portion alignment, magazine adjustment drive arrangement includes the horizontal track of magazine and drives the magazine and move on the horizontal track of magazine (not shown in the figure) in the magazine bottom. As shown in fig. 1, a magazine mounting base 11 for mounting a magazine thereon is provided on the machine base 1. The cartridge adjustment drive means described above may be provided on the cartridge mount 11.
The first driving mechanism 53 in this embodiment includes a longitudinal rail 531, a longitudinal stage 532, a longitudinal driver (not shown in fig. 3) for driving the longitudinal stage 532 to move on the longitudinal rail 531, a vertical rail 533 disposed on the longitudinal stage 532, a vertical stage 534, and a vertical driver 535 for driving the vertical stage 534 to move on the vertical rail 533, wherein the flipping driver 52 is installed on the vertical stage 534. The linear stroke driving mode can be realized by adopting a driving motor to be matched with a lead screw assembly, and the running distance and the running speed of the controlled component can be controlled very accurately. The turnover driver can adopt a driving motor, the turnover angle and the turnover speed of the bearing body are accurately controlled, more taking and placing parts and pickers are naturally placed on the bearing plate, so that a plurality of main shafts are expanded, and the turnover driver can be additionally provided with a boosting speed reducer so as to output larger torque and drive more taking and placing parts.
In the embodiment, the number of the processing spindles 1, the pick-and-place part 510 and the material grooves are consistent and are arranged in one-to-one correspondence in the longitudinal direction, so that the components in the longitudinal direction are neatly matched and have the shortest stroke distance, and the processing efficiency is highest.
It can be seen that the processing machine in this embodiment has a mechanical arm with a special structure, and is matched with a material tank for orderly discharging sheets, so that the pick-and-place part shuttles and carries the sheets between the material tank and the processing area, and the pick-and-place part in the processing area can move a little distance in the longitudinal direction relative to the processing table, thereby realizing the replacement process of the sheets by one pick-and-place. Obviously, the mechanical arm that the processor adopted in this embodiment can very big improvement machining efficiency. In addition, for the mechanical arm to take materials from the trough or discharge materials to the trough, the mechanical arm structure in the embodiment is also very efficient, no matter the mechanical arm is a vertical trough or a horizontal trough, if one picker of the pick-and-place part takes the to-be-processed sheet upwards, and the other pick-and-place part takes the processed sheet back, the picker can downwards place the processed sheet into the empty trough area of the trough, and then the mechanical arm is turned over to enable the picker to upwards continue to pick up the to-be-processed sheet, and the processing state of the processing spindle is not affected in the process of taking and discharging materials from the trough area, so that the transfer time of the mechanical arm is reasonably distributed, that is, more operation time of the mechanical arm in the trough area is allowed, and the stop waiting time of the. Compared with the distribution problem that the material taking and placing time and the processing waiting time are not considered in the current processing equipment, the method makes great contribution from the perspective of reasonably distributing the time of each stage.
Example 2:
for a sheet pick and place device, the design of the sheet pick and place robot arm can be continuously optimized to adapt to more processing occasions. For example, the carrier is a carrier bar, the carrier bar is provided with carrier blocks distributed along the transverse direction, and the carrier block is provided with two pickers as two pickers of a group of pick-and-place parts. The combined installation type mechanical arm is favorable for disassembly and maintenance of a single taking and placing part, and can be extended and expanded in the later period as required. But install the carrier block and need the adaptation design on the carrier bar, still need artifical installation and distribution, the cost is higher, especially certain thickness of carrier block itself, for guaranteeing the pipeline arrangement, one of them face of carrier block is installed on the carrier bar, and the carrier bar itself also has certain thickness, and the thickness stack of two parts makes actual portion thickness of putting very big of getting, needs the wider dead slot district when the adaptation silo, and then has leaded to the capacity of whole silo to be compressed.
The present embodiment provides an optimal mechanical arm solution, the mechanical arm for a sheet picking and placing device, as shown in fig. 5 (omitting a driving mechanism), includes a supporting body 51 extending in a transverse direction as a length direction, the supporting body 51 is a supporting plate 51, picking and placing portions 510 are distributed in the supporting plate 51 in the transverse direction, a transverse end 501 of the supporting plate 51 is installed on a turning driver, and two pickers 511 and 512 of each group of picking and placing portions are directly disposed on two sides of the same plane of the supporting plate 51 by taking a transverse turning axis of the turning driver as a central line. It can be seen that, in this kind of scheme, the supporting body adopts the structure of integrated board, the portion of putting is equivalent to by the virtualization, the part that the dotted line shows in figure 5 is the portion of putting, the pickup is direct mount on the loading board, make the thickness of whole portion of putting by very big compression, can realize the thinnest of the portion of putting, this kind of arm like rectangular plate has the thinnest portion of putting thickness of putting, the problem of various parts installation has still been removed from, the pipeline can be arranged from the lacuna department of design in the loading board, the fender rod corresponding backshift of silo can avoid being touched by the loading board. The mechanical arm with the integrated structure is also best in structural stability, and the problem that the taking and placing part (bearing block) is loosened can be solved.
In order to accommodate a plurality of bins and improve the versatility of the integrated robot arm, an escape slot 500 with an outward opening is provided between the adjacent pick-and-place units 510 of the carrier plate 51, as shown in fig. 6. The avoiding groove 500 can be formed by a mold at the beginning of production, and the design of the avoiding groove can further reduce the weight of the mechanical arm, so that the mechanical arm is easier to drive, and the power consumption is reduced.
The one end that loading board 51 is used for installing upset driver 52 forms the constriction 514 that the width is less than loading board body width, whole weight can further be lightened to this kind of design on the one hand, on the other hand can form the structure of dodging the groove, the tip of constriction sets up the installation department 513 that the width is greater than constriction 514 body width, so that increase the combination area of loading board and upset driver, and then increase stability, installation department 513 can be followed two shoulders 515 on installing the loading board on the upset driver transversely for constriction 514 formation, can adopt screw or bolt to pass two shoulders and fix the loading board to the upset driver, the manual operation installation of being convenient for very much of this kind of structure, for installation screw or bolt provide sufficient space, the mode of transversely installing is favorable to fixed and atress most.
The supporting body is used for installing the one end formation plate structure of upset driver, sets up the rectangular channel with supporting body plate structure adaptation on the upset driver, and during the installation, the one end of loading board slides in along the rectangular channel, and is very convenient, and the rectangular channel can play guiding orientation's effect on the one hand, and on the other hand, loading board one end is deeply gone into the inslot and more is favorable to the structure to stabilize, and the cell wall of at least rectangular channel can exert certain holding power to the loading board.
