WO2021088500A1 - 一种通用与专用设备结合的智能化板类零件加工生产线 - Google Patents

一种通用与专用设备结合的智能化板类零件加工生产线 Download PDF

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Publication number
WO2021088500A1
WO2021088500A1 PCT/CN2020/113737 CN2020113737W WO2021088500A1 WO 2021088500 A1 WO2021088500 A1 WO 2021088500A1 CN 2020113737 W CN2020113737 W CN 2020113737W WO 2021088500 A1 WO2021088500 A1 WO 2021088500A1
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WIPO (PCT)
Prior art keywords
station
workpiece
fixed
milling machine
production line
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Application number
PCT/CN2020/113737
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English (en)
French (fr)
Inventor
朱成顺
张辉
黄俣钧
李滨城
杨凯航
丁雷
Original Assignee
江苏科技大学
江苏铁科新材料股份有限公司
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Application filed by 江苏科技大学, 江苏铁科新材料股份有限公司 filed Critical 江苏科技大学
Priority to US17/774,794 priority Critical patent/US11571774B2/en
Publication of WO2021088500A1 publication Critical patent/WO2021088500A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C3/00—Milling particular work; Special milling operations; Machines therefor
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
    • 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
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/08—Protective coverings for parts of machine tools; Splash guards
    • 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
    • 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
    • B23Q7/10—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 magazines
    • 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
    • B23Q7/10—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 magazines
    • B23Q7/103—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 magazines for flat material
    • 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
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/0042—Devices for removing chips
    • B23Q11/0067—Devices for removing chips chip containers located under a machine or under a chip conveyor
    • 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
    • B23Q7/005—Lifting devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y10T29/5124—Plural diverse manufacturing apparatus including means for metal shaping or assembling with means to feed work intermittently from one tool station to another
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y10T29/5196—Multiple station with conveyor

Definitions

  • the invention relates to an efficient automated production line, in particular to an intelligent plate parts processing production line combining general and special equipment, belonging to the technical field of mechanical processing equipment, and particularly suitable for the assembly line production of plate and frame parts that need to control manufacturing costs mode.
  • Flexible processing production line is an inevitable way for traditional manufacturing to transform to automated production, and it is an inevitable choice for manufacturing companies to improve production efficiency and reduce labor costs.
  • the advantages of the flexible production line can be better applied.
  • enterprises are pursuing automated and flexible production, due to the limitations of various factors, they often cannot achieve the expected results.
  • the problem is that the manufacturing cost of the flexible production line is too high, which far exceeds the expected return; the production line cannot be truly flexible. Can not adapt to changes in products and markets; the production line has low processing efficiency and cannot meet the output requirements.
  • Plate and frame parts are small-cost, low-processing requirements, and mass production; the flexible production line using multiple general-purpose processing equipment has exceeded the value of plate and frame parts, and the general-purpose processing equipment cannot be processed by special machine tools. Efficiency, which cannot meet the output demand of the product. In addition, when milling the upper and lower surfaces of plate parts, due to clamping deformation, vibration and other factors, it is easy to have defective products that have not been milled. At present, they are mainly sorted manually, which greatly wastes resources and consumes Time consuming.
  • the purpose of the present invention is to design a flexible production line capable of producing four types of plate and frame parts as shown in FIG. 1, improve production efficiency and automation level in the processing process, and reduce labor costs.
  • manufacturing costs can be reduced under the premise of ensuring processing efficiency.
  • it realizes the intelligent sorting of defective board parts.
  • an intelligent plate parts processing production line combining general and special equipment, which includes a special milling machine for a large surface, a special milling machine for a two-station side, and a side-inverted three-station Angle milling machine, four-station large-face special-purpose milling machine, five-station CNC general-purpose machining center, automatic feeding device, truss transport device, four-axis two-jaw manipulator, waste frame, unloading frame, waste conveying mechanism and controller, etc.
  • the characteristic is that
  • the production line is arranged in a mouth shape
  • the automatic feeding device includes a feeding main body, which is arranged longitudinally at the beginning of the production line, and the chip outlet of the waste conveying mechanism is arranged at the end of the production line.
  • the front side is arranged in a straight line horizontally with the one-station large-face special milling machine, two-station side special milling machine, three-station side chamfering milling machine, four-station large-face special milling machine, and five-station CNC general-purpose machining center.
  • the rear side is arranged parallel to the front side with the truss transportation device, and the truss transportation device is provided with a station manipulator, a two station manipulator, a three station manipulator, and a four station manipulator in sequence.
  • the four-station large-surface special milling machine and the five-station CNC general-purpose machining center are provided with the four-axis two-jaw manipulator; between the first station and the second station, and between the fourth station and the fifth station, respectively There is the waste frame for storing defective products; the front side of the five-station CNC general machining center is provided with the blanking frame for storing finished products; the production line is arranged in parallel on the front and rear sides of the machine tool with one to five stations There are two grooves in which two waste conveying mechanisms for transporting waste are arranged in parallel, and the waste conveying mechanism extends out of the ground in a slope shape at the end of the production line to deliver the waste to Above the ground, finally poured into the waste frame;
  • the automatic feeding device includes a tray switching device, a disk-shaped storage device, and a lifting device, wherein the tray switching device is a long strip structure, and two disk-shaped storage devices are arranged side by side above it.
  • a material device each of the disc-shaped material storage devices is provided with ten material frames arranged in a ring shape, and each material frame is provided with one of the lifting devices; the material plate switching device is driven by a screw to drive the finished material
  • the disc-shaped storage device is transported to one side, and at the same time another disc-shaped storage device filled with materials is transported to the bottom of the robot arm of the one station, and the lifting device sequentially lifts the workpieces in the material frame to the designated Height, and is taken away by the one-station robotic arm.
  • the material tray switching device rotates to a certain angle to switch to the next material frame; After all the material frames are emptied, the tray switching device moves the emptied disk-shaped storage device to one side, and the worker fills the workpiece, and at the same time moves another disk-shaped storage device full of workpieces to the place.
  • the feeding is continued under the robot arm of a station, and the cycle is like this to realize automatic continuous feeding;
  • the one-station large-surface special-purpose milling machine includes a bed I, a machine tool guard I, an interchangeable flexible fixture, and a vertical milling machine, wherein the machine bed I and the replaceable machine guard I are arranged above the bed I
  • a flexible fixture the same vertical milling machine is arranged on both sides of the bed I, and the two vertical milling machines are staggered by a distance of one workpiece, and are used for cutting the upper surface when milling;
  • There is a screw drive mechanism inside the body I which is used to drive the shiftable flexible fixture to work forward and retreat; when the workpiece is small, the shiftable flexible fixture moves the workpiece to the bed through the slide rail of the cylinder below it.
  • the single vertical milling machine completes the milling of the upper surface of the workpiece; when the workpiece is large, the interchangeable flexible clamp moves the workpiece to the middle of the bed I, and the two vertical milling machines
  • the tool is connected one after another to complete the milling processing of the upper surface of the workpiece;
  • the machine tool guard I is in the shape of a herringbone, which is used to guide the chips into the chip grooves on both sides of the machine tool;
  • the two-station side-specific milling machine includes a bed II, a machine tool guard II, a flexible fixture, and a horizontal milling machine, wherein the machine tool guard II and the flexible fixture are arranged above the bed II, and the bed Two identical horizontal milling machines are symmetrically arranged on both sides of the body II, which are used for milling both sides of the workpiece at the same time; the bed II is provided with a screw drive mechanism for driving the flexible fixture to work forward and rewind.
  • the horizontal milling machine adjusts the distance between the two milling cutters through its internal hydraulic slide rail to realize the processing of parts with different widths.
  • the machine tool guard II is in a herringbone shape and is used to guide the chips to the chip flutes on both sides of the machine tool;
  • the three-station side chamfering milling machine includes a bed II, a machine tool guard II, a flexible fixture, and a horizontal milling machine, wherein four horizontal milling machines are symmetrically arranged on both sides of the bed II, two of which are on the front side.
  • the horizontal milling machine is equipped with face milling cutters, which are used for milling both sides of the workpiece at the same time.
  • the two horizontal milling machines on the rear side are equipped with chamfering cutters, which are used for milling the chamfers on both sides of the workpiece at the same time.
  • the special milling machine for the side of the two stations is the same;
  • the four-station large-surface special milling machine has the same structure and function as the one-station large-surface special milling machine, and is used for processing the last large surface of the workpiece;
  • the truss transportation device includes a one-station robotic arm, a two-station robotic arm, a three-station robotic arm, a four-station robotic arm, a truss, a rotatable clamping device, a reversible clamping device and a column, wherein the The truss is fixed on the four pillars, and the front side of the truss is arranged in a line with the one-station robotic arm, the two-station robotic arm, the three-station robotic arm, and the four-station robotic arm in sequence;
  • the mechanical arm can be moved in the horizontal and vertical directions on the truss by a motor drive to realize the transport of workpieces between one to four stations; wherein the rotatable arm is fixed under the one, three, and four stations
  • the clamping device is used to rotate the workpiece during the transportation to realize the side change of the workpiece; the reversible clamping device is fixed under the two-station mechanical arm, which is used to turn the workpiece during the transportation to realize Change the
  • the four-axis two-claw robot includes a clamping device, an industrial camera II, a connecting plate, and a four-axis robot.
  • the connecting plate is fixed at the lower end of the four-axis robot screw, and two clamps are fixed at the lower end of the connecting plate.
  • the industrial camera II is fixed on the front side of the clamping device, which is used to collect surface quality images of four-station workpieces and identify defective products;
  • the waste conveying mechanism includes a right-end sprocket, a motor, a bracket, a roller, a chain, a left-end sprocket, and a scraper conveyor belt, wherein the bracket is arranged in a long strip shape underground, and the right side section extends out of the ground in a slope shape ,
  • the right upper end is provided with the right end sprocket
  • the left end is provided with the left end sprocket
  • the front and rear sides of the bracket and the left and right ends of the sprocket are surrounded by two chains, and the outer sides of the two chains are wrapped in a ring shape.
  • the bracket is provided with the roller at the turning point of the slope, which is used to restrict the chain from rising with the right side of the bracket; the motor fixed on the outside of the right end sprocket is driven by the meshing of the sprocket and the chain , Driving the scraper conveyor belt to circulate between the left and right ends to transport waste; a scraper is arranged at every interval above the scraper conveyor belt to ensure that the waste will not slide down when climbing.
  • the material tray switching device includes a stepping motor I, a motor transmission base, a sliding base, a ball screw, a slider I, a bearing base, a screw nut, a linear guide, and an outer base, wherein the outer base
  • the left end of the base is fixed with the motor transmission seat and the stepping motor I, the right end is fixed with the bearing seat, the ball screw is connected in the middle, two linear guide rails are arranged in parallel on both sides, and the upper part is arranged
  • the two same sliding bases are used to carry the disc-shaped material storage device; four sliding blocks 1 and one screw nut are fixed under the sliding base, and the sliding block 1 can be placed in the Sliding on the linear guide rail, the screw nut has a threaded fit with the ball screw, and can move back and forth on the ball screw under the drive of a motor, thereby driving the sliding base to move back and forth on the outer base ,
  • the two sliding bases are installed on the same lead screw and driven by the same motor to realize the synchronous switching of the
  • the disc-shaped material storage device includes the lifting device, a well-type material frame, a rotating disc, a flange, a motor fixed bottom plate, a stepping motor II, a base bracket, and a base connecting plate, wherein,
  • the rotating disc is provided with a plurality of holes and grooves
  • the well-type material frame is composed of four L-shaped steel frames, and is fixed on the rotating disc through the holes and grooves, wherein two external steel frames can be fixed to
  • the size of the well-type material frame can be adjusted in different holes and slots, so as to realize the storage of workpieces of different sizes
  • the stepping motor II is connected with the rotating disc through the flange, and drives the rotating disc to be spaced apart Rotate a certain angle around the central axis for a certain time to realize the switching of the well-type material frame fixed above the rotating disc
  • the motor fixing bottom plate fixes the stepping motor II on the base bracket, and the base bracket is fixed on the base connecting plate On the tray switching device.
  • the lifting device includes an external frame, a guide rod, a ball screw, a slider III, a bottom plate, a connecting plate, and a stepping motor III, wherein the stepping motor III is fixed to the mounting plate through the connecting plate.
  • the outer frame is fixed on the upper side of the rotating disc, two guide rods are arranged in the outer frame, the slider III can slide on the guide rods, and the stepping motor III.
  • the bottom plate at the front end of the slider III is driven to move up and down to realize the lifting and lowering of the workpiece.
  • the interchangeable flexible fixture includes an air cylinder, a pressing plate, a positioning plane, a stopper, a fixture base, a pneumatic slide rail, and a slide rail base, wherein four pneumatic slides are fixed above the slide rail base.
  • Rail the clamp base is fixed above the pneumatic slide rail
  • the positioning plane is fixed in the middle of the base for placing the workpiece
  • the stopper is fixed on the right side
  • the two cylinders are fixed on the left side
  • the pressure plate is fixed at the front end of the cylinder for clamping the workpiece; the pneumatic slide rail can slide back and forth, thereby driving the upper clamp base to move back and forth on the slide rail base to realize the replacement of the clamping processing position.
