CN216542146U - Automatic accurate positioning and processing system for thick plate sample - Google Patents

Abstract

The utility model discloses an automatic accurate positioning and processing system for thick plate samples, which comprises a robot body, a clamp assembly, a sawing machine, a feeding mechanism, a discharging mechanism, a visual positioning device, a transfer device and a controller, wherein the robot body is connected with the clamp assembly through a connecting rod; the fixture assembly is fixed at the movable end of the robot body, the movable range of the fixture assembly covers the sawing machine, the feeding mechanism, the discharging mechanism and the transferring device, the visual positioning device extends above the feeding mechanism, the transferring device comprises a supporting platform, and a posture switching mechanism and a sample positioning mechanism which are fixed on the supporting platform, the posture switching mechanism is used for matching the fixture assembly to perform posture conversion on a sample, and the sample positioning mechanism is used for positioning the sample after posture conversion. The utility model has the advantages that: the automatic rapid and stable processing of six planes of the thick plate sample is realized, and the automation degree is high. Meanwhile, automatic feeding and discharging of the sawing machine are achieved through the robot, manual work is replaced, and safety and high efficiency are achieved.

Description

Automatic accurate positioning and processing system for thick plate sample

Technical Field

The utility model relates to an automatic accurate positioning and processing system for a thick plate sample, in particular to a six-surface automatic accurate positioning and processing system for a rectangular thick plate sample, and belongs to the technical field of sample processing.

Background

At present, thick plate samples of a steel mill detection center mainly comprise an impact sample, a tensile sample, a bending sample, a metallographic sample and the like, and after rectangular detection rough samples are cut, the thick plate samples are uniformly sent to a sample processing workshop to prepare an intermediate part. The rectangular detection rough sample needs to be positioned and processed on the upper plane, the lower plane, the left plane, the right plane, the front plane and the rear plane respectively in the processing process, after the processing of a single plane is finished, the next plane needs to be positioned again when the next plane is processed continuously, and meanwhile, the processed surface is used as a positioning reference, so that the operation is complex and the requirement on the positioning precision is high, therefore, the conventional main processing equipment still mainly adopts manual positioning loading and unloading, and the automatic loading and unloading and preparation of a sample intermediate piece cannot be realized.

However, the manual processing of the cut sample has the following disadvantages: 1) the variety of the samples is more every day, the heaviest weight of a single thick plate sample reaches about 55kg, the labor intensity is high, and the danger coefficient is high; 2) the sampling position is greatly influenced by human factors, and the analysis of experimental data and product performance is influenced.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: aiming at the problems, the utility model aims to provide an automatic and accurate positioning and processing system for a thick plate sample, which realizes automatic, rapid and accurate positioning and processing of six surfaces of the sample and improves the working efficiency and the processing accuracy.

The technical scheme is as follows: an automatic accurate positioning and processing system for thick plate samples comprises a robot body, a clamp assembly, a sawing machine, a feeding mechanism, a discharging mechanism, a visual positioning device, a transfer device and a controller; the fixture assembly is fixed at the movable end of the robot body, the movable range of the fixture assembly covers the sawing machine, the feeding mechanism, the blanking mechanism and the transfer device, the visual positioning device extends above the feeding mechanism and is used for detecting the placing position of a sample in the feeding mechanism, the transfer device comprises a supporting platform, and a posture switching mechanism and a sample positioning mechanism which are fixed on the supporting platform, the posture switching mechanism is used for matching with the fixture assembly to perform posture conversion on the sample, and the sample positioning mechanism is used for positioning the sample after posture conversion; the robot body, the clamp assembly, the sawing machine, the feeding mechanism, the discharging mechanism, the visual positioning device, the posture switching mechanism and the sample positioning mechanism are respectively associated with the controller through signals.

The principle of the utility model is as follows: the sample is placed into the feeding mechanism manually, the position of the sample is detected through the visual positioning device, the clamp assembly is driven by the robot body to move into the feeding mechanism to clamp the sample, and the sample is directly sent into a sawing machine to be sawed and processed on the first surface. After the first surface is machined, the clamp assembly takes out the sample, the sample is placed on the posture switching mechanism to be clamped and changed in posture, the sample positioning mechanism is placed into the sample positioning mechanism to complete positioning after the first surface is machined, then the sample positioning mechanism is placed into the sawing machine to cut the second surface, the third surface and the fourth surface are sequentially cut until the cutting of the six surfaces of the sample is completed, and then the blanking mechanism is placed into the sample positioning mechanism to complete the whole automatic preparation process of the sample.

Further, the anchor clamps subassembly includes mounting flange, sucking disc, clamping jaw, connecting block, the connecting block passes through mounting flange connects the robot body, sucking disc, clamping jaw are fixed respectively on the connecting block, and respectively with the controller signal is relevant. In this structure, adopt the two structures of snatching of sucking disc and clamping jaw, be more convenient for select the optimum gesture of snatching. For example, can be when getting the material from the sawing machine, adopt the sucking disc to absorb the machined surface, the location is accurate and adsorb stably, adds man-hour from material loading to the sawing machine, adopts the clamping jaw material loading, snatchs the structure more stable.

Preferably, the sucker and the clamping jaw are arranged adjacently, and the material sucking direction of the sucker is perpendicular to the material clamping direction of the clamping jaw.

Further, the anchor clamps subassembly is still including fixing first displacement sensor, the second displacement sensor on the connecting block, first displacement sensor with the sucking disc is adjacent to be set up, and the detection direction with the material direction of inhaling of sucking disc is the same, the second displacement sensor with the clamping jaw is adjacent to be set up, and the detection direction with the material direction of pressing from both sides of clamping jaw is the same, first displacement sensor, second displacement sensor respectively with the controller signal is relevant. In this structure, detect respectively through first displacement sensor, second displacement sensor sucking disc and wait to get between the sample, the clamping jaw with wait to get the position relation between the sample to early warning in advance avoids the collision.

