CN107199411B - Automatic processing device for anti-theft door frame and processing method for anti-theft door frame - Google Patents
Automatic processing device for anti-theft door frame and processing method for anti-theft door frame Download PDFInfo
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- CN107199411B CN107199411B CN201611258466.7A CN201611258466A CN107199411B CN 107199411 B CN107199411 B CN 107199411B CN 201611258466 A CN201611258466 A CN 201611258466A CN 107199411 B CN107199411 B CN 107199411B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
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- Joining Of Corner Units Of Frames Or Wings (AREA)
Abstract
The invention provides an automatic processing device for automatically feeding, cutting, splicing and welding a door frame of a security door into a whole and a control system thereof, which comprises a feeding mechanism, a cutting mechanism, a splicing platform, a welding mechanism, a discharging mechanism and a control mechanism, wherein the splicing platform is quadrilateral, the feeding mechanism, the cutting mechanism, the welding mechanism and the discharging mechanism are arranged around the splicing platform, the feeding mechanism conveys frame profiles to the splicing platform in a mode of longitudinally and transversely crossing and independently feeding four edges, the splicing platform is used for fixing the frame profiles and moving the frame profiles on the platform so that the cutting mechanism and the welding mechanism can obtain processing positions, the cutting mechanism is used for processing the frame profiles on the splicing platform, the welding mechanism is used for welding the frame profiles on the splicing platform, the discharging mechanism is used for transporting the frame profiles or finished door frames out of the splicing platform, the control mechanism is used for controlling the operation of the feeding mechanism, the cutting mechanism, the splicing platform, the welding mechanism and the discharging mechanism, and unmanned and intelligent production is achieved.
Description
Technical Field
The invention relates to a processing device of a door frame of an anti-theft door, in particular to an automatic processing device for cutting, splicing and welding the door frame of the anti-theft door into a whole and a control system thereof, and also relates to a method for processing the door frame of the anti-theft door by using the device.
Background
The anti-theft door is an important product related to life and property safety of thousands of households, the quality of the anti-theft door frame serving as a framework of the anti-theft door is directly related to the overall grade and quality of the anti-theft door, and the quality of the anti-theft door frame is inspected from the following aspects; secondly, checking whether the matching between the door leaf and the door frame is compact and whether the gap is uniform and consistent, the more accurate and fine the splicing precision of the door frame of the anti-theft door is, the more easily the door leaf is closely matched with the door frame, and meanwhile, the two diagonal line errors of the high-quality door frame of the anti-theft door required by the industry standard must be controlled within 2 millimeters, so that the standard is difficult to achieve manually at present; thirdly, whether all joints of the door frame are compact or not is checked, so that the requirements on the cutting angle and the precision of the door frame are high.
At present, the processing of the door frame of the anti-theft door is divided into two categories of manual processing and mechanical processing, most of workshops still adopt manual processing, in the production process, manual operation is adopted for processing operation, a cutting machine is manually operated for cutting, manually splicing and welding workpieces; some factories mostly adopt mechanical processing, large-scale machines are adopted to cut the workpieces, then the workpieces are transferred to a splicing platform, and the workpieces are welded on the splicing platform manually. The processing has the following defects that 1, the feeding and discharging are finished manually, the labor intensity of workers is high, the efficiency is low, and the labor cost is high. 2. The cutting angle and precision of manually cutting the workpiece by using the cutting machine or manually operating the machine tool are determined by the operation proficiency, the operation state and the personal skill of workers, so that the product quality is uneven. 3. The seam and the joint of the door frame are welded by manpower, the welding quality is greatly limited by the personal skills of workers, and the surface smoothness is poor after manual welding, so that the later-stage color-finishing processing is not facilitated.
Meanwhile, chinese patent No. 201510799364.5 discloses a robot workstation and a processing method for automatic processing of an aluminum alloy door frame. The robot workstation for automatically processing the aluminum alloy door frame comprises a fixed material rack for storing profile materials, a cutter device for processing the profile materials, a profile material platform for storing frame profiles obtained by processing the cutter device, a welding device for welding and assembling the frame profiles, a transfer robot for transferring the profile materials and the frame profiles and a control mechanism for controlling the workstation to operate, wherein the fixed material rack, the cutter device, the profile material platform and the welding device are arranged around the periphery of the transfer robot and are positioned in the working radius of the transfer robot. The robot can replace manpower to complete more complex logic analysis, can complete various actions more accurately than the manpower, and has high intelligent degree. The patent has a certain reference function for the automation of the processing of the door frame of the security door, belongs to the semi-automatic improvement, the cutting, the welding and the assembly are not on the same platform, after each processing procedure is processed independently, a robot is added to carry the door frame to the next processing procedure, the robot is used for converging and splicing all independent production lines together, the full-automatic production cannot be realized, and a plurality of metal sections can deform in the carrying process, the assembly difficulty of the deformed sections seriously influences the product quality, meanwhile, because of the difference of the materials, the weight, the thickness, the cutting and the welding of the aluminum alloy and the profile (steel) of the security door frame, the automatic processing equipment and the method of the aluminum alloy door frame cannot be applied to the automatic processing of the security door frame, the automatic processing of the security door frame needs to overcome the technical problems aiming at the processing of the security door, for example, the processing of the feeding mode: the aluminum alloy door frame section has small volume and light weight, is convenient for robot grabbing, and the anti-theft door frame has large volume and heavy weight, and the robot grabbing needs very large power, so that the grabbing robot has high cost; processing an assembling mode: the surface of the aluminum alloy section is a regular plane, the section of the anti-theft door is mostly an irregular wavy surface, and the precision required by the assembling diagonal of the anti-theft door is higher; processing in a cutting mode: aluminum alloy can be cut into single strips and then diagonally assembled, but the precision requirement of the anti-theft door is higher, the profile of the anti-theft door is thick, and the requirement of high-quality assembly is difficult to achieve after the single strips are cut
Disclosure of Invention
Aiming at the technical problems of the defects and the need of overcoming in the processing process of the door frame, the invention mainly solves the technical problem of organically combining the procedures of feeding, cutting, assembling, welding, blanking and the like in the processing of the door frame of the anti-theft door, and provides an automatic processing device for automatically feeding, cutting, assembling and welding the door frame of the anti-theft door into a whole body. The purpose of robot exchange in the process of machining the door frame of the anti-theft door is achieved, and the mechanical automation of the traditional door frame machining industry is promoted.
