CN218370423U - Automatic assembling and disassembling equipment for cutter - Google Patents
Automatic assembling and disassembling equipment for cutter Download PDFInfo
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- CN218370423U CN218370423U CN202222719065.4U CN202222719065U CN218370423U CN 218370423 U CN218370423 U CN 218370423U CN 202222719065 U CN202222719065 U CN 202222719065U CN 218370423 U CN218370423 U CN 218370423U
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- feeding
- charging tray
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Abstract
The utility model discloses an automatic handling equipment of cutter, including charging tray material loading transportation module, charging tray material loading positioning module, charging tray recovery module, manipulator, the relevant transport module of processing dish, processing dish vision camera module and charging tray vision camera module; the material tray feeding positioning module and the processing tray positioning module are arranged adjacently; the manipulator is positioned between the charging and positioning module of the charging tray and the positioning module of the processing tray; the manipulator grabs a cutter in the feeding disc of the feeding and positioning module of the feeding disc into a processing disc on the positioning module of the processing disc; the middle part of the conveying device is provided with a telescopic device, the two sides of the charging tray feeding positioning module are provided with charging tray limiting plates, during feeding, the charging tray feeding conveying module conveys a charging tray provided with a cutter to the charging tray feeding positioning module, and the telescopic device is located below the charging tray and supports the charging tray below the charging tray limiting plates. The charging tray can not deform due to gravity, so that the visual positioning is accurate, the grabbing success rate is improved, and the overall efficiency is improved.
Description
Technical Field
The utility model belongs to the technical field of the carbide finish machining, concretely relates to automatic handling equipment of cutter.
Background
The numerical control blade is a general name of an indexable turning tool and is a mainstream product in the field of modern metal cutting application. The method is mainly applied to the fields of metal turning, milling, cutting and grooving, thread turning and the like. The coating process is mainly used for treating the surface of the numerical control blade and coating a layer of ceramic material with high wear resistance, so that the surface hardness of the cutter is greatly improved, the service life of the cutter is prolonged, and the friction coefficient between the cutter and a processing material is reduced. Compared with a non-coating blade, the service life of the blade can be prolonged by 5-10 times, and the coating is divided into a physical coating and a chemical coating. The physical coating bombards the surface of the metal target through current to generate metal plasma, and then the metal plasma is deposited on the surface of the blade to form a coating under the action of an electric field; chemical coating (Chemical Vapor Deposition, CVD) is a coating formed by Chemical reaction of various compounds and gases on the blade surface at a high temperature of 900-1100 ℃; the thickness of the coating can reach 5-10 mu m, the equipment is simple, and the coating is uniform; CVD is mostly used for cemented carbide tools.
Because the numerical control tools are characterized by multiple types, inconsistent sizes, large quantity and the like, the tools are generally placed in a special material tray (material tray for short) in the processing procedure, and therefore the tools to be processed need to be transferred from the material tray to the special processing tray (processing tray for short) before the CVD procedure. Because a manual loading and unloading mode is adopted, the cutter is inevitably stained by hands, and the processing quality of the working procedure is influenced; the factors such as proficiency and fatigue of workers and the like adopt a manual loading and unloading mode to cause that the loading and unloading efficiency is not high and not stable, thereby influencing the production efficiency and the production stability of the whole process.
