CN212072252U - Device for machining specification material through mechanical arm - Google Patents
Device for machining specification material through mechanical arm Download PDFInfo
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- CN212072252U CN212072252U CN202020383897.1U CN202020383897U CN212072252U CN 212072252 U CN212072252 U CN 212072252U CN 202020383897 U CN202020383897 U CN 202020383897U CN 212072252 U CN212072252 U CN 212072252U
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Abstract
The utility model provides a device through arm processing specification material, its machining precision and accuracy are good, have reduced the rejection rate, have practiced thrift cost of labor and material cost. It includes material loading transmission device, the pay-off passageway has been arranged to material loading transmission device's side, the ink jet numbering machine is arranged to the transport front end top of pay-off passageway, front end one side of pay-off passageway still is provided with the encoder, and the encoder is according to the conveying distance of predetermineeing the raw materials in the raw materials size drive pay-off passageway, the arm cutting area has been arranged to the place ahead end of pay-off passageway, be provided with the lower part under the arm cutting area and support, the arm has been arranged in the outside in arm cutting area, the circular saw has been arranged to the output end of arm, the arm cutting area still is provided with flexible receiving mechanism, flexible receiving mechanism includes the slip table roll table, connects the material tong.
Description
Technical Field
The utility model relates to a robotic arm is applied to the technical field of timber structure processing, specifically is a device through arm processing specification material.
Background
The standard timber refers to the normalized timber which is processed according to the requirements of light timber structure design and the width and the height of the section of the timber according to the specified size. The dimension of the section of the standard material is wide (mm) multiplied by height (mm) as follows: 40 × 40, 40 × 65, 40 × 90, 40 × 140, 40 × 185, 40 × 235, 40 × 285. The length of raw materials of the standard material is 3050mm, 3660mm, 4270mm, 4880mm, 5490mm and 6100 mm. Common uses of the standard materials are joists, rafters, studs, lintels, composite beams, truss members and the like of light wood structures. The material is cut according to different designs. The cutting of the standard material is characterized in that: the processing varieties are different in size and angle, the production batch is small, the production period is short, and the precision requirement is high.
In the prior art, a factory adopts a method of combining manpower with a woodworking tool to cut a specification material. The angle of specification material cutting is different, and the manual work is in advance with cutting angle adjustment, needs a large amount of time, and the product precision of processing out is not high. The blanking mode is manually calculated, the optimization effect is poor, and the utilization rate of materials is low.
Disclosure of Invention
To the problem, the utility model provides a device through arm processing specification material, its machining precision and accuracy are good, have reduced the rejection rate, have practiced thrift cost of labor and material cost.
The utility model provides a device of specification material is processed through arm which characterized in that: the automatic feeding device comprises a feeding transmission mechanism, a feeding channel is arranged on the side of the feeding transmission mechanism, an ink-jet printer is arranged above the conveying front end of the feeding channel, an encoder is further arranged on one side of the front end of the feeding channel and drives the conveying distance of raw materials in the feeding channel according to preset raw material sizes, a mechanical arm cutting area is arranged at the front end of the feeding channel, a lower support is arranged right below the mechanical arm cutting area, a mechanical arm is arranged on the outer side of the mechanical arm cutting area, a circular saw is arranged at the output end of the mechanical arm, a telescopic receiving mechanism is further arranged in the mechanical arm cutting area and comprises a sliding table roller table and a receiving clamping hand, the receiving clamping hand is mounted on a movable sliding table, a lateral pressing mechanism and an upper pressing mechanism are arranged on the sliding table roller table, a waste conveying line is arranged right below the front end of the feeding channel and the telescopic receiving mechanism, ultrashort material pushing mechanism, short material pushing mechanism have been arranged respectively along the direction of output to one side of slip table roll table, the waste material workbin in the passageway intercommunication outside is passed through to the waste material transfer chain, ultrashort material take-up (stock) pan has been arranged for ultrashort material pushing mechanism's opposite side to the slip table roll table, the ultrashort material transfer chain of ultrashort material take-up (stock) pan intercommunication one side, ultrashort material transfer chain intercommunication ultrashort material frame, ultrashort material, short material and the long material in arm cutting area add man-hour, raw materials one end support in the slip table roll table, long material conveying way has still been arranged in the dead ahead of slip table, the terminal one side of slip table roll table is provided with short material pushing mechanism, the terminal opposite side of slip table is provided with short material and places the station, long material conveying way sets up long material according to the demand along its, Long material pushing equipment.