According to one aspect of the invention, the automatic processing device for the door frame of the anti-theft door comprises a feeding mechanism, a cutting mechanism, an assembling platform, a welding mechanism, a discharging mechanism and a control mechanism, wherein the assembling platform is quadrilateral, the feeding mechanism, the cutting mechanism, the welding mechanism and the discharging mechanism are arranged around the assembling platform, the feeding mechanism conveys the frame profiles to the assembling platform in a vertically and horizontally crossed manner and four sides of the frame profiles are fed independently, the assembling platform is used for fixing the frame profiles and moving the frame profiles on the platform so that the cutting mechanism and the welding mechanism can obtain processing positions, the cutting mechanism is used for processing the frame profiles on the assembling platform, the welding mechanism is used for welding the frame profiles on the assembling platform, the discharging mechanism is used for conveying the frame profiles or finished door frames out of the assembling platform, and the control mechanism is used for controlling the feeding mechanism, the cutting mechanism and the discharging mechanism to control the feeding mechanism, The cutting mechanism, the assembling platform, the welding mechanism and the blanking mechanism.
The feeding mechanism comprises a lower gear feeding assembly, a lock gear feeding assembly, a hinge gear feeding assembly and an upper gear feeding assembly, wherein the lock gear feeding assembly and the hinge gear feeding assembly are used for longitudinal feeding, the upper gear feeding assembly is used for transverse feeding, the lock gear feeding assembly, the hinge gear feeding assembly and the upper gear feeding assembly respectively comprise a rack, a pushing motor, a pushing guide rail, a push plate, a butt joint driving motor, a butt joint guide rail, a butt joint plate and a workpiece fixing device, the rack is provided with the butt joint guide rail along the feeding direction, the butt joint plate is controlled by the butt joint driving motor to translate on the butt joint guide rail along the feeding direction through a chain, the workpiece fixing device is fixed on the butt joint plate, the push plate is controlled by the pushing motor to push a workpiece on the pushing guide rail to translate along the feeding direction through the chain, the lower gear feeding assembly comprises a lifting platform which moves up and down along a lifting frame, a grabbing arm which is controlled by a servo motor and can move back and forth is arranged above the lifting frame, and a grabbing manipulator which can move up and down is arranged on the grabbing arm.
The same plane of the butt joint guide rail is provided with a rolling shaft, so that the butt joint plate can move smoothly.
The workpiece fixing device comprises three fixing parts, the fixing parts comprise bases and limiting seats, the limiting seats are L-shaped, the short edges of the L-shaped limiting seats are provided with assembling holes and are fixed to the bases towards the workpieces, the inner side limiting bearings used for limiting the inner surfaces of the workpieces are vertically arranged on the short edges of the limiting seats, the long edges of the limiting seats are vertically provided with the limiting bearings towards one side of the workpieces, one side, opposite to the workpieces, of the long edges of the limiting seats is fixed with a corner cylinder used for controlling a top surface clamping bearing, and the outer side limiting bearings used for limiting the outer surfaces of the workpieces are vertically arranged on the bases.
The upper limiting bearing, the inner limiting bearing, the outer limiting bearing and the top surface clamping bearing are positioned on the same working plane, and the upper limiting bearing, the inner limiting bearing, the outer limiting bearing and the top surface clamping bearing longitudinally extend or transversely extend or longitudinally translate or transversely translate to clamp the workpiece according to the specification of the workpiece in the same working plane.
In detail, go up spacing bearing along the long limit up-and-down translation of spacing seat, inboard spacing bearing is along the minor face left and right translation of spacing seat, and the spacing bearing of outside is horizontal translation on the base, top surface clamping bearing reciprocates or 90 degrees rotations by corner cylinder control, it is all scalable to go up spacing bearing, inboard spacing bearing, the spacing bearing in outside, top surface clamping bearing.
The workpiece fixing device comprises three or more than three fixing pieces, the fixing pieces are uniformly distributed along a straight line on the same horizontal plane, and the workpiece fixing assembly line is formed through cooperation operation.
The pushing guide rail is fixed on a base of the workpiece fixing device, and the pushing plate is controlled by a pushing motor through a chain to push the workpiece to move horizontally along the feeding direction on the pushing guide rail.
The base of the workpiece fixing device is also provided with a lower limiting cushion block matched with the lower surface of the workpiece and a sliding roller convenient for the workpiece to slide.
Cutting mechanism includes knife rest base, knife rest, cutter and cutter driving motor, be equipped with the cutting guide rail that is 45 degrees angles with the work piece on the knife rest base, the translation of cutting guide rail is followed to the knife rest, be equipped with perpendicular guide rail on the knife rest, the cutter reciprocates along the perpendicular guide rail on the knife rest, the cutter comprises the synchronous corotation's of two parallels cutting blade disc, and two cutting blade disc belows are equipped with respectively and hold the device with the work piece top that the cutting blade disc is 45 degrees angles, the work piece top is held the device below and is equipped with the piece catch tray.
The assembling platform comprises an assembling support frame, an upper gear assembling group, a lock gear assembling group, a hinge gear assembling group and a lower gear assembling group, wherein the upper gear assembling group, the lock gear assembling group, the hinge gear assembling group and the lower gear assembling group are arranged on the assembling support frame in a rectangular shape to form a working plane, the lock gear assembling group and the hinge gear assembling group respectively comprise a group of clamps (lock gear/hinge gear) which are controlled by a lock gear driving servo motor and a hinge gear driving servo motor respectively and translate left and right on the assembling support frame, and the clamps (lock gear/hinge gear) are driven by a clamping cylinder to fix a workpiece; the upper gear assembly group comprises a group of upper gear clamps which are controlled by an upper gear driving servo motor, can translate back and forth on the assembly support frame and can move left and right, and the clamps are driven by a clamping cylinder to fix a workpiece; the lower gear assembling group comprises a group of lower gear clamps fixed on the assembling support frame, and the lower gear clamps are driven by a clamping cylinder to fix a workpiece.
The welding mechanism comprises a group of welding robots arranged on the base walking frame.
The blanking mechanism comprises a truss and a frame-shaped grabbing manipulator transversely walking on the truss, and the frame-shaped grabbing manipulator is controlled by a grabbing motor to drive a gear rack to move longitudinally.
The control mechanism comprises a master control cabinet for controlling the feeding mechanism, the cutting mechanism, the splicing platform, the welding mechanism and the discharging mechanism.
As a further improvement of the invention, the cutting mechanism is a laser cutting robot, comprising a laser generator and a robot, and the cutting of the profile is accomplished by integrating a laser beam guiding device in the robot arm, combining a stable laser and a moving robot arm.
Furthermore, the laser cutting robot and the welding robot share one robot arm, and the robot is controlled by the control mechanism to operate according to requirements.
According to another aspect of the invention, a control system for processing a door frame of a security door is provided, which comprises a feeding module, a cutting module, an assembling module, a welding module and a blanking module;
the feeding module is used for sending the security door section bar into and assembles the platform, including the control unit, go up material level acquisition unit, converter and action unit, the control unit is used for receiving the signal of going up material level acquisition unit and sends action command, goes up material level acquisition unit and is used for gathering the work piece position and sends signal for the control unit, and the control unit makes the judgement and sends action command for the converter according to received acquisition signal, the action command that the control unit sent is received to the converter and the operation of drive action unit.
