WO2017173740A1 - 基于机械手进行全自动上下料的数控机床 - Google Patents
基于机械手进行全自动上下料的数控机床 Download PDFInfo
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- WO2017173740A1 WO2017173740A1 PCT/CN2016/087931 CN2016087931W WO2017173740A1 WO 2017173740 A1 WO2017173740 A1 WO 2017173740A1 CN 2016087931 W CN2016087931 W CN 2016087931W WO 2017173740 A1 WO2017173740 A1 WO 2017173740A1
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- numerical control
- control machine
- machine tool
- positioning
- product
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/045—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers using a tool holder as a work-transporting gripper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/046—Handling workpieces or tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/08—Work-clamping means other than mechanically-actuated
- B23Q3/088—Work-clamping means other than mechanically-actuated using vacuum means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
Definitions
- the invention relates to the technical field of numerical control machine tool equipment and touch panel processing, in particular to a numerical control machine tool based on a robot for automatic loading and unloading.
- CNC machine tools are short for Computerized Numerical Control Machine (CNC). It is an automated machine tool with a program control system that can perform logic operations, process programs with control code or other symbolic instructions, and decode them to cause the machine to move and machine parts.
- CNC Computerized Numerical Control Machine
- the invention provides an automatic loading and unloading device capable of replacing manual operation, and is used in a numerically controlled machine tool to solve the problem of low efficiency and easy scratching of the glass panel when manually loading and unloading operations.
- the invention provides a numerical control machine tool for automatically loading and unloading based on a robot, comprising: a main body of a numerical control machine tool, and a material rack, an air suction platform and a manipulator respectively respectively arranged on the main body of the numerical control machine tool, the numerical control machine tool further comprising respectively Electrically connecting the main body of the numerical control machine tool and the working drive mechanism of the robot, wherein:
- the robot is used to move the product to be processed placed by the rack to the suction platform for adsorption according to the driving of the working drive mechanism; the main body of the numerical control machine is used for The workpiece to be processed adsorbed by the suction platform is processed by the working drive mechanism to obtain a final product; and the robot is used to move the final product to the second movement trajectory to the In the rack.
- the numerical control machine tool further includes a numerical control mechanism electrically connecting the main body of the numerical control machine tool and the mechanical hand respectively.
- the main body of the numerical control machine tool comprises a machine casing and a workbench surrounded by the machine casing, and the material rack and the suction platform are respectively disposed at different positions on the worktable;
- a bracket is further disposed above the workbench, and the robot is disposed on the bracket.
- the machine casing is formed by enclosing a front side plate, a rear side plate, a left side plate, a right side plate and a bottom plate, the work table is arranged in a horizontal direction, and the bracket extends along a length of the machine itself.
- the two ends are respectively fixedly overlapped at the upper edges of the left and right side plates of the machine casing, such that the brackets are disposed across the table; when the table is oriented toward the front side plate Or moving back and forth away from the direction of the front side panel, causing the robot on the bracket to contact the rack and to perform loading and/or unloading operations on the product in the rack;
- the lengthwise movement of the bracket causes the robot to approach the suction platform.
- a processing component is further disposed between the bracket and the robot, the processing component moves along a length direction of the bracket, and the robot is fixed on the processing component, along with the processing component The bracket moves in the longitudinal direction.
- the processing component includes a processing arm and a cutter for processing a product at a bottom end of the processing arm, the processing arm moves along a length direction of the bracket, and the robot is fixed on the processing arm .
- the robot includes a panel fixed on the processing component, an arm body fixed on the panel, and a reclaiming mechanism located at a lower end of the arm body and hinged with the arm body, the taking The material mechanism rotates relative to the arm body to enable the robot to grasp the product at the position of the rack and the suction platform.
- the reclaiming mechanism includes a reclaiming panel, a connecting member disposed on an upper surface of the reclaiming panel, and a pick-and-place structure fixed on a lower surface of the reclaiming panel, wherein the connecting member is provided An opening through which the shaft passes, such that the connector is hinged to the arm body.
- the pick-and-place structure is a suction cup or a claw type structure.
- the pick-and-place structure is a suction cup.