The transverse axis of the bearing body is used as a symmetry axis to form a symmetrical structure by the taking and placing part, the two pickers on the taking and placing part are symmetrically arranged relative to the transverse axis of the bearing body, the symmetrical structure is favorable for overturning balance of the bearing body, energy consumption is reduced, the taking and placing part can be controlled more easily when the sheet is taken and placed in the trough, and the appearance of the whole mechanical arm is more attractive.
The supporting body can obtain a consistent, neat and reasonable section through an extrusion and stretching process, and the length is not limited.
Example 3:
for a sheet taking and placing device, the design of the material box can be continuously optimized to adapt to more processing occasions. The vertical horizontal material groove of the sheet material occupies more space in the longitudinal direction, and the longitudinal length of the material groove is increased when the space of the material groove needs to be lifted, so that the stroke of the mechanical arm is increased, the longitudinal space of the machine table is compressed, or the longitudinal length of the machine table needs to be increased, and the occupation of the machine table space is increased; and the vertical silo that the sheet was kept flat need not to occupy too much space on the horizontal direction (on the vertical), and the capacity of silo depends on the vertical height of silo, and so, the vertical space of board can not be extruded, and the vertical space of board can further reduce even to obtain littleer space and occupy, originally useless vertical space then can fully be utilized simultaneously, consequently, adopt vertical silo as preferred scheme in this embodiment.
For example, the magazine shown in fig. 1 is used as a model, the trough is provided with partition grooves which enable the sheets to be horizontally arranged and vertically arranged, the trough is longitudinally provided with a front sheet placing area and a back sheet placing area respectively, and the front sheet placing area and the back sheet placing area are arranged in a back-to-back mode and are opposite in opening. The structure design obviously increases the capacity of the trough and can adapt to the best processing mode, for example, the mechanical arm can enable the pickup device to face downwards, the pickup device at the rear side of the taking and placing part picks up the sheet to be processed in the front sheet placing area and then moves to the processing area, the pickup device at the front side of the taking and placing part picks up the processed sheet in the processing area and puts down the sheet to be processed by the pickup device at the rear side, the taking and placing part returns to the trough area, the front pickup device of the taking and placing part puts the processed sheet into the rear sheet placing area of the trough, the orientation of the pickup device can be adjusted without overturning by the mechanical arm in the whole process, and the taking and placing time of the taking and placing part in the trough area is greatly reduced. Based on the fact that the front side sheet placing area and the rear side sheet placing area are arranged on the trough, in a further improvement scheme of optimization design, a turnover driver is not needed to be arranged in the mechanical arm, namely, the sheet taking and placing mechanical arm comprises a supporting body which extends in the transverse direction as the length direction, a taking and placing part is arranged on the supporting body, the taking and placing part comprises two pickers which are downwards arranged for taking and placing sheets, the two pickers are respectively arranged on two sides of the supporting body along the length direction of the supporting body, and after one picker picks up processed sheets in the processing area, the other picker can horizontally move relative to the processing area to fill the processed sheets in the processing area; the carrier is directly mounted on the first drive mechanism, i.e. the carrier is mounted on the vertical carrier of the first drive mechanism, and the vertical carrier assumes the mounting structure of the tumble drive as in embodiment 1. The above-mentioned silo with this arm complex then need set up the interval of adjacent separating groove as being greater than the thickness of portion of putting and pick up between two sheets that the picker of portion of putting can stretch into adjacent separating groove, so, the picker is got the sheet and is deposited the sheet in vertical silo down always, also need not to set up empty groove district, the design of portion of putting single face picker is helped realizing the thinnest thickness of portion of putting, be favorable to the adjacent separating groove interval of silo to reduce, in order to increase capacity.
For a vertical chute, since the sheet lies flat, the problem is faced with the possibility that the sheet may slip out of the chute during handling, which is why most machine designers choose a horizontal chute instead of a vertical one. In a possible embodiment, the trough is provided with separating grooves which enable the sheet to be horizontally placed and vertically arranged, a stopping part used for preventing the sheet from sliding out during carrying is arranged at the opening of the trough, and the stopping part can be movably arranged at the opening of the trough and can be removed from the opening of the trough during processing. The stopping portion of the movable mounting structure can effectively place the sheet to slide out of the material groove, however, manual work or automatic devices are needed to be additionally arranged to drive the stopping portion to move away, the time consumed by the manual work is more, and the problems of design errors and high cost are inevitable when the automatic devices are additionally arranged.
In view of the above problems, the present embodiment provides a trough for a sheet taking and placing device, as shown in fig. 7 and 8, the trough has a partition which makes the sheet 4 lie flat and are arranged vertically, the partition includes a front clamping portion 301 fixed to the front of the sheet and a rear clamping portion 302 fixed to the rear of the sheet, and the lower horizontal position of the rear clamping portion 302 relative to the front clamping portion 301 is used for making the rear of the sheet 4 sink to form an inclined position. It will be appreciated that in this case, to distinguish the way in which the sheet is placed upright, the slightly inclined arrangement of the sheet may still be considered to be a flat arrangement. In this technical scheme, need not increase extra backstop part, the cost is practiced thrift, and simple structure easily realizes, and machine tool designers often are limited to the design thinking of simplifying the drive, and horizontal groove or perpendicular groove are the most adaptation and simplify the drive, but, use the silo as the core, the silo in slant groove is as the reference benchmark, and more problems can then be solved to reverse change drive, realize the sheet landing with the silo of simplest structure, the sheet that the slope was placed can let the silo wholly more stable, can not overturn. In the aspect of driving, only the first driving mechanism needs to be adjusted adaptively, for example, the pick-and-place part is driven to continuously iterate in the longitudinal direction and the vertical direction, so that the mechanical arm integrally enters or withdraws at an angle matched with the inclined groove. In this embodiment, it is preferable that the first driving mechanism drives the carrier body simultaneously at a corresponding speed ratio in the vertical direction and the longitudinal direction to enable the carrier body carrying and placing portion to move obliquely at a certain speed, so that the efficiency is higher. Fig. 7 is a schematic view of the pick-and-place part obliquely picking up a piece of processed sheet 4; fig. 8 is a schematic view of the pick-and-place section about to pick up one sheet 4 to be processed obliquely.