The cutting module is used for cutting the anti-theft door frame section bar, including the control unit, cut position acquisition unit, converter and action unit, the control unit is used for receiving the signal of cutting position acquisition unit and sends the action instruction, cuts position acquisition unit and is used for gathering the work piece position and sends signal for the control unit, the control unit makes the judgement and sends the action instruction and give the converter according to the collection signal that receives, the action instruction that the control unit sent is received to the converter and drive the action unit and cut.
The assembly module is used for seamlessly splicing the section bars of the security door into the door frame of the security door along the section bar section, welding mechanisms are convenient to weld, the assembly module comprises a control unit, an assembly position acquisition unit, a servo driver and an action unit, the control unit is used for receiving signals of the assembly position acquisition unit and sending action instructions, the assembly position acquisition unit is used for acquiring the position of a workpiece and sending the acquisition signals to the control unit, the control unit makes judgment according to the received acquisition signals and sends the action instructions to the servo driver, and the servo driver receives the action instructions sent by the control unit and drives the action unit to clamp and assemble the workpiece.
The welding module is used for welding and forming the assembled anti-theft door frame along the section splicing part of the sectional material, the control unit sends an action instruction to the welding robot, and the welding robot finishes welding operation.
The blanking module is used for conveying the welded finished door frame to the next production line and comprises a control unit, a servo driver and an action unit, the control unit is used for sending an action instruction, the control unit sends the action instruction to the servo driver, and the servo driver receives the action instruction sent by the control unit and drives the action unit to complete blanking.
According to another aspect of the present invention, there is provided a method for processing a doorframe of a security door, comprising:
step one, butt joint and feeding: the method comprises the following steps that a feeding mechanism is butted with a security door frame profile mould pressing output mechanism, so that a lower-gear profile, a lock-gear profile, a hinge-gear profile and an upper-gear profile are respectively placed in a lower-gear feeding assembly, a lock-gear feeding assembly, a hinge-gear feeding assembly and an upper-gear feeding assembly, a feeding level acquisition unit arranged in the feeding mechanism acquires that the profiles are in place, the feeding level acquisition unit sends acquisition signals to a control unit, the control unit analyzes the acquisition signals and then sends action instructions to a frequency converter and a hydraulic station, and the frequency converter and the hydraulic station control action unit fix and convey the profiles to preset positions on a splicing platform;
step two, cutting a platform: after the sectional materials are conveyed to the splicing platform, the acquisition unit on the splicing platform acquires the positions of the sectional materials and feeds acquisition signals back to the control unit, the control unit sends an action instruction according to the received signals to reset the feeding mechanism, the clamp on the splicing platform fixes all the sectional materials and moves the lock-gear sectional materials, the hinge-gear sectional materials and the upper-gear sectional materials to a cutting position, the cutting acquisition unit acquires the in-place sectional materials and sends the acquisition signals to the control unit, the control unit sends cutting instructions, and the cutting mechanism cuts the sectional materials according to the cutting instructions;
step three, platform assembly: after cutting, the control unit sends an action instruction to reset the cutting mechanism, and simultaneously sends the action instruction to a servo driver of the splicing platform, and the section bars are spliced in a rectangular shape through a lower-grade splicing assembly, a lock-grade splicing assembly, a hinge-grade splicing assembly and an upper-grade splicing assembly;
step four, platform welding: after assembly is completed, the assembly position acquisition unit feeds back an acquisition signal to the control unit, the control unit sends an action instruction to the welding mechanism, and the welding robot completes welding on the assembly joint;
step five, grabbing and blanking: after welding is finished, the robot resets and feeds information back to the control unit, the control unit sends an action instruction to the feeding mechanism, and the frame-shaped grabbing mechanical arm on the truss grabs and moves the processed doorframe of the security door to the next processing production line;
and step six, repeating the step one to the step five.
The invention has the following beneficial effects:
the invention creatively processes the door frame by adopting four frames and the same platform, integrates the functions of feeding, cutting, assembling, welding and blanking, can easily finish the actions of clamping, cutting, assembling and welding the door frame of the anti-theft door by only one person, is automatically produced, achieves unmanned and intelligent production, and forms an important component part of modern intelligent industrial production; because the whole machining process is completely mechanized, collision and post treatment in the manual machining process are avoided, and meanwhile, the machine can finish various actions more accurately than manual work, so that the error is reduced, and the overall quality of the security door is improved.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention will become apparent from the following detailed description of the preferred embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of an automated processing apparatus according to embodiment 1 of the present invention;
FIG. 2 is a schematic structural diagram of an automated processing apparatus according to embodiment 2 of the present invention;
FIG. 3 is a schematic view of a lock rail loading assembly or a hinge rail loading assembly according to the present invention;
FIG. 4 is a schematic view of the fastener of the present invention;
FIG. 5 is a schematic structural view of the assembly platform of the present invention;
FIG. 6 is a schematic view of a cutting mechanism according to the present invention;
FIG. 7 is a schematic view of the structure of the blanking mechanism of the present invention;
FIG. 8 is a schematic structural diagram of a control system according to the present invention;
FIG. 9 is a control flow chart of the process of the doorframe of the security door of the present invention;
FIG. 10 is a flow chart of a method for processing a doorframe of a security door according to the present invention;
wherein: a feeding mechanism-100, a cutting mechanism-200, an assembling platform-, a welding mechanism-, a blanking mechanism-500, a lower gear feeding component-101, a lock gear feeding component-102, a hinge gear feeding component-103, an upper gear feeding component-104, a frame-105, a pushing motor-106, a pushing guide rail-107, a push plate-108, a butt joint driving motor-109, a butt joint guide rail-110, a butt joint plate-111, a lifting frame-, a lifting platform-, a grabbing arm-, a grabbing manipulator-, a rolling shaft 116, a fixing piece-701, a base-702, a limit seat-703, an inner limit bearing-704, an upper limit bearing-705, a top surface clamping bearing-706, an outer limit bearing-707, a lower limit cushion-708, a lower limit bearing-703, a lower limit bearing-100, a lower limit bearing-108, a lower limit bearing-106, a push plate-108, a push plate-110, a push plate-111, a push plate, The device comprises a sliding roller-709, a tool rest base-201, a tool rest-202, a tool-203, a tool driving motor-204, a cutting tool disc-205, a cutting guide rail-206, a vertical guide rail-207, an upper gear splicing group-301, a locking gear splicing group-302, a hinge gear splicing group-303, a lower gear splicing group-304, a locking gear driving servo motor-305, a hinge gear driving servo motor-306, a clamp-307, a clamping cylinder-308, an upper gear driving servo motor-309, a lower gear driving servo motor-310, an assembling support frame-, a machine base walking frame-401, a welding robot-402, a truss-501, a frame type grabbing manipulator-502, a grabbing motor-503 and a master control cabinet-800.
