CN115283740A

CN115283740A - Cutting workstation based on industrial robot

Info

Publication number: CN115283740A
Application number: CN202210921894.2A
Authority: CN
Inventors: 刘业涛; 陈龙; 郑鸿吉
Original assignee: Guangdong Xirui Intelligent Technology Co ltd
Current assignee: Guangdong Xirui Intelligent Technology Co ltd
Priority date: 2022-08-02
Filing date: 2022-08-02
Publication date: 2022-11-04
Anticipated expiration: 2042-08-02
Also published as: CN115283740B

Abstract

The invention discloses a cutting workstation based on an industrial robot, which comprises: workstation casing, six robot cutting module, frock clamp mechanism, tool magazine, the PLC switch board of setting in the workstation casing, six robot cutting module are connected with the PLC switch board electricity. The tool fixture mechanism fixes the bathtub, the six-axis robot cutting module is started to enter the tool magazine to extract a proper tool, then the bathtub is processed and produced along a preset tool path track, and the tool is replaced in the tool magazine according to different processing requirements. Because the tool path track of the six-axis robot cutting module is more flexible, the cutting workstation can meet the processing and production of a bathtub on an inclined plane and can also reduce the space volume of the cutting workstation, the tool magazine can also be flexibly installed in the cutting workstation, and the space of the workstation is more favorably reduced; the moving speed of the six-axis robot cutting module is higher than that of a special machine, so that the whole machining efficiency is higher.

Description

Cutting workstation based on industrial robot

Technical Field

The invention relates to the technical field of machining and cutting, in particular to a cutting workstation based on an industrial robot.

Background

The production processes of trimming, edging, perforating, cutting drainage holes and the like are required for the bathtub casting. Can be delivered to the next polishing process. The most original production process in the industry is as follows: and cutting and grinding by using an electric cutting machine. The production quality uniformity is poor, and edging is required after cutting. The yield is about 90 percent, and the qualified product is about 95 percent. The production efficiency is low. With the development and popularization of numerical control technology, the domestic numerical control machine tool is applied in a diversified manner, and the non-standardized manufacturing performance and the functional quality of a special data machine are improved. The edge cutting and hole opening production process begins to use a special data machine for edge cutting and hole opening by part of enterprises. Although the investment cost of equipment is obviously increased, the investment can be recovered within two or three years. Production efficiency and yields promote greatly.

The prior art has obvious efficiency and production quality improvement compared with the original production process. But the method is controlled by the limitations of a numerical control special machine system and a hardware structure, and a plurality of trimming processes cannot be realized. Particularly, the signal and control interaction between the production clamp and the numerical control special machine cannot be realized basically. The basin type that current numerical control special machine can be suitable for has great limitation, and trompil etc. also can only be in the plane trompil, can't accomplish the trompil in the face that has the inclination.

Therefore, there is a need for a cutting workstation based on an industrial robot to at least partially solve the problems of the prior art.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

To at least partially solve the above problems, the present invention provides an industrial robot based cutting workstation comprising: the six-axis robot cutting device comprises a work station shell, six robot cutting modules, a tool fixture mechanism, a tool magazine and a PLC (programmable logic controller) control cabinet, wherein the six robot cutting modules, the tool fixture mechanism, the tool magazine and the PLC control cabinet are arranged in the work station shell, the six robot cutting modules are electrically connected with the PLC control cabinet, the tool fixture mechanism and the tool magazine are electrically connected with the PLC control cabinet, the tool fixture mechanism is used for clamping a bathtub, and the six robot cutting modules are used for cutting the bathtub.

According to the industrial robot-based cutting workstation provided by the embodiment of the invention, the tool clamp mechanism is arranged in the cutting water tank and comprises a cutting tool table, two tool clamp modules and a lead screw adjusting unit, wherein the cutting tool table is arranged in the cutting water tank, the two tool clamp modules are respectively arranged on the cutting tool table and respectively close to the end part of the cutting tool table, and the lead screw adjusting unit is arranged in the cutting tool table.

According to the industrial robot-based cutting workstation provided by the embodiment of the invention, the tool clamp module comprises a pneumatic clamp and a fixed clamp, the pneumatic clamp and the fixed clamp are respectively positioned at the front side and the rear side of the cutting tool table, the pneumatic clamp comprises a pneumatic clamping plate, a piston rod and a cylinder seat, the cylinder seat is arranged at the bottom of the cutting tool table, the piston rod is movably arranged in the cylinder seat, the pneumatic clamping plate is arranged at the outer end of the piston rod, the fixed clamp comprises a horizontal fixed plate and a vertical clamping plate, the horizontal fixed plate is arranged at the bottom of the cutting tool table and corresponds to the cylinder seat, and the vertical clamping plate is arranged at the outer end of the horizontal fixed plate.

According to the industrial robot-based cutting workstation of the embodiment of the invention, the lead screw adjusting unit comprises a first movable clamping plate, a second movable clamping plate, two fixed seats, a first lead screw, a second lead screw, two guide rods, a first adjusting wheel and a second adjusting wheel, wherein the two fixed seats are arranged at the bottom of the cutting tool table at intervals, the first lead screw and the second lead screw are movably arranged between the two fixed seats, the two guide rods are arranged on the two fixed seats and are positioned at the outer sides of the first lead screw and the second lead screw, the first movable clamping plate is arranged on the cutting tool table and is movably connected with the two guide rods and the first lead screw, the first adjusting wheel is movably connected with the first lead screw, the second movable clamping plate is arranged on the cutting tool table and is movably connected with the two guide rods and the second lead screw, and the second adjusting wheel is movably connected with the second lead screw.

