CN114890121B - Automatic control system and method for material conveying - Google Patents
Automatic control system and method for material conveying Download PDFInfo
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- CN114890121B CN114890121B CN202210351429.XA CN202210351429A CN114890121B CN 114890121 B CN114890121 B CN 114890121B CN 202210351429 A CN202210351429 A CN 202210351429A CN 114890121 B CN114890121 B CN 114890121B
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- material supporting
- supporting plate
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- 239000000463 material Substances 0.000 title claims abstract description 207
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims description 79
- 210000000078 claw Anatomy 0.000 claims description 33
- 238000007599 discharging Methods 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 6
- 230000004308 accommodation Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 238000011031 large-scale manufacturing process Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 14
- 239000000203 mixture Substances 0.000 description 9
- 238000012546 transfer Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000013072 incoming material Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Workpieces (AREA)
Abstract
The invention relates to an automatic material conveying control system and method, which completely replace the scheme of using a robot arm to realize automatic material conveying, greatly reduce the hardware cost and the programming complexity, and can complete programming and debugging by personnel in an automatic factory without specially debugging the robot arm by personnel in a robot arm company, thereby being capable of rapidly meeting the requirement of a production line and being suitable for large-scale production by adopting the scheme.
Description
Technical Field
The application relates to the technical field of automatic production, in particular to an automatic control system and method for material conveying.
Background
The traditional lathe processing production line is generally arranged in large-scale factory building, and hundreds of thousands of lathes can be produced simultaneously, in order to guarantee production efficiency, today, the mill generally can carry out automatic transformation to the lathe station, and for example, the automatic unloading of going up of robot arm completion can be used to the batched material of being processed, has improved production efficiency to a certain extent, has got rid of the inefficiency of manual feeding.
However, when the robot arm is applied in an automatic factory, the debugging personnel of the robot arm manufacturer are highly relied on, and the production personnel of the automatic factory do not have corresponding capabilities to finish the debugging and the installation of the robot arm. The situation that the machine tool is moved to change the arrangement often occurs in an automatic factory due to production requirements, and due to the fact that the positions of the machine tool and the robot arm are changed, debugging personnel of a robot arm manufacturer are required to be arranged to debug the robot arm again so as to meet production requirements. Obviously, the above situation brings a lot of inconveniences to the automation factory, and consumes personnel and expenses and time. Particularly, if a robot arm manufacturer cannot allocate debugging personnel for debugging, the production line of an automatic factory is stopped.
Disclosure of Invention
Based on the above, it is necessary to provide an automatic feeding and discharging control scheme for replacing a robot arm, which is skillfully conceived, and utilizes the coordination control of a machine tool workbench, an automatic feeding and discharging machine, a material conveying mechanism, a positioning and supporting mechanism and a grabbing device of a machine tool to realize the low-cost, accurate and reliable automatic feeding and discharging scheme.
According to the present application, there is provided a method of controlling an automatic material feeding system, comprising the steps of:
s1, driving an air cylinder in a material conveying mechanism of an automatic feeding and discharging machine outside a control machine tool to drive a moving plate to convey a material supporting plate and a jig arranged on the material supporting plate to a positioning material supporting mechanism arranged on a machine tool workbench, wherein the jig is detachably arranged on the material supporting plate;
s2, controlling a zero point quick-change device of the positioning and material supporting mechanism to clamp the material supporting plate;
S4, controlling the grabbing device to move downwards, grabbing a jig arranged on the material supporting plate, enabling the jig to be separated from the material supporting plate and transferred to the grabbing device, and enabling the grabbing device to move only in the up-down direction;
S6, controlling the grabbing device to install the jig on a second zero point quick-change device on the machine tool workbench.
The gripping device moves only in the up-down direction, but not in the left-right and front-rear directions, and naturally, the gripping device performs gripping operation including rotation operation and the like in addition to up-down movement.
Further, step S3 is included between steps S2 and S4: controlling the machine tool workbench to move so that the material supporting plate on the positioning material supporting mechanism moves to the lower part of the grabbing device, wherein the grabbing device is fixedly arranged in the machine tool; further comprising step S5 between steps S4 and S6: and controlling the machine tool workbench to move so as to drive a second zero point quick-change device arranged on the machine tool workbench to move below the grabbing device.
