AU2021203769B2 - Automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining turning tool bit mold cavity - Google Patents

Automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining turning tool bit mold cavity Download PDF

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AU2021203769B2
AU2021203769B2 AU2021203769A AU2021203769A AU2021203769B2 AU 2021203769 B2 AU2021203769 B2 AU 2021203769B2 AU 2021203769 A AU2021203769 A AU 2021203769A AU 2021203769 A AU2021203769 A AU 2021203769A AU 2021203769 B2 AU2021203769 B2 AU 2021203769B2
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material tray
cutter
machining
module
materials
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AU2021203769A1 (en
Inventor
Huajun Cao
Shuai Chen
Xin CUI
Teng GAO
Huaping HONG
Weixi JI
Changhe LI
Haogang LI
Mingzheng LIU
Bingheng LU
Huiming Luo
Liang LUO
Wuxing MA
Lizhi TANG
Binhui WAN
Haizhou XU
Jie Xu
Min Yang
Yuying YANG
Shuo YIN
Yanbin Zhang
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Qingdao University of Technology
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Qingdao University of Technology
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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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means
    • B23Q3/08—Work-clamping means other than mechanically-actuated
    • B23Q3/082—Work-clamping means other than mechanically-actuated hydraulically actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention discloses an automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity, adopting the technical solution that the automatic unstacking-stacking loading and unloading intelligent self detection production line for machining a turning tool bit mold cavity includes a material tray laminated assembly body, a material management system, a robot, a transfer station, a machining center, a cutter on-machine detection system and a protective fence. The material management system and a plurality of machining centers are uniformly arranged in a circumference direction by using the robot as the center. The transfer station is disposed between the machining center and the protective fence, and the cutter on-machine detection system is connected to the machining center. The material tray laminated assembly body is configured to carry cutter materials. The material management system is capable of unstacking the material tray laminated assembly body containing blank materials and output the material tray laminated assembly body containing finished product materials. A multi-station air detection hydraulic clamp is mounted inside the machining center, and the cutter on-machine detection system is capable of precisely detect the cutter materials in the limited inside space of the machining center on machine. The present invention has a compact structure, reduces space waste, and can improve the operation efficiency of the robot on each of other parts at the same time. 1/16 FIG. 1 FIG. 2

Description

1/16
FIG. 1
FIG. 2
AUTOMATIC UNSTACKING-STACKING LOADING AND UNLOADING INTELLIGENT SELF-DETECTION PRODUCTION LINE FOR MACHINING TURNING TOOL BIT MOLD CAVITY BACKGROUND
Technical Field
[0001] The present invention relates to the field of an intelligent machining production line, and particularly relates to an automatic unstacking-stacking loading and unloading intelligent self detection production line for machining a turning tool bit mold cavity.
Related Art
[0002] Manufacturing industry, as a pillar industry of the national economy at present, is an important index for measuring the comprehensive strength of a country. China is a major country in the manufacturing industry, and mainly relies on machine tool machining in the field of machinery manufacturing presently, having high demands for machine tool cutters every year. A turning tool is the most widely used cutter in the use of all machine tool cutters, and turning is also one of the most commonly used machining methods, which is widely used. With the rapid development of the manufacturing industry level in China, there are increasing demands for turning tools in the manufacturing field. The turning tools can be categorized as integral turning tools, welding turning tools, machine clamping turning tools, indexable turning tools, and forming turning tools structurally. The application of the indexable turning tools is increasingly extensive, with increasing proportion in the turning tools, and the demands for tool bars corresponding to the indexable turning tools is also remarkably increased. According to a traditional turning tool production process in China, a worker manually puts blank cutter materials into a clamp, positions and clamps the blank cutter materials as a matter of experience, and then starts a machining center to machine. After the machining center completes one machining cycle, the worker takes finished product materials away, then puts the blank materials into the machining center, and controls the machining center to machine the blank materials, and so on. Since the worker positions and clamps the blank cutter materials according to their experience, the quality of the processed cutter is poor. Additionally, the abrasion state of the cutter in the machining center cannot be detected in the machining process, so that the quality of the machined cutter cannot be ensured. Furthermore, with the continuous increasing of the demands for the turning tools and the continuous increasing of labor cost, a traditional manual loading and unloading mode is labor intensive, which seriously obstructs the production efficiency and economic performance improvement. More seriously, when the worker is directly in contact with a machine tool, there may be a personnel safety problem caused by improper operation. Now, as the technology of an automatic production line is continuously improved and the labor cost is continuously increased, the turning tools are mostly machined by a production line consisting of a robot and a machining center. The problems above are relieved by this way, but are not completely solved. The current production line for machining the turning tools mainly have the following problems: (1) The production line can only produce cutter materials of a single model, and relevant mechanisms need to be used if cutter materials of other models need to be produced. (2) When the worker supplies and takes materials, the waiting time of the production line is too long; the single material supply and taking efficiency of the worker is low. During manual material supply and taking, the worker is too close to a machine, and has less protection, so that there may be the personal safety problem. A robot work region is not isolated from a worker work region, which is prone to accident. (3) The single input quantity of blank materials into the production line or the single output quantity of finished product materials from the production line cannot be flexibly adjusted according to order requirements. (4) When one machining center is abnormal, the whole production line needs to be stopped by the worker during repair. (5) Before machining, the production line cannot detect whether the positioning and clamping of the materials are reliable or not, so that the product quality cannot be guaranteed. (6) At present, the detection on the cutter in the machining center mostly adopts off machine detection after the cutter is dismounted, the detection process is troublesome, the detection efficiency is low. Few production lines adopt on-machine detection. However, the cutters of different models cannot be detected, only single cutter sides can be detected, the detection accuracy cannot be guaranteed, and the detection efficiency is low. (7) The structure of the production line is not compact, which causes serious space waste.
[0003] In order to solve the above problems, an intelligent production line with high efficiency, high intelligence, high adaptability, and a detection function is urgently needed in the turning tool production industry at present.
[0004] Yin Ronghao in Guangdong Bo Langte Intelligent Equipment Co., Ltd invented a loading and unloading apparatus using one robot to three turning machines. The apparatus includes a machine frame, a robot and three turning machines with one ends open. A machine frame plate matched with the machine frame is fixedly connected to the upper surface of the machine frame, and two product positioning plates are fixedly connected to the upper surface of the machine frame plate. According to the utility model, a six-axis industrial robot grasps blank materials from the positioning plates by a tool, moves to the turning machines to take out machined finished products, and puts the blank materials into the turning machines for machining to complete the loading and unloading work, which replaces manual operation. One robot supplies the materials to the three turning machines for machining. Therefore, the efficiency is high, the quality is stable, the manual errors are reduced, the problems of complicity, low efficiency, high work intensity and the like of manual production are solved, and the automation functions of continuity, high efficiency, and high quality are realized.
[0005] Although loading and unloading apparatus solves the problems of complicity, low efficiency, high work intensity and the like of manual production, the production line has no detection function, the processing quality of the blank materials cannot be guaranteed, and the whole production line can only be used to machine the materials of the specific model.
[0006] Wu Guangming et al. in Dongguan Public Training Center for Hi-skilled Workers invented a numerically-controlled machine tool machining automatic production line, including a six-axis robot, a material clamp fixed to a robotic arm of the six-axis robot, three numerically controlled machine tools positioned around the six-axis robot and a material machine tool. The material machine tool is positioned at the front end of the six-axis robot, the three numerically controlled machine tools and the material machine tool are pairwise symmetrical and are vertically distributed on the periphery of the six-axis robot. The six-axis robot is provided with a 360 rotating robotic arm, and the 360° rotating robotic arm can grasp a workpiece to be machined on the material machine tool onto the three numerically-controlled machine tools. The utility model has reasonable structure and space-saving position layout, and one robot is in charge of the loading and unloading of the three numerically-controlled machine tools. Therefore, the machining efficiency of the product is improved, the labor cost is reduced, the incidence rate of safety accidents is reduced, and the machining precision and quality of the product are improved.
[0007] Although, this production line improves the machining efficiency of the product, saves the labor cost, and reduces the incidence rate of safety accidents, a material tray on a material platform can only carry the materials of specified models, and the material tray needs to be replaced if the materials of other models need to be machined. Additionally, the cutter in the machine tool cannot be precisely detected on-line in time, and the product quality cannot be ensured.
[0008] Based on the above, a modern production line for machining a turning tool bit mold cavity should have the following characteristics: (1) Cutter materials of various models can be produced. (2) During the production line operation by the worker, the personnel safety of the worker can be protected to the maximum degree. (3) A highly automatic material management system is provided, which can realize the function of ordered material supply, and reduce unnecessary manual intervention time in the production line. At the same time, the manual intervention efficiency is improved. Additionally, the single input quantity of blank materials into the production line or the single output quantity of finished product materials from the production line can be flexibly adjusted according to order requirements. (4) The material supply and taking time by the worker and the processing time are staggered, and thus the waiting time of the production line in the material supply and taking process by the work is reduced. (5) The production line can achieve the detection on the clamping and positioning of the clamp to ensure the processing quality of the product. (6) When one machining center is abnormal, the normal operation of other parts of the production line is not influenced. (7) An efficient and precise cutter on-machine detection system is provided to ensure the product quality. (8) The structure of the production line is compact, reducing the space waste.
However, relevant production lines are incomplete, and commonly have the defects of single machining model, no high-automation material management system, incapability of ensuring the personnel safety of the worker, incapability of detecting the positioning and clamping of the materials and the cutter state, non-compact structure of the production line and the like.
SUMMARY
[0009] It is an object of the present invention to overcome or ameliorate at least one of the disadvantages of the prior art, or to provide a useful alternative.
[0010] Aiming at the defects in the prior art, an objective of the present invention, in at least one preferred form, is to provide an automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity. The production line has a compact structure, reduces space waste, and can improve the operation efficiency of a robot on other parts at the same time.
[0011] According to one aspect, the present invention provides an automatic unstacking stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity, comprising a material tray laminated assembly body, a material management system, a robot, a transfer station, a machining center, a cutter on-machine detection system, and a protective fence, wherein the material management system and a plurality of machining centers are uniformly arranged in a circumference direction by using the robot as the center; the transfer station is disposed between the machining center and the protective fence, and the cutter on machine detection system is connected to the machining center; wherein the material tray laminated assembly body is configured to carry cutter materials of different models, the material management system is capable of unstacking the input material tray laminated assembly body containing blank materials to form single material trays supplied to the robot, and is capable of stacking material trays containing finished product materials to output the material tray laminated assembly body containing the finished product materials; the robot is configured to realize material exchange among a material table, the transfer station and the machining center; a multi-station air detection hydraulic clamp configured to clamp the materials is mounted inside the machining center, and through the multi-station air detection hydraulic clamp, a positioning and clamping state of the materials is capable of being detected; and the cutter on- machine detection systems is capable of precisely detect the cutter materials on machine in the limited inside space of the machining center.
