WO2023221760A1 - 自动翻料数控车床关节机器人 - Google Patents

自动翻料数控车床关节机器人 Download PDF

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Publication number
WO2023221760A1
WO2023221760A1 PCT/CN2023/091143 CN2023091143W WO2023221760A1 WO 2023221760 A1 WO2023221760 A1 WO 2023221760A1 CN 2023091143 W CN2023091143 W CN 2023091143W WO 2023221760 A1 WO2023221760 A1 WO 2023221760A1
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WO
WIPO (PCT)
Prior art keywords
material pallet
joint robot
pallet
rotating mechanism
cnc lathe
Prior art date
Application number
PCT/CN2023/091143
Other languages
English (en)
French (fr)
Inventor
刘学洪
Original Assignee
深圳市富士杰智能技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 深圳市富士杰智能技术有限公司 filed Critical 深圳市富士杰智能技术有限公司
Publication of WO2023221760A1 publication Critical patent/WO2023221760A1/zh

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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
    • B23Q2707/00—Automatic supply or removal of metal workpieces
    • B23Q2707/003—Automatic supply or removal of metal workpieces in a lathe

Definitions

  • the invention relates to the field of mechanical processing, and more specifically to an automatic turning CNC lathe joint robot.
  • the CNC lathe joint robot is composed of a joint robot, a claw grabbing mechanism on the robot, and a material preparation rack outside the CNC lathe.
  • the working method is: grabbing the workpiece to be processed to the CNC through the claw grabbing mechanism on the joint robot.
  • the workpiece clamping point of the lathe's chuck or other clamping mechanism
  • take out the processed product there is no processed product for the first time
  • place and clamp the product to be processed and the articulated robot leaves the CNC lathe.
  • the workpiece is placed back on the workpiece pallet and the above cycle is repeated.
  • the purpose of the present invention is to provide an automatic turn-over CNC lathe joint robot.
  • This solution can complete the workpiece through a modified joint robot clamping claw grabbing mechanism and an automatic processing surface turning mechanism added to the material preparation rack.
  • the automatic loading and unloading and automatic turning of the processing surface during the process conversion process supplemented by the automatic cooperation of the clamping claw grabbing mechanism, there is no need to manually turn the workpiece, greatly achieving the effect of saving people and labor; it can complete the production of finished products of multi-process products in a single machine , reduce the flow of processing technology, reduce workpiece stacking space and retention problems, and no longer have the trouble of uneven machine ratio; let the machine work around the clock Operation is no longer difficult and expensive, and the production capacity of the machine can be fully exploited; the processing industry no longer has to worry about personnel being difficult to manage, and the processing industry no longer has to worry about uncontrollable costs.
  • the present invention adopts the following technical solutions.
  • the automatic turning CNC lathe joint robot includes a material preparation rack.
  • the upper end of the material preparation rack is equipped with a telescopic mechanism.
  • the outer end of the telescopic mechanism is installed with a rotating mechanism.
  • the outside of the rotating mechanism is equipped with a claw grabbing mechanism.
  • a clamping claw is installed on the outside of the claw grabbing mechanism.
  • Material tray one, material tray two and material tray three are respectively installed on the upper end of the material preparation rack.
  • a teaching pendant is installed on the outer end of the material preparation rack.
  • a telescopic mechanism power mechanism is installed on the outer end of the telescopic mechanism.
  • the telescopic mechanism matches the telescopic mechanism power mechanism. Through the setting of the telescopic mechanism power mechanism, power is provided for the operation of the telescopic mechanism, which facilitates its drive clamp. Claw and rotating mechanism for position adjustment.
  • a rotating mechanism power mechanism is installed on the outer end of the rotating mechanism.
  • the rotating mechanism matches the rotating mechanism power mechanism.
  • a plurality of evenly distributed placement slots are dug into the upper end of the material tray one, and materials are arranged inside the plurality of placement slots.
  • the materials are distributed in a rectangular array on the material tray one. Through the placement slots, Set up to achieve orderly placement of materials to facilitate subsequent pick-and-place.
  • the inner wall of the clamping jaw is drilled with two symmetrical arc-shaped grooves, and the arc-shaped grooves are in line with the The materials are matched, and the material tray three is located on the lower side of the clamping claw, and the clamping claw cooperates with the arc-shaped groove to facilitate the grabbing and placing of materials.
  • the material pallet two and the material pallet three correspond to each other.
  • the upper ends of the material pallet two and the material pallet three are both drilled with storage slots.
  • the storage slots match the materials. By providing the storage slots, the storage of the materials is realized. Storage, convenient clamping jaw to grab and place materials.
  • the outer end of the material tray 1 is set in a rectangular shape, and the four corners of the material tray 1 are all arc-shaped.
  • the outer ends of the material pallet two and the material pallet three are both cylindrical, and the material pallet three is higher than the material pallet two.
  • the surface of the teaching pendant is provided with a self-cleaning layer, and the surface of the self-cleaning layer is provided with an AS oleophobic and hydrophobic coating.
  • the teaching pendant is made The display area is not easy to collect dust, keeping its surface clean and convenient for its use.
  • This solution can complete the automatic loading and unloading of workpieces and the automatic flipping of the processing surface during process conversion through the modified joint robot clamping claw grabbing mechanism and the automatic turning mechanism of the processing surface added to the material preparation rack; supplemented by the claw grasping
  • the automatic cooperation of the picking mechanism eliminates the need to manually turn the workpiece, which greatly saves people and effort; it can complete the production of finished products with multi-process products in a single machine, reducing the flow of processing technology, reducing the workpiece stacking space and retention problems, and eliminating the need for machine-to-machine ratios.