Further, the clamp assembly further comprises a position compensator, and the connecting block is connected with the mounting flange through the position compensator. In the system, the sample can have actual space size deviation when being transported to each position through the robot body and the clamp assembly, and if the position compensator is not used, the sample can collide each metal positioning and bearing mechanism to damage the robot body and the clamp assembly. The position compensator is selected for use, so that the actual precision size deviation of the robot body and the clamp assembly in the three X, Y and Z axis directions can be compensated, the consistency of the movement position at each time is ensured, and the track deviation is avoided.

Further, the gesture shifter includes magnetic conduction post, electro-magnet, rotating assembly, backup pad, magnetic conduction post, electro-magnet, rotating assembly, backup pad from top to bottom connect gradually, the rotating assembly horizontal rotation drives magnetic conduction post, electro-magnet are rotatory, the upper surface of magnetic conduction post is used for adsorbing the sample, the backup pad is fixed on supporting platform, rotating assembly, electro-magnet with the controller signal is relevant. In this structure, the sample can be with the square, erect put on mode such as put the magnetic conduction post, then open the electro-magnet, the sample is adsorbed fixedly, later through rotating assembly's horizontal rotation, drives the sample on the magnetic conduction post and accomplishes the rotation of angles such as 90, 180, later the electro-magnet is closed, and the sample is snatched to the rethread anchor clamps subassembly to accomplish the clamp of sample and get the gesture transform.

Preferably, the rotating assembly includes a cam divider and a servo motor, the cam divider is disposed between the support plate and the electromagnet and is driven by the servo motor to rotate horizontally, and the servo motor is in signal connection with the controller.

Further, the upper surface of magnetic conduction post is "worker" style of calligraphy, and length direction both sides have the breach, the width is less than the width of sample when guaranteeing the supporting effect, the anchor clamps subassembly of being convenient for snatchs from length direction both sides, the width direction both sides of sample respectively.

Further, sample positioning mechanism includes supporting seat, reference block, location cylinder, supporting seat, location cylinder are fixed on supporting platform, the reference block is fixed on the supporting seat, the reference block sets up with location cylinder counterpoint, the location cylinder with the controller signal is relevant, the location cylinder will the sample compresses tightly to lean on the reference block, forms the location. In this structure, the sample accomplishes the planar back of sawing in the sawing machine, and the anchor clamps subassembly is at first accomplished the sample through the gesture shifter mechanism and gets the conversion of gesture, then places the sample on the supporting seat, and the one side that will accomplish the saw cutting is counterpointed with the benchmark piece, the another side compresses tightly through the location cylinder to use the benchmark piece as the location benchmark, carry out the accurate positioning of sample, then when processing next plane in proper order, repeatedly adopt above-mentioned locate mode, accomplish many times location of sample, degree of automation is high.

Furthermore, the positioning cylinder comprises a first cylinder, a second cylinder and a third cylinder, the reference block is rectangular, a group of adjacent side walls are respectively a first reference surface and a second reference surface, and the first cylinder, the second cylinder and the third cylinder are respectively fixed on the supporting platform and arranged around the reference block; the first cylinder is aligned with the first reference surface, the moving direction of the first cylinder is vertical to the first reference surface, the second cylinder is aligned with the second reference surface, the moving direction of the second cylinder is vertical to the second reference surface, the third cylinder is vertical to the second cylinder, and the moving direction of the third cylinder extends to a position between the second cylinder and the reference block; the first cylinder, the second cylinder, and the third cylinder are each in signal communication with the controller. In this structure, have three kinds of locate mode, first: clamping the sample through the first cylinder and the first reference surface to form positioning; secondly, the method comprises the following steps: clamping the sample through a second cylinder and a second reference surface to form positioning; thirdly, the method comprises the following steps: after the sample is clamped by the second air cylinder and the second reference surface, the other side of the sample is pushed by the third air cylinder to form positioning. The first and second positioning means can be used for positioning when one side of the sample has been machined and the opposite side needs to be machined, and when a set of opposite sides of the sample has been machined and one side between the set of opposite sides needs to be machined, respectively. The third positioning mode can be used for positioning when the adjacent three sides are processed and the other side needs to be processed.

Further, the first cylinder and the third cylinder are located on a set of opposite sides of the reference block for facilitating installation.

Furthermore, a first gap, a second gap and a third gap are respectively formed in the supporting seat, and the first gap and the second gap are located on the same side of the supporting seat and are respectively aligned with the first air cylinder and the second air cylinder; and the third opening and the third air cylinder are arranged in an alignment way. In this structure, the setting of first opening, second opening can make things convenient for the anchor clamps subassembly to accomplish the back of fixing a position at sample positioning mechanism, and the clamp that accomplishes the sample is got in probing into the supporting seat, and the third opening can guarantee that the propulsion action of third cylinder is not interfered by the supporting seat.

Further, sample positioning mechanism still includes PMKD, first cylinder, second cylinder, third cylinder, supporting seat are installed PMKD is last, PMKD sets up on the supporting platform. In this structure, first cylinder, second cylinder, third cylinder, supporting seat have been fixed in the installation on the mounting plate easy to assemble now, and whole and supporting platform installation are fixed again, and the installation is more convenient, reasonable.

Further, the transfer device still includes size detection mechanism, size detection mechanism includes support column, size measuring instrument, third displacement sensor, horizontal propulsion subassembly, the support column bottom is connected supporting platform, middle part are fixed third displacement sensor, top are passed through horizontal propulsion subassembly connects size measuring instrument, third displacement sensor, size measuring instrument respectively with sample counterpoint setting on the gesture shifter, size measuring instrument, third displacement sensor, horizontal propulsion subassembly respectively with controller signal association. In the structure, whether the sample is on the posture conversion mechanism is detected through the third displacement sensor, and then the horizontal pushing assembly drives the size measuring instrument to horizontally move to complete size scanning of the sample.

The fixture assembly is characterized by further comprising an unqualified product blanking conveyer belt, and the movable range of the fixture assembly covers the unqualified product blanking conveyer belt; the unqualified product blanking conveyer belt is in signal correlation with the controller. In this structure, when the machining dimension that size detection mechanism detected the sample was not conform to the requirements, get the sample through the clamp subassembly clamp, place nonconforming product unloading conveyer belt on, in time terminate the course of working, carry out the processing of next sample to accomplish nonconforming sample's recovery.