At present, a plurality of types of feeding equipment exist in a feeding process section of a cutter CVD (chemical vapor deposition) process, but the feeding equipment has several common problems: cutter factories generally have various materials, and the compatibility of the fixed claws is low; the feeding tray has large deformation and low visual positioning precision, so that the grabbing is inaccurate; the equipment is messy in placing the cutter, the cutter collides with the cutter, and the cutter face is easy to damage.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an automatic handling equipment of cutter for it is big to solve the material loading charging tray deformation that exists among the prior art, and visual positioning accuracy is low, leads to snatching inaccurate problem.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an automatic loading and unloading device for a cutter comprises a material tray feeding and transporting module, a material tray feeding and positioning module, a material tray recycling module, a mechanical arm, a machining tray input module, a machining tray positioning module, a machining tray recycling module, a machining tray visual camera module and a material tray visual camera module; the material tray feeding positioning module and the processing tray positioning module are arranged adjacently; the manipulator is positioned between the charging and positioning module of the charging tray and the positioning module of the processing tray; the manipulator grabs a cutter in the feeding disc of the feeding and positioning module of the feeding disc into a processing disc on the positioning module of the processing disc; the charging tray feeding and positioning module comprises a conveying device, the conveying device comprises two groups of conveying belts which are symmetrically arranged and a frame for mounting the conveying belts, a telescopic device is arranged in the middle of the conveying device and is telescopic along the vertical direction, charging tray limiting plates are arranged on two sides of the charging tray feeding and positioning module, and the charging tray limiting plates are fixed on the frames on two sides of the positioning module; the material tray limiting plate on each side is positioned above the conveying belt; when feeding, the material tray feeding and conveying module conveys the material tray provided with the cutter to the material tray feeding and positioning module, and the material tray is positioned between the conveying belt and the material tray limiting plate after the conveying belt of the material tray feeding and positioning module is conveyed to a preset position and then stopped; the telescoping device is located the charging tray below, the telescoping device risees and supports the charging tray in charging tray limiting plate below.
According to the technology, after the cutter is filled in the material tray, the material tray can deform, so that the cutter can be in a state of being inclined to some extent, visual positioning errors are caused, the grabbing success rate is reduced, the middle part of the conveying device is provided with the telescopic device, and the two sides of the material tray feeding positioning module are provided with material tray limiting plates; when feeding, the material tray feeding and conveying module conveys the material tray provided with the cutter to the material tray feeding and positioning module, and the material tray is positioned between the conveying belt and the material tray limiting plate after the conveying belt of the material tray feeding and positioning module is conveyed to a preset position and then stopped; the telescoping device is located the charging tray below, the telescoping device risees and supports the charging tray in charging tray limiting plate below for the charging tray can not take place deformation because of gravity, makes the visual positioning accurate, and the success rate of snatching improves, improves whole efficiency.
In one possible design, the top of the telescopic device is provided with a flat plate; and when the telescopic device is lifted, the flat plate is lifted to abut against the bottom of the material tray. Support the charging tray through setting up the flat board for charging tray bottom atress is more even, and deformation resumes better.
In one possible embodiment, a base plate is provided at the bottom of the conveyor, to which the telescopic device is fastened.
In a possible design, be provided with cutter gesture discernment module of making a video recording between charging tray material loading location module and the processing dish location module, the visual direction of cutter gesture discernment module of making a video recording up, and the manipulator snatchs and removes behind the cutter and can pass through in the route of retrieving the module to the processing dish the visual scope of module is made a video recording to cutter gesture discernment. The gesture recognition to the cutter of the removal in-process after the manipulator snatchs the cutter through being provided with cutter gesture recognition camera module, the gesture is put with the adjustment cutter through the adjustment claw utensil to general back control machine for the cutter is put on the processing dish according to predetermineeing the gesture, improves the practicality.
In one possible design, a gripper mounting rack is arranged beside the manipulator, and is provided with a plurality of gripper mounting positions for mounting different types of spare grippers; the manipulator comprises a mechanical arm and a claw, the mechanical arm and the claw are assembled through a quick-change tool, the mechanical arm uses a male end of the quick-change tool, and the clamp side uses a female end of the quick-change tool; the male end and the female end are connected in a clamping mode through an inflatable pin. Through setting up robotic arm and claw utensil and through quick change frock assembly to the setting is by the reserve claw utensil of a plurality of different models, can change the claw utensil automatically according to control center's control manipulator, with the compatibility that adapts to different cutters, improve equipment.
In a possible design, the claw mounting frame comprises a support, a mounting plate is arranged at the top of the support, the claw mounting part is a through hole arranged on the mounting plate, and an opening is arranged beside the through hole.