It is further characterized in that:
the feeding channel comprises a bottom conveying roller way, a lateral pinch roller mechanism on one side, a side pulley block on the other side and an upper pinch roller mechanism on the upper part, and the feeding mechanism in the feeding area conveys raw materials to the rear of the starting end of the bottom conveying roller way; the lateral pressing wheel mechanism presses and rotationally compresses the raw materials to the side pulley block, the side of the raw materials are compressed, the upper pressing wheel mechanism rotationally compresses the raw materials to the bottom conveying roller way, the raw materials are compressed up and down, and the raw materials are driven by the bottom power pulley block of the bottom conveying roller way to feed forwards;
the mechanical arm is a six-axis mechanical arm and is used for cutting according to different angles;
and a metal detector is also arranged at the conveying front end of the feeding channel and used for detecting whether metal enters or not.
A processing method for processing specification materials through a mechanical arm is characterized in that: according to the three-dimensional model of each finished product specification material, in a secondary development program under a KUKA | prc software platform, compiling processing data of each finished product specification material by the mechanical arm, wherein the file name of the processing data needs to correspond to the serial number of the finished product specification material, manually placing the corresponding raw materials on a feeding mechanism of a feeding area, and conveying the raw materials to a channel of the feeding area one by the feeding mechanism of the feeding area; the lateral pressing wheel mechanism presses and rotationally presses the raw materials to the side pulley block, the side of the raw materials is pressed, the upper pressing wheel mechanism rotationally presses the raw materials to the bottom power pulley block, the raw materials are pressed up and down, and the raw materials are driven by the bottom power pulley block to feed forwards; detecting whether metal exists or not by a metal detector; the program presets a group of numbers of finished timber to be processed, and the code spraying machine carries out numbering and code spraying according to the length of the timber close to the code spraying machine side; the encoder calculates the wood conveying distance; conveying the raw materials to a mechanical arm cutting area, and simultaneously lifting the lower support to support overhanging wood; the mechanical arm calls the processing data of the wood with the corresponding number, and the wood is cut and processed; during the processing, a short-stroke clamping jaw of the telescopic receiving mechanism clamps the outer end of a raw material, a sliding table is moved to slide during long-distance clamping to ensure that the clamping jaw clamps the timber, one end of the raw material is supported on a sliding table roller way, a lateral pressing mechanism is pushed out, the side surface is pressed, an upper pressing mechanism is pressed down and pressed up and down, the timber is fixed, and cutting is carried out; after the cutting is completed, the clamping jaw moves backwards to pull out finished timber and enter the sliding table roller way, and after the finished timber is sent out, the finished timber is stored in a partition mode, and waste materials which cannot be used for cutting are directly sent out through the feeding channel and fall to the waste material conveying line.
The method is further characterized in that a KUKA mechanical arm accurate model is provided in the KUKA | prc software, the KUKA mechanical arm can be directly integrated into a parameter environment in a secondary development program under a KUKA | prc software platform, and the motion conditions of all axes of the mechanical arm can be accurately simulated through connection of variable function blocks;
the program of secondary development under the KUKA | prc software platform adopts a parameterized programming mode, and processing data required by the mechanical arm for processing the specification material can be rapidly generated through simple layer selection, so that the problems of different processing varieties, different angles, smaller production batch, short production period and the like in the existing processing method are solved.
The program visualization programming mode of secondary development under the KUKA | prc software platform is displayed in time through a Rhinoceros 3D window, so that the motion condition of each shaft in the mechanical arm machining process can be directly, quickly, conveniently and effectively observed, and the problem can be solved in time;
the blanking mode is optimized and matched according to the size of the raw materials, the size of finished products and the number of the finished products, the wood is utilized to the maximum extent, meanwhile, the cutting angle is an important factor of blanking, the finished products with the same angle are matched into two adjacent finished products, and the time and the materials are saved by cutting once;
the number of the processed raw materials with the same number is more than one, and the raw materials can be placed in a group to form a plurality of layers, so that the processing efficiency is improved.
After the utility model is adopted, the mechanical arm can be used for cutting the specification material 24 hours a day, the manual work is replaced, the precision and the accuracy are improved, the rejection rate is reduced, and the labor cost and the material cost are saved; the program developed secondarily under the KUKA | prc software platform adopts a parameterized programming mode, and processing data required by cutting the specification material can be quickly generated through simple layer selection. The efficiency of processing data generation is improved, and the time cost is saved. The program visualization programming mode of secondary development under the KUKA | prc software platform can directly, quickly, conveniently and effectively observe the motion condition of each shaft in the mechanical arm machining process, reduce the error rate and improve the accuracy of machining data.