According to the industrial robot-based cutting workstation provided by the embodiment of the invention, a notch groove is formed in the front side of the cutting water tank, a movable baffle mechanism corresponding to the notch groove is arranged, the movable baffle mechanism is electrically connected with the PLC control cabinet, a plurality of water tank baffles are arranged on the cutting water tank, and a plurality of water tank foot pads are arranged at the bottom of the cutting water tank.

According to the industrial robot-based cutting workstation of the embodiment of the invention, the movable baffle mechanism comprises two inclined cylinders, a first inclined baffle and a second inclined baffle, the two inclined cylinders are respectively positioned at two sides of the notch groove and are electrically connected with the PLC control cabinet, two sides of the notch groove are respectively provided with an inclined guide rail groove, the first inclined baffle and the second inclined baffle are slidably arranged in the two inclined guide rail grooves, the upper end of the first inclined baffle is connected with the upper end of the inclined cylinder, the back surface of the second inclined baffle is provided with a guide rail bar, the first inclined baffle is slidably connected with the guide rail bar, and the first inclined baffle is provided with a baffle plate which is used for pushing the second inclined baffle.

According to the industrial robot-based cutting workstation provided by the embodiment of the invention, the six-axis robot cutting module comprises a six-axis robot, a high-torque cutting electric spindle and a robot cabinet, wherein the high-torque cutting electric spindle is arranged on an operating arm of the six-axis robot, a cutting tool is arranged at the lower end of the high-torque cutting electric spindle, a Pinna sensor and a flushing nozzle pipe part are arranged on one side of the high-torque cutting electric spindle, a robot pipeline packet is arranged above a workstation shell, the six-axis robot is electrically connected with the robot cabinet, and the high-torque cutting electric spindle, the Pinna sensor and the flushing nozzle pipe part are electrically connected with the PLC control cabinet.

According to the industrial robot-based cutting workstation provided by the embodiment of the invention, the tool magazine comprises a tool main frame, a consumable cabinet is arranged at the lower part of the tool main frame, a plurality of tool clamps are arranged in the tool main frame, a tool magazine cover cylinder and an uncovering electromagnetic valve are respectively arranged on two sides of the tool main frame, the uncovering electromagnetic valve is positioned below the tool magazine cover cylinder and is electrically connected with the PLC control cabinet, and the tool magazine cover cylinder is used for driving a tool magazine cover.

According to the industrial robot-based cutting workstation provided by the embodiment of the invention, two clamping modules for installing the cover opening electromagnetic valve are arranged on one side of the cutter main frame, each clamping module comprises a first clamping block and a second clamping block, a first butt joint block is arranged at the outer end of the first clamping block, a second butt joint block is arranged on the second clamping block, a U-shaped communication groove, a positioning rod and a first fastening through hole are formed in the first butt joint block, a first abutting rod, a second abutting rod and an oil body are arranged in the U-shaped communication groove, the oil body is positioned between the first abutting rod and the second abutting rod, sealing blocks are arranged at the inner ends of the first abutting rod and the second abutting rod, a through hole is formed in the upper end of the first abutting rod, a first fastening mechanism is arranged in the through hole, a positioning hole corresponding to the positioning rod, an abutting inner repelling block corresponding to the first fastening through hole, a second fastening through hole corresponding to the first fastening through hole is formed in the second butt joint block, and the second fastening through hole is formed in the second fastening through hole.

According to the industrial robot-based cutting workstation provided by the embodiment of the invention, the first fastening mechanism comprises a V-shaped folding arm, a first spring and an outer repelling block, the outer repelling block is arranged in the through hole through the first spring and corresponds to the inner repelling block, the V-shaped folding arm is provided with two parts and is positioned at two sides of the first spring, one end of the V-shaped folding arm is hinged with the outer repelling block, the other end of the V-shaped folding arm is hinged with the bottom of the through hole, and a side V-shaped groove corresponding to the V-shaped folding arm is arranged in the abutting inner hole; the second fastening mechanism comprises a stop ball, an inner connecting rod, an inner conical block, a second spring and a plurality of side toothed bars, wherein a circumferential groove is formed in the inner wall of the first fastening through hole, a plurality of first convex teeth are arranged in the circumferential groove, a spring groove, a movable groove, an outer through hole and a plurality of side toothed holes are formed in the fastening rod, the second spring is arranged in the spring groove, the inner conical block is arranged in the movable groove, the small end of the inner conical block is connected with the second spring, the inner connecting rod is arranged in the outer through hole and connected with the large end of the inner conical block, the side toothed bars are arranged in the side toothed holes, second convex teeth corresponding to the first convex teeth are arranged at the outer ends of the side toothed bars, a third spring and a spring plate are arranged in the middle of the side toothed bars, and the stop ball is arranged at the outer ends of the inner connecting rod.

Compared with the prior art, the invention at least comprises the following beneficial effects:

the invention provides an industrial robot-based cutting workstation, comprising: workstation casing and install the six axis robot cutting module in the workstation casing, frock clamp mechanism, the tool magazine, the PLC switch board, when using this cutting workstation based on industrial robot, operating personnel installs the bathtub in frock clamp mechanism, frock clamp mechanism fixes the bathtub, six axis robot cutting module starts to get into to extract in the tool magazine and get into suitable cutter like this, then carry out the processing production to the bathtub along predetermined tool path orbit, according to the processing requirement reentrant of difference carry out the change of cutter to the tool magazine in, carry out corresponding processing again. Through the design of the six-axis robot cutting module, the tool fixture mechanism and the tool magazine, the tool path track of the six-axis robot cutting module is more flexible, so that the cutting workstation can meet the processing and production of a bathtub on an inclined plane, and the space volume of the cutting workstation can be reduced, so that the tool magazine can be flexibly installed in the cutting workstation, and the space of the workstation can be reduced more favorably; the moving speed of the six-axis robot cutting module is higher than that of a special machine, so that the whole machining efficiency is higher.