[0012] An embodiment of the present invention provides the automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity includes a material tray laminated assembly body, a material management system, a robot, a transfer station, a machining center, a cutter on-machine detection system and a protective fence. The material management system and a plurality of machining centers are uniformly disposed in a circumference direction with the robot as the center. The transfer station is disposed between the machining center and the protective fence, and the cutter on-machine detection system is connected to the machining center.
[0013] The material tray laminated assembly body is configured to carry cutter materials of different models, the material management system is capable of unstacking the input material tray laminated assembly body containing blank materials to form single material trays supplied to the robot, and is capable of stacking material trays containing finished product materials to output the material tray laminated assembly body containing the finished product materials. The robot is configured to realize material exchange among a material table, the transfer station and the machining center.
[0014] A multi-station air detection hydraulic clamp configured to clamp the materials is mounted inside the machining center, and through the multi-station air detection hydraulic clamp, a positioning and clamping state of the materials can be detected. The cutter on-machine detection system is capable of precisely detect the cutter materials on machine in limited inside space of the machining center.
[0015] As a further implementation, the material tray laminated assembly body includes a plurality of stacked material trays. A plurality of stations are processed on the material trays, and a plurality of positioning grooves configured to limit material positions are formed in each of the stations, and can position and convey the cutter materials of various models. The surface of the material tray is provided with a material tray positioning block, and a material tray positioning groove matched with the material tray positioning block is disposed under the material tray positioning block.
[0016] As a further implementation, the material management system includes a material tray input and output platform, a material tray lifting platform, a material tray grasping and releasing platform, a material table and a material tray releasing platform, and the material tray lifting platform and the material tray releasing platform are embedded in the material tray input and output platform. The material table is disposed behind the material tray input and output platform, and the material tray grasping and releasing platform is disposed above the material tray input and output platform and the material table.
[0017] As a further implementation, the material tray input and output platform includes a belt input module, a belt output module and a plurality of diffuse reflection sensors. The belt input module and the belt output module are mounted side by side. The plurality of diffuse reflection sensors are disposed above the belt input module and the belt output module. The diffuse reflection sensor is connected to a computer, and the computer controls the material management system to perform unstacking and stacking by analyzing a signal transmitted from the diffuse reflection sensor. The diffuse reflection sensor is disposed at a lateral side of the belt output module, and is configured to detect whether the finished product materials are completely output or not.
[0018] As a further implementation, the material tray lifting platform includes a motor lead screw module, a material tray support table and a belt auxiliary mechanism. The motor lead screw module is connected to the material tray support table, and the motor lead screw module is capable of driving the material tray support table to ascend and descend. The belt auxiliary mechanism is arranged under the material tray support table so as to reduce friction of the material tray moving to the material tray support table, and further provide power for the input of the material tray laminated assembly body. A photoelectric sensor is mounted at the side surface of the motor lead screw module, a trigger sheet is mounted at the side surface of the material tray support table, and the material tray support table is controlled for feeding by detecting the position of the trigger sheet. A diffuse reflection sensor is mounted on the material tray support table for detecting whether the blank materials are input in place or not.
[0019] As a further implementation, the material tray grasping and releasing platform includes a material tray grasping and releasing manipulator, an X axis displacement module, a Z axis displacement module and a Y axis displacement module. The material tray grasping and releasing manipulator is connected to the Z axis displacement module. The Z axis displacement module is connected to the X axis displacement module through the Y axis displacement module. The material table includes an upper layer material tray push-pull module and a lower layer material tray push-pull module. The upper layer material tray push-pull module is mounted above the lower layer material tray push-pull module, and the two layers of material tray push-pull modules can alternately supply materials to the robot. The material tray releasing platform includes a motor lead screw module, a material tray support table and a friction reduction belt mechanism. The material tray support table is connected to the motor lead screw module, and the friction reduction belt mechanism is arranged under the material tray support table so as to reduce the moving friction of the material trays on the material tray support table. A trigger sheet is disposed at one side of the material tray support table, a photoelectric sensor is disposed at the side surface of the motor lead screw module, and the computer detects the position of the trigger sheet through the photoelectric sensor so as to control the material tray support table to discharge materials. A middle position limiting sensor is configured to detect whether the material trays stacked on the material tray support table reach a specified quantity or not, and the single output quantity of the material trays output from the material tray releasing platform can be controlled by changing the installation position of the middle position limiting sensor.
[0020] As a further implementation, the robot includes a plurality of uniformly arranged clamping jaws, and an air spray nozzle is mounted behind the clamping jaw for clearing cuttings. A laser detection device is mounted between the clamping jaws. The laser detection device includes a laser detector, and a dustproof end cover capable of being opened and closed is mounted at the front end of the laser detector.
[0021] As a further implementation, the cutter on-machine detection system includes a driving device, a connecting plate and an image acquisition device. One end of the connecting plate is connected to the driving device, and the driving device can drive the connecting plate to rotate and also can drive the connecting plate to vertically move. The image acquisition device is mounted at the other end of the connecting plate for acquiring image information of the cutter.
[0022] As a further implementation, the driving device includes a motor lead screw module, a lifting table, a rotating mechanism and a telescopic rod. The lifting table is connected to the motor lead screw module. The rotating mechanism is fixed above the lifting table and is connected to the connecting plate, and a plurality of telescopic rods are connected to the lifting table. An annular sliding rail is mounted under the lifting table, and the annular sliding rail is connected to the connecting plate through a sliding table. The image acquisition device includes a cutter side edge and diameter image acquisition mechanism, a cutter end surface image acquisition mechanism and a focal length adjusting mechanism. The cutter side edge and diameter image acquisition mechanism is fixed above the focal length adjusting mechanism, and the cutter end surface image acquisition mechanism is mounted at the center position of the focal length adjusting mechanism.
[0023] As a further implementation, a safety door and a forbidden door are disposed at the side surface of the protective fence corresponding to the machining center. The safety door is configured to isolate a robot operation region from a manual operation region, and the forbidden door is configured to isolate an abnormal machining center from the production line.
[0024] The embodiments of the present invention have the following beneficial effects: (1) Various parts of the present invention are annularly and uniformly arranged in a circumference direction by using the robot as the center, so that the structure of the production line is compact, the space waste is reduced, and at the same time, the operation efficiency of the robot on other parts can be improved. (2) In the whole production process of the present invention, a worker only needs to put the material tray laminated assembly body containing the blank materials onto the belt input module, and then take away the material tray laminated assembly body containing the finished product materials from the belt output module, such that the labor is liberated from the production process to a maximum degree, and unnecessary manual intervention time is reduced. (3) According to the present invention, when the worker places and takes the materials, a laminated material tray form is adopted, and the worker can operate a plurality of material trays at a time, such that the manual intervention frequency is obviously reduced, and the manual intervention efficiency is increased. (4) The material trays of the present invention can reliably support and convey the materials of different specifications, and the robot of the present invention can clamp the materials of different specifications, such that the production line can produce cutter materials of different models without transformation, and the application range of the production line is wide. (5) The protective fence of the present invention can isolate the robot operation region from the manual operation region to protect the personnel safety of the worker, and at the same time, and an abnormal machining center can be isolated from the protection line by the protective fence without affecting the continuous operation of other normal parts of the production line. (6) The layout arrangement of each part of the material management system of the present invention mostly adopts an embedded layout, the space is compact, and the space utilization rate is high. The material management system is highly automated, and can automatically complete the unstacking and stacking of the material tray and continuously supply materials to a rear robot, so that the waiting time of the robot is obviously reduced, and the loading, unloading and production efficiency of the production line is improved. The material management system can flexibly adjust the single input quantity of the material trays into or single output quantity from the system according to different order amounts. (7) The laser detection device, the clamping jaw and the air spray nozzle are mounted on the robot of the present invention. The detector in the laser detection device can detect the position of the cutter material before the cutter material is clamped by the clamping jaw, so that the clamping reliability is improved. The air spray nozzle is configured to clean cuttings on the positioning table to ensure that the cutter material can be accurately positioned. The laser detection device can effectively avoid a laser detector lens from being polluted. (8) The transfer station of the present invention can transfer the materials, so that the loading and unloading waiting time of the machining center is saved, and the material is secondarily positioned. The multi-station air detection hydraulic clamp disposed inside the machining center can position and clamp a plurality of workpieces at a time, such that the positioning and clamping efficiency is high, and the positioning and clamping of the cutter material can be detected, and the machining quality of the production line is ensured. (9) The cutter on-machine detection systems of the present invention have a fully automatic focal length adjusting function without manual participation in the detection process, such that in a limited inside space of the machining center, images of end surfaces, each side edge and the diameter of the cutters of different models can be precisely acquired, and further, the rear cutter surfaces of each cutting edge, the sub rear cutter surface abrasion and the cutter models of the cutters of different models can be precisely detected on machine detection. The production quality is ensured, the system is suspended on the top of the machining center through screw bolts, thus not affecting the operation of the machining center in non-operating time.
BRIEF DESCRIPTION OF THE DRAWINGS
[0025] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary examples of the present invention and descriptions thereof are used to explain the present invention, and do not constitute an improper limitation of the present invention.
[0026] FIG. 1 is an axonometric diagram according to one or a plurality of implementations of the present invention.
[0027] FIG. 2 is an exploded view of a material management system according to one or a plurality of implementations of the present invention.
[0028] FIG. 3 is an axonometric diagram of a material tray laminated assembly body according to one or a plurality of implementations of the present invention.
[0029] FIG. 4 is an axonometric diagram of a cutter material according to one or a plurality of implementations of the present invention.
[0030] FIG. 5 is an axonometric diagram 1 of a material tray according to one or a plurality of implementations of the present invention.
[0031] FIG. 6 is an axonometric diagram 2 of a material tray according to one or a plurality of implementations of the present invention.
[0032] FIG. 7 is an axonometric diagram of a material tray input and output platform according to one or a plurality of implementations of the present invention.
[0033] FIG. 8 is an axonometric diagram of a material tray lifting platform according to one or a plurality of implementations of the present invention.
[0034] FIG. 9 is an axonometric diagram of a motor lead screw module according to one or a plurality of implementations of the present invention.
[0035] FIG. 10 is an axonometric diagram of a belt auxiliary mechanism according to one or a plurality of implementations of the present invention.
[0036] FIG. 11 is an axonometric diagram of a material tray grasping and releasing platform according to one or a plurality of implementations of the present invention.
[0037] FIG. 12 is an axonometric diagram of a material tray grasping and releasing manipulator according to one or a plurality of implementations of the present invention.
[0038] FIG. 13 is an axonometric diagram of a groove hook according to one or a plurality of implementations of the present invention.
[0039] FIG. 14 is an axonometric diagram of a Z axis displacement module according to one or a plurality of implementations of the present invention.