Detailed Description
For further explanation of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings 1-10, but the invention can be embodied in many different forms, which are defined and covered below.
Embodiment 1, as shown in fig. 1 to 7, the present invention provides an automatic processing apparatus for a door frame of a security door, including a feeding mechanism 100, a cutting mechanism 200, an assembling platform, a welding mechanism, a blanking mechanism 500, and a control mechanism, where the assembling platform is quadrilateral, the feeding mechanism 100, the cutting mechanism 200, the welding mechanism, and the blanking mechanism 500 are arranged around the assembling platform, the feeding mechanism 100 transports frame profiles to the assembling platform in a manner of criss-cross and independent four-edge feeding, the assembling platform is used to fix the frame profiles and move the frame profiles on the assembling platform so that the cutting mechanism 200 and the welding mechanism can obtain processing positions, the cutting mechanism 200 is used to process the frame profiles on the assembling platform, the welding mechanism is used to weld the frame profiles on the assembling platform, the blanking mechanism 500 is used to transport the frame profiles or finished door frames out of the assembling platform, the control mechanism is used for controlling the operations of the feeding mechanism 100, the cutting mechanism 200, the splicing platform, the welding mechanism and the discharging mechanism 500.
The feeding mechanism 100 comprises a lower gear feeding assembly 101, a locking gear feeding assembly 102, a hinge gear feeding assembly 103 and an upper gear feeding assembly 104, wherein the locking gear feeding assembly 102 and the hinge gear feeding assembly 103 feed longitudinally, the upper gear feeding assembly 104 feeds transversely, the locking gear feeding assembly 102, the hinge gear feeding assembly 103 and the upper gear feeding assembly 104 respectively comprise a rack 105, a pushing motor 106, a pushing guide rail 107, a push plate 108, a butt joint driving motor 109, a butt joint guide rail 110, a butt joint plate 111 and a workpiece fixing device, the rack 105 is provided with the butt joint guide rail 110 along the feeding direction, the butt joint plate 111 is controlled by the butt joint driving motor 109 to move on the butt joint guide rail 110 along the feeding direction through a chain, the workpiece fixing device is fixed on the butt joint plate 111, the push plate 108 is controlled by the pushing motor 106 through a chain to push the door frame profile on the pushing guide rail 107 to move along the feeding direction, the lower gear feeding assembly 101 comprises a lifting table moving up and down along a lifting frame, a grabbing arm which is controlled by a servo motor and can move back and forth is arranged above the lifting frame, and a grabbing manipulator which can move up and down is arranged on the grabbing arm.
The roller 116 is disposed on the same plane of the docking guide 110, so that the docking plate 111 can move smoothly.
The workpiece fixing device comprises three fixing pieces 701, as shown in fig. 4, each fixing piece 701 comprises a base 702 and a limiting seat 703, each limiting seat 703 is L-shaped, a short edge of each L-shaped limiting seat 703 is provided with an assembly hole, the short edge of each L-shaped limiting seat 703 faces a workpiece and is fixed with the base 702, an inner side limiting bearing 704 used for limiting the inner surface of the workpiece is vertically arranged on the short edge of each limiting seat 703, an upper limiting bearing 705 is vertically arranged on one side, facing the workpiece, of each long edge of each limiting seat 703, a corner cylinder used for controlling a top surface clamping bearing 706 is fixed on one side, facing away from the workpiece, of each long edge of each limiting seat 703, and an outer side limiting bearing 707 used for limiting the outer surface of the workpiece is vertically arranged on the base 702.
The upper limit bearing 705, the inner limit bearing 704, the outer limit bearing 707 and the top surface clamping bearing 706 cooperate with each other to fix the door frame profile from different directions, and the upper limit bearing 705, the inner limit bearing 704, the outer limit bearing 707 and the top surface clamping bearing 706 longitudinally extend or transversely extend or longitudinally translate or transversely translate according to the specification of the door frame profile in the same working table to clamp the door frame profile.
In detail, the upper limit bearing 705 moves up and down along the long side of the limit seat 703, the inner limit bearing 704 moves left and right along the short side of the limit seat 703, the outer limit bearing 707 moves left and right on the base 702, the top surface clamping bearing 706 moves up and down or rotates 90 degrees under the control of an angle cylinder, and the upper limit bearing 705, the inner limit bearing 704, the outer limit bearing 707 and the top surface clamping bearing 706 can extend and retract.
The workpiece fixing device comprises three or more than three fixing pieces 701, the fixing pieces 701 are uniformly distributed along a straight line on the same horizontal plane, and the workpiece fixing assembly line is formed through cooperation operation.
The base 702 of the workpiece fixing device is further provided with a lower limiting cushion block 708 matched with the lower surface of the door frame profile and a sliding roller 709 convenient for the door frame profile to slide.
The pushing guide rail 107 is fixed on a base 702 of the workpiece fixing device, and the pushing plate 108 is controlled by the pushing motor 106 through a chain to push the door frame profile to translate along the feeding direction on the pushing guide rail 107.
The cutting mechanism 200 comprises a tool rest base 201, a tool rest 202, a cutter 203 and a cutter driving motor 204, wherein a cutting guide rail 206 forming a 45-degree angle with a doorframe profile is arranged on the tool rest base 201, the tool rest 202 translates along the cutting guide rail 206, a vertical guide rail 207 is arranged on the tool rest 202, the cutter 203 consists of two parallel cutting tool discs 205 rotating synchronously and in the same direction, the cutter 203 moves up and down along the vertical guide rail 207 on the tool rest 202, and the cutter can cut from bottom to top or from top to bottom during cutting operation; the cutting is preferably performed from bottom to top, which is beneficial to the cutting precision and the collection of scraps; in addition, a workpiece jacking device which forms an angle of 45 degrees with the cutter disc 205 is arranged below the cutter disc 205, and a scrap collecting disc is arranged below the workpiece jacking device.