Further, before step S1, the method further includes:
S11, controlling a lifting rod and a lifting plate in the automatic feeding and discharging machine to move to a preset position;
S12, controlling a material moving claw in the material conveying mechanism to clamp the material supporting plate from two sides and enabling a pushing block on the material moving claw to be clamped into a clamping groove of the material supporting plate.
Further, in step S2, the positioning and supporting mechanism clamps the supporting plate, specifically, the second zero quick-change device of the positioning and supporting mechanism clamps the positioning chuck disposed on the supporting plate.
Further, in step S3, the pallet on the positioning pallet mechanism is moved to a position below the gripping device, specifically, the jig on the pallet is moved to a position below the gripping device.
Further, in step S3, the movement of the machine tool table is controlled, specifically, the two-dimensional movement of the machine tool table on the plane is controlled, so that the jigs at different positions move to the lower part of the gripping device.
Further, step S1 is specifically that the driving cylinder is controlled to drive the moving plate and the material supporting plate to move so as to move the material supporting plate to the positioning material supporting mechanism, when the driving cylinder moves to a preset position, a contact switch or a sensor near the driving cylinder is triggered, and after receiving a signal of the contact switch or the sensor, the driving cylinder is controlled to stop working.
Further, after step S6 is completed, the machine tool is controlled to process the workpiece in the jig, and after the processing is completed, step S7 is performed: the control machine tool workbench is provided with a second zero quick-change device and a jig, the second zero quick-change device and the jig are controlled to move to the lower part of the grabbing device, the grabbing device is controlled to grab the jig, the positioning material supporting mechanism on the machine tool workbench is controlled to move to the lower part of the grabbing device, the grabbing device is controlled to move to the jig to the material supporting plate on the positioning material supporting mechanism, the zero quick-change device is controlled to release the material supporting plate, and a driving cylinder is controlled to drive a moving plate and the material supporting plate to move to a cabinet of the automatic material loading and unloading machine.
Further, step S13 is further included after step S12: and controlling the lifting plate to move downwards to a preset position, so that the material supporting plate is not blocked by the material bin supporting plate and moves to the positioning and material supporting mechanism.
In addition, the application provides an automatic control system for material conveying, which comprises a positioning and material supporting mechanism, an automatic feeding and discharging machine, a grabbing device and a controller, wherein the controller is used for executing the automatic control method for material conveying
The automatic control system and the method for material conveying have at least the following advantages:
The automatic material conveying control method and system completely replace the scheme of realizing automatic material conveying by using a robot arm, the hardware cost is greatly reduced, the programming complexity is greatly reduced, personnel of a robot arm company are not required to specially debug the robot arm, personnel of an automatic factory can finish programming and debugging by themselves, the requirement of a production line can be rapidly met, and the automatic material conveying control method and system are suitable for large-scale production by adopting the scheme.
Drawings
FIG. 1 is a schematic diagram of a material supporting plate and a positioning material supporting mechanism;
FIGS. 2-1, 2-2 and 2-3 are schematic structural views of a tray;
FIG. 3 is a schematic diagram of the mechanism of the automatic loading and unloading machine, the material supporting mechanism and the machine tool (the grabbing device is omitted);
FIG. 4 is an enlarged view of a partial position of the machine tool and the automatic loading and unloading machine and the material supporting mechanism;
fig. 5 is a schematic view of a structure including a gripping device (with the loader and unloader omitted);
FIG. 6 is a schematic view of a part of the structure;
FIG. 7 is a schematic view of a transfer claw structure;
FIG. 8 is a cross-sectional view of the middle face of the transfer claw;
FIG. 9 is a partial cross-sectional view of the front end of the transfer claw;
FIG. 10 is a schematic view of a pallet structure in another embodiment;
FIG. 11 is a schematic view of a positioning and holding mechanism in another embodiment;
FIG. 12 is a flow chart of a control method of the present application;
Fig. 13 is a flow chart of another embodiment of the control method of the present application.