[0040] FIG. 15 is a diagram of assembling the Z axis displacement module, a Y axis displacement module and the material tray grasping and releasing manipulator according to one or a plurality of implementations of the present invention.
[0041] FIG. 16 is an axonometric diagram of an X axis displacement module according to one or a plurality of implementations of the present invention.
[0042] FIG. 16(a) is a partial enlarged view of A in FIG. 16.
[0043] FIG. 17 is an axonometric diagram of a material table according to one or a plurality of implementations of the present invention.
[0044] FIG. 18 is an axonometric diagram of an upper layer material tray push-pull module according to one or a plurality of implementations of the present invention.
[0045] FIG. 19 is an axonometric diagram of a lower layer material tray push-pull module according to one or a plurality of implementations of the present invention.
[0046] FIG. 20 is an axonometric diagram of a material tray releasing platform according to one or a plurality of implementations of the present invention.
[0047] FIG. 21 is an exploded view of a material tray support table according to one or a plurality of implementations of the present invention.
[0048] FIG. 22 is an axonometric diagram of a robot according to one or a plurality of implementations of the present invention.
[0049] FIG. 22 (a) is a partial enlarged view of A in FIG. 23.
[0050] FIG. 23 is an axonometric diagram of a laser detection device according to one or a plurality of implementations of the present invention.
[0051] FIG. 24 is an axonometric diagram of a transfer station according to one or a plurality of implementations of the present invention.
[0052] FIG. 25 is an axonometric diagram of a machining center according to one or a plurality of implementations of the present invention.
[0053] FIG. 26 is an axonometric diagram of a multi-station air detection hydraulic clamp according to one or a plurality of implementations of the present invention.
[0054] FIG. 27 is an axonometric diagram of assembling a positioning table and an end surface clamping mechanism according to one or a plurality of implementations of the present invention.
[0055] FIG. 28 is an axonometric diagram of an upper side clamping mechanism according to one or a plurality of implementations of the present invention.
[0056] FIG. 29 is a schematic diagram of detecting a cutter by a cutter on-machine detection system according to one or a plurality of implementations of the present invention.
[0057] FIG. 30 is a schematic diagram of retreating the cutter on-machine detection system back to a safe position when not working according to one or a plurality of implementations of the present invention.
[0058] FIG. 31 is an exploded view of the cutter on-machine detection system according to one or a plurality of implementations of the present invention.
[0059] FIG. 32 is an axonometric diagram of a driving device according to one or a plurality of implementations of the present invention.
[0060] FIG. 33 is an axonometric diagram of a rotating mechanism according to one or a plurality of implementations of the present invention.
[0061] FIG. 34 is an axonometric diagram of a connecting plate according to one or a plurality of implementations of the present invention.
[0062] FIG. 35 is an axonometric diagram of an image acquisition device according to one or a plurality of implementations of the present invention.
[0063] FIG. 36 is an exploded view of the image acquisition device according to one or a plurality of implementations of the present invention.
[0064] FIG. 37 is a schematic diagram 1 of driving a double-shaft sliding block by a guide tray to move in a radial direction of the guide tray according to one or a plurality of implementations of the present invention.
[0065] FIG. 38 is a schematic diagram 2 of driving the double-shaft sliding block by the guide tray to move in the radial direction of the guide tray according to one or a plurality of implementations of the present invention.
[0066] FIG. 39 is an axonometric diagram of a cutter end surface image acquisition mechanism according to one or a plurality of implementations of the present invention.
[0067] FIG. 40 is an axonometric diagram of a cutter side edge and diameter image acquisition mechanism according to one or a plurality of implementations of the present invention.
[0068] FIG. 41 is an axonometric diagram of a protective fence according to one or a plurality of implementations of the present invention.
[0069] FIG. 42 is an axonometric diagram 1 of a safety door according to one or a plurality of implementations of the present invention.
[0070] FIG. 42(a) is an axonometric diagram 2 of the safety door according to one or a plurality of implementations of the present invention.
[0071] FIG. 42(b) is a partial enlarged view of A in FIG. 42.
[0072] FIG. 43 is an axonometric diagram of a forbidden door in an open state according to one or a plurality of implementations of the present invention.
[0073] FIG. 44 is an axonometric diagram of the forbidden door in a closed state according to one or a plurality of implementations of the present invention.
[0074] FIG. 45 is a working flowchart of a production line according to one or a plurality of implementations of the present invention.
[0075] FIG. 45(a) is a working flowchart of the material management system according to one or a plurality of implementations of the present invention.
[0076] In the drawings, I material tray laminated assembly body, 11 material management system, III robot, IV transfer station, V machining center, VI cutter on-machine detection system, and VII protective fence.
[0077] 1-01 cutter material, 1-02 material tray, 1-0201 material tray positioning block, 1-0202 grasping groove, 1-0203 material tray positioning block, 1-0204 material tray positioning groove, and 1-0205 material tray positioning groove.
[0078] 11-01 material tray input and output platform, 11-02 material tray lifting platform, 11-03 material tray grasping and releasing platform, 11-04 material table, and 11-05 material tray releasing platform.
[0079] 111-01 clamping jaw, 111-02 laser detection device, 111-03 wire concentrator, and 111-04 air spray nozzle.
[0080] V-01 multi-station air detection hydraulic clamp, V-02 L-shaped trigger block, V-03 L shaped trigger block, V-04 hydraulic station, V-05 air cylinder, V-06 proximity sensor, V-07 proximity sensor, V-08 proximity sensor, V-09 proximity sensor, and V-10 air cylinder.
[0081] VI-01 driving device, VI-02 connecting plate, VI-03 image acquisition device, and VI-04 machining center cutter.
[0082] VII-01 safety door, and VII-02 forbidden door.
[0083] 11-01-01 diffuse reflection sensor, 11-01-02 belt input module, 11-01-03 diffuse reflection sensor, 11-01-04 diffuse reflection sensor, 11-01-05 belt output module, and 11-01-06 diffuse reflection sensor; 11-02-01 motor lead screw module, 11-02-02 U-shaped photoelectric sensor, 11-02 03 diffuse reflection sensor, 11-02-04 trigger sheet, 11-02-05 U-shaped photoelectric sensor, 11-02 06 material tray support table, and 11-02-07 belt auxiliary mechanism; 11-03-01 material tray grasping and releasing manipulator, 11-03-02 Z axis displacement module, 11-03-03 Y axis displacement module, and 11-03-04 X axis displacement module; 11-04-01 upper layer material tray push-pull module, and 11-04-02 lower layer material tray push-pull module; 11-05-01 motor lead screw module, 11-05-02 U-shaped photoelectric sensor, 11-05-03 trigger sheet, 11-05-04 U-shaped photoelectric sensor, 11-05-05 U-shaped photoelectric sensor, 11-05-06 triangular table, 11-05-07 rodless air cylinder, 11-05-08 friction reduction belt mechanism, 11-05-09 material tray support table, and 11-05-10 pushing plate.
[0084] 111-02-01 air cylinder, 111-02-02 reset spring, 111-02-03 jacking rod, 111-02-04 dustproof end cover, and 111-02-05 laser detector.
[0085] V-01-01 positioning table, V-01-02 end surface clamping mechanism, V-01-03 upper side clamping mechanism, V-01-04 pin shaft, V-01-05 V-shaped clamping block, V-01-06 upper clamping arm, V-01-07 hydraulic cylinder piston rod, and A-E air outlet hole.
[0086] VI-01-01 motor lead screw module, VI-01-02 telescopic rod, VI-01-03 rotating mechanism, VI-01-04 lifting table, VI-01-05 annular guide rail, VI-01-06 sliding table, VI-03-01 guide tray, VI-03-0101 guide groove, VI-03-0102 guide groove, VI-03-02 shaft shoulder screw, VI 03-03 lug boss gear, VI-03-04 external tooth rotary bearing, VI-03-05 round fixing plate, VI-03-06 adjustable-speed motor, VI-03-07 cutter end surface image acquisition mechanism, VI-03-08 retainer, VI-03-09 arc-shaped connecting rod, VI-03-10 double-shaft sliding block, VI-03-11 shaft shoulder screw, VI-03-12 support plate, and VI-03-13 cutter side edge and diameter image acquisition mechanism.
[0087] VII-01-01 metal plate, VII-01-02 magnetic lock, VII-01-03 electromagnetic switch, VII-01 04 safety door socket, VII-01-05 safety door bolt, VII-02-01 forbidden door socket, VII-02-02 forbidden door bolt, VII-02-03 forbidden door bolt, and VII-02-04 forbidden door socket.
[0088] 11-03-01-01 groove hook, 11-03-01-0101 positioning groove, 11-03-01-02 guide rod air cylinder, 11-04-01-01 air cylinder sensor, 11-04-01-02 rodless air cylinder, 11-04-01-03 material tray placing plate, 11-04-01-04 air cylinder sensor, 11-04-02-01 air cylinder sensor, 11-04-02-02 rodless air cylinder, 11-04-02-03 air cylinder sensor, and 11-04-02-04 material tray placing plate.
[0089] VI-01-03-01 adjustable-speed motor, VI-01-03-02 coupling, VI-01-03-03 motor retainer, VI-01-03-04 rotating shaft, VI-03-07-01 brightness adjustable annular light source, VI-03-07-02 industrial camera, VI-03-07-03 hinge lifting mechanism, VI-03-13-01 brightness adjustable annular light source, VI-03-13-02 industrial camera, and VI-03-13-03 motor lead screw module.
DETAILED DESCRIPTION
Embodiment 1:
[0090] The present embodiment provides an automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity, as shown in FIG. 1, including a material tray laminated assembly body 1, a material management system II, a robot III, a transfer station IV, a machining center V, a cutter on-machine detection system VI and a protective fence VII. The protective fence VII is disposed at the outer side of the robot Ill. The material management system II and a plurality of machining centers V are annularly and uniformly arranged in a circumference direction by using the robot as the center. The cutter on-machine detection system VI is mounted on the top of the machining center V. The transfer station IV is arranged between the machining center V and the protective fence VII. In the present embodiment, three machining centers V are arranged. Linear distances from the robot Ill to the transfer station IV and the machining center V are identical, and are a constant value.
[0091] The material tray laminated assembly body I is configured to reliably carry and convey cutter materials 1-01 of different models. The lamination quantity of material trays can be adjusted according to different order requirements. As shown in FIG. 3 to FIG. 6, the material tray laminated assembly body I includes a plurality of material trays 1-02 stacked together, and the material trays 1-02 are configured to contain the cutter material 1-01. Further, cutter material positioning grooves of different models are processed in the material tray 1-02, the cutter material positioning grooves of different models are distributed in a step shape, and the space six freedom degrees of the cutter materials 1-01 of different specifications can be completely limited, realizing the reliable positioning of the materials in the transportation process. In order to improve the stability during the stacking of the material trays 1-02 and to avoid falling or scattering and the like of the material tray laminated assembly body I in the transportation or stacking process, a material tray positioning block 1-0201 and a material tray positioning block 1-0203 are disposed on diagonal line direction of each material tray 1-02. A material tray positioning groove 1-0204 is disposed under the material tray positioning block 1-0201, and a material tray positioning groove 1-0205 is disposed under the material tray positioning block 1-0203. When the material trays 1-02 are stacked, the material tray positioning block 1-0201 and the material tray positioning block 1-0203 of the lower material tray are matched with the material tray positioning groove 1-0204 and the material tray positioning groove 1-0205 of the upper material tray, so that the two material trays I 02 at the upper and lower sides can limit each other to achieve the complete positioning of the two, and the stability of the material tray laminated assembly body I in the transportation or stacking process is ensured.