Drawings
Fig. 1 is a first schematic structural diagram of the device of the present invention;
FIG. 2 is a second schematic structural view of the apparatus of the present invention;
fig. 3 is a schematic structural view of a perspective view of the feed inlet mechanism of the present invention;
fig. 4 is a schematic structural view of a perspective view of a telescopic receiving device used in the present invention;
the names corresponding to the sequence numbers in the figure are as follows:
the device comprises a feeding transmission mechanism 1, a feeding channel 2, an ink-jet printer 3, an encoder 4, a mechanical arm cutting area 5, a lower support 6, a mechanical arm 7, a circular saw 8, a telescopic receiving mechanism 9, a sliding table roller way 10, a receiving clamping hand 11, a movable sliding table 12, a lateral pressing mechanism 13, an upper pressing mechanism 14, a waste conveying line 15, an ultra-short material pushing mechanism 16, a short material pushing mechanism 17, a waste material box 18, an ultra-short material receiving disc 19, an ultra-short material conveying line 20, an ultra-short material receiving frame 21, a long material conveying line 22, a short material placing station 23, a long material placing station 24, a long material pushing mechanism 25, a bottom conveying roller way 26, a lateral pressing wheel mechanism 27, a lateral side pulley block 28, an upper pressing wheel mechanism 29 and a metal detector 30.
Detailed Description
An apparatus for processing a gauge material by a robot arm, as shown in fig. 1-4: the automatic feeding and discharging device comprises a feeding conveying mechanism 1, a feeding channel 2 is arranged on the side of the feeding conveying mechanism 1, an ink-jet printer 3 is arranged above the conveying front end of the feeding channel 2, an encoder 4 is further arranged on one side of the front end of the feeding channel 2, the encoder 4 drives the conveying distance of raw materials in the feeding channel 2 according to the preset raw material size, a mechanical arm cutting area 5 is arranged at the front end of the feeding channel 2, a lower support 6 is arranged right below the mechanical arm cutting area 5, a mechanical arm 7 is arranged on the outer side of the mechanical arm cutting area 5, a circular saw 8 is arranged at the output end of the mechanical arm 7, a telescopic material receiving mechanism 9 is further arranged in the mechanical arm cutting area 5, the telescopic material receiving mechanism 9 comprises a sliding table 10 and a material receiving clamp 11, the material receiving clamp 11 is arranged on a movable sliding table 12, a lateral pressing mechanism 13 and an upper pressing mechanism 14 are arranged on the sliding table 10, a waste conveying line 15, one side of the sliding table roller way 10 is respectively provided with an ultra-short material pushing mechanism 16 and a short material pushing mechanism 17 along the output direction, the waste material conveying line 15 is communicated with a waste material box 18 at the outer side through a channel, the other side of the sliding table roller way 10 opposite to the ultra-short material pushing mechanism 16 is provided with an ultra-short material receiving disc 19, the ultra-short material receiving disc 19 is communicated with an ultra-short material conveying line 20 at one side, the ultra-short material conveying line 20 is communicated with an ultra-short material receiving frame 21, and ultra-short materials, short materials and long materials in the mechanical arm cutting area, one end of the raw material is supported on the sliding table roller way 10, a long material conveying channel 22 is further arranged right ahead of the sliding table roller way 10, a short material pushing mechanism 17 is arranged on one side of the tail end of the sliding table roller way 10, a short material placing station 23 is arranged on the other side of the tail end of the sliding table roller way 10, and a long material placing station 24 and a long material pushing mechanism 25 are arranged on the long material conveying channel 22 along two sides of the length direction of the long material conveying channel according to requirements.
The feeding channel 2 comprises a bottom conveying roller way 26, a lateral pressing wheel mechanism 27 on one side, a side pulley block 28 on the other side and an upper pressing wheel mechanism 29 on the upper part, and the feeding mechanism 1 in the feeding area conveys raw materials to the rear of the starting end of the bottom conveying roller way 26; the lateral pressing wheel mechanism 27 presses down and rotationally presses the raw materials to the side pulley block 28, the raw materials are laterally pressed, the upper pressing wheel mechanism 29 rotationally presses the raw materials to the bottom conveying roller way 26, the raw materials are vertically pressed, and the raw materials are driven by the bottom power pulley block of the bottom conveying roller way to feed forwards;
the mechanical arm 7 is a six-axis mechanical arm and performs cutting according to different angles;
the front end of the feed channel 2 is also provided with a metal detector 30 for detecting whether metal enters.