Furthermore, the marking device comprises a marking machine and a clamping base which are fixed on the supporting platform, the movable range of the clamp assembly covers the clamping base, the clamping base is used for fixing the sample, the marking machine is used for printing a label on the sample, and the marking machine and the clamping base are respectively associated with the controller signal so as to record sample data.

Furthermore, the marking device further comprises a translation assembly and a sliding bottom plate, the clamping base comprises a first clamping base and a second clamping base, the sliding bottom plate is connected with the supporting platform through the translation assembly, the first clamping base and the second clamping base are respectively fixed on the sliding bottom plate and respectively reach the lower part of the marking machine under the driving of the translation assembly; the translation assembly, the first clamping base and the second clamping base are respectively associated with the controller through signals. This structure can improve the system and beat the mark adaptability to not unidimensional sample, and the practicality is strong.

Further, the feeding mechanism comprises a feeding workbench, a high-position platform, a low-position platform, a high-position platform propelling component and a low-position platform propelling component, the high-position platform propelling component is connected with the high-position platform and the feeding workbench, the low-position platform propelling component is connected with the low-position platform and the feeding workbench, the high-position platform and the low-position platform respectively horizontally move under the driving of the high-position platform propelling component and the low-position platform propelling component, and the low-position platform can penetrate through the lower part of the high-position platform; the high-level platform propulsion assembly and the low-level platform propulsion assembly are respectively associated with the controller signals. In this structure, the material loading efficiency is promoted in the material loading in turn of accessible high-order platform, low level platform, saves the material loading beat. Meanwhile, the low platform passes through the lower part of the high platform to move, so that the space can be saved.

Further, feed mechanism still includes the quick change plummer, the quick change plummer set up respectively in on high-order platform, the low level platform, and the upper surface sets up the equipartition and put a kind groove, every put and place singly respectively in the kind groove sample. In this structure, the quick change plummer can realize the quick replacement to the sample of different shapes and size, and simultaneously, the equipartition put the appearance groove and also can tentatively fix a position the sample position, improves vision positioner's location efficiency.

Further, the visual positioning device comprises a support, a mounting plate, a light source and an industrial camera, wherein the support is positioned on one side of the feeding mechanism and extends to the upper part of the feeding mechanism, the mounting plate is fixed on the support, and the light source and the industrial camera are fixed on the mounting plate and face the feeding mechanism; the light source, industrial camera and the controller signal are associated. In the structure, the industrial camera is used for collecting the sample placing image on the feeding mechanism, and the background controller is used for calculating the position, so that the position information of the sample placed on the feeding mechanism is obtained. Further, the visual positioning device further comprises a vertical propelling assembly, the vertical propelling assembly comprises a connecting plate, a vertical guide rail and a vertical cylinder, the connecting plate is fixed on the support, the vertical guide rail is connected with the mounting plate and the connecting plate, the vertical cylinder drives the mounting plate to move along the vertical guide rail, and the vertical cylinder is associated with the controller through signals. The distance between camera and the sample is adjusted through advancing the subassembly to this structure to the sample position that the adaptation need not use thickness is shot.

Furthermore, the visual positioning device further comprises a hydraulic buffer and a positioning baffle, wherein the hydraulic buffer is fixed on the connecting plate, and the positioning baffle is fixed on the mounting plate and is arranged in an alignment mode with the hydraulic buffer to form limiting protection.

Has the advantages that: compared with the prior art, the utility model has the advantages that: 1) the automatic rapid and stable processing of six planes of the thick plate sample is realized, and the automation degree is high; 2) automatic feeding and discharging of the sawing machine are achieved through the robot, manual work is replaced, and safety and high efficiency are achieved; 3) the system can adapt to the processing of samples with different thicknesses and sizes, and has strong practicability.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic structural diagram of a robot body;

FIG. 3 is an enlarged schematic view of position A of FIG. 2;

FIG. 4 is a schematic structural view of a feeding mechanism and a discharging mechanism;

FIG. 5 is an enlarged schematic view of position B of FIG. 1;

FIG. 6 is a schematic view of the structure above the support platform;

FIG. 7 is a schematic structural diagram of a posture switching mechanism;

FIG. 8 is a schematic view of a sample positioning mechanism;

FIG. 9 is a schematic view showing the positioning of the sample positioning mechanism according to this embodiment before the sample second surface is machined;

fig. 10 is a schematic view showing the positioning of the sample positioning mechanism according to the present embodiment before the sample third surface is machined;

FIG. 11 is a schematic view showing the positioning of the sample positioning mechanism of this embodiment before the fourth surface processing of the sample;

fig. 12 is a schematic structural view of the size detection mechanism.

Detailed Description

The utility model will be further elucidated with reference to the drawings and specific examples, which are intended to illustrate the utility model and are not intended to limit the scope of the utility model.

The utility model provides an automatic accurate positioning system of processing of thick plate sample, as shown in figure 1, includes robot 1, anchor clamps subassembly 2, sawing machine 3, feed mechanism 4, unloading mechanism 5, vision positioner 6, transfer device 7, controller 8, defective products unloading conveyer belt 9, marks device 10.

The clamp assembly 2 is fixed at the movable end of the robot body 1, the movable range of the clamp assembly 2 covers the sawing machine 3, the feeding mechanism 4, the blanking mechanism 5, the transfer device 7, the unqualified product blanking conveying belt 9 and the marking device 10, and the visual positioning device 6 extends to the upper side of the feeding mechanism 4 and is used for detecting the placing position of the sample 101 in the feeding mechanism 4.

