CN214024737U - Full-automatic milling device and milling machine - Google Patents
Full-automatic milling device and milling machine Download PDFInfo
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- CN214024737U CN214024737U CN202023120202.XU CN202023120202U CN214024737U CN 214024737 U CN214024737 U CN 214024737U CN 202023120202 U CN202023120202 U CN 202023120202U CN 214024737 U CN214024737 U CN 214024737U
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Abstract
The utility model discloses a full-automatic milling device and a milling machine, relating to the technical field of milling machines, wherein the full-automatic milling device comprises a material platform component for placing a product workpiece to be processed and/or a processed product workpiece; the milling machine components are used for processing the product workpieces in different procedures and are provided with clamp mother boards; the fixture daughter board placing table is used for placing the fixture daughter boards required in the machining process; the mechanical arm assembly is used for grabbing and transferring a product workpiece, grabbing the fixture daughter board and mounting the fixture daughter board to a fixture mother board of the milling machine assembly; and the control assembly is used for controlling the manipulator assembly and controlling a plurality of milling machine assemblies to simultaneously process the product workpieces. The milling machine comprises the full-automatic milling device. The utility model provides a full-automatic milling device and mill material machine machining efficiency height.
Description
Technical Field
The utility model relates to a milling machine technical field especially relates to a full-automatic milling device and milling machine.
Background
A milling machine is a device commonly used in machining for processing a material to change the material into a target shape. The existing milling machine is usually matched with a mechanical hand for use, the mechanical hand is used for grabbing and transferring materials, the materials are placed on the milling machine for processing, and after the processing is finished, a finished product is grabbed. However, the existing milling machine is usually only one, and materials can be processed on the milling machine only when needing to be processed for multiple times, and the next procedure can be carried out only after the previous procedure is finished. The long time is needed to wait in the midway, so that the whole processing efficiency is low.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's defect, provide a full-automatic material device and mill material machine for solve the problem that machining efficiency is low among the prior art.
In order to solve the above problem, the utility model provides a: a full-automatic milling device comprises a material platform assembly, a milling device and a milling device, wherein the material platform assembly is used for placing a product workpiece to be processed and/or a processed product workpiece; the milling machine components are used for processing the product workpieces in different procedures and are provided with clamp mother boards; the fixture daughter board placing table is used for placing the fixture daughter boards required in the machining process; the mechanical arm assembly is used for grabbing and transferring the product workpiece, grabbing the fixture daughter board and mounting the fixture daughter board on a fixture mother board of the milling machine assembly; the control assembly is connected with the mechanical arm assembly and the milling machine assemblies and used for controlling the mechanical arm assembly and controlling the milling machine assemblies to simultaneously process the product workpieces.
In a possible implementation manner, the material table assembly comprises a transfer positioning table, a positioning groove is formed in the transfer positioning table, and the transfer positioning table is used for positioning the product workpiece after the manipulator assembly grabs the product workpiece and places the product workpiece in the positioning groove.
In a possible implementation manner, the transfer positioning table includes a first fixed positioning plate, two second fixed positioning plates, a movable positioning plate and an air cylinder, the first fixed positioning plate, the two second fixed positioning plates, the movable positioning plate and the air cylinder are arranged on the workbench, the two second fixed positioning plates are respectively fixed at two ends of the first fixed positioning plate, the two second fixed positioning plates and the movable positioning plate surround to form the positioning groove, and the air cylinder is connected with the movable positioning plate.
In a possible embodiment, each of the second fixed positioning plates includes a positioning portion that is disposed in an inclined state.
In a possible embodiment, the manipulator assembly includes a fixed base, a rotating base, and a manipulator mechanism, the fixed base and the manipulator mechanism are respectively connected to two sides of the rotating base, and the manipulator mechanism is rotatable relative to the fixed base through the rotating base.
In a possible embodiment, the manipulator mechanism includes a manipulator base, a first movable arm, a second movable arm, a third movable arm, and a grasping structure, one end of the first movable arm is hinged to the manipulator base, so that the first movable arm rotates in a first direction, the other end of the first movable arm is hinged to one end of the second movable arm, the other end of the second movable arm is hinged to the third movable arm, so that the second movable arm and the third movable arm all rotate in a second direction, and the other end of the third movable arm is hinged to the grasping structure.
In a possible implementation, the grabbing structure comprises an articulated piece, a connecting piece, a fixing plate and an adsorption piece, one end of the articulated piece is articulated with the third movable arm, the other end of the articulated piece is connected with one end of the connecting piece, the other end of the connecting piece is connected with the fixing plate, the adsorption piece is arranged on the fixing plate, and the adsorption piece is used for adsorbing the product workpiece.
In one possible embodiment, the milling machine assembly comprises a milling table, the material table assembly comprises a first placing table and a second placing table, the first placing table and the second placing table are respectively arranged at two sides of the manipulator assembly, the first placing table is used for placing unprocessed product workpieces, and the second placing table is used for placing processed product workpieces.
In a possible embodiment, the first placing table and the second placing table are identical in structure, and the first placing table comprises a plurality of material troughs which are arranged in an inclined state.
In a second aspect, the application further provides a milling machine, which comprises the full-automatic milling device according to the first aspect.
The utility model has the advantages that: the utility model provides a pair of full-automatic milling device includes that material platform subassembly, two at least milling machine subassemblies, anchor clamps daughter boards place platform, manipulator subassembly and control assembly. The mechanical arm component moves a product workpiece which completes a first processing procedure to another milling machine component for processing, meanwhile, the mechanical arm component can transfer an unprocessed product workpiece to the first milling machine component for processing, the multiple milling machine components can process simultaneously, and the next processing can be carried out without waiting for the product workpiece to complete the previous processing; meanwhile, the manipulator directly installs the fixture daughter board on the fixture daughter board placing table to the fixture mother board arranged on the milling machine assembly, and the machining efficiency is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 shows a schematic structural diagram of a fully automatic milling device;
FIG. 2 is a schematic structural diagram of a transfer positioning table of the full-automatic milling device;
FIG. 3 shows a schematic structural diagram of a first placing table of the full-automatic milling device;
FIG. 4 is a schematic structural diagram of a manipulator assembly of the fully automatic milling device;
FIG. 5 is an enlarged schematic view of portion A of FIG. 4;
FIG. 6 is a schematic diagram of a milling machine assembly of the fully automatic milling device;
FIG. 7 shows a schematic structural diagram of a clamp mother plate of the full-automatic milling device;
fig. 8 shows a structural schematic diagram of a clamp daughter board of the full-automatic milling device.
Description of the main element symbols:
11-a first placing table; 12-a second placing table;
2-a robot assembly; 21-fixing a base; 22-a rotating base; 2 a-a manipulator mechanism; 23-a first movable arm; 24-a second movable arm; 25-a third movable arm; 26-a grasping configuration; 26 a-an articulation; 26 b-a connector; 26 c-a fixation plate; 26 d-a buffer spring; 26 e-a suction member;
3-a first milling machine assembly; 31-milling a material platform; 31 a-trough; 32-a first drive cylinder; 33-a second drive cylinder; 34-processing a material plate; 35-clamping the mother plate; 35 a-a positioning groove; 35 b-positioning convex column; 35 c-vent hole; 36-a track; 37-vertical slide block; 38-milling the grinding head;
4-a second milling machine assembly;
5-transfer positioning table; 51-a workbench; 52-a first fixed positioning plate; 53-a second fixed positioning plate; 531-positioning section; 54-moving the positioning plate; 55-cylinder;
6-a clamp daughter board placing table; 60-a clamp daughter board; 61-a clamping cylinder; 62-a drive rod; 63-pressing piece; 64-a support member; 65-a fixed table;
7-product workpiece.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "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, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Example one
As shown in fig. 1, the present application provides a fully automatic milling device, which is used for processing a product workpiece 7, milling the product workpiece 7, and forming a target shape. The full-automatic milling device comprises a material platform assembly, a material platform assembly and a milling device, wherein the material platform assembly is used for placing a product workpiece to be processed and/or a processed product workpiece;
the milling machine components are used for processing the product workpiece 7 in different procedures and are provided with clamp mother boards;
the fixture daughter board placing table 6 is used for placing the fixture daughter board 60 required in the machining process;
the mