CN111993516B - Special-shaped plate automatic processing production line and processing method - Google Patents

Abstract

The invention provides an automatic processing production line and a processing method for a special-shaped plate, and mainly relates to the field of automatic processing of special-shaped wood plates. The utility model provides a special-shaped plate automatic processing production line, includes manipulator, material loading platform, unloading platform, engraver, abrasive machine, a plurality of locating rack and control box, the locating rack is used for fixing and fixes a position on special-shaped plate blank, the material loading platform is used for carrying the special-shaped plate blank of installing the locating rack, the manipulator is used for snatching the locating rack and carries out the design processing on engraver, abrasive machine, be equipped with vision detection system on the manipulator, control box and manipulator, material loading platform, unloading platform, engraver, abrasive machine electromechanical connection. The invention has the beneficial effects that: according to the invention, the blank is positioned and clamped by the manipulator, shaping and polishing are carried out on the engraving machine and the grinding machine, and the two working procedures are combined into one, so that the interference of human factors is eliminated, the product quality is more stable, the processing efficiency is improved, and the production cost is reduced.

Description

Special-shaped plate automatic processing production line and processing method

Technical field

The invention mainly relates to the field of automatic processing of special-shaped wooden boards, specifically an automatic processing production line and processing method for special-shaped wooden boards.

Background technique

Special-shaped wooden boards are essential boards for making seat surfaces, backrests, and support structures for high-end furniture such as sofas. The processing of special-shaped wooden boards requires steps such as hot pressing, engraving and shaping, polishing, inspection and packaging. Hot pressing forming is the blank production of special-shaped wooden boards. Because the blank has a curvature, the machine cannot accurately position the blank. Therefore, the engraving, shaping and polishing processes of the blank are now performed manually. A calibrator is used to assist manual centering on the machine tool to achieve the positioning of special-shaped plates. To achieve the purpose of producing qualified products. However, this method relies on the proficiency of workers, product quality is uneven, and production efficiency is low, resulting in high production costs.

Contents of the invention

In order to solve the shortcomings of the existing technology, the present invention provides an automatic processing production line and processing method for special-shaped plates. It creatively proposes a method for positioning the special-shaped plate blanks. The blanks are positioned and clamped by a manipulator, and shaped and polished on an engraving machine and a grinder. , combines two processes into one, eliminates the interference of human factors, makes product quality more stable, improves processing efficiency, and reduces production costs.

In order to achieve the above objects, the present invention is achieved through the following technical solutions:

The special-shaped plate automatic processing production line includes a robot, a loading table, a unloading table, an engraving machine, a grinder, a number of positioning frames and a control box. The positioning frame is used to be fixed on the special-shaped plate blank for positioning. The loading table It is used to transport the special-shaped plate blank with the positioning frame installed. The manipulator is used to grab the positioning frame and perform shaping processing on the engraving machine and grinder. The manipulator is equipped with a visual detection system. The control box is connected with the manipulator and the loading table. , unloading table, engraving machine, grinding wheel electromechanical connection.

The special-shaped plate blank is preset with three-point positioning holes. The positioning frame includes an upper frame body and a lower frame body. A positioning bolt passing through the positioning holes is provided between the upper frame body and the lower frame body. The upper frame body is provided with Adaptable gripping end of the robot.

The manipulator is a six-degree-of-freedom manipulator.

The special-shaped plate automatic processing production line also includes a rivet machine, and the rivet machine is electrically connected to the control box.

The loading platform is a stepper driven conveyor belt equipment.