As shown in fig. 2 to 3, the clamp assembly 2 of the present embodiment adopts a dual-chuck design, and specifically includes a mounting flange 21, a suction cup 22, a clamping jaw 23, a connecting block 24, a first displacement sensor 25, a second displacement sensor 26, and a position compensator 27. Mounting flange 21 connects robot body 1, and mounting flange 21 is connected through position compensator 27 to connecting block 24, and sucking disc 22, clamping jaw 23, first displacement sensor 25, second displacement sensor 26 are fixed respectively on connecting block 24, and sucking disc 22, clamping jaw 23 adjacent setting, and the material direction of inhaling of sucking disc 22 and clamping jaw 23 are perpendicular mutually. The first displacement sensor 25 is arranged adjacent to the suction cup 22 and has the same detection direction as the suction direction of the suction cup 22, and the second displacement sensor 26 is arranged adjacent to the clamping jaw 23 and has the same detection direction as the clamping direction of the clamping jaw 23.

As shown in fig. 4, in order to improve the feeding efficiency and save the feeding tact, the feeding mechanism 4 of this embodiment preferably adopts a double-tray structure, and specifically includes a feeding worktable 41, a high platform 42, a low platform 43, a high platform propelling assembly 44, a low platform propelling assembly 45, and a quick-change plummer 46. High-order platform impels subassembly 44 and connects high-order platform 42, material loading workstation 41, and low level platform impels subassembly 45 and connects low-order platform 43, material loading workstation 41, and high-order platform 42, low-order platform 43 horizontal migration under the drive of high-order platform impels subassembly 44, low-order platform impels subassembly 45 respectively, and low-order platform 43 can pass high-order platform 42 below. The quick-change bearing platform 46 is respectively arranged on the high-level platform 42 and the low-level platform 43, the upper surface of the quick-change bearing platform is provided with sample placing grooves 46a which are uniformly distributed, and a single sample is respectively placed in each sample placing groove 46 a. The quick-change carrier table 46 in this embodiment can adopt positioning pins, positioning grooves, and the like to realize a connectionless quick-change structure, thereby realizing quick change for samples of different shapes and sizes.

The unloading mechanism 5 of this embodiment is shown in fig. 4, and can adopt the same two-tray design as the loading mechanism 4 to improve the unloading efficiency, and also can adopt a common conveyer belt structure.

As shown in fig. 5, the visual positioning device 6 of the present embodiment adopts a vertical moving structure, and specifically includes a bracket 61, a mounting plate 62, a light source 63, an industrial camera 64, a vertical pushing assembly 65, a hydraulic buffer 66, and a positioning baffle 67. The bracket 61 is located on one side of the feeding mechanism 4 and extends above the feeding mechanism 4. The vertical propelling assembly 65 specifically comprises a connecting plate 65a, a vertical guide rail 65b and a vertical cylinder 65 c. The connecting plate 65a is fixed on the support 61, the hydraulic buffer 66 is fixed on the connecting plate 65a, the light source 63, the industrial camera 64 and the positioning baffle 67 are fixed on the mounting plate 62, the light source 63 and the industrial camera 64 face the feeding mechanism 4, the vertical guide rail 65b is connected with the mounting plate 62 and the connecting plate 65a, and the positioning baffle 67 and the hydraulic buffer 66 are arranged in an aligned mode. The vertical cylinder 65c drives the mounting plate 62 to move along the vertical guide rail 65b, and the positioning baffle 67 and the hydraulic buffer 66 are matched to form limiting protection.

As shown in fig. 6, the relay device 7 of the present embodiment includes a support platform 71, and a posture switching mechanism 72, a sample positioning mechanism 73, and a size detection mechanism 74 fixed to the support platform 71.

As shown in fig. 7, the posture switching mechanism 72 is used for switching the posture of the sample in cooperation with the fixture assembly 2, and specifically includes a magnetic conductive column 72a, an electromagnet 72b, a rotating assembly 72c, and a support plate 72 d. The magnetic conduction column 72a, the electromagnet 72b, the rotating assembly 72c and the support plate 72d are sequentially connected from top to bottom, the support plate 72d is fixed on the support platform 71, the rotating assembly 72c specifically comprises a cam divider 72e and a servo motor 72f, the cam divider 72e is arranged between the support plate 72d and the electromagnet 72b, and is driven to horizontally rotate by the servo motor 72f to drive the magnetic conduction column 72a and the electromagnet 72b to rotate, the upper surface of the magnetic conduction column 72a is used for adsorbing a sample, in the embodiment, the upper surface of the magnetic conduction column 72a is in an I shape, and the two sides in the length direction are provided with notches, and the width of the notches is smaller than the width of the sample.

As shown in fig. 8 to 11, the sample positioning mechanism 73 is used for positioning the sample after changing the posture, and specifically includes a support base 73a, a reference block 73b, a positioning cylinder 73c, and a fixed base plate 73 j. The supporting seat 73a and the positioning cylinder 73c are fixed on the supporting platform 71, the reference block 73b is fixed on the supporting seat 73a, the reference block 73b and the positioning cylinder 73c are arranged in an alignment mode, and the positioning cylinder 73c presses the sample against the reference block 73b to form positioning. Specifically, the positioning cylinder 73c includes a first cylinder 73d, a second cylinder 73e, and a third cylinder 73f, the reference block 73b is rectangular, a group of adjacent side walls are a first reference surface a and a second reference surface b, respectively, and the first cylinder 73d, the second cylinder 73e, and the third cylinder 73f are fixed on the support platform 71, and are disposed around the reference block 73 b; the first cylinder 73d is arranged opposite to the first reference surface a, and the moving direction of the first cylinder is vertical to the first reference surface a, the second cylinder 73e is arranged opposite to the second reference surface b, and the moving direction of the second cylinder is vertical to the second reference surface b, the third cylinder 73f is arranged perpendicular to the second cylinder 73e, and the moving direction of the third cylinder extends to the position between the second cylinder 73e and the reference block 73 b; the first, second and third cylinders 73d, 73e, 73f are each in signal communication with the controller 8. In this embodiment, in order to optimize the field layout, when the fixture assembly 2 grips samples at different positions on the support base 73a, the gripping operation is performed on the same side as much as possible, and the first cylinder 73d and the third cylinder 73f are disposed on a set of opposite sides of the reference block 73 b. In this embodiment, in order to facilitate the positioning and installation of the different parts of the sample positioning mechanism 73, a fixing base plate 73j is provided, the first air cylinder 73d, the second air cylinder 73e, the third air cylinder 73f and the support seat 73a are installed on the fixing base plate 73j, and the fixing base plate 73j is provided on the support platform 71. In this embodiment, in order to facilitate the clamping action of the clamp assembly 2, the supporting seat 73a is respectively provided with a first gap 73g and a second gap 73h, and the first gap 73g and the second gap 73h are located on the same side of the supporting seat 73a and are respectively aligned with the first cylinder 73d and the second cylinder 73 e. Meanwhile, in order to facilitate the pushing action of the third cylinder 73f, a third slit 73i is formed in the support seat 73a, and the third slit 73i is aligned with the third cylinder 73 f.

