CN210233176U

CN210233176U - Automatic frame machining system

Info

Publication number: CN210233176U
Application number: CN201920982966.8U
Authority: CN
Inventors: Yuqing Yi; 易裕清; Yongxin Jia; 贾永新; Zeya Wang; 王泽亚
Original assignee: Jieante (kunshan) Co Ltd
Current assignee: Jieante (kunshan) Co Ltd
Priority date: 2019-06-27
Filing date: 2019-06-27
Publication date: 2020-04-03
Anticipated expiration: 2029-06-27

Abstract

The utility model discloses a frame automatic processing system, which comprises an industrial robot, a tool rest, a workbench, a frame positioning device and a control system, wherein the frame positioning device is arranged on the workbench, the frame positioning device can fix and position a frame to be processed, the industrial robot is fixedly arranged on one side of the workbench, the tool rest comprises a rotary main shaft, a tool magazine, a tool chuck, a rotary driving device and a tool driving device, the rotary main shaft can be rotatably arranged on the industrial robot, the tool magazine is fixedly arranged on the rotary main shaft, at least one tool chuck for mounting a processing tool can be arranged on the tool magazine in a way of rotating around a self rotating shaft, the industrial robot can drive the tool rest to reach any position of a designated area on the workbench, the control system controls the industrial robot, the rotary driving device and the tool driving device to work, the utility model realizes the full-automatic multi-station processing of the frame, the turnover space occupies little, and workman low in labor strength has reduced the cost of labor, has improved machining efficiency and machining precision.

Description

Automatic frame machining system

Technical Field

The utility model relates to a bicycle technical field especially indicates a frame automatic processing system.

Background

Traditional carbon fibre bicycle frame machining all processes through a plurality of processes, every process all need carry out fixed position to the frame, then carry out machining to the different positions of frame by workman's operation machine tool, mainly for drilling processing, need carry out a lot of storage to the frame in the course of working, the transport, occupation space, it costs time, it is high to workman's processing technology requirement, consume the manual work, and location exists the accumulative error many times, lead to the machining precision low easily, bury hidden danger for the follow-up equipment of frame, frame processing cost is high.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects, the utility model provides a frame automatic processing system and manufacturing method and the forming die who uses thereof, this frame automatic processing system can carry out the full automatic machine tooling in a plurality of positions to carbon fiber frame, and the machining precision is high, and machining efficiency is high, saves the manual work, and processing cost greatly reduced.

The utility model discloses a solve the technical scheme that its technical problem adopted: an automatic frame processing system comprises an industrial robot, a tool rest, a workbench, a frame positioning device and a control system, the frame positioning device is arranged on the workbench and can fix and position a frame to be processed, the industrial robot is fixedly arranged on one side of the workbench, the tool rest comprises a rotating main shaft, a tool magazine, a tool chuck, a rotating driving device and a tool driving device, the rotary main shaft can be rotatably installed on an industrial robot (connection and installation can be realized through a rotary flange), the tool magazine is fixedly installed on the rotary main shaft, at least one tool chuck for installing a machining tool can be arranged on the tool magazine in a rotating mode around a rotating shaft of the tool magazine, the industrial robot can drive the tool rest to reach any position of a designated area on the workbench, and the control system controls the industrial robot, the rotary driving device and the tool driving device to work.

As a further improvement of the utility model, the tool magazine is of a triangular structure, and the three tool chucks are respectively positioned at three corners of the tool magazine.

As the utility model discloses a further improvement still is equipped with safe room and safety protection door, the fixed cladding in the workstation periphery in safe room is equipped with the window that supplies industrial robot arm to stretch into on the wall of work room one side, is equipped with the safety protection door that can open and shut on the wall of work room another side.

As a further improvement, still be equipped with horizontal slide rail, slide and slide drive arrangement on the workstation, on the workstation was located to the slide rail along the extension of perpendicular safety protection door direction, the slide can be followed the gliding location of horizontal slide rail extending direction on the workstation, and frame positioner is located the slide, slide drive arrangement drive slide reciprocating sliding, control system control slide drive arrangement work.

