CN107219829A - One kind teaching processing type intelligence manufacture integrated system - Google Patents

Abstract

The invention relates to a teaching-processing intelligent manufacturing integrated system, which comprises a blank transfer unit, a FANUC system CNC lathe and a FANUC system machining center to form a processing unit, and the FANUC system CNC lathe and the FANUC system processing center are connected up and down from the blank transfer unit through a loading and unloading unit The finished product is sent to the sorting unit. The sorting unit sorts the qualification and product type of the processed product through the parallel robot, and then assembles or transports it through the assembly unit, and finally transports it to the three-dimensional warehouse by the three-dimensional handling mechanism. The invention has the advantages of simple system, reasonable design and universal component parts, which can carry out rich engineering project teaching and can also meet the requirements of actual processing of various products.

Description

A teaching and processing intelligent manufacturing integrated system

technical field

The invention relates to a teaching-processing intelligent manufacturing integrated system, which belongs to the technical field of intelligent manufacturing integration.

Background technique

The German industry proposed the "Industry 4.0 Plan", the United States proposed the "National Strategic Plan for Advanced Manufacturing", and Japan proposed the "Manufacturing White Paper". The manufacturing industry is becoming a manifestation of national competitiveness. Industrialization and informatization are the deep integration of the two. Some domestic colleges and universities also built flexible manufacturing systems according to their own funds in the early stage, and some of them adopted flexible manufacturing and virtual experimental systems due to limited funds, and there are also self-designed flexible manufacturing systems. experiment platform.

The flexible manufacturing system was produced in 2011. It mainly consists of Korean Kia five-axis machining center, full-function CNC car, six-degree-of-freedom handling robot, Lincoln welding robot, pneumatic manipulator, laser engraving machine and external engraving machine, three-coordinate image measuring instrument, etc. Composed of advanced equipment, the production line is divided into functions: CNC processing system, storage and transportation system, robot handling system, laser processing system, and image acquisition system. Each part is connected to the host computer through industrial Ethernet. With industrial processing type.

The prior art is a small flexible manufacturing system platform for teaching and scientific research, which is composed of a small CNC milling machine, a small CNC lathe, an articulated manipulator, a Cartesian coordinate manipulator and a transmission device. PLC is used to control the manipulator and other actions, and the client program based on the automation interface to access the OPC server is developed in C language, so that the system can realize remote order submission and equipment status monitoring through the Internet.

The flexible manufacturing system is based on the PLC+PROFIBUS-DP bus as the control core; the monitoring is realized by WINCC or Kingview software, and the access to the OPC server is programmed in C language. Ordinary Ethernet realizes program transmission communication. The composition of the flexible line mainly includes feeding, processing, assembly, welding, and transmission. Robots are used for loading and unloading, and robots are used for assembly and welding.

Industrial Ethernet PROFINET replaces the PROFIBUS bus, or chooses PLC as the control core. The entire flexible manufacturing line consists of a warehouse delivery unit, a variable frequency spindle forming processing unit, a workpiece size detection unit, an assembly handling unit, and a finished product warehouse unit, etc.

Development of flexible manufacturing training teaching system, design of flexible manufacturing training teaching system based on RV-3SD manipulator, composed of multiple CNC machine tools, PLC control system, sensor detection unit, feeding mechanism, three-dimensional warehouse, etc. to form an automated production line . The feeding mechanism robot is connected with each component to exchange information through switch value.

Contents of the invention

The purpose of the present invention is to: Aiming at the defects of the prior art, a teaching-processing intelligent manufacturing integrated system is proposed, and some existing systems are creatively designed and integrated, thereby realizing new functions. The integrated system The design is reasonable and can meet the existing needs.

The technical solution adopted in the present invention is: a teaching processing type intelligent manufacturing integrated system, including a blank transfer unit, a FANUC system CNC lathe and a FANUC system machining center to form a processing unit, and the FANUC system CNC lathe is transferred from the blank transfer unit to the FANUC system CNC lathe through the loading and unloading unit Loading and unloading with the FANUC system processing center, and sending the finished product to the sorting unit, the sorting unit sorts the qualification and product type of the processed products through the parallel robot, and then assembles or transports through the assembly unit, and finally the three-dimensional handling mechanism Moved to the three-dimensional warehouse.

