CN113148650A - Cache transfer device for finish machining of machine tool assembly line of spindle parts - Google Patents
Cache transfer device for finish machining of machine tool assembly line of spindle parts Download PDFInfo
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- CN113148650A CN113148650A CN202110182140.5A CN202110182140A CN113148650A CN 113148650 A CN113148650 A CN 113148650A CN 202110182140 A CN202110182140 A CN 202110182140A CN 113148650 A CN113148650 A CN 113148650A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H3/00—Storage means or arrangements for workshops facilitating access to, or handling of, work tools or instruments
- B25H3/04—Racks
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a cache transfer device for machine tool line machining of main shaft parts, which comprises a bottom plate, a guide rail, a roller shaft, a bearing end cover, a motor support, a servo motor, a coupler, a lead screw, a bearing with a seat, a bearing seat support, a nut seat, a movable support, a cylinder, a guide rod, a bracket, a robot, a magnetic piece taking device, a binocular camera support, a part backing plate, a cache frame and a positioning pin. The automatic feeding and discharging device disclosed by the invention has the advantages that the automation of feeding and discharging in the assembly line processing of main shaft parts is realized, the manual carrying is avoided, the automatic detection of the state of a workpiece and the automatic detection of the size are realized, the automation of feeding, discharging and storing is realized, the simultaneous processing requirements of a plurality of machine tools can be met, the material is transferred and fed and discharged among the plurality of machine tools, the technical support is provided for an unmanned intelligent production line, the intelligent level of a workshop is improved, and the technical support is provided for realizing a digital workshop.
Description
Technical Field
The invention relates to a cache transfer device for finish machining of machine tool assembly lines of spindle parts, and belongs to the technical field of machine tool equipment.
Background
The main shaft is one of the most core parts of a machine tool, the manual or semi-automatic machine tool and a simple numerical control machine tool are mostly adopted in the machine tool industry of China for machining a precise main shaft, the machining procedures are discrete, the machining efficiency is low, the quality cost is high, the precision is influenced by human factors, the product stability is poor, and the like, and the requirements of improving the machine tool performance and rapidly increasing the yield are difficult to adapt.
In order to realize efficient finish machining of spindle parts, the key geometric shapes and precision requirements of various parts of a spindle must be carefully analyzed, a spindle finish machining process route optimization method is researched, a reasonable spindle finish machining process route is obtained, meanwhile, the progress of a digital workshop is promoted, advanced digital twinning technology is mature and applied in foreign countries, practice proves that the application of the digital twinning technology improves the machining precision of the parts, although the research on the aspect of the digital twinning technology is carried out in China, a complete system is not formed at present, and the application requirement of the digital twinning technology is more and more important along with the development of the country, so that the digital workshop is established, the digital twinning technology provides technical support on the ground, meanwhile, the machining efficiency can be improved, and the productivity is improved.
Disclosure of Invention
The invention aims to solve the problem of providing a cache transfer device for the machine tool line-assembling finish machining of main shaft parts, which increases two degrees of freedom for a robot, increases the flexibility of the robot, can adapt to machine tool racks with different heights, has high positioning precision according to the free movement among a plurality of machine tools, is convenient to realize the automation of a machine tool production line, is not limited by the number of the machine tools, adopts a magnetic type main shaft part taking device in order to adapt to the shape characteristics of the main shaft parts, adopts an arc-shaped magnetic type part taking device, has a curvature radius which can be designed into various specifications, is convenient to be quickly replaced, cannot damage the main shaft parts when taking and loading the main shaft parts, is provided with a binocular camera, can quickly identify the processing state and the size specifications of the main shaft parts, and makes decisions according to the data detected by the binocular camera, the driving robot takes the machined spindle parts off the machine tool through the magnetic pickup device and stores the spindle parts in the spindle part storage rack, the driving cylinder is driven to push the spindle part cushion block to the calculated supporting size according to the identified specification size of the spindle parts, when the cushion block is supported in place, the binocular camera can detect the supporting state of the spindle parts, then the data processor sends an instruction to enable the magnetic pickup device to be powered off, the electromagnetic force disappears, automatic storage of the spindle parts is achieved, meanwhile, automatic storage of the spindle parts of different specifications can be achieved, thought intervention is not needed, when the supporting cushion block reaches the designated supporting position, the binocular camera can identify the supporting state of the cushion block, accordingly, the magnetic pickup device is powered off, and the parts are stored in the storage rack.