It can be understood that, whether the vertical type trough or the horizontal type trough is adopted, the pick-and-place part can occupy a certain space when extending into the trough for taking materials, if the trough is full of sheets, a transfer area or a buffer area needs to be provided, and extra space is not desired by a designer, therefore, one end of the trough in the embodiment is set as an empty groove area (an empty groove area 30 is specially marked in the material box 3 in fig. 4, and a processed sheet is already placed in the empty groove area 30) for the pick-and-place part to take back the processed sheets from the processing area and then arrange the processed sheets from one end of the empty groove area of the trough to one end of the processed sheet area of the trough sequentially to form a trough shared by the processed sheets and the processed sheets. The empty groove area is an area reserved after the sheets to be processed are discharged in the material groove, but the empty groove area is not always idle, the first processed sheet and the subsequent processed sheets can be discharged from the area, the number of the processed sheets is increased along with the reduction of the sheets to be processed, the empty groove area is finally transferred to the other end from one end of the material groove, the processing is completed, and the material box or the material groove is directly taken away. Therefore, under the condition that the sacrificial trough is full, extra space does not need to be arranged, and the sheet taking and placing efficiency can be greatly improved. Generally, the thickness of the pick-and-place part is larger than the distance between two sheets in the adjacent separated slots of the material groove, especially the pick-and-place part of the type that the bearing block is arranged on the bearing rod, so that a blank groove area is needed to be provided, and the material groove is provided with the blank groove area with the width larger than the thickness of the pick-and-place part at one end of the arrangement direction of the sheets for arranging the processed sheets from the blank groove area to the other end. Often empty groove district vacant one separates the groove and can make the portion of putting normally get and put the sheet from the silo, to the portion of putting that thickness is great then need vacant more separate grooves, can reduce the actual capacity of silo like this, consequently the designer can be as far as thinner as the portion of putting designs, obviously the single face sets up the picker and more is favorable to realizing that the portion of putting thickness minimizes, especially the supporting body adopts the design of loading board, more can realize the thinnest thickness.
Example 4:
in the present embodiment, an improvement is made based on the above-mentioned embodiment, mainly a processing island mode with opposite processing areas on two sides is formed around the sheet taking and placing device, as shown in fig. 9, specifically, the processing areas (processing tables 2) are respectively arranged on two sides of the trough (material box 3) in the longitudinal direction, and the taking and placing portion of the carrier 51 takes and places the sheets between the material box and the processing areas on two sides. In the existing loading and unloading device, as for some processing machines mentioned in the background art, a processing main shaft and a processing area are arranged on one longitudinal side of a machine table, a trough is oppositely arranged on the other longitudinal side of the machine table, meanwhile, the whole machine table in the complete processing machine is completely covered by a protective cover to ensure safety, and a sliding door is arranged on the machine table side provided with the trough, so that an operator can conveniently replace the trough, and the design idea that a mechanical arm slides in the longitudinal direction of the machine table and the machine table is longitudinally provided with the sliding door is always followed by the technical personnel in the field. Even if a multi-axis linkage mechanical arm is used in corresponding processing equipment to take and place materials in various directions, the fixed arrangement type material groove is still difficult to operate.
In view of this, the present embodiment breaks through the conventional thinking, changes the idea that the sliding door is arranged on one side of the trough, and the processing machine formed by the method is more efficient.
A machine table 9 is arranged in the processing machine, a first driving mechanism 53 is installed on one side of the machine table 9 in the transverse direction, fixed beam type portal frames 91 are arranged on two sides of the machine table 9 in the longitudinal direction, transverse rails and transverse drivers used for driving a processing spindle 1 to move on the transverse rails are arranged on the fixed beam type portal frames 91, a processing area is arranged on the machine table 9 and located below the processing spindle 1, and a material box 3 is installed between the two processing areas. The first driving mechanism is arranged on one side of the machine platform in the transverse direction, and the supporting body of the sheet taking and placing mechanical arm can be favorably expanded in the transverse direction.
In other embodiments, the first driving mechanism may be disposed above the machine platform by using a suspended rail, or even a structure in which a longitudinal slide rail of the first driving mechanism is disposed at a middle position of the machine platform and a supporting body of the mechanical arm extends to both lateral sides may be used, as long as it is ensured that the mechanical arm of the sheet pick-and-place machine can move in the longitudinal and vertical directions relative to the machine platform. If first actuating mechanism sets up at the platform upside, then the horizontal both sides of platform all can set up the sliding door in order to change the silo, and the space of platform can be further utilized.
In order to facilitate the uniform arrangement of each processing machine, corresponding improvement measures are taken in the embodiment, so that a plurality of processing machines can be connected in parallel to form a production line mode.
The parallel mode can enable adjacent machine stations to have more shared spaces, for example, a tool magazine can be shared, and the specific scheme is as follows: a shared tool magazine is arranged between a parallel machine station 9 and a fixed beam type portal frame arranged by leaning against the machine station, the machine station and the parallel machine station can have the same structure in fact, a tool bit mounting seat corresponding to a machining spindle 1 is arranged in a shared tool magazine 6, a shared longitudinal slide rail 62 is arranged on the machine station and the parallel machine station, a tool bit conveying mechanism 63 used for moving between the tool magazine and the machining spindles on two sides of the fixed beam type portal frame arranged by leaning against to replace tool bits is arranged on the shared longitudinal slide rail 62, and a clamping part used for clamping and taking down or loading the tool bits from the inside of the tool magazine or the machining spindles is arranged on the tool bit conveying mechanism.
As shown in fig. 9, the production line formed in this embodiment includes at least two parallel machines, fixed beam type portal frames are disposed on two longitudinal sides of each parallel machine, a shared tool magazine is disposed between every two adjacent fixed beam type portal frames (disposed back to back), a shared longitudinal slide rail is disposed between every two adjacent machines, a tool bit transport mechanism for moving between the tool magazine and the machining spindles on two sides of the fixed beam type portal frames disposed back to replace a tool bit is disposed on the shared longitudinal slide rail, and a clamping portion for clamping a tool bit to be taken down from or loaded onto the tool magazine or the machining spindles is disposed on the tool bit transport mechanism. Of course, there may be special machines at both ends of the whole production line, that is, the machines at the end may be a single fixed beam type portal frame, and the fixed beam type portal frame may be arranged back to back with the fixed beam type portal frame of the adjacent machine, but the machines at the end may also be a structure in which the fixed beam type portal frames are arranged at both longitudinal sides, and only the tool magazine at the rear side of the fixed beam type portal frame near the outer end is not shared. Therefore, the common tool magazine can meet the requirement as long as the rear sides of two adjacent fixed beam type portal frames of adjacent machine tables are provided with the common tool magazine.