As shown in fig. 12, the dimension detecting mechanism 74 is used for checking the dimension of the sample, and specifically includes a support column 74a, a dimension measuring instrument 74b, a third displacement sensor 74c, and a horizontal pushing assembly 74 d. The bottom of the supporting column 74a is connected with the supporting platform 71, the middle part is fixed with a third displacement sensor 74c, the top part is connected with a dimension measuring instrument 74b through a horizontal propelling component 74d, and the third displacement sensor 74c and the dimension measuring instrument 74b are respectively aligned with the sample on the posture switching mechanism 72.

The reject blanking conveyor 9 in this embodiment is, as shown in fig. 1, for recovering a sample having an unacceptable size after the size detection mechanism 74 completes the verification of the sample size.

As shown in fig. 6, the marking device 10 is used for printing a data label after a sample is processed, and specifically includes a marking machine 10a fixed on a supporting platform 71, a clamping base 10b, a translation component 10c, and a sliding bottom plate 10d, where the clamping base 10b is used for fixing a sample, and specifically includes a first clamping base 10e and a second clamping base 10f, the marking machine 10a is used for printing a label on the sample, the sliding bottom plate 10d is connected to the supporting platform 71 through the translation component 10c, the first clamping base 10e and the second clamping base 10f are respectively fixed on the sliding bottom plate 10d, and under the driving of the translation component 10c, the first clamping base and the second clamping base respectively reach the lower part of the marking machine 10a, and the label printing is completed.

The robot body 1, the suction cup 22, the clamping jaw 23, the first displacement sensor 25 and the second displacement sensor 26 of the clamp assembly 2, the sawing machine 3, the high-level platform propelling assembly 44 and the low-level platform propelling assembly 45 of the feeding mechanism 4, the blanking mechanism 5, the light source 63 of the visual positioning device 6, the industrial camera 64 and the vertical air cylinder 65c, the electromagnet 72b and the servo motor 72f of the attitude switching mechanism 72, the first air cylinder 73d, the second air cylinder 73e and the third air cylinder 73f of the sample positioning mechanism 73, the dimension measuring instrument 74b, the third displacement sensor 74c and the horizontal propelling assembly 74d of the dimension detecting mechanism 74, the unqualified product blanking conveying belt 9, and the marking machine 10a, the translation assembly 10c, the first clamping base 10e and the second clamping base 10f of the marking device 10 are respectively in signal correlation with the controller 8.

In this embodiment, the suction cup 22 is preferably an electromagnet suction cup, the clamping jaw 23 is preferably a pneumatic clamping jaw, the first displacement sensor 25, the second displacement sensor 26 and the third displacement sensor 74c are preferably laser displacement sensors, the dimension measuring instrument 74b is preferably a 3D line laser measuring instrument, the sawing machine 3 is preferably a high-speed circular sawing machine, and the high-position platform propelling assembly 44, the low-position platform propelling assembly 45, the horizontal propelling assembly 74D and the translation assembly 10c can be driven by common air cylinders or electric cylinders. The first clamping base 10e and the second clamping base 10f can fix the sample by adopting common fixing modes such as adsorption, clamping and the like.

When the sample processing system of this embodiment uses, mainly include several processes of material loading, visual identification, six processing, size check, mark, unloading.

During feeding, the sample to be processed is manually placed into the quick-change bearing platform 46 in the high-position platform 42 or the low-position platform 43, and one sample to be processed is placed in each sample placing groove 46 a. After the sample is filled, the controller controls the high-position platform propelling assembly 44 and the low-position platform propelling assembly 45 to move, the high-position platform 42 and the low-position platform 43 are driven to move relatively, the feeding motion is completed, the returned low-position platform 43 or the returned high-position platform 42 can be used for manual feeding simultaneously, subsequent sample processing is not influenced, and the production rhythm is accelerated.

After the feeding is completed, when visual recognition is carried out, the well depth range of the camera is considered, and a vertical moving structure is designed. When the sample is thick, the controller controls the vertical cylinder 65c to act by signals to drive the mounting plate 62 to move to the upper end position, and then the signal controls the light source 63 and the industrial camera 64 to start, so as to collect the image of the quick-change bearing platform 46 and complete the position information collection of the sample. When the sample is thin, the controller controls the vertical cylinder 65c to act by signals to drive the mounting plate 62 to move to the lower end position, and then the signals control the light source 63 and the industrial camera 64 to start, so as to collect images of the quick-change bearing platform 46 and complete the position information collection of the sample.

After finishing the visual recognition, when six faces are processed, the first face is processed, preferably the length direction side: the sample is horizontally swung in the sample placing groove 46a and is not convenient to clamp, so that the controller firstly drives the suction disc 22 to reach a corresponding position according to collected sample position information to perform suction action, then the sample is moved onto the magnetic conduction column 72a, the signal control electromagnet 72b is started to adsorb the sample, then the clamping jaw 23 of the clamp assembly 2 is replaced by the clamping jaw 23 to perform clamping action, after clamping, the signal control electromagnet 72b of the controller is closed, then the clamping jaw 23 sends the sample into the sawing machine 3 to perform sawing on the side surface in the length direction of the first surface, after the sawing is completed, the suction disc 22 adsorbs the side surface in the length direction of the first surface which is already sawed, the sample is taken out of the sawing machine 3, and the processing of the first surface is completed.