In order to solve the problems, the invention provides a cache transfer device for finish machining of machine tool assembly lines of main shaft parts, which comprises a bottom plate, a guide rail, a roller shaft, a bearing end cover, a motor support, a servo motor, a coupler, a lead screw, a bearing with a seat, a bearing seat support, a screw seat, a movable support, a cylinder, a guide rod, a bracket, a robot, a magnetic part taking device, a binocular camera, a cache frame, a part backing plate, a guide rail, a cylinder support and an auxiliary electrical control system: the bottom plate is placed at a proper position of a machine tool production line and is fixed by bolts; the guide rail is arranged in the guide rail groove of the bottom plate, the roller is arranged on the guide rail, and the roller shaft is connected with the roller through a bearing; the movable support is connected with the roller shaft, the bearing end cover is connected with the movable support through a bolt, the air cylinder is connected with the movable support through a bolt, the screw base is connected with the movable support through a bolt, the lead screw is connected with the screw base through a bolt, the lead screw is connected with the motor through a coupler, the motor is connected with the motor support through a bolt, the motor support is connected with the bottom plate through a bolt, the lead screw is connected with the bearing support through a bearing with a base, and the bearing support is connected with the bottom plate through a bolt; the guide rod is connected with the movable support through threads, the bracket is connected with the air cylinder through threads, the robot is connected with the bracket through a bolt, the magnetic piece taking device is connected with the robot through a bolt, the binocular camera is connected with the threaded support, and the support is connected with the robot through threads; the storage rack is connected with the movable support through a positioning rod, the guide rail is connected with a partition plate of the storage rack through a bolt, the base plate is connected with the guide rail, the base plate is connected with the air cylinder through threads, the air cylinder is connected with the air cylinder support through threads, and the air cylinder support is connected with the partition plate through threads; the motor is connected with the auxiliary electric control equipment through a lead.
The robot is a library card robot body with 6 degrees of freedom. On the basis, the running track of the robot is planned, and a track optimization algorithm is input. The robot is mainly used for connecting the magnetic part taking device to store and take main shaft parts.
The magnetism ware of getting can produce an annular magnetic field force, and according to the data that the binocular camera was taken, data processor can send the instruction and make magnetism get a ware and get electricity or lose electricity, and then make magnetism get a ware and produce magnetic field force or lose magnetic field force to accomplish getting, putting of major axis class part and move. The magnetic workpiece taking device is of an annular structure and can adapt to the diameter of a spindle in a certain range. In order to meet the requirements of all the diameter specifications and the sizes of the main shaft parts, the magnetic parts taking device with a plurality of specifications can be manufactured. The magnetic workpiece taking device is in threaded connection with the robot, and rapid replacement can be realized.
The binocular camera has the characteristics of high shooting precision and high recognition speed. The outer diameter size of the main shaft type part can be rapidly identified, the precision can reach 0.01mm, and after the binocular camera transmits the size data of the part back to the data processor, the data processor can judge the processing state of the part. And then determine the running track of the robot.
The buffer storage frame is of an upper-layer structure and a lower-layer structure, is a device for temporarily storing parts between machining procedure conversion of the spindle parts, and is also a device for transferring the spindle parts to a warehouse after finishing all procedures.