In the figure, 1, a material supporting plate; 2. a material supply support plate; 3. a fixed bottom plate; 4. quick-change mounting plates; 5. zero point quick change device; 6. a jig; 7. a material moving claw; 8. a moving plate; 9. a slide rail; 10. a driving cylinder; 11. a stock bin support frame; 12. a stock bin support plate; 13. a feeding support plate; 14. a machine tool workbench; 15. a second zero quick change device; 16. an automatic feeding and discharging machine; 17. a lifting rod; 18. a connecting seat; 19. a machine tool; 20. a gripping device; 21. a pulley; 22. a second drive cylinder assembly; 23. a guide rail; 41. a vertical plate; 42. a height-adjusting guide block; 43. a height adjusting screw mounting hole; 44. a quick-change air supply connector; 71. a pushing block; 72. a spring; 73. a spring adjustment screw; 111. a material supporting front plate; 112. a material supporting rear plate; 113. positioning a chuck; 114. a guide accommodating groove; 115. a first limiting surface; 116. the second limiting surface; 117. a jig accommodating groove; 118. a guide pin; 119. a guide positioning groove; 120. guiding the positioning pin.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
It should be understood that the terms "first," "second," and the like are used herein to describe various information, but such information should not be limited to these terms, which are used merely to distinguish one type of information from another. For example, a "first" message may also be referred to as a "second" message, and similarly, a "second" message may also be referred to as a "first" message, without departing from the scope of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
Referring to fig. 12, the invention provides an automatic control method for material conveying, comprising the following steps:
S1, driving an air cylinder 10 in a material conveying mechanism of an automatic feeding and discharging machine outside a control machine tool to drive a movable plate 8 to convey a material supporting plate 1 and a jig arranged on the material supporting plate 1 to a positioning material supporting mechanism arranged on a machine tool workbench 14, wherein the jig 6 is detachably arranged on the material supporting plate 1;
S2, controlling a zero point quick-change device 5 of the positioning and material supporting mechanism to clamp the material supporting plate 1;
S4, controlling the grabbing device to move downwards, grabbing the jig 6 arranged on the material supporting plate 1, enabling the jig 6 to be separated from the material supporting plate 1 and transferred to the grabbing device 20, and enabling the grabbing device 20 to move only in the up-down direction;
and S6, controlling the grabbing device 20 to install the jig 6 on the second zero point quick-change device 15 on the machine tool workbench 14.
The above-mentioned gripping device 20 moves only in the up-down direction, which means that the movement is only in the up-down direction, and of course, the gripping device can also perform gripping operation on the jig 6.
Referring to fig. 13, in another embodiment, step S3 is further included between the above steps S2 and S4: controlling the machine tool workbench 14 to move so that the material supporting plate 1 on the positioning material supporting mechanism moves to the lower part of the grabbing device 20, wherein the grabbing device 20 is fixedly arranged in the machine tool; further comprising step S5 between steps S4 and S6: the machine tool workbench 14 is controlled to move so as to drive the second zero point quick-change device 15 arranged on the machine tool workbench 14 to move below the grabbing device 20.
Further, before step S1, the method further includes:
S11, controlling a lifting rod 17 and a lifting plate in the automatic feeding and discharging machine to move to a preset position;
S12, controlling a material moving claw 7 in the material conveying mechanism to clamp the material supporting plate 1 from two sides, and enabling a pushing block 71 on the material moving claw 7 to be clamped into a clamping groove of the material supporting plate 1.
Further, in step S2, the positioning and material supporting mechanism clamps the material supporting plate 1, specifically, the second zero quick-change device 15 of the positioning and material supporting mechanism clamps the positioning chuck 113 disposed on the material supporting plate.
Further, in step S3, the movement of the pallet 1 on the positioning and pallet holding mechanism to the position below the grabbing device 20 is specifically: so that the jig 6 on the pallet moves to the lower side of the gripping device 20.
In another embodiment, in step S3, the machine table 14 motion is controlled specifically as follows: the machine table 14 is controlled to perform two-dimensional movement on a plane so that the jigs 6 at different positions are moved to the lower side of the gripping device 20.