The assembling platform comprises an assembling support frame, an upper gear assembling group 301, a lock gear assembling group 302, a hinge gear assembling group 303 and a lower gear assembling group 304, the upper gear assembling group 301, the lock gear assembling group 302, the hinge gear assembling group 303 and the lower gear assembling group 304 are arranged on the assembling support frame in a rectangular shape to form a working platform, the lock gear assembling group 302 and the hinge gear assembling group 303 respectively comprise a group of clamps 307 (lock gear/hinge gear) which are controlled by a lock gear driving servo motor 305 and a hinge gear driving servo motor 306 respectively and translate left and right on the assembling support frame, and the clamps 307 (lock gear/hinge gear) are driven by a clamping cylinder 308 to fix the door frame section; the upper gear assembling group 301 comprises a group of clamps 307 (upper gear) which are controlled by an upper gear driving servo motor 309 and can move back and forth on the assembling support frame and move left and right, and the clamps 307 are driven by a clamping cylinder 308 to fix the door frame section; the lower rail assembling group 304 comprises a group of clamps 307 (lower rail) fixed on the assembling support frame, and the clamps 307 are driven by a clamping cylinder 308 to fix the doorframe profile.
The welding mechanism includes a set of welding robots 402 disposed on a base walking frame 401.
The blanking mechanism 500 comprises a truss 501 and a frame-shaped grabbing manipulator 502 which transversely walks on the truss 501, wherein the frame-shaped grabbing manipulator 502 is driven by a grabbing motor 503 to drive a gear rack to control longitudinal movement.
The control mechanism comprises a master control cabinet 800 for controlling the feeding mechanism 100, the cutting mechanism 200, the splicing platform, the welding mechanism and the discharging mechanism 500.
According to another aspect of the present invention, there is provided a control system for processing a doorframe of a security door, as shown in fig. 8 and 9, including a feeding module, a cutting module, an assembling module, a welding module, and a blanking module;
the material loading module is used for transporting the burglary-resisting door section bar to the preset position of assembling the platform, including the control unit, go up material level acquisition unit, converter and action unit, the control unit is used for receiving the signal of material level acquisition unit and sends action command, goes up material level acquisition unit and is used for gathering the work piece position and send signal for the control unit, and the control unit makes the judgement according to received acquisition signal and sends action command and give the converter, the action command that the control unit sent is received to the converter and the operation of drive action unit.
The cutting module is used for cutting the anti-theft door frame section bar, including the control unit, cut position acquisition unit, converter and action unit, the control unit is used for receiving the signal of cutting position acquisition unit and sends the action instruction, cuts position acquisition unit and is used for gathering the work piece position and sends signal for the control unit, the control unit makes the judgement and sends the action instruction and give the converter according to the collection signal that receives, the action instruction that the control unit sent is received to the converter and drive the action unit and cut.
The assembly module is used for seamlessly splicing the section bars of the security door into the door frame of the security door along the section bar section, welding mechanisms are convenient to weld, the assembly module comprises a control unit, an assembly position acquisition unit, a servo driver and an action unit, the control unit is used for receiving signals of the assembly position acquisition unit and sending action instructions, the assembly position acquisition unit is used for acquiring the position of a workpiece and sending the acquisition signals to the control unit, the control unit makes judgment according to the received acquisition signals and sends the action instructions to the servo driver, and the servo driver receives the action instructions sent by the control unit and drives the action unit to clamp and assemble the workpiece.
The welding module is used for welding and forming the assembled anti-theft door frame along the section splicing part of the sectional material, the control unit sends an action instruction to the welding robot, and the welding robot finishes welding operation.
The blanking module is used for conveying the welded finished door frame to the next production line and comprises a control unit, a servo driver and an action unit, the control unit is used for sending an action instruction, the control unit sends the action instruction to the servo driver, and the servo driver receives the action instruction sent by the control unit and drives the action unit to complete blanking.
According to another aspect of the present invention, there is provided a method for processing a doorframe of a security door, as shown in fig. 10, including:
step one, butt joint and feeding: the loading mechanism is butted with the security door frame profile mould pressing output mechanism, so that lower-grade profiles, lock-grade profiles, hinge-grade profiles and upper-grade profiles are respectively arranged in the lower-grade loading assembly, the lock-grade loading assembly, the hinge-grade loading assembly and the upper-grade loading assembly, a loading level acquisition unit arranged in the loading mechanism acquires the profiles to be in place, the loading level acquisition unit sends acquisition signals to a control unit, the control unit sends action instructions to a frequency converter and a hydraulic station after analyzing the acquisition signals, and the frequency converter and the hydraulic station control action unit fix and convey the profiles to preset positions on a splicing platform.
Step two, cutting a platform: after the sectional materials are conveyed to the splicing platform, the collecting units on the splicing platform collect the positions of the sectional materials and feed collected signals back to the control unit, the control unit sends action instructions according to received signals, so that the feeding mechanism resets, the clamp on the splicing platform fixes all the sectional materials and moves the lock gear sectional materials, the hinge gear sectional materials and the upper gear sectional materials to a cutting position, the cutting collecting units collect the sectional materials and send the collected signals to the control unit after the sectional materials are in place, the control unit sends cutting instructions, and the cutting mechanism cuts the sectional materials according to the cutting instructions.
Step three, platform assembly: after the cutting is finished, the control unit sends an action instruction to reset the cutting mechanism, and simultaneously sends the action instruction to a servo driver of the splicing platform, and the section bars are spliced in a rectangular shape through the lower-gear splicing assembly, the lock-gear splicing assembly, the hinge-gear splicing assembly and the upper-gear splicing assembly.
Step four, platform welding: after assembly, the assembly position acquisition unit feeds acquisition signals back to the control unit, the control unit sends action instructions to the welding mechanism, and the welding robot completes welding on the assembly joints.
Step five, grabbing and blanking: after welding, the welding robot resets and feeds back information to the control unit, the control unit sends an action instruction to the feeding mechanism, and the frame-shaped grabbing manipulator on the truss grabs and moves the processed door frame of the security door to the next processing production line.
And step six, repeating the step one to the step five.
In embodiment 2, as shown in fig. 2 to 7, in order to make the robot working platform more reasonable, in this embodiment, two sets of automated processing devices for door frames of security doors are combined and arranged, share one set of welding mechanism, laser cutting mechanism and lower material loading assembly, and form a streamlined automated processing production line by using a peak shifting production mode.
The automatic processing device comprises a feeding mechanism 100, a cutting mechanism 200, an assembling platform, a welding mechanism, a blanking mechanism 500 and a control mechanism, wherein the feeding mechanism 100, the cutting mechanism 200, the assembling platform, the welding mechanism, the blanking mechanism 500 and the control mechanism are symmetrically arranged by taking a lower material feeding assembly 101 as an axis, the assembling platform is quadrilateral, the feeding mechanism 100, the cutting mechanism 200, the welding mechanism and the blanking mechanism 500 are arranged around the assembling platform, the feeding mechanism 100 conveys frame profiles to the assembling platform in a vertically and horizontally crossed manner and four-edge independent feeding manner, the assembling platform is used for fixing the frame profiles and moving the frame profiles on the assembling platform so that the cutting mechanism 200 and the welding mechanism can obtain processing positions, the cutting mechanism 200 is used for processing the frame profiles on the assembling platform, the welding mechanism is used for welding the frame profiles on the assembling platform, the blanking mechanism 500 is used for carrying and moving the frame profiles or finished door frames out of the assembling platform, the control mechanism is used for controlling the operations of the two groups of feeding mechanisms 100, the cutting mechanism 200, the splicing platform, the welding mechanism and the blanking mechanism 500.