In the present invention: the blank conveying unit includes a blank conveyor belt; the FANUC system CNC lathe includes a CNC lathe processing equipment equipped with a four-station electric tool change mechanism, and the CNC lathe processing equipment adopts the FANUC 0iTF system, and its specifications It is CK0620; the FANUC system machining center includes machining center processing equipment equipped with a hat-style tool magazine with eight tools. The machining center processing equipment adopts FANUC 0i MF system, and its specification is XK0816.

In the present invention: the loading and unloading unit includes a loading and unloading mechanism equipped with a FANUC controller robot and a desktop track, and the loading and unloading mechanism is installed on the desktop track.

In the present invention: the desktop track is driven by a FANUC servo motor or a Rockwell servo motor to move a ball screw.

In the present invention, it also includes the clamp automatic quick change unit of the loading and unloading mechanism. The clamp automatic quick change unit of the loading and unloading mechanism is equipped with three specifications of quick change clamps, which can be suitable for three types without changing the mechanical and electrical hardware structures. different types of product processing.

In the present invention: the sorting unit includes a sorting conveyor belt, a parallel robot and an unqualified product basket, and the control of the parallel robot is completed by a set of Rockwell servo drives, servo motors and PAC controllers. Equipped with a vision system or an optional FANUC controller parallel robot, it is easy to distinguish whether the product is qualified or not and the product specification for sorting.

In the present invention: the assembly unit includes more than one set of assembly robots equipped with FANUC controllers, the number of the assembly robots corresponds to the specifications of the qualified products sorted by the sorting unit; the assembly The robot transports the assembled finished product to the three-dimensional handling mechanism through the finished product conveyor belt.

In the present invention: a fixture replacement unit of the assembly robot is also included, and the specification quantity of the fixture replacement unit is consistent with the product specifications of the assembly robot.

In the present invention: the finished product conveying belt is provided with a cylinder and a sensor, and the sensor detects the passing of a single finished product, and the cylinder extends and retracts to control and stop the finished product.

In the present invention: the three-dimensional transport mechanism consists of XYZ three-dimensional structure, the X-axis and Z-axis are driven by servo motors to move the ball screw; the Y-axis is extended and retracted by the cylinder, and the finished product clip is designed at the end Tightening and loosening mechanism; there is a rotating cylinder on the sliding table composed of X and Z to ensure that the finished product is rotated 180 degrees after being taken or placed in the three-dimensional warehouse.

In the present invention: the specification of the three-dimensional warehouse is 1200(mm)*800(mm)*300(mm), there are 12 storage positions, 3 rows and 4 columns, built by aluminum alloy profiles, and can place 12 Each finished product is equipped with a photoelectric sensor in each storage position, and the detection signal is transmitted to the storage controller substation through the photoelectric sensor detection, providing conditions for the judgment of the warehouse finished product handling position.

After adopting the above technical solution, the beneficial effects of the present invention are: the system of the present invention has clear composition and construction, common components, simple connection, reasonable design, rich engineering project teaching, and the ability to process various products in practice.

Description of drawings

Fig. 1 is a schematic diagram of an integrated device in the present invention.

In the figure: 1. Blank conveyor belt; 2. Desktop track; 3. CNC lathe processing equipment; 4. Machining center processing equipment; Parallel robot; 9. Temporary storage area 1; 10. Temporary storage area 2; 11. Assembly robot 1; 12. Finished product conveyor belt; 13. Assembly robot 2; 14. Fixture replacement unit 1; 15. Fixture replacement unit 2 ; 16. Three-dimensional handling mechanism; 17. Three-dimensional warehouse; 18. Safety fence; 19. Exit; 20. Central control system; 21. Large screen.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings.