Further, step S1 is specifically to control the driving cylinder 10 to drive the moving plate 8 and the material supporting plate 1 to move so as to move the material supporting plate 1 onto the positioning material supporting mechanism, trigger a contact switch or a sensor (not shown) near the driving cylinder when the driving cylinder 10 moves to a predetermined position, and control the driving cylinder to stop working after receiving the signal of the contact switch or the sensor.
In another embodiment, after step S6 is completed, the machine tool is controlled to process the workpiece in the jig 6, and after the processing is completed, step S7 is performed: the second zero point quick-change device 15 and the jig 6 on the machine tool workbench 14 are controlled to move below the grabbing device 20, the grabbing device is controlled to grab the jig 6, the positioning and material supporting mechanism on the machine tool workbench is controlled to move below the grabbing device 20, the grabbing device 20 is controlled to move the jig 6 onto the material supporting plate 1 on the positioning and material supporting mechanism, the zero point quick-change device 5 is controlled to release the material supporting plate, and the driving cylinder 10 is controlled to drive the moving plate 8 and the material supporting plate 1 to move into a cabinet of the automatic material loading and unloading machine.
Further, step S13 is further included after step S12: the lifting plate is controlled to move downwards to a predetermined position so that the pallet is not blocked by the silo support plate 12 but moves onto the positioning pallet mechanism.
The invention also provides an automatic material conveying control system which comprises a positioning and material supporting mechanism, an automatic feeding and discharging machine, a grabbing device 20 and a controller, wherein the controller is used for executing the automatic material conveying control method.
It should be noted that the controller may be an external controller only responsible for executing steps S1, S2, S4 and S6, for example, it is installed inside the automatic loader-unloader 16, and the controller communicates with the controller of the machine tool itself in a connection manner and transmits control commands. The controller may also be an integrated controller that performs steps S1-S6, specifically, the controller of the present application is used to control the operation of the machine tool and the automatic loader/unloader 16 together.
In order to facilitate understanding of the control method and system, details of the corresponding mechanical system for implementing the control are described in structural principle.
Referring to fig. 1-4, a detailed description of the material handling mechanism and the positioning and holding mechanism follows.
The material conveying mechanism comprises a material supporting plate 1, a bin, a material moving claw 7, a moving plate 8, a driving cylinder 10, a sliding rail 9 and a feeding supporting plate 13, wherein the driving cylinder 10 and the sliding rail 9 are arranged on the feeding supporting plate 13, the feeding supporting plate 13 is a supporting part in an external cabinet (automatic feeding and discharging machine) and is used for supporting and fixing the driving cylinder 10 and the sliding rail 9, the bin comprises a bin supporting frame 11 and a bin supporting plate 12, the bin supporting plate 12 is used for supporting and accommodating the fixed material supporting plate 1, and the bin supporting frame 11 is used for supporting and fixing the bin supporting plate 12. The moving plate 8 is arranged on the feeding supporting plate 13 through a sliding rail 9, the moving plate 8 can slide along the sliding rail 9, and the feeding claw 7 is arranged on the moving plate 8.
The material moving claw 7 can convey the material supporting plate 7 to a positioning material supporting mechanism, the positioning material supporting mechanism comprises an incoming material supporting plate 2, a fixed bottom plate 3, a quick-change mounting plate 4, a vertical plate 41 and a zero point quick-change device 5, the fixed bottom plate 3 is arranged on a machine tool workbench 14, the vertical plate 41 is fixedly arranged on the fixed bottom plate 3, the quick-change mounting plate 4 is fixed on the vertical plate 41 in an adjustable relative position manner, the zero point quick-change device 5 is arranged on the quick-change mounting plate 4, and the incoming material supporting plate 2 is fixedly arranged on the quick-change mounting plate 4. The number of the feeding support plates 2 is 2, a plurality of pulleys 21 are further arranged on the feeding support plates 2, and the pulleys 21 are used for sliding and supporting the material supporting plates 1 to reduce friction. The quick change mounting panel 4 is provided with the altitude mixture control guide block 42, riser 41 is provided with altitude mixture control guide block holding tank, altitude mixture control screw (not shown) and altitude mixture control screw mounting hole 43, altitude mixture control screw passes altitude mixture control screw mounting hole 43 and with altitude mixture control guide block 42 threaded connection, rotatory altitude mixture control screw can realize the reciprocate of altitude mixture control guide block 42, drive quick change mounting panel 4 and zero point quick change device 5 reciprocate, so, the material supporting plate 1 who carries can all accurately cooperate with zero point quick change device 5 under the not high value condition, be unlikely to appear unable complex condition. Furthermore, a quick-change air supply connector 44 is provided on the quick-change mounting plate 4 so that the zero point quick-change device 5 is released or clamped by the introduction or disconnection of external air.