When the second surface is processed, the surface opposite to the first surface, that is, the other longitudinal side surface: the controller controls the sucker 22 to place the sample on the magnetic conduction column 72a again through signals, controls the electromagnet 72b to start again, controls the servo motor 72f to drive the cam divider 72e to rotate by 180 degrees, adjusts the second to-be-processed surface of the sample to a position opposite to the clamp assembly 2, and then performs clamping through the clamping jaw 23. After clamping, the clamping jaw 23 places the sample 101 on the supporting seat 73a, as shown in the position shown in fig. 9, the machined first surface is tightly attached to the first reference surface a of the reference block 73b, the first cylinder 73d compresses the second surface to be machined, positioning is completed, then the clamping jaw 23 is inserted into the first gap 73g to clamp the sample, then the first cylinder 73d is loosened to take out the sample, then the sample is placed in the sawing machine 3 to perform sawing machining on the second surface, after the sawing is completed, the suction cup 22 continues to adsorb the sawed second surface, the sample is taken out from the sawing machine 3, and machining of the second surface is completed.

When the third surface is machined, the width direction side surface is preferably: the controller controls the suction cup 22 to continuously place the sample on the magnetic conduction column 72a by signals, controls the electromagnet 72b to start again, controls the servo motor 72f to drive the cam divider 72e to rotate 90 degrees, adjusts the third to-be-processed surface of the sample to the position opposite to the clamp assembly 2, and then performs clamping by the clamping jaw 23. After clamping is completed, the clamping jaw 23 places the sample 101 on the supporting seat 73a, as shown in the position shown in fig. 10, the machined first surface is tightly attached to the second reference surface b of the reference block 73b, the second air cylinder 73e is pushed out to press the machined second surface tightly, so that positioning is completed, then the clamping jaw 23 stretches into the second gap 73h to clamp the sample, then the second air cylinder 73e is loosened, the sample can be taken out, then the sample is placed in the sawing machine 3 to be subjected to sawing machining of the third surface, after the sawing is completed, the third surface which is subjected to sawing is continuously adsorbed by the sucking disc 22, the sample is taken out from the sawing machine 3, and the machining of the third surface is completed.

When the fourth surface is processed, it is preferable that the facing surface of the third surface and the other width direction side surface: the whole process is similar to the process of processing the second surface, namely, the controller signals the sucker 22 to place the sample on the magnetic conducting column 72a again, the cam divider 72e rotates 180 degrees, the fourth to-be-processed surface of the sample is adjusted to a position facing the clamp assembly 2, then the sample 101 is clamped and placed on the supporting seat 73a as shown in the figure 11, the processed first surface is tightly attached to the second reference surface b of the reference block 73b, the processed third surface corresponds to the third air cylinder 73f, then the second air cylinder 73e pushes out to press the processed second surface, then the third air cylinder 73f pushes out to press the processed third surface, and therefore positioning is completed. Then the clamping jaw 23 stretches into the second opening 73h to clamp the sample, then the second air cylinder 73e and the third air cylinder 73f are loosened to take out the sample, then the sample is put into the sawing machine 3 to be subjected to the sawing processing of the fourth surface, after the sawing processing is finished, the suction disc 22 is continuously used for adsorbing the fourth surface which is subjected to the sawing processing, the sample is taken out from the sawing machine 3, and the processing of the fourth surface is finished.

When the fifth surface is processed, it is preferable that the top surface: the sucker 22 rotates 90 degrees after taking out the sample, vertically puts the sample on the magnetic conduction column 72a, and then switches to the clamping jaw 23 to clamp two length direction side surfaces of the sample, thereby finishing the clamping posture adjustment. It should be noted that, because the thick plate needs to be rolled in the preparation process, the precision of the parallelism of the top surface and the bottom surface is high, and the sample positioning mechanism 73 does not need to be used for positioning, and certainly, a positioning method for sawing the first surface to the fourth surface can be used according to the needs. In this embodiment, the positioning process that is omitted is directly sent to the sawing machine 3 to saw the top surface of the fifth surface after the clamping posture adjustment is completed, and after the sawing is completed, the suction cup 22 continues to adsorb the fifth surface that has been completed, and the sample is taken out from the sawing machine 3 to complete the processing of the fifth surface.

When the sixth surface is machined, the bottom surface is preferably: the whole process is similar to the process of processing the fifth surface, the sucker 22 takes out the sample and vertically puts the sample on the magnetic conduction column 72a, the cam divider 72e rotates 180 degrees, and then the clamping jaw 23 is switched to clamp two length direction side surfaces of the sample, so that the clamping posture adjustment is completed. Then directly sending the sample into the sawing machine 3 to saw the bottom surface of the sixth surface, after the sawing is finished, continuing to adsorb the sawed sixth surface through the sucking disc 22, taking out the sample from the sawing machine 3, and finishing the processing of the sixth surface.

In order to control the precision of the sample processing process at any time, the size of the six surfaces to be processed is checked after the two surfaces in the length direction, the two surfaces in the width direction and the two surfaces at the top and the bottom are processed. In this embodiment, the dimension checking is performed 3 times after the second surface, the fourth surface and the sixth surface are processed, so as to monitor the processing precision of the sample in three directions at any time. During calibration, whether a sample is on the magnetic conduction column 72a or not is determined through the third displacement sensor 74c, and then the horizontal pushing assembly 74d is controlled by a signal to move horizontally to drive the size measuring instrument 74b to complete size scanning of the sample, so that calibration is completed. When the test is qualified, the next step of processing or marking is carried out, and when the test is unqualified, the sample is directly clamped by the clamping jaw 23, and the unqualified product blanking conveyer belt 9 is placed to complete the recovery of the unqualified sample.