[0092] The height of the material tray positioning block 1-0201 (1-0203) is lower than the groove depth of the material tray positioning groove 1-0204 (1-0205), and the length of the material tray positioning block 1-0201 (1-0203) is smaller than the groove length of the material tray positioning groove 1-0204 (1-0205), such that the condition that two material trays 1-02 at the upper and lower sides cannot be smoothly stacked due to processing errors of the single material tray positioning block or material tray positioning groove can be reduced. A grasping groove 1-0202 is processed at each of two sides of the material tray 1-02, so that the reliability and stability during material tray 1-02 grasping and carrying by a manipulator can be improved. The grasping groove 1-0202 may be a long strip-shaped groove, may also be a groove in another shape, as long as the manipulator can smoothly grasp the material tray.
[0093] The material management system II is capable of unstacking the input material tray laminated assembly body I containing blank materials to supply single material trays 1-02 to the robot III after stacking, and also capable of stacking the material trays 1-02 containing finished product materials to output the material tray laminated assembly body I containing the finished product materials. The quantity of the material trays 1-02 single input into or output from the system of the material tray laminated assembly body I can be flexibly adjusted according to different production requirements. Specifically, as shown in FIG. 2, FIG. 7 and FIG. 21, the material management system II includes a material tray input and output platform 11-01, a material tray lifting platform 11-02, a material tray grasping and releasing platform 11-03, a material table 11 04 and a material tray releasing platform 11-05. The material tray lifting platform 11-02 and the material tray releasing platform 11-05 are embedded in the material tray input and output platform 11-01. The material table 11-04 is disposed behind the material tray input and output platform 11-01, and the material tray grasping and releasing platform 11-03 is disposed above the material tray input and output platform 11-01 and the material table 11-04. A working range of the material tray grasping and releasing platform 11-03 covers the material tray input and output platform 11-01 and the material table 11-04. The layout arrangement of each part of the material management system II mostly adopts an embedded layout, so that the space is compact, and the space utilization rate is high.
[0094] Further, the material tray input and output platform 11-01 includes a belt input module 11 01-02, a belt output module 11-01-05 and a plurality of diffuse reflection sensors. The belt input module 11-01-02 and the belt output module 11-01-05 are mounted side by side, and are respectively fixed through a support frame. The diffuse reflection sensor 11-01-01 is disposed above the belt input module 11-01-02, and the diffuse reflection sensor 11-01-03 and the diffuse reflection sensor 11-01-04 are disposed above the belt output module 11-01-05. The diffuse reflection sensor 11-01-06 is disposed at one side of the belt output module 11-01-05 for detecting whether the material tray laminated assembly body I is completely output or not. The above diffuse reflection sensors are all connected to a computer. The computer controls the material management system II to unstack and stack the material trays 1-02 by analyzing signals transmitted from the diffuse reflection sensor. The input and output of the material tray laminated assembly body I are realized through the belt input module 11-01-02 and the belt output module 11 01-05.
[0095] The material tray lifting platform includes a motor lead screw module 11-02-01, a material tray support table 11-02-06, a trigger sheet 11-02-04, a U-shaped photoelectric sensor 11-02-05, a diffuse reflection sensor 11-02-03 and a belt auxiliary mechanism 11-02-07. The motor lead screw module 11-02-01 is connected to the material tray support table 11-02-06, and the motor lead screw module 11-02-01 is capable of driving the material tray support table 11-02-06 to ascend and descend. The material tray support table 11-02-06 is capable of supporting and lift the material tray laminated assembly body I.
[0096] The U-shaped photoelectric sensor 11-02-05 is mounted at the side surface of the motor lead screw module 11-02-01, the trigger sheet 11-02-04 is mounted at the side surface of the material tray support table 11-02-06, and the material tray support table 11-02-06 is controlled to perform feeding by detecting the position of the trigger sheet 11-02-04. The diffuse reflection sensor 11-02-03 is mounted on the material tray support table 11-02-06 for detecting whether the material tray laminated assembly body I is input in place or not. The belt auxiliary mechanism 11-02-07 is arranged under the material tray support table 11-02-06, and the upper surface of the belt auxiliary mechanism 11-02-07 is higher than the upper surface of the material tray support table 11-02-06. When the material tray laminated assembly body I is input onto the material tray support table 11 02-06 from the belt input module 11-01-02, it can be further ensured that the material tray laminated assembly body I is input in place through the belt auxiliary mechanism 11-01-07. Additionally, the contact and friction of the material tray laminated assembly body I and the material tray support table 11-02-06 can be reduced, and the original sliding friction is converted into rolling friction, such that the friction force received by the material tray laminated assembly body I in the input process is greatly reduced, the abrasion of the material tray is reduced, and the service life of the material tray is prolonged.
[0097] The material tray grasping and releasing platform 11-03 includes a material tray grasping and releasing manipulator 11-03-01, an X axis displacement module 11-03-04, a Z axis displacement module 11-03-02 and a Y axis displacement module 11-03-03. The material tray grasping and releasing manipulator 11-03-01 is connected to the Z axis displacement module 11-03 02. The Z axis displacement module 11-03-02 is connected to the X axis displacement module 11 03-04 through the Y axis displacement module 11-03-03. The material tray grasping and releasing manipulator 11-03-01 includes a guide rod air cylinder 11-03-01-02 and a groove hook 11-03-01-01. The guide rod air cylinder 11-03-01-02 and the groove hook 11-03-01-01 are connected. The material tray is grasped and placed by driving the groove hook 11-03-01-01 to transversely move by the guide rod air cylinder 11-03-01-02. The above four parts cooperate with each other and can stack the material trays containing the finished product materials pushed out from the material table onto the platform under the material tray, and then, a material tray containing the blank materials is unstacked from the material tray lifting platform 11-02 and is placed to the material table. A hook head position of the groove hook 11-03-01-01 is provided with a positioning groove 11 03-01-0101, and the positioning groove 11-03-01-0101 and grasping grooves 1-0202 at two sides of the material tray 1-02 cooperate with each other, so that the grasping and carrying reliability and stability of the material tray can be improved.
[0098] The material table 11-04 includes an upper layer material tray push-pull module 11-04-01 and a lower layer material tray push-pull module 11-04-02. The upper layer material tray push-pull module 11-04-01 is mounted above the lower layer material tray push-pull module 11-04-02 without interfere with the lower layer material tray push-pull module during working. The upper layer material tray push-pull module 11-04-01 and the lower layer material tray push-pull module 11-04-02 alternately supply materials to the robot III, so that the waiting time of the robot III is obviously reduced, and the work efficiency of the production line is improved. The upper layer material tray push-pull module 11-04-01 includes a material tray placing plate 11-04-01-03, a rodless air cylinder 11-04-01-02, an air cylinder sensor 11-04-01-04 and an air cylinder sensor 11-04-01-01. The material tray placing plate 11-04-01-03 is mounted above the rodless air cylinder 11-04-01-02, one end of the rodless air cylinder 11-04-01-02 is provided with the air cylinder sensor 11-04-01-01, and the other end of the rodless air cylinder is provided with the air cylinder sensor 11-04-01-04. A groove is formed in the upper surface of the material tray placing plate 11-04-01-03, and the shape of the groove is the same as the shape of the material tray, such that a good positioning, supporting and conveyance effect can be achieved on the material tray 1-02. The rodless air cylinder 11-04-01-02 is capable of pulling back (to approach to the robot III) and push out (to leave far away from the robot III) the material tray 1-02 to further realize the alternate material supply of the material table.
[0099] The lower layer material tray push-pull module 11-04-02 includes a rodless air cylinderII 04-02-02 and a material tray placing plate 11-04-02-04. The material tray placing plate 11-04-02-04 is connected above the rodless air cylinder 11-04-02-02 through an L-shaped connecting member. The plane where the rodless air cylinder 11-04-02-02 is located is vertical to the plane where the material tray placing plate 11-04-02-04 is located. One end of the rodless air cylinder 11-04-02-02 is provided with an air cylinder sensor 11-04-02-01, and the other end is provided with an air cylinder sensor 11-04-02-03. A groove is formed in the upper surface of the material tray placing plate 11-04 02-04, and the shape of the groove is the same as the shape of the material tray. Two pairs of air cylinder sensors are embedded in stop point limit positions of cylinder bodies of the two rodless air cylinders, and position information of the two material trays at the upper and lower layers can be timely fed back to the computer.
[00100] The material tray releasing platform 11-05 includes a motor lead screw module 11-05-01, a material tray support table 11-05-09, a trigger sheet 11-05-03, a plurality of U-shaped photoelectric sensors, a triangular table 11-05-06, a rodless air cylinder 11-05-07, a pushing plate 11-05-10 and a friction reduction belt mechanism 11-05-08. The material tray support table 11-05-09 is capable of supporting and lifting the material tray laminated assembly body I. The material tray support table 11-05-09 is connected above the triangular table 11-05-06. The material tray support table 11-05-09 and the triangular table 11-05-06 are connected through the motor lead screw module 11-05-01, and are driven to ascend and descend through the motor lead screw module 11-05-01.
[00101] The trigger sheet 11-05-03 is mounted atone side of the material tray support table 11-05 09, the U-shaped photoelectric sensor 11-05-04 and the U-shaped photoelectric sensor 11-05-05 are disposed at the side surface (the same side as the trigger sheet 11-05-03) of the motor lead screw module 11-05-01, and the computer detects the position of the trigger sheet 11-05-03 through the U shaped photoelectric sensors to further control the material tray support table 11-05-09 to discharge materials. The single output quantity of the material trays output from the material tray releasing platform 11-05 can be controlled by changing the installation positions of the U-shaped photoelectric sensors. A sliding table of the rodless air cylinder 11-05-07 is fixed to the triangular table 11-05-06, and is fixedly connected to the pushing plate 11-05-10. The pushing plate 11-05-10 is vertical to the triangular table 11-05-06. Through the sliding table of the rodless air cylinder, the pushing plate 11-05-10 can be driven to push and convey the material tray laminated assembly body I to the belt output module 11-01-05. The friction reduction belt mechanism 11-05-08 is arranged under the material tray support table 11-05-09, and the upper surface of the friction reduction belt mechanism 11-05-08 is higher than the upper surface of the material tray support table 11-05-09. Therefore, the contact and friction between the material tray laminated assembly body I and the material tray support plate can be reduced, the original sliding friction is converted into rolling friction, the friction force in the input process is greatly reduced, the abrasion of the material tray is reduced, and the service life of the material tray is prolonged, further ensuring the smooth pushing out of the material tray laminated assembly body I.