The automatic processing method of special-shaped plates includes the following steps:

Step 1: Use a molding machine to hot-press the wooden raw material to process the special-shaped board blank. Pre-hole protrusions are preset in the processing mold so that three non-collinear positioning holes are preset on the top surface of the special-shaped board blank. Then punching operation is performed to ensure the positioning. hole through;

Step 2: Install the positioning frame on the blank through the positioning hole;

Step 3: Arrange the blanks with positioning racks on the feeding equipment in sequence, and the feeding equipment will transport the blanks to the grabbing position of the robot;

Step 4: The manipulator identifies and grasps the grabbing position on the positioning frame, and aligns the blank under the detection of the visual inspection system;

Step 5: The robot grabs the blank and runs it on the engraving machine to cut and shape the profile of the special-shaped plate;

Step 6: The robot grabs the blank and runs it on the grinder to grind and polish the edges;

Step 7: The manipulator grabs the blank and installs the rivets on the rivet machine to make the finished special-shaped plate;

Step 8: The robot places the finished special-shaped plate on the blanking equipment and transports it to the end point, and manually removes the positioning frame.

Compared with the existing technology, the beneficial effects of the present invention are:

The invention provides a special-shaped plate processing line based on a robot. Through the positioning holes preset when the special-shaped plate blank is pressed, a positioning frame can be installed to accurately position the special-shaped plate blank and provide a grabbing position for the robot. The manipulator is used to grab the special-shaped plate blank and cooperate with the processing rotation of the engraving machine and grinder to achieve the cutting, shaping and edge polishing of the blank to complete the processing of the special-shaped plate blank. The processing process does not require human participation, making the processing of special-shaped plates more standardized and ensuring the processing quality. Greatly improve production efficiency and reduce production costs.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.

Figure 1 is a reference diagram of the use state of the present invention;

Figure 2 is a schematic diagram of the matching structure of the positioning frame and the blank according to the present invention.

Numbers shown in the drawings: 1. Manipulator; 2. Loading table; 3. Unloading table; 4. Engraving machine; 5. Grinding machine; 6. Positioning frame; 7. Control box; 8. Rivet machine; 61. Upper frame body; 62, lower frame body; 63, positioning bolt; 64, grabbing end.

Detailed ways

The present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are only used to illustrate the invention and are not intended to limit the scope of the invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by this application.

As shown in Figures 1-2, the special-shaped plate automatic processing production line of the present invention includes a robot 1, a loading table 2, a unloading table 3, an engraving machine 4, a grinder 5, a number of positioning frames 6 and a control box 7. The unloading table separates the manipulator from the engraving machine and the grinder on the opposite side. The loading table is located on the side of the manipulator and is placed vertically with the unloading table. The positioning frame 6 is used to be fixed on the special-shaped plate blank for positioning. The special-shaped plate blank is preset with positioning marks during molding for positioning and installation of the positioning frame on the blank. The positioning frame is used as a positioning grab for subsequent processing. part. The loading platform 2 is used to transport the special-shaped plate blank with the positioning frame 6 installed, and the loading platform uses a step-by-step conveying method to transport the special-shaped plate blank. The manipulator 1 is used to grab the positioning frame 6 and perform cutting, shaping and edge polishing on the engraving machine 4 and the grinder 5. The manipulator 1 is equipped with a visual detection system, and the visual detection system includes a camera and a processor. The processor is connected to the control unit of the control box. The visual inspection system actively identifies the direction of the positioning frame and aligns the special-shaped plate blank for cutting and polishing. The control box 7 is electrically connected to the manipulator 1, the loading table 2, the unloading table 3, the engraving machine 4, and the grinder 5. The control box controls the manipulator 1, the loading table 2, the unloading table 3, the engraving machine 4, and the like. The grinder 5 is controlled. The control box is an electrical control box connected to the numerical control system (control unit). This device uses a manipulator to grab the special-shaped plate blank and cooperate with the processing rotation of the engraving machine and grinder to achieve the cutting, shaping and edge polishing of the blank to complete the processing of the special-shaped plate blank. The processing process does not require human participation, which makes the processing of special-shaped plates more standardized and the processing quality is guaranteed, which greatly improves production efficiency and reduces production costs.