It can be seen from Figure 1 that a teaching-processing intelligent manufacturing integrated system consists of a blank transfer unit, a FANUC system CNC lathe, and a FANUC system machining center to form a processing unit. The center loads and unloads, and sends the finished product to the sorting unit. The sorting unit sorts the qualification and product type of the processed product through the parallel robot, and then assembles or transports it through the assembly unit, and finally transports it to the three-dimensional transport mechanism 16. Warehouse17. The blank transfer unit includes a blank conveyor belt 1; the FANUC system CNC lathe includes a CNC lathe processing equipment 3 equipped with a four-station electric tool change mechanism. The CNC lathe processing equipment 3 adopts the FANUC 0i TF system, and its specification is CK0620 ; The FANUC system machining center includes a machining center processing equipment 4 equipped with a hat-style tool magazine with eight cutting tools. The machining center processing equipment 4 adopts the FANUC 0i MF system, and its specification is XK0816. The loading and unloading unit includes a loading and unloading mechanism 5 configured with a FANUC controller robot and a desktop track 2, the loading and unloading mechanism 5 is installed on the desktop track 2, and the desktop track 2 passes through a FANUC servo motor Or a Rockwell servo motor drives a ball screw to move. The system is also equipped with an automatic quick-change unit 6 for the clamps of the loading and unloading mechanism. The automatic quick-changing unit 6 for the clamps of the loading and unloading mechanism is equipped with three specifications of quick-change clamps, which can be used without changing the structure of the mechanical and electrical hardware. Three different types of product processing (according to actual needs, the specifications of the quick-change fixture can be adjusted in real time).

The sorting unit includes a sorting conveyor belt 7, a parallel robot 8 and an unqualified product basket (not shown in the figure), and the control of the parallel robot 8 is controlled by a set of Rockwell servo drives, servo motors and PAC The machine is completed, and a vision system is configured at the same time, or a FANUC controller is equipped with a parallel robot, which is convenient for distinguishing whether the product is qualified and the product specification for sorting.

The assembly unit includes more than one assembly robot equipped with a FANUC controller. In this embodiment, two assembly robots equipped with a FANUC controller are assembly robot one 11 and assembly robot two 13. The assembly robot The quantity corresponds to the specification of the qualified product sorted by the sorting unit (if there is a qualified product of a specification, an assembly robot is equipped, and so on); the assembly robot passes the assembled finished product through the finished product conveyor belt 12 Transported to the three-dimensional transport mechanism 16.

Wherein the area adjacent to the assembly robot is also provided with a fixture replacement unit of the assembly robot, and the described fixture replacement unit is consistent with the product specifications assembled by the assembly robot, and includes a fixture replacement unit 14 and a fixture replacement unit 15 in the present invention. .

The finished product conveyor belt 12 is provided with a cylinder and a sensor, and the sensor detects the passage of a single finished product, and is controlled to block the finished product by extending and retracting the cylinder. The three-dimensional transport mechanism 16 includes a three-dimensional structure of XYZ axes, the X-axis and Z-axis are driven by servo motors to move the ball screw; the Y-axis is extended and retracted by the cylinder, and the end is designed to clamp and Unclamping mechanism; a rotary cylinder is provided on the sliding table composed of X and Z to ensure that the finished product is taken or placed in the three-dimensional warehouse 17 and then rotated 180 degrees; the specification of the three-dimensional warehouse 17 is 1200 (mm)*800 (mm)*300 (mm), there are 12 storage locations, 3 rows and 4 columns, constructed of aluminum alloy profiles, can place 12 finished products, and a photoelectric sensor is installed in each storage location, and the photoelectric sensor detects the The detection signal is sent to the substation of the storage controller to provide conditions for the judgment of the finished product handling position in the warehouse.