[00102] As shown in FIG. 45(a), after the production line behind the material management system II completes one production period, the computer will first detect whether the material tray grasping and releasing platform 11-03 has replaced the previously outwards pushed material tray containing the finished product materials on the material support plate into the material tray containing the blank materials or not (material tray replacement program). If the replacement is not completed, waiting is performed. After the replacement is completed, the material tray grasping and releasing platform 11-03 will send a signal to the computer. After receiving the signal, the computer immediately pushes out the material tray containing the finished product materials through the material tray push-pull module (upper layer or lower layer material tray push-pull module). After the material tray is pushed out in place, the air cylinder sensor 11-04-01-01 or the air cylinder sensor 11-04-02-01 will send a signal to the computer, and then, the computer controls the other layer of material tray push-pull module to pull back the material tray containing the blank materials. After the material tray containing the blank materials is pulled back to a specified position, the air cylinder sensor 11-04-01-04 or the air cylinder sensor 11-04-02-03 will send a signal to the computer. At this moment, a new batch of blank materials have been in place. The computer controls the robot III to operate the blank materials. At the same time, the material tray grasping and releasing platform 11-03 is controlled to execute the material tray replacement procedure on the newly outwards pushed material tray containing the finished product materials (to replace the material tray containing the finished product materials into the material tray containing the blank materials).
[00103] When the material tray grasping and releasing platform 11-03 successfully places the material tray containing the finished product materials onto the material tray support table 11-05-09 or successfully stack the material tray containing the finished product materials above the material tray existing on the material tray support table 11-05-09. At this moment, the material tray just placed is positioned right in front of the diffuse reflection sensor 11-01-03, the diffuse reflection sensor 11-03 detects that an entity appears in front, and the computer controls the material tray support table 11-05-09 to move downwards. After the material tray support table 11-05-09 move downwards for a height of one material tray, the detection entity in front of the diffuse reflection sensor 11-01-03 disappears. At this moment, the computer controls the motor lead screw module to perform self-locking. The material tray support table 11-05-09 is fixed at this height to wait for next signal stimulation. The above process is repeated, and the material tray support table 11-05-09 continuously moves downwards. When the trigger sheet 11-05-03 reaches the detection position of the U-shaped photoelectric sensor 11-05-04, it shows that the material trays stacked on the material tray support table 11-05-09 have reached a specified quantity. At this moment, the computer starts to execute a material conveying procedure. The computer will control the material tray support table 11-05-09 to move downwards. When the trigger sheet 11-05-03 reaches the detection position of the U-shaped photoelectric sensor 11-05-05, it shows that the material tray support table 11-05-09 has been in place. The computer will execute three procedures at the same time: the first is to control the motor lead screw module 11-05-01 to perform self-locking, and fix the material tray support table 11-05-09 in this position; the second is to control the rodless air cylinder sliding table 11-05-07 to drive the pushing plate 11-05-10 to push the material tray laminated assembly body I containing the finished product material outwards; and the third is to start the belt output module 11-05. When the material tray laminated assembly body I containing the finished product material is conveyed to the detection position of the diffuse reflection sensor 11-01-06, it shows that at this moment, the material tray laminated assembly body I has completely leaved away from the material tray support table 11-05-09, and the computer controls the pushing plate and controls the material tray support table 11-05-09 to move upwards. When the trigger sheet 11 -03 reaches the detection position of the U-shaped photoelectric sensor 11-05-04, the computer controls the motor lead screw module 11-05-01 to perform self-locking. At this moment, the diffuse reflection sensor 11-01-04 detects that the material tray support table 11-05-09 has been reset, and sends a signal to the computer. It shows that at this moment, the material tray releasing platform 11-05 can provide a supporting entity for the about-to-land material tray. The material tray grasping and releasing platform 11-03 can place the material tray. In the work process, if the order requirements change, the single output lamination quantity of the material tray laminated assembly body I from the material tray releasing platform 11-05 can be controlled by adjusting the installation height of the U-shaped photoelectric sensor 11-05-04. It should be noted that before the material tray grasping and releasing platform 11-03 places the material tray containing the finished product material trays to the material tray grasping and releasing platform 11-03, detection will be first performed through the diffusion reflection sensor 11-04-01. If the material tray support table 11 -09 has been reset, placement can be performed; and otherwise, the placement is performed after the resetting.
[00104] After the material tray containing the blank materials in the material tray lifting platform 11-02 in front of the diffuse reflection sensor 11-01-01 is grasped by the material tray grasping and releasing platform 11-03, the detection entity in front of the diffuse reflection sensor 11-01-01 disappears, and the computer controls the material tray support table 11-02-06 to move upwards. After the material tray support table moves upwards for the height of one material tray, a next material tray to be grasped is lifted to a to-be-grasped position, i.e., a position in front of the diffuse reflection sensor 11-01-01. At this moment, the detection entity appears in front of the sensor. At this moment, the computer controls a step motor111-01 to perform self-locking, and to wait for the material tray grasping by the material tray grasping and releasing platform 11-03. After the above work procedures are repeated, the material tray support table 11-02-06 continuously ascends. After the last material tray in the material tray support table 11-02-06 is taken away, the computer will continuously control the material tray support table 11-06-02 to move upwards according to the above control process. When the trigger sheet 11-02-04 is lifted to a detection position of the U shaped photoelectric sensor 11-02-02, the computer will recognize that all of the material trays containing the blank materials on the material tray support table 11-02-06 have been grasped, and will start to execute the feeding procedure.
[00105] Firstly, the computer controls the material tray support table 11-02-06 to move downwards. When the trigger sheet 11-02-04 descends to the detection position of the U-shaped photoelectric sensor 11-02-05, it shows that the material tray support table 11-02-06 has been in place, the computer controls the step motor to perform self-locking, and at the same time, the computer will start the belt input module 11-01-02 and the belt auxiliary mechanism 11-02-09 to convey the material tray laminated assembly body I onto the support table 11-02-08. After the material tray laminated assembly body I is input in place, light beams sent by an emitter in the diffuse reflection sensor 11-02-02 can be reflected onto a receiver through the material tray laminated assembly body I. After recognizing the signal, the computer stops the working of the belt input module 11-01-02 and the belt auxiliary mechanism 11-02-09, and at the same time, controls the motor lead screw 1-02-01 to start, so that the material tray support table 11-02-06 drives the material tray laminated assembly body I just input to be lifted upwards. When the material tray is lifted to the to-be-grasped position, the diffuse reflection sensor 11-01-01 will transmit the signal to the computer. At this moment, the computer will recognize that the material tray support table 11-02-06 has been reset, and the material tray containing the blank materials has reached the specified grasping position. The computer will timely control the motor lead screw module to perform self-locking. At this moment, the material tray at the uppermost layer in the material tray laminated assembly body I will be kept in the to-be-grasped position to wait for the grasping by the material tray grasping and releasing platform 11-03. It should be noted that before the material tray grasping and releasing platform 11-03 grasps the material tray containing the blank materials, whether the material tray containing blank materials exists in the to-be-grasped position at this moment or not will be detected through the diffuse reflection sensor 11-01-01.
[00106] A calculation formula of a ball screw is as follows:
F =F+pmg (1).
[00107] In Formula (1), Fa is the axial total load N of a lead screw, F is the axial milling force N of the lead screw, p is the overall friction coefficient of a guide member, m is a weight kg of a moving object (the material tray laminated assembly body + the material tray support table), and g is the gravity coefficient.
[00108] Therefore, if the lead screw module wants to drive the material tray support table and the material tray laminated assembly body to ascend or descend, the driving torque T of the lead screw module is at least:
T */2r * ni (2).
[00109] In Formula (2), Tais the driving torque kgf/mm, / is the lead screw head mm, and ni is the lead screw feeding positive efficiency.
[00110] Under the condition of ensuring the source sufficiency of the materials, the materials can be orderly and continuously supplied to the rear side through the material management system II.
[00111] The robot III is arranged right behind the material table, as shown in FIG. 22 and FIG. 22(a). The robot III includes a laser detection device 111-02, a clamping jaw111-01, an air spray nozzle 111-04 and a wire concentrator111-03. A plurality of clamping jaws 111-01 are uniformly distributed. In the present embodiment, four lamp claws 111-01 are disposed, and the four clamping jaws 111-01 are uniformly distributed in the periphery and outwards arranged, and can clamp the cutter materials 1-01 of different models. The air spray nozzle 111-04 is mounted behind the clamping jaw 111-01, and the air spray nozzle 111-04 has the same facing direction as the clamping jaw 111-01 for cleaning cuttings on the positioning table. There are many electric wires at the front end of the robot III, so that the wire concentrator111-03 is mounted for concentrating the electric wires. The laser detection device 111-02 is configured to assist the laser detector to detect the positions of the materials to be clamped.
[00112] Further, as shown in FIG. 23, the laser detection device 111-02 includes an air cylinder III 02-01, a reset spring 111-02-02, a jacking rod 111-02-03, a dustproof end cover 111-02-04 and a laser detector 111-02-05. The dustproof end cover 111-02-04 is disposed in front of the laser detector III 02-05, the air cylinder 111-02-01 is fixed to one side of the laser detector 111-02-05, a piston rod of the air cylinder 111-02-01 is connected to the jacking rod 111-02-03. The air cylinder 111-02-01 and the dustproof end cover 111-02-04 are connected to each other through the reset spring 111-02-02. Through mutual effects of the air cylinder 111-02-01, the jacking rod 111-02-03 and the reset spring 111-02-02, the dustproof end cover 111-02-04 can be fast opened or closed, so that a lens of the laser detector 111-02-05 is prevented from being polluted.
[00113] As shown in FIG. 24, the transfer station IV includes a support frame and a transfer material tray mounted above the support frame. The transfer material tray is in inclined placement. A material positioning groove the same as that of the material tray is also formed in the transfer material tray. When the robot III clamps the cutter materials in the transfer material tray subsequently, under the gravity effect, the cutter materials 1-01 can be kept in a correct position in the positioning groove, and the secondary positioning of the materials is realized. The repeated detection of the laser detection device 111-02 is avoided, and meanwhile, the clamping stability and reliability of the clamping jaws 111-01 on the cutter materials 1-01 in the transfer stations IV are also improved.