Embodiment 3 provides an automatic processing device for a door frame of a security door, which includes a feeding mechanism 100, a cutting mechanism 200, an assembling platform, a welding mechanism, a blanking mechanism 500 and a control mechanism, wherein the assembling platform is quadrilateral, the feeding mechanism 100, the cutting mechanism 200, the welding mechanism and the blanking mechanism 500 are arranged around the assembling platform, the feeding mechanism 100 transports frame profiles to the assembling platform in a manner of criss-cross and independent four-edge feeding, the assembling platform is used for fixing the frame profiles and moving the frame profiles on the assembling platform so that the cutting mechanism 200 and the welding mechanism can obtain processing positions, the cutting mechanism 200 is used for processing the frame profiles on the assembling platform, the welding mechanism is used for welding the frame profiles on the assembling platform, the blanking mechanism 500 is used for transporting the frame profiles or finished door frames out of the assembling platform, the control mechanism is used for controlling the operations of the feeding mechanism 100, the cutting mechanism 200, the splicing platform, the welding mechanism and the discharging mechanism 500.
As shown in fig. 1-3, the feeding mechanism 100 includes a lower feeding assembly 101, a lock feeding assembly 102, a hinge feeding assembly 103, and an upper feeding assembly 104, where the lock feeding assembly 102 and the hinge feeding assembly 103 feed longitudinally, the upper feeding assembly 104 feeds transversely, the lock feeding assembly 102, the hinge feeding assembly 103, and the upper feeding assembly 104 each include a frame 105, a push motor 106, a push rail 107, a push plate 108, a docking driving motor 109, a docking rail 110, a docking plate 111, and a workpiece fixing device, the frame 105 is provided with the docking rail 110 along the feeding direction, the docking plate 111 is controlled by the docking driving motor 109 to translate along the feeding direction on the docking rail 110 through a chain, the workpiece fixing device is fixed on the docking plate 111, the push plate 108 is controlled by the push motor 106 through a chain to push the door frame profile on the push rail 107 to translate along the feeding direction, the lower gear feeding assembly 101 comprises a lifting table moving up and down along a lifting frame, a grabbing arm which is controlled by a servo motor and can move back and forth is arranged above the lifting frame, and a grabbing manipulator which can move up and down is arranged on the grabbing arm.
The roller 116 is disposed on the same plane of the docking guide 110, so that the docking plate 111 can move smoothly.
The workpiece fixing device comprises three fixing pieces 701, as shown in fig. 3-4, each fixing piece 701 comprises a base 702 and a limiting seat 703, each limiting seat 703 is L-shaped, the short side of each L-shaped limiting seat 703 is provided with an assembly hole, the short side of each L-shaped limiting seat 703 faces a workpiece and is fixed with the base 702, the short side of each limiting seat 703 is vertically provided with an inner side limiting bearing 704 for limiting the inner surface of the workpiece, the long side of each limiting seat 703 faces one side of the workpiece and is vertically provided with an upper limiting bearing 705, the side of each long side of each limiting seat 703, which faces away from the workpiece, is fixedly provided with a corner cylinder for controlling a top surface clamping bearing 706, and the base 702 is vertically provided with an outer side limiting bearing 707 for limiting the outer surface of the workpiece.
The upper limit bearing 705, the inner limit bearing 704, the outer limit bearing 707 and the top surface clamping bearing 706 cooperate with each other to fix the door frame profile from different directions, and the upper limit bearing 705, the inner limit bearing 704, the outer limit bearing 707 and the top surface clamping bearing 706 longitudinally extend or transversely extend or longitudinally translate or transversely translate according to the specification of the door frame profile in the same working table to clamp the door frame profile.
In detail, the upper limit bearing 705 moves up and down along the long side of the limit seat 703, the inner limit bearing 704 moves left and right along the short side of the limit seat 703, the outer limit bearing 707 moves left and right on the base 702, the top surface clamping bearing 706 moves up and down or rotates 90 degrees under the control of an angle cylinder, and the upper limit bearing 705, the inner limit bearing 704, the outer limit bearing 707 and the top surface clamping bearing 706 can extend and retract.
The workpiece fixing device comprises three or more than three fixing pieces 701, the fixing pieces 701 are uniformly distributed along a straight line on the same horizontal plane, and the workpiece fixing assembly line is formed through cooperation operation.
The pushing guide rail 107 is fixed on a base 702 of the workpiece fixing device, and the pushing plate 108 is controlled by the pushing motor 106 through a chain to push the door frame profile to translate along the feeding direction on the pushing guide rail 107.
The base 702 of the workpiece fixing device is further provided with a lower limiting cushion block 708 matched with the lower surface of the door frame profile and a sliding roller 709 convenient for the door frame profile to slide.
The laser cutting robot and the welding robot 402 share one robot arm, which is equivalent to two ends of one robot, and the robot is controlled by the control mechanism to operate according to requirements.
The assembling platform comprises an assembling support frame, an upper gear assembling group 301, a lock gear assembling group 302, a hinge gear assembling group 303 and a lower gear assembling group 304, the upper gear assembling group 301, the lock gear assembling group 302, the hinge gear assembling group 303 and the lower gear assembling group 304 are arranged on the assembling support frame in a rectangular shape to form a working platform, the lock gear assembling group 302 and the hinge gear assembling group 303 respectively comprise a group of clamps 307 (lock gear/hinge gear) which are controlled by a lock gear driving servo motor 305 and a hinge gear driving servo motor 306 respectively and translate left and right on the assembling support frame, and the clamps 307 (lock gear/hinge gear) are driven by a clamping cylinder 308 to fix the door frame section; the upper gear assembling group 301 comprises a group of clamps 307 (upper gear) which are controlled by an upper gear driving servo motor 309 and can move back and forth on the assembling support frame and move left and right, and the clamps 307 are driven by a clamping cylinder 308 to fix the door frame section; the lower rail assembling group 304 comprises a group of clamps 307 (lower rail) fixed on the assembling support frame, and the clamps 307 are driven by a clamping cylinder 308 to fix the doorframe profile.
The welding mechanism includes a set of welding robots 402 disposed on a stand walking frame 401.
The blanking mechanism 500 comprises a truss 501 and a frame-shaped grabbing manipulator 502 which transversely walks on the truss 501, wherein the frame-shaped grabbing manipulator 502 is driven by a grabbing motor 503 to drive a gear rack to control longitudinal movement.