As the utility model discloses a further improvement, frame positioner includes five-way locating pin, five-way clamping mechanism that the level set up, violently manages radial draw-in groove, violently manages axial ejector pin, standpipe clamping mechanism, five-way clamping drive device, violently manage tight drive arrangement in top and the tight drive arrangement of standpipe clamp, in the five-way locating pin just can insert and locate frame five-way, five-way clamping mechanism can press from both sides tight frame five-way both ends terminal surface, in violently managing that the pipe of frame just can block locates violently managing radial draw-in groove, violently manage the gliding location in the workstation in horizontal direction of axial ejector pin, violently manage on the axial ejector pin just can push up tight frame and violently manage the axial terminal surface of five-way one end, on standpipe clamping mechanism can press from both sides tight frame standpipe circumference lateral wall, control system control five-way clamping drive arrangement, violently manage tight drive.

As a further improvement of the utility model, five-way clamping mechanism includes the swing arm, presss from both sides tight head and presss from both sides tight drive arrangement, and the five-way locating pin is the T shape structure that root diameter increases, and just backstop on five-way locating pin root step face of frame five-way axial one end terminal surface, and the swing arm can be installed on the workstation around being on a parallel with the pivot pivoted of five-way locating pin, and the tight head of clamp just can the close contact frame five-way axial other end terminal surface, presss from both sides the reciprocal swing of tight drive arrangement drive swing arm, and the tight drive arrangement work of control system control clamp.

As a further improvement of the utility model, the clamping head is made of elastic material, and the edge of the clamping head is formed with a chamfer structure.

As a further improvement, standpipe clamping mechanism includes fixed stop, horizontal slide, slider, presss from both sides tight piece, horizontal clamping drive arrangement and rotary clamping drive arrangement, fixed stop fixed mounting is on the workstation, the frame standpipe just can tightly support the fixed stop surface, the horizontal slide fixed mounting who is on a parallel with the horizontal slide on the workstation on fixed stop, the slider can be gliding installs on horizontal slide, press from both sides tight piece and can wind the pivot pivoted that is on a parallel with horizontal slide and install on the slider, press from both sides tight piece and fixed stop and can press from both sides tight frame standpipe circumference lateral wall, horizontal clamping drive arrangement and rotary clamping drive arrangement drive respectively and press from both sides tight piece reciprocating rotation and slider horizontal sliding, control system control horizontal clamping drive arrangement and rotary clamping drive arrangement work.

As a further improvement, the safety protection door can be installed on the wall of the other side of the safety room along the longitudinal sliding, and the safety driving device is further arranged, and drives the safety protection door to seal or open the safety room along the longitudinal sliding.

As a further improvement, the utility model also is equipped with frame induction system, slide position induction system and frame location state induction system, slide position induction system can respond to slide positional information and signal in control system, and frame induction system can sense and have the frame to put into and signal in control system on the frame positioning device, and frame location state induction system can respond to frame location state information and signal in control system, and control system control safety drive device opens and stops.

The utility model has the advantages that: the utility model discloses an adopt industrial robot cooperation frame positioner to realize the full-automatic multistation processing of frame, avoided occuping of turnover space in a plurality of process machining, the workman's work load that has significantly reduced has reduced the cost of labor, has improved machining efficiency and machining precision.

Drawings

FIG. 1 is a schematic diagram of the structure of an industrial robot and a tool rest of the present invention;

FIG. 2 is a front view of the tool holder of the present invention;

fig. 3 is a bottom view of the tool holder of the present invention;

FIG. 4 is a front view of the frame positioning device on the working table;

FIG. 5 is a top view of the frame positioning device on the working table;

fig. 6 is a right side view of the frame positioning device on the worktable in time.