Specifically, the special-shaped plate blank is pre-set with three-point positioning holes when hot-pressing the mold, and the three-point positioning holes are not collinear. The positioning frame 6 includes an upper frame body 61 and a lower frame body 62. Both the upper frame body and the lower frame body are triangular frame bodies. When prefabricating three-point positioning holes, one of the positioning holes is on the symmetry line of the special-shaped plate blank. The corner of the upper frame adjacent to this positioning hole is the front end, and it is also a landmark identified by the visual inspection system. Positioning bolts 63 passing through the positioning holes are provided between the upper frame body 61 and the lower frame body 62, and the upper frame body and the lower frame body are fastened through the positioning bolts. The upper frame body 61 has a grabbing end 64 that matches the manipulator 1. The grabbing end has an inner hole. The claws of the manipulator are of a built-in chuck type. The inner wall of the inner hole is supported by the claws to hold the upper and lower parts. The lower frame body is grabbed together with the special-shaped plate blank. At this time, the camera on the front end of the manipulator serves as the input module of the visual inspection system, transmitting the image back to the processor to identify the captured image, determine the position of the front end of the positioning frame, and the control unit controls the action of the manipulator to adjust the forward direction of the positioning frame. Through the installation of preset positioning holes and positioning frames, the positioning of the special-shaped plate blanks can be achieved, thereby making it possible for the robot to grasp and continue processing in subsequent processes.

Specifically, the manipulator 1 is a six-degree-of-freedom manipulator. The six-degree-of-freedom manipulator can perfectly realize the operation after grabbing the special-shaped plate. In conjunction with the cutting of the engraving machine, the manipulator moves and rotates the blank according to a certain trajectory to achieve cutting and shaping of the edge of the blank, so that its shape meets the finished product requirements of the special-shaped plate. In the same way, the polishing of the edge of the special-shaped plate also requires the manipulator to move and rotate according to a certain trajectory to make the edge of the special-shaped plate contact the polishing wheel of the grinder.

Specifically, the special-shaped plate automatic processing production line also includes a rivet machine 8 , and the rivet machine 8 is electrically connected to the control box 7 . The control box controls the processing action of the rivet machine, uses the manipulator to move the blank to the riveting table, determines the riveting position through the positioning hole, and controls the rivet machine to perform the riveting operation.

Specifically, the loading platform 2 is a stepper-driven conveyor belt equipment. The loading table is a belt-driven conveying equipment driven by a stepper motor or servo motor. A laser sensor is installed at the grabbing position of the manipulator. When the conveyor belt transfers the blank into place, the laser sensor transmits the signal to the control box. The control box Control the motor to stop running. When the manipulator grabs the blank, the laser sensor is triggered. At this time, the signal is transmitted back to the control box, and the control box controls the motor to start and transport the next blank to the grabbing position. The unloading table is a continuously running conveyor belt equipment driven by a motor. At the end of the conveying, an operator receives the finished product and removes the positioning frame.

The automatic processing method of special-shaped plates includes the following steps:

Step 1: Use a molding machine to hot-press the wooden raw material to process the special-shaped plate blank. Pre-hole protrusions are preset in the processing mold so that three non-collinear positioning holes are preset on the top surface of the special-shaped plate blank. One of the positioning holes is on the arc of the blank. At the high point of the shape, that is, on the symmetry line of the processed special-shaped plate, preferably, the three positioning holes are isosceles triangles with the positioning holes on the symmetry line as the vertex. Then perform punching operation to penetrate the positioning hole.

Step 2: Install the positioning frame on the blank through the positioning hole. The front end of the positioning frame is close to the positioning hole on the symmetry line, and the front end of the positioning frame here serves as a visual recognition system to identify the braid in the forward direction.

Step 3: Arrange the blanks with positioning racks on the feeding equipment in sequence, and the feeding equipment will transport the blanks to the grabbing position of the robot.

Step 4: The manipulator identifies and grasps the grabbing position on the positioning frame, and aligns the blank under the detection of the visual inspection system.