The control mechanism comprises a master control cabinet 800 for controlling the feeding mechanism 100, the cutting mechanism 200, the splicing platform, the welding mechanism and the discharging mechanism 500.
According to another aspect of the present invention, there is provided a control system for processing a doorframe of a security door, as shown in fig. 8 and 9, including a feeding module, a cutting module, an assembling module, a welding module, and a blanking module;
the material loading module is used for transporting the burglary-resisting door section bar to the preset position of assembling the platform, including the control unit, go up material level acquisition unit, converter and action unit, the control unit is used for receiving the signal of material level acquisition unit and sends action command, goes up material level acquisition unit and is used for gathering the work piece position and send signal for the control unit, and the control unit makes the judgement according to received acquisition signal and sends action command and give the converter, the action command that the control unit sent is received to the converter and the operation of drive action unit.
The cutting module is used for cutting the anti-theft door frame section bar, and includes the control unit, cuts position acquisition unit and laser cutting robot, and the control unit is used for receiving the signal of cutting position acquisition unit and sends the action instruction, cuts position acquisition unit and is used for gathering the work piece position and sends the signal for the control unit, and the control unit makes the judgement and sends the action instruction and gives laser cutting robot according to the collection signal that receives, and laser cutting robot carries out the cutting operation.
The assembly module is used for seamlessly splicing the section bars of the security door into the door frame of the security door along the section bar section, welding mechanisms are convenient to weld, the assembly module comprises a control unit, an assembly position acquisition unit, a servo driver and an action unit, the control unit is used for receiving signals of the assembly position acquisition unit and sending action instructions, the assembly position acquisition unit is used for acquiring the position of a workpiece and sending the acquisition signals to the control unit, the control unit makes judgment according to the received acquisition signals and sends the action instructions to the servo driver, and the servo driver receives the action instructions sent by the control unit and drives the action unit to clamp and assemble the workpiece.
The welding module is used for welding and forming the assembled anti-theft door frame along the section splicing part of the sectional material, the control unit sends an action instruction to the welding robot, and the welding robot finishes welding operation.
The blanking module is used for conveying the welded finished door frame to the next production line and comprises a control unit, a servo driver and an action unit, the control unit is used for sending an action instruction, the control unit sends the action instruction to the servo driver, and the servo driver receives the action instruction sent by the control unit and drives the action unit to complete blanking.
According to another aspect of the present invention, there is provided a method for processing a doorframe of a security door, as shown in fig. 9 and 10, including:
step one, butt joint and feeding: the method comprises the steps that a feeding mechanism 100 is in butt joint with a door frame profile mould pressing output mechanism of the anti-theft door, so that a lower-gear profile, a lock-gear profile, a hinge-gear profile and an upper-gear profile are respectively placed in a lower-gear feeding assembly 101, a lock-gear feeding assembly 102, a hinge-gear feeding assembly 103 and an upper-gear feeding assembly 104, a feeding level acquisition unit arranged in the feeding mechanism 100 acquires the profiles in place, the feeding level acquisition unit sends acquired signals to a control unit, the control unit analyzes the acquired signals and then sends action instructions to a frequency converter and a hydraulic station, and the frequency converter and the hydraulic station control brake action unit fix and convey the profiles to preset positions on a splicing platform.
Step two, cutting a platform: after the sectional materials are conveyed to the splicing platform, the collecting units on the splicing platform collect the positions of the sectional materials and feed collected signals back to the control unit, the control unit sends action instructions according to the received signals, so that the feeding mechanism 100 resets, the clamp 307 on the splicing platform fixes all the sectional materials and moves the lock gear sectional materials, the hinge gear sectional materials and the upper gear sectional materials to a cutting position, the cutting collecting units collect the sectional materials and send the collected signals to the control unit after the sectional materials are in place, the control unit sends cutting instructions, and the cutting mechanism 200 cuts corners and assembly positions of the door frame sectional materials according to the cutting instructions.
Step three, platform assembly: after cutting, the control unit sends an action instruction to reset the cutting mechanism, and simultaneously sends the action instruction to a servo driver of the splicing platform, and the section bars are spliced in a rectangular shape through the lower-grade splicing assembly 304, the lock-grade splicing assembly 302, the hinge-grade splicing assembly 303 and the upper-grade splicing assembly 301.
Step four, platform welding: after assembly, the assembly position acquisition unit feeds acquisition signals back to the control unit, the control unit sends action instructions to the welding mechanism, and the welding robot 402 completes welding of the assembly joints.
Step five, grabbing and blanking: after welding, the welding robot 402 resets and feeds information back to the control unit, the control unit sends an action instruction to the blanking mechanism 500, and the frame-shaped grabbing manipulator 502 on the truss 501 grabs and moves the processed door frame of the security door to the next processing production line.
And step six, repeating the step one to the step five.
Claims (10)
1. The utility model provides an automatic processingequipment of burglary-resisting door frame, includes feed mechanism, cutting mechanism, assembly platform, welding mechanism, unloading mechanism and control mechanism, its characterized in that, assembly platform is the quadrangle, and feed mechanism, cutting mechanism, welding mechanism, unloading mechanism encircle assembly platform setting, feed mechanism adopts the mode of criss-cross independent pay-off of four sides again to transport frame section bar to assembly platform, assembly platform is used for fixed frame section bar and moves frame section bar so that cutting mechanism and welding mechanism obtain the processing position on the platform, cutting mechanism is used for processing frame section bar on the assembly platform, welding mechanism is used for welding frame section bar on the assembly platform, unloading mechanism is used for shifting out frame section bar or finished product door frame transport assembly platform, control mechanism is used for controlling feed mechanism, unloading mechanism, and control mechanism, The cutting mechanism, the splicing platform, the welding mechanism and the blanking mechanism operate;
the assembling platform comprises an assembling support frame, an upper-gear assembling group, a lock-gear assembling group, a hinge-gear assembling group and a lower-gear assembling group, wherein the upper-gear assembling group, the lock-gear assembling group, the hinge-gear assembling group and the lower-gear assembling group are arranged on the assembling support frame in a rectangular manner to form a working plane, the lock-gear assembling group and the hinge-gear assembling group respectively comprise a group of clamps which are controlled by a lock-gear driving servo motor and a hinge-gear driving servo motor respectively and can translate left and right on the assembling support frame, the upper-gear assembling group comprises a group of clamps which are controlled by the upper-gear driving servo motor and can translate back and forth on the assembling support frame and can move left and right, the lower-gear assembling group comprises a group of clamps fixed on the assembling support frame, and the clamps are driven by a clamping cylinder to fix a workpiece;
the cutting mechanism is a laser cutting robot;
the welding mechanism comprises a group of welding robots arranged on the base walking frame.