Detailed Description

Example (b): the utility model provides a frame automatic processing system, includes industrial robot 1, knife rest, workstation 5, frame positioner and control system, frame positioner locates on workstation 5, and frame positioner can treat and process the frame and carry out fixed positioning, and industrial robot 1 is fixed to be located workstation 5 one side, and the knife rest includes rotary main shaft 2, tool magazine 3, tool chuck 4, rotary driving device and tool drive device, rotary main shaft 2 can the pivoted install on industrial robot 1 (can realize connecting and installing through the swivel flange), and tool magazine 3 fixed mounting is on rotary main shaft 2, and at least one tool chuck 4 that is used for installing processing cutter 6 can locate on tool magazine 3 around self pivot pivoted, and industrial robot 1 can drive the knife rest and arrive the optional position in appointed region on workstation 5, and control system controls industrial robot 1, The rotary drive and the tool drive operate.

When in processing, the frame is fixedly arranged on the frame positioning device on the workbench 5, then the industrial robot 1 drives the tool rest to reach the position of the frame to be processed according to the pre-programmed instruction sequence, the tool rest rotates through the rotating main shaft 2 according to the instruction of the control system, tools 6 on different tool chucks 4 are selected to process different positions on the frame, the tool is turned over by 90 degrees through the arm of the industrial robot 1 to enable the tool to be right opposite to the side surface of the frame for processing the side surface of the frame, the frame side surface is processed, the industrial robot 1 can be a multi-joint robot, a truss mechanical arm mechanism and the like can be adopted, the automatic processing system realizes the full-automatic processing of a plurality of positions of the frame, the processing precision and the processing efficiency are high.

The tool magazine 3 is in a triangular structure, and the three tool chucks 4 are respectively positioned on three corners of the tool magazine 3. The installation and the independent work of a plurality of cutters are realized through the triangular tool magazine 3, the mutual interference is avoided, the machining of a plurality of positions can be realized through the installation of the cutters with different numbers through the tool magazine 3 with the shapes of quadrangle, five-side-length strip and the like except the installation structure of the triangular structure to three cutters, and the tool magazine belongs to the protection range of the patent, and is an equivalent replacement structure which can be easily thought by a person skilled in the basic field according to the patent.

Still be equipped with safe room and safety protection door, safe room fixed cladding is equipped with the window that supplies 1 arm of industrial robot to stretch into on the wall of work room one side in 5 peripheries of workstation, is equipped with the safety protection door that can open and shut on the other side wall of work room. In the process of processing the frame, the frame is sealed to be safe indoor, the scattering of cuttings produced in the processing process and the environmental pollution are avoided, and because the production safety is improved, a dust suction device can be further arranged in the safe indoor to suck the chips and dust produced by machining, so that the good processing environment is ensured.

Still be equipped with horizontal slide rail 9, slide 10 and slide drive arrangement 11 on the workstation 5, the slide rail is along locating workstation 5 of perpendicular safety protection door direction extension, and slide 10 can be followed the gliding location of horizontal slide rail 9 extending direction on workstation 5, and frame positioner is located slide 10, and slide drive arrangement 11 drive slide 10 is reciprocal to be slided, and control system controls slide drive arrangement 11 and works. The sliding seat 10 slides to be close to the safety protection door position of the safety house and the machining position of the safety house, so that the quick replacement of the two positions of the frame machining feeding and the safety machining is facilitated.