The part backing plate is the part that supports the main shaft part, and the part backing plate passes through the screw thread and links to each other with the cylinder to regard the guide rail as its carrier of motion, when depositing main shaft class part, the length size of main shaft class part can be discerned to the binocular camera, and send for data processor, and data processor can decide the support position of main shaft part according to the length size of main shaft class part, and then send instruction to the cylinder, makes the cylinder support with the backing plate motion to the position of formulating.
The auxiliary control electrical equipment mainly comprises: the electric appliance control cabinet and the robot controller input a robot motion track control algorithm into the robot controller to realize the track control of the robot.
The invention has the advantages and effects that: the automation of the last unloading of the finish machining of main shaft class part group line has been realized, the poor accumulational problem of processing quantity that has satisfied main shaft class part simultaneously and has caused because the process time is inconsistent when carrying out interior excircle abrasive machining, artificial transport has been avoided, the automated inspection of work piece state has, the automated inspection function of size, material loading, unloading, the automation of storage, can satisfy the demand of many lathe simultaneous processing, realize the material and in the line of transferring and going up of many lathes, produce the line and provide technical support for unmanned intelligence. The material rack for storing the main shaft parts can be integrally replaced, so that the main shaft parts can be quickly stored and the material rack can be quickly replaced. The automatic machining device has the advantages that the unmanned machining of a production line can be realized, the automation of the machining of main shaft parts is improved, the path of material transportation is optimized, the cooperative machining of a machine tool is realized, the production efficiency of the machine tool production line is improved, the cost is reduced, the intelligent level of a workshop is improved, and the technical support is provided for realizing a digital workshop.
Drawings
Fig. 1 is a schematic view of the bottom plate structure of the present invention.
The main effect of bottom plate is fixed in on the workshop ground, for the base of this device, plays the supporting role to other spare parts of this device.
Fig. 2 is a schematic view of the structure of the guide rail of the present invention.
The guide rail mainly plays a role in supporting and guiding the roller, the shape of the guide rail is the same as that of the matching surface of the roller, and the guiding accuracy is improved.
FIG. 3 is a schematic view of the roller structure according to the present invention.
The gyro wheel is mainly with the guide rail cooperation, and its fitting surface designs into the V style of calligraphy, can increase the area of fitting the face on the one hand, promotes driven stability, and on the other hand can improve this device's bearing capacity.
Fig. 4 is a schematic view of the roller shaft structure of the present invention.
The roller shaft is connected with the two rollers and the movable bracket and is a bearing part.
FIG. 5 is a schematic view of the structure of the bearing end cap of the present invention.
The bearing end cover mainly has a sealing function for lubricating the bearing, so that impurities such as dust are prevented from entering the bearing, and the service life of the bearing is prolonged.
Fig. 6 is a schematic view of the structure of the motor bracket of the present invention.
The motor support is mainly used for supporting the motor.
Fig. 7 is a schematic structural view of a bearing seat bracket of the invention.
The bearing seat support is used for supporting the bearing.
Fig. 8 is a schematic view of the cylinder structure of the present invention.
The cylinder mainly functions to provide longitudinal freedom degree for the robot and push the cushion block to a set position to realize the supporting action of the spindle parts.
Fig. 9 is a schematic view of the structure of the guide bar moving bracket of the invention.
The guide rod provides the guide effect for moving the support in the cylinder motion, increases the accuracy of robot longitudinal motion.
FIG. 10 is a schematic view of the separator structure of the present invention.
The partition plate is used for bearing the main shaft parts and providing support for the support parts of the main shaft parts.
Fig. 11 is a schematic structural diagram of the robot of the present invention.
The robot mainly functions to realize the action of taking and placing the main shaft parts through track motion.
Fig. 12 is a schematic structural view of the magnetic pickup device of the present invention.
The magnetic piece taking device mainly has the function of taking and placing main shaft parts by obtaining electromagnetic force through switching on and off a power supply.
Fig. 13 is a schematic view of a camera support stand according to the present invention.
The binocular camera support mainly functions in supporting the binocular camera, and enabling the binocular camera to obtain state information of the spindle part conveniently.