  • the telescopic mechanism power mechanism is installed at the outer end of the telescopic mechanism.
  • the telescopic mechanism matches the telescopic mechanism power mechanism. Through the setting of the telescopic mechanism power mechanism, it is possible to provide sufficient power for the operation of the telescopic mechanism. Power makes it easy to drive the clamping jaw and the rotating mechanism for position adjustment.
  • a rotating mechanism power mechanism is installed on the outer end of the rotating mechanism.
  • the rotating mechanism matches the rotating mechanism power mechanism. By setting up the rotating mechanism power mechanism, it is possible to provide power when the rotating mechanism drives the clamping jaw to flip 180°.
  • the upper end of the material tray 1 is drilled with multiple evenly distributed placement slots. Materials are arranged inside the multiple placement slots. The materials are distributed in a rectangular array on the material tray 1. Through the setting of the placement slots, the materials can be processed Place them in an orderly manner for easy subsequent access.
  • the arc-shaped groove matches the material.
  • the material tray 3 is located on the lower side of the clamping jaw.
  • the clamping jaw matches the arc-shaped groove to facilitate its grabbing and placement. materials.
  • Material pallet two and material pallet three correspond to each other.
  • the upper ends of material pallet two and material pallet three are both dug with storage slots.
  • the storage slots match the materials.
  • the storage slots are provided to realize the storage of materials and facilitate the clamping jaws. It is convenient for them to grab and place materials.
  • the outer end of the material pallet 1 is set in a rectangular shape, and the four corners of the material pallet 1 are all arc-shaped. By setting the outer end of the material pallet 1 in a rectangular shape, it is convenient to place multiple materials and facilitate subsequent use.
  • material pallet two and material pallet three are both cylindrical. Material pallet three is higher than material pallet two. By setting up cylindrical material pallet two and material pallet three, the occupied area is reduced and the clamping jaws are convenient. Grab and place materials.
  • the surface of the teach pendant is provided with a self-cleaning layer, and the surface of the self-cleaning layer is provided with an AS oleophobic and hydrophobic coating.
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • Figure 2 is a schematic diagram of the overall structure of the present invention
  • Figure 3 is a schematic top view of the structure of the present invention.
  • Figure 4 is an exploded view of the automatic turning mechanism of the processing surface in the present invention.
  • Figure 5 is a partial three-dimensional structural diagram of the automatic turning mechanism of the processing surface in the present invention.
  • Figure 6 is a top structural schematic diagram of the automatic turning mechanism of the processing surface in the present invention.
  • Figure 7 is a schematic three-dimensional structural diagram of the teaching pendant in the present invention.
  • Figure 8 is a schematic three-dimensional structural diagram of the claw grabbing mechanism of the present invention.
  • the automatic turning CNC lathe joint robot includes a material preparation rack 1.1.
  • a telescopic mechanism 1.3 is installed on the upper end of the material preparation rack 1.1.
  • a rotating mechanism 1.6 is installed on the outer end of the telescopic mechanism 1.3.
  • the clamping claw grabbing mechanism is equipped with clamping claws 1.7 on the outside of the clamping claw grabbing mechanism.
  • Material pallet one 1.9, material pallet two 1.2 and material pallet three 1.8 are respectively installed on the upper end of the material preparation rack 1.1.
  • a telescopic mechanism power mechanism 1.4 is installed at the outer end of the telescopic mechanism 1.3.
  • the telescopic mechanism 1.3 matches the telescopic mechanism power mechanism 1.4.
  • the rotating mechanism power mechanism 1.5 is installed on the outer end of the rotating mechanism 1.6.
  • the rotating mechanism 1.6 matches the rotating mechanism power mechanism 1.5.
  • the upper end of the material pallet 1.9 is drilled with a plurality of evenly distributed placement slots.
  • the materials 1.10 are arranged inside the plurality of placement slots.
  • the materials 1.10 are distributed in a rectangular array on the material pallet 1.9.
  • the setting of the slots enables the orderly placement of the materials 1.10 to facilitate subsequent picking and placing.
  • the arc-shaped slots match the materials 1.10.
  • the material tray 3 1.8 is located The lower side of the clamping jaw 1.7 cooperates with the arc-shaped groove to facilitate the grasping and placing of the material 1.10.
  • Material pallet two 1.2 and material pallet three 1.8 correspond to each other.
  • the upper ends of material pallet two 1.2 and material pallet three 1.8 are both drilled with storage slots.
  • the storage slots match the material 1.10.
  • the outer end of the material pallet 1.9 is set in a rectangular shape, and the four corners of the material pallet 1.9 are all arc-shaped.
  • the outer ends of material pallet 2 1.2 and material pallet 3 1.8 are both cylindrical.
  • Material pallet 3 1.8 is higher than material pallet 2 1.2. By setting the cylindrical shape The material pallet 2 1.2 and material pallet 3 1.8 reduce the occupied area and at the same time facilitate the clamping jaw 1.7 to grab and place the material 1.10.
  • the surface of the teach pendant 1.11 is provided with a self-cleaning layer, and the surface of the self-cleaning layer is provided with an AS oleophobic and hydrophobic coating.
  • the teach pendant 1.11 The display area is not easy to collect dust, keeping its surface clean and convenient for its use.
  • the joint robot grabs the unprocessed workpiece A from the material pallet 1.9 and sends it to the chuck of the CNC lathe.