[00114] As shown in FIG. 25 to FIG. 28, the machining center V includes a multi-station air detection hydraulic clamp V-01, a hydraulic station V-04 and a plurality of air cylinders. The multi station air detection hydraulic clamp V-01 is disposed inside the machining center V, and the machining center V is provided with two protective doors. The air cylinders, i.e., an air cylinder V and an air cylinder V-010 are disposed above the two protective doors, and are in opposite arrangement. The telescopic direction of the air cylinder V-05 and the air cylinder V-010 is parallel to the opening and closing direction of the two protective doors, such that the opening and closing of the protective doors at the two sides are realized. An L-shaped trigger block V-02 and an L shaped trigger block V-03 are mounted above the protective doors. Two pairs of proximity sensors, i.e., a proximity sensor V-06, a proximity sensor V-09, a proximity sensor V-07 and a proximity sensor V-08 are mounted in opening and closing limit positions of the protective doors at two sides. The proximity sensors recognize the opening and closing state of the protective doors by detecting the positions of the two L-shaped trigger blocks. The hydraulic station V-04 is arranged at the outer side of the machining center V for providing hydraulic oil.
[00115] The multi-station air detection hydraulic clamp V-01 includes positioning tables V-01-01, end surface clamping mechanisms V-01-02 and upper side clamping mechanisms V-01-03. The end surface clamping mechanism V-01-02 is disposed in front of the positioning table V-01-01 through socket screws. The positioning table V-01-01 is fixed to a clamp base. The upper side clamping mechanism V-01-03 is disposed on the clamp base in 45°. The positioning table, the end surface clamping mechanism and the upper side clamping mechanism cooperate with each other and can completely limit the space six freedom degrees of the materials, the materials are reliably positioned and clamped, and the clamping efficiency is high. The upper side clamping mechanism V-01-03 includes a hydraulic cylinder, a hydraulic cylinder piston rod V-01-07 is rotationally connected to an upper clamping arm V-01-06 through a pin shaft V-01-04, and an end portion of the upper clamping arm V-01-06 is provided with a V-shaped clamping block V-01-05. Air detection pipelines are distributed inside the multi-station air detection hydraulic clamp V-01. An air outlet hole A, an air outlet hole B, an air outlet hole C, an air outlet hole D and an air outlet hole E of each of the air detection pipelines are respectively disposed in the positioning table V-01-01. When the materials are reliably positioned and clamped, each of the air outlet holes is respectively sealed and blocked. At this moment, air pressure exists in the inside an air detection pipeline, the computer detects the air pressure in the pipeline to determine whether the positioning and clamping of the materials are reliable or not.
[00116] As shown in FIG. 29 and FIG. 30, the cutter on-machine detection system VI is embedded inside the machining center V, and can comprehensively and precisely detect the cutters of the machining center V on machine. Specifically, as shown in FIG. 31 to FIG. 40, the cutter on-machine detection system VI includes a driving device Vi-01, a connecting plate VI-02, and an image acquisition device VI-03. One end of the connecting plate VI-02 is connected to the driving device VI-01. Additionally, the connecting plate VI-02 is vertical to the driving device VI-01. The driving device VI-01 can drive the connecting plate VI-02 to rotate, and can also drive the connecting plate VI-02 to vertically move. The image acquisition device VI-03 is mounted at the other end of the connecting plate VI-02 for acquiring image information of the machining center cutter VI-04 (the cutter positioned in the machining center). The cutter on-machine detection system VI integrally adopts an L-shaped layout, is suspended on the top of the machining center V through screw bolts, and does not influence the operation of the machining center in non operating time.
[00117] Further, the driving device VI-01 includes a motor lead screw module VI-01-01, a lifting table VI-01-04, a rotating mechanism VI-01-03 and a telescopic rod VI-01-02. The rotating mechanism VI-01-03 is fixed above the lifting table VI-01-04 through screws, and a rotating shaft in the rotating mechanism VI-01-03 is connected to the connecting plate VI-02 through screws. The rotating shaft drives the connecting plate VI-02 to do reciprocating rotation, and thus the conversion of the image acquisition device VI-03 from a safe region to a work region is realized. The telescopic rod VI-01-02 is connected to the lifting table VI-01-04. A plurality of telescopic rods VI-01-02 are disposed, and are connected between the installing plate and the lifting table VI-01 04. In the present embodiment, four telescopic rods VI-01-02 are disposed. It is to be understood that in other embodiments, there may be other quantity of the telescopic rods VI-01-02. The lifting table VI-01-04 is connected to the motor lead screw module VI-01-01. When the motor lead screw module VI-01-01 rotates, the lifting table VI-01-04 therein is driven to do ascending and descending movement through a lead screw nut. At the same time, when the lifting table VI-01-04 does ascending and descending movement, the telescopic rod VI-01-02 is capable of achieving a guide and correction effect. The motor lead screw module VI-01-01 drives the image acquisition device VI-03 to ascend and descend for coarse adjustment during cutter end surface image acquisition.
[00118] An annular sliding rail VI-01-05 is also mounted under the lifting table VI-01-04. T axial lines of the annular sliding rail and the rotating mechanism VI-01-03 are coincident with each other. A sliding table VI-01-06 is mounted at one side of the annular sliding rail, and is connected to the connecting plate VI-2. The rotating mechanism VI-01-03 includes an adjustable-speed motor VI-01-03-01, a coupling VI-01-03-02, a motor retainer VI-01-03-03 and a rotating shaft VI 01-03-04. The adjustable-speed motor VI-01-03-01 is fixed above the motor retainer VI-01-03-03.
A mold cavity is formed inside the motor retainer VI-01-03-03. The coupling VI-01-03-02 is mounted in the mold cavity inside the motor retainer. The upper end of the coupling is connected to the adjustable-speed motor, and the lower end is connected to the rotating shaft VI-01-03-04, such that the torque of the adjustable-speed motor is transmitted onto the rotating shaft. The rotating shaft is connected to the connecting plate VI-02 to drive the connecting plate to rotate. The image acquisition device VI-03 includes a cutter side edge and diameter image acquisition mechanism VI-03-13, a guide tray VI-03-01, a lug boss gear VI-03-03, an external tooth rotary bearing VI-03-04, a round fixing plate VI-03-05, an adjustable-speed motor VI-03-06, a cutter end surface image acquisition mechanism VI-03-07, a retainer VI-03-08, an arc-shaped connecting rod VI-03-09, a double-shaft sliding block VI-03-10 and a support plate VI-03-12. The guide tray VI-03 01, the lug boss gear VI-03-03, the external tooth rotary bearing VI-03-04, the round fixing plate VI-03-05, the adjustable-speed motor VI-03-06, the retainer VI-03-08, the arc-shaped connecting rod VI-03-09, the double-shaft sliding block VI-03-10 and the support plate VI-03-12 form a focal length adjusting mechanism. The cutter end surface image acquisition mechanism VI-03-07 is fixed inside the retainer VI-03-08, the round fixing plate VI-03-05 is mounted right above the retainer VI-03-08, the adjustable-speed motor VI-03-06 is arranged under the round fixing plate VI 03-05, one end of the adjustable-speed motor VI-03-06 is provided with the lug boss gear VI-03 03, and the lug boss gear VI-03-03 is meshed at one side of the external tooth rotary bearing VI 03-04.
[00119] The external tooth rotary bearing VI-03-04 is provided with an external tooth rotary bearing gear outer ring and an external tooth rotary bearing inner ring. The external tooth rotary bearing inner ring is fixed right above the round fixing plate VI-03-05. The end portion of the arc shaped connecting rod VI-03-09 is provided with a positioning hole, a shaft shoulder screw VI-03 02 passes through the positioning hole of the arc-shaped connecting rod VI-03-09 to be screwed with a threaded hole formed in the external tooth rotary bearing inner ring. A plain rod of the shaft shoulder screw VI-03-02 is in clearance fit with the positioning hole of the arc-shaped connecting rod VI-03-09. After the installation is completed, the arc-shaped connecting rod VI-03-09 can rotate around the shaft shoulder screw VI-03-02. The double-shaft sliding block VI-03-10 includes a sliding block body and two positioning shafts. The positioning shaft is vertically fixed above the sliding block body. A positioning hole is formed in the sliding block body. The shaft shoulder screw VI-03-11 passes through the positioning hole of the double-shaft sliding block VI-03-10 to be screwed with a threaded hole of the arc-shaped connecting rod VI-03-09. Further, a plain rod of the shaft shoulder screw VI-03-11 is in clearance fit with the positioning hole of the double-shaft sliding block VI-03-10. After the installation is completed, the double-shaft sliding block VI-03-10 can rotate around the shaft shoulder screw VI-03-11 at the upper surface of the arc-shaped connecting rod VI-03-09.
[00120] The guide tray VI-03-01 is mounted right above the external tooth rotary bearing gear outer ring. The guide tray VI-03-01 includes two circular rings in concentric arrangement, and the two circular rings are connected through a plurality of uniformly separated guide members. Two guide grooves are formed in the length direction of each of the guide members. A positioning shaft of the double-shaft sliding block VI-03-10 passes through the guide grooves in the guide tray VI 03-01 respectively, and the height of the shaft shoulder screw VI-03-02 and the shaft shoulder screw VI-03-11 after the installation conforms to a principle that no interference is generated when the guide tray VI-03-01 and the external tooth rotary bearing inner ring relatively rotate.
[00121] The support plate VI-03-12 is disposed on the upper surface of the guide tray VI-03-01. The support plate VI-03-12 is provided with an installing hole, and the support plate VI-03-12 realizes the connection and positioning between the double-shaft sliding block VI-03-10 and the support plate VI-03-12 through the transition fit between the positioning shaft and the installing hole. The cutter side edge and diameter image acquisition mechanism VI-03-13 is mounted above the support plate VI-03-12 through screws 8. After the installation is completed, the axial lines of the guide tray VI-03-01, the external tooth rotary bearing VI-03-04, the round fixing plate VI-03-05, the retainer VI-03-08 and the machining center cutter VI-04 are the same straight line.
[00122] The cutter side edge and diameter image acquisition mechanism VI-03-13 includes an adjustable-brightness annular light source VI-03-13-01, an industrial camera VI-03-13-02 and a motor lead screw module VI-03-13-03. The industrial camera VI-03-13-02 is mounted above the motor lead screw module VI-03-13-03, and the adjustable-brightness annular light source VI-03 13-01 is mounted in front of a lens of the industrial camera VI-03-13-02. The cutter end surface image acquisition mechanism VI-03-07 includes an adjustable-brightness annular light source VI 03-07-01, an industrial camera VI-03-07-02, and a hinge lifting mechanism VI-03-07-03. The industrial camera VI-03-07-02 is mounted above the hinge lifting mechanism VI-03-07-03, and the adjustable-brightness annular light source VI-03-07-01 is fixed at the front end of a lens of the industrial camera VI-03-07-02. The hinge lifting mechanism VI-03-07-03 includes a connecting rod, a thin finger air cylinder and a camera retainer. The thin finger air cylinder is connected to the camera retainer through the connecting rod, and the industrial camera VI-03-07-02 is fixed to one side of the retainer.
