The content of the invention
The technical problems to be solved by the invention are:The above-mentioned prior art is solved by the one-to-one manipulation numerical control machine of skilled worker
The unstable machining pattern of bed, low production efficiency, quality control there are the problem of, and it is special to provide a kind of extra-high voltage transformer
Valve processing of robots assembly line and processing method, efficiently, quality controllable, high degree of automation, labor intensity are low.
The technical solution adopted by the present invention is:
A kind of extra-high voltage transformer special valve processing of robots assembly line, by two product line groups into two production lines
Something in common be all mounting robot and fixture on guide rails of robots, be respectively equipped with the first ordinal number in guide rails of robots both sides
Control lathe, workpiece rotary locating stand, workpiece revolving platform, the 3rd sequence machining center and the second sequence numerically controlled lathe, workpiece overturning platform, the
Four sequence machining centers, the 5th sequence square cross machining center;Two production lines are a difference in that;Wherein there is production line
Also have additional the 5th sequence round piece machining center on one side;Having additional the production line of the 5th sequence round piece machining center can add
Work square cross can process round piece again.
In above-mentioned technical proposal, be also equipped on two production lines industrial intelligent camera and examine slide unit, safe fence,
Pneumatic system, jig, machine tool door automatic switch babinet and robot control cabinet.
In above-mentioned technical proposal, the robot selects storehouse card brand, it is contemplated that the autgmentability of system and two production lines
Flexibility, it is unified to select storehouse card KR210 R2700 EXTRA robot systems, reserve enough load surpluses;Robot is by elbow
Robot body, KRC4 switch boards, the teaching control device KCP compositions of 6 axle construction of section formula.
Guide rails of robots uses welded type frame structure, is welded by high-quality material, annealed processing, and guarantee makes for a long time
With not being deformed;The high-quality straight-line guide rail slide block and rack-and-pinion of silver, Panasonic or Mitsubishi's servomotor, SEW speed reducers in configuration,
Power is not less than 2.5KW.
The pneumatic scroll chuck in two-position that robot clamp is clamped using support endoporus, chuck is using the male gram product of Germany, folder
Clamp force is big, and repetitive positioning accuracy is high, has the function of safety interlock, in the case where dying, it is ensured that workpiece is not fallen out, industrial intelligence
Energy camera is installed on robot clamp.
Robot clamp main feature:
1)Two-position is designed, and while meeting loading and unloading requirement, effectively reduces productive temp.
2)Fixture can by the pressure regulator valve that is installed among gas circuit and throttle valve to the chucking power of three-jaw and clamping speed into
Row smooth adjustment;
3)Execution three-jaw reaction speed is fast, and stable action is rapid, equipped with sensor, real time monitoring fixture work shape on fixture
State;
4)Fixture can ensure that realization smooth operations, is swift in motion, reacts fast, easy to operate;
5) clamping jaw has certain flexibility, takes into full account workpiece scale error in itself and deformation, can self-centering ensure it is reliable
Grabbing workpiece;
6) for different product size, can quickly be remodeled by way of replacing three-jaw;
7) fixture has AutoLock feature, it is ensured that fixture still keeps clamp position when supply interrupts suddenly;
8) there is clamping signal, this signal carries out communication with robot, ensures that clamping process is safe and reliable.
Numerically controlled lathe and machining center milling mounting hole fixture function and feature:
1) jig is clamped reliable and stable using Hydraumatic automatic clamping pattern;
2) modularized design scheme, it is ensured that remodel quick and precisely;
3) base plate is connected by T-slot screw with platen, is fixture basis installation section, is not had to when remodeling
It replaces;
4) clamp body is modularized design, and the workpiece in the range of certain size can share, and different pore size workpiece passes through more
Locating shaft realization is changed to remodel;Clamp body bottom surface is equipped with positioning key, and is provided with limiting slot, can with the positioning spline on base plate and calmly
Position pin cooperation installation, realizes X and Y-direction positioning;
5) two workpiece of clamped one time reduce non-cutting time.
The milling centre hole clamp function and feature of numerically controlled lathe and machining center:
1) positioned using plane and two pits, it is ensured that accurate positioning avoids position offset in process;
2) spacer pin uses floating pattern, and the axial conical surface is oriented to, and adapts to the workpiece error of not processing mounting holes to clamping essence
The influence of degree;
3) locating shaft border different position distribution spacer pin mounting hole, according to workpieces processing species, correspondence position installation limit
Position pin, processing of conveniently remodeling;
4) remaining is same as above milling mounting hole fixture.
The function and feature of four side fixture of numerically controlled lathe and machining center milling:
1) four side fixture of milling realizes clamped one time, completes the processing of 4 circumferential surfaces;
2) speed reducer for servo motor drives, and realizes workpiece rotation, is rotated by 90 ° processing plane;
3) using the lateral register that workpiece is realized to folder oil cylinder, ensure that machined surface and reference plane are vertical;
4) workpiece is clamped using hydraulic vice, and clamping force is big and adjustable, it is easy to accomplish automation control;
5) ejection cylinder moves forward for workpiece after work pieces process, convenient for robot inloading part, using close switch and hydraulic valve
Control piston rod stop position;
6) sidesway cylinder realizes that hydraulic tongs removes the location of workpiece, realizes robot charge;
7) two pieces is processed simultaneously, saves productive temp.