  • the joint robot takes away the processed workpiece (there is no processed workpiece for the first time) and places the unprocessed workpiece A on the chuck. On the plate, the chuck is automatically clamped;
  • the joint robot leaves the CNC lathe and moves to the vicinity of material pallet 2 1.2;
  • the articulated robot places the processed workpiece on the material pallet 2 1.2 (there is no processed workpiece for the first time);
  • the processed workpiece A1 is placed on the material pallet 3 1.8 through the automatic turning mechanism of the processing surface (there is no processed workpiece for the first time), and reaches the requirement of turning the processing surface 180° (there is no processed workpiece for the first time);
  • the joint robot grabs the turned workpiece A1 from material pallet three 1.8 and sends it to material pallet one 1.9 for placement (there is no processed workpiece for the first time);
  • the joint robot grabs the unprocessed workpiece B from the material pallet 1.9, moves it to the outside of the CNC lathe and waits;
  • the articulated robot moves to the chuck clamping position of the CNC lathe, takes away the processed workpiece A1, and places the unprocessed workpiece B on the chuck, and the chuck is automatically clamped;
  • the joint robot leaves the CNC lathe and moves to the vicinity of material pallet 2 1.2;
  • the articulated robot places the processed workpiece A1 on the material pallet 2 1.2;
  • the processed workpiece A1 is placed on the material pallet 3 1.8 through the automatic turning mechanism of the processing surface, meeting the requirement of turning the processing surface 180°;
  • the articulated robot grabs the turned workpiece A1 from material pallet three and sends it to material pallet one 1.9 for placement;
  • the first automatic turning mechanism for the processing surface has the following transmission relationship:
  • the articulated robot and the stock preparation rack are installed on the first fixed bracket.
  • the articulated robot moves according to the programmed trajectory.
  • the first rotating mechanism is installed on the mounting flange of the articulated robot and follows the movement of the articulated robot.
  • the first rotating mechanism can perform 180 degrees. ° rotation, the position conversion of the three clamping jaws installed on the mechanism can be realized;
  • the first telescopic mechanism is installed on the first rotating mechanism and can drive the third clamping claw to achieve position telescopicity;
  • the clamping jaw can grab and place the workpiece for processing; material pallet one, material pallet two, material pallet three and the second telescopic mechanism are installed on the second fixed bracket.
  • the second telescopic mechanism can drive the second rotating mechanism and the fourth on the mechanism.
  • the clamping jaw realizes position adjustment; the second rotating mechanism is installed on the second telescopic mechanism and can rotate 180°, and can drive the fourth clamping jaw on the mechanism to flip 180°; the fourth clamping jaw is installed on the second rotating mechanism , can grab and place processing workpieces.
  • the joint robot grabs the unprocessed workpiece A from the material pallet and sends it to the chuck of the CNC lathe.
  • the joint robot takes away the processed workpiece (there is no processed workpiece for the first time) and places the unprocessed workpiece A on the chuck. , the chuck is automatically clamped;
  • the articulated robot places the processed workpieces on material pallet 2 (there is no processed workpiece for the first time);
  • the processed workpiece A1 is placed on material pallet 3 through the automatic turning mechanism of the processing surface (no processed workpiece for the first time), and meets the requirement of turning the processing surface 180° (no processed workpiece for the first time);
  • the joint robot grabs the turned workpiece A1 from material pallet 3 and sends it to material pallet 1 for placement (there is no processed workpiece for the first time);
  • the joint robot grabs the unprocessed workpiece B from the material pallet 1, moves it to the outside of the CNC lathe and waits;
  • the articulated robot moves to the chuck clamping position of the CNC lathe, takes away the processed workpiece A1, and places the unprocessed workpiece B on the chuck, and the chuck is automatically clamped;
  • the articulated robot places the processed workpiece A1 on the material pallet 2;
  • the processed workpiece A1 is placed on the material pallet 3 through the automatic turning mechanism of the processing surface, meeting the requirement of turning the processing surface 180°;
  • the articulated robot grabs the turned workpiece A1 from material pallet three and sends it to material pallet one for placement;
  • the second multi-processing surface automatic turning and positioning surface rotation mechanism is shown in Figure 10, Figure 11, and Figure 12.
  • the multi-processing surface automatic turning CNC equipment joint robot transmission relationship is as follows:
  • the articulated robot moves according to the programmed trajectory
  • the first rotating mechanism is installed on the flange end of the articulated robot and follows the movement of the articulated robot; the first rotating mechanism can rotate 180° to convert the four clamping jaws on the mechanism;
  • the first and second telescopic mechanisms drive the first and second clamping jaws
  • the first, second, third, fourth, fifth and sixth clamping jaw mechanisms can grasp and place the workpiece for processing
  • Material pallets one, two, three, four, five, six and seven are used to place processing workpieces;
  • the third, fourth, fifth, sixth, seventh, eighth, ninth and tenth telescopic mechanisms are installed on the second fixed bracket;
  • the third telescopic mechanism is equipped with a second rotating mechanism, and the third telescopic mechanism can drive the second rotating mechanism to perform telescopic movement in the X-axis direction;
  • the second rotating mechanism is equipped with a fifth clamp, and the second rotating mechanism can drive the fifth clamp.
  • the claw rotates around the X-axis and flips the workpiece processing surface;
  • the fifth clamping claw can grab and place the workpiece;
  • the fourth telescopic mechanism is equipped with a third rotating mechanism, and the fourth telescopic mechanism can drive the third rotating mechanism to perform telescopic movement in the Z-axis direction;
  • the third rotating mechanism is equipped with two material pallets, and the third rotating mechanism is equipped with two material pallets that can be driven. It performs rotational movement around the Z-axis and rotates the positioning surface; the second material tray can place workpieces;
  • the fifth telescopic mechanism is equipped with a fourth rotating mechanism, and the fifth telescopic mechanism can drive the fourth rotating mechanism to perform telescopic movement in the Z-axis direction;
  • the fourth rotating mechanism is equipped with material pallet three, and the fourth rotating mechanism is equipped with a driving material pallet three. It performs rotational movement around the Z-axis and rotates the positioning surface; the material pallet three can place workpieces;
  • the sixth telescopic mechanism is equipped with a fifth rotating mechanism, and the sixth telescopic mechanism can drive the fifth rotating mechanism to perform telescopic movement in the Z-axis direction;
  • the fifth rotating mechanism is equipped with a material pallet 4, and the fifth rotating mechanism can drive the material pallet 4 to rotate around.