- the numerical control machine tool of the present invention further comprises a rack frame disposed on an upper surface of the worktable adjacent to a front side panel region of the machine casing, the rack being disposed in the rack frame.
- the rack frame is a rectangular rack frame formed by enclosing a plurality of support strips, and a reinforcing rod and/or a reinforcing rod overlapping the support strip in the transverse direction or the longitudinal direction is further disposed in the rack frame.
- a fixing strip is further disposed between the rack frame and the upper surface of the workbench, and one end of the fixing strip is fixedly connected to the rack frame, and the other end is The upper surface of the workbench is fixedly connected to fix the rack frame on the upper surface of the workbench.
- the rack includes a first rack for placing a product and a second rack for placing the processed product, any of the racks including oppositely disposed and parallel to the front panel of the machine casing
- the side plate has a groove structure on one side of the positioning bar for clamping the product placed in the positioning bar.
- the positioning bar includes a first positioning bar and a second positioning bar disposed oppositely, a third positioning bar and a fourth positioning bar disposed oppositely; the first positioning bar and the second positioning bar Located at a position above the rack, and the side of the first positioning strip provided with the groove structure is opposite to the side of the second positioning strip provided with the groove structure, forming a product for fastening a card slot; the third positioning bar and the fourth positioning bar are located at a lower position in the rack, and the third positioning bar is provided with a side of the groove structure and the fourth positioning bar
- the sides provided with the groove structure are all arranged upwards to form a card slot for the product to be fastened.
- the groove structure is a combination of one or more of a sawtooth, an arc groove or a rectangular groove.
- the groove structure is serrated.
- the air suction platform is a casing formed by enclosing a plurality of side panels and a top panel, and a circular opening is arranged on a top surface of the air suction platform, and the circular opening is connected to the vacuum tube.
- the numerical control machine tool of the present invention further includes a positioning baffle that is movably coupled to the air suction platform, the positioning baffle includes a first positioning baffle, a second positioning baffle, and a connection center a first positioning baffle, a second positioning baffle, and a connecting part of the air suction platform, wherein the first positioning baffle is disposed adjacent to the second positioning baffle to form a product for positioning the product Angle.
- first positioning baffle and the second positioning baffle are each provided with a horizontal baffle parallel to the top surface of the suction platform and a side closer to the suction platform from the horizontal baffle Forming a vertical baffle extending upwardly, so that a vertical cross-section of the first positioning baffle and the second positioning baffle is L-shaped;
- the connecting member includes two ends respectively connected to the first positioning baffle a connecting rod of the second positioning baffle, and a fixing portion formed by bending and extending from the connecting rod downwardly toward the air suction platform, wherein the fixing portion is movably connected to the air suction platform.
- the present invention realizes automatic loading and unloading of products by setting robots and racks in a numerically controlled machine tool, thereby avoiding inconvenience caused by manual operation and improving production efficiency.
- the traditional CNC machine tool operation since the CNC machine tool only has the main body of the CNC machine tool and the suction platform for processing the product, it is necessary to manually carry out the loading and unloading operation of the product, which is troublesome and has low efficiency.
- the invention realizes automatic feeding and/or unloading operation of the product by adding a robot to the numerical control machine tool.
- the robot can move according to a preset motion trajectory, and the product to be processed placed in the first rack can be taken out and moved to the suction platform, and the suction platform can be The finished final product is taken out and moved to the second rack for blanking.
- the whole process is completed by the main part of the CNC machine tool and the robot, and no manual operation is required, which greatly improves the processing of the product. effectiveness.
- the numerical control machine tool of the invention also has a positioning baffle for accurately positioning the product to be processed on the suction platform, and the positioning baffle forms an angle for positioning the product to be processed, so the robot is After the product to be processed is moved to the suction platform, the CNC machine tool of the invention can still accurately position the processed product by using the positioning baffle without manual correction positioning, thereby ensuring the consistency of the batch processed product.