Step 5: The manipulator grabs the blank and runs it on the engraving machine to cut and shape the profile of the special-shaped plate. The tool of the engraving machine is a fixed point. The manipulator operates the angle conversion of the blank to achieve the shaping of the blank.

Step 6: The manipulator grabs the blank and runs it on the grinder to polish the edge. The polishing wheel of the grinder is a fixed point. The manipulator operates the angle conversion of the billet to achieve polishing of the edge of the billet.

Step 7: The manipulator grabs the blank and installs the rivets on the rivet machine to make the finished special-shaped plate. At this time, the rivet gun head of the rivet machine is a fixed point, and the manipulator changes the angle of the blank so that the riveting position is under the rivet gun head to realize the installation of rivets.

Step 8: The robot places the finished special-shaped plate on the blanking equipment and transports it to the end point, and manually removes the positioning frame.

Claims (5)

1. Automatic special-shaped plate processing production line, which is characterized by including a robot (1), a loading table (2), an unloading table (3), an engraving machine (4), a grinder (5), and several positioning frames (6) With the control box (7), the positioning frame (6) is used to be fixed on the special-shaped plate blank for positioning, and the loading table (2) is used to transport the special-shaped plate blank with the positioning frame (6) installed. The manipulator (1) is used to grab the positioning frame (6) and perform shaping processing on the engraving machine (4) and the grinder (5). The manipulator (1) is equipped with a visual inspection system, and the control box (7) is connected to the The manipulator (1), loading table (2), unloading table (3), engraving machine (4), and grinder (5) are electrically connected; The special-shaped plate blank is preset with three-point positioning holes. The positioning frame (6) includes an upper frame body (61) and a lower frame body (62). The upper frame body (61) and the lower frame body (62) are arranged between The positioning bolt (63) passes through the positioning hole, and the upper frame body (61) is provided with a grabbing end (64) adapted to the manipulator (1); The upper frame body and the lower frame body are both triangular frames. When prefabricating three-point positioning holes, one of the positioning holes is on the symmetry line of the special-shaped plate blank. The corner of the upper frame body adjacent to this positioning hole is the front end and is also a visual Marking points identified by the detection system; The upper frame body (61) has a grabbing end that matches the robot hand. The grabbing end has an inner hole. The claws of the robot hand are built-in chucks. The upper frame body is supported by the claws on the inner wall of the inner hole. Grab the special-shaped plate blank together with the lower frame body. 2. The automatic special-shaped plate processing production line according to claim 1, characterized in that: the manipulator (1) is a six-degree-of-freedom manipulator. 3. The automatic special-shaped plate processing production line according to claim 1, further comprising a rivet machine (8), characterized in that: the rivet machine (8) is electrically connected to the control box (7). 4. The automatic special-shaped plate processing production line according to claim 1, characterized in that: the loading table (2) is a step-driven conveyor belt equipment. 5. The automatic processing production line of special-shaped plates according to claim 1, the automatic processing method of special-shaped plates includes the following steps: Step 1: Use a molding machine to hot-press the wooden raw material to process the special-shaped board blank. Pre-hole protrusions are preset in the processing mold so that three non-collinear positioning holes are preset on the top surface of the special-shaped board blank. Then punching operation is performed to ensure the positioning. hole through; Step 2: Install the positioning frame on the blank through the positioning hole; Step 3: Arrange the blanks with positioning frames on the feeding equipment in sequence, and the feeding equipment will transport the blanks to the grabbing position of the robot; Step 4: The manipulator identifies and grasps the grabbing position on the positioning frame, and aligns the blank under the detection of the visual inspection system; Step 5: The robot grabs the blank and runs it on the engraving machine to cut and shape the profile of the special-shaped plate; Step 6: The robot grabs the blank and runs it on the grinder to grind and polish the edges; Step 7: The manipulator grabs the blank and installs the rivets on the rivet machine to make the finished special-shaped plate; Step 8: The robot places the finished special-shaped plate on the blanking equipment and transports it to the end point, and manually removes the positioning frame.