The tool magazine structure can completely use the tool magazine device disclosed in the patent document with the Chinese publication number of CN109465664A and the related application.
Because the production line that this kind of parallel board formed does not set up the sliding door around vertical, but can set up sliding door or opening and be used for changing the silo in the board horizontal both sides or one of them side, consequently, more be favorable to increasing silo transportation line in the side of board, with the horizontal transport line that the transportation line formed the linking, the silo passes through the transportation line and carries to the horizontal side of every board, then carries into the board through horizontal transport line, further realizes the automation line.
Example 5:
for the sheet processing machine in the above embodiments, the present embodiment provides a relatively efficient processing method, which is suitable for a sheet taking and placing device in which the taking and placing portion includes two pickers for taking and placing sheets, and the two pickers are respectively arranged on two sides of the supporting body along a direction perpendicular to the length direction of the supporting body, and the mechanical arm structure and the material slot are matched to sequentially discharge the sheets, and the processing of the processing machine is performed according to the following steps.
Because the portion of putting includes two pickers, consequently, under some environment, can let two pickers all pick up the sheet respectively when getting the material for the first time, realize the first full-load material of getting. Taking the mechanical arm in fig. 6 as an example to be more convenient for the reader to understand, one of the pickers 511 of the pick-and-place part takes out the sheet to be processed from one end of the trough and then retreats out of the trough, the carrier carries the pick-and-place part to the other end of the trough, and the carrier is turned over to enable the other picker 512 to pick up the sheet to be processed at the other end of the trough; the carrier body bears the pick-and-place part to the processing area, the sheets to be processed are placed to the processing area by one of the pickers 511, the pick-and-place part exits from the processing area to wait for the sheets in the processing area to be processed, the idle picker 511 of the pick-and-place part picks up the processed sheets in the processing area and longitudinally translates the processed sheets to be processed by the other picker 512 and then the processed sheets are placed to the processing area, and the pick-and-place part exits from the processing area and moves to the material box; the carrier rotates to bring the pickup 511, which has picked up the processed sheet, close to the chute and hold the processed sheet plane parallel to the in-chute sheet plane, and the processed sheet is put into the chute.
Still another kind gets the full-load mode of portion of putting when material for the first time and is, reserve sufficient space in the empty groove district of silo, and the one end in empty groove district places a slice in advance and treats the processing sheet, and the portion of putting stretches into this piece in the empty groove district of absorption and treats the processing sheet in the empty groove district, and the portion of putting withdraws from the silo upset and makes another idle picker stretch into the silo after treating the processing sheet and place the district and continue to take out a slice and treat the processing sheet, realizes that the portion of putting is full-load.
The space that reduces silo empty groove district increases the silo capacity, can realize again simultaneously getting the mode that the portion of putting was full-load for the first time can also be, the other temporary storage that sets up of silo puts into the temporary storage with a slice waiting to process the sheet, picks up the waiting to process the sheet of this temporary storage by a picker earlier, then gets the portion of putting through the adjustment, stretches into the silo by another idle picker and takes out waiting to process the sheet, realizes getting the portion of putting full-load. The mode of the taking and placing part moving to the processing area for discharging and replacing the sheets after being fully loaded is not different from the mode.
In the process of actual processing, the full load of the taking and placing part is not an essential step when the material is taken for the first time, and in view of the idea of the technical scheme, the mechanical arm is moved to operate as much as possible, and more time can be allocated to the mechanical arm to operate in the trough area to take or place the material when the processing spindle is processed, therefore, in the optimized processing method, the taking and placing part can only take out one sheet to be processed when the material is taken for the first time. The specific implementation method is as follows, and the mechanical arm in fig. 6 is still taken as an example to facilitate the understanding of the reader, which is combined with fig. 10.
Firstly, a material taking step: when processing begins, two pickers of the taking and placing part are idle, the supporting body of the mechanical arm for taking and placing the sheet rotates to the state that the plane of the taking and placing part is parallel to the plane of the sheet, so that one of the pickers of the taking and placing part can stretch into the trough, at the moment, the pickers should face the sheet to be processed, so that the pickers stretch into the trough and slightly move forwards to pick up the sheet to be processed, and the sheet to be processed can be picked up and taken out. It should be noted that, in this step, if the plane of the pick-and-place unit is already parallel to the plane of the sheet and the pickup device is also facing the sheet to be processed, it is considered that the plane of the pick-and-place unit rotates by 0 °, if fine adjustment is required, the pick-and-place unit is driven to rotate by a small angle, if the plane of the pick-and-place unit is perpendicular to the plane of the sheet, the pick-and-place unit needs to rotate by 90 °, in short, the pick-and-place unit needs to be adjusted according to the angle of the pickup device when taking materials in the trough area, so.
Then, the material changing step is carried out: the bearing body on the mechanical arm for taking and placing the sheet material moves relative to the processing area to enable the taking and placing part to enter the processing area. Considering that the processing area can be set as a mobile station mode moving longitudinally, the step of moving the carrier on the mechanical arm for taking and placing the sheet material and the processing area relatively to make the taking and placing part enter the processing area comprises the following steps: the supporting body moves a certain distance to the processing area to enable the taking and placing part to enter the processing area to take or place materials, or the processing table moves a certain distance to the material groove and the supporting body also moves a certain distance to the processing area to enable the taking and placing part to enter the processing area to take or place materials. The mobile station initiative in the processing district is close to the silo district, has reduced the sheet on the one hand and has got the stroke of putting the arm, has promoted machining efficiency, and on the other hand mobile station is close to the silo district and then has walked out the interference area of processing main shaft and can obtain the region spacious relatively, is convenient for get the portion of putting and change the silo fast high-efficiently. The bearing body rotates to a state that the plane of the taking and placing part is parallel to the plane of the processing area, the sheets face downwards, so that the to-be-processed sheets can be quickly put down after being directly picked up by the picking device, the action can be finished before entering the processing area, the taking and placing part can be adjusted in the trough area to enable the sheets to face downwards, then the to-be-processed sheets on the processing area are taken away by the free picking device in the taking and placing part, the taking and placing part longitudinally translates relative to the processing area, the to-be-processed sheets are placed to the processing area by the picking device which picks up the to-be-processed sheets, and therefore the material changing step.