  • the Z-axis performs rotational movement and rotates the positioning surface; the four material trays can place workpieces;
  • the seventh telescopic mechanism is equipped with a sixth rotating mechanism, and the seventh telescopic mechanism can drive the sixth rotating mechanism to perform telescopic movement in the Y-axis direction;
  • the sixth rotating mechanism is equipped with a sixth clamping claw, and the sixth rotating mechanism can drive the sixth clamp.
  • the claw rotates around the Y-axis to flip the workpiece processing surface;
  • the sixth clamping claw can grab and place the workpiece;
  • the eighth telescopic mechanism is equipped with a seventh rotating mechanism, and the eighth telescopic mechanism can drive the seventh rotating mechanism to perform telescopic movement in the Z-axis direction; the seventh rotating mechanism is equipped with a material pallet 5, and the seventh rotating mechanism can drive the material pallet 5 to rotate around.
  • the Z-axis performs rotational movement and rotates the positioning surface; the material pallet five can place workpieces.
  • the ninth telescopic mechanism is equipped with an eighth rotating mechanism, and the ninth telescopic mechanism can drive the eighth rotating mechanism to perform telescopic movement in the Z-axis direction;
  • the eighth rotating mechanism is equipped with six material pallets, and the seventh rotating mechanism can drive six material pallets to rotate around.
  • the Z-axis performs rotational movement and rotates the positioning surface; the six material pallets can place workpieces;
  • the tenth telescopic mechanism is equipped with a ninth rotating mechanism, and the tenth telescopic mechanism can drive the ninth rotating mechanism to perform telescopic movement in the Z-axis direction;
  • the ninth rotating mechanism is equipped with a material pallet seven, and the ninth rotating mechanism can drive the material pallet seven to rotate around.
  • the Z-axis performs rotational movement and rotates the positioning surface; the material pallet seven can place workpieces;
  • the second type of multi-processing surface automatic flipping and positioning surface rotating mechanism automatically turns over CNC equipment.
  • the process route of the joint robot for loading and unloading CNC equipment is:
  • the joint robot grabs the unprocessed workpiece A through the claw grabbing mechanism and sends it to the CNC machining center near the work vise, takes away the processed workpiece (there is no processed workpiece for the first time), and places the unprocessed workpiece A in the vise. Up, the vise clamps automatically;
  • the articulated robot places the processed workpiece (there is no processed workpiece for the first time) on material pallet two (or material pallet five);