The frame positioning device comprises a horizontally arranged five-way positioning pin 12, a five-way clamping mechanism, a horizontal pipe radial clamping groove 14, a horizontal pipe axial ejector rod 15, a vertical pipe clamping mechanism, a five-way clamping driving device 17, a horizontal pipe jacking driving device 16 and a vertical pipe clamping driving device 17, wherein the five-way positioning pin 12 can be just inserted into the frame five-way hole, the five-way clamping mechanism can clamp the end surfaces of the two ends of the frame five-way, the horizontal pipe of the frame can be just clamped in the horizontal pipe radial clamping groove 14, the horizontal pipe axial ejector rod 15 can be positioned on the workbench 5 in a sliding mode along the horizontal direction, the horizontal pipe axial ejector rod 15 can just jack the axial end surface of the horizontal pipe of the frame, the vertical pipe clamping mechanism can clamp the circumferential outer side wall of the vertical pipe of the frame, and a control system controls the five-way clamping driving device 17, the horizontal pipe jacking driving device. When the frame is positioned, the frame is preliminarily positioned through the five-way positioning pin 12 and the transverse pipe radial clamping groove 14, then the frame is fixedly positioned through the five-way clamping mechanism, the transverse pipe axial ejector rod 15 and the vertical pipe clamping mechanism, the frame positioning device only needs to sleeve the five-way of the frame on the five-way positioning pin 12, and the transverse pipe of the frame is pushed into the transverse pipe radial clamping groove 14, the five-way clamping mechanism, the transverse pipe axial ejector rod 15 and the vertical pipe clamping mechanism automatically clamp and fix the frame, the loading efficiency is high, the frame positioning speed block is time-saving and labor-saving, except for the positioning device, the transverse pipe of the frame, the vertical pipe and the inclined pipe are positioned in a mode of manually locking bolts, and the vertical pipe and the inclined pipe are respectively clamped, and the equivalent replacing structure is easily thought by technical personnel in the field.

The five-way clamping mechanism comprises a swing arm 13, a clamping head 18 and a clamping driving device 17, the five-way positioning pin 12 is of a T-shaped structure with the root diameter increased, one axial end face of the frame five-way shaft is just stopped on the step face of the root of the five-way positioning pin 12, the swing arm 13 can be installed on the workbench 5 in a rotating mode around a rotating shaft parallel to the five-way positioning pin 12, the clamping head 18 can just be in close contact with the other axial end face of the frame five-way shaft, the clamping driving device 17 drives the swing arm 13 to swing in a reciprocating mode, and the control system controls the clamping driving device 17 to. The frame five-way is in the cover behind five-way locating pin 12 outside, after taking through swing arm 13 that clamp head 18 rotates certain angle, clamp head 18 and carry frame five-way other end terminal surface, realize the clamp of frame five-way axial both ends, this structure can not lead to the fact the interference to the frame material loading, simple structure, in addition can also be along the clamp of frame five-way axial gliding structure realization to frame five-way axial terminal surface, perhaps rotate through the axial horizontal rotating shaft of perpendicular five-way and realize the clamp to five-way axial terminal surface, etc..

The clamping head 18 is made of elastic materials, and a chamfer structure is formed at the edge of the clamping head 18. The clamping head 18 is made of elastic materials, so that the five-way surface of the frame is prevented from being damaged, the clamping force is kept favorably, the clamping guide is realized by arranging a chamfer structure at the edge of the clamping head, and the clamping is prevented from occurring.

The vertical pipe clamping mechanism comprises a fixed baffle plate 19, a horizontal slideway 20, a sliding block 21, a clamping block 22, a horizontal clamping driving device 23 and a rotary clamping driving device 24, the fixed baffle 19 is fixedly arranged on the workbench 5, the vertical tube of the frame can be tightly abutted against the surface of the fixed baffle 19, a horizontal slide way 20 parallel to a horizontal slide rail 9 on the workbench 5 is fixedly arranged on the fixed baffle 19, a slide block 21 can be slidably arranged on the horizontal slide way 20, a clamping block 22 can be rotatably arranged on the slide block 21 around a rotating shaft parallel to the horizontal slide rail 9, the clamping block 22 and the fixed baffle 19 can clamp the outer circumferential side wall of the vertical tube of the frame, a horizontal clamping driving device 23 and a rotary clamping driving device 24 respectively drive the clamping block 22 to rotate in a reciprocating mode and the slide block 21 to slide horizontally, and a control system controls the horizontal clamping driving device 23 and the rotary clamping driving device 24 to work. After slide 10 takes the frame to slide to target in place, the frame standpipe just contacts fixed stop 19, and blocked by fixed stop 19, then press from both sides tight piece 22 and rotate certain angle, block 19 a side surface of fixed stop of frame standpipe dorsad, slider 21 drives to press from both sides tight piece 22 and slide towards 19 directions of fixed stop after that, finally press from both sides the frame standpipe tightly, this structure has realized the frame in the location and the fixing of vertical direction, moreover, the steam generator is simple in structure, can not take place to interfere, the spacing to slide 10 has still been realized simultaneously, ensure that frame processing position is accurate, fixed stop 19 can drive its lift through lift drive arrangement, carry out altitude mixture control, the vehicle standpipe that is suitable for different specifications steps up.