[00123] As shown in FIG. 41 to FIG. 44, in the present embodiment, the protective fence VII is of a rectangular frame structure, each of three adjacent side fences of the protective fence VII is provided with a safety door VII-01 and a forbidden door VII-02. Door frames of the safety door VII 01 and the forbidden door VII-02 of each side fence are vertical to each other. The safety door VII 01 is located at the outer side of the side fence for isolating the robot operation region from the manual operation region. The forbidden door VII-02 is positioned at the plane where the side fence is located for isolating the abnormal machining center from the production line without influencing the operation of other normal parts, and for isolating a manual repair region from a robot work region to ensure the personnel safety of the worker during repair. It is proper for a transverse gap between the machining center V and the safety door VII-01 not allowing the worker to pass. The material management system II is arranged at the side of the protective fence VII provided with no safety door VII-01 and no forbidden door VII-02.
[00124] The safety door VII-01 includes a safety door frame and a safety door plate mounted at the inner side of the safety door frame and hinged to the safety door frame, and further includes a metal plate VII-01-01, a magnetic lock VII-01-02, a safety door socket VII-01-04, a safety door bolt VII-01-05 and an electromagnetic switch VII-01-03. The metal plate VII-01-01 and the magnetic lock VII-01-02 are mounted above the safety doorframe for tightly locking the safety door VII-01. The electromagnetic switch VII-01-03 is fixed at one side of the safety door frame for controlling the magnetic lock switch VII-01-02. The magnetic lock VII-01-02 has the magnetism after being energized, and can attract the metal plate VII-01-01 to realize the fixation of the safety door plate. After the electromagnetic switch VII-01-03 is pressed down, the electromagnetic lock VII-01-02 is powered off and is demagnetized, and the safety door VII-01 can be opened. The safety door socket VII-01-04 and the safety door bolt VII-01-05 are mounted in the middle position of the safety door frame, and the safety door socket and the safety door bolt are positioned at the same height.
[00125] The forbidden door VII-02 includes a forbidden door frame and a forbidden door plate, and the forbidden door plate and the forbidden door frame form a push-pull door. Two pairs of safety sockets and safety bolts, i.e., a forbidden door socket VII-02-01, a forbidden door bolt VII 02-02, a forbidden door bolt VII-02-03 and a forbidden door socket VII-02-04 are mounted on the forbidden door VII-02. The forbidden door bolt VII-02-02 is mounted at one side of the forbidden door plate, the forbidden door bolt VII-02-03 is mounted at the other side of the forbidden door plate, the forbidden door socket VII-02-01 and the forbidden door bolt VII-02-02 are in one group, the forbidden door bolt VII-02-03 and the forbidden door socket VII-02-04 are in one group, and the four are positioned at the same height after the installation.
[00126] The present embodiment has the following work principle that:
[00127] As shown in FIG. 45, when the machining center V machines materials, the robot III replaces finished product materials produced in a previous machining cycle in the transfer station IV with blank materials on the material table 11-04. A material storage tray above the transfer station IV is in inclined arrangement, and material positioning grooves of different models (the same as the material trays 1-02) are processed in the material storage trays of the transfer station IV. When the robot III places the materials in the transfer station IV, the materials will be secondarily positioned under the gravity, thus ensuring that the materials are in a correct position when the robot III grasps the materials in the transfer station next time. The transfer station IV can convert material exchange between the machining center V and the material table 11-04 into material exchange between the transfer station III and the material table 11-04, such that the waiting time of the machining center V in the loading and unloading process can be greatly reduced, and the production efficiency of the production line is improved. When the robot III clamps the blank materials on the material tray 1-02 in the material table 11-04, if the materials are not placed in a specified position in the material tray positioning groove during tray placement of the material trays 1-02 by the worker or the placement missing condition occurs, unforeseen circumstances such as no material clamping and falling may occur during grasping by the robot III at this moment. Therefore, before the robot III controls the clamping jaw111-01 to clamp the materials, the position of the blank materials on the material trays in the material table 11-04 may be detected through the laser detector 111-02-05 first, and then grasping is performed if the detection result is qualified, otherwise a warning will be sent.
[00128] When the detection is needed, the air cylinder 111-02-01 drives a jacking rod 111-02-03 to detect the dustproof end cover 111-02-04. After the detection is completed, the air cylinder 111-02-01 drives the jacking rod 111-02-03 to retract, and the dustproof end cover 111-02-04 is closed under the action of the reset springs 111-02-02. When the robot III finishes the replacement of the finished product materials in the transfer station III with the blank materials on the material table 11-04, the robot III returns to a safety position to wait. After the machining center V completes the current production cycle, the machining center controls the multi-station air detection hydraulic clamp V-01 to be opened, and sends an ending signal to the computer at the same time. After receiving the signal, the computer controls the air cylinder V-05 and the air cylinder V-10 to open the protective door of the machining center V. After the protective door is completely opened, the proximity sensor V-09 and the proximity sensor V-06 transmit signals to the computer, and the computer controls the robot III to replace the finished product materials on the clamp V-01 in the machining center with the blank materials on the transfer station.
[00129] When the robot III places the blank cutter material I onto the positioning table VI-01-01 for positioning, if cuttings exist on the positioning table V-01-01, the positioning of the blank cutter material I may be inaccurate. In order to avoid this condition, before the robot III places the blank material 1-02, the cuttings are cleared through the air spray nozzle 111-04. After the robot III finishes the replacement of the finished product materials in the machining center with the blank materials on the transfer station, the robot retreats to a safe region, and then, the computer controls the air cylinder to close the protective door of the machining center. After the protective door is completely closed, the proximity sensor V-08 and the proximity sensor V-07 transmit the signal to the computer. Then, the machining center controls the clamp to tightly clamps the workpiece, and determines whether the materials are reliably positioned and clamped or not by detecting the air pressure in the air detection pipeline inside the clamp. If the positioning and clamping of the materials conform to the machining requirement, the computer controls the machining center to machine. If the machining requirement is not met, the machining is not performed, and warning is sent to inform the worker to adjust and repair. At the same time, in the subsequent work procedures, the robot III will automatically ignore this abnormal machining center to continuously operate other normal machining centers. Therefore, the production efficiency of the production line is ensured to the maximum degree.
[00130] In order to enable the multi-station air detection hydraulic clamp V-01 to realize the reliable clamping of the materials, the amplitude of the milling force of the machining center V needs to be calculated, and the oil liquid pressure provided by a hydraulic station V-04 is adjusted according to the milling force. An index formula of the milling force is obtained through a great number of experiments, and after the milling force is measured by a dynamometer, the data obtained is processed by a mathematical method to obtain a milling force calculation experience formula. The experience formula calculated according to milling force is as follows: 86 72 0 86 F=,a f0. F =C~aos .,2 d- .s B. ZK~3 K
[00131] In Formula (3), F is milling force, Cp is the milling cutter type coefficient, ap is the milling depth, fz is the feed engagement, d is the milling cutter diameter, B is the milling width, Z is the milling cutter tooth number, and Kp is the correction coefficient.
[00132] After a hydraulic pump conveys hydraulic oil to the hydraulic cylinder through a hydraulic pipeline inside the system, the hydraulic oil acts the pressure onto the bottom of a hydraulic piston rod VI-01-07, where an effective contact area of the bottom of the piston rod and the hydraulic oil is S, under the effect of the pressure, the upper side clamping mechanism clamps the workpiece, F, is the force of the hydraulic cylinder piston rod acting on the upper clamping arm V-01-06, L, is a linear distance between an acting point of F1 and the axial line of a pin shaft positioning hole of the upper clamping arm, F 2 is the clamping force of a V-shaped clamping block V-01-05 acting on the workpiece, L 2 is a linear distance between the axial line of the pin shaft positioning hole of the upper clamping arm and an acting point of counter-acting force of the workpiece of the workpiece on the upper clamping arm during clamping. According to a static equilibrium equation:
IM =0 IL=F2L2 (4) FFL It can be obtained that /1 (5).
[00133] The upper side clamping mechanism is mounted on the clamp base in a 45 angle
inclined way, so during clamping, the component force F of the V-shaped clamping block V-01
acting on the upper side of the workpiece and the component force F2 acting at the lateral side of the workpiece during clamping are as follows:
F=F =F2cos 45° (6).
Through the above analysis, the follows can be obtained at the clamping critical state during workpiece machining:
F=F'=F=F 2 cos45° (7), and
C,,a°;f0, 2 d-°BzK,=F2cos45° (8),
F=,";"f "d-""B- zK,1 so: 2, /cos45° (9). The following can be obtained by substituting F 2 into Formula (5): 6 72 6 J fOJ d-0. Bz F= F2L2/-Ca"pfd-°-B-zK,-L2 =Ca
L /L-cos45 (10). Therefore, the oil liquid pressure P needs to be provided by the hydraulic station V-04 is at least:
P-F .SC, a"f7d-08B-zK,-L - cos45° LI cos45' 1)
[00134] In the production process, in order to ensure the production quality of the cutter material 1-01, the cutters of the machining center need comprehensive precise detection, and broken cutters or cutters with excessive abrasion are timely found and replaced, so that the cutter on machine detection system VI is specifically disposed. The cutter types in the machining center V are various, the cutters of different types correspond to different cutter lengths and diameters, so when the machining center V is in a machining gap, the computer will execute two procedures at the same time: the computer controls a machining center main shaft to drive the cutters to ascend to the preset detection height and controls the cutters to rotate; and the computer recognizes the current cutter models through the cutter number in a cutter warehouse, and drives the lifting table VI-01-04 through the motor lead screw module VI-01-01 and the connecting plate to ascend or descend the image acquisition device VI-03-03 to a preset detection height (position height of the industrial camera VI-03-13-02 when shooting the cutter side edge). The telescopic rod VI-01-02 is connected to the lifting table VI-01-04, and realizes the positioning and correction effect along with the telescopic action of the lifting table VI-01-04.