During the specific implementation, during the loading and unloading action process, the action process can be selected according to the product requirements. A product needs to be processed by CNC lathe processing equipment 3 first, and then processed by processing center processing equipment 4. The processing action flow is as follows: FANUC robot on the loading and unloading mechanism 5 takes the material from the blank conveyor belt 1, and first sends it to CNC lathe processing equipment 3 for processing. During the processing of the processing equipment 3, the material is taken from the blank conveyor belt 1; after the CNC lathe processing equipment 3 is processed, the FANUC robot on the loading and unloading mechanism 5 exchanges the new blank with the semi-finished product, and then transports the semi-finished product to the processing center processing equipment 4 for processing Then go to the blank conveyor belt 1 to get the material, and prepare for the next loading and unloading; when the processing equipment 4 of the machining center is finished, the FANUC robot on the loading and unloading mechanism 5 will carry the processed finished product to the sorting conveyor belt 7, and the parallel robot 8 according to Define process sorting.

Take two products processed by CNC lathe processing equipment 3 and machining center processing equipment 4 as an example. The FANUC robot on the loading and unloading mechanism 5 takes the material from the blank conveyor belt 1 and sends it to the CNC lathe processing equipment 3 for processing; then takes the material from the blank conveyor belt 1 and sends it to the machining center processing equipment 4 for processing; then takes the material from the blank conveyor belt 1 and waits After the CNC lathe processing equipment 3 is processed, exchange the finished products and blanks of the CNC lathe processing equipment 3; then send the processed products of the CNC lathe processing equipment 3 to the sorting conveyor belt 7 for sorting; then go to the blank conveyor belt 1 to pick up materials, and then go to the machining center for processing The equipment 4 exchanges the finished products and blanks. After the exchange, the finished products completed by the processing equipment 4 of the machining center are sent to the sorting conveyor belt 7 for sorting.

In this embodiment, the assembly unit is designed with two assembly robots equipped with FANUC controllers, that is, assembly robot one 11 and assembly robot two 13 .

Take the processing of a product as an example: when the product is sorted into qualified and unqualified by the sorting unit, if the qualified product is sorted to the product conveyor belt in the temporary storage area-9, a single product passing device is designed at the end of the conveyor belt, The sensor detects whether the workpiece is removed. If it is not removed, the cylinder extends to block the subsequent workpiece from entering the transfer area. If the workpiece has been removed, one workpiece can be allowed to enter the unit to be assembled. Since there is only one workpiece, only one robot is required to transport the workpiece in the assembly unit, and the sorted workpieces are transported to the finished product conveyor belt 12 .

Take the processing of two products as an example: after sorting by the sorting unit, the products enter the conveyor belts of temporary storage area one 9 and temporary storage area two 10 respectively. Assembly robot 11 and assembly robot 2 13 respectively go to the conveyor belts of temporary storage area 19 and temporary storage area 2 10 according to the assembly process to pick up workpieces for assembly. Assembly robot 11 and assembly robot 2 13 are equipped with visual functions. Before identifying whether the workpiece is qualified and the position of the grab, prepare for qualified assembly. The assembled products are placed on the finished product conveyor belt 12 , and are transported to the three-dimensional transport mechanism 16 by the finished product conveyor belt 12 .

In the above operations, the corresponding system can be controlled by the corresponding control box, and the corresponding server provides data services; if the system is in the corresponding factory building or school teaching area, in order to avoid system integration equipment safety and special robot action range Considering the safety of users, a safety fence 18 must be installed around the integrated system, and an exit 19 is opened at a corresponding position of the safety fence 18 to facilitate the entry and exit of trained operators or technicians. The system can be monitored through the central control system 20, and the running status of the integrated system can be displayed on the large screen 21 in real time.

The specific embodiments of the present invention have been described above, but the present invention is not limited to the above description. For those skilled in the art, any equivalent modifications and substitutions to the technical solutions are within the scope of the present invention. Therefore, equivalent changes and modifications made without departing from the spirit and scope of the present invention shall fall within the scope of the present invention.