Then the material storage step: the pick-and-place part picks up the processed sheet and moves to the trough, the carrier rotates to enable the pick-up device which picks up the processed sheet to be close to the trough, the plane of the processed sheet is kept parallel to the plane of the sheet in the trough, the processed sheet is placed into the trough, and therefore the material storage step is completed. In this step, if the pick-and-place unit retrieves the processed sheets from the processing area, and the thickness of the pick-and-place unit is greater than the distance between adjacent slots in the material trough, a blank trough area is provided at one end of the material trough, and the pickup unit retrieves the processed sheets from the processing area and sequentially places the sheets from one end of the blank trough area to one end of the to-be-processed sheets. The picker orientation during the material stock can be for when getting the material picker orientation upset 180, for example when getting the material picker up, then the picker should be down during the material stock, get that put the portion plane and silo in sheet plane keep having a parallel and the picker towards empty groove district one side, and then put the sheet back to the silo smoothly. If the material storage device is a horizontal type material groove, the picking and placing part needs to be overturned and adjusted by +/-90 degrees when taking back the sheet from the processing area, so that the picker faces to the empty groove area and is erected, if fine adjustment is needed, the picking and placing part can be driven to rotate by a small angle, and in short, the picking and placing part needs to be adjusted according to the angle of the picker when the material storage is carried out in the material groove area so as to stretch into the material groove to store the material.
And finally judging exit or circulation: the machining main shaft can be judged to need to be stopped to replace the material groove fully loaded with machined sheets after a certain number of sheets are machined according to the number of the sheets to be machined in the material groove, whether the machined sheets placed back into the material groove are the last sheet is judged according to the system, and if the machined sheets are the last sheet, the taking and placing part exits the material groove and finishes taking and placing the sheets. If the sheet is not the last processed sheet, the material taking and placing part needs to continue to take the material to the processing area, and the material taking and placing part returns to the material taking step after withdrawing the material groove.
It can be seen from the above that, the processing method in this embodiment is applicable to a horizontal type trough or a vertical type trough, the pick-and-place part in the whole processing method can be almost without adjustment in the processing area, the pick-and-place part directly moves relative to the processing area in a parallel state to realize material changing, the time of waiting for material changing of the processing spindle is minimized, the processing time period of the processing spindle covers the time period of material taking and material storing of the mechanical arm in the trough area, the complex actions of the mechanical arm are placed in the trough area, the simple actions of the mechanical arm are left in the processing area, and the action time and the action area of the mechanical arm are reasonably distributed.
Except for the vertically arranged or horizontally laid material groove, the sheet is obliquely placed in the material groove and still suitable for the processing method of the embodiment, only the pickup device takes the sheet to be processed out of the material groove or the processed sheet is placed into the material groove, the driving can be properly adjusted, namely, the turnover driver drives the supporting body to rotate so that the inclination angle of the taking and placing part is consistent with the inclination angle of the sheet in the material groove, the first driving mechanism drives the supporting body simultaneously in the vertical direction and the longitudinal direction at a corresponding speed ratio so that the supporting body bears the taking and placing part to obliquely move at a certain speed, the sheet is specially arranged, the first driving mechanism is matched with the longitudinal direction and the vertical speed ratio to realize the oblique taking and placing of the sheet.
Example 6:
in this embodiment, the processing method is optimized based on the foregoing embodiment 5, so that the processing method is more efficient when being applied to a vertical type trough and a horizontal type trough.
Taking a vertical type trough as an example, two processing modes exist, wherein one mode is that the sheets are horizontally arranged in the trough and vertically arranged, the pickup device faces downwards and picks up the sheets to be processed from top to bottom in the trough, the pickup device close to the trough takes the sheets to be processed out of the trough, the supporting body bears the pick-and-place part to the processing area, the pickup device which is idle on the pick-and-place part picks up the processed sheets in the processing area, the pick-and-place part longitudinally translates relative to the processing area and places the sheets to be processed into the processing area through the pickup device close to the trough, the supporting body bears the pick-and-place part to the trough, and the pick-and-place part overturns to enable the pickup device which picks up the processed sheets to face upwards and place the processed sheets into the. In the whole mode, the pickup device faces downwards to take out the sheets from the material groove and then directly enters the processing area for material changing, but when the processed sheets are taken back, the pickup device needs to be turned over and adjusted, so that the pickup device faces upwards to place the processed sheets into the empty groove area.
The other mode is that the sheets are horizontally arranged in the trough and vertically arranged, the pickup device faces upwards to pick up the sheets to be processed in the trough from bottom to top, the pickup device close to the trough takes the sheets to be processed out of the trough, the pick-up part is turned over to enable the pickup device picking up the sheets to be processed to face downwards, the bearing body bears the pick-up part to the processing area, the pickup device which is idle on the pick-up part picks up the processed sheets in the processing area, the pick-up part longitudinally translates relative to the processing area and places the sheets to be processed into the processing area through the pickup device picking up the sheets to be processed, the bearing body bears the pick-up part to the trough, the pickup device picking up the processed sheets keeps facing downwards and places the processed sheets into the lower empty trough area of the trough. In the whole mode, the picker is required to be turned over and adjusted after taking out the sheet from the material groove upwards, and then the sheet can enter the processing area to be changed after the picker faces downwards, but when the processed sheet is taken back, the picker can directly place the processed sheet into the empty groove area downwards without turning over and adjusting.
Therefore, for the vertical type trough, the pickup device only needs to be adjusted once in the material taking or discharging process, relatively speaking, the processing method is simplified, and the processing efficiency is better. If the sheet is placed obliquely, the adjustment in driving for obliquely placing the sheet may be made as in embodiment 5.
For example, there are two processing modes in a horizontal trough, and see fig. 11, 12, and 13 for schematic diagrams of the pick-and-place part for material change in the processing area, material taking and material discharging in the horizontal trough.
One of them is that the sheets are vertically arranged in the trough and arranged along the longitudinal direction, as shown in fig. 12, the pick-up 511 faces the processing area, and the sheet to be processed is picked up in the trough from far to near relative to the processing area, then the pick-up 511 close to the trough takes the sheet to be processed out of the trough, the pick-up part is turned over to make the pick-up face down, the carrier carries the pick-up part to the processing area, the pick-up device free on the pick-up part picks up the processed sheet in the processing area, the pick-up part of the carrier 51 is longitudinally translated relative to the processing area (processing table 2) and the sheet to be processed is put into the processing area by the pick-up device close to the trough, for example, in fig. 11, the processing table 2 is movable, the processing table shown by the dotted line in fig. 11 is the position where the pick-up device of the pick-up part picks up the processed sheet before the change position, the, the carrier carries a pick-and-place section to the trough, the pick-and-place section flipping over so that the picker picking up the processed sheet is facing away from the processing area and placing the processed sheet into a remote empty trough area of the trough. In the whole mode, after the sheet is taken out from the material groove towards the left or the right, the picker is turned over and adjusted, then the picker faces downwards, and then the processed sheet can enter the processing area for material changing, when the processed sheet is taken back, the picker still needs to be turned over and adjusted (90 degrees), and the processed sheet can be placed in the empty groove area after the taking and placing part is parallel to the sheet in the material groove.