In one possible design, an inductor for sensing whether the claw tool is installed or not is installed beside the claw tool installation position.
In a possible design, the charging tray material loading transportation module is located above the charging tray recovery module, the charging tray material loading transportation module is adjacent to the charging tray material loading positioning module, an elevating mechanism is arranged below the charging tray material loading positioning module, and when the cutter is unloaded, the elevating mechanism lowers the charging tray material loading positioning module to the height of the charging tray recovery module, so that the charging tray material loading positioning module moves the charging tray to the charging tray recovery module. Through the setting, the charging tray material loading transportation module is located the charging tray and retrieves module top and unloads when the cutter, and elevating system reduces the height that the module was retrieved to the charging tray with charging tray material loading locating module for charging tray material loading locating module removes the charging tray to the charging tray and retrieves the module on, so, through the arrangement of vertical space, compare in the mode of assembly line in the past, make equipment area occupied littleer.
Has the advantages that: the utility model provides an automatic handling equipment of cutter has improved the visual identification precision from the aspect of hardware equipment, and then has improved the success rate of snatching for snatch efficiency is higher; through setting up spare claw utensil, the claw utensil can be changed automatically to the manipulator to adapt to the cutter of different models, improved the compatibility of equipment.
Drawings
FIG. 1 is a schematic perspective view of an automatic tool mounting and dismounting apparatus according to an embodiment;
FIG. 2 is a right side view schematically showing the construction of the automatic loading and unloading apparatus for a cutter in the embodiment;
FIG. 3 is an exploded perspective view of a tray loading and positioning module of the automatic loading and unloading device for a cutting tool according to an embodiment;
FIG. 4 is a schematic view showing the structure of a gripper of the automatic loading and unloading equipment for a cutter according to the embodiment.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be briefly described below with reference to the accompanying drawings and the description of the embodiments or the prior art, and it is obvious that the following description of the structure of the accompanying drawings is only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without any inventive work. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
Example (b):
as shown in fig. 1 to 3, the present embodiment provides an automatic handling device for a tool, including a tray feeding and transporting module 1, a tray feeding and positioning module 2, a tray recovery module 3, a manipulator 9, a processing tray input module 4, a processing tray positioning module 6, a processing tray recovery module 5, a processing tray vision camera module 8, and a tray vision camera module 7; the material tray feeding positioning module and the processing tray positioning module are arranged adjacently; the manipulator is positioned between the charging and positioning module of the charging tray and the positioning module of the processing tray; the manipulator grabs a cutter in the feeding disc of the feeding and positioning module of the feeding disc into a processing disc on the positioning module of the processing disc; the charging tray feeding and positioning module comprises a conveying device 201, the conveying device comprises two groups of symmetrically arranged conveying belts and a frame for mounting the conveying belts, a telescopic device 202 is arranged in the middle of the conveying device and is telescopic along the vertical direction, charging tray limiting plates 204 are arranged on two sides of the charging tray feeding and positioning module, and the charging tray limiting plates 204 are fixed on the frames on two sides of the positioning module; the material tray limiting plate on each side is positioned above the conveying belt; when feeding, the material tray feeding and transporting module transports the material tray 13 with the cutter to the material tray feeding and positioning module, and then the material tray is transported to a preset position through the conveyor belt of the material tray feeding and positioning module and then stopped, so that the material tray is positioned between the conveyor belt and the material tray limiting plate; the telescoping device is located the charging tray below, the telescoping device risees and supports the charging tray in charging tray limiting plate below.
When the device is specifically implemented, the processing disc vision camera module is located above the processing disc positioning module, and the charging disc vision camera module is located above the charging disc feeding positioning module. The specific implementation is that the frame is arranged as required, and a shell or a door body is arranged on the frame; the top frame is provided with a shelf for mounting a visual camera module. In the device, a charging tray feeding and transporting module, a charging tray feeding and positioning module, a charging tray recycling module, a manipulator, a processing tray input module, a processing tray positioning module, a processing tray recycling module, a processing tray visual camera module and a charging tray visual camera module are arranged; the parts not described in the specific structure all adopt modules in the existing equipment, and are not described herein.