[00135] After the execution of the two above procedures is completed, the rotating mechanism VI-01-03 rotates the image acquisition device VI-03-03 to the detection region to acquire and detect the images of the cutter side edge, cutter end surface and cutter diameter. The guide tray VI-03-01 is fixed right above the external tooth rotary bearing VI-03-04 outer ring. The external tooth rotary bearing VI-03-04 inner ring is fixed to the round fixing plate VI-03-05. At the same time, the arc-shaped connecting rod VI-03-09 is fixed to the external tooth rotary bearing VI-03-04 inner ring through the shaft shoulder screw VI-03-02. Additionally, the arc-shaped connecting rod VI-03-09 can rotate around the shaft shoulder screw VI-03-02. At the other end of the arc-shaped connecting rod VI-03-09, the double-shaft sliding block VI-03-09 is fixed to the arc-shaped connecting rod VI-03-09 through the shaft shoulder screw VI-03-11, and the double-shaft sliding block VI-03-09 can rotate around the shaft shoulder screw VI-03-11. After the installation is completed, double rods of the double-shaft sliding block VI-03-09 pass through the guide grooves VI-03-0101 and VI-03-0102 and is in transition fit with the installation holes under the support plate VI-03-12. At the same time, the cutter side edge and diameter image acquisition mechanism VI 03-13 is fixed to the support plate through screws. The above components form a slider-crank mechanism. When the adjustable-speed motor VI-03-06 drives the external tooth rotary bearing VI-03-04 outer ring to rotate through the lug boss gear VI-03-03, the guide tray VI-03-01 and the external tooth rotary bearing VI-03-04 inner ring generate relative rotation. At this moment, the double-shaft sliding block VI-03-09 drive the cutter side edge and diameter image acquisition mechanism VI-03-13 to move in the radial direction of the guide tray, and thus the coarse adjustment during the acquisition of cutter side edge and cutter diameter images of cutters with different diameters is realized. The motor lead screw module VI-03-13-03 in the cutter side edge and diameter image acquisition mechanism VI-03-13 can realize the fine adjustment during the acquisition of the cutter side edge and cutter diameter images of cutters of different specifications. In the shooting process of the industrial camera VI-03-13-02, the adjustable-brightness annular light source VI-03-13-01 can adjust the illumination intensity according to different focal lengths to further ensure the image definition. For the acquisition of the cutter end surface images, the coarse adjustment during the acquisition of the cutter end surface images of the cutters of different specifications can be realized by driving the image acquisition device VI-03-03 to ascend and descend through the previous motor lead screw module VI-01-01, fine adjustment during the acquisition of the cutter end surface images of the cutters of different specifications can be realized by driving the industrial camera VI-03-07-02 to ascend and descend by the hinge lifting mechanism VI-03-07-03, and the adjustable-brightness annular light source VI-03-13-01 can adjust the illumination intensity according to different focal lengths to further ensure the image definition. After the detection is completed, the computer controls the driving device VI-01 to drive the connecting plate VI-02 and the image acquisition device IV to recover to the original safety position, so that the cutter on-machine detection system has no influence on the normal work of the machining center at the non-operating time. The computer analyzes the acquired images, controls the machining center to continuously execute the subsequent machining if finding that the abrasion of the cutter is in a normal range, and controls the production line to warn and stops the operation of the machining center if finding that the abrasion of the cutter exceeds a preset threshold value.
[00136] A region within the protective fence is a robot III work region, if the worker enters the protective fence while the robot III is operating, the work may be injured by the operating robot III, leading to personnel safety accidents. Therefore, in order to avoid the occurrence of such conditions, each of the three safety doors VII-01 is provided with the safety door bolt VII-04-01 and the safety door socket VII-01-04. Only when the three safety doors VII-01 are all closed, i.e., the three safety door bolts VII-01-06 are all plugged into the safety door sockets VII-01-05, the robot III can operate. As long as one of the three safety doors VII-01 is open, the robot III will stop operation immediately, and at the same time, the production line gives a warning signal. Considering the complicated workshop environment, great staff flow and much machinery operation, when the robot III is operating, in order to prevent the safety door VII-01 from being accidentally opened, the metal plate VII-01-01 and the magnetic lock VII-01-02 are mounted on the safety doors VII-01. After being closed, the safety doorVII-01 can only be opened after the magnetic lock VII-01-02 is powered off through the electromagnetic switch VII-01-03.
[00137] When a certain machining center is abnormal (the cutter is excessively abraded, the cutter materials are not reliably positioned or clamped, and the like), this machining center will send an error signal to the computer. The computer stops the operation of this machining center and controls the robot to ignore the abnormal machining center and to operate other machining centers. At this moment, the worker opens the safety door VII-07 to enter the protective fence for repair, the robot III stops operation, and the worker will firstly close the forbidden door VII-02 in front of the abnormal machining center. After the forbidden door is closed, the forbidden door bolt VII-02-03 is pulled out from the forbidden door socket VII-02-04, the forbidden door bolt VII-02-02 is plugged into the forbidden door socket VII-02-01, and at the same time, the worker repair region is isolated from the robot work region to ensure the personnel safety of the worker during repair. At this moment, the corresponding safety door is in the line is short circuited through the forbidden door safety socket. Then, the worker starts the robot, and at this moment, the robot III will continuously ignore this abnormal machining center and operate other machining centers. After the repair by the worker is completed, the robot is firstly paused. Then, the corresponding forbidden door VII-02 is opened, at this moment, the forbidden door bolt VII-02-04 is plugged into the forbidden door socket VII-02-05, and the forbidden door bolt VII-02-03 is pulled out from the forbidden door socket VII-02-02. At the same time, the safety door corresponding to the forbidden door is connected into a circuit, and the magnetic lock VII-01-02 is energized. Then the worker closes the safety door, and starts the robot. At this moment, the robot III will recognize that the abnormal machining center has been repaired, and can continuously operate this machining center.
[00138] The above descriptions are merely preferred embodiments of this application and are not intended to limit this application. For those skilled in the art, this application may have various modifications and changes. Any modification, equivalent replacement, or improvement made without departing from the spirit and principle of this application shall fall within the protection scope of this application.

Claims (10)

1. An automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity, comprising a material tray laminated assembly body, a material management system, a robot, a transfer station, a machining center, a cutter on-machine detection system, and a protective fence, wherein the material management system and a plurality of machining centers are uniformly arranged in a circumference direction by using the robot as the center; the transfer station is disposed between the machining center and the protective fence, and the cutter on-machine detection system is connected to the machining center; wherein the material tray laminated assembly body is configured to carry cutter materials of different models, the material management system is capable of unstacking the input material tray laminated assembly body containing blank materials to form single material trays supplied to the robot, and is capable of stacking material trays containing finished product materials to output the material tray laminated assembly body containing the finished product materials; the robot is configured to realize material exchange among a material table, the transfer station and the machining center; a multi-station air detection hydraulic clamp configured to clamp the materials is mounted inside the machining center, and through the multi-station air detection hydraulic clamp, a positioning and clamping state of the materials is capable of being detected; and the cutter on machine detection systems is capable of precisely detect the cutter materials on machine in the limited inside space of the machining center.
2. The automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity according to claim 1, wherein the material tray laminated assembly body comprises a plurality of stacked material trays, a plurality of stations are processed on the material tray, and a plurality of positioning grooves configured to limit material positions are formed in each of the stations; and a material tray positioning block is disposed on the surface of the material tray, and material tray positioning groove matched with the material tray positioning block is disposed under the material tray positioning block.
3. The automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity according to claim 1, wherein the material management system comprises a material tray input and output platform, a material tray lifting platform, a material tray grasping and releasing platform, a material table and a material tray releasing platform, and the material tray lifting platform and the material tray releasing platform are embedded in the material tray input and output platform; and the material table is disposed behind the material tray input and output platform, and the material tray grasping and releasing platform is arranged above the material tray input and output platform and the material table.
4. The automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity according to claim 3, wherein the material tray input and output platform comprises a belt input module, a belt output module and a plurality of diffuse reflection sensors; the belt input module and the belt output module are mounted side by side; the plurality of diffuse reflection sensors are disposed above the belt input module and the belt output module; the diffuse reflection sensor is connected to a computer, and the computer controls the material management system to unstack and stack by analyzing a signal transmitted from the diffuse reflection sensor; and the diffuse reflection sensor is disposed at the lateral side of the belt output module for detecting whether the finished product materials are completely output or not.
5. The automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity according to claim 3, wherein the material tray lifting platform comprises a motor lead screw module, a material tray support table and a belt auxiliary mechanism; the motor lead screw module is connected to the material tray support table, and the motor lead screw module is capable of driving the material tray support table to ascend and descend; the belt auxiliary mechanism is arranged under the material tray support table; a photoelectric sensor is mounted at the side surface of the motor lead screw module, a trigger sheet is mounted at the side surface of the material tray support table, and the material tray support table is controlled for feeding by detecting the position of the trigger sheet; and a diffuse reflection sensor is mounted on the material tray support table for detecting whether the blank materials are input in place or not.
6. The automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity according to claim 3, wherein the material tray grasping and releasing platform comprises a material tray grasping and releasing manipulator, an X axis displacement module, a Z axis displacement module and a Y axis displacement module; the material tray grasping and releasing manipulator is connected to the Z axis displacement module; the Z axis displacement module is connected to the X axis displacement module through the Y axis displacement module; the material table comprises an upper layer material tray push-pull module and a lower layer material tray push-pull module; the upper layer material tray push-pull module is mounted above the lower layer material tray push pull module, and the two layers of material tray push-pull modules are can alternately supply materials to the robot; the material tray releasing platform comprises a motor lead screw module, a material tray support table and a friction reduction belt mechanism, the material tray support table is connected to the motor lead screw module, and the friction reduction belt mechanism is arranged under the material tray support table; and a trigger sheet is mounted at one side of the material tray support table, a photoelectric sensor is mounted at the side surface of the motor lead screw module, and the computer detects the position of the trigger sheet through the photoelectric sensor so as to control the material tray support table to discharge materials.
7. The automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity according to claim 1, wherein the robot comprises a plurality of clamping jaws uniformly disposed, and an air spray nozzle is mounted behind the clamping jaw; a laser detection device is mounted between the clamping jaws; and the laser detection device comprises a laser detector, and a dustproof end cover capable of being opened and closed is mounted at the front end of the laser detector.
8. The automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity according to claim 1, wherein the cutter on-machine detection system comprises a driving device, a connecting plate and an image acquisition device; one end of the connecting plate is connected to the driving device, and the driving device can drive the connecting plate to rotate and can also drive the connecting plate to vertically move; and the image acquisition device is mounted at the other end of the connecting plate for acquiring image information of a cutter.
9. The automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity according to claim 8, wherein the driving device comprises a motor lead screw module, a lifting table, a rotating mechanism and a telescopic rod; the lifting table is connected to the motor lead screw module; the rotating mechanism is fixed above the lifting table and is connected to the connecting plate, and a plurality of telescopic rods are connected to the lifting table; an annular sliding rail is disposed under the lifting table , and the annular sliding rail is connected to the connecting plate through a sliding table; and the image acquisition device comprises a cutter side edge and diameter image acquisition mechanism, a cutter end surface image acquisition mechanism and a focal length adjusting mechanism, the cutter side edge and diameter image acquisition mechanism is fixed above the focal length adjusting mechanism, and the cutter end surface image acquisition mechanism is mounted at the center position of the focal length adjusting mechanism.
10. The automatic unstacking-stacking loading and unloading intelligent self-detection production line for machining a turning tool bit mold cavity according to claim 1, wherein a safety door and a forbidden door are disposed at the side surface of the protective fence corresponding to the machining center, the safety door is configured to isolate a robot operation region from a labor operation region, and the forbidden door is configured to isolate an abnormal machining center from the production line.
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