And after six surfaces are processed and the size is checked to be qualified, marking the sample. Firstly, a proper clamping base 10b is conveyed to the lower part of the marking machine 10a through the translation assembly 10c, then a qualified sample which is subjected to size verification is clamped from the magnetic conduction column 72a through the clamping jaw 23, the sample is placed into the clamping base 10b, and after fixation is completed, the marking machine 10a is controlled to complete marking.

After marking is finished, when final blanking is carried out, the sample after marking is finished is clamped from the clamping base 10b through the clamping jaw 23, and then the sample is sent into the blanking mechanism 5, so that the whole sample processing process can be finished.

The sample processing system of this embodiment has realized that six planar automatic quick, the stable processing of thick plate sample, and degree of automation is high. Meanwhile, automatic feeding and discharging of the sawing machine are achieved through the robot, manual work is replaced, and safety and high efficiency are achieved. In addition, the system can adapt to the processing of samples with different thicknesses and sizes, and the practicability is high.

Claims (22)

1. The utility model provides an automatic accurate positioning system of processing of thick plate sample which characterized in that: the robot comprises a robot body (1), a clamp assembly (2), a sawing machine (3), a feeding mechanism (4), a discharging mechanism (5), a visual positioning device (6), a transfer device (7) and a controller (8); the clamp assembly (2) is fixed at the movable end of the robot body (1), the movable range of the clamp assembly (2) covers the sawing machine (3), the feeding mechanism (4), the discharging mechanism (5) and the transfer device (7), the visual positioning device (6) extends to the upper side of the feeding mechanism (4) and is used for detecting the placing position of a sample in the feeding mechanism (4), the transfer device (7) comprises a supporting platform (71), and a posture switching mechanism (72) and a sample positioning mechanism (73) which are fixed on the supporting platform (71), the posture switching mechanism (72) is used for being matched with the clamp assembly (2) to carry out posture conversion on the sample, and the sample positioning mechanism (73) is used for positioning after posture conversion on the sample; the robot comprises a robot body (1), a clamp assembly (2), a sawing machine (3), a feeding mechanism (4), a discharging mechanism (5), a visual positioning device (6), a posture switching mechanism (72) and a sample positioning mechanism (73), wherein the robot body, the clamp assembly (2), the sawing machine (3), the feeding mechanism, the discharging mechanism (5), the visual positioning device, the posture switching mechanism (72) and the sample positioning mechanism (73) are respectively in signal association with a controller (8).

2. The system of claim 1, wherein the system comprises: anchor clamps subassembly (2) include mounting flange (21), sucking disc (22), clamping jaw (23), connecting block (24) pass through mounting flange (21) are connected robot body (1), sucking disc (22), clamping jaw (23) are fixed respectively on connecting block (24), and respectively with controller (8) signal is relevant.

3. The system of claim 2, wherein the system comprises: the sucker (22) and the clamping jaw (23) are arranged adjacently, and the material sucking direction of the sucker (22) is perpendicular to the material clamping direction of the clamping jaw (23).

4. The system of claim 2, wherein the system comprises: anchor clamps subassembly (2) are still including fixing first displacement sensor (25), second displacement sensor (26) on connecting block (24), first displacement sensor (25) with sucking disc (22) adjacent setting, and the detection direction with sucking disc (22) inhale the material direction the same, second displacement sensor (26) with clamping jaw (23) adjacent setting, and the detection direction with the clamp material direction of clamping jaw (23) is the same, first displacement sensor (25), second displacement sensor (26) respectively with controller (8) signal association.

5. The system of claim 2, wherein the system comprises: the clamp assembly (2) further comprises a position compensator (27), and the connecting block (24) is connected with the mounting flange (21) through the position compensator (27).

6. The system of claim 1, wherein the system comprises: posture switching mechanism (72) includes magnetic conduction post (72 a), electro-magnet (72 b), rotating component (72 c), backup pad (72 d), magnetic conduction post (72 a), electro-magnet (72 b), rotating component (72 c), backup pad (72 d) from top to bottom connect gradually, rotating component (72 c) horizontal rotation drives magnetic conduction post (72 a), electro-magnet (72 b) are rotatory, the upper surface of magnetic conduction post (72 a) is used for adsorbing the sample, backup pad (72 d) are fixed on supporting platform (71), rotating component (72 c), electro-magnet (72 b) with controller (8) signal association.

7. The automatic precise positioning and processing system for the thick plate sample according to claim 6, wherein: the rotating assembly (72 c) comprises a cam divider (72 e) and a servo motor (72 f), the cam divider (72 e) is arranged between the supporting plate (72 d) and the electromagnet (72 b) and is driven by the servo motor (72 f) to rotate horizontally, and the servo motor (72 f) is in signal connection with the controller (8).

8. The automatic precise positioning and processing system for the thick plate sample according to claim 6, wherein: the upper surface of the magnetic conduction column (72 a) is I-shaped, notches are arranged on two sides in the length direction, and the width of the notches is smaller than that of the sample.

9. The system of claim 1, wherein the system comprises: the sample positioning mechanism (73) comprises a supporting seat (73 a), a reference block (73 b) and a positioning air cylinder (73 c), the supporting seat (73 a) and the positioning air cylinder (73 c) are fixed on the supporting platform (71), the reference block (73 b) is fixed on the supporting seat (73 a), the reference block (73 b) and the positioning air cylinder (73 c) are arranged in an alignment mode, the positioning air cylinder (73 c) is in signal correlation with the controller (8), and the positioning air cylinder (73 c) enables the sample to be pressed against the reference block (73 b) to form positioning.

10. The system of claim 9, wherein the system comprises: the positioning air cylinder (73 c) comprises a first air cylinder (73 d), a second air cylinder (73 e) and a third air cylinder (73 f), the reference block (73 b) is rectangular, a group of adjacent side walls are respectively a first reference surface (a) and a second reference surface (b), and the first air cylinder (73 d), the second air cylinder (73 e) and the third air cylinder (73 f) are respectively fixed on the supporting platform (71) and arranged around the reference block (73 b); the first air cylinder (73 d) is arranged opposite to the first reference surface (a) and the moving direction of the first air cylinder is vertical to the first reference surface (a), the second air cylinder (73 e) is arranged opposite to the second reference surface (b) and the moving direction of the second air cylinder is vertical to the second reference surface (b), the third air cylinder (73 f) is arranged perpendicular to the second air cylinder (73 e) and the moving direction of the third air cylinder extends to the position between the second air cylinder (73 e) and the reference block (73 b); the first cylinder (73 d), the second cylinder (73 e) and the third cylinder (73 f) are respectively in signal connection with the controller (8).