Fig. 14 is a schematic structural view of a binocular camera according to the present invention.
The binocular camera is mainly used for acquiring the current state of the spindle part and whether the supporting cushion block reaches the appointed supporting position.
FIG. 15 is a schematic view of the spacer structure of the present invention.
The cushion block mainly plays a supporting role for main shaft parts.
FIG. 16 is a schematic diagram of the overall structure of the buffer transfer device of the present invention.
Detailed Description
Referring to fig. 1-16, the invention discloses a buffer transfer device for processing a group line of spindle parts, which comprises: the device comprises a bottom plate 1, a guide rail 2, a roller 3, a roller shaft 4, a bearing 5, a bearing end cover 6, a motor support 7, a servo motor 8, a coupler 9, a lead screw 10, a bearing with a seat 11, a bearing seat support 12, a nut seat 13, a movable support 14, a cylinder 15, a guide rod 16, a bracket 17, a robot 18, a magnetic piece taking device 19, a binocular camera 20, a guide rail 21, a cushion block 22, a cylinder support 23, a cylinder, a support plate 25, a partition plate 26, a binocular camera support 27 and an auxiliary electric control system.
In the scheme, the base plate 1 is placed at a proper position of a machine tool production line and is fixed by bolts, the guide rail is placed in a guide rail groove of the base plate, the roller is placed on the guide rail, the roller shaft is connected with the roller through a bearing, the movable support is connected with the roller shaft, the bearing end cover is connected with the movable support through a bolt, the air cylinder is connected with the movable support through a bolt, the nut seat is connected with the movable support through a bolt, the lead screw is connected with the nut seat through a bolt, the lead screw is connected with the motor through a coupler, the motor is connected with the motor support through a bolt, the motor support is connected with the base plate through a bolt, the lead screw is connected with the bearing support through a bearing with a seat, the bearing support is connected with the base plate through a bolt, the guide rod is connected with the movable support through a thread, the bracket is connected with the air cylinder through a thread, the guide rod is arranged on the guide rail groove, and the guide rail groove are formed in the guide rail groove, the guide rail is arranged on the guide rail, the guide rod is arranged on the guide rail, the guide groove, the guide rail, the guide groove, the guide rod is arranged on the guide rail, the guide groove, the guide rail, the guide bracket is arranged on the guide rail, the guide rod, the guide rail, the guide groove, the guide rod is connected with the guide bracket is connected with the guide groove, the guide, The robot links to each other with the bracket through the bolt the magnetism is inhaled the formula and is got a ware and link to each other with the robot through the screw thread, two mesh camera supports link to each other with the robot through the bolt, two mesh cameras pass through the bolt and link to each other with two mesh camera supports, the guide rail passes through the bolt and links to each other with the baffle, the backing plate links to each other with the guide rail the cylinder with link to each other with the cylinder through the screw thread, the cylinder passes through the bolt and links to each other with the baffle cylinder support pass through the bolt, the baffle links to each other with the extension board through the welding, the extension board passes through the locating pin and links to each other with the removal support, the motor passes through the wire and links to each other with supplementary electrical control equipment.
In actual operation, the binocular camera 20 detects the processing state of the spindle part, if the processing is completed, the robot 18 moves the magnetic type piece taking device 19 to a specified position through path planning, the magnetic type piece taking device 19 is connected with a power supply to enable the magnetic type piece taking device to generate electromagnetic force, the electromagnetic force can absorb the spindle part, an automatic clamping device of the machine tool can automatically loosen the spindle part, the robot takes the spindle part out of a processing space of the machine tool, at the moment, the binocular camera detects the specification and the size of the spindle part and transmits data to the data processor, the data processor can judge the supporting position of the spindle part while conveying the spindle part to the storage rack, and transmits an instruction to enable the air cylinder 23 to push the cushion block 22 to move, when the binocular camera 19 detects that the cushion block 22 moves to the specified position, the magnetic type piece taking device is powered off, the electromagnetic force is lost, and finishing the storage and support of the main shaft parts, and recording the storage position and the processing state information of the main shaft parts. When the number of the stored spindle parts is large, the air cylinder 15 can push the support plate 17 to move upwards to compensate the height difference which cannot be reached by the robot body, so that the longitudinal displacement of the robot is increased, the storage capacity of the storage rack is improved, and the manual labor amount is greatly reduced.