Other advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a partial internal structure diagram of the present invention.

Fig. 3 is a schematic structural view of a tooling fixture mechanism according to the present invention.

Fig. 4 is a schematic structural view of the cutting water tank of the present invention.

Fig. 5 is a schematic view of a part of the structure of the tooling clamp module according to the present invention.

Fig. 6 is a structural bottom view of the tooling fixture mechanism of the present invention.

Fig. 7 is a schematic structural view of the movable barrier mechanism of the present invention.

Fig. 8 is a partial structural view of the movable barrier mechanism of the present invention.

Fig. 9 is a schematic structural view of a six-axis robot cutting module according to the present invention.

Fig. 10 is a schematic structural view of the tool magazine of the present invention.

Fig. 11 is a schematic view of a part of the internal structure of the tool magazine of the present invention.

Fig. 12 is a schematic structural view of a clamping module according to the present invention.

Fig. 13 is a schematic structural view of the clamping module of the present invention when opened.

Fig. 14 is a partial structural view of the clamping module of the present invention.

Fig. 15 is an enlarged structural view of a portion a in fig. 13 according to the present invention.

Fig. 16 is an enlarged structural view of a portion B of fig. 13 according to the present invention.

Fig. 17 is an enlarged view of the portion C of fig. 14 according to the present invention.

Fig. 18 is an enlarged view of the portion D of fig. 14 according to the present invention.

Fig. 19 is a schematic view showing an internal structure of a fastening rod according to the present invention.

Detailed Description

The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can practice the invention with reference to the description.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

As shown in fig. 1-11, the present invention provides an industrial robot based cutting workstation comprising: the six-axis robot cutting device comprises a work station shell 1, six-axis robot cutting modules arranged in the work station shell 1, a tool fixture mechanism 2, a tool magazine 3 and a PLC (programmable logic controller) control cabinet 4, wherein the six-axis robot cutting modules are electrically connected with the PLC control cabinet 4, the tool fixture mechanism 2 and the tool magazine 3 are electrically connected with the PLC control cabinet 4, the tool fixture mechanism 2 is used for clamping a bathtub, and the six-axis robot cutting modules are used for cutting the bathtub.

The working principle and the beneficial effects of the technical scheme are as follows: the invention provides an industrial robot-based cutting workstation, comprising: workstation casing 1 and install the six axis robot cutting module in workstation casing 1, frock clamp mechanism 2, tool magazine 3, PLC switch board 4, specifically, when using this cutting workstation based on industrial robot, operating personnel installs the bathtub on frock clamp mechanism 2, frock clamp mechanism 2 is fixed the bathtub, six axis robot cutting module starts to enter into to take into in the tool magazine 3 suitable cutter, then carry out the processing production to the bathtub along predetermined tool path orbit, according to the processing requirement reentrant of difference carry out the change of cutter in the tool magazine 3, carry out corresponding processing again. Through the design of the six-axis robot cutting module, the tool fixture mechanism 2 and the tool magazine 3, the tool path track of the six-axis robot cutting module is more flexible, so that the cutting workstation can meet the processing production of a bathtub on an inclined plane, and the space volume of the cutting workstation can be reduced, so that the tool magazine 3 can be flexibly installed in the cutting workstation, and the space of the workstation can be reduced more conveniently; the moving speed of the six-axis robot cutting module is higher than that of a special machine, so that the whole machining efficiency is higher; this six axis robot cutting module can also detect the judgement to the surface of bathtub, also can inspect the quality of bathtub when preventing the mistake processing.

In one embodiment, the tooling fixture mechanism 2 is disposed in a cutting water tank 24, the tooling fixture mechanism 2 includes a cutting tool table 21, two tooling fixture modules 22, and a lead screw adjusting unit 23, the cutting tool table 21 is disposed in the cutting water tank 24, the two tooling fixture modules 22 are respectively disposed on the cutting tool table 21 and respectively close to the end of the cutting tool table 21, and the lead screw adjusting unit 23 is disposed in the cutting tool table 21.

The working principle and the beneficial effects of the technical scheme are as follows: the embodiment provides a specific structure of the tool clamp mechanism 2, the tool clamp mechanism 2 of the structure is arranged in a cutting water tank 24, wherein the cutting water tank 24 is arranged in the work station shell 1 and is close to an electric folding door of the work station shell 1, a bathtub can be arranged on the tool clamp mechanism 2 by opening the electric folding door, or a processed bathtub is taken down from the tool clamp mechanism 2; the tool clamp mechanism 2 comprises a cutting tool table 21, two tool clamp modules 22 and a lead screw adjusting unit 23, wherein the cutting tool table 21 is arranged in a cutting water tank 24 and has a certain height from the inner bottom surface of the cutting water tank 24, so that dust-containing waste liquid flushed in the processing process of the bathtub can conveniently flow in the cutting water tank 24; the two tool clamp modules 22 are respectively arranged on the cutting tool table 21 and are respectively close to the end part of the cutting tool table 21, so that two bathtubs can be fixed on the cutting tool table 21, and meanwhile, the bathtub is fixed by matching with the tool clamp modules 22 through the lead screw adjusting unit 23, so that the processing efficiency of the cutting workstation is improved; meanwhile, the tool clamp module 22 and the lead screw adjusting unit 23 can be adjusted to fix different bathtub products, so that the application range is widened.

In one embodiment, the tooling clamp module 22 includes a pneumatic clamp 221 and a fixing clamp 224, the pneumatic clamp 221 and the fixing clamp 224 are respectively located at the front side and the rear side of the cutting tool table 21, the pneumatic clamp 221 includes a pneumatic clamp plate 222, a piston rod and a cylinder block 220, the cylinder block 220 is disposed at the bottom of the cutting tool table 21, the piston rod is movably disposed in the cylinder block 220, the pneumatic clamp plate 222 is disposed at the outer end of the piston rod, the fixing clamp 224 includes a flat fixing plate 225 and a vertical clamp plate 226, the flat fixing plate 225 is disposed at the bottom of the cutting tool table 21 and corresponds to the cylinder block 220, and the vertical clamp plate 226 is disposed at the outer end of the flat fixing plate 225.