In a possible embodiment, the top of the telescopic device 202 is provided with a flat plate 203; specifically, the telescopic device adopts an air cylinder, and when the telescopic device is lifted, the flat plate is lifted to abut against the bottom of the material tray.
In a possible embodiment, the bottom of the conveying device is provided with a bottom plate, and the telescopic device is fixed on the bottom plate.
In a possible implementation mode, a cutter gesture recognition camera module 10 is arranged between the charging tray feeding positioning module and the processing tray positioning module, the visual direction of the cutter gesture recognition camera module faces upwards, and the manipulator grabs the cutter and then moves to the path of the processing tray recovery module to pass through the visual range of the cutter gesture recognition camera module.
As shown in fig. 4, in a possible embodiment, a gripper mounting bracket 11 is provided beside the manipulator, the gripper mounting bracket being provided with a plurality of gripper mounting locations of different types for mounting a spare gripper 12; the manipulator comprises a mechanical arm and a claw, the mechanical arm and the claw are assembled through a quick-change tool, the mechanical arm uses a male end 1201 of the quick-change tool, and the clamp side uses a female end 1202 of the quick-change tool; the male end and the female end are connected in a clamping mode through an inflatable pin.
In a possible embodiment, the claw mounting frame comprises a support, a mounting plate is arranged at the top of the support, the claw mounting position is a through hole arranged on the mounting plate, and the through hole is arranged beside the opening.
In one possible embodiment, an inductor for sensing whether the gripper is installed or not is installed beside the gripper installation position. Specifically, the sensor may be a hall sensor. The inductor can monitor whether the clamp is positioned at the clamp position or not and feedback whether the correct clamp is taken away according to the material number or not.
In a possible implementation mode, the charging tray material loading transportation module is located the charging tray and retrieves the module top, and charging tray material loading transportation module and charging tray material loading locating module adjacent setting, and charging tray material loading locating module below is provided with elevating system, has unloaded when the cutter, and elevating system reduces charging tray material loading locating module to the height that the module was retrieved to the charging tray for charging tray material loading locating module removes the charging tray to the charging tray and retrieves on the module.
Specifically illustrated, elevating system includes lift cylinder 205, and the telescopic link top of lift cylinder is connected with the bottom plate of the conveyer of charging tray material loading locating module through the bolt, and the stiff end of lift cylinder is fixed in the below of the fixed plate 208 of charging tray material loading locating module below, and the telescopic link of lift cylinder runs through the fixed plate, the vertical setting of lift cylinder and be located conveyer's intermediate position also are located the intermediate position of fixed plate, and the fixed plate is fixed on the frame of whole equipment, and the place that conveyer's bottom plate below is close to four angles is vertically provided with slide bar 206, be provided with on the fixed plate with slide bar complex sliding sleeve 207, the slide bar is located the sliding sleeve and runs through the setting on the fixed plate.
When the device is specifically implemented, the processing disc input module, the processing disc positioning module and the processing disc recovery module are arranged in a one-to-one correspondence manner, and the conveying device used by the processing disc recovery module is arranged with the material disc feeding and conveying module, the material disc feeding and positioning module and the material disc recovery module. The principle of the arrangement is the same.