In another mode, the sheets are vertically arranged in a trough and are longitudinally arranged, a pickup device backs to a processing area and picks up the sheets to be processed from near to far relative to the processing area in the trough, after the pickup device close to the trough takes the sheets to be processed out of the trough, a pick-and-place part is overturned to enable the pickup device picking up the sheets to be processed to face downwards, a carrier body carries the pick-and-place part to the processing area, the pickup device which is idle on the pick-and-place part picks up the processed sheets in the processing area, the pick-and-place part longitudinally translates relative to the processing area and places the sheets to be processed into the processing area by the pickup device picking up the sheets to be processed, the carrier body carries the pick-and-place part to the trough, and the pick-and-place part overturns to enable the pickup device picking up the processed sheets to face. In the whole mode, after the picking device takes out the sheet from the material groove upwards, the picking device is turned over and adjusted, then the picking device is turned downwards, the sheet can enter the processing area for material changing, when the processed sheet is taken back, the picking device still needs to be turned over and adjusted (90 degrees), and the processed sheet can be placed into the empty groove area after the picking and placing part is parallel to the sheet in the material groove.
It can be seen that the machining method adopted for the horizontal type trough is a little more complicated than that of the vertical type trough, the adjustment action of the pickup is increased, and an efficient machining mode is still realized.
Example 7:
the embodiment provides a preferable processing method only aiming at a special mechanical arm matched with a special trough, and the mechanical arm does not need to be provided with an overturning driver, namely, the sheet taking and placing mechanical arm comprises a supporting body which extends in the transverse direction as the length direction, a taking and placing part is arranged on the supporting body, the taking and placing part comprises two pickers which are downwards arranged for taking and placing sheets, and the two pickers are respectively arranged at two sides of the supporting body along the length direction of the supporting body and used for filling the processed sheets to the processing area in a manner that after the processed sheets in the processing area are picked by one picker, the other picker can horizontally move relative to the processing area to fill the processed sheets into; the carrier is directly mounted on the first drive mechanism, i.e. the carrier is mounted on the vertical carrier of the first drive mechanism, and the vertical carrier assumes the mounting structure of the tumble drive as in embodiment 1. This special silo's structure has for the silo to make the sheet keep flat and the vertical groove that separates of arranging, and the silo sets up preceding lateral plate respectively in vertical and places the district and the district is placed to back lateral plate, and preceding lateral plate is placed the district and is placed the district with back lateral plate and set up dorsad and the opening is opposite, forms two rows of vertical silos that lean against promptly. The above-mentioned silo with this arm complex then need set up the interval of adjacent separating groove for being greater than the thickness that gets the portion and make the picker of getting the portion can stretch into between two sheets of adjacent separating groove and pick up the sheet, so, the picker is got the sheet and is deposited the sheet in vertical silo down always, also need not to set up empty groove district.
Before the method is introduced, for the sake of understanding, in view of the fact that the troughs define a front sheet placing area and a rear sheet placing area, the two pickers respectively defining the pick-and-place section are a front side picker and a rear side picker, for example, a side longitudinally distant from the processing spindle is referred to as a front side, and a side close to the processing spindle is referred to as a rear side. The corresponding preferred processing method comprises the following steps:
rear side material taking step: and the front side picker of the taking and placing part picks the sheet to be processed in the rear sheet placing area of the trough to finish the taking step.
A machining area material changing step: the taking and placing part runs to the processing area, and a front side picker of the taking and placing part puts the sheet to be processed into the processing area to complete material changing after the rear side picker of the taking and placing part picks up the processed sheet in the processing area.
Front side material storage step: the taking and placing part runs to the material groove area, and a rear side picker of the taking and placing part puts the processed sheet into a front side sheet placing area of the material groove to complete material storage.
Front side material taking step: and the rear side picker of the taking and placing part continuously takes out the sheet to be processed in the front sheet placing area of the trough to finish taking.
A second processing area material changing step: the picking and placing part runs to the processing area, the front side picker of the picking and placing part picks up processed sheets in the processing area, and then the rear side picker of the picking and placing part puts the sheets to be processed into the processing area to complete material changing.
A rear material storage step: the pick-and-place part moves to the material groove area, and a front side picker of the pick-and-place part puts processed sheets into a rear sheet placing area of the material groove to finish material storage.
The two pickers of the taking and placing part complete the whole process of cross taking and replacing materials, and material storage and material taking are actually completed at the same side of the material groove, so that the storage and taking time is saved. And the front side picker which can return to the picking and placing part picks the sheet to be processed in the rear sheet placing area of the trough, so that the step of picking the sheet is completed, the operation is circulated in such a way, and the processing is completed until the sheet to be processed in the trough is completely processed and replaced by the processed sheet. Of course, the rear side picker of the pick-and-place part can pick the front side sheet placing area of the trough as a starting step, and the circulation is also carried out until the processing is finished.
The processing method can enable the two pickers of the picking and placing part to alternately pick and place materials in the two sheet placing areas of the trough correspondingly, and the pickers can directly take out the sheets to be processed downwards after the processed sheets are placed in the area on the corresponding side without excessive strokes, so that the time for picking and placing materials is greatly saved, and the capacity of the trough is increased.
Of course, when the sheet taking and placing robot arm provided with the reversing driver is used, the processing method in the present embodiment may be applied, but the reversing driver may not be used frequently.
Example 8:
based on above-mentioned embodiment 7, if the silo has the parting bead that makes the sheet keep flat and arrange along vertical, the parting bead includes the preceding card portion fixed to the sheet front portion and the back card portion fixed to the sheet rear portion, and the horizontal position low for the preceding card portion of back card portion is used for making the sheet rear portion sink and form the slope and place, and this kind of silo of special structure need not to set up any backstop part can realize the sheet antiskid. The robot arm is restored to the structure with the tumble drive in embodiment 1 or 2, respectively. The sheet is placed in the silo slope, and when the material groove is taken out or the processed sheet is put into to the picker will wait to process the sheet, the upset driver drive supporting body rotates and makes the portion of getting inclination unanimous with the silo in sheet inclination, and first actuating mechanism drives the supporting body simultaneously with corresponding speed ratio in vertical and vertical makes the supporting body bear and get the portion of getting and put with the angular displacement of certain speed. In the processing method, the turnover driver can be only used for obliquely feeding and obliquely discharging the materials in the material groove matched with the obliquely placed materials, and the turnover driver does not need to be greatly turned, so that the operation of the turnover driver is reduced, and the time and the operation cost are saved.