The working principle and the beneficial effects of the technical scheme are as follows: the present embodiment provides a specific structure of the tool holder module 22, the tool holder module 22 of the structure includes a pneumatic clamp 221 and a fixing clamp 224, wherein the pneumatic clamp 221 and the fixing clamp 224 are respectively located at the front and rear sides of the cutting tool table 21, so when an operator installs a bathtub on the cutting tool table 21, the rear side of the bathtub is corresponded to the fixing clamp 224, and the fixing clamp 224 includes a flat fixing plate 225 and a vertical clamping plate 226, so that the fixing clamp 224 is L-shaped; the pneumatic clamp 221 comprises a pneumatic clamping plate 222, a piston rod and a cylinder seat 220, so that the cylinder seat 220 drives the piston rod to move forwards when the bathtub is used, the pneumatic clamping plate 222 is further driven to move forwards, after the bathtub is placed on the cutting tool table 21, the cylinder seat 220 retracts the piston rod, the pneumatic clamping plate 222 is matched with the vertical clamping plate 226 to fix the bathtub, and then an operator adjusts the screw adjusting unit 23 to fix the left side and the right side of the bathtub; the tool clamp module 22 with the structure has the characteristics of simple structure and convenience in use.

In one embodiment, the lead screw adjusting unit 23 includes a first movable clamp plate 231, a second movable clamp plate 232, two fixed seats 233, a first lead screw 234, a second lead screw 235, two guide rods 236, a first adjusting wheel 237 and a second adjusting wheel 238, the two fixed seats 233 are disposed at the bottom of the cutting tool table 21 at intervals, the first lead screw 234 and the second lead screw 235 are movably inserted between the two fixed seats 233, the two guide rods 236 are disposed on the two fixed seats 233 and are located at the outer sides of the first lead screw 234 and the second lead screw 235, the first movable clamp plate 231 is disposed on the cutting tool table 21 and movably connected with the two guide rods 236 and the first lead screw 234, the first adjusting wheel 237 is movably connected with the first lead screw 234, the second movable clamp plate 232 is disposed on the cutting tool table 21 and movably connected with the two guide rods 236 and the second lead screw 235, and the second adjusting wheel 238 is movably connected with the second lead screw 235.

The working principle and the beneficial effects of the technical scheme are as follows: the embodiment provides a specific structure of the lead screw adjusting unit 23, the lead screw adjusting unit 23 of the structure includes a first movable clamp plate 231, a second movable clamp plate 232, two fixed seats 233, a first lead screw 234, a second lead screw 235, two guide rods 236, a first adjusting wheel 237 and a second adjusting wheel 238, specifically, the two fixed seats 233 are mounted at the bottom of the cutting tool table 21 at intervals, the first lead screw 234, the second lead screw 235 and the two guide rods 236 are all mounted between the two fixed seats 233, the first adjusting wheel 237 can be mounted at the left end of the cutting tool table 21, the second adjusting wheel 238 can be mounted at the right end of the cutting tool table 21, so that an operator can rotate the first adjusting wheel 237 by rotating the first adjusting wheel 237, and then the first adjusting wheel 237 drives the first lead screw 234 to rotate, and then the first movable clamp plate 231 moves to the left end along the scale marking hole 211 on the cutting tool table 21, and then clamps the bathtub; similarly, the second lead screw 235 can be driven to rotate by rotating the second adjusting wheel 238, the second lead screw 235 drives the second movable clamp plate 232 to move towards the right end along the scale mark hole on the cutting tool table 21, and here, the two guide rods 236 provide a stable guiding function for the first movable clamp plate 231 and the second movable clamp plate 232, it can be understood that the side clamp blocks 212 are installed at the left end and the right end of the cutting tool table 21 and respectively matched with the first movable clamp plate 231 and the second movable clamp plate 232 to fix the bathtub, so as to facilitate the six-axis robot cutting module to perform processing actions such as cutting, punching and the like on the bathtub; meanwhile, the fixing of different types of bathtubs is facilitated, and the application range of the tool clamp module 22 is widened.

In one embodiment, a notch 241 is provided at the front side of the cutting water tank 24, and a movable shutter mechanism 25 corresponding to the notch 241 is disposed, the movable shutter mechanism 25 is electrically connected to the PLC control cabinet 4, a plurality of water tank shutters 242 are provided on the cutting water tank 24, and a plurality of water tank pads are provided at the bottom of the cutting water tank 24.

The working principle and the beneficial effects of the technical scheme are as follows: in the embodiment, a specific structure of the cutting water tank 24 is provided, in order to facilitate the installation of the bathtub by an operator, a notch 241 is provided on the front side of the cutting water tank 24, and in order to prevent the dust-containing waste liquid flushed during the processing of the bathtub from flowing out of the notch 241, a movable baffle mechanism 25 is provided on the notch 241, so that the movable baffle mechanism 25 is retracted by the PLC control cabinet 4 when the bathtub is installed, and the notch 241 is exposed; when the bathtub is processed, the PLC control cabinet 4 is used for extending the movable baffle mechanism 25, so that the notch groove 241 is shielded, and water liquid is prevented from splashing to the outside during washing; also be provided with a plurality of basin baffles 242 simultaneously on cutting basin 24, a plurality of basin baffles 242 are located the left side, the right side and the rear side of cutting basin 24 respectively to the height of cutting basin 24 has been increased, and water liquid splashes to the outside when also avoiding washing, and a plurality of basin pad feet are installed to the bottom of cutting basin 24, through basin pad foot in order to support cutting basin 24, have made things convenient for the follow-up waste liquid that will contain dust to discharge from cutting basin 24.