A processing method for processing specification materials through a mechanical arm is characterized in that: according to the three-dimensional model of each finished product specification material, in a secondary development program under a KUKA | prc software platform, compiling processing data of each finished product specification material by the mechanical arm, wherein the file name of the processing data needs to correspond to the serial number of the finished product specification material, manually placing the corresponding raw materials on a feeding mechanism of a feeding area, and conveying the raw materials to a channel of the feeding area one by the feeding mechanism of the feeding area; the lateral pressing wheel mechanism presses and rotationally presses the raw materials to the side pulley block, the side of the raw materials is pressed, the upper pressing wheel mechanism rotationally presses the raw materials to the bottom power pulley block, the raw materials are pressed up and down, and the raw materials are driven by the bottom power pulley block to feed forwards; detecting whether metal exists or not by a metal detector; the program presets a group of numbers of finished timber to be processed, and the code spraying machine carries out numbering and code spraying according to the length of the timber close to the code spraying machine side; the encoder calculates the wood conveying distance; conveying the raw materials to a mechanical arm cutting area, and simultaneously lifting the lower support to support overhanging wood; the mechanical arm calls the processing data of the wood with the corresponding number, and the wood is cut and processed; during the processing, a short-stroke clamping jaw of the telescopic receiving mechanism clamps the outer end of a raw material, a sliding table is moved to slide during long-distance clamping to ensure that the clamping jaw clamps the timber, one end of the raw material is supported on a sliding table roller way, a lateral pressing mechanism is pushed out, the side surface is pressed, an upper pressing mechanism is pressed down and pressed up and down, the timber is fixed, and cutting is carried out; after the cutting is completed, the clamping jaw moves backwards to pull out finished timber and enter the sliding table roller way, and after the finished timber is sent out, the finished timber is stored in a partition mode, and waste materials which cannot be used for cutting are directly sent out through the feeding channel and fall to the waste material conveying line.
The method is further characterized in that a KUKA mechanical arm accurate model is provided in the KUKA | prc software, the KUKA mechanical arm can be directly integrated into a parameter environment in a secondary development program under a KUKA | prc software platform, and the motion conditions of all axes of the mechanical arm can be accurately simulated through connection of variable function blocks;
the program of secondary development under the KUKA | prc software platform adopts a parameterized programming mode, and processing data required by the mechanical arm for processing the specification material can be rapidly generated through simple layer selection, so that the problems of different processing varieties, different angles, smaller production batch, short production period and the like in the existing processing method are solved.
The program visualization programming mode of secondary development under the KUKA | prc software platform is displayed in time through a Rhinoceros 3D window, the motion conditions of all shafts in the mechanical arm machining process can be directly, quickly, conveniently and effectively observed, and problems are solved in time.
The blanking mode is optimized and matched according to the size of the raw materials, the size of finished products and the number of the finished products, the wood is utilized to the maximum extent, meanwhile, the cutting angle is an important factor of blanking, the finished products with the same angle are matched into two adjacent finished products, and the time and the materials are saved by cutting once;
the number of processing same serial number is more than one, and 1 or 3 layers can be put to the raw materials in a group, improves machining efficiency.