2. The automatic processing device of the door frame of the anti-theft door according to claim 1, wherein the feeding mechanism comprises a lower feeding assembly, a lock feeding assembly, a hinge feeding assembly and an upper feeding assembly, the lock feeding assembly and the hinge feeding assembly are used for longitudinal feeding, the upper feeding assembly is used for transverse feeding, the lock feeding assembly, the hinge feeding assembly and the upper feeding assembly respectively comprise a frame, a pushing motor, a pushing guide rail, a push plate, a butt joint driving motor, a butt joint guide rail, a butt joint plate and a workpiece fixing device, the butt joint guide rail is arranged on the frame along the feeding direction, the butt joint plate is controlled by the butt joint driving motor to move on the butt joint guide rail along the feeding direction through a chain, the workpiece fixing device is fixed on the butt joint plate, the push plate is controlled by the pushing motor through a chain to push the workpiece on the pushing guide rail to move along the feeding direction, the lower gear feeding assembly comprises a lifting platform moving up and down along a lifting frame, a grabbing arm which is controlled by a servo motor and can move back and forth is arranged above the lifting frame, and a grabbing manipulator which can move up and down is arranged on the grabbing arm.
3. The automatic processing device of the door frame of the security door according to claim 1, wherein the cutting mechanism includes a tool holder base, a tool holder, a tool and a tool driving motor, a cutting guide rail which forms a 45-degree angle with the workpiece is arranged on the tool holder base, the tool holder is translated along the cutting guide rail, a vertical guide rail is arranged on the tool holder, the tool is vertically moved along the vertical guide rail on the tool holder, the tool is composed of two parallel cutting discs rotating synchronously in the same direction, a workpiece supporting device which forms a 45-degree angle with the cutting discs is arranged below the cutting discs, and a scrap collecting disc is arranged below the workpiece supporting device.
4. The automated processing device of a doorframe of a security door according to claim 1,
the blanking mechanism comprises a truss and a frame-shaped grabbing mechanical arm transversely walking on the truss, and the frame-shaped grabbing mechanical arm is controlled to longitudinally move by a grabbing motor driving a gear rack.
5. The automatic processing device of the door frame of the anti-theft door as claimed in claim 1, wherein the control mechanism comprises a master control cabinet for controlling the feeding mechanism, the cutting mechanism, the splicing platform, the welding mechanism and the discharging mechanism.
6. The automatic processing device of the door frame of the anti-theft door according to claim 2, wherein the workpiece fixing device comprises three or more fixing pieces, the fixing pieces are uniformly distributed along a straight line on the same horizontal plane, the fixing pieces cooperate to form a workpiece fixing assembly line, the fixing pieces comprise a base and a limiting seat, the limiting seat is L-shaped, the short edge of the L-shaped limiting seat is provided with an assembly hole, the short edge of the L-shaped limiting seat faces the workpiece and is fixed with the base, the short edge of the limiting seat is vertically provided with an inner limiting bearing used for limiting the inner surface of the workpiece, the long edge of the limiting seat is vertically provided with an upper limiting bearing facing one side of the workpiece, the long edge of the limiting seat is fixed with a corner cylinder used for controlling a top clamping bearing on one side of the workpiece, and the base is vertically provided with an outer limiting bearing used for limiting the outer surface of the workpiece.
7. The apparatus of claim 1, wherein the laser cutting robot and the welding robot of the welding mechanism share a robot arm, and the robot is controlled by the control mechanism to perform work as required.
8. The automated processing unit of a doorframe of a burglar-proof door according to claim 6, wherein said upper limit bearing, inner limit bearing, outer limit bearing, top clamp bearing cooperate with each other to fix the doorframe profile from different directions, and said upper limit bearing, inner limit bearing, outer limit bearing, top clamp bearing extend longitudinally or extend laterally or translate longitudinally or translate laterally to clamp the doorframe profile according to the specification of the doorframe profile in the same work bench.
9. The automatic processing device of the door frame of the anti-theft door as claimed in claim 6, wherein the base of the workpiece fixing device is further provided with a lower limiting cushion block matched with the lower surface of the workpiece and a sliding roller facilitating the sliding of the workpiece.
10. A processing method of a door frame of a security door is characterized by comprising the following steps:
step one, butt joint and feeding: the method comprises the following steps that a feeding mechanism is butted with a door frame profile mould pressing output mechanism of the anti-theft door, so that a lower-gear profile, a lock-gear profile, a hinge-gear profile and an upper-gear profile are respectively arranged in a lower-gear feeding assembly, a lock-gear feeding assembly, a hinge-gear feeding assembly and an upper-gear feeding assembly, a feeding level acquisition unit arranged in the feeding mechanism acquires that the profiles are in place, the feeding level acquisition unit sends acquired signals to a control unit, the control unit analyzes the acquired signals and then sends action instructions to a frequency converter and a hydraulic station, and the frequency converter and the hydraulic station control the action unit fix and convey the profiles to preset positions on a splicing platform;
step two, cutting a platform: after the sectional materials are conveyed to the splicing platform, the collecting unit on the splicing platform collects the positions of the sectional materials and feeds back the collected signals to the control unit, the control unit sends an action instruction according to the received signals to reset the feeding mechanism, the clamp on the splicing platform fixes all the sectional materials and moves the lock gear sectional materials, the hinge gear sectional materials and the upper gear sectional materials to a cutting position, the cutting collecting unit sends the collected signals to the control unit after collecting the in-place sectional materials, the control unit sends a cutting instruction, and the cutting mechanism cuts the sectional materials according to the cutting instruction;
step three, platform assembly: after cutting, the control unit sends an action instruction to reset the cutting mechanism, and simultaneously sends the action instruction to a servo driver of the splicing platform, and the section bars are spliced in a rectangular shape through a lower-grade splicing assembly, a lock-grade splicing assembly, a hinge-grade splicing assembly and an upper-grade splicing assembly;
step four, platform welding: after assembly, the assembly position acquisition unit feeds back an acquisition signal to the control unit, the control unit sends an action instruction to the welding mechanism, and the welding robot finishes welding the assembly joint;
step five, grabbing and blanking: after welding is finished, the robot resets and feeds information back to the control unit, the control unit sends an action instruction to the feeding mechanism, and the frame-shaped grabbing mechanical arm on the truss grabs and moves the processed doorframe of the security door to the next processing production line;
and step six, repeating the step one to the step five.
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Denomination of invention: Automatic processing device for anti-theft door frames and processing method for anti-theft door frames Effective date of registration: 20230414 Granted publication date: 20220610 Pledgee: Jinhua Bank Co.,Ltd. Yongkang sub branch Pledgor: YONGKANG JIEDICI ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2023330000758 |