In one embodiment, the movable barrier mechanism 25 includes two inclined cylinders 251, a first inclined barrier 252 and a second inclined barrier 253, the two inclined cylinders 251 are respectively located at two sides of the notched groove 241 and electrically connected to the PLC control cabinet 4, and two sides of the notched groove 241 are respectively provided with an inclined guide groove 254, the first inclined barrier 252 and the second inclined barrier 253 are slidably disposed in the two inclined guide grooves 254, an upper end of the first inclined barrier 252 is connected to an upper end of the inclined cylinder 251, a guide rail 255 is disposed at a back surface of the second inclined barrier 253, the first inclined barrier 252 is slidably connected to the guide rail 255, and a barrier plate 256 is disposed on the first inclined barrier 252, and the barrier plate 256 is used for pushing the second inclined barrier 253.

The working principle and the beneficial effects of the technical scheme are as follows: the present embodiment provides a specific structure of the movable barrier mechanism 25, the movable barrier mechanism 25 of the structure includes two oblique cylinders 251, a first oblique barrier 252 and a second oblique barrier 253, where the two oblique cylinders 251 are respectively located at two sides of the notch 241 and electrically connected to the PLC control cabinet 4, two oblique guide rail slots 254 are respectively installed at two sides of the notch 241, and the first oblique barrier 252 and the second oblique barrier 253 are slidably installed in the two oblique guide rail slots 254, so that when the PLC control cabinet 4 drives the oblique cylinders 251 through a pneumatic component (not shown), the oblique cylinders 251 extend obliquely upward to drive the first oblique barrier 252 upward, and after the first oblique barrier 252 slides to a highest position on the back of the second oblique barrier 253 along the guide rail 255, the second oblique barrier 253 is driven to move obliquely upward along the oblique guide rail slots 254, such that the first oblique barrier 252 and the second oblique barrier 253 are both in an unfolded state; when the bathtub needs to be retracted, the inclined cylinder 251 drives the first inclined baffle 252 to slide downwards along the guide rail 255 on the back of the second inclined baffle 253, and the baffle plate 256 is installed at the upper end of the first inclined baffle 252, so that the baffle plate 256 generates a thrust on the second inclined baffle 253 when moving the upper end of the second inclined baffle 253, and further the first inclined baffle 252 and the second inclined baffle 253 slide downwards to the inside of the inclined guide rail groove 254, so that the notch groove 241 is exposed, and an operator can conveniently install the bathtub for processing or disassemble and take down the bathtub for processing.

In one embodiment, six axis robot cutting module includes six axis robot 51, high moment of torsion cutting electricity main shaft 52, robot cabinet, high moment of torsion cutting electricity main shaft 52 sets up on six axis robot 51's the operation arm 511, high moment of torsion cutting electricity main shaft 52's lower extreme is provided with cutting tool 54, and one side is provided with the fine sensor 55, washes the nozzle pipe portion, the top of workstation casing is provided with the robot pipeline package, six axis robot 51 with the robot cabinet electricity is connected, high moment of torsion cutting electricity main shaft 52, fine sensor 55, wash the nozzle pipe portion with PLC switch board 4 electricity is connected.

The working principle and the beneficial effects of the technical scheme are as follows: the embodiment provides a specific structure of a six-axis robot cutting module, the six-axis robot cutting module of the structure comprises a six-axis robot 51, a high-torque cutting electric spindle 52 and a robot cabinet, wherein the high-torque cutting electric spindle 52 is installed on an operation arm 511 of the six-axis robot 51, a cutting tool 54 is installed at the lower end of the high-torque cutting electric spindle 52, a product sensor 55 and a flushing nozzle pipe part are installed on one side of the high-torque cutting electric spindle, a robot pipeline packet is installed above a work station shell, a plurality of lines of the high-torque cutting electric spindle 52 and the flushing nozzle pipe part are installed in the robot pipeline packet, so the six-axis robot 51 can be started through the robot cabinet, the six-axis robot 51 drives the operation arm 511 to move a tool path, the PLC control cabinet 4 starts the high-torque cutting electric spindle 52, the product sensor 55 and the flushing nozzle pipe part, the high-torque cutting electric spindle 52 drives the cutting tool 54 to rotate, the product sensor 55 can detect and judge the surface of a bathtub, and the PLC control cabinet 4 can prevent the robot from checking the quality of the bathtub; the flushing nozzle part sprays flushing water to flush dust and debris in the processing engineering, so that the dust and debris are prevented from flying into the workstation shell 1, and the pollution to the environment is reduced; through the design of the six-axis robot cutting module, the requirement of bathtub inclined plane machining is met, and the machining efficiency of the bathtub is improved.

In one embodiment, the tool magazine 3 includes a tool main frame 31, a consumable cabinet 311 is disposed on a lower portion of the tool main frame 31, a plurality of tool clamps 32 are disposed inside the tool main frame 31, a tool magazine cover cylinder 312 and an uncovering solenoid valve 313 are respectively disposed on two sides of the tool main frame 31, the uncovering solenoid valve 313 is located below the tool magazine cover cylinder 312 and electrically connected to the PLC control cabinet 4, and the tool magazine cover cylinder 312 is used for driving a tool magazine cover 314.