The material conveying mechanism is used for conveying the jig and the workpiece in the jig to the positioning and supporting mechanism, and of course, after the workpiece is conveyed to the positioning and supporting mechanism, the jig and the workpiece in the jig are still arranged on the supporting plate, that is, the supporting plate 1 is conveyed to the positioning and supporting mechanism together. Thus, the jig and the workpiece in the jig can move together with the positioning and supporting mechanism, and the positioning and supporting mechanism is mounted on the machine tool workbench 14, so that the positioning and supporting mechanism can move together with the machine tool workbench 14 after the machine tool workbench 14 obtains a moving instruction sent by the machine tool controller. It should be noted that, referring to fig. 5, a gripping device 20 is further provided on the machine tool, which is fixed on one side of the cutterhead and on the machine tool, and the gripping device can only move up and down (here, emphasis is given to moving up and down instead of moving left and right and back, and of course, the gripping device performs gripping actions including a rotation action and a tension action in addition to moving up and down), when the stand-by table 14 moves the positioning and holding mechanism and the holding plate 1 and makes any jig on the holding plate 1 move right under the gripping device 20, the gripping device 20 moves down and grips the jig on the holding plate 1, then the gripping device 20 moves up to a certain predetermined position, when the machine tool table 14 moves close to the gripping device 20, the second zero point quick-change device 15 on the stand-by table 14 is located right under the gripping device 20, the second zero point quick-change device 15 then clamps the jig and fixes it, after the above-mentioned jig is completed, the tool is controlled to move in accordance with a control program of a spindle of a machine tool, and the machine tool is controlled to be machined in accordance with a machining process. It should be noted that, the second zero point quick-change device 15 is different from the zero point quick-change device 5, and can also rotate by using a clamping jig, the structure is relatively more complex, the zero point quick-change device 5 is simple in structure and is only used for positioning and clamping the pallet 1, the second zero point quick-change device 15 is different from the zero point quick-change device 5 in the application, one is the clamping jig, and the other is the clamping pallet 1; the zero point quick-change device 5 and the second zero point quick-change device 15 can realize high-precision positioning and clamping. The gripping device of the present application, which is described in detail in other patents filed by the applicant, is not described in detail.
Referring to fig. 1-9, the bin comprises 4 stacked bin supporting frames 11 and a bin supporting plate 12, a through groove is formed in the center of a feeding supporting plate 13, the bin can move up and down through the through groove, after the bin moves to a preset position, a second driving cylinder assembly 22 drives a material moving claw 7 to enter a clamping state from an open state (see fig. 6, the material moving claw 7 can move along a guide rail 23), at the moment, the material moving claw is clamped into a guide accommodating groove 114 of a material supporting plate 1, and a moving plate 8 moves leftwards from an initial position on the right and drives the material moving claw 7 to move towards a positioning material supporting mechanism. It should be noted that after the pushing block 71 of the material moving claw 7 is clamped into the clamping groove of the material supporting plate 1, the material moving claw 7 can push the material supporting plate 1 to move leftwards, after the positioning chuck 113 of the material supporting plate 1 is clamped into the zero point quick-change device 5, the material supporting plate 1 stops moving, and then the zero point quick-change device 5 clamps and fixes the material supporting plate 1. When the material moving claw 7 clamps the material supporting plate 1, the pushing block 71 of the material moving claw 7 can be clamped into the clamping groove of the material supporting plate 1; the pushing block 71 may not be clamped into the clamping groove of the material supporting plate 1, and the material moving claw 7 is driven by the to-be-moved plate 8 to be clamped into the clamping groove of the material supporting plate 1 at a certain time point after the material supporting claw moves to the positioning material supporting mechanism in the guiding accommodating groove 114 of the material supporting plate 1. It should be noted that the number of the bin support frames 11 and the bin support plates 12 stacked in the bin may be selected according to the need, and the number may be 1 to N, where N is a natural number. Referring to fig. 2-1, 2-2, 2-3 and 9, the pushing block 71 on the material moving claw 7 is adjusted by the spring adjusting screw 73, the spring adjusting screw 73 is in threaded connection with the body of the material moving claw 7, the spring is sleeved on the spring adjusting screw 73 and can push the pushing block 71 to move outwards, and therefore the pushing block 71 can be clamped into the clamping groove of the material supporting plate 1, and the material moving claw 7 can push the material supporting plate 1 to move back and forth.