After the utility model is adopted, the mechanical arm can be used for cutting the specification material 24 hours a day, the manual work is replaced, the precision and the accuracy are improved, the rejection rate is reduced, and the labor cost and the material cost are saved; the program developed secondarily under the KUKA | prc software platform adopts a parameterized programming mode, and processing data required by cutting the specification material can be quickly generated through simple layer selection. The efficiency of processing data generation is improved, and the time cost is saved. The program visualization programming mode of secondary development under the KUKA | prc software platform can directly, quickly, conveniently and effectively observe the motion condition of each shaft in the mechanical arm machining process, reduce the error rate and improve the accuracy of machining data.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The utility model provides a device of specification material is processed through arm which characterized in that: the automatic feeding device comprises a feeding transmission mechanism, a feeding channel is arranged on the side of the feeding transmission mechanism, an ink-jet printer is arranged above the conveying front end of the feeding channel, an encoder is further arranged on one side of the front end of the feeding channel and drives the conveying distance of raw materials in the feeding channel according to preset raw material sizes, a mechanical arm cutting area is arranged at the front end of the feeding channel, a lower support is arranged right below the mechanical arm cutting area, a mechanical arm is arranged on the outer side of the mechanical arm cutting area, a circular saw is arranged at the output end of the mechanical arm, a telescopic receiving mechanism is further arranged in the mechanical arm cutting area and comprises a sliding table roller table and a receiving clamping hand, the receiving clamping hand is mounted on a movable sliding table, a lateral pressing mechanism and an upper pressing mechanism are arranged on the sliding table roller table, a waste conveying line is arranged right below the front end of the feeding channel and the telescopic receiving mechanism, ultrashort material pushing mechanism, short material pushing mechanism have been arranged respectively along the direction of output to one side of slip table roll table, the waste material workbin in the passageway intercommunication outside is passed through to the waste material transfer chain, ultrashort material take-up (stock) pan has been arranged for ultrashort material pushing mechanism's opposite side to the slip table roll table, the ultrashort material transfer chain of ultrashort material take-up (stock) pan intercommunication one side, ultrashort material transfer chain intercommunication ultrashort material frame, ultrashort material, short material and the long material in arm cutting area add man-hour, raw materials one end support in the slip table roll table, long material conveying way has still been arranged in the dead ahead of slip table, the terminal one side of slip table roll table is provided with short material pushing mechanism, the terminal opposite side of slip table is provided with short material and places the station, long material conveying way sets up long material according to the demand along its, Long material pushing equipment.
2. The apparatus for processing a gauge material by a robot arm as set forth in claim 1, wherein: the feeding channel comprises a bottom conveying roller way, a lateral pinch roller mechanism on one side, a side pulley block on the other side and an upper pinch roller mechanism on the upper part, and the feeding mechanism in the feeding area conveys raw materials to the rear of the starting end of the bottom conveying roller way; the lateral pressing wheel mechanism presses down and rotates to press the raw materials to the side pulley block, the raw materials are pressed on the side face, the upper pressing wheel mechanism rotates to press the raw materials to the bottom conveying roller way, the raw materials are pressed up and down, and the raw materials are driven by the bottom power wheel group of the bottom conveying roller way to feed forwards.
3. The apparatus for processing a gauge material by a robot arm as set forth in claim 1, wherein: the mechanical arm is a six-shaft mechanical arm.
4. The apparatus for processing a gauge material by a robot arm as set forth in claim 1, wherein: and a metal detector is also arranged at the conveying front end of the feeding channel and used for detecting whether metal enters or not.
5. The apparatus for processing a gauge material by a robot arm as set forth in claim 1, wherein: the processing data of the cut specification material is compiled through off-line simulation programming in a program of secondary development under a KUKA | prc software platform.
6. The apparatus for processing a gauge material by a robot arm as set forth in claim 1, wherein: the blanking mode is optimized and matched according to the size of raw materials, the size of finished products and the number of the finished products, wood is utilized to the maximum extent, meanwhile, the cutting angle is an important factor of blanking, the finished products with the same angle are matched into two adjacent products, and one cutting is carried out.
7. The apparatus for processing a gauge material by a robot arm as set forth in claim 1, wherein: the number of the processed raw materials with the same number is more than one, and the raw materials can be placed in groups of a plurality of layers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020383897.1U CN212072252U (en) | 2020-03-24 | 2020-03-24 | Device for machining specification material through mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020383897.1U CN212072252U (en) | 2020-03-24 | 2020-03-24 | Device for machining specification material through mechanical arm |
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| CN212072252U true CN212072252U (en) | 2020-12-04 |
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| CN202020383897.1U Active CN212072252U (en) | 2020-03-24 | 2020-03-24 | Device for machining specification material through mechanical arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111805622A (en) * | 2020-03-24 | 2020-10-23 | 苏州昆仑绿建木结构科技股份有限公司 | Device for machining specification material through mechanical arm and corresponding machining method thereof |
| WO2022086884A1 (en) * | 2020-10-20 | 2022-04-28 | Idaho Forest Group, LLC | Robotic chopsaw or merchandiser |
-
2020
- 2020-03-24 CN CN202020383897.1U patent/CN212072252U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111805622A (en) * | 2020-03-24 | 2020-10-23 | 苏州昆仑绿建木结构科技股份有限公司 | Device for machining specification material through mechanical arm and corresponding machining method thereof |
| WO2022086884A1 (en) * | 2020-10-20 | 2022-04-28 | Idaho Forest Group, LLC | Robotic chopsaw or merchandiser |
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