The working principle and the beneficial effects of the technical scheme are as follows: the embodiment provides a specific structure of the tool magazine 3, the tool magazine 3 of the structure comprises a tool main frame 31, a consumable cabinet 311 is arranged at the lower part of the tool main frame 31, a plurality of tool clamps 32 are arranged in the tool main frame 31, and the tool magazine 3 can be flexibly arranged in the cutting workstation, so that the space of the workstation is reduced; therefore, when the six-axis robot 51 needs to replace the tool, the six-axis robot 51 moves to the tool magazine 3 along a preset tool track, the uncovering electromagnetic valve 313 on the tool magazine 3 is started by the PLC control cabinet 4, so that the tool magazine cover cylinder 312 opens the tool magazine cover 314 from the tool main frame 31, then the six-axis robot 51 drives the operating arm 511 to drive the high-torque cutting electric spindle 52 to enter the tool main frame 31, the original tool is placed on the vacant clamp, and then the six-axis robot moves to a proper tool clamp to take away the corresponding tool; it can be understood that a plurality of limit sensors are further arranged inside the tool main frame 31, so that the operating arm 511 is prevented from driving the high-torque cutting motorized spindle 52 to collide with the inside of the tool magazine 3.

As shown in fig. 12 to 19, in one embodiment, two clamping modules 6 for mounting the cover opening solenoid valve 313 are disposed on one side of the main cutter frame 31, each clamping module 6 includes a first clamping block 61 and a second clamping block 62, a first butt block 611 is disposed at an outer end of the first clamping block 61, a second butt block 621 is disposed on the second clamping block 62, a U-shaped communication groove 612, a positioning rod 613 and a first fastening through hole 614 are disposed on the first butt block 611, a first butt rod 615, a second butt rod 616 and an oil flowing body 617 are disposed in the U-shaped communication groove 612, the oil flowing body is located between the first butt rod 615 and the second butt rod 616, a sealing block 618 is disposed at inner ends of the first butt rod 615 and the second butt rod 616, a through hole is disposed at an upper end of the first butt rod 615, a first fastening mechanism 63 is disposed in the through hole, a second butt block 621 is disposed with a positioning hole 622 corresponding to the positioning rod 613, a fastening hole 623 corresponding to the first butt rod, a fastening mechanism 64 and a second fastening mechanism 64 and a through hole 64 are disposed in the second butt rod 614 and a through hole 65.

The working principle and the beneficial effects of the technical scheme are as follows: in order to facilitate installation of the cover opening electromagnetic valve 313 and subsequent disassembly and maintenance of the cover opening electromagnetic valve 313, two clamping modules 6 are provided in the embodiment, the cover opening electromagnetic valve 313 is fixed on one side of the cutter main frame 31, and the cover opening electromagnetic valve 313 can be quickly taken out of the clamping modules 6 by opening the two cutter main frames 31; specifically, the clamping module 6 comprises a first clamping block 61 and a second clamping block 62, wherein the first clamping block 61 is fixedly arranged at one side of the tool main frame 31, and the first clamping block 61 is used as a base body of the clamping module 6 to provide a fixing and supporting function for the whole clamping module 6; the second clamping block 62 is butted on the first clamping block 61, a space for accommodating and clamping the cover opening electromagnetic valve 313 is formed between the first clamping block and the second clamping block, and the cover opening electromagnetic valve 313 is installed in the space through the two wear-resistant clamping blocks 60; further, in order to open the second clamping block 62 and the first clamping block 61, the first butt block 611 is installed on the first clamping block 61, the second butt block 621 is arranged on the second clamping block 62, and the first butt block 611 and the second butt block 621 can be opened or closed rapidly;

specifically, a U-shaped communicating groove 612 and a first fastening through hole 614 are formed in the first butt joint block 611, and a positioning rod 613 is installed between the U-shaped communicating groove 612 and the first fastening through hole 614, wherein a first abutting rod 615, a second abutting rod 616 and an oil body 617 are installed in the U-shaped communicating groove 612, the oil body 617 is located between the first abutting rod 615 and the second abutting rod 616, and in order to avoid leakage of the oil body 617, a sealing block 618 is installed at the inner ends of the first abutting rod 615 and the second abutting rod 616, and the sealing block 618 is in sliding sealing connection with the inner wall of the U-shaped communicating groove 612; therefore, when the second docking block 621 is docked with the first docking block 611, the positioning rod 613 is first docked with the positioning hole 622 in the second docking block 621 to avoid dislocation; then when the second butting block 621 pushes the second butting rod 616 into the U-shaped communicating groove 612, the second butting block 621 is pushed into the butting inner hole 623 through the oil flowing body 617, the outer end of the second butting block 621 enters the butting inner hole 623, and then the first fastening mechanism 63 in the second butting block 6212 is fixed in the butting inner hole 623, and because the first fastening through hole 614 and the second fastening through hole are also corresponding, the fastening rod 64 can be fixed after passing through the second fastening through hole and being fixed in the first fastening through hole 614, so that the first clamping block 61 and the second clamping block 62 are fixed, and then the two can be opened through the fastening rod 64, the cover opening electromagnetic valve 313 can be conveniently and quickly taken out, and the disassembly and maintenance efficiency is improved.

In one embodiment, the first fastening mechanism 63 includes a V-shaped folding arm 631, a first spring 632, and an outer repelling block 633, the outer repelling block 633 is disposed in the through hole through the first spring 632 and corresponds to the inner repelling block 624, the V-shaped folding arm 631 is disposed at two sides of the first spring 632, one end of the V-shaped folding arm 631 is hinged to the outer repelling block 633, the other end of the V-shaped folding arm is hinged to the bottom of the through hole, and a side V-shaped groove 626 corresponding to the V-shaped folding arm 631 is disposed in the abutting inner hole 623; the second fastening mechanism 65 includes a blocking ball 651, an inner link 652, an inner cone 653, a second spring 654, and a plurality of side toothed bars 656, the inner wall of the first fastening through hole 614 is provided with a circumferential groove 610, the circumferential groove 610 is provided with a plurality of first teeth 609, the fastening bar 64 is provided with a spring groove 641, a movable groove 642, an outer through hole 643, and a plurality of side toothed holes 644, the second spring 654 is disposed in the spring groove 641, the inner cone 653 is disposed in the movable groove 642, the small end of the inner cone 653 is connected to the second spring 654, the inner link 652 is disposed in the outer through hole 643 and connected to the large end of the inner cone 653, the side toothed bars 656 are disposed in the side toothed holes 644, the outer end of the side toothed bars 656 is provided with a second teeth 657 corresponding to the first teeth 609, the middle is provided with a third spring 658 and a spring plate 659, and the blocking ball 651 is disposed at the outer end of the inner link 652.