  • the vertical milling machine includes a base, a sliding table, a motor, a belt, a vertical spindle, and a lead screw, wherein the lead screw driven by hydraulic pressure is provided in the base, and the lead screw is provided on the front side.
  • the vertical spindle is arranged on the front side of the sliding table, and the motor is arranged on the rear side; the motor drives the vertical spindle to rotate through the belt, thereby driving the lower tool to perform cutting Movement;
  • the sliding table can be slid up and down on the slide rail on the front side of the base by matching with the thread of the lead screw, thereby changing the processing height of the vertical spindle and realizing the processing of parts with different thicknesses.
  • the one-station mechanical arm includes a column, a truss, a truss rack, a limit screw, a worm gear, a Z-axis servo motor, a mechanical arm rack, a cross slide, a mechanical arm, and a rotatable clamp Holding device, wherein the truss is horizontally fixed on the column, the truss rack is fixed on the upper side of the truss, the cross slide is installed on the front side, and the X axis is installed on the rear side of the cross slide Servo motor, the front side is provided with the mechanical arm along the Z axis, the left side is equipped with the worm gear transmission, the upper input end of the worm gear transmission is connected with the output end of the Z axis servo motor; X axis servo motor
  • the output end of the truss rack is meshed and driven by gears to drive the cross slide to move back and forth along the X-axis for the transport of materials between stations
  • the reversible clamping device is fixed at the lower end of the two-station robotic arm, and the rest of the structure and functions are the same as those of the one-station robotic arm; the three-station robotic arm and the four-station robotic arm are the same as those of the one-station robotic arm.
  • the one-station robotic arm has the same structure and function.
  • the rotatable clamping device includes an upper connecting plate, a rotating cylinder, an intermediate connecting plate, a parallel air jaw, and a clamping plate, wherein the rotating cylinder block is connected to the mechanical arm through the upper connecting plate, so The cylinder shaft of the rotating cylinder is connected to the parallel air claws through the intermediate connecting plate, and one clamping plate is fixed under the claw pieces on both sides of the parallel air claws for clamping and pressing the workpiece; the rotating cylinder cylinder The shaft rotates to drive the parallel air claw below to rotate, thereby realizing the rotation of the clamped workpiece.
  • the reversible clamping device includes an upper connecting plate, a rotating cylinder, an intermediate connecting plate, a parallel air claw, a cylinder fixing plate, a reversing air cylinder, a splint, and an industrial camera 1, wherein both sides of the parallel air claw One of the cylinder fixing plates is fixed under each claw piece, and one of the turning cylinders is fixed on the outside of the cylinder fixing plate.
  • the cylinder shaft of the turning cylinder passes through the cylinder fixing plate and is connected to the splint;
  • the cylinder shaft of the turning cylinder is driven to rotate by the same pneumatic source, which drives the clamping plates on both sides to rotate at the same time, thereby realizing the turning surface of the clamped workpiece;
  • the industrial camera I is fixed on the front side of the parallel air claw by screws on both sides , Used to collect the image of the surface quality of the two-station workpiece and identify defective products; the rest of the structure and function of the reversible clamping device are the same as the rotatable clamping device.
  • the combination of multiple special equipment and a single general-purpose equipment ensures production efficiency, realizes production line flexibility, and reduces manufacturing costs; fully consider the characteristics of high production efficiency and poor flexibility of special equipment, and the four types of plates are the same and have a large margin.
  • the process is completed on special processing equipment; taking into account the characteristics of general equipment flexibility and relatively low production efficiency, the remaining different and small margin processes are completed on general processing equipment to achieve capacity matching, ensure production efficiency, and achieve four types
  • An industrial camera is installed on the front side of the gripper, which can quickly identify the surface quality before the robotic arm is lowered to grab the workpiece, and the unqualified workpiece is thrown into the scrap box between the two stations through the system control of the robotic arm to realize the processing of the production line Intelligent sorting of defective products in the process, the industrial camera is small in size, and the recognition process is rapid, which will not affect the gripping action and gripping time of the gripper;
  • the two-axis truss manipulator is selected in the design of the manipulator, which has simple and consistent movements, fast moving speed, high positioning accuracy, and the number of manipulator axes is small, making full use of its degree of freedom to control manufacturing costs;
  • a pneumatic arm is arranged under the manipulator. Hand grip, it can rotate and flip the workpiece while moving the workpiece, and automatically center and position the workpiece when the workpiece is placed. The action is consistent, stable and reliable, which greatly reduces the auxiliary time and improves the production efficiency;
  • the fixture adopts a unilateral cylinder, and the other side uses a stopper to block the workpiece, reducing the number of cylinders and reducing manufacturing costs;
  • a pneumatic slide rail is set between the fixture and the worktable on the special processing equipment for one and four stations, which can make the fixture Sliding back and forth between the two positions of the vertical guide rail on the worktable, so as to realize the automatic switching of the processing positions of parts of different sizes without changing the fixture, the action is fast, the positioning accuracy is high, and the automation flexibility of the special processing equipment is greatly improved
  • it replaces the Y-axis movement of the truss manipulator to a certain extent, reduces the number of manipulator axes, and reduces the manufacturing cost;
  • the feeding mechanism adopts one tray for automatic feeding, and the other tray for manual filling.
  • the layout of double trays is switched back and forth. Compared with single tray feeding, the feeding interval is greatly increased and greatly reduced.
  • the labor intensity of the workers saves man-hours and improves safety;
  • a lead screw drive mechanism is set under the two material trays, which can automatically complete the synchronous switching between the empty tray and the loaded workpiece tray in the gap between the feeding and return strokes of the robot arm, and pass the lead screw Self-locking completes the positioning of the material tray, the entire movement is fast and stable, does not affect the feeding time, and the positioning accuracy is high;
  • a four-axis two-claw robot is installed between the special processing equipment and the general processing equipment, and there are two pneumatic grippers on it.
  • the next workpiece can be placed on the general processing equipment at the same time as the workpiece is removed.
  • the action is fast and consistent. , Which greatly reduces the auxiliary time and improves the production efficiency; the robot uses four axes to make full use of its freedom and control the manufacturing cost;
  • Figure 1 is a schematic diagram of four types of board parts to be processed.
  • Figure 2 is a horizontal layout diagram of an automated high-speed production line for various plate and frame parts of the present invention.
  • Figure 3 is a schematic diagram of the structure of an automated high-speed production line for various plate and frame parts of the present invention.
  • Fig. 4 is a schematic diagram of the structure of the automatic feeding device 6 in Fig. 3,
  • FIG. 5 is a schematic diagram of the structure of the tray switching device 6-1 in FIG. 4,
  • Fig. 6 is a schematic diagram of the structure of the disc storage device 6-2 in Fig. 4,
  • Fig. 7 is a schematic diagram of the structure of the lifting device 6-3 in Fig. 4,
  • Figure 8 is a schematic diagram of the structure of a large-surface special milling machine in Figure 1,
  • Fig. 9 is a schematic diagram of the structure of the interchangeable flexible clamp 1-3 in Fig. 8,
  • Figure 10 is a schematic diagram of the structure of the vertical milling machine 1-4 in Figure 8,
  • Fig. 11 is a schematic diagram of the structure of the special milling machine 2 for the two-station side in Fig. 1,
  • Fig. 12 is a structural diagram of the three-station side chamfering milling machine 3 in Fig. 1,
  • Fig. 13 is a general layout diagram of the material conveying truss manipulator device 7 of Fig. 1,
  • Fig. 14 is a schematic diagram of the structure of a station robot arm 7-1 in Fig. 13,
  • FIG. 15 is a schematic diagram of the structure of the rotatable clamping device 7-6 in FIG. 13,
  • FIG. 16 is a schematic diagram of the structure of the reversible clamping device 7-7 in FIG. 13,
  • FIG. 17 is a schematic diagram of the structure of the four-axis two-claw robot 8 in FIG. 1,
  • FIG. 18 is a schematic diagram of the structure of the waste conveying mechanism 11 in FIG. 1,
  • 1-3 Replaceable flexible fixture; 1-3-1. Cylinder; 1-3-2. Press plate; 1-3-3. Positioning plane; 1-3-4. Stopper; 1-3-5. Fixture base; 1-3-6. Pneumatic slide rail; 1-3-7. Slide rail base;
  • 1-4 Vertical milling machine; 1-4-1. Base; 1-4-2. Slide table; 1-4-3. Motor; 1-4-4. Belt; 1-4-5. Vertical Spindle; 1-4-6. Lead screw;
  • 6-1 Material tray switching device; 6-1-1. Stepper motor I; 6-1-2. Motor drive seat; 6-1-3. Sliding base; 6-1-4. Ball screw; 6 -1-5. Slider I; 6-1-6. Bearing seat; 6-1-7. Screw nut; 6-1-8. Linear guide; 6-1-9. Outer base;
  • 6-3 Lifting device; 6-3-1. External frame; 6-3-2. Guide rod; 6-3-3. Ball screw; 6-3-4. Slider II; 6-3-5 .Bottom plate; 6-3-6. Connecting board; 6-3-7. Stepping motor III;
  • Truss transportation device 7-1. One-station robotic arm; 7-2. Two-station robotic arm; 7-3. Three-station robotic arm; 7-4. Four-station robotic arm; 7-5. Truss; 7-6. Rotatable clamping device; 7-7. Reversible clamping device; 7-8. Column;
  • 7-7 Reversible clamping device; 7-7-1. Upper connecting plate; 7-7-2. Rotating cylinder; 7-7-3. Intermediate connecting plate; 7-7-4. Parallel air jaws; 7 -7-5. Cylinder fixing plate; 7-7-6. Flip the cylinder; 7-7-7. Splint; 7-7-8. Industrial camera I;
  • Waste conveying mechanism 11-1. Right end sprocket; 11-2. Motor; 11-3. Bracket; 11-4. Roller; 11-5. Chain; 11-6. Left end sprocket; 11-7 .Scraper conveyor belt.
  • the purpose of the production line designed by the present invention is to be able to produce the four types of board parts in Figure 1 respectively
  • an intelligent plate parts processing production line combining general and special equipment, which includes a special-purpose milling machine 1, a special-purpose side milling machine 2, and a two-station side surface.
  • Three-station side chamfering milling machine 3 four-station large-face special milling machine 4, five-station CNC general machining center 5, automatic feeding device 6, truss transport device 7, four-axis two-jaw manipulator 8, scrap frame 9, lower
  • the material frame 10, the waste conveying mechanism 11 and the controller are characterized in that:
  • the production line is arranged in a straight line as a whole, and the automatic feeding device 6 is arranged longitudinally at the beginning of the production line, and its vertical front side is in a straight line. According to this, it is arranged horizontally.
  • the center 5 is equipped with a four-axis two-jaw manipulator 8; the first and second stations and the fourth and fifth stations are equipped with a waste frame 9 for the storage of defective products; the five-station CNC general machining center 5 is equipped with The blanking frame 10 is used for storage of finished products; the waste conveying mechanism 11 is arranged under the entire production line and buried underground, and is used for collecting and transporting waste from one to five stations.
  • the one-station robotic arm 7-1, the two-station robotic arm 7-2, the three-station robotic arm 7-3, and the four-station robotic arm 7-4 can move horizontally and vertically, and are used in the first four stations.
  • the tray switching device 6-1 is a long strip structure, and two disk-shaped storage devices 6-2 are arranged on a straight line above it, and each disk-type storage device 6-2 is above each other. Ten material frames are evenly arranged, and each material frame has a lifting device 6-3; the material tray switching device 6-1 transports the finished disc-shaped material storage device 6-2 to one side through the screw drive , And transport another disc-shaped storage device 6-2 filled with materials to the bottom of a robot arm 7-1 at a station. The lifting device 6-3 lifts the workpieces in the material frame to the specified height in turn, and Take away the robot arm 7-1 at the station.
  • the material tray switching device 6-1 rotates at a certain angle to switch to the next material frame; the disk-shaped material storage device 6-2 has ten material frames on it After all are emptied, the tray switching device 6-1 moves the emptied disk-shaped storage device 6-2 to one side, and the worker fills the workpieces, and puts another disk-shaped storage device 6-2 that is filled with the workpieces. Move to a station robot arm 7-1 to continue feeding, and this cycle realizes automatic continuous feeding.
  • the left end of the outer base 6-1-9 is fixed with a stepping motor I6-1-1, the right end is fixed with a bearing seat 6-1-6, a ball screw 6-1-4 is connected in the middle, and the two sides are arranged in parallel
  • the sliding base 6-1-3 is fixed with four
  • One slider I6-1-5 and one screw nut 6-1-7 the slider I6-1-5 can slide on the linear guide 6-1-8, the screw nut 6-1-7 and the ball screw 6-1-4 has a threaded fit, which can be moved back and forth on the ball screw 6-1-4 under the drive of a motor, and then drives the sliding base 6-1-3 to move back and forth on the outer base 6-1-9 to realize the material tray Switch.
  • the rotating disc 6-2-2 is provided with multiple holes and slots.
  • the well-type material frame 6-2-1 is composed of four L-shaped steel frames and is fixed to the rotating disc 6-2 through the holes and slots.