11. The system of claim 10, wherein the system comprises: the first and third cylinders (73 d, 73 f) are located on a set of opposite sides of the reference block (73 b).

12. The system of claim 10, wherein the system comprises: a first gap (73 g), a second gap (73 h) and a third gap (73 i) are respectively formed in the supporting seat (73 a), the first gap (73 g) and the second gap (73 h) are located on the same side of the supporting seat (73 a), and are respectively aligned with the first air cylinder (73 d) and the second air cylinder (73 e); the third gap (73 i) is arranged in a contraposition with the third cylinder (73 f).

13. The system of claim 10, wherein the system comprises: the sample positioning mechanism (73) further comprises a fixed bottom plate (73 j), the first air cylinder (73 d), the second air cylinder (73 e), the third air cylinder (73 f) and the supporting seat (73 a) are installed on the fixed bottom plate (73 j), and the fixed bottom plate (73 j) is arranged on the supporting platform (71).

14. The system of claim 1, wherein the system comprises: the transfer device (7) further comprises a size detection mechanism (74), the size detection mechanism (74) comprises a supporting column (74 a), a size measuring instrument (74 b), a third displacement sensor (74 c) and a horizontal pushing assembly (74 d), the bottom of the supporting column (74 a) is connected with the supporting platform (71), the middle of the supporting column is fixed with the third displacement sensor (74 c), the top of the supporting column is connected with the size measuring instrument (74 b) through the horizontal pushing assembly (74 d), the third displacement sensor (74 c) and the size measuring instrument (74 b) are respectively aligned with a sample on the posture conversion mechanism (72), and the size measuring instrument (74 b), the third displacement sensor (74 c) and the horizontal pushing assembly (74 d) are respectively associated with the controller (8) through signals.

15. The system of claim 14, wherein the system comprises: the clamp is characterized by further comprising an unqualified product blanking conveying belt (9), wherein the movable range of the clamp component (2) covers the unqualified product blanking conveying belt (9); the unqualified product blanking conveying belt (9) is in signal correlation with the controller (8).

16. The system of claim 1, wherein the system comprises: still include marking device (10), marking device (10) is including fixing marking machine (10 a), clamping base (10 b) on supporting platform (71), the home range of anchor clamps subassembly (2) covers clamping base (10 b), clamping base (10 b) are used for fixing the sample, marking machine (10 a) are used for printing the label on the sample, marking machine (10 a), clamping base (10 b) respectively with controller (8) signal association.

17. The system of claim 16, wherein the system comprises: the marking device (10) further comprises a translation assembly (10 c) and a sliding bottom plate (10 d), the clamping base (10 b) comprises a first clamping base (10 e) and a second clamping base (10 f), the sliding bottom plate (10 d) is connected with the supporting platform (71) through the translation assembly (10 c), the first clamping base (10 e) and the second clamping base (10 f) are respectively fixed on the sliding bottom plate (10 d), and under the driving of the translation assembly (10 c), the first clamping base and the second clamping base respectively reach the position below the marking machine (10 a); the translation assembly (10 c), the first clamping base (10 e) and the second clamping base (10 f) are respectively in signal correlation with the controller (8).

18. The system of claim 1, wherein the system comprises: the feeding mechanism (4) comprises a feeding working table (41), a high-position platform (42), a low-position platform (43), a high-position platform propelling component (44) and a low-position platform propelling component (45), the high-position platform propelling component (44) is connected with the high-position platform (42) and the feeding working table (41), the low-position platform propelling component (45) is connected with the low-position platform (43) and the feeding working table (41), the high-position platform (42) and the low-position platform (43) respectively move horizontally under the driving of the high-position platform propelling component (44) and the low-position platform propelling component (45), and the low-position platform (43) can pass through the lower part of the high-position platform (42); the high-level platform propelling component (44) and the low-level platform propelling component (45) are respectively in signal association with the controller (8).

19. The system of claim 18, wherein the system comprises: the feeding mechanism (4) further comprises a quick-change bearing platform (46), wherein the quick-change bearing platform (46) is respectively arranged on the high-position platform (42) and the low-position platform (43), sample placing grooves (46 a) are uniformly formed in the upper surface of the quick-change bearing platform, and each sample is placed in each sample placing groove (46 a).

20. The system of claim 1, wherein the system comprises: the visual positioning device (6) comprises a support (61), a mounting plate (62), a light source (63) and an industrial camera (64), wherein the support (61) is located on one side of the feeding mechanism (4) and extends above the feeding mechanism (4), the mounting plate (62) is fixed on the support (61), and the light source (63) and the industrial camera (64) are fixed on the mounting plate (62) and face the feeding mechanism (4); the light source (63), industrial camera (64) and the controller (8) are in signal association.

21. The system of claim 20, wherein the system comprises: visual positioning device (6) still includes vertical propulsion subassembly (65), vertical propulsion subassembly (65) includes connecting plate (65 a), vertical guide rail (65 b), vertical cylinder (65 c), connecting plate (65 a) are fixed on support (61), vertical guide rail (65 b) are connected mounting panel (62), connecting plate (65 a), vertical cylinder (65 c) drive mounting panel (62) are followed vertical guide rail (65 b) remove, vertical cylinder (65 c) with controller (8) signal association.

22. The system of claim 21, wherein the system comprises: the visual positioning device (6) further comprises a hydraulic buffer (66) and a positioning baffle (67), wherein the hydraulic buffer (66) is fixed on the connecting plate (65 a), and the positioning baffle (67) is fixed on the mounting plate (62) and is aligned with the hydraulic buffer (66).

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