The working principle and the beneficial effects of the technical scheme are as follows: the embodiment provides specific structures of the first fastening mechanism 63 and the second fastening mechanism 65, so as to facilitate the use of operators;

specifically, the first fastening mechanism 63 includes a V-shaped folding arm 631, a first spring 632, and an outer repelling block 633, where the outer repelling block 633 is installed in the through hole through the first spring 632 and corresponds to the inner repelling block 624, and the V-shaped folding arm 631 is installed with two pieces and located at two sides of the first spring 632, and one end of the V-shaped folding arm 631 is hinged to the outer repelling block 633, and the other end is hinged to the bottom of the through hole, so that when the first propping rod 615 enters the propping inner hole 623, the inner repelling block 624 in the second propping block 621 pushes the outer repelling block 633, and the outer repelling block 633 presses the first spring 632 and the V-shaped folding arm 631, so that the V-shaped folding arm 631 is folded from an open state to a retracted state, and the V-shaped folding arm 631 enters a side V-shaped groove 626 of the propping inner hole 623, so that the first fastening mechanism 63 is fixed to the propping inner hole 623, where the inner repelling block 624 and the outer repelling block 633 can be magnets with the same polarity;

the second fastening mechanism 65 includes a stop ball 651, an inner link 652, an inner cone 653, a second spring 654 and a plurality of side toothed bars 656, the circumferential groove 610 is formed in the inner wall of the first fastening through hole 614, a plurality of first teeth 609 are installed in the circumferential groove 610, the fastening rod 64 is formed with a spring groove 641, a movable groove 642, an outer through hole 643 and a plurality of side toothed holes 644, the second spring 654 is installed in the spring groove 641, the inner cone is installed in the movable groove 642, the second spring 654 pulls the small end of the inner cone 653 to move toward the spring groove 641, the inner cone 653 pushes the surrounding side toothed bar 656 toward the circumferential groove 610 through the side toothed holes 644, the second teeth 657 at the outer end of the side toothed bar 656 enter the first teeth 609 to perform a fixing function, when it is necessary to open, the operator needs to pull out the stop ball 651, the inner cone 653 also to move outward through the inner link 652, then the inner cone 653 and the side toothed bar 656 enter the first teeth 609 to perform a fixing function, the second teeth 659 are pulled out to open the spring eye 659, the second teeth 659 to remove the second teeth 659, and the second teeth 659, the second teeth 659 are removed, the second fastening rod 656 is removed, and the second teeth 659 is removed easily, and the second fastening rod is removed.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims

1. A cutting workstation based on an industrial robot, comprising: workstation casing (1), setting are in six robot cutting module, frock clamp mechanism (2), tool magazine (3), PLC switch board (4) in workstation casing (1), six robot cutting module with PLC switch board (4) electricity is connected, frock clamp mechanism (2), tool magazine (3) all with PLC switch board (4) electricity is connected, frock clamp mechanism (2) are used for the centre gripping bathtub, six robot cutting module be used for right bathtub (100) carry out cutting process.

2. An industrial robot based cutting workstation according to claim 1, characterized in that the tool holder mechanism (2) is arranged in a cutting water tank (24), the tool holder mechanism (2) comprises a cutting tool table (21), two tool holder modules (22), a lead screw adjusting unit (23), the cutting tool table (21) is arranged in the cutting water tank (24), the two tool holder modules (22) are respectively arranged on the cutting tool table (21) and respectively close to the end of the cutting tool table (21), and the lead screw adjusting unit (23) is arranged in the cutting tool table (21).

3. The industrial robot-based cutting workstation according to claim 2, wherein the tooling clamp module (22) comprises a pneumatic clamp (221) and a fixed clamp (224), the pneumatic clamp (221) and the fixed clamp (224) are respectively located at the front side and the rear side of the cutting tool table (21), the pneumatic clamp (221) comprises a pneumatic clamping plate (222), a piston rod and a cylinder seat (220), the cylinder seat (220) is arranged at the bottom of the cutting tool table (21), the piston rod is movably arranged in the cylinder seat (220), the pneumatic clamping plate (222) is arranged at the outer end of the piston rod, the fixed clamp (224) comprises a flat fixed plate (225) and a vertical clamping plate (226), the flat fixed plate (225) is arranged at the bottom of the cutting tool table (21) and corresponds to the cylinder seat (220), and the vertical clamping plate (226) is arranged at the outer end of the flat fixed plate (225).

4. The industrial robot-based cutting station according to claim 2, wherein the lead screw adjusting unit (23) comprises a first movable clamp plate (231), a second movable clamp plate (232), two fixed seats (233), a first lead screw (234), a second lead screw (235), two guide rods (236), a first adjusting wheel (237) and a second adjusting wheel (238), the two fixed seats (233) are arranged at the bottom of the cutting tool table (21) in a spaced manner, the first lead screw (234) and the second lead screw (235) are movably inserted between the two fixed seats (233), and the two guide rods (236) are arranged on the two fixed seats (236) and are located at the outer sides of the first lead screw (234) and the second lead screw (235), the first movable clamp plate (231) is arranged on the cutting tool table (21) and is movably connected with the two guide rods (236) and the first lead screw (234), the first adjusting wheel (237) is connected with the first lead screw (234), the second movable clamp plate (232) is arranged on the cutting tool table (21) and is connected with the two guide rods (236) and the second movable guide wheels (238).