  • the two external steel frames can be fixed in different holes and slots to adjust the size of the well-type material frame 6-2-1, so as to realize the storage of workpieces of different sizes;
  • the stepping motor II6-2-5 passes through the flange
  • the disk 6-2-3 is connected with the rotating disk 6-2-2, and the rotating disk 6-2-2 is driven to rotate around the central axis at a certain time interval to a certain angle to realize the well fixed on the rotating disk 6-2-2.
  • Switching of the type material frame 6-2-1; the motor fixing bottom plate 6-2-4 fixes the stepping motor II6-2-5 on the base bracket 6-2-6, and the base bracket 6-2-6 passes through the base connecting plate 6-2-7 is fixed on the tray switching device 6-1.
  • the stepping motor III6-3-7 is fixed to the lower side of the rotating disc 6-2-2 through the connecting plate 6-3-6, and the outer frame 6-3-1 is fixed to the rotating disc 6-2-2
  • the slider III6-3-4 can slide on the guide rod 6-3-2
  • the stepping motor III6-3-7 The ball screw 6-3-3 is matched with the thread of the slider III6-3-4 to drive the bottom plate 6-3-5 at the front end of the slider 6-3-4 to move up and down to realize the lifting and lowering of the workpiece.
  • the machine tool guard I1-2 and the interchangeable flexible clamp 1-3 are arranged above the bed I1-1, and two identical vertical milling machines 1-4 are arranged on both sides of the bed I1-1.
  • the vertical milling machine 1-4 is staggered by the distance of one work piece, and is used for the tool connection when the upper surface is milled;
  • the bed I1-1 is equipped with a screw drive mechanism to drive the interchangeable flexible fixture 1-3 work advance and fast Retreat; when the workpiece is small, the transposable flexible fixture 1-3 moves the workpiece to the side of the bed I1-1 through the cylinder slide rail below it, and the upper surface of the workpiece is milled by a single vertical milling machine 1-4;
  • the interchangeable flexible fixture 1-3 will move the workpiece to the middle of the bed I1-1, and the two vertical milling machines 1-4 will receive the tools one after the other to complete the milling of the upper surface of the workpiece;
  • machine guard I1 -2 is a herringbone shape, used to guide the chips to the chip
  • FIG. 9 four pneumatic slide rails 1-3-6 are fixed above the slide rail base 1-3-7, clamp base 1-3-5 are fixed above the pneumatic slide rail 1-3-6, and the base 1-3- 5
  • a positioning plane 1-3-3 fixed in the middle, which is used to place the workpiece, the right side is fixed with a stop 1-3-4, the left side is fixed with two cylinders 1-3-1, and the front end of the cylinder 1-3-1 is fixed.
  • a pressure plate 1-3-2 which is used to clamp the workpiece; the pneumatic slide rail 1-3-6 can slide back and forth, and then drive the upper clamp base 1-3-5 to move back and forth on the slide rail base 1-3-7 to achieve Replacement of the machining position of the fixture.
  • the base 1-4-1 is provided with a screw 1-4-6 driven by hydraulic pressure, a sliding table 1-4-2 is provided on the front side, and a stand is provided on the front side of the sliding table 1-4-2.
  • Type spindle 1-4-5 the rear side is equipped with a motor 1-3-4; the motor 1-4-3 drives the vertical spindle 1-4-5 through a belt 1-4-5 to make a rotary motion, and then drives the tool below to do Cutting movement; the sliding table 1-4-2 can slide up and down on the front slide rail of the base 1-4-1 through the thread of the screw 1-4-6, thereby changing the vertical spindle 1-4-5
  • the processing height can realize the processing of parts with different thickness.
  • a machine tool guard II2-2 and a flexible fixture 2-3 are arranged above the bed II2-1.
  • Two identical horizontal milling machines 2-4 are arranged symmetrically on both sides of the bed II2-1 for simultaneous milling. Two sides of the workpiece; the bed II2-1 is equipped with a screw drive mechanism to drive the flexible fixture 2-3 to advance and retreat; the horizontal milling machine 2-4 can adjust the distance between the two milling cutters through its internal hydraulic slide ,
  • the machine tool guard II2-2 has a herringbone shape, which is used to guide the chips into the chip flutes on both sides of the machine tool.
  • the bed II3-1 has four horizontal milling machines 3-4 symmetrically arranged on both sides of the bed II3-1, of which the first two horizontal milling machines 3-4 are equipped with face milling cutters for milling both sides of the workpiece at the same time, and the last two horizontal milling machines
  • the type milling machine 3-4 is equipped with a chamfering cutter, which is used for milling the chamfers on both sides of the workpiece at the same time.
  • the remaining structure and functions are the same as the two-station side special milling machine 2.
  • the truss 7-5 is fixed on the four columns 7-8, and the front side of the truss 7-5 is arranged in a straight line.
  • a rotatable clamping device 7-6 is fixed under the robot arm of the station, which can rotate the workpiece by 90 degrees during transportation to realize the workpiece side change;
  • the two-station robot arm 7-2 is fixed with a reversible clamping device 7- 7.
  • the workpiece can be turned over 180 degrees during transportation to realize the workpiece face change.
  • the column 7-8 is horizontally fixed with a truss 7-5
  • the upper side of the truss 7-5 is fixed with a truss rack 7-1-1
  • a cross slide 7-6 and a cross slide are installed on the front side.
  • the X-axis servo motor is installed on the rear side of 7-1-6
  • the mechanical arm 7-1-7 is installed along the Z-axis on the front side
  • the worm gear 7-1-3 is installed on the left side
  • the worm gear 7-1 is installed.
  • the upper input end is connected with the output end of the Z-axis servo motor 7-1-4; the output end of the X-axis servo motor is meshed and driven by a gear and the truss rack 7-1-1 to drive the cross slide 7-1-6
  • the X-axis moves back and forth, which is used for the transportation of materials between stations; the Z-axis servo motor 7-1-4 is driven by the gear at the output end of the worm gear 7-1-3 and the mechanical arm rack 7-1-5.
  • the mechanical arm 7-1-7 moves up and down along the Z axis, which is used to pick and place materials on the work station; the two ends of the truss 7-5 are equipped with limit screws 7-1-2, which are used to limit the cross slide 7-1-6 The moving distance and buffer stop the movement of the cross slide 7-1-6; the lower end of the mechanical arm 7-1-7 is fixed with a rotatable clamping device 7-6, which is used to clamp the workpiece.
  • the cylinder body of the rotating cylinder 7-6-2 is connected to the mechanical arm through the upper connecting plate 7-6-1, and the cylinder shaft of the rotating cylinder 7-6-2 is connected to the parallel air claw 7 through the intermediate connecting plate 7-6-3.
  • a clamping plate 7-6-5 is fixed under the claws on both sides of the parallel air jaw 7-6-4, which is used to clamp and press the workpiece; the rotating cylinder 7-6-2 rotates the cylinder shaft to drive The lower parallel air claw 7-6-4 rotates to realize the rotation of the clamped workpiece.
  • a cylinder fixing plate 7-7-5 is fixed under the claws on both sides of the parallel air claw 7-7-4, and a turning cylinder 7-7-6 is fixed on the outside of the cylinder fixing plate 7-7-5.
  • the turning cylinder 7-7-6 cylinder shaft passes through the cylinder fixing plate 7-7-5 and is connected to the splint 7-7-7; the turning cylinder 7-7-6 on both sides is driven to rotate by the same pneumatic source, driving both sides
  • the splint 7-7-7 rotates at the same time to realize the turning surface of the clamped workpiece;
  • the industrial camera I7-7-8 is fixed to the front side of the parallel gripper 7-7-4 with screws on both sides, and is used to collect two stations
  • the image of the surface quality of the workpiece can identify defective products; the rest of the structure and function of the reversible clamping device 7-7 is the same as that of the rotatable clamping device 7-6.
  • a connecting plate 8-3 is fixed at the lower end of the screw of the four-axis robot 8-4, and two clamping devices 8-1 are fixed at the lower end of the connecting plate 8-3, which are used for grasping, transporting and unloading workpieces;
  • An industrial camera II8-2 is fixed on the front side of the clamping device 8-1, which is used to collect surface quality images of the four-station workpiece and identify defective products.
  • the waste conveying mechanism 11 includes a right end sprocket 11-1, a motor 11-2, a bracket 11-3, a roller 11-4, a chain 11-5, a left end sprocket 11-6, and a scraper conveyor belt 11-7,
  • the bracket 11-3 is arranged underground in a strip shape
  • the right side section extends out of the ground in a slope shape
  • the right upper end is provided with the right end sprocket 11-1
  • the left end is provided with the left end sprocket 11-6.
  • the bracket 11-3 is surrounded by two chains 11-5 between the front and rear sides and the left and right ends of the sprockets.
  • the outer sides of the two chains 11-5 are annularly wrapped with a scraper conveyor belt 11-7.
  • the bracket 11-3 is provided with the roller 11-4 at the slope turning point, which is used to restrict the chain 11-5 from rising with the right side of the bracket 11-4;
  • the motor fixed on the outer side of the right end sprocket 11-1 11-2 Drives the scraper conveyor belt 11-7 to cyclically rotate between the left and right ends through the meshing transmission of the sprocket and the chain to transport waste;
  • the scraper conveyor belt 11-7 is arranged at intervals above each other There is a scraper to ensure that the waste will not slide when climbing.
  • the first step the feeding device 6 is composed of two disc storage devices 6-2, and ten material frames 6-2-1 are evenly arranged above each disc storage device 6-2.
  • the motor I6-1-1 drives the screw 6-1-4 to rotate forward, and at the same time drives the two bases 6-1-3 that are threaded with the screw 6-1-4 to move linearly along the guide rail, and then move one of the bases
  • the storage device 6-2 above 6-1-3 is automatically transported to the one station robot arm 7-1, and the other storage device 6-2 is moved to one side at the same time.
  • the lead screw 6-1-4 is self-locked to fix the storage device 6-2 at the designated position.
  • Step 2 The material frame directly under the truss manipulator 7 starts to load, the lifting device 6-3 on it starts to work, and the stepping motor III6-3-7 drives the screw 6-3-3 to rotate forward to drive the wire
  • the bar has a threaded sliding slider III6-3-4 and a bottom plate 6-3-5 fixed on the front side of the slider ascending along the guide rod 6-3-2, and then the part blank is lifted out of the material frame. After the blank rises to a fixed height, the ball screw 6-3-3 fixes the blank at the designated position through self-locking, and waits for a station robotic arm 7-1 to grab and load the material.
  • the stepping motor III6-3-7 reverses and drives the bottom plate 6-3-5 to descend along the guide rod 6-3-2 to the bottom.
  • the stepping motor II6-2-5 in the storage device 6-2 drives the rotating disc 6-2-2 to rotate a certain angle, and the next material frame is replaced to continue feeding.
  • the third step After the storage device 6-2 directly below the robotic arm 7-1 at a station is emptied, the tray switching device 6-1 starts to work, and the motor 6-1-1 drives the lead screw 6-1- 4 Reverse, and at the same time drive the two sliding bases 6-1-3 from the current position back to the initial position, and then move the emptied storage device 6-2 to one side, and the worker will refill the blanks and put them on the other side.
  • the storage device 6-2 full of workpieces on one side is transported to a station directly below the robotic arm 7-1, and the second step is repeated to continue feeding.
  • the first step, the second step, and the third step are executed cyclically to realize automatic continuous feeding.
  • Step 4 After the workpiece is lifted to the specified position, a robot arm 7-1 at a station starts to work, the X-axis motor at the rear of the cross slide 71-6 is rotated forward, and the gear and truss rack 7 are set at the output end of the motor.
  • the lower end of the robotic arm 7-1-7 is fixed with a rotatable clamp
  • the holding device 7-6 clamps the workpiece through the cylinder shrinkage, the Y-axis motor 7-1-4 starts to reverse, and after driving the workpiece up a certain distance, the Y-axis motor 7-1-4 stops, and the X-axis motor starts to reverse and drive
  • the cross slide 7-1-6 and the mechanical arm 7-1-7 move in the direction of the X-axis close to the large face milling machine 1 at a station until they touch the right limit screw 7-1-2 to reach a station.
  • the X-axis motor stops, and the Y-axis motor 7-1-4 starts to rotate forward, driving the mechanical arm 7-1-7 to move down along the Z-axis until the workpiece is placed on the fixture 1-
  • the Y-axis motor 7-1-4 reverses again and drives the mechanical arm 7-1-7 up along the Z-axis to carry the next workpiece, and reciprocate until all the workpieces are transported.
  • the fifth step the clamping device 7-6 puts the workpiece on a fixture 1-3 at a station and still maintains the clamping state, and the workpiece is pressed by the clamping plate 7-6-5, and the fixture 1-3 passes through the air cylinder 1-3 -1 After clamping the workpiece, the clamping device 7-6 is completely loosened, and lifts away from the workpiece with the robot arm 7-1-7.