  • the processed workpiece is placed on material pallet three (or material pallet four, material pallet six, material pallet seven) by the multi-processing surface automatic turning mechanism to meet the requirements of turning the processing surface 90°, 180° or no turning, and rotates through the positioning surface
  • the mechanism meets the requirements of the rotation positioning surface (no processed workpiece for the first time);
  • the joint robot grabs the processed workpiece from material pallet two (or material pallet three, material pallet four, material pallet five, material pallet six, material pallet seven) through the claw grabbing mechanism (there is no processed workpiece for the first time) , move and place on material pallet one;
  • the joint robot grabs the second unprocessed workpiece B from the material pallet through the claw grabbing mechanism, and moves it to the outside of the CNC machining center to wait;
  • the articulated robot moves to the vicinity of the work vise of the CNC machining center, takes away the processed workpiece A1 through the clamping claw grabbing mechanism, and places the unprocessed workpiece B on the vise, and the vise automatically clamps;
  • the articulated robot places the processed workpiece A1 on material pallet two (or material pallet five);
  • the processed workpiece is placed on material pallet three (or material pallet four, material pallet six, material pallet seven) by the multi-processing surface automatic turning mechanism to meet the requirements of turning the processing surface 90°, 180° or no turning, through the positioning surface rotation mechanism Meet the requirements for rotating the positioning surface (the material processing surface has been turned over and the positioning surface has been rotated);
  • the articulated robot grabs the processed workpiece A1 (the material processing surface has been turned over and the positioning surface has been rotated) through the claw grabbing mechanism, moves it and places it on the material pallet 1;

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Feeding Of Workpieces (AREA)

Abstract

本发明公开了自动翻料数控车床关节机器人，属于机械加工领域，本方案通过改制的关节机器人夹爪抓取机构和备料架上增设的加工面自动翻转机构，可完成工件的自动上下料和工序转换过程中的加工面自动翻转；辅以夹爪抓取机构的自动配合无需要人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。

Description

自动翻料数控车床关节机器人 技术领域
本发明涉及机械加工领域，更具体地说，涉及自动翻料数控车床关节机器人。
背景技术
数控车床关节机器人是由一台关节机器人、机器人上的夹爪抓取机构以及数控车床外部的备料架组成，工作方法是：通过关节机器人上的夹爪抓取机构将待加工工件抓取至数控车床的卡盘(或者其他夹紧机构)处的工件装夹点位置，取走已加工产品(第一次没有已加工产品)，放置并装夹好待加工产品，关节机器人离开数控车床，将工件放置回工件托盘上，重复以上循环。
传统的数控车床上下料关节机器人，一次只能完成一个加工面的装夹，无法单机完成多工序工件的成品制作；或者需人工完成工件的翻面，才能实现多道加工工序的工件在单机上的制作,人工成本高，生产效率低，机台没法充分利用；或者使用工件物流配送系统，又复杂庞大，占用面积太大往往难以实现，成本也高；或者使用多台数控车床、上下料关节机器人配合，这样，又成本高昂，机台配比不均，造成机台闲置，工件的流转也慢了许多。
发明内容
1.要解决的技术问题