In above-mentioned technical proposal, workpiece rotary locating stand judges for location of workpiece identification, positioning and workpiece home position;
Workpiece rotary locating stand is made of pedestal and rotating platform, and rotating platform is driven using servomotor, high-precision crossed roller axis
Supporting is held, there is splendid rigid connection, collocation servomotor drive control can play the balance of splendid acceleration and movement.
In above-mentioned technical proposal, the industrial intelligent camera uses U.S.'s Cognex product, 5000 systems of In-Sight
Row vision system is unique a industrial intelligent camera for being capable of providing technical grade profile on current world market, firm
Die casting aluminium (IP67) shell, the M12 connectors of encapsulation and protection lens cap have remarkable Performance And Reliability.
It is described to examine the verifying bench that slide unit is each process processing part in above-mentioned technical proposal, it is led using upper silver-colored straight line
Rail sliding block, cylinder driving;Workpiece is sent out machining area by slide unit, is reached artificial detection position, is avoided human-computer interaction, support personnel
Safety.
A kind of processing method of extra-high voltage transformer special valve processing of robots assembly line, before work, operating personnel are true
Recognize dose location workpiece type, truck placement position, whether workpiece placing direction is correct, confirms each equipment state, and confirmation is respectively set
Whether standby holder status matches with workpieces processing, manually chooses the processing program of each machining tool and work piece match, connects system
In all power supplys and source of the gas;It is as follows:
1)Robot captures blank to workpiece Scan orientation on truck;Placing direction mistake sends alarm signal;
2)First ordinal number control lathe face work, endoporus, seal groove, according to system signal, machine tool door automatically opens;
3)Completion of processing workpiece, clamping blank are removed by robot;
4)Workpiece is placed on roll-over table by robot, and robot is by workpiece turning 180 degree;
5)Robot grabbing workpiece from roll-over table;
6)Second ordinal number control lathe face work, endoporus, seal groove, according to system signal, machine tool door automatically opens;
7)Completion of processing workpiece, clamping blank are removed by robot;Upper procedure workpiece is next process blank;
8)Workpiece is placed on rotation positioning platform by robot, vision positioning;Or workpiece is placed into rotation by robot
Turn on locating platform, rotation positioning platform is by 90 ° of rotations, visual identity logo positions and direction;
9)Robot captures workpiece of having good positioning, and is placed on next procedure workpiece revolving platform;
10)Robot returns to original upper discharge position, repeats above 1)—9)Action is once;
11)Robot captures 2 workpiece from revolving platform, is placed on the 3rd sequence processing center machine tool fixture and bores milling installation
Hole or centre bore, aperture deburring, according to system signal, machine tool door automatically opens;
12)2 workpiece of completion of processing are removed by robot, are placed on the 4th sequence processing center machine tool fixture;
13)Robot captures temporary 2 workpiece from this process revolving platform and is installed on jig again;
14)4th sequence processing center machine tool milling periphery, chamfering, according to system signal, machine tool door automatically opens;
15)2 workpiece of completion of processing are removed by robot, are placed into the 5th sequence square cross machining center or the 5th sequence is circular
On the jig of work piece processing center;
16)Robot returns to original upper discharge position, repeat in the above sequence more than 1)—15)Action is once;
17)The lathe drilling and milling center hole of 5th sequence square cross machining center or the 5th sequence round piece machining center, root
According to system signal, machine tool door automatically opens;
18)Completion of processing workpiece is removed by robot;
19)Workpiece is placed into finished product truck by robot.
20)Robot returns to original upper discharge position, moves in circles.
In above-mentioned technical proposal, processing method processing square cross and/or round piece, processing square cross is again
Divide into square cross of the processing with logo marks and the square cross without logo marks.
The characteristics of present invention is prominent and remarkable result are:
1. using robot flow line production, without human intervention, the working strength of labourer is alleviated;
2. work efficiency is high, enterprises production efficiency is improved;
3. entire production procedure is stablized, reliable product quality;
4. being suitble to produce in enormous quantities, enterprise's production cost is reduced.
Specific embodiment:
Referring to Fig. 1, extra-high voltage transformer special valve processing of robots assembly line of the invention, by two product line groups
Into the something in common of two production lines is all mounting robot and fixture on guide rails of robots, in guide rails of robots both sides point
It She You not the first sequence numerically controlled lathe 3, workpiece rotary locating stand 5, workpiece revolving platform 6, the 3rd sequence machining center 7 and the second ordinal number control
Lathe 17, workpiece overturning platform 16, the 4th sequence machining center 15, the 5th sequence square cross machining center 12;Two production lines are not
It is with part;The one side for wherein having one article of production line also has additional the 5th sequence round piece machining center 18;Have additional the 5th sequence
The production line of round piece machining center can process square cross but also process round piece, also be installed on two production lines
There is industrial intelligent camera and examine slide unit, safe fence, pneumatic system, jig, machine tool door automatic switching system and machine
People's switch board.