Of course, since the sheet taking and placing mechanical arm is provided with the turnover driver structure, the above material taking and placing method in embodiments 1, 2, and 5 can be still applied to the case where the processing regions are arranged on both sides and the material box is arranged as the material box in embodiment 6. For example, the following methods:
a1: when the processing main shaft on one side processes the sheets, one picker of the taking and placing part takes out the sheets to be processed from the material groove area, keeps the other picker picking the sheets to be processed to be idle and moves to the processing area corresponding to the processing main shaft on the other side, after the processing of the sheets by the processing main shaft on the other side is completed, the idle picker picks the processed sheets in the processing area, the picker carrying the sheets to be processed puts the sheets to be processed into the processing area corresponding to the processing main shaft on the other side, and the taking and placing part leaves the processing area corresponding to the processing main shaft on the other side to process the sheets.
B1: the taking and placing part bears processed sheets and puts the processed sheets into the material groove area, the processed sheets are taken out from the material groove area and then move to the processing area corresponding to the processing main shaft on one side, after the processing of the sheets by the processing main shaft on the side is finished, the idle picker picks up the processed sheets, the other picker puts the processed sheets into the processing area corresponding to the processing main shaft on one side, and the taking and placing part leaves the processing area corresponding to the processing main shaft on the side and then processes the processed sheets by the processing main shaft.
C1: the pick-and-place part carries the processed sheet to be placed in the trough area and then enters step A1, or the pick-and-place part carries the processed sheet to be placed in the trough area and then retrieves the processed sheets in the processing areas on the two sides to the trough area respectively, and then processing is finished.
It can be seen that, in the above method, there is no limitation on whether the material boxes are two rows of back-to-back vertical type material slots, and a single row of vertical type or horizontal type material slots may be adopted, for example, the material slots in embodiment 1 or embodiment 3 may be adopted. In fact, the above-mentioned method for processing the double-sided processing area can be applied to a robot arm with other structure as long as two pickers are corresponding to one pick-and-place part.
If the magazine adopts two rows of back-to-back vertical material slots with obliquely placed sheets and matches the structure with processing areas arranged on two sides, the embodiment further provides a corresponding optimal processing method as follows.
Rear side material taking step: the angle of the taking and placing part is adjusted by the overturning driver, and a front side picker of the taking and placing part picks the sheet to be processed in the rear sheet placing area of the trough to finish material taking.
A machining area material changing step: the taking and placing part runs to the processing area, and a front side picker of the taking and placing part puts the sheet to be processed into the processing area to complete material changing after the rear side picker of the taking and placing part picks up the processed sheet in the processing area.
Front side material storage step: the taking and placing part runs to the material groove area, the overturning driver adjusts the angle of the taking and placing part, and the rear side picker of the taking and placing part puts processed sheets into the front sheet placing area of the material groove to complete material storage.
Front side material taking step: the turnover driver adjusts the angle of the taking and placing part, and the rear side picker of the taking and placing part continues to take out the sheet to be processed in the front sheet placing area of the trough to finish taking.
A second processing area material changing step: the picking and placing part runs to the processing area, the front side picker of the picking and placing part picks up processed sheets in the processing area, and then the rear side picker of the picking and placing part puts the sheets to be processed into the processing area to complete material changing.
A rear material storage step: the taking and placing part runs to the material groove area, the overturning driver adjusts the angle of the taking and placing part, and the front side picker of the taking and placing part puts processed sheets into the back sheet placing area of the material groove to complete material storage.
The above detailed description is made on the processing machine including the sheet taking and placing device and the processing method provided by the present invention, and the specific examples are applied herein to explain the principle and the implementation of the present invention, and the description of the above embodiments is only used to help understand the core idea of the present invention; meanwhile, for the person skilled in the art, according to the idea and method of the present invention, there may be changes in the specific embodiments and the application scope, and in summary, the content of the present specification should not be understood as a limitation to the present invention.

Claims (25)

1. The sheet taking and placing device is characterized by comprising a material box and a sheet taking and placing mechanical arm for taking and placing sheets between the material box and a processing area; the sheet taking and placing mechanical arm comprises a bearing body, a turnover driver and a first driving mechanism, wherein the bearing body extends in the transverse direction serving as the length direction; the method comprises the following steps that a pick-and-place part is arranged on a carrier, the pick-and-place part comprises two pickers used for picking and placing sheets, the two pickers are respectively arranged on two sides of the carrier along the length direction of the carrier and used for filling the sheets to be processed into a processing area in a translation mode relative to the processing area after one picker picks the processed sheets in the processing area; the material box is provided with material grooves for arranging and containing the sheets, and the material grooves are consistent with the taking and placing parts on the sheet taking and placing mechanical arm in quantity and are arranged correspondingly.
2. The apparatus according to claim 1, wherein at least two sets of the pick-and-place units are arranged on the same surface of the carrier along the length direction, and there are at least two troughs in the magazine.
3. The sheet taking and placing apparatus according to claim 1, wherein one end of the trough is set as an empty trough area where the sheet to be processed is not placed at the time of initial processing, and the trough is used for forming a trough common to the sheet to be processed and the processed sheet by arranging the processed sheet sequentially from the one end of the empty trough area of the trough to the one end of the sheet to be processed area of the trough after the taking and placing unit retrieves the processed sheet from the processing area.
4. The sheet material handling apparatus according to claim 1, wherein the trough has partitions for horizontally and vertically arranging the sheet material, and the trough is provided with a front sheet material placing area and a rear sheet material placing area in a longitudinal direction, respectively, the front sheet material placing area and the rear sheet material placing area being disposed in a back direction and having opposite openings.
5. A sheet handling apparatus according to claim 3, wherein the trough has compartments for holding the sheets horizontally and vertically or vertically and longitudinally.
6. The sheet handling device of claim 1, wherein the trough has a partition for the sheet to lie flat and vertically aligned, the partition including a front catch portion fixed to the front of the sheet and a rear catch portion fixed to the rear of the sheet, the rear catch portion being lowered relative to the horizontal position of the front catch portion for allowing the rear of the sheet to sink into an inclined position.