针对现有技术中存在的问题，本发明的目的在于提供自动翻料数控车床关节机器人，本方案通过改制的关节机器人夹爪抓取机构和备料架上增设的加工面自动翻转机构，可完成工件的自动上下料和工序转换过程中的加工面自动翻转；辅以夹爪抓取机构的自动配合无需要人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候 运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
2.技术方案
为解决上述问题，本发明采用如下的技术方案。
自动翻料数控车床关节机器人，包括备料架，所述备料架的上端安装有伸缩机构，所述伸缩机构的外端安装有旋转机构，所述旋转机构的外侧设有夹爪抓取机构，所述夹爪抓取机构的外侧装设有夹爪，所述备料架的上端分别安装有物料托盘一、物料托盘二和物料托盘三，所述备料架的外端安装有示教器，本方案通过改制的关节机器人夹爪抓取机构和备料架上增设的加工面自动翻转机构，可完成工件的自动上下料和工序转换过程中的加工面自动翻转；辅以夹爪抓取机构的自动配合无需要人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
进一步的，所述伸缩机构的外端安装有伸缩机构动力机构，所述伸缩机构与伸缩机构动力机构相匹配，通过伸缩机构动力机构的设置，实现为伸缩机构的运行提供动力，方便其驱动夹爪和旋转机构进行位置调整。
进一步的，所述旋转机构的外端安装有旋转机构动力机构，所述旋转机构与旋转机构动力机构相匹配，通过设置旋转机构动力机构，实现在旋转机构驱动夹爪进行180°翻转时，提供动力。
进一步的，所述物料托盘一的上端开凿有多个均匀分布的放置槽，多个所述放置槽的内部均设有物料，所述物料在物料托盘一上呈矩形阵列分布，通过放置槽的设置，实现对物料进行有序摆放，便于后续的取放。
进一步的，所述夹爪的内壁开凿有两个相对称的弧形槽，所述弧形槽与 物料相匹配，所述物料托盘三位于夹爪的下侧，通过夹爪配合弧形槽，便于其抓取、放置物料。
进一步的，所述物料托盘二和物料托盘三相对应，所述物料托盘二和物料托盘三的上端均开凿有存放槽，所述存放槽与物料相匹配，通过设置有存放槽，实现物料的存放，方便夹爪，便于其抓取、放置物料。
进一步的，所述物料托盘一的外端为矩形设置，所述物料托盘一的四角均为弧形设置，通过将物料托盘一的外端设为矩形，方便其放置多个物料，便于后续的使用。
进一步的，所述物料托盘二和物料托盘三的外端均为圆柱形设置，所述物料托盘三高于物料托盘二，通过设置圆柱形的物料托盘二和物料托盘三，减少占用面积，同时方便夹爪，抓取、放置物料。
进一步的，所述示教器的表面设有自清洁层，所述自清洁层的表面设有AS疏油疏水涂层，通过设置有自清洁层和AS疏油疏水涂层，使示教器的显示区域不易沾附上灰尘，使其表面保持清洁，便于其使用。
3.有益效果
相比于现有技术，本发明的优点在于：
(1)本方案通过改制的关节机器人夹爪抓取机构和备料架上增设的加工面自动翻转机构，可完成工件的自动上下料和工序转换过程中的加工面自动翻转；辅以夹爪抓取机构的自动配合无需要人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
(2)伸缩机构的外端安装有伸缩机构动力机构，伸缩机构与伸缩机构动力机构相匹配，通过伸缩机构动力机构的设置，实现为伸缩机构的运行提供 动力，方便其驱动夹爪和旋转机构进行位置调整。
(3)旋转机构的外端安装有旋转机构动力机构，旋转机构与旋转机构动力机构相匹配，通过设置旋转机构动力机构，实现在旋转机构驱动夹爪进行180°翻转时，提供动力。
(4)物料托盘一的上端开凿有多个均匀分布的放置槽，多个放置槽的内部均设有物料，物料在物料托盘一上呈矩形阵列分布，通过放置槽的设置，实现对物料进行有序摆放，便于后续的取放。
(5)夹爪的内壁开凿有两个相对称的弧形槽，弧形槽与物料相匹配，物料托盘三位于夹爪的下侧，通过夹爪配合弧形槽，便于其抓取、放置物料。
(6)物料托盘二和物料托盘三相对应，物料托盘二和物料托盘三的上端均开凿有存放槽，存放槽与物料相匹配，通过设置有存放槽，实现物料的存放，方便夹爪，便于其抓取、放置物料。
(7)物料托盘一的外端为矩形设置，物料托盘一的四角均为弧形设置，通过将物料托盘一的外端设为矩形，方便其放置多个物料，便于后续的使用。
(8)物料托盘二和物料托盘三的外端均为圆柱形设置，物料托盘三高于物料托盘二，通过设置圆柱形的物料托盘二和物料托盘三，减少占用面积，同时方便夹爪，抓取、放置物料。
(9)示教器的表面设有自清洁层，自清洁层的表面设有AS疏油疏水涂层，通过设置有自清洁层和AS疏油疏水涂层，使示教器的显示区域不易沾附上灰尘，使其表面保持清洁，便于其使用。
附图说明
图1为本发明的整体结构示意图；
图2为本发明的整体结构示意图
图3为本发明的俯视结构示意图；
图4为本发明中加工面自动翻转机构的爆炸视图；
图5为本发明中加工面自动翻转机构的局部立体结构示意图；
图6为本发明中加工面自动翻转机构的俯视结构示意图；
图7为本发明中示教器的立体结构示意图；
图8为本发明中夹爪抓取机构的立体结构示意图。
图中标号说明：
1.1、备料架；1.2、物料托盘二；1.3、伸缩机构；1.4、伸缩机构动力机构；1.5、旋转机构动力机构；1.6、旋转机构；1.7、夹爪；1.8、物料托盘三；1.9、物料托盘一；1.10、物料；1.11、示教器。
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。
在本发明的描述中，需要说明的是，术语“上”、“下”、“内”、“外”、“顶/底端”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“设置有”、“套设/接”、“连接”等，应做广义理解，例如“连接”，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
实施例1：
请参阅图1-6，自动翻料数控车床关节机器人，包括备料架1.1，备料架1.1的上端安装有伸缩机构1.3，伸缩机构1.3的外端安装有旋转机构1.6，旋转机构1.6的外侧设有夹爪抓取机构，夹爪抓取机构的外侧装设有夹爪1.7，备料架1.1的上端分别安装有物料托盘一1.9、物料托盘二1.2和物料托盘三1.8，备料架1.1的外端安装有示教器1.11，本方案通过改制的关节机器人夹爪抓取机构和备料架1.1上增设的加工面自动翻转机构，可完成工件的自动上下料和工序转换过程中的加工面自动翻转；辅以夹爪抓取机构的自动配合无需要人工翻转工件，大幅度达到省人、省力的效果；能单机完成多工序产品的成品制作，减少加工工艺流转，减少工件堆放空间、滞留问题，不再有机台配比不均的烦恼；让机台全天候运转不再难、不再贵，充分挖掘机台产能；让加工行业不再有受制于人员难于管理的烦恼，让加工行业不再有成本不可控的烦恼。