  • the pneumatic slide rail 1-3 under the clamp 1-3 -6 Start to work, according to the width of different workpieces, move the workpiece along the vertical direction of the bed 1-1 to the corresponding milling cutter through the movement of its internal cylinder, and wait for the workpiece to move to the designated position, inside the bed I1-1 of a station
  • the servo motor starts to rotate forward and drives the fixture 1-3 and the upper workpiece to fast forward along the bed I1-1.
  • the speed is reduced and the three-phase asynchronous motor 1-4-3 passes through the belt.
  • Step 6 After the workpiece is processed in the first station, the two-station robotic arm 7-2 hovering above starts to move down along the Z axis, and is fixed to the industrial camera I7 on the front side of the reversible clamping device 7-7 -7-8 Quickly perform image acquisition on the surface of the workpiece, and judge whether the surface quality is qualified through the recognition system. If not, the system will control the two-station robotic arm 7-2 and the reversible clamping device 7-7 to throw the workpiece into In the scrap frame 9 between the first and second stations, if the quality is qualified, the system will use the same method as the fourth step to transport the workpiece from the large-surface special milling machine 1 of the first station to the special side milling machine 2 of the second station.
  • the reversible clamping device 7-7 installed at the lower end of the two-station robotic arm 7-2 starts to work, and the reversing cylinder 7-7-6 uses compressed air to drive the output shaft and the splint 7-7-7 fixed on the output shaft.
  • the 180°rotation drives the clamped workpiece to turn 180°, so as to ensure that the workpiece positioning plane is a smooth plane that has been processed when the next station is processed.
  • Step 7 Refer to Step 5, using the same working method as the first station. After the workpiece is clamped by the fixture on the special milling machine 2 for the side of the second station, the servo motor drives the workpiece to move forward, and the horizontal milling machine on both sides 2-4 Complete the milling of both sides of the workpiece at the same time. After the processing is completed, the workpiece will be taken away by the three-station robotic arm 7-3.
  • Step 8 Refer to Step 4.
  • the three-station robotic arm 7-3 uses the same working method as the one-station robotic arm 7-1 to move the workpiece from the second station to the third station.
  • the three-station mechanical arm The rotatable clamping device 7-6 installed at the lower end of the arm 7-3 starts to work, and the rotating cylinder 7-6-2 uses compressed air to drive the output shaft and the parallel gripper 7-6-4 fixed at the lower end of the output shaft to rotate 90° , And then drive the clamped workpiece to rotate 90°, so that the next station can process the other two sides of the workpiece.
  • Step 9 Refer to Step 7 and adopt the same working method as the two-station.
  • the servo motor drives the workpiece to move forward.
  • the milling machine 3-4 completes the milling of the other two sides of the workpiece, and the latter two horizontal milling machines 3-4 complete the milling of the chamfer on the same side.
  • the workpiece is taken away by the four-station robotic arm 7-4.
  • Step 10 Refer to the fourth step, the four-station robotic arm 7-4 uses the same working method as the one-station robotic arm 7-1 to transport the workpiece from the three-station to the four-station.
  • the eleventh step referring to the fifth step, using the same working method as the one-station, the four-station vertical special milling machine 3 completes the upper surface milling after the workpiece is turned over.
  • the twelfth step After the workpiece is processed in the four-station, the four-axis two-claw robot 8 starts to work.
  • the lower end of the four-axis two-claw robot 8 is simultaneously fixed with two clamping devices 8-1 through the connecting plate 8-3, one of which is The industrial camera II8-2 on the front side of the clamping device 8-1 quickly collects images on the surface of the workpiece, and judges whether the surface quality is qualified through the recognition system. If not, the system will control the robot 8 to throw the workpiece into the fourth or fifth station In the waste frame 9 between, if the quality is qualified, the system will control the above mechanism to transport the workpiece to the five-station CNC universal machining center 5.
  • another clamping device 8-1 will move the CNC universal machining center 5
  • the finished products that have completed all the processes are removed, and then the workpieces transferred from the four stations are placed on the CNC general machining center 5 to complete the remaining processes.
  • another clamping device 8-1 will be processed from the CNC general machining center.
  • the finished product taken by the center 5 is transported to the unloading frame 10.
  • the clamping device 8-1 returns to the four-station, waiting for the next workpiece to be grabbed, and reciprocating in this way to complete the continuous cycle of transportation and unloading carried out.
  • the waste conveying mechanism 11 is buried in the ground and is set under the entire production line. When a large-scale special milling machine starts to work, the waste conveying mechanism 11 has already started to work.
  • the motor set at the terminal is driven by a sprocket and chain to drive the scraper.
  • the board transports the scrap falling into the groove to the back side of the CNC general machining center 5 and uniformly discharges it in the waste box, thereby completing the transportation and collection of the scrap of the entire production line.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