7. The sheet handling device of claim 1, wherein the magazine has a plurality of compartments for holding the sheets horizontally and vertically, a stopper is provided at the opening of the magazine for preventing the sheets from sliding out during transportation, and the stopper is movably installed at the opening of the magazine for being removed from the opening of the magazine when processing.
8. The sheet handling device of claim 1 wherein the magazine bottom includes a magazine adjustment drive for laterally adjusting the position of the trough to longitudinally align the trough with the handling portion, the magazine adjustment drive including a magazine transverse rail and a magazine driver for driving the magazine to move on the magazine transverse rail.
9. The sheet handling device of claim 1, wherein the carrier is a carrier plate, the pick-and-place units are laterally disposed on the carrier plate, one lateral end of the carrier plate is mounted on the turnover actuator, and the two pickers of each set of pick-and-place units are directly disposed on the same side of the carrier plate with the horizontal turnover axis of the turnover actuator as a center line.
10. The sheet handling device of claim 9, wherein the carrier plate has an escape slot with an outward opening between adjacent handling portions.
11. The sheet handling device of claim 9 or 10, wherein the carrier plate is adapted to be mounted to the tumble drive at one end to form a constricted portion having a width less than the width of the carrier plate body, the constricted portion being provided at an end with a mounting portion having a width greater than the width of the constricted portion body, the mounting portion forming two shoulders with respect to the constricted portion for mounting the carrier plate to the tumble drive in a transverse direction.
12. The sheet handling apparatus of claim 1, wherein the carrier is configured to be mounted to an end of the flip actuator to form a plate structure, and the flip actuator is configured with a rectangular slot adapted to the plate structure of the carrier.
13. The apparatus according to claim 1, wherein the carrier is a carrier bar, the carrier bar is provided with carrier blocks distributed along a transverse direction, and the carrier blocks are provided with two pickers as two pickers of a set of pick-and-place units.
14. The sheet handling device of claim 1, wherein the pick-and-place section is symmetrical about a lateral axis of the carrier, and the two pickers on the pick-and-place section are symmetrically disposed with respect to the lateral axis of the carrier.
15. The sheet material taking and placing device as claimed in claim 1, wherein the first driving mechanism comprises a longitudinal rail, a longitudinal bearing platform, a longitudinal driver for driving the longitudinal bearing platform to move on the longitudinal rail, a vertical rail arranged on the longitudinal bearing platform, a vertical bearing platform and a vertical driver for driving the vertical bearing platform to move on the vertical rail, and the turnover driver is installed on the vertical bearing platform.
16. The sheet material handling apparatus according to any one of claims 1 to 8, wherein processing areas are provided on both sides of the trough in a longitudinal direction thereof, and the sheet material handling section handles the sheet material between the magazine and the processing areas on both sides.
17. A sheet processing machine comprising the sheet taking and placing apparatus as claimed in any one of claims 1 to 16, and further comprising a processing spindle and a processing table disposed in the processing zone in correspondence with the trough.
18. The sheet processing machine of claim 17 wherein the processing spindles, the take-and-place portions, and the troughs are uniform in number and are arranged in a one-to-one longitudinal relationship.
19. The sheet processing machine of claim 17 wherein a longitudinal slide is provided in the processing zone for movement of the processing table in the longitudinal direction, the processing table being moved longitudinally along the longitudinal slide by a processing table drive.
20. The sheet processing machine of claim 17 wherein the chute is provided at one end in the direction of sheet alignment with a blank slot area having a width greater than the thickness of the take-and-place section for alignment of the processed sheets from the blank slot area to the other end.
21. The sheet processing machine of claim 17 further comprising a machine table, wherein the first driving mechanism drives the sheet pick-and-place robot to move longitudinally and vertically relative to the machine table, a fixed beam gantry is disposed on one side of the machine table in the longitudinal direction, a transverse rail and a transverse driver for driving the processing spindle to move on the transverse rail are disposed on the fixed beam gantry, a longitudinal moving table longitudinally movable on the machine table is disposed on the machine table below the processing spindle, the processing table is mounted on the longitudinal moving table, and the magazine is mounted on the machine table on a side opposite to the processing spindle.
22. The sheet processing machine as claimed in claim 21, wherein a tool magazine is provided at a rear side of the fixed beam type gantry, a tool bit mount corresponding to the processing spindle is provided in the tool magazine, a longitudinal slide rail is provided on the machine table, a tool bit transport mechanism for moving between the tool magazine and the processing spindle to replace a tool bit is provided on the longitudinal slide rail, and a tool bit holding portion for holding a tool bit to be removed from or attached to the tool magazine or the processing spindle is provided on the tool bit transport mechanism.
23. The sheet processing machine of claim 17 further comprising a machine table, wherein the first driving mechanism drives the sheet picking and placing robot to move longitudinally and vertically relative to the machine table, a fixed beam type portal frame is arranged on each of two sides of the machine table in the longitudinal direction, a transverse rail and a transverse driver for driving the processing spindle to move on the transverse rail are arranged on each fixed beam type portal frame, a processing area is arranged on the machine table below the processing spindle, and the magazine is arranged between the two processing areas.
24. The sheet processing machine of claim 23 further comprising parallel tables disposed on either or both longitudinal sides of the tables, fixed beam type gantries mounted with processing spindles disposed on either or both longitudinal sides of the parallel tables, the fixed beam type gantries on the parallel tables being disposed back-to-back with the fixed beam type gantries adjacent to the tables, the parallel tables having the same pick-and-place robot, processing area and magazine as the tables.
25. The sheet processing machine of claim 24, wherein a common tool magazine is provided between the parallel machine table and a fixed beam gantry on which the machine table is arranged back to back, a tool bit mounting seat corresponding to the processing spindle is provided in the common tool magazine, a common longitudinal slide rail is provided on the machine table and the parallel machine table, a tool bit transport mechanism for moving between the tool magazine and the processing spindles on both sides of the fixed beam gantry arranged back to replace a tool bit is provided on the common longitudinal slide rail, and a clamping portion for clamping a tool bit to be removed from or loaded onto the tool magazine or the processing spindle is provided on the tool bit transport mechanism.
CN201921042732.1U 2019-07-03 2019-07-03 Sheet taking and placing device and sheet processing machine Active CN211074220U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921042732.1U CN211074220U (en) 2019-07-03 2019-07-03 Sheet taking and placing device and sheet processing machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921042732.1U CN211074220U (en) 2019-07-03 2019-07-03 Sheet taking and placing device and sheet processing machine

Publications (1)

Publication Number Publication Date
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