5. The industrial robot-based cutting workstation according to claim 2, wherein a cut groove (241) is provided on a front side of the cutting water tank (24), and a movable barrier mechanism (25) corresponding to the cut groove (241) is provided, the movable barrier mechanism (25) is electrically connected to the PLC control cabinet (4), a plurality of water tank barriers (242) are provided on the cutting water tank (24), and a plurality of water tank foot pads are provided on a bottom of the cutting water tank (24).

6. The industrial robot-based cutting workstation according to claim 5, wherein the movable barrier mechanism (25) comprises two slant cylinders (251), a first slant barrier (252), and a second slant barrier (253), the two slant cylinders (251) are respectively located at both sides of the notched groove (241) and electrically connected with the PLC control cabinet (4), and the notched groove (241) is respectively provided at both sides with slant guide grooves (254), the first slant barrier (252), a second slant barrier (253) are slidably provided within the two slant guide grooves (254), an upper end of the first slant barrier (252) is connected with an upper end of the slant cylinder (251), a back surface of the second slant barrier (253) is provided with a guide rail bar (255), the first slant barrier (252) is slidably connected with the guide rail bar (255), and a barrier bar (256) is provided on the first slant barrier (252), the barrier bar (256) is used for pushing the second slant barrier (253).

7. The industrial robot-based cutting workstation according to claim 1, characterized in that the six-axis robot cutting module comprises six-axis robot (51), a high-torque cutting electric spindle (52) and a robot cabinet, the high-torque cutting electric spindle (52) is arranged on an operating arm (511) of the six-axis robot (51), a cutting tool (54) is arranged at the lower end of the high-torque cutting electric spindle (52), a Pinna sensor (55) and a washing nozzle part are arranged on one side of the high-torque cutting electric spindle, a robot hose is arranged above the housing of the workstation, the six-axis robot (51) is electrically connected with the robot cabinet, and the high-torque cutting electric spindle (52), the Pinna sensor (55) and the washing nozzle part are electrically connected with the PLC control cabinet (4).

8. The industrial robot-based cutting workstation according to claim 1, wherein the tool magazine (3) comprises a tool main frame (31), a consumable cabinet (311) is arranged at the lower part of the tool main frame (31), a plurality of tool clamps (32) are arranged inside the tool main frame, a tool magazine cover cylinder (312) and a cover opening solenoid valve (313) are respectively arranged on two sides of the tool main frame (31), the cover opening solenoid valve (313) is positioned below the tool magazine cover cylinder (312) and is electrically connected with the PLC control cabinet (4), and the tool magazine cover cylinder (312) is used for driving the tool magazine cover (314).

9. The industrial robot-based cutting workstation according to claim 8, characterized in that one side of the cutter main frame (31) is provided with two clamping modules (6) for installing the uncovering solenoid valve (313), the clamping modules (6) comprise a first clamping block (61) and a second clamping block (62), the outer end of the first clamping block (61) is provided with a first butt block (611), the second clamping block (62) is provided with a second butt block (621), the first butt block (611) is provided with a U-shaped communication groove (612), a positioning rod (613) and a first fastening through hole (614), the U-shaped communication groove (612) is internally provided with a first abutting rod (615), a second abutting rod (616) and a fluid body (617), the oil flowing body (617) is located between the first abutting rod (615) and the second abutting rod (616), the inner ends of the first abutting rod (615) and the second abutting rod (616) are provided with sealing blocks (618), the upper end of the first abutting rod (615) is provided with a through hole, a first fastening mechanism (63) is arranged in the through hole, the second abutting block (621) is provided with a positioning hole (622) corresponding to the positioning rod (613), an abutting inner hole (623) corresponding to the first abutting rod (615), an inner repelling block (624) corresponding to the first fastening mechanism (63) and a second repelling block (624) corresponding to the first fastening mechanism (63) A second fastening through hole corresponding to the fastening through hole (614), wherein a fastening rod (64) is arranged in the second fastening through hole, the fastening rod (64) penetrates through the second fastening through hole, and a second fastening mechanism (65) is arranged in the fastening rod (64).

10. The industrial robot-based cutting workstation of claim 9, characterized in that the first fastening mechanism (63) comprises a V-shaped folding arm (631), a first spring (632) and an outer repelling block (633), the outer repelling block (633) is arranged in the through hole by the first spring (632) and corresponds to the inner repelling block (624), the V-shaped folding arm (631) is arranged in two and is located at both sides of the first spring (632), one end of the V-shaped folding arm (631) is hinged with the outer repelling block (633) and the other end is hinged with the bottom of the through hole, and a side V-shaped groove (626) corresponding to the V-shaped folding arm (631) is arranged in the abutting inner hole (623); the second fastening mechanism (65) comprises a stop ball (651), an inner connecting rod (652), an inner conical block (653), a second spring (654) and a plurality of side toothed bars (656), wherein a circumferential groove (610) is formed in the inner wall of the first fastening through hole (614), a plurality of first convex teeth (609) are formed in the circumferential groove (610), a spring groove (641), a movable groove (642), an outer through hole (643) and a plurality of side toothed holes (644) are formed in the fastening rod (64), the second spring (654) is arranged in the spring groove (641), the inner conical block (653) is arranged in the movable groove (642), the small end of the inner conical block (653) is connected with the second spring (654), the inner connecting rod (652) is arranged in the outer through hole (643) and connected with the large end of the inner conical block (653), the side toothed bars (656) are arranged in the side toothed holes (644), the outer end of the side toothed bars (656) is provided with the second convex teeth (609) corresponding to the first convex teeth (609), and the middle of the spring (657) and the third spring toothed bar (656).