When the spindle parts complete the previous process and need to go to the next process, the data processor inputs the coordinate information of the next machine tool into the controller of the lead screw control motor 8, the lead screw motor 8 moves the movable support 14 to the coordinate point at the specified position, and the robot 19 automatically takes out the spindle parts according to the position information of the spindle parts in the storage rack and puts the spindle parts into the machine tool in the next process for machining. And when the parts are machined, the main shaft parts are taken out and placed on a storage rack of the main shaft parts for caching. When all the parts are machined, the movable support is moved to a warehouse storage point by the screw motor 8, the storage rack is integrally hung and lowered to a designated place by the navigation vehicle, and then a new storage rack is placed on the movable support. The storage frame is connected with the movable support 14 through 4 positioning pins, the positioning pins can play a role in positioning and preventing the storage frame from moving or overturning, and meanwhile, the storage frame can be rapidly disassembled and assembled, and the assembly and disassembly efficiency of the main shaft parts is improved.
In addition, this device can also realize the requirement of two or more machine tools finish machining simultaneously, and two lathe are required if main shaft class part accomplishes inside and outside circle processing, and its process demand is: firstly, the machine tool a finishes grinding the outer circle, the robot 18 drives the magnetic type part taking device 22 under the driving of the detection data of the binocular camera to take out the spindle parts from the machining tool a and place the spindle parts into the storage rack, and then, new spindle parts are placed into the machine tool a to grind the outer circle. Then the lead screw control motor 8 moves the movable support to the designated position of the machine tool B, the spindle part which finishes the outer circle processing is put into the machine tool B through the robot 18 to grind the inner circle, when the spindle part finishes the inner circle grinding processing, the magnetic type part taking device 22 is driven by the robot 18 to take out the spindle part processed by the machine tool B under the drive of the detection data of the binocular camera, and the spindle part is stored in the cache device of the spindle part, and the parts which finish the two finishing processes are counted and the stored position information is recorded, so that the subsequent parts can not be put into the positions of the parts which finish the processing processes, the parts are prevented from being repeatedly processed, the reciprocating device can finish the loading, unloading and storage of the spindle part back and forth between the two machine tools until all the parts in the storage frame finish the two processing processes, and then storing the machined main shaft parts to a warehouse formulated place, and carrying out the next round of machining program.
Claims (6)
1. The utility model provides a fine processing's of main shaft class part lathe group line buffer memory transfer device which characterized in that: including bottom plate, guide rail, gyro wheel, roller shaft, bearing end cover, motor support, servo motor, shaft coupling, lead screw, rolling bearing, bearing housing support, screw seat, removal support, cylinder, guide bar, bracket, robot, magnetism ware, two mesh cameras, buffer memory frame, part backing plate, guide rail, cylinder support and supplementary electrical control system of getting: the bottom plate is placed at a proper position of a machine tool production line and is fixed by bolts; the guide rail is arranged in the guide rail groove of the bottom plate, the roller is arranged on the guide rail, and the roller shaft is connected with the roller through a bearing; the movable support is connected with the roller shaft, the bearing end cover is connected with the movable support through a bolt, the air cylinder is connected with the movable support through a bolt, the screw base is connected with the movable support through a bolt, the lead screw is connected with the screw base through a bolt, the lead screw is connected with the motor through a coupler, the motor is connected with the motor support through a bolt, the motor support is connected with the bottom plate through a bolt, the lead screw is connected with the bearing support through a bearing with a base, and the bearing support is connected with the bottom plate through a bolt; the guide rod is connected with the movable support through threads, the bracket is connected with the air cylinder through threads, the robot is connected with the bracket through a bolt, the magnetic piece taking device is connected with the robot through a bolt, the binocular camera is connected with the threaded support, and the support is connected with the robot through threads; the storage rack is connected with the movable support through a positioning rod, the guide rail is connected with a partition plate of the storage rack through a bolt, the base plate is connected with the guide rail, the base plate is connected with the air cylinder through threads, the air cylinder is connected with the air cylinder support through threads, and the air cylinder support is connected with the partition plate through threads; the motor is connected with the auxiliary electric control equipment through a lead.