Referring to fig. 2-1, 2-2 and 2-3, a tray 1 is provided with a mounting hole and a concave elongated guiding accommodation groove 114, the mounting hole is used for mounting a positioning chuck 113, the positioning chuck is used for butting against a zero quick-change device 5 to clamp the tray 1, the guiding accommodation groove 114 is used for accommodating a moving claw 7 of a material conveying mechanism, the upper end of the guiding accommodation groove 114 is further provided with an inward concave clamping groove, the clamping groove is provided with a first limiting surface 115 and a second limiting surface 116, the first limiting surface 115 and the second limiting surface 116 are oppositely arranged, the first limiting surface 115 is used as a first stress surface when the tray 1 is driven, so that the tray 1 is driven to move along a first direction after being stressed, and the second limiting surface 116 is used as a second stress surface when the tray 1 is driven, so that the tray 1 is driven to move along a second direction opposite to the first direction. Thus, the material supporting plate 1 can realize feeding and discharging. The material supporting plate 1 further comprises a jig accommodating groove 117 and a guide pin 118, wherein the guide pin 118 is arranged on the bottom surface of the jig accommodating groove 117, and the guide pin 118 is used for guiding a jig so as to position the jig in the jig accommodating groove 117.
The pallet 1 further comprises a guiding and positioning groove 119, and the guiding and positioning groove 119 is used for positioning the pallet 1 on a positioning and supporting mechanism. In fig. 2-1, 2-2 and 2-3, 1 guide detent 119 is provided, opening downwards, which mates with a guide block (not shown) on a quick change mounting plate in the positioning and holding mechanism. Of course, referring to fig. 10, the shape and number of the guide positioning grooves 119 may be other types, for example, in fig. 10, the number of the guide positioning grooves 119 is 2. In fig. 11, the number of guide positioning pins 120 on the vertical plate 4 is 2, corresponding to the 2 guide positioning grooves in fig. 10.
It should be noted that the number of the zero point quick change devices 5 may be 1, or may be 2 or more, and the number may be adjusted according to the requirement. The number of zero point quick change devices 5 in fig. 2-1, 2-2 and 2-3 is 2, and the number of zero point quick change devices 5 in fig. 11 is 1.
The material supporting plate 1 may be an integral structure, or may be a material supporting front plate 111 and a material supporting rear plate 112, at this time, the material supporting front plate 111 is provided with a positioning chuck 113, and a guiding positioning groove 119 is provided on the material supporting front plate 111.
Further, referring to fig. 3 and 4, the present application also provides an automatic loader 16 comprising a lifting mechanism including a lifting bar 17 and a lifting plate (not shown) on which a silo is mounted, further on which a silo support plate 12 is mounted (in fig. 3 and 4, the lifting plate below the silo support frame 11 is not marked). The lifting plate can pass through the through groove arranged in the center of the feeding supporting plate 13 to move up and down so as to realize lifting, thereby conveying out materials of different layers in the stacked storage bins. Further, a connecting seat 18 is arranged on the outer side of the automatic feeding and discharging machine 16, and the automatic feeding and discharging machine 16 is fixedly connected with a machine tool 19 through the connecting seat 18. It should be noted that the number of the lifting rods 17 may be set according to actual needs, and the lifting rods 17 may be driven by hydraulic, pneumatic or electric, which is not limited.