- FIG. 1 is a schematic structural view of a numerical control machine tool based on a robot for automatic loading and unloading according to a second embodiment
- FIG. 2 is a schematic structural view of a main body of a numerical control machine tool in Embodiment 2;
- FIG. 3 is a plan view of a numerical control machine tool based on a robot for performing automatic loading and unloading based on a robot;
- FIG. 4 is a bottom view of a numerical control machine tool based on a robot for automatic loading and unloading according to a second embodiment
- FIG. 5 is an enlarged schematic view of a machining part and a manipulator in a numerically controlled machine tool based on a robot for automatic loading and unloading based on a robot;
- Figure 6 is a partially enlarged schematic view showing the structure of A in Figure 5;
- Figure 7 is a partially enlarged schematic view showing the structure of B in Figure 3;
- FIG. 8 is an enlarged schematic view of a first material rack, a second material rack, and a material rack frame in a numerically controlled machine tool based on a robot for automatic loading and unloading;
- FIG. 9 is an enlarged schematic view of an air suction platform and a positioning baffle in a numerically controlled machine tool based on a robot for automatic loading and unloading;
- Figure 10 is a partially enlarged schematic view showing the structure of C in Figure 3;
- Figure 11 is a working state of the numerical control machine tool of the second embodiment based on the robot for automatic loading and unloading;
- Figure 12 is a partially enlarged schematic view showing the structure of the portion D in Figure 11;
- FIG. 13 is a working state of the second embodiment of the CNC machine tool for automatically loading and unloading based on the robot to complete the loading step and performing the positioning suction step;
- Figure 14 is a partially enlarged schematic view showing the structure of E in Figure 13;
- 15 is a working state of the second embodiment of the numerical control machine tool for automatically loading and unloading based on the robot to complete the positioning and suction step, and preparing for the processing step;
- Figure 16 is a partially enlarged schematic view showing the structure of the portion F in Figure 15;
- 17 is a working state of the second embodiment of the numerical control machine tool for automatically loading and unloading based on the robot;
- Figure 18 is a partially enlarged schematic view showing the structure of G in Figure 17;
- the above partial terms may be used to indicate other meanings in addition to the orientation or positional relationship, for example, the term “upper” may also be used to indicate a certain dependency or connection relationship in some cases.
- the specific meaning of these terms in the present invention can be understood on a case-by-case basis.
- installation should be understood broadly.
- it may be a fixed connection, a detachable connection, or a one-piece construction; it may be a mechanical connection, or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or it may be two devices, components or components. Internal communication.
- the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
- first means two or more.
- front refers to the direction toward the front side panel of the machine casing
- rear refers to the direction toward the rear side panel of the machine casing
- left refers to the left side of the casing of the machine tool.
- the direction of the board refers to the direction of the right side of the machine casing.
- the embodiment provides a CNC machine tool for automatically loading and unloading based on a robot, comprising: a CNC machine body, and a material rack, an air suction platform and a robot respectively respectively disposed on the main body of the CNC machine tool, the CNC machine tool further comprising Electrically connecting the main body of the numerical control machine tool and the working drive mechanism of the manipulator, wherein:
- the robot is used to move the product to be processed placed by the rack to the suction platform for adsorption according to the driving of the working drive mechanism; the main body of the numerical control machine is used for The workpiece to be processed adsorbed by the suction platform is processed by the working drive mechanism to obtain a final product; and the robot is used to move the final product to the second movement trajectory to the In the rack.
- the embodiment provides a numerical control machine tool for automatically loading and unloading based on a robot.
- the numerical control machine tool comprises a main body of a numerical control machine tool 1 , which are respectively disposed at different positions on the main body 1 of the numerical control machine tool 2 .
- the robot picks up the product to be processed from the first rack by the robot driven by the working drive mechanism, and places it on the suction platform according to the first preset movement trajectory for adsorption, and the suction is performed by the main body of the numerical control machine tool.
- the platform-adsorbed product to be processed is processed to obtain a final product, and when the suction platform stops adsorbing, the robot picks up the final product from the suction platform and places it according to a second preset movement track. Go to the second rack.
- the working drive mechanism is used to provide driving force for the work of various components in the numerical control machine tool
- the numerical control mechanism is used to control the movement track of the above-mentioned manipulator during operation.
- the working drive mechanism and the numerical control mechanism in this embodiment can also provide other common functions in the numerical control machine tool, which will not be further described herein.
- the robot is used to take out the product to be processed in the first rack and place it on the suction platform, so that the process of the product in the state to be processed is the loading; using the robot to process the final on the suction platform.