Claims (10)

1. one kind teaching processing type intelligence manufacture integrated system, it is characterised in that：Including blank delivery unit, FANUC system numbers Lathe and FANUC systems machining center composition machining cell are controlled, by material unit up and down from blank delivery unit to FANUC systems Numerically controlled lathe and FANUC system machining center loading and unloading, and finished product is delivered to sorting unit, sorting unit passes through parallel robot Qualification is carried out to converted products and product category is sorted, then is assembled or is carried by assembly unit, finally by three Dimension carrying mechanism is carried to tiered warehouse facility.

2. a kind of teaching processing type intelligence manufacture integrated system according to claim 1, it is characterised in that：Described blank Delivery unit includes blank conveyer belt；Described FANUC systems numerically controlled lathe includes the number for being equipped with four station electric cutter-exchange mechanisms Lathe process equipment is controlled, the lathe in machining equipment uses FANUC 0i TF systems, and its specification is CK0620；Described FANUC systems machining center includes Cutter Body Processing with Machining Center equipment of the outfit eight the bamboo hat type tool holder of cutter, and the machining center adds Construction equipment uses FANUC 0i MF systems, and its specification is XK0816.

3. a kind of teaching processing type intelligence manufacture integrated system according to claim 1, it is characterised in that：Above and below described Material unit includes the charging and discharging mechanism and desktop type track for being configured with FANUC controllers robot, described charging and discharging mechanism peace On desktop type track；Described desktop type track drives ball by FANUC servomotors or Rockwell servomotor Screw mandrel is moved.

4. a kind of teaching processing type intelligence manufacture integrated system according to claim 3, it is characterised in that：Above and below also including Expect the automatic quick-change unit of fixture of mechanism, the automatic quick-change unit of fixture of charging and discharging mechanism is configured with three kinds of specification magic chucks, Three kinds of different types of Product processings can be adapted in the case where not changing mechanically and electrically hardware configuration.

5. a kind of teaching processing type intelligence manufacture integrated system according to claim 1, it is characterised in that：Described sorting Unit includes sorting conveyer belt, parallel robot and substandard product basket, and the control of the parallel robot is by 1 set of Rockwell Servo-driver and servomotor and PAC controllers complete, while be configured with vision system, or apolegamy FANUC controllers Parallel robot, is easy to distinguish whether qualified and sorting the product specification of product.

6. a kind of teaching processing type intelligence manufacture integrated system according to claim 1, it is characterised in that：Described assembling Unit includes the people that puts together machines equipped with FANUC controllers more than a set of, and the quantity of the described people that puts together machines is single with sorting The specification of qualified products after member sorting is corresponding；The described people that puts together machines is defeated by product conveying belt by the finished product after assembling It is sent to three-dimensional carrying mechanism.

7. a kind of teaching processing type intelligence manufacture integrated system according to claim 6, it is characterised in that：Also include assembling The clamp-replacing unit of robot, described clamp-replacing unit and the product specification quantity for the people that puts together machines is consistent.

8. a kind of teaching processing type intelligence manufacture integrated system according to claim 6, it is characterised in that：Described finished product Conveyer belt is provided with cylinder and sensor, detects passing through for single finished product by sensor, is extended and retracted and be controlled by cylinder Stop finished product.

9. a kind of teaching processing type intelligence manufacture integrated system according to claim 1, it is characterised in that：Described three-dimensional The three-dimensional structure that carrying mechanism includes XYZ axles is constituted, and the X-axis and Z axis are moved by servomotor driving ball screw；The Y Axle is stretched out and withdrawn by cylinder, and in end, design finished product is clamped and tripping-gear；Provided with rotation vapour on the slide unit that X and Z is constituted Cylinder, it is ensured that 180 degree is rotated after finished product is got or is placed in tiered warehouse facility.

10. a kind of teaching processing type intelligence manufacture integrated system according to claim 1, it is characterised in that：Described is vertical The specification in body warehouse is 1200 (mm) * 800（mm）*300（mm）, have 12 storage positions, 3 rows 4 are arranged, taken by aluminium alloy extrusions Build and form, 12 finished products can be placed, photoelectric sensor is provided with each storage location, by photoelectric sensor detection detection Signal is sent to storage control substation, and carrying position judgment for warehouse finished product provides condition.