The safety protection door can be installed on the wall surface on the other side of the safety house along the longitudinal sliding direction, and a safety driving device is further arranged and drives the safety protection door to seal or open the safety house along the longitudinal sliding direction. Through the switching of safety drive arrangement drive safety protection door, realize automatic opening and closing the door, avoid manual operation.

The automatic sliding seat is characterized by further comprising a frame sensing device, a sliding seat position sensing device 25 and a frame positioning state sensing device, wherein the sliding seat position sensing device 25 can sense position information of the sliding seat 10 and transmit the position information to the control system, the frame sensing device can sense that a frame is placed on the frame positioning device and transmits the position information to the control system, the frame positioning state sensing device can sense frame positioning state information and transmit the information to the control system, and the control system controls the safety driving device to start and stop.

The work flow of this patent does: the initial state of the safety protection door of the safety house is an open state, the sliding seat 10 is positioned at one side close to the safety protection door, a worker or an automatic feeding machine feeds a frame, a five-way of the frame is sleeved on a five-way positioning pin 12, a frame transverse pipe is placed in a transverse pipe radial clamping groove 14, the frame positioning device senses the confidence that the frame is placed in the positioning device at the moment, the control system starts to control a five-way clamping driving device 17 and a transverse pipe jacking driving device 16 to sequentially clamp the frame five-way and the frame transverse rod, when the frame transverse rod is jacked, the frame positioning state sensing device senses that the frame is initially positioned and informs the control system, the control system controls the safety protection door to be closed and the sliding seat 10 to slide to a processing position in the safety house, when the sliding seat 10 slides to the processing position, the sliding seat position sensing device 25 informs the control system to control the sliding seat 10, the rotary clamping driving device 24 and the horizontal clamping driving device 23 which simultaneously control the vertical pipe clamping mechanism are sequentially started to clamp and position the vertical pipe of the frame, the industrial robot 1 is controlled to drive the tool rest to start to process the frame according to a programming sequence, after the industrial robot 1 finishes a processing cycle, the control system controls the vertical pipe clamping mechanism to reset according to information fed back by the industrial robot 1 to loosen the vertical pipe, the sliding seat 10 resets to the side of a safety protection door of a safety room, after the sliding seat position sensing device 25 senses that the sliding seat 10 reaches the position, the safety protection door is opened, the frame five-way clamping mechanism and the horizontal pipe axial jacking mechanism reset to loosen the frame, workers can perform blanking, and the whole process is finished.

Claims

1. The utility model provides a frame automatic processing system which characterized in that: including industrial robot (1), knife rest, workstation (5), frame positioner and control system, frame positioner locates on the workstation, and frame positioner can treat and process the frame and carry out fixed positioning, and industrial robot fixes and locates workstation one side, and the knife rest includes rotating spindle (2), tool magazine (3), tool chuck (4), rotary driving device and tool drive arrangement, rotating spindle can the pivoted install on industrial robot, and tool magazine fixed mounting is on rotating spindle, and at least one tool chuck that is used for installing machining tool (6) can be around self pivot pivoted locate on the tool magazine, and industrial robot can drive the knife rest and arrive the assigned region's on the workstation optional position, and control system control industrial robot, rotary driving device and tool drive arrangement work.

2. The automated frame processing system of claim 1, wherein: the tool magazine is of a triangular structure, and the three tool chucks are respectively positioned on three corners of the tool magazine.

3. The automated frame processing system of claim 1, wherein: the safety cabin is fixedly coated on the periphery of the workbench, a window for an industrial robot arm to extend into is arranged on the wall surface on one side of the working cabin, and the safety protection door capable of being opened and closed is arranged on the wall surface on the other side of the working cabin.