- the process of removing the product and placing it in the second rack is blanking.
- the CNC machine main body 1 includes a machine casing 11 formed by the front side plate 111, the rear side plate 112, the left side plate 113, the right side plate 114, and the bottom plate 115, and is horizontally
- a table 12 disposed in the direction and surrounded by the machine casing 11.
- the table 12 is movable back and forth in the front-rear direction in the machine casing 11 (i.e., moved back and forth toward the front side plate 111 or away from the front side plate 111).
- a bracket 13 is disposed across the table 12, and a processing member 14 is disposed on the bracket 13.
- the bracket 13 is disposed adjacent to the rear side plate 112 and the two ends of the bracket 13 extending along the length of the bracket 13 are fixedly overlapped at the upper edges of the left side plate 113 and the right side plate 114, respectively, so that the bracket 13 straddles Above the workbench 12.
- the machined component 14 is disposed on the bracket 13 and the machined component 14 is movable back and forth along the length of the bracket 13.
- the machining member 14 includes a machining arm 141 disposed toward the front side plate 111 of the machine casing 11 and a cutter 142 at the bottom end of the machining arm 141, wherein the machining arm 141 is movable along the length of the bracket 13 to drive the movement of the cutter 142.
- the cutter 142 is used to process the product to be processed on the suction platform.
- the robot 2 is fixed to the processing member 14.
- the robot 2 includes a panel 21 fixed to the outer surface of the processing arm 142, an arm main body 22 disposed on the panel 21, and a reclaiming mechanism 23 at the lower end of the arm main body 22.
- the arm body 22 is provided with a mechanism for sliding up and down to drive the up and down movement of the reclaiming mechanism 23; in addition, the reclaiming mechanism 23 is hinged to the lower end of the arm main body 22 through a rotating shaft, so that the reclaiming mechanism 23 can realize relative The rotation of the arm body 22 is performed.
- components such as pneumatic valves connected to the robot can also be provided for powering the robot and the reclaiming mechanism to achieve corresponding actions, which are common structures and technologies in the field, and are no longer used herein.
- components such as pneumatic valves connected to the robot can also be provided for powering the robot and the reclaiming mechanism to achieve corresponding actions, which are common structures and technologies in the field, and are no longer used herein.
- the reclaiming mechanism 23 includes a reclaiming panel 231 , a connecting member 232 disposed on the upper surface of the reclaiming panel 231 and having a through opening, and four fixed on the lower surface of the reclaiming panel 231 .
- the through hole of the connecting member 232 can be connected with the rotating shaft to articulate the reclaiming mechanism 23 with the arm main body 22.
- the suction cup is arranged in the direction of the product to be taken (ie the product located in the first rack and/or the processed product placed on the suction platform) for sucking the product to be taken.
- a plurality of openings for inserting the connecting tube are provided on the side of the retrieving panel, in this embodiment
- the suction cup of the take-up mechanism is connected to a vacuum device (not shown) through a connecting pipe (not shown), and the product to be taken is firmly adsorbed on the suction cup by vacuuming.
- the function of the reclaiming mechanism is to take out the product from the first rack and place it on the suction platform, and/or take out the processed product placed on the suction platform and Place it in the second rack. Therefore, other reclaiming mechanisms having a gripping function can be used instead of the reclaiming mechanism of the embodiment.
- claw-type structures are respectively disposed on opposite sides of the retrieving panel to realize grasping or lowering of the material to be taken.
- the claw-shaped structure has a sharper claw shape. If the claw-type structure is made of a metal material, the product is likely to be scratched when the product made of glass or plastic is grasped, and the suction cup structure does not cause this problem. . Therefore, when such a product is processed, the reclaiming mechanism of this embodiment is preferably employed.
- the first support bar 51, the second support bar 52, the third support bar 53 and the first support bar 51 are provided in the upper surface of the table 12 near the front side plate 111 of the machine tool casing.
- the four support bars 54 collectively enclose a rectangular frame frame 5 formed for fixing the first rack 31 and the second rack 32 therein.
- the rack frame 5 In the rack frame 5, four reinforcing rods are arranged parallel to the second supporting strip 52 (also parallel to the fourth supporting strip 54) and the two ends are respectively connected to the first supporting strip 51 and the third supporting strip 53 respectively.