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  • Feeding Of Workpieces (AREA)

Abstract

一种通用与专用设备结合的智能化板类零件加工生产线，自自动上料装置起呈直线依次排布有一至四工位四台专用加工机床，以及五工位一台通用加工机床；一至四工位后侧平行排布有桁架运输装置（7），其上有四个机械臂对应每个工位的物料搬运；四、五工位间设置有一台四轴机械手（8），实现两工位间物料搬运以及成品的下料；二工位机械臂以及四轴机械手上布置有工业摄像头，用于识别残次品；一、二工位以及四、五工位间设置有废料框（9）用于存放残次品；五工位前侧设置有下料框（10），用于存放成品；整条生产线下方设置有废屑输送机构（11）用于废屑的收集搬运。通过通用与专用设备结合，柔性夹具与滑轨气缸的使用，实现生产线柔性，平衡各工位加工时间，提高生产效率。

Description

一种通用与专用设备结合的智能化板类零件加工生产线 技术领域
本发明涉及一种高效自动化生产流水线，尤其涉及一种通用与专用设备结合的智能化板类零件加工生产线，属机械加工设备技术领域，特别适用于需要控制制造成本的板框类零件的流水线生产模式。
背景技术
柔性加工生产线是传统制造业向自动化生产转型的必然方式，是制造企业提高生产效率，降低人工成本的必然选择。对于产量大结构简单的板框类零件加工，柔性生产线的优势更能得到良好的应用。但是企业在追求自动化柔性化生产的同时，由于各方面因素的限制，往往不能达到预期的效果，其问题在于：柔性生产线的制造成本过高，远远超过预期回报；生产线不能真正实现柔性化，不能适应产品和市场的变化；生产线加工效率低下，无法达到产量要求。
当前，大部分企业在加工板框类零件时，仍倾向于选用结构简单的传统机床，零件的装夹和搬用则依赖于工人或流水线。此种生产方式设备成本低，维护方便，但自动化水平低，对于工人的依赖较大，人工成本较高。且机床数量较多，不利于统一管理，生产效率也受限于工人的因素。部分企业迫切寻求减少人工成本、提升自动化水平的生产方式，盲目选用市面上常见的机械手结合通用加工设备的柔性生产线布局，将板框类零件的加工工艺与生产线生硬的结合在一起，结果造成了诸多问题。板框类零件属于小成本、低加工要求、大批量生产；采用多台通用加工设备的柔性化生产线，其成本已超出板框类零件的价值收益，而且通用加工设备也无法到达专用机床的加工效率，从而无法满足产品的产量需求。此外，板类零件在铣削上下表面的时候，由于装夹变形、震动等因素很容易出现未被铣削到的残次品，目前主要靠人工对其进行分拣，极大的浪费了资源，耗时耗力。
综上所述，在控制制造成本的基础上，设计一条适用于板框类零件生产加工的柔性化生产线，用以提高生产效率及自动化水平，减少人工成本，同时实现残次品的智能分拣，已成为板框类零件制造行业一个亟待解决的技术难题，对于板框类零件生产企业具有重大的实际意义。
发明内容
本发明的目的是为了设计一条能够生产如图1所示四种板框类零件的柔性化生产线，提高生产效率及加工过程中的自动化水平，减少人工成本。通过机床类型选择及夹具的设计，在保证加工效率的前提下，降低制造成本。同时实现板类零件残次品的智能分拣。
为实现上述目的，本发明提供如下技术方案：一种通用与专用设备结合的智能化板类零件加工生产线，其包括一工位大面专用铣床、二工位侧面专用铣床、三工位侧面倒角铣床、四工位大面专用铣床、五工位数控通用加工中心、自动上料装置、桁架运输装置、四轴两爪机械手、废料框、下料框、废屑输送机构及控制器，其特征在于，
所述生产线呈口字形排布，所述自动上料装置包含个上料主体，纵向排布安置于 生产线起始端，所述废屑输送机构的出屑口安置于生产线末端，两端之间的前侧呈一字型横向依次安置有所述一工位大面专用铣床、二工位侧面专用铣床、三工位侧面倒角铣床、四工位大面专用铣床以及五工位数控通用加工中心；后侧相对于前侧平行排布有所述桁架运输装置，所述桁架运输装置上依次相对应设置有一工位机械臂、二工位机械臂、三工位机械臂、四工位机械臂；所述四工位大面专用铣床与五工位数控通用加工中心间设置有所述四轴两爪机械手；一工位和二工位之间以及四工位和五工位之间分别设置有用于存放残次品的所述废料框；所述五工位数控通用加工中心前侧设置有用于存放成品的所述下料框；所述生产线一至五工位机床前后两侧地面上平行设置有两道沟槽，所述沟槽中平行设置有两条用于运输废屑的所述废屑输送机构，所述废屑输送机构在生产线末端呈斜坡状伸出地面，将废屑送至地面上方，最终倒入废屑框内；
所述自动上料装置包括料盘切换装置、圆盘型储料装置、抬升装置，其中，所述料盘切换装置为一长条形结构，其上方并排设置有两个所述圆盘型储料装置，每个所述圆盘型储料装置上环形布置有十个料框，每个料框内设有一个所述抬升装置；所述料盘切换装置通过丝杠传动将上完料的圆盘型储料装置运输至一侧，同时将填好料的另一个圆盘型储料装置运输至所述一工位机械臂下方，所述抬升装置将料框内的工件依次抬升至指定高度，并由所述一工位机械臂取走，待该料框内工件全部取完后所述料盘切换装置旋转一定角度切换下一料框；待当前的圆盘型储料装置上十个料框全部清空后，所述料盘切换装置将清空后的圆盘型储料装置移动至一侧，由工人填充工件，同时将另一个装满工件的圆盘型储料装置移至所述一工位机械臂下方继续进行上料，如此循环，实现自动连续上料；
所述一工位大面专用铣床包括床身I、机床防护罩I、可换位柔性夹具、立式铣床，其中，所述床身I上方设置有所述机床防护罩I和所述可换位柔性夹具，所述床身I两侧各布置有一台相同的所述立式铣床，两台所述立式铣床错开一个工件的距离安置，用于上表面铣削时的接刀；所述床身I内部设置有丝杠传动机构，用于驱动所述可换位柔性夹具工进和快退；当工件较小时，所述可换位柔性夹具通过其下方气缸滑轨将工件移至床身I一侧，由单台所述立式铣床完成工件上表面的铣削加工；当工件较大时，所述可换位柔性夹具将工件移至床身I中间，由两台所述立式铣床先后接刀，完成工件上表面的铣削加工；所述机床防护罩I呈人字形，用于将切屑引导至机床两侧排屑槽内；
所述二工位侧面专用铣床包括床身II、机床防护罩II、柔性夹具、卧式铣床，其中，所述床身II上方设置有所述机床防护罩II和所述柔性夹具，所述床身II两侧对称布置有两台相同的所述卧式铣床，用于同时铣削工件两侧面；所述床身II内部设置有丝杠传动机构，用于驱动所述柔性夹具工进和快退；所述卧式铣床通过其内部液压滑轨调整两铣刀间距离，实现不同宽度零件的加工，所述机床防护罩II呈人字形，用于将切屑引导至机床两侧排屑槽内；
所述三工位侧面倒角铣床包括床身II、机床防护罩II、柔性夹具、卧式铣床，其中，所述床身II两侧对称布置有四台所述卧式铣床，其中前侧两台所述卧式铣床安装面铣刀，用于同时铣削工件两侧面，后侧两台所述卧式铣床安装倒角铣刀，用于同时铣削工件两侧倒角，其余结构功能与所述二工位侧面专用铣床相同；
所述四工位大面专用铣床与所述一工位大面专用铣床具有相同的结构和功能，用于工件最后一个大面的加工；
所述桁架运输装置包括一工位机械臂、二工位机械臂、三工位机械臂、四工位机械臂、桁架、可旋转夹持装置、可翻转夹持装置和立柱，其中，所述桁架固定于四根所述立柱上，所述桁架前侧呈一字型依次安置所述一工位机械臂、二工位机械臂、三工位机械臂、四工位机械臂；所述各机械臂通过电机驱动可在所述桁架上沿水平和竖直方向移动，实现一至四四个工位间工件的搬运；其中所述一、三、四工位机械臂下方固定有所述可旋转夹持装置，用于在搬运途中对工件进行度旋转，实现工件换边；所述二工位机械臂下方固定有所述可翻转夹持装置，用于在搬运途中对工件进行度翻转，实现工件换面；
所述四轴两爪机器人包括夹持装置、工业摄像头II、连接板、四轴机器人，其中，四轴机器人螺杆下端固定有所述连接板，所述连接板下端固定有两个所述夹持装置，用于对工件的抓取、搬运和下料；所述夹持装置前侧固定有所述工业摄像头II，用于采集四工位工件表面质量图像，识别残次品；
所述废屑输送机构包括右端链轮、电机、支架、滚轮、链条、左端链轮、刮板式输送带，其中，所述支架呈长条形布置于地下，右侧一段呈斜坡状伸出地面，右上端设置有所述右端链轮，左端设置有所述左端链轮，支架前后两侧、左右两端链轮之间环绕有两条所述链条，两条所述链条外侧呈环形包裹有一条所述刮板式输送带，支架斜坡转折处设置有所述滚轮，用于限制所述链条随支架右侧一同斜升；固定于右端链轮外侧的所述电机通过链轮与链条的啮合传动，带动所述刮板式输送带在左右两端之间循环转动，运输废屑；所述刮板式输送带上方每间隔一段距离设置有一个刮板，保证爬坡时废屑不会下滑。
进一步，作为优选，所述料盘切换装置包括步进电机I、电机传动座、滑动底座、滚珠丝杠、滑块I、轴承座、丝杠螺母、直线导轨、外底座，其中，所述外底座左端固定有所述电机传动座和所述步进电机I，右端固定有所述轴承座，中间连接有所述滚珠丝杠，两侧平行布置有两根所述直线导轨，其上方布置有两个相同的所述滑动底座用于承载所述圆盘型储料装置；所述滑动底座下方固定有四个所述滑块I和一个所述丝杠螺母，所述滑块I可在所述直线导轨上滑动，所述丝杠螺母与所述滚珠丝杠有螺纹配合，可在电机驱动下在所述滚珠丝杠上来回移动，进而带动所述滑动底座在所述外底座上来回移动，两个所述滑动底座安装在同一丝杠上由同一电机驱动，实现空料盘和上料盘的同步切换。
进一步，作为优选，所述圆盘型储料装置包括所述抬升装置、井式料框、旋转圆盘、法兰盘、电机固定底板、步进电机II、底座支架，底座连接板，其中，所述旋转圆盘上开有多个孔槽，所述井式料框由四根L型钢架组成，并通过孔槽固定于所述旋转圆盘上，其中外部两根钢架可固定于不同孔槽内以调整所述井式料框的大小，从而实现不同尺寸工件的存放；所述步进电机II通过所述法兰盘与所述旋转圆盘相连，驱动所述旋转圆盘间隔一定时间绕中心轴转动一定角度，实现固定于旋转圆盘上方的所述井式料框的切换；所述电机固定底板将步进电机II固定在底座支架上，底座支架通过底座连接板固定在料盘切换装置上。
进一步，作为优选，所述抬升装置包括外部框架、导杆、滚珠丝杠、滑块III、底板、连接板、步进电机III，其中，所述步进电机III通过所述连接板固定于所述旋转圆盘下侧，所述外部框架固定于所述旋转圆盘上侧，所述外部框架内设置有两根导杆，所述滑块III可在导杆上滑动，所述步进电机III通过所述滚珠丝杠与所述滑块III的螺纹配合，驱动所述滑块III前端的底板上下移动，实现工件的抬升下降。
进一步，作为优选，所述可换位柔性夹具包括气缸、压板、定位平面、挡块、夹具底座、气动滑轨、滑轨底座，其中，所述滑轨底座上方固定有四个所述气动滑轨，所述气动滑轨上方固定有所述夹具底座，所述底座中间固定有所述定位平面，用于放置工件，右侧固定有所述挡块，左侧固定有两个所述气缸，所述气缸前端固定有所述压板，用于夹紧工件；所述气动滑轨可来回滑动，进而带动上方所述夹具底座在所述滑轨底座上来回移动，实现夹具加工位置的更换。
进一步，作为优选，所述立式铣床包括基座、滑台、电机、皮带、立式主轴、丝杠，其中，所述基座内部设置有由液压驱动的所述丝杠，前侧设置有所述滑台，所述滑台前侧设置有所述立式主轴，后侧设置有所述电机；所述电机通过所述皮带驱动所述立式主轴做回转运动，进而带动下方刀具做切削运动；所述滑台通过与所述丝杠的螺纹配合，可在所述基座前侧滑轨上上下滑动，从而改变所述立式主轴的加工高度，实现不同厚度零件的加工。
进一步，作为优选，所述一工位机械臂包括立柱、桁架、桁架齿条、限位螺钉、蜗轮蜗杆传动装置、Z轴伺服电机、机械臂齿条、十字滑座、机械臂、可旋转夹持装置，其中，所述立柱上水平固定有所述桁架，所述桁架上侧固定有所述桁架齿条，前侧安装有所述十字滑座，所述十字滑座后侧安装有X轴伺服电机，前侧沿Z轴设置有所述机械臂，左侧安装有所述蜗轮蜗杆传动装置，所述蜗轮蜗杆传动装置上方输入端与所述Z轴伺服电机输出端相连；X轴伺服电机的输出端通过齿轮与桁架齿条啮合传动，驱动所述十字滑座沿X轴来回移动，用于工位间物料的搬运；所述Z轴伺服电机通过所述蜗轮蜗杆传动装置输出端齿轮与所述机械臂齿条啮合传动，驱动所述机械臂沿Z轴上下移动，用于工位上物料的取放；所述桁架两端设置有所述限位螺钉，用于限制所述十字滑座来回移动的距离和缓冲停止十字滑座的运动；所述机械臂下端固定有所述可旋转夹持装置，用于夹取工件。
进一步，作为优选，所述二工位机械臂下端固定有所述可翻转夹持装置，其余结构功能与所述一工位机械臂相同；所述三工位机械臂、四工位机械臂与所述一工位机械臂具有相同的结构和功能。
进一步，作为优选，所述可旋转夹持装置包括上端连接板、旋转气缸、中间连接板、平行气爪、夹板，其中，所述旋转气缸缸体通过所述上端连接板与机械臂连接，所述旋转气缸缸轴通过所述中间连接板与所述平行气爪连接，所述平行气爪两侧爪片下方各固定有一个所述夹板，用于夹持和按压工件；所述旋转气缸缸轴旋转，带动下方所述平行气爪旋转，进而实现被夹持工件的旋转换边。
进一步，作为优选，所述可翻转夹持装置包括上端连接板、旋转气缸、中间连接板、平行气爪、气缸固定板、翻转气缸、夹板、工业摄像头I，其中，所述平行气爪两侧爪片下方各固定有一个所述气缸固定板，所述气缸固定板外侧各固定有一个所述翻转气缸，所述翻转气缸缸轴穿过所述气缸固定板与所述夹板相连；两侧所述翻转气缸缸轴由同一气动源驱动旋转，带动两侧所述夹板同时旋转，进而实现被夹持工件的翻转换面；所述工业摄像头I通过两侧螺钉固定于所述平行气爪前侧，用于采集二工位工件表面质量图像，识别残次品；所述可翻转夹持装置的其余结构功能与所述可旋转夹持装置相同。