4. The automated frame processing system of claim 3, wherein: still be equipped with horizontal slide rail (9), slide (10) and slide drive arrangement (11) on the workstation, the slide rail is along the workstation of locating that perpendicular safety protection door direction extends, and the slide can be followed the gliding location of horizontal slide rail extending direction on the workstation, and frame positioner is located the slide, and slide drive arrangement drive slide is reciprocal to be slided, and control system controls slide drive arrangement work.

5. The automated frame processing system of claim 4, wherein: the frame positioning device comprises a five-way positioning pin (12), a five-way clamping mechanism, a transverse pipe radial clamping groove (14), a transverse pipe axial ejector rod (15), a vertical pipe clamping mechanism, a five-way clamping driving device, a transverse pipe jacking driving device (16) and a vertical pipe clamping driving device which are horizontally arranged, the five-way positioning pin can be inserted into the frame five-way hole, the five-way clamping mechanism can clamp the end faces of the two ends of the frame five-way, the transverse pipe of the frame can be clamped in the transverse pipe radial clamping groove, the transverse pipe axial ejector rod can be positioned on a workbench in a sliding mode along the horizontal direction, the transverse pipe axial ejector rod can tightly push the frame transverse pipe on the axial end face back to the end of the five-way end, the vertical pipe clamping mechanism can clamp the outer side wall of the circumference of the vertical pipe of the frame, and a control system controls the five.

6. The automated frame processing system of claim 5, wherein: the five-way clamping mechanism comprises a swing arm (13), a clamping head (18) and a clamping driving device (17), the five-way positioning pin is of a T-shaped structure with the root diameter increased, one axial end face of the five-way positioning pin of the frame is just stopped on the root step face of the five-way positioning pin, the swing arm can be installed on a workbench in a rotating mode around a rotating shaft parallel to the five-way positioning pin, the clamping head can just be in close contact with the other axial end face of the five-way positioning pin of the frame, the clamping driving device drives the swing arm to swing in a reciprocating mode, and the control system controls.

7. The automated frame processing system of claim 6, wherein: the clamping head is made of elastic materials, and a chamfer structure is formed at the edge of the clamping head.

8. The automated frame processing system of claim 5, wherein: the vertical pipe clamping mechanism comprises a fixed baffle (19), a horizontal slide way (20), a sliding block (21), a clamping block (22), a horizontal clamping driving device (23) and a rotary clamping driving device (24), the fixed baffle is fixedly arranged on the workbench, the vertical pipe of the frame can be tightly abutted to the surface of the fixed baffle, the horizontal slide way parallel to the horizontal slide way on the workbench is fixedly arranged on the fixed baffle, the sliding block can be arranged on the horizontal slide way in a sliding mode, the clamping block can be arranged on the sliding block in a rotating mode around a rotating shaft parallel to the horizontal slide way, the clamping block and the fixed baffle can clamp the circumferential outer side wall of the vertical pipe of the frame, the horizontal clamping driving device and the rotary clamping driving device respectively drive the clamping block to rotate in a reciprocating mode and slide the sliding block to slide horizontally, and a control system controls the.

9. The automated frame processing system of claim 3, wherein: the safety protection door can be installed on the wall surface on the other side of the safety house along the longitudinal sliding direction, and a safety driving device is further arranged and drives the safety protection door to seal or open the safety house along the longitudinal sliding direction.

10. The automated frame processing system of claim 9, wherein: the automatic lifting device is characterized by further comprising a frame sensing device, a sliding seat position sensing device (25) and a frame positioning state sensing device, wherein the sliding seat position sensing device can sense sliding seat position information and transmit the sliding seat position information to the control system, the frame sensing device can sense that a frame is placed on the frame positioning device and transmits the frame position information to the control system, the frame positioning state sensing device can sense frame positioning state information and transmit the frame positioning state information to the control system, and the control system controls the safety driving device to start and stop.