请参阅图1-5，伸缩机构1.3的外端安装有伸缩机构动力机构1.4，伸缩机构1.3与伸缩机构动力机构1.4相匹配，通过伸缩机构动力机构1.4的设置，实现为伸缩机构1.3的运行提供动力，方便其驱动夹爪1.7和旋转机构1.6进行位置调整，旋转机构1.6的外端安装有旋转机构动力机构1.5，旋转机构1.6与旋转机构动力机构1.5相匹配，通过设置旋转机构动力机构1.5，实现在旋转机构1.6驱动夹爪1.7进行180°翻转时，提供动力。
请参阅图1-4，物料托盘一1.9的上端开凿有多个均匀分布的放置槽，多个放置槽的内部均设有物料1.10，物料1.10在物料托盘一1.9上呈矩形阵列分布，通过放置槽的设置，实现对物料1.10进行有序摆放，便于后续的取放，夹爪1.7的内壁开凿有两个相对称的弧形槽，弧形槽与物料1.10相匹配，物料托盘三1.8位于夹爪1.7的下侧，通过夹爪1.7配合弧形槽，便于其抓取、放置物料1.10。
请参阅图1，物料托盘二1.2和物料托盘三1.8相对应，物料托盘二1.2和物料托盘三1.8的上端均开凿有存放槽，存放槽与物料1.10相匹配，通过设置有存放槽，实现物料1.10的存放，方便夹爪1.7，便于其抓取、放置物料1.10，物料托盘一1.9的外端为矩形设置，物料托盘一1.9的四角均为弧形设置，通过将物料托盘一1.9的外端设为矩形，方便其放置多个物料1.10，便于后续的使用，物料托盘二1.2和物料托盘三1.8的外端均为圆柱形设置，物料托盘三1.8高于物料托盘二1.2，通过设置圆柱形的物料托盘二1.2和物料托盘三1.8，减少占用面积，同时方便夹爪1.7，抓取、放置物料1.10。
请参阅图6，示教器1.11的表面设有自清洁层，自清洁层的表面设有AS疏油疏水涂层，通过设置有自清洁层和AS疏油疏水涂层，使示教器1.11的显示区域不易沾附上灰尘，使其表面保持清洁，便于其使用。
自动翻料数控车床关节机器人，为数控车床上下料的工艺路线:
S1、人工将未加工工件放置在备料架1.1上的物料托盘一1.9上；
S2、关节机器人将未加工工件A从物料托盘一1.9上抓取并送到数控车床卡盘附近,关节机器人取走已加工工件(第一次没有已加工工件)，放置未加工工件A到卡盘上,卡盘自动夹紧；
S3、关节机器人离开数控车床移动到物料托盘二1.2附近；
S4、在数控车床加工工件期间，关节机器人将已加工工件放置到物料托盘二1.2上(第一次没有已加工工件)；
S5、已加工工件A1通过加工面自动翻转机构放置到物料托盘三1.8上(第一次没有已加工工件),达到翻转加工面180°的要求(第一次没有已加工工件)；
S6、关节机器人从物料托盘三1.8上抓取已翻面的工件A1并送至物料托盘一1.9上放置(第一次没有已加工工件)；
S7、关节机器人从物料托盘一1.9上抓取未加工工件B，移动到数控车床外等候；
S8、数控车床加工完毕后，关节机器人移动到数控车床卡盘装夹位附近，取走已加工工件A1，放置未加工工件B到卡盘上,卡盘自动夹紧；
S9、关节机器人离开数控车床移动到物料托盘二1.2附近；
S10、在数控车床加工工件期间，关节机器人将已加工工件A1放置到物料托盘二1.2上；
S11、已加工工件A1通过加工面自动翻转机构放置到物料托盘三1.8上,达到翻转加工面180°的要求；
S12、关节机器人从物料托盘三上抓取已翻面的工件A1并送至物料托盘一1.9上放置；
不断重复以上循环，直到物料托盘上的所有工件的全部工序加工完毕，不要人工翻料，省时省力,单机自动完成成品的制作。
加工多道工序的工件时，使用传统的关节机器人为数控设备送料的工艺路线为(所诉数控加工设备以CNC加工中心为例)：
第一种加工面自动翻转机构，其传动关系如下：
关节机器人和备料架安装在第一固定支架上，关节机器人按程序设定的轨迹移动，第一旋转机构装设在关节机器人的安装法兰上，跟随关节机器人移动；第一旋转机构可进行180°旋转，可实现机构上安装的3个夹爪的位置转换；第一伸缩机构安装在第一旋转机构上，可驱动第三夹爪，实现位置伸缩；第一、第二、第三3个夹爪实现抓取、放置加工工件；物料托盘一、物料托盘二、物料托盘三和第二伸缩机构安装在第二固定支架上，第二伸缩机构可驱动机构上的第二旋转机构和第四夹爪，实现位置调整；第二旋转机构安装在第二伸缩机构上，可进行180°旋转，可驱动机构上的第四夹爪进行180°翻转；第四夹爪安装在第二旋转机构上，可抓取、放置加工工件。
第一款结构的加工面自动翻转数控车床关节机器人，为数控车床上下料的工艺路线:
①人工将未加工工件放置在备料架物料托盘一上；
②关节机器人将未加工工件A从物料托盘一上抓取并送到数控车床卡盘附近,关节机器人取走已加工工件(第一次没有已加工工件)，放置未加工工件A到卡盘上,卡盘自动夹紧；
③关节机器人离开数控车床移动到物料托盘二附近；
④在数控车床加工工件期间，关节机器人将已加工工件放置到物料托盘二上(第一次没有已加工工件)；
⑤已加工工件A1通过加工面自动翻转机构放置到物料托盘三上(第一次没有已加工工件),达到翻转加工面180°的要求(第一次没有已加工工件)；
⑥关节机器人从物料托盘三上抓取已翻面的工件A1并送至物料托盘一上放置(第一次没有已加工工件)；
⑦关节机器人从物料托盘一上抓取未加工工件B，移动到数控车床外等候；
⑧数控车床加工完毕后，关节机器人移动到数控车床卡盘装夹位附近，取走已加工工件A1，放置未加工工件B到卡盘上,卡盘自动夹紧；
⑨关节机器人离开数控车床移动到物料托盘二附近；
⑩在数控车床加工工件期间，关节机器人将已加工工件A1放置到物料托盘二上；
已加工工件A1通过加工面自动翻转机构放置到物料托盘三上,达到翻转加工面180°的要求；
关节机器人从物料托盘三上抓取已翻面的工件A1并送至物料托盘一上放置；
不断重复以上循环，直到物料托盘上的所有工件的全部工序加工完毕，不要人工翻料，省时省力,单机自动完成成品的制作。。
实施例2：
第二款多加工面自动翻转、定位面旋转机构如图10、图11、图12所示，多加工面自动翻转数控设备关节机器人传动关系如下：
其中关节机器人按程序设定的轨迹移动；
第一旋转机构安装在关节机器人法兰端跟随关节机器人移动；第一旋转机构可进行180°旋转，对机构上的4个夹爪进行转换；
第一、第二伸缩机构驱动第一、第二夹爪；
第一、第二、第三、第四、第五、第六6个夹爪机构实现抓取、放置加工工件；
物料托盘一、二、三、四、五、六、七用于放置加工工件；
第三、第四、第五、第六、第七、第八、第九、第十伸缩机构安装在第二固定支架上；
第三伸缩机构装设有第二旋转机构，第三伸缩机构可驱动第二旋转机构做X轴方向伸缩运动；第二旋转机构装设有第五夹爪，第二旋转机构可驱动第五夹爪绕X轴做旋转运动，翻转工件加工面；第五夹爪可抓取、放置工件；