Referring to Fig. 2, without the processing of logo square crosses:
Before work, operating personnel confirm dose location workpiece type, 1 placement position of blank truck, and workpiece placing direction is
It is no correct, confirm each equipment state, confirm whether each equipment holder status matches with workpieces processing, manually choose each machining tool
With the processing program of work piece match, all power supplys and source of the gas in connection system.It is fixed that robot 4 scans workpiece on blank truck 1
Position, captures blank, and placing direction mistake sends alarm signal;First sequence numerically controlled lathe, 3 face work, endoporus, seal groove;According to
System signal, machine tool door automatically open;Completion of processing workpiece, clamping blank are removed by robot 4;Workpiece is placed by robot 4
Onto roll-over table 16, robot 4 is by workpiece turning 180 degree;Robot 4 is from grabbing workpiece on roll-over table 16;Second sequence numerical control lathe
17 face work of bed, endoporus, seal groove;According to system signal, machine tool door automatically opens;Completion of processing workpiece is removed by robot 4, dress
Press from both sides blank;Workpiece is placed on rotary locating stand 5 by robot 4, vision positioning;Robot 4 captures workpiece of having good positioning, and places
Onto next procedure workpiece revolving platform 6;Robot 4 returns to original upper discharge position, repeats above action once;3rd sequence is processed
Milling mounting hole is bored at center 7, and aperture deburring, according to system signal, machine tool door automatically opens;Completion of processing work is removed by robot 4
Part 2, is placed on 15 fixture of the 4th sequence machining center;Robot 4 captures temporary 2 installations of workpiece from this sequence revolving platform 6 again
Onto jig;According to system signal, machine tool door automatically opens for 4th sequence machining center, 15 milling four sides, chamfering;Robot 4 takes
Lower completion of processing workpiece 2, is placed on 12 fixture of the 5th sequence square cross machining center;Robot 4 returns to original upper material position
Put, repeat in the above sequence more than act once;5th sequence square cross machining center, 12 drilling and milling center hole, believes according to system
Number, machine tool door automatically opens;Completion of processing workpiece 2 is removed by robot 4;2 workpiece are placed into finished product truck 8 by robot 4
On, robot 4 returns to original upper discharge position, moves in circles.
Referring to Fig. 2, the processing with logo square crosses:
Before work, operating personnel confirm dose location workpiece type, 1 placement position of blank truck, and workpiece placing direction is
It is no correct, confirm each equipment state, confirm whether each equipment holder status matches with workpieces processing, manually choose each machining tool
With the processing program of work piece match, all power supplys and source of the gas in connection system.It is fixed that robot 4 scans workpiece on blank truck 1
Position, captures blank, and placing direction mistake sends alarm signal;First sequence numerically controlled lathe, 3 face work, endoporus, seal groove, according to
System signal, machine tool door automatically open;Completion of processing workpiece, clamping blank are removed by robot 4;Workpiece is placed by robot 4
Onto roll-over table 16, robot 4 is by workpiece turning 180 degree;Robot 4 is from grabbing workpiece on roll-over table 16;The second step numerical control
17 face work of lathe, endoporus, seal groove, according to system signal, machine tool door automatically opens;Completion of processing workpiece is removed by robot 4,
Clamping blank;Workpiece is placed on rotation positioning platform 5 by robot 4, vision positioning, and rotating platform is rotated by 90 degree, depending on
Feel identification logo positions and direction;Robot 4 captures workpiece of having good positioning, and is placed on next procedure workpiece revolving platform 6;Robot
4 return to original upper discharge position, repeat above action once;The third step machining center 7 bores milling mounting hole, aperture deburring, root
According to system signal, machine tool door automatically opens;Completion of processing workpiece 2 is removed by robot 4, is placed into the fourth step machining center 15
On fixture;Robot 4 captures temporary workpiece 2 from this process revolving platform 6 again and is installed on jig;In the fourth step processing
15 milling of heart four sides, chamfering, according to system signal, machine tool door automatically opens;Completion of processing workpiece 2 is removed by robot 4, is placed into
On 5th process square cross machining center, 12 fixture;Robot 4 returns to original upper discharge position, repeat in the above sequence more than move
Make once;5th process square cross machining center, 12 drilling and milling center hole, according to system signal, machine tool door automatically opens;Machine
People 4 removes completion of processing workpiece 2;2 workpiece are placed on finished product truck 8 by robot 4, and robot 4 returns to original feeding
Position is moved in circles.
Referring to Fig. 3, processing round piece and processing square cross technological process are essentially identical, simply process round piece
Milling four sides and chamfering station are saved in technological process.
Model Φ 40, Φ 50, the Φ 80 of square cross(Refer to the diameter of bore of square cross), round piece Φ
100、Φ125、Φ200(Refer to the diameter of bore of round piece), the two-sided processing mounting holes of 150 workpiece of Φ, in workpiece overturning platform
16 and workpiece rotary locating stand 5 on complete it is secondary overturning positioning, be placed on the 4th sequence machining center 15 and process.
Round piece drill centers 18 on the 5th sequence round piece machining center on process.