2. The buffer transfer device for finish machining of the machine tool assembly line of the spindle parts as claimed in claim 1, wherein: the robot is a six-degree-of-freedom library card robot, is connected with a magnetic part taking device, and is used for storing and taking spindle parts.
3. The buffer transfer device for finish machining of the machine tool assembly line of the spindle parts as claimed in claim 1, wherein: the magnetism ware of getting produces an annular magnetic field force, and according to the data that the binocular camera was taken, data processor can send the instruction and make magnetism get a ware and get electricity or lose electricity, and then make magnetism get a ware and produce magnetic field force or lose magnetic field force to accomplish getting, putting of major axis class part.
4. The buffer transfer device for finish machining of the machine tool assembly line of the spindle parts as claimed in claim 1, wherein: the buffer storage frame is of an upper-layer structure and a lower-layer structure, is a device for temporarily storing parts between machining process conversion of spindle parts, and is a device for transferring spindle parts to a warehouse after finishing all processes.
5. The buffer transfer device for finish machining of the machine tool assembly line of the spindle parts as claimed in claim 1, wherein: the part backing plate is a part for supporting the spindle part, is connected with the cylinder through threads and takes the guide rail as a carrier; the binocular camera can discern the length dimension of main shaft class part to send for data processor, data processor decides the support position of main shaft part according to the length dimension of main shaft class part, and then sends the instruction to the cylinder, makes the cylinder move the backing plate to the position of formulating and supports.
6. The buffer transfer device for finish machining of the machine tool assembly line of the spindle parts as claimed in claim 1, wherein: the auxiliary electrical control system comprises: the auxiliary electric control system assists and controls the electric equipment to input a robot motion track control algorithm into the robot controller to realize track control of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110182140.5A CN113148650A (en) | 2021-02-09 | 2021-02-09 | Cache transfer device for finish machining of machine tool assembly line of spindle parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110182140.5A CN113148650A (en) | 2021-02-09 | 2021-02-09 | Cache transfer device for finish machining of machine tool assembly line of spindle parts |
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| CN113148650A true CN113148650A (en) | 2021-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110182140.5A Pending CN113148650A (en) | 2021-02-09 | 2021-02-09 | Cache transfer device for finish machining of machine tool assembly line of spindle parts |
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| Country | Link |
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| CN (1) | CN113148650A (en) |
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| TWI812338B (en) * | 2022-07-08 | 2023-08-11 | 鄧榮貴 | Workpiece conversion system and positioning mechanism coordinated with workpiece conversion system |
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| CN110480403A (en) * | 2019-09-18 | 2019-11-22 | 北京工业大学 | A kind of automatic feeding of machining spindle class part |
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| US20150151723A1 (en) * | 2012-06-29 | 2015-06-04 | Shandong Luneng Intelligence Technology Co., Ltd | Battery replacement robot with mobile storage rack and battery replacement method |
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| CN114683308A (en) * | 2022-04-18 | 2022-07-01 | 江苏西顿科技有限公司 | Airborne universal tool bin |
| TWI812338B (en) * | 2022-07-08 | 2023-08-11 | 鄧榮貴 | Workpiece conversion system and positioning mechanism coordinated with workpiece conversion system |
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