与现有技术相比，本发明的有益效果是：
(1)多台专用设备与单台通用设备结合，保证生产效率，实现生产线柔性，降低制造成本；充分考虑专用设备生产效率高、柔性较差的特点，将四种板材相同且余量大的工艺 放在专用加工设备上完成；考虑通用设备柔性好、生产效率相对较低的特点，将剩余不同且余量小的工艺放在通用加工设备完成，实现产能匹配，保证生产效率，实现四种不同板材加工流程的统一，进而初步实现生产线对四种板材的柔性化生产，且在保证生产线柔性的基础上尽可能使用专用加工设备，减少通用设备的数量，有效降低了制造成本；
(2)通过加工流程的合理安排，生产线各装置的合理组合，实现板类零件的自动化生产；每个工位均采用气爪夹板按压后夹紧，保证装夹稳定，一工位铣完工件上表面后，通过翻转装置对工件进行翻面，以已加工面为基准面完成剩余四道工序的加工，体现粗基准不重复，精基准统一的工艺原则，保证工件加工质量；
(3)合理分配工位，将余量较大的工艺分为铣上表面、下表面、左右两侧面、前后两侧面四道工序分配给四台专用设备完成，充分利用专用设备加工效率高的特点；将余量较小的铣槽、钻孔等剩余工艺分配给一台通用设备完成，有效避免了通用设备加工效率低的影响；通过上述五个工位的合理划分，实现了各工位加工时间的平衡匹配， 消除瓶颈工序， 提高生产效率；
(4)气爪前侧安装工业摄像头，可在机械臂下降抓取工件之前快速识别表面质量，通过系统控制机械臂将不合格工件丢入两工位之间的废料框中，实现生产线对加工过程中残次品的智能分拣，工业摄像头体积小，识别过程迅速，不会影响气爪的夹取动作及夹取时间；
(5)专用加工设备动力头滑台内部设置有液压驱动机构，可自动调节动力头加工位置，实现不同尺寸零件柔性加工，液压机构执行动作平稳，定位精度高，布置方便灵活，极大提升了专用加工设备的自动化柔性化水平，同时控制了制造成本；
(6)机械臂在设计时选用二轴桁架机械臂，动作简单连贯，移动速度快，定位精度高，且机械臂轴数少，充分利用其自由度，控制制造成本；机械臂下方布置有气动手抓，可在搬运工件的同时，对工件进行旋转和翻转，并在放置工件时自动对中定位，动作连贯，稳定可靠，极大的减少了辅助时间，提高生产效率；
(7)夹具采用单边气缸，另一边用挡块阻挡工件，减少气缸数量，降低制造成本；一、四工位专用加工设备上的夹具与工作台之间设置有气动滑轨，可使夹具在工作台上垂直导轨的两个位置间来回滑动，从而实现在不更换夹具的情况下，自动切换不同尺寸零件的加工位置，动作迅速，定位精度高，极大提升了专用加工设备的自动化柔性化水平；同时在一定程度上代替了桁架机械臂Y轴方向运动，减少了机械臂轴数，降低了制造成本；
(8)上料机构采用一个料盘自动上料，另一个料盘人工填料，双料盘来回切换的布局方式，相对于单料盘上料，极大的增加了上料的间隔时间，大幅降低工人劳动强度，节省工时，提升了安全性；两个料盘下方设置有丝杠传动机构，可在机械臂上料回程间隙自动完成空料盘和装好工件料盘的同步切换，并通过丝杠自锁完成料盘定位，整个动作快速平稳、不影响上料时间，且定位精度高；
(9)专用加工设备与通用加工设备之间设置有四轴两爪机器人，其上配置有两个气动手爪，可在通用加工设备上取走工件的同时立刻放置下一个工件，动作快速连贯，极大的降低了辅助时间，提高了生产效率；机器人选用四轴，充分利用其自由度，控制制造成本；
(10)废屑输送机构在设计时选用两个链板式排屑机，分别布置于床身和基座之间，并埋于地下，能够很好的对切屑进行收集，合理利用空间，与机床无干涉。
附图说明
图1是待加工的四种板类零件示意图，
图2是本发明多种板框类零件自动化高速化生产线横向布局图，
图3是本发明多种板框类零件自动化高速化生产线结构示意图，
图4是图3中自动上料装置6的结构示意图，
图5是图4中料盘切换装置6-1的结构示意图，
图6是图4中圆盘型储料装置6-2的结构示意图，
图7是图4中抬升装置6-3的结构示意图，
图8是图1中一工位大面专用铣床的结构示意图，
图9是图8中可换位柔性夹具1-3的结构示意图，
图10是图8中立式铣床1-4的结构示意图，
图11是图1中二工位侧面专用铣床2的结构示意图，
图12是图1中三工位侧面倒角铣床3的结构示意图，
图13是图1运料桁架机械臂装置7的总体布局图，
图14是图13中一工位机械臂7-1的结构示意图，
图15是图13中可旋转夹持装置7-6的结构示意图，
图16是图13中可翻转夹持装置7-7的结构示意图，
图17是图1中四轴两爪机器人8的结构示意图，
图18是图1中废屑输送机构11的结构示意图，
图中：1.一工位大面专用铣床；1-1.床身I；1-2.机床防护罩I；1-3.可换位柔性夹具；1-4.立式铣床；
1-3.可换位柔性夹具；1-3-1.气缸；1-3-2.压板；1-3-3.定位平面；1-3-4.挡块；1-3-5.夹具底座；1-3-6.气动滑轨；1-3-7.滑轨底座；
1-4.立式铣床；1-4-1.基座；1-4-2.滑台；1-4-3.电机；1-4-4.皮带；1-4-5.立式主轴；1-4-6.丝杠；
2.二工位侧面专用铣床；2-1.床身II；2-2.机床防护罩II；2-3.柔性夹具；2-4.卧式铣床；
3.三工位侧面倒角铣床；3-1.床身II；3-2.机床防护罩II；3-3.柔性夹具；3-4.卧式铣床；
4.四工位大面铣床；
5.五工位数控通用加工中心；
6.自动上料装置；6-1.料盘切换装置；6-2.圆盘型储料装置；6-3.抬升装置；
6-1.料盘切换装置；6-1-1.步进电机I；6-1-2.电机传动座；6-1-3.滑动底座；6-1-4.滚珠丝杠；6-1-5.滑块I；6-1-6.轴承座；6-1-7.丝杠螺母；6-1-8.直线导轨；6-1-9.外底座；
6-2.圆盘型储料装置；6-3.抬升装置；6-2-1.井式料框；6-2-2.旋转圆盘；6-2-3.法兰盘；6-2-4.电机固定底板；6-2-5.步进电机II；6-2-6.底座支架；6-2-7.底座连接板；
6-3.抬升装置；6-3-1.外部框架；6-3-2.导杆；6-3-3.滚珠丝杠；6-3-4.滑块II；6-3-5.底板；6-3-6.连接板；6-3-7.步进电机III；
7.桁架运输装置；7-1.一工位机械臂；7-2.二工位机械臂；7-3.三工位机械臂；7-4.四工位机械臂；7-5.桁架；7-6.可旋转夹持装置；7-7.可翻转夹持装置；7-8.立柱；
7-1.一工位机械臂；7-1-1.桁架齿条；7-1-2.限位螺钉；7-1-3.蜗轮蜗杆传动装置；7-1-4.Z轴伺服电机；7-1-5..机械臂齿条；7-1-6.十字滑座；7-1-7.机械臂；
7-6.可旋转夹持装置；7-6-1.上端连接板；7-6-2.旋转气缸；7-6-3.中间连接板；7-6-4.平行气爪；7-6-5.夹板；
7-7.可翻转夹持装置；7-7-1.上端连接板；7-7-2.旋转气缸；7-7-3.中间连接板；7-7-4.平行气爪；7-7-5.气缸固定板；7-7-6.翻转气缸；7-7-7.夹板；7-7-8.工业摄像头I；
8.四轴两爪机器人；8-1.可旋转夹持装置；8-2.工业摄像头II；8-3.连接板；8-4.四轴机器人；
9.废料框；
10.下料框；
11.废屑输送机构；11-1.右端链轮；11-2.电机；11-3.支架；11-4.滚轮；11-5.链条；11-6.左端链轮；11-7.刮板式输送带。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
参阅图1，本发明所设计的生产线目的是能够分别生产图1中四种板类零件
参阅图2和图3，本发明提供一种技术方案：一种通用与专用设备结合的智能化板类零件加工生产线，其包括一工位大面专用铣床1、二工位侧面专用铣床2、三工位侧面倒角铣床3、四工位大面专用铣床4、五工位数控通用加工中心5、自动上料装置6、桁架运输装置7、四轴两爪机械手8、废料框9、下料框10、废屑输送机构11及控制器，其特征在于，
生产线总体呈直线排布，自动上料装置6纵向布置于生产线起始端，其垂直前侧呈一字型依此横向布置有一工位大面专用铣床1、二工位侧面专用铣床2、三工位侧面倒角铣床3、四工位大面专用铣床4以及五工位数控通用加工中心5；一至四工位铣床后侧平行排布有桁架运输装置7，桁架运输装置7上依此设置有一工位机械臂7-1、二工位机械臂7-2、三工位机械臂7-3、四工位机械臂7-4；四工位大面专用铣床4与五工位数控通用加工中心5间设置有四轴两爪机械手8；一、二工位和四、五工位间设置有废料框9，用于残次品的存放；五工位数控通用加工中心5前侧设置有下料框10，用于成品的存放；废屑输送机构11设置于整条生产线下方且埋于地下，用于对一至五工位废屑的收集和运输。
一工位机械臂7-1、二工位机械臂7-2、三工位机械臂7-3、四工位机械臂7-4可水平和垂直移动，用于前四个工位间的物料搬运；四轴两爪机械手8可水平旋转和垂直升降，用于四五工位间物料的搬运以及五工位数控通用加工中心5上成品的下料。
参见图4，料盘切换装置6-1为一长条形结构，其上方在一直线上设置有两个圆盘型储料装置6-2，每个圆盘型储料装置6-2上方均匀布置有十个料框，每个料框内有一个抬升装置6-3；料盘切换装置6-1通过丝杠传动将上完料的圆盘型储料装置6-2运输至一侧，并 将填好料的另一个圆盘型储料装置6-2运输至一工位机械臂7-1下方，抬升装置6-3将料框内的工件依次抬升至指定高度，并由一工位机械臂7-1取走，待该料框内工件全部取完后料盘切换装置6-1旋转一定角度切换下一料框；圆盘型储料装置6-2上十个料框全部清空后，料盘切换装置6-1将清空后的圆盘型储料装置6-2移动至一边，由工人填充工件，并将另一个装满工件的圆盘型储料装置6-2移至一工位机械臂7-1，继续进行上料，如此循环，实现自动连续上料。
参见图5，外底座6-1-9左端固定有步进电机I6-1-1，右端固定有轴承座6-1-6，中间连接有滚珠丝杠6-1-4，两侧平行布置有两根直线导轨6-1-8，其上方布置有两个相同的滑动底座6-1-3用于承载圆盘型储料装置6-2；滑动底座6-1-3下方固定有四个滑块I6-1-5和一个丝杠螺母6-1-7，滑块I6-1-5可在直线导轨6-1-8上滑动，丝杠螺母6-1-7与滚珠丝杠6-1-4有螺纹配合，可在电机驱动下在滚珠丝杠6-1-4上来回移动，进而带动滑动底座6-1-3在外底座6-1-9上来回移动，实现料盘的切换。
参见图6，旋转圆盘6-2-2上开有多个孔槽，井式料框6-2-1由四根L型钢架组成，并通过孔槽固定于旋转圆盘6-2-2上，其中外部两根钢架可固定于不同孔槽内以调整井式料框6-2-1的大小，从而实现不同尺寸工件的存放；步进电机II6-2-5通过法兰盘6-2-3与旋转圆盘6-2-2相连，驱动旋转圆盘6-2-2间隔一定时间绕中心轴转动一定角度，实现固定于旋转圆盘6-2-2上方的井式料框6-2-1的切换；电机固定底板6-2-4将步进电机II6-2-5固定在底座支架6-2-6上，底座支架6-2-6通过底座连接板6-2-7固定在料盘切换装置6-1上。
参见图7，步进电机III6-3-7通过连接板6-3-6固定于旋转圆盘6-2-2下侧，外部框架6-3-1固定于旋转圆盘6-2-2上侧，外部框架6-3-1内设置有两根导杆6-3-2，滑块III6-3-4可在导杆6-3-2上滑动，步进电机III6-3-7通过滚珠丝杠6-3-3与滑块III6-3-4的螺纹配合，驱动滑块6-3-4前端的底板6-3-5上下移动，实现工件的抬升下降。
参见图8，床身I1-1上方设置有机床防护罩I1-2和可换位柔性夹具1-3，床身I1-1两侧各布置有一台相同的立式铣床1-4，两台立式铣床1-4错开一个工件的距离，用于上表面铣削时的接刀；床身I1-1内部设置有丝杠传动机构，用于驱动可换位柔性夹具1-3工进和快退；当工件较小时，可换位柔性夹具1-3通过其下方气缸滑轨将工件移至床身I1-1一侧，由单台立式铣床1-4完成工件上表面的铣削加工；当工件较大时，可换位柔性夹具1-3将工件移至床身I1-1中间，由两台立式铣床1-4先后接刀，完成工件上表面的铣削加工；机床防护罩I1-2呈人字形，用于将切屑引导至机床两侧排屑槽内。
参见图9，滑轨底座1-3-7上方固定有四个气动滑轨1-3-6，气动滑轨1-3-6上方固定有夹具底座1-3-5，底座1-3-5中间固定有定位平面1-3-3，用于放置工件，右侧固定有挡块1-3-4，左侧固定有两个气缸1-3-1，气缸1-3-1前端固定有压板1-3-2，用于夹紧工件；气动滑轨1-3-6可来回滑动，进而带动上方夹具底座1-3-5在滑轨底座1-3-7上来回移动，实现夹具加工位置的更换。
参见图10，基座1-4-1内部设置有由液压驱动的丝杠1-4-6，前侧设置有滑台1-4-2，滑台1-4-2前侧设置有立式主轴1-4-5，后侧设置有电机1-4-3；电机1-4-3通过皮带1-4-4驱动立式主轴1-4-5做回转运动，进而带动下方刀具做切削运动；滑台1-4-2通过与丝杠1-4-6的螺纹配合，可在基座1-4-1前侧滑轨上上下滑动，从而改变立式主轴1-4-5的加工高度，实现不同厚度零件的加工。
参见图11，床身II2-1上方设置有机床防护罩II2-2和柔性夹具2-3，床身II2-1两侧对称布置有两台相同的卧式铣床2-4，用于同时铣削工件两侧面；床身II2-1内部设置有丝杠传动机构，用于驱动柔性夹具2-3工进和快退；卧式铣床2-4可通过其内部液压滑轨调整两铣刀间距离，实现不同宽度零件的加工，机床防护罩II2-2呈人字形，用于将切屑引导至机床两侧排屑槽内。