The application uses the material conveying mechanism and positions and holds in the palm the material mechanism to carry on the tool and carry on the transport and position of the machined part, especially have adopted the zero point quick change device 5 and can go up and down to grasp the device in the material mechanism of holding in the palm, can position and carry tool and machined part to the preset position accurately and facilitate the subsequent processing, use three-dimensional robot arm to position and transport the mode of the tool and machined part on the production line, have low cost, the positioning accuracy of the zero point quick change device 5 has already met the requirement of processing completely, and after using the scheme of the application, do not need to because the movement of the machine tool apparatus or robot arm is moved misplaced and debugged repeatedly, it needs to be stated that the robot arm producer debugs on the scene, the engineer of the ordinary automated factory does not possess this ability, but the scheme of the application, use the zero point quick change device to position, use grasp and use the material conveying mechanism to realize grasping and transport with the up and down, the automation personnel of this set of equipment can finish by oneself, programming is relatively simple, large and convenient debugging. In summary, the solution of the present application has incomparable cost advantages, debugging and maintenance convenience over solutions that use robotic arms to achieve automated production. In particular, the application installs the zero point quick-change device on the machine tool workbench to realize the positioning and conveying of materials, and the arrangement of the grabbing device to realize the grabbing of the materials is an creative scheme completely different from the prior art. In addition, the machine tool workbench also participates in positioning (for example, the machine tool workbench needs to move so as to drive a zero point quick-change device arranged on the machine tool workbench to move to the position right below the grabbing device to realize the transfer of the jig), the positioning precision of the machine tool workbench is very high, that is, the high-precision positioning and conveying scheme of the machine tool workbench by using the zero point quick-change device and the machine tool workbench replaces the scheme of realizing positioning grabbing and conveying by using a robot mechanical arm in the prior art, and the automatic cost and reliability are not disadvantaged at all.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (11)
1. An automatic control method for material conveying, which is characterized by comprising the following steps: location holds in palm material mechanism and automatic unloader that goes up, location holds in palm material mechanism and includes zero point quick-change device, automatic unloader that goes up includes material conveying mechanism, material conveying mechanism include drive cylinder and with drive cylinder connects and by the support flitch that drive cylinder connects, include the following step:
s1, driving an air cylinder in a material conveying mechanism of an automatic feeding and discharging machine outside a control machine tool to drive a moving plate to convey a material supporting plate and a jig arranged on the material supporting plate to a positioning material supporting mechanism arranged on a machine tool workbench, wherein the jig is detachably arranged on the material supporting plate;
s2, controlling a zero point quick-change device of the positioning and material supporting mechanism to clamp the material supporting plate;
S4, controlling a grabbing device mounted on the machine tool to move downwards, grabbing a jig arranged on the material supporting plate, separating the jig from the material supporting plate and transferring the jig to the grabbing device, wherein the grabbing device only moves in the up-down direction, and the material supporting plate is positioned below the grabbing device;
S6, controlling the machine tool workbench to move, and moving a second zero point quick-change device mounted on the machine tool workbench to the lower part of the grabbing device, wherein the grabbing device mounts the jig on the second zero point quick-change device.
2. The automatic material conveying control method according to claim 1, further comprising step S3 between steps S2 and S4:
Controlling the machine tool workbench to move so that the material supporting plate on the positioning material supporting mechanism moves to the lower part of the grabbing device, wherein the grabbing device is fixedly arranged in the machine tool;
Further comprising step S5 between steps S4 and S6: and controlling the machine tool workbench to move so as to drive a second zero point quick-change device arranged on the machine tool workbench to move below the grabbing device.
3. The automatic control method for material conveying according to claim 1, wherein the automatic loading and unloading machine comprises a material conveying mechanism and a lifting mechanism, and the material conveying mechanism further comprises: the material moving claw is arranged on the moving plate, the material supporting plate is arranged on the material bin, the lifting mechanism comprises a lifting rod and a lifting plate, the lifting plate is arranged on the lifting rod, and the material bin is arranged on the lifting plate; the material supporting plate is also provided with an inwards concave clamping groove, the material moving claw is provided with a pushing block, and before the step S1, the material supporting plate further comprises:
S11, controlling a lifting rod and a lifting plate in the automatic feeding and discharging machine to move to a preset position;
S12, controlling a material moving claw in the material conveying mechanism to clamp the material supporting plate from two sides and enabling a pushing block on the material moving claw to be clamped into a clamping groove of the material supporting plate.