Finally, it should be noted that: the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An automatic loading and unloading device for a cutter comprises a material tray feeding and transporting module, a material tray feeding and positioning module, a material tray recycling module, a mechanical arm, a machining tray input module, a machining tray positioning module, a machining tray recycling module, a machining tray visual camera module and a material tray visual camera module; the material tray feeding positioning module and the processing tray positioning module are arranged adjacently; the manipulator is positioned between the charging and positioning module of the charging tray and the positioning module of the processing tray; the manipulator grabs the cutter on the material tray feeding positioning module into the processing disc on the processing disc positioning module; the charging tray feeding and positioning module comprises a conveying device, the conveying device comprises two groups of conveying belts which are symmetrically arranged and a frame for mounting the conveying belts, and the charging tray feeding and positioning module is characterized in that,
a telescopic device is arranged in the middle of the conveying device and is telescopic along the vertical direction, and charging tray limiting plates are arranged on two sides of the charging tray feeding and positioning module and fixed on frames on two sides of the positioning module; the material tray limiting plate on each side is positioned above the conveying belt; during feeding, the material tray feeding and conveying module conveys the material tray provided with the cutter to the material tray feeding and positioning module, and the material tray feeding and positioning module is stopped after a conveying belt of the material tray feeding and positioning module is conveyed to a preset position, so that the material tray is positioned between the conveying belt and the material tray limiting plate; the telescoping device is located the charging tray below, the telescoping device risees to support the charging tray in charging tray limiting plate below.
2. The automated tool handling apparatus of claim 1, wherein a top portion of the telescoping device is provided with a flat plate; and when the telescopic device is lifted, the flat plate is lifted to abut against the bottom of the material tray.
3. The tool robot assembly and disassembly apparatus of claim 1, wherein a bottom plate is provided at a bottom of the conveyor, and the extension and retraction device is fixed to the bottom plate.
4. The automatic handling equipment of the cutter according to claim 1, wherein a cutter posture identifying camera module is arranged between the material tray feeding positioning module and the processing tray positioning module, the visual direction of the cutter posture identifying camera module is upward, and the visual range of the cutter posture identifying camera module is passed by the manipulator after the manipulator grabs the cutter and moves to the path of the processing tray recycling module.
5. The automatic tool handling equipment according to claim 1, wherein a gripper mounting frame is provided beside the robot arm, the gripper mounting frame being provided with a plurality of gripper mounting locations of different types for mounting spare grippers; the manipulator comprises a mechanical arm and a claw, the mechanical arm and the claw are assembled through a quick-change tool, the mechanical arm uses a male end of the quick-change tool, and the clamp side uses a female end of the quick-change tool; the male end and the female end are connected in a clamping mode through an inflatable pin.
6. The automatic tool handling device of claim 5, wherein the gripper mounting bracket comprises a support, a mounting plate is disposed on the top of the support, the gripper mounting portion is a through hole disposed on the mounting plate, and the through hole is disposed to be opened beside the through hole.
7. The automatic tool mounting and demounting device according to claim 5, wherein a sensor for sensing whether the gripper is mounted beside the gripper mounting portion.
8. The auto-handler of claim 1, wherein the tray loading and transporting module is located above the tray retrieving module, the tray loading and transporting module is located adjacent to the tray loading and positioning module, and the elevating mechanism is located below the tray loading and positioning module, and when the cutter is unloaded, the elevating mechanism lowers the tray loading and positioning module to the height of the tray retrieving module, so that the tray loading and positioning module moves the tray onto the tray retrieving module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222719065.4U CN218370423U (en) | 2022-10-14 | 2022-10-14 | Automatic assembling and disassembling equipment for cutter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222719065.4U CN218370423U (en) | 2022-10-14 | 2022-10-14 | Automatic assembling and disassembling equipment for cutter |
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| Publication Number | Publication Date |
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| CN218370423U true CN218370423U (en) | 2023-01-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222719065.4U Active CN218370423U (en) | 2022-10-14 | 2022-10-14 | Automatic assembling and disassembling equipment for cutter |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116620666A (en) * | 2023-07-26 | 2023-08-22 | 成都三是科技有限公司 | Cutter detects integrative worker line of packing |
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2022
- 2022-10-14 CN CN202222719065.4U patent/CN218370423U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116620666A (en) * | 2023-07-26 | 2023-08-22 | 成都三是科技有限公司 | Cutter detects integrative worker line of packing |
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