- the reinforcing rod includes a first reinforcing rod 551, a second reinforcing rod 552, and a third reinforcing rod 553 and a fourth reinforcing rod 554 substantially in the region where the second rack is located. Between the first reinforcing rod 551 and the second reinforcing rod 552, the third reinforcing rod 553 and the fourth reinforcing rod 554 are respectively fixed parallel to the first supporting strip 51 (also parallel to the third supporting strip 53) The reinforcing strip 56, the reinforcing rod and the reinforcing strip cooperate to make the structure of the whole rack frame stable.
- a fixing strip 57 is disposed between the reinforcing strip 56 and the upper surface of the table 12, and the fixing strip 57 is fixedly connected to the reinforcing strip 56 at one end by screwing, and the other end is fixedly connected to the table 12, thereby
- the rack frame 5 is fixed to the fixing strip 57.
- the longitudinal direction of the fixing strip 57 and the longitudinal direction of the reinforcing strip 56 are perpendicular to each other.
- the product mainly refers to a glass panel used for manufacturing a touch screen.
- the first rack 31 and the second rack 32 are both disposed inside the rack frame 5, and both are materials for holding the glass panel.
- the first rack is used to hold the glass panel to be processed and can hold 40 pieces;
- the second rack is used to hold the processed glass panel and can hold 40 pieces.
- the structures of the first rack and the second rack are completely the same, and the difference between the two racks is only that the processing state of the glass panel is different. Therefore, only the first rack is described in detail below, and details are not described herein again. Second rack.
- the first rack 31 includes two side plates 311 respectively disposed on the inner surface of the first support bar 51 and the inner surface of the third support bar 53 .
- the two side plates are oppositely disposed, and The central portion of the side plate is recessed downward to form a groove.
- the first rack 31 further includes a first positioning strip 312, a second positioning strip 313, and a length extending in the front-rear direction of the numerical control machine tool (ie, extending in the north-south direction in FIG. 7), and the two ends are respectively fixed to the side plate 311.
- the three positioning strips 314 and the fourth positioning strips 315, and the four positioning strips are all provided with serrations on one side.
- the first positioning strip 312 and the second positioning strip 313 are located in the top region of the first rack 31 and are disposed at a certain distance.
- the serrations of the first positioning strip 312 and the serrations of the second positioning strip 313 are oppositely disposed and both toward the inside of the first rack (ie, the serrations of the first positioning strip are toward the right side in FIG. 7 and the serrations of the second positioning strip are oriented.
- the left side of the seventh positioning strip, the serration of the first positioning strip and the serration size, shape and position of the second positioning strip correspond to each other, so that a card slot for holding the product is formed between the two, which can be in the left and right direction The product placed in the card slot is fixed.
- the third positioning strip 314 and the fourth positioning strip 315 are located in the bottom area of the first rack 31, and are also disposed at a certain distance, and are viewed from the vertical direction (ie, the direction facing the paper in FIG. 7).
- the third positioning strip is inside the first positioning strip
- the fourth positioning strip is inside the second positioning strip, that is, the spacing between the third positioning strip and the fourth positioning strip is smaller than between the first positioning strip and the second positioning strip. Pitch.
- the serrations of the third positioning strip 314 and the fourth positioning strip 315 are both vertically upwards (ie, facing outward in FIG.
- a card slot for securing the product is formed, and the product placed in the card slot can be fixed in the front-rear direction (ie, in the north-south direction in FIG. 7).
- the product In combination with the functions of the first positioning strip and the second positioning strip, the product can be stably placed in the first rack.
- the product mainly refers to the glass panel used to manufacture the touch screen.
- the separation distance between the first positioning bar and the second positioning bar may be specifically determined according to the width of the product placed therein.
- the product of the embodiment mainly refers to a glass panel for manufacturing a touch screen
- the positioning bar for the carding product is designed as a sawtooth shape, and in fact, the positioning bar in the rack can be designed according to the shape of the product.