参见图12，床身II3-1两侧对称布置有四台卧式铣床3-4，其中前两台卧式铣床3-4安装面铣刀，用于同时铣削工件两侧面，后两台卧式铣床3-4安装倒角铣刀，用于同时铣削工件两侧倒角，其余结构功能与二工位侧面专用铣床2相同。
参见图13，桁架7-5固定于四根立柱7-8上，桁架7-5前侧呈直线依此布置有一工位机械臂7-1、二工位机械臂7-2、三工位机械臂7-3、四工位机械臂7-4；各机械臂通过电机驱动可在桁架7-5上横向和纵向移动，实现前四个工位间工件的搬运；其中一、三、四工位机械臂下方固定有可旋转夹持装置7-6，可在搬运途中对工件进行90度旋转，实现工件换边；二工位机械臂7-2下方固定有可翻转夹持装置7-7，可在搬运途中对工件进行180度翻转，实现工件换面。
参见图14，立柱7-8上水平固定有桁架7-5，桁架7-5上侧固定有桁架齿条7-1-1，前侧安装有十字滑座7-1-6，十字滑座7-1-6后侧安装有X轴伺服电机，前侧沿Z轴设置有机械臂7-1-7，左侧安装有蜗轮蜗杆传动装置7-1-3，蜗轮蜗杆传动装置7-1-3上方输入端与Z轴伺服电机7-1-4输出端相连；X轴伺服电机的输出端通过齿轮与桁架齿条7-1-1啮合传动，驱动十字滑座7-1-6沿X轴来回移动，用于工位间物料的搬运；Z轴伺服电机7-1-4通过蜗轮蜗杆传动装置7-1-3输出端齿轮与机械臂齿条7-1-5啮合传动，驱动机械臂7-1-7沿Z轴上下移动，用于工位上物料的取放；桁架7-5两端设置有限位螺钉7-1-2，用于限制十字滑座7-1-6来回移动的距离和缓冲停止十字滑座7-1-6的运动；机械臂7-1-7下端固定有可旋转夹持装置7-6，用于夹取工件。
参见图15，旋转气缸7-6-2缸体通过上端连接板7-6-1与机械臂连接，旋转气缸7-6-2缸轴通过中间连接板7-6-3与平行气爪7-6-4连接，平行气爪7-6-4两侧爪片下方各固定有一个夹板7-6-5，用于夹持和按压工件；旋转气缸7-6-2缸轴旋转，带动下方平行气爪7-6-4旋转，进而实现被夹持工件的旋转换边。
参见图16，平行气爪7-7-4两侧爪片下方各固定有一个气缸固定板7-7-5，气缸固定板7-7-5外侧各固定有一个翻转气缸7-7-6，翻转气缸7-7-6缸轴穿过气缸固定板7-7-5与夹板7-7-7相连；两侧翻转气缸7-7-6缸轴由同一气动源驱动旋转，带动两侧夹板7-7-7同时旋转，进而实现被夹持工件的翻转换面；工业摄像头I7-7-8通过两侧螺钉固定于平行气爪7-7-4前侧，用于采集二工位工件表面质量图像，识别残次品；可翻转夹持装置7-7的其余结构功能与可旋转夹持装置7-6相同。
参见图17，四轴机器人8-4螺杆下端固定有连接板8-3，连接板8-3下端固定有两个夹持装置8-1，用于对工件的抓取、搬运和下料；夹持装置8-1前侧固定有工业摄像头II8-2，用于采集四工位工件表面质量图像，识别残次品。
所述废屑输送机构11包括右端链轮11-1、电机11-2、支架11-3、滚轮11-4、链条11-5、左端链轮11-6、刮板式输送带11-7，其中，所述支架11-3呈长条形布置于地下，右侧一段呈斜坡状伸出地面，右上端设置有所述右端链轮11-1，左端设置有所述左端链轮11-6，支架 11-3前后两侧、左右两端链轮之间环绕有两条所述链条11-5，两条所述链条11-5外侧呈环形包裹有一条所述刮板式输送带11-7，支架11-3斜坡转折处设置有所述滚轮11-4，用于限制所述链条11-5随支架11-4右侧一同斜升；固定于右端链轮11-1外侧的所述电机11-2通过链轮与链条的啮合传动，带动所述刮板式输送带11-7在左右两端之间循环转动，运输废屑；所述刮板式输送带11-7上方每间隔一段距离设置有一个刮板，保证爬坡时废屑不会下滑。
参见图1-18，本发明所述的一种通用与专用设备结合的智能化板类零件加工生产线工作时，具体按以下步骤完成板框类零件的加工：
第一步：上料装置6由两个圆盘储料装置6-2组成，每个圆盘储料装置6-2上方均匀布置有十个料框6-2-1，初始位置时，由人工码料的方式将板框类零件毛坯填满两个储料装置6-2上的十个料框，之后料盘切换装置6-1开始工作，料盘切换装置6-1内的步进电机I6-1-1驱动丝杠6-1-4正转，同时带动两个与丝杠6-1-4有螺纹配合的底座6-1-3沿导轨做直线运动，进而将其中一个底座6-1-3上方的储料装置6-2自动运输至一工位机械臂7-1正下方，同时将另一个储料装置6-2移至一侧。两个储料装置6-2到达指定位置后，丝杠6-1-4通过自锁，将储料装置6-2固定在指定位置上。
第二步：桁架机械臂7正下方的料框开始上料，其上的抬升装置6-3开始工作，步进电机III6-3-7驱动丝杠6-3-3正转，带动与丝杠有螺纹配合的滑块III6-3-4和固定在滑块前侧的底板6-3-5沿导杆6-3-2上升，进而将零件毛坯抬升出料框。待毛坯上升固定高度后，滚珠丝杠6-3-3通过自锁将毛坯固定在指定位置，等待一工位机械臂7-1抓取上料。待一工位机械臂7-1正下方的料框被取空后，步进电机III6-3-7反转，带动底板6-3-5沿导杆6-3-2下降，直至底部，同时储料装置6-2内的步进电机II6-2-5驱动旋转圆盘6-2-2旋转一定角度，换上下一料框继续上料。
第三步：待一工位机械臂7-1正下方的储料装置6-2被取空后，料盘切换装置6-1开始工作，电机6-1-1驱动丝杠6-1-4反转，同时带动两个滑动底座6-1-3由当前位置移回初始位置，进而将被取空后的储料装置6-2移动至一侧，由工人重新填充毛坯，并将另一侧装满工件的储料装置6-2运输至一工位机械臂7-1正下方，重复第二步的操作，继续进行上料。
第一步、第二步、第三步循环执行，从而实现自动连续上料。
第四步：工件抬升至指定位置后，一工位机械臂7-1开始工作，十字滑座7-1-6后侧X轴电机正转，通过电机输出端设置的齿轮与桁架齿条7-1-1啮合传动，驱动十字滑座7-1-6及一工位机械臂2-9沿X轴运动，向储料装置6-2靠近，直到触碰左侧限位螺钉7-1-2到达料框6-2-1正上方，X轴电机停转，十字滑座7-1-6前侧Y轴电机7-1-4开始正转，通过蜗轮蜗杆传动装置7-1-3与机械臂齿条7-1-5啮合传动，驱动一工位机械臂7-1-7沿Z轴向下移动，到达指定位置后，机械臂7-1-7下端固定的可旋转夹持装置7-6通过气缸收缩夹取工件，Y轴电机7-1-4开始反转，带动工件上升一定距离后，Y轴电机7-1-4停转，X轴电机开始反转，驱动十字滑座7-1-6和机械臂7-1-7沿X轴向靠近一工位大面铣床1的方向运动，直到触碰右侧限位螺钉7-1-2到达一工位可换位柔性夹具1-3正上方，X轴电机停转，Y轴电机7-1-4开始正转，驱动机械臂7-1-7沿Z轴向下移动，直至工件放置于夹具1-3上且被夹紧后，Y轴电机7-1-4再次反转，驱动机械臂7-1-7沿Z轴上升，进行下一工件的搬运工作，如此往复，直至工件全部搬运完。
第五步：夹持装置7-6将工件放置于一工位夹具1-3上后仍保持夹紧状态，且通过 夹板7-6-5压住工件，夹具1-3通过气缸1-3-1夹紧工件后，夹持装置7-6才完全松开，并随机械臂7-1-7上升离开工件，待工件被完全夹紧，夹具1-3下方的气动滑轨1-3-6开始工作，针对不同工件宽度尺寸，通过其内部气缸运动，将工件沿床身1-1垂直方向移动至对应铣刀下方，待工件移动至指定位置，一工位床身I1-1内部伺服电机开始正转，驱动夹具1-3和上方工件沿床身I1-1向前快进，接近立式主轴1-4时降速工进，同时三相异步电动机1-4-3通过带传动，驱动立式主轴1-4-5做回转运动，进而带动主轴1-4-5下端固定的铣刀做切削运动，从而对移动过来的工件上表面进行铣削，待夹具1-3和工件在伺服电机驱动下离开主轴1-4，并到达床身1-1终端时，铣削加工也已同步完成，伺服电机停转，气缸1-3-1松开，二工位机械臂7-2取走工件后，伺服电机高速反转，驱动夹具1-3快速回程，进行下一工件的装夹，如此往复，直至工件全部加工完毕。
第六步：工件在一工位加工完成后，悬停在上方的二工位机械臂7-2开始沿Z轴向下移动，固定在可翻转夹持装置7-7前侧的工业摄像头I7-7-8迅速对工件表面进行图像采集，通过识别系统判断表面质量是否合格，若不合格，系统将控制二工位机械臂7-2及可翻转夹持装置7-7将该工件丢入一、二工位之间的废料框9中，若质量合格，系统将采用与第四步相同的方式将工件从一工位大面专用铣床1搬运至二工位侧面专用铣床2上，同时，二工位机械臂7-2下端安装的可翻转夹持装置7-7开始工作，翻转气缸7-7-6利用压缩空气驱动输出轴及固定在输出轴上的夹板7-7-7进行180°旋转，进而带动被夹持工件翻转180°，从而保证在下一工位加工时，工件定位平面是已加工的光滑平面。
第七步：参照第五步，采用与一工位相同的工作方式，工件由二工位侧面专用铣床2上的夹具夹紧后，伺服电机驱动工件向前移动，并由两侧卧式铣床2-4同时完成工件两侧面铣削加工，加工完成后由三工位机械臂7-3将工件取走。
第八步：参照第四步，三工位机械臂7-3用与一工位机械臂7-1相同的工作方式将工件从二工位搬运至三工位上，同时，三工位机械臂7-3下端安装的可旋转夹持装置7-6开始工作，旋转气缸7-6-2利用压缩空气驱动输出轴及固定在输出轴下端的平行气爪7-6-4进行90°旋转，进而带动被夹持工件旋转90°，以便下一工位对工件另外两侧面进行加工。
第九步：参照第七步，采用与二工位相同的工作方式，工件由三工位侧面倒角铣床3上的夹具夹紧后，伺服电机驱动工件向前移动，由前两台卧式铣床3-4完成工件另外两侧面铣削加工，并由后两台卧式铣床3-4完成同侧倒角的铣削加工，加工完成后由四工位机械臂7-4将工件取走。
第十步：参照第四步，四工位机械臂7-4用与一工位机械臂7-1相同的工作方式将工件从三工位搬运至四工位上。
第十一步：参照第五步，采用与一工位相同的工作方式，四工位立式专用铣床3完成对工件翻转后的上表面铣削加工。
第十二步：工件在四工位加工完成后，四轴两爪机器人8开始工作，四轴两爪机器人8下端通过连接板8-3同时固定有两个夹持装置8-1，其中一个夹持装置8-1前侧的工业摄像头II8-2迅速对工件表面进行图像采集，通过识别系统判断表面质量是否合格，若不合格，系统将控制机器人8将该工件丢入四、五工位之间的废料框9中，若质量合格，系统将控制上述机构将工件搬运至五工位上的数控通用加工中心5前，此时，另一个夹持装置8-1将数控通用加工中心5上已完成所有工序加工的成品取走，之后再将四工位搬运来的工件放 置在数控通用加工中心5上，完成剩余工序的加工，同时另一个夹持装置8-1将从数控通用加工中心5取走的的成品搬运至下料框10内，完成下料后，夹持装置8-1回到四工位，等待抓取下一个工件，如此往复，完成搬运和下料的连续循环执行。
废屑输送机构11埋于地下，设置于整条生产线下方，一工位大面专用铣床开始工作时，废屑输送机构11就已开始工作，其终端设置的电机通过链轮链条传动，驱动刮板将掉入沟槽内的废屑运输至数控通用加工中心5后侧，并统一排放于废料箱内，从而完成整条生产线废屑的输送和收集。
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (10)

  1. 一种通用与专用设备结合的智能化板类零件加工生产线，其包括一工位大面专用铣床(1)、二工位侧面专用铣床(2)、三工位侧面倒角铣床(3)、四工位大面专用铣床(4)、五工位数控通用加工中心(5)、自动上料装置(6)、桁架运输装置(7)、四轴两爪机械手(8)、废料框(9)、下料框(10)、废屑输送机构(11)及控制器，其特征在于，
    所述生产线呈口字形排布，所述自动上料装置(6)包含2个上料主体，纵向排布安置于生产线起始端，所述废屑输送机构(11)的出屑口安置于生产线末端，起末两端之间的前侧呈一字型横向依次安置有所述一工位大面专用铣床(1)、二工位侧面专用铣床(2)、三工位侧面倒角铣床(3)、四工位大面专用铣床(4)以及五工位数控通用加工中心(5)；后侧相对于前侧平行排布有所述桁架运输装置(7)，所述桁架运输装置(7)上依次相对应设置有一工位机械臂(7-1)、二工位机械臂(7-2)、三工位机械臂(7-3)、四工位机械臂(7-4)；所述四工位大面专用铣床(4)与五工位数控通用加工中心(5)间设置有所述四轴两爪机械手(8)；一工位和二工位之间以及四工位和五工位之间分别设置有用于存放残次品的所述废料框(9)；所述五工位数控通用加工中心(5)前侧设置有用于存放成品的所述下料框(10)；所述生产线一至五工位机床前后两侧地面上平行设置有两道沟槽，所述沟槽中平行设置有两条用于运输废屑的所述废屑输送机构(11)，所述废屑输送机构(11)在生产线末端呈斜坡状伸出地面，将废屑送至地面上方，最终倒入废屑框内；
    所述自动上料装置(6)包括料盘切换装置(6-1)、圆盘型储料装置(6-2)、抬升装置(6-3)，其中，所述料盘切换装置(6-1)为一长条形结构，其上方并排设置有两个所述圆盘型储料装置(6-2)，每个所述圆盘型储料装置(6-2)上环形布置有十个料框，每个料框内设有一个所述抬升装置(6-3)；所述料盘切换装置(6-1)通过丝杠传动将上完料的圆盘型储料装置(6-2)运输至一侧，同时将填好料的另一个圆盘型储料装置(6-2)运输至所述一工位机械臂(7-1)下方，所述抬升装置(6-3)将料框内的工件依次抬升至指定高度，并由所述一工位机械臂(7-1)取走，待该料框内工件全部取完后所述料盘切换装置(6-1)旋转一定角度切换下一料框；待当前的圆盘型储料装置(6-2)上十个料框全部清空后，所述料盘切换装置(6-1)将清空后的圆盘型储料装置(6-2)移动至一侧，由工人填充工件，同时将另一个装满工件的圆盘型储料装置(6-2)移至所述一工位机械臂(7-1)下方继续进行上料，如此循环，实现自动连续上料；