4. The automatic material conveying control method according to claim 1, wherein in step S2, the positioning and material supporting mechanism clamps the material supporting plate, specifically, the zero point quick-changing device of the positioning and material supporting mechanism clamps a positioning chuck arranged on the material supporting plate.
5. The automatic material conveying control method according to claim 1, characterized in that in step S3, the pallet on the positioning pallet mechanism is moved to below the gripping device, in particular, the jig on the pallet is moved to below the gripping device.
6. The automatic material conveying control method according to claim 2, wherein in step S3, the machine tool table is controlled to move, in particular, to perform two-dimensional movement on a plane, so that jigs at different positions are moved to a position below the gripping device.
7. The automatic control method for material conveying according to claim 1, wherein step S1 is specifically to control a driving cylinder to drive a moving plate and the material supporting plate to move so as to move the material supporting plate to the positioning material supporting mechanism, trigger a contact switch or a sensor near the driving cylinder when the driving cylinder moves to a preset position, and control the driving cylinder to stop working after receiving a signal of the contact switch or the sensor.
8. The automatic material conveying control method according to claim 2, wherein after step S6 is completed, the machine tool is controlled to process the workpiece in the jig, and after the processing is completed, step S7 is performed:
The control machine tool workbench is provided with a second zero quick-change device and a jig, the second zero quick-change device and the jig are controlled to move to the lower part of the grabbing device, the grabbing device is controlled to grab the jig, the positioning material supporting mechanism on the machine tool workbench is controlled to move to the lower part of the grabbing device, the grabbing device is controlled to move to the jig to the material supporting plate on the positioning material supporting mechanism, the zero quick-change device is controlled to release the material supporting plate, and a driving cylinder is controlled to drive a moving plate and the material supporting plate to move to a cabinet of the automatic material loading and unloading machine.
9. The automatic material conveying control method according to claim 3, wherein the bin comprises a bin support plate mounted on a lifting plate, the bin support plate being used for supporting and accommodating a fixed material supporting plate, and further comprising the step S13 after the step S12 of:
And controlling the lifting plate to move downwards to a preset position, so that the material supporting plate is not blocked by the material bin supporting plate and moves to the positioning and material supporting mechanism.
10. The automatic control method for material conveying according to claim 3, wherein the material supporting plate is provided with a guiding accommodation groove for accommodating the material moving claw, the guiding accommodation groove is further provided with an inward concave clamping groove, and the step S12 is specifically as follows:
and controlling the moving claw in the material conveying mechanism to be clamped into the guide accommodating groove in the material supporting plate from two sides of the material supporting plate, and controlling the moving plate to move towards the positioning material supporting mechanism so as to drive the moving claw to extend into the guide accommodating groove in the material supporting plate until the pushing block on the moving claw is clamped into the clamping groove on the guide accommodating groove.
11. An automatic control system for material conveying, comprising a positioning and material supporting mechanism, an automatic feeding and discharging machine, a grabbing device and a controller, wherein the controller is used for executing the automatic control method for material conveying according to any one of claims 1-8.
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| CN217728013U (en) * | 2022-04-02 | 2022-11-04 | 科益展智能装备有限公司 | Hold in palm flitch, material conveying mechanism and automatic feeding blanking machine |
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| JPH10138078A (en) * | 1996-11-08 | 1998-05-26 | Eguro:Kk | Work stock device |
| JP2011079114A (en) * | 2009-10-09 | 2011-04-21 | Makino Milling Mach Co Ltd | Machine tool and pallet |
| CN110539141A (en) * | 2018-07-02 | 2019-12-06 | 蓝思智能机器人(长沙)有限公司 | A product decoration installation equipment and installation method |
| CN112209144B (en) * | 2020-10-23 | 2024-09-13 | 广东格林精密部件股份有限公司 | Automatic production line and production method for wrapping cloth products |
| CN113021765B (en) * | 2021-03-16 | 2024-11-05 | 东莞市欧希德精密模具有限公司 | A key cap fixture automatic feeding machine |
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