- the shape of the card slot for example, one side of the positioning bar is designed as an arc groove, and the shape, size and position of the arc groove corresponding to the two corresponding positioning bars are corresponding to form a card slot;
- One side of the side is designed as a rectangular groove, and the rectangular groove shape, size and position of the two corresponding positioning strips are corresponding to each other to form a card slot.
- the suction platform 4 is disposed on the upper surface of the table 12, and its position is located on the rear side of the table 12.
- the air suction platform 4 is a pentagonal housing formed by the first side panel 41, the second side panel 42, the third side panel 43, the fourth side panel 44, and the top panel 45.
- the pentagon housing The shape is substantially rectangular and cut to a right angled shape, and the cut right angle is between the upper side area of the second side panel 42 and the right side area of the third side panel 43, such that the second side panel 42 and the third side panel 43 Cooperating with the top panel 45 to form an opening.
- a rectangular square hole 46 is defined in the first side panel 41 and the second side panel 42.
- a large circular opening 47 is defined in the center of the top panel 45, and a plurality of smaller openings are formed around the circular opening. Hole.
- a connecting tube (not shown) can be used to open the circular opening 47 with a larger center of the top surface and the vacuum device (not shown)
- the connection is made by vacuuming to generate a negative pressure, so that the product to be processed is fixedly adsorbed on the top surface 45, the small hole around the circular opening serves to assist the adsorption, and the rectangular square hole 46 is used for the connection tube to pass through smoothly. Over.
- the top panel may be vertically extended toward the inside of the pentagonal housing to form a plurality of inner side panels at a position corresponding to a plurality of smaller holes formed around the circular opening, and the inner side panel is internally formed.
- An inner bottom panel is connected to the lower edge of the side panels, so that an inner casing composed of a top panel, an inner side panel and an inner bottom panel is integrally formed inside the pentagonal housing.
- the inner casing helps to further enhance the suction fixing effect of the suction platform on the product to be processed.
- the function of the suction platform is to fix the product to be processed, so that the tool of the main body of the numerical control machine tool can process the product to be processed.
- the main processing of the CNC machine tool for the processing of the product refers to the grinding, milling, punching and other actions of the product, which requires the CNC machine tool to accurately position each piece of the product to be processed, otherwise the same batch of products will be processed. Inconsistent, leading to product quality problems.
- the positioning baffle 6 is further connected to the suction platform 4 .
- the positioning baffle 6 includes a first positioning baffle 61 disposed adjacent to the second side panel 42 of the air suction platform and a second positioning baffle 62 disposed adjacent to the third side panel 43 of the air suction platform. And the structure of the two is roughly the same.
- the vertical cross section of the first positioning baffle 61 is L-shaped.
- the first positioning baffle 61 includes a horizontal baffle slightly higher than the top surface 45 of the suction platform and a vertical extension formed by the horizontal baffle extending from the side of the horizontal baffle near the second side panel 42 of the air suction platform 42.
- the vertical section of the second positioning baffle 62 is also L-shaped, and the vertical baffle of the second positioning baffle 62 is perpendicular to the suction platform top panel 45 and parallel to the third side panel 43 of the suction platform. That is, the vertical baffle of the first positioning baffle 61 and the vertical baffle of the second positioning baffle 62 are perpendicular to each other, and the two are disposed adjacent to each other, so that a product for the product is formed on the top surface of the suction platform.
- the first positioning baffle and the second positioning baffle can be placed close to the product to be processed, and the processed product is processed by the positioning angle formed therebetween.
- Accurate positioning It can be understood that, in this embodiment, the product to be processed mainly refers to a glass panel product used for a smart phone or a tablet computer, and the shape of the product is generally rectangular or rounded rectangle, so the first positioning gear in this embodiment
- the angle formed by the positioning between the plate and the second positioning baffle is a right angle.
- an angle of positioning that matches the actual shape of the product can also be designed to achieve positioning of the product.
- the positioning baffle 6 further includes a connecting member 63.
- the connecting member 63 includes connecting rods respectively connecting the first positioning baffle 61 and the second positioning baffle 62 at two ends, and the first positioning baffle 61 is connectable with respect to the connection.
- the rod moves toward or away from the suction platform (ie, moves in the left-right direction in FIG. 10), and the second positioning flap 62 can move closer to or away from the suction platform relative to the connecting rod (ie, moving up and down in FIG.
- the working process of the numerically controlled machine tool of this embodiment is roughly as shown in FIGS. 11 to 14 : steps including feeding, positioning suction, processing, and cutting.
- the product to be processed is located in the first rack.
- the working platform 12 is moved backward to the vicinity of the robot 2, so that the reclaiming mechanism 23 is located in the first rack, and the material is taken.
- the suction cup of the mechanism is attached to the surface of the product to be processed (the product is not shown); secondly, the first vacuum device (not shown) communicating with the suction cup of the reclaiming mechanism is activated, and the product to be processed is firmly adsorbed by the negative pressure.
- the suction cup again, moving the work platform forward, causing the robot to leave the first rack, at which time the robot and the suction platform are aligned substantially in the lateral direction (ie, the left and right direction); then, in conjunction with FIG.
- the robot 2 is Moving laterally along the bracket 13 to the upper side of the suction platform 4, the reclaiming mechanism is rotated downward by 90°, so that the reclaiming mechanism that adsorbs the product to be processed is opposite to the top panel of the suction platform, and communicates with the suction cup of the reclaiming mechanism.
- the vacuum device stops working, and the suction cup releases the product to be processed, so that the product to be processed is located on the top panel of the suction platform, thereby completing the loading step.
- a positioning suction step is performed.
- the first positioning baffle 61 and the second positioning baffle 62 are adjacent to the product to form a positioning angle at a substantially right angle to position the product; after positioning, a second vacuum device (not shown) communicating with the top panel of the suction platform Start to fix the product to be processed on the suction platform.
- the processing step is performed.
- the reclaiming mechanism 23 is rotated upward by 90° so that the suction cup is in a state of facing the rack; then the processed product is processed by the cutter at the lower end of the processing component to obtain the processed final product.
- a water-cooling cooling member may be disposed on both sides of the processing member, and the cooling member is used to spray water to cool down. Exclude the debris generated by the machining, or you can also set the chip removal components.
- a blanking step is performed.
- the positioning baffle and the suction platform are stopped, the take-up mechanism is rotated downward by 90°, so that the suction cup faces the final product; the first vacuum device is activated, so that the final product is firmly adsorbed on the reclaiming mechanism;
- the take-up mechanism 23 is rotated upward by 90° so that the suction cup of the take-up mechanism faces the rack direction, and the robot is moved laterally to the right along the bracket 13, at which time the robot 2 and the second rack are substantially in the longitudinal direction ( That is, the front-rear direction in FIG. 14 is aligned; the work platform 12 is moved backward to the vicinity of the robot, the first vacuum device stops working, and the suction cup releases the final product, so that the final product is placed in the second rack.
- the first material rack and the second material rack can accommodate forty products, so the CNC machine tool can repeat the above-mentioned automatic loading and unloading process for 40 times at a time. Realize automatic loading and unloading of forty products.
- the numerical control machine tool of the embodiment further includes a machining program carrier, and the machining program carrier includes a G code program, and the relative motion trajectory of the tool, the work table, the robot arm, and the reclaiming mechanism is realized by the G code program.
- the working drive mechanism and the numerical control mechanism in this embodiment can be implemented by using the prior art, and will not be further described herein.