第四伸缩机构装设有第三旋转机构，第四伸缩机构可驱动第三旋转机构做Z轴方向伸缩运动；第三旋转机构装设有物料托盘二，第三旋转机构装可驱动物料托盘二绕Z轴做旋转运动，旋转定位面；物料托盘二可放置工件；
第五伸缩机构装设有第四旋转机构，第五伸缩机构可驱动第四旋转机构做Z轴方向伸缩运动；第四旋转机构装设有物料托盘三，第四旋转机构装可驱动物料托盘三绕Z轴做旋转运动，旋转定位面；物料托盘三可放置工件；
第六伸缩机构装设有第五旋转机构，第六伸缩机构可驱动第五旋转机构做Z轴方向伸缩运动；第五旋转机构装设有物料托盘四，第五旋转机构可驱动物料托盘四绕Z轴做旋转运动，旋转定位面；物料托盘四可放置工件；
第七伸缩机构装设有第六旋转机构，第七伸缩机构可驱动第六旋转机构做Y轴方向伸缩运动；第六旋转机构装设有第六夹爪，第六旋转机构可驱动第六夹爪绕Y轴做旋转运动，翻转工件加工面；第六夹爪可抓取、放置工件；
第八伸缩机构装设有第七旋转机构，第八伸缩机构可驱动第七旋转机构做Z轴方向伸缩运动；第七旋转机构装设有物料托盘五，第七旋转机构可驱动物料托盘五绕Z轴做旋转运动，旋转定位面；物料托盘五可放置工件。
第九伸缩机构装设有第八旋转机构，第九伸缩机构可驱动第八旋转机构做Z轴方向伸缩运动；第八旋转机构装设有物料托盘六，第七旋转机构可驱动物料托盘六绕Z轴做旋转运动，旋转定位面；物料托盘六可放置工件；
第十伸缩机构装设有第九旋转机构，第十伸缩机构可驱动第九旋转机构做Z轴方向伸缩运动；第九旋转机构装设有物料托盘七，第九旋转机构可驱动物料托盘七绕Z轴做旋转运动，旋转定位面；物料托盘七可放置工件；
第二款多加工面自动翻转、定位面旋转机构自动翻料数控设备关节机器人为数控设备上下料的工艺路线为：
①人工将未加工工件放置在备料架物料托盘一上；
②关节机器人通过夹爪抓取机构抓取未加工工件A并送到CNC加工中心工作台钳位置附近，取走已加工工件(第一次没有已加工工件)，放置未加工工件A到台钳上,台钳自动夹紧；
③关节机器人离开CNC加工中心移动到物料托盘二(或者物料托盘五)位置附近；
④在CNC加工中心加工工件期间，关节机器人将已加工工件(第一次没有已加工工件)放置到物料托盘二上(或者物料托盘五上)；
⑤已加工工件被多加工面自动翻转机构放置到物料托盘三(或物料托盘四、物料托盘六、物料托盘七)，达到翻转加工面90°、180°或不翻转的要求，通过定位面旋转机构达到旋转定位面的要求(第一次没有已加工工件)；
⑥关节机器人通过夹爪抓取机构从物料托盘二(或物料托盘三、物料托盘四、物料托盘五、物料托盘六、物料托盘七)上抓取已加工工件(第一次没有已加工工件)，移动并放置在物料托盘一上；
⑦关节机器人通过夹爪抓取机构从物料托盘一抓取第二个未加工工件B，移动到CNC加工中心外等候；
⑧CNC加工中心加工完成后，关节机器人移动到CNC加工中心工作台钳位置附近，通过夹爪抓取机构取走已加工工件A1，放置未加工工件B到台钳上,台钳自动夹紧；
⑨关节机器人离开CNC加工中心移动到物料托盘二(或者物料托盘五)位置附近；
⑩在CNC加工中心加工工件期间，关节机器人将已加工工件A1放置到物料托盘二(或者物料托盘五)上；
已加工工件被多加工面自动翻转机构放置到物料托盘三(或物料托盘四、物料托盘六、物料托盘七)，达到翻转加工面90°、180°或不翻转的要求，通过定位面旋转机构达到旋转定位面的要求(物料加工面已翻转，定位面已旋转)；
关节机器人通过夹爪抓取机构抓取已加工工件A1(物料加工面已翻面，定位面已旋转)移动并放置在物料托盘一上；
不断重复以上循环，直到物料托盘上的所有工件的全部工序加工完毕，不要人工翻料，省时省力，单机自动完成成品的制作
以上所述，仅为本发明较佳的具体实施方式；但本发明的保护范围并不局限于此。任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其改进构思加以等同替换或改变，都应涵盖在本发明的保护范围内。

Claims (9)

  1. 自动翻料数控车床关节机器人，包括备料架(1.1)，其特征在于：所述备料架(1.1)的上端安装有伸缩机构(1.3)，所述伸缩机构(1.3)的外端安装有旋转机构(1.6)，所述旋转机构(1.6)的外侧设有夹爪抓取机构，所述夹爪抓取机构的外侧装设有夹爪(1.7)，所述备料架(1.1)的上端分别安装有物料托盘一(1.9)、物料托盘二(1.2)和物料托盘三(1.8)，所述备料架(1.1)的外端安装有示教器(1.11)。
  2. 根据权利要求1所述的自动翻料数控车床关节机器人，其特征在于：所述伸缩机构(1.3)的外端安装有伸缩机构动力机构(1.4)，所述伸缩机构(1.3)与伸缩机构动力机构(1.4)相匹配。
  3. 根据权利要求1所述的自动翻料数控车床关节机器人，其特征在于：所述旋转机构(1.6)的外端安装有旋转机构动力机构(1.5)，所述旋转机构(1.6)与旋转机构动力机构(1.5)相匹配。
  4. 根据权利要求1所述的自动翻料数控车床关节机器人，其特征在于：所述物料托盘一(1.9)的上端开凿有多个均匀分布的放置槽，多个所述放置槽的内部均设有物料(1.10)，所述物料(1.10)在物料托盘一(1.9)上呈矩形阵列分布。
  5. 根据权利要求4所述的自动翻料数控车床关节机器人，其特征在于：所述夹爪(1.7)的内壁开凿有两个相对称的弧形槽，所述弧形槽与物料(1.10)相匹配，所述物料托盘三(1.8)位于夹爪(1.7)的下侧。
  6. 根据权利要求4所述的自动翻料数控车床关节机器人，其特征在于：所述物料托盘二(1.2)和物料托盘三(1.8)相对应，所述物料托盘二(1.2)和物料托盘三(1.8)的上端均开凿有存放槽，所述存放槽与物料(1.10)相匹配。
  7. 根据权利要求1所述的自动翻料数控车床关节机器人，其特征在于：所述物料托盘一(1.9)的外端为矩形设置，所述物料托盘一(1.9)的四角 均为弧形设置。
  8. 根据权利要求1所述的自动翻料数控车床关节机器人，其特征在于：所述物料托盘二(1.2)和物料托盘三(1.8)的外端均为圆柱形设置，所述物料托盘三(1.8)高于物料托盘二(1.2)。
  9. 根据权利要求1所述的自动翻料数控车床关节机器人，其特征在于：所述示教器(1.11)的表面设有自清洁层，所述自清洁层的表面设有AS疏油疏水涂层。
PCT/CN2023/091143 2022-05-18 2023-04-27 自动翻料数控车床关节机器人 WO2023221760A1 (zh)

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