    所述一工位大面专用铣床(1)包括床身I(1-1)、机床防护罩I(1-2)、可换位柔性夹具(1-3)、立式铣床(1-4)，其中，床身I(1-1)上方设置有所述机床防护罩I(1-2)和所述可换位柔性夹具(1-3)，床身I(1-1)两侧各布置有一台相同的所述立式铣床(1-4)，两台所述立式铣床(1-4)错开一个工件的距离安置，用于上表面铣削时的接刀；床身I(1-1)内部设置有丝杠传动机构，用于驱动所述可换位柔性夹具(1-3)工进和快退；当工件较小时，所述可换位柔性夹具(1-3)通过其下方气缸滑轨将工件移至床身I(1-1)一侧，由单台所述立式铣床(1-4)完成工件上表面的铣削加工；当工件较大时，所述可换位柔性夹具(1-3)将工件移至床身I(1-1)中间，由两台所述立式铣床(1-4)先后接刀，完成工件上表面的铣削加工；所述机床防护罩I(1-2)呈人字形，用于将切屑引导至机床两侧的排屑槽内；
    所述二工位侧面专用铣床(2)包括床身II(2-1)、机床防护罩II(2-2)、柔性夹具(2-3)、卧式铣床(2-4)，其中，所述床身II(2-1)上方设置有所述机床防护罩II(2-2)和所述柔性夹具(2-3)，所述床身II(2-1)两侧对称布置有两台相同的所述卧式铣床(2-4)，用于同时铣削 工件两侧面；所述床身II(2-1)内部设置有丝杠传动机构，用于驱动所述柔性夹具(2-3)工进和快退；所述卧式铣床(2-4)通过其内部液压滑轨调整两铣刀间距离，实现不同宽度零件的加工，所述机床防护罩II(2-2)呈人字形，用于将切屑引导至机床两侧排屑槽内；
    所述三工位侧面倒角铣床(3)包括床身II(3-1)、机床防护罩II(3-2)、柔性夹具(3-3)、卧式铣床(3-4)，其中，所述床身II(3-1)两侧对称布置有四台所述卧式铣床(3-4)，其中前侧两台所述卧式铣床(3-4)安装面铣刀，用于同时铣削工件两侧面，后侧两台所述卧式铣床(3-4)安装倒角铣刀，用于同时铣削工件两侧倒角，其余结构功能与所述二工位侧面专用铣床(2)相同；
    所述四工位大面专用铣床(4)与所述一工位大面专用铣床(1)具有相同的结构和功能，用于工件最后一个大面的加工；
    所述桁架运输装置(7)包括一工位机械臂(7-1)、二工位机械臂(7-2)、三工位机械臂(7-3)、四工位机械臂(7-4)、桁架(7-5)、可旋转夹持装置(7-6)、可翻转夹持装置(7-7)和立柱(7-8)，其中，所述桁架(7-5)固定于四根所述立柱(7-8)上，所述桁架(7-5)前侧呈一字型依次安置所述一工位机械臂(7-1)、二工位机械臂(7-2)、三工位机械臂(7-3)、四工位机械臂(7-4)；所述各机械臂通过电机驱动可在所述桁架(7-5)上沿水平和竖直方向移动，实现一至四四个工位间工件的搬运；其中所述一、三、四工位机械臂下方固定有所述可旋转夹持装置(7-6)，用于在搬运途中对工件进行90度旋转，实现工件换边；所述二工位机械臂(7-2)下方固定有所述可翻转夹持装置(7-7)，用于在搬运途中对工件进行180度翻转，实现工件换面；
    所述四轴两爪机器人(8)包括夹持装置(8-1)、工业摄像头II(8-2)、连接板(8-3)、四轴机器人(8-4)，其中，四轴机器人(8-4)螺杆下端固定有所述连接板(8-3)，所述连接板(8-3)下端固定有两个所述夹持装置(8-1)，用于对工件的抓取、搬运和下料；所述夹持装置(8-1)前侧固定有所述工业摄像头II(8-2)，用于采集四工位工件表面质量图像，识别残次品；
    所述废屑输送机构(11)包括右端链轮(11-1)、电机(11-2)、支架(11-3)、滚轮(11-4)、链条(11-5)、左端链轮(11-6)、刮板式输送带(11-7)，其中，所述支架(11-3)呈长条形布置于地下沟槽中，右侧一段呈斜坡状伸出地面，右上端设置有所述右端链轮(11-1)，左端设置有所述左端链轮(11-6)，支架(11-3)前后两侧、左右两端链轮之间环绕有两条所述链条(11-5)，两条所述链条(11-5)外侧呈环形包裹有一条所述刮板式输送带(11-7)，支架(11-3)斜坡转折处设置有所述滚轮(11-4)，用于限制所述链条(11-5)随支架(11-4)右侧一同斜升；固定于右端链轮(11-1)外侧的所述电机(11-2)通过链轮与链条的啮合传动，带动所述刮板式输送带(11-7)在左右两端之间循环转动，运输废屑；所述刮板式输送带(11-7)上方每间隔一段距离设置有一个刮板，保证爬坡时废屑不会下滑。
  2. 根据权利要求1所述的一种通用与专用设备结合的智能化板类零件加工生产线，其特征在于：所述料盘切换装置(6-1)包括步进电机I(6-1-1)、电机传动座(6-1-2)、滑动底座(6-1-3)、滚珠丝杠(6-1-4)、滑块I(6-1-5)、轴承座(6-1-6)、丝杠螺母(6-1-7)、直线导轨(6-1-8)、外底座(6-1-9)，其中，所述外底座(6-1-9)左端固定有所述电机传动座(6-1-2)和所述步进电机I(6-1-1)，右端固定有所述轴承座(6-1-6)，中间连接有所述滚珠丝杠(6-1-4)，两侧平行布置有两根所述直线导轨(6-1-8)，其上方布置有两个相同的所述滑动底座(6-1-3)用于承载所述圆盘型储料装置(6-2)；所述滑动底座(6-1-3)下方固定有四个所述 滑块I(6-1-5)和一个所述丝杠螺母(6-1-7)，所述滑块I(6-1-5)可在所述直线导轨(6-1-8)上滑动，所述丝杠螺母(6-1-7)与所述滚珠丝杠(6-1-4)有螺纹配合，可在电机驱动下在所述滚珠丝杠(6-1-4)上来回移动，进而带动所述滑动底座(6-1-3)在所述外底座(6-1-9)上来回移动，两个所述滑动底座(6-1-3)安装在同一丝杠上由同一电机驱动，实现空料盘和上料盘的同步切换。
  3. 根据权利要求1所述的一种通用与专用设备结合的智能化板类零件加工生产线，其特征在于：所述圆盘型储料装置(6-2)包括所述抬升装置(6-3)、井式料框(6-2-1)、旋转圆盘(6-2-2)、法兰盘(6-2-3)、电机固定底板(6-2-4)、步进电机II(6-2-5)、底座支架(6-2-6)，底座连接板(6-2-7)，其中，所述旋转圆盘(6-2-2)上沿圆周均等开有多个孔槽，所述井式料框(6-2-1)由四根L型钢架组成，并通过孔槽固定于所述旋转圆盘(6-2-2)上，其中外部两根钢架可固定于不同孔槽内以调整所述井式料框(6-2-1)的大小，从而实现不同尺寸工件的存放；所述步进电机II(6-2-5)通过所述法兰盘(6-2-3)与所述旋转圆盘(6-2-2)相连，驱动所述旋转圆盘(6-2-2)间隔一定时间绕中心轴转动一定角度，实现固定于旋转圆盘(6-2-2)上方的所述井式料框(6-2-1)的切换；所述电机固定底板(6-2-4)将步进电机II(6-2-5)固定在底座支架(6-2-6)上，底座支架(6-2-6)通过底座连接板(6-2-7)固定在料盘切换装置(6-1)上。
  4. 根据权利要求1所述的一种通用与专用设备结合的智能化板类零件加工生产线，其特征在于：所述抬升装置(6-3)包括外部框架(6-3-1)、导杆(6-3-2)、滚珠丝杠(6-3-3)、滑块III(6-3-4)、底板(6-3-5)、连接板(6-3-6)、步进电机III(6-3-7)，其中，所述步进电机III(6-3-7)通过所述连接板(6-3-6)固定于所述旋转圆盘(6-2-2)下侧，所述外部框架(6-3-1)固定于所述旋转圆盘(6-2-2)上侧，所述外部框架(6-3-1)内设置有两根导杆(6-3-2)，所述滑块III(6-3-4)可在导杆(6-3-2)上滑动，所述步进电机III(6-3-7)通过所述滚珠丝杠(6-3-3)与所述滑块III(6-3-4)的螺纹配合，驱动所述滑块III(6-3-4)前端的底板(6-3-5)上下移动，实现工件的抬升下降。
  5. 根据权利要求1所述的一种通用与专用设备结合的智能化板类零件加工生产线，其特征在于：所述可换位柔性夹具(1-3)包括气缸(1-3-1)、压板(1-3-2)、定位平面(1-3-3)、挡块(1-3-4)、夹具底座(1-3-5)、气动滑轨(1-3-6)、滑轨底座(1-3-7)，其中，所述滑轨底座(1-3-7)上方固定有四个所述气动滑轨(1-3-6)，所述气动滑轨(1-3-6)上方固定有所述夹具底座(1-3-5)，所述底座(1-3-5)中间固定有所述定位平面(1-3-3)，用于放置工件，右侧固定有所述挡块(1-3-4)，左侧固定有两个所述气缸(1-3-1)，所述气缸(1-3-1)前端固定有所述压板(1-3-2)，用于夹紧工件；所述气动滑轨(1-3-6)可来回滑动，进而带动上方所述夹具底座(1-3-5)在所述滑轨底座(1-3-7)上来回移动，实现夹具加工位置的更换。
  6. 根据权利要求1所述的一种通用与专用设备结合的智能化板类零件加工生产线，其特征在于：所述立式铣床(1-4)包括基座(1-4-1)、滑台(1-4-2)、电机(1-4-3)、皮带(1-4-4)、立式主轴(1-4-5)、丝杠(1-4-6)，其中，所述基座(1-4-1)内部设置有由液压驱动的所述丝杠(1-4-6)，前侧设置有所述滑台(1-4-2)，所述滑台(1-4-2)前侧设置有所述立式主轴(1-4-5)，后侧设置有所述电机(1-4-3)；所述电机(1-4-3)通过所述皮带(1-4-4)驱动所述立式主轴(1-4-5)做回转运动，进而带动下方刀具做切削运动；所述滑台(1-4-2)通过与所述丝杠(1-4-6)的螺纹配合，可在所述基座(1-4-1)前侧滑轨上上下滑动，从而改变所述立 式主轴(1-4-5)的加工高度，实现不同厚度零件的加工。
  7. 根据权利要求1所述的一种通用与专用设备结合的智能化板类零件加工生产线，其特征在于：所述一工位机械臂(7-1)包括立柱(7-8)、桁架(7-5)、桁架齿条(7-1-1)、限位螺钉(7-1-2)、蜗轮蜗杆传动装置(7-1-3)、Z轴伺服电机(7-1-4)、机械臂齿条(7-1-5)、十字滑座(7-1-6)、机械臂(7-1-7)、可旋转夹持装置(7-6)，其中，所述立柱(7-8)上水平固定有所述桁架(7-5)，所述桁架(7-5)上侧固定有所述桁架齿条(7-1-1)，前侧安装有所述十字滑座(7-1-6)，所述十字滑座(7-1-6)后侧安装有X轴伺服电机，前侧沿Z轴设置有所述机械臂(7-1-7)，左侧安装有所述蜗轮蜗杆传动装置(7-1-3)，所述蜗轮蜗杆传动装置(7-1-3)上方输入端与所述Z轴伺服电机(7-1-4)输出端相连；X轴伺服电机的输出端通过齿轮与桁架齿条(7-1-1)啮合传动，驱动所述十字滑座(7-1-6)沿X轴来回移动，用于工位间物料的搬运；所述Z轴伺服电机(7-1-4)通过所述蜗轮蜗杆传动装置(7-1-3)输出端齿轮与所述机械臂齿条(7-1-5)啮合传动，驱动所述机械臂(7-1-7)沿Z轴上下移动，用于工位上物料的取放；所述桁架(7-5)两端设置有所述限位螺钉(7-1-2)，用于限制所述十字滑座(7-1-6)来回移动的距离和缓冲停止十字滑座(7-1-6)的运动；所述机械臂(7-1-7)下端固定有所述可旋转夹持装置(7-6)，用于夹取工件。
  8. 根据权利要求1所述的一种通用与专用设备结合的智能化板类零件加工生产线，其特征在于：所述二工位机械臂(7-2)下端固定有所述可翻转夹持装置(7-7)，其余结构功能与所述一工位机械臂(7-1)相同；所述三工位机械臂(7-3)、四工位机械臂(7-4)与所述一工位机械臂(7-1)具有相同的结构和功能。
  9. 根据权利要求1所述的一种通用与专用设备结合的智能化板类零件加工生产线，其特征在于：所述可旋转夹持装置(7-6)包括上端连接板(7-6-1)、旋转气缸(7-6-2)、中间连接板(7-6-3)、平行气爪(7-6-4)、夹板(7-6-5)，其中，所述旋转气缸(7-6-2)缸体通过所述上端连接板(7-6-1)与机械臂连接，所述旋转气缸(7-6-2)缸轴通过所述中间连接板(7-6-3)与所述平行气爪(7-6-4)连接，所述平行气爪(7-6-4)两侧爪片下方各固定有一个所述夹板(7-6-5)，用于夹持和按压工件；所述旋转气缸(7-6-2)缸轴旋转，带动下方所述平行气爪(7-6-4)旋转，进而实现被夹持工件的旋转换边。
  10. 根据权利要求1所述的一种通用与专用设备结合的智能化板类零件加工生产线，其特征在于：所述可翻转夹持装置(7-7)包括上端连接板(7-7-1)、旋转气缸(7-7-2)、中间连接板(7-7-3)、平行气爪(7-7-4)、气缸固定板(7-7-5)、翻转气缸(7-7-6)、夹板(7-7-7)、工业摄像头I(7-7-8)，其中，所述平行气爪(7-7-4)两侧爪片下方各固定有一个所述气缸固定板(7-7-5)，所述气缸固定板(7-7-5)外侧各固定有一个所述翻转气缸(7-7-6)，所述翻转气缸(7-7-6)缸轴穿过所述气缸固定板(7-7-5)与所述夹板(7-7-7)相连；两侧所述翻转气缸(7-7-6)缸轴由同一气动源驱动旋转，带动两侧所述夹板(7-7-7)同时旋转，进而实现被夹持工件的翻转换面；所述工业摄像头I(7-7-8)通过两侧螺钉固定于所述平行气爪(7-7-4)前侧，用于采集二工位工件表面质量图像，识别残次品；所述可翻转夹持装置(7-7)的其余结构功能与所述可旋转夹持装置(7-6)相同。
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