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Abstract
Description
Claims (15)
- 一种基于机械手进行全自动上下料的数控机床,其特征在于:所述数控机床包括数控机床主体,以及分别独立设置在所述数控机床主体上的料架、吸风平台以及机械手,所述数控机床还包括分别电性连接所述数控机床主体和所述机械手的工作驱动机构,其中:所述机械手用于在所述工作驱动机构的驱动下将所述料架放置的待加工产品按第一预设移动轨迹移放至所述吸风平台进行吸附;所述数控机床主体用于在所述工作驱动机构的驱动下对所述吸风平台吸附的所述待加工产品进行加工以获得最终产品;以及,所述机械手用于将所述最终产品按第二移动轨迹移放至所述料架中。
- 根据权利要求1所述的数控机床,其特征在于:所述数控机床还包括分别电性连接所述数控机床主体和所述机械手的数控机构。
- 根据权利要求1所述的数控机床,其特征在于:所述数控机床主体包括机床围壳以及被所述机床围壳合围的工作台,所述料架、所述吸风平台分别设置在所述工作台上的不同位置处;在所述工作台上方还设有支架,所述机械手设置在所述支架上。
- 根据权利要求3所述的数控机床,其特征在于:所述机床围壳由前侧板、后侧板、左侧板、右侧板和底板围合而成,所述工作台沿水平方向设置,所述支架沿其自身长度方向延伸的两端分别固定搭接在所述机床围壳的左侧板和右侧板的上边缘处,使所述支架横跨设置在所述工作台上方;所述工作台朝向靠近前侧板或远离前侧板的方向来回移动;所述机械手沿所述支架的长度方向移动。
- 根据权利要求3或4所述的数控机床,其特征在于:在所述支架和所述机械手之间还设有加工部件,所述加工部件沿所述支架长度方向移动,所述机械手固设在所述加工部件上,随所述加工部件沿所述支架长度方向移动。
- 根据权利要求5所述的数控机床,其特征在于:所述机械手包括固设在所述加工部件上的面板、固设在所述面板上的手臂主体以及位于所述手臂主体下端且与所述手臂主体铰接的取料机构,所述取料机构相对于所述手臂主体转动,使所述机械手实现在所述料架与所述吸风平台的位置处抓取产品。
- 根据权利要求6所述的数控机床,其特征在于:所述取料机构包括取料面板、设于所述取料面板上表面的连接件以及固设于所述取料面板下表面的取放结构,其中,所述连接件上设有使转轴穿过的开孔,使所述连接件与所述手臂主体铰接。
- 根据权利要求7所述的数控机床,其特征在于:所述取放结构为吸盘或爪型结构。
- 根据权利要求1所述的数控机床,其特征在于:所述数控机床还包括设在所述工作台上表面靠近所述机床围壳前侧板区域的料架框,所述料架设置在所述料架框内。
- 根据权利要求9所述的数控机床,其特征在于:所述料架框是由若干支撑条围合形成的矩形料架框,且在所述料架框内还设有与所述支撑条横向或纵向搭接的加固杆和/或加固条,用于稳固所述料架框的结构;在所述料架框与所述工作台上表面之间还设有固定条,所述固定条一端固定连接所述料架框,另一端固定连接所述工作台上表面,使所述料架框固定在所述工作台上表面。
- 根据权利要求1所述的数控机床,其特征在于:所述料架包括用于放置产品的第一料架和用于放置加工后产品的第二料架,任一所述料架包括相对设置且平行于所述机床围壳前侧板的两个侧板以及设于两所述侧板之间的定位条,所述侧板贴近所述料架框边缘设置,所述定位条沿长度方向延伸的两端分别固接于两所述侧板上,且所述定位条的一侧边设有凹槽结构,用于卡固放置于所述定位条中的产品。
- 根据权利要求11所述的数控机床,其特征在于:所述定位条包括相对而设的第一定位条和第二定位条、相对而设的第三定位条和第四定位条;所述第一定位条和所述第二定位条位于所述料架中靠上的位置,且所述第一定位条设有所述凹槽结构的侧边与所述第二定位条设有所述凹槽结构的侧边相对设置,形成用于卡固产品的卡槽;所述第三定位条和所述第四定位条位于所述料架中靠下的位置,且所述第三定位条设有凹槽结构的侧边与所述第四定位条设有凹槽结构的侧边均向上设置,形成用于卡固产品的卡槽。
- 根据权利要求12所述的数控机床,其特征在于:所述凹槽结构为锯齿、弧形凹槽或矩形凹槽中的一种或几种的组合。
- 根据权利要求1所述的数控机床,其特征在于:所述吸风平台是由若干侧面板和顶面板围合形成的壳体,在所述吸风平台顶面设有圆形开孔,所述圆形开孔连接抽真空管。
- 根据权利要求1所述的数控机床,其特征在于:所述数控机床还包括与所述吸风平台移动连接的定位挡板,所述定位挡板包括第一定位挡板、第二定位挡板以及用于连接所述第一定位挡板、所述第二定位挡板、所述吸风平台的连接部件,所述第一定位挡板与所述第二定位挡板相邻设置,形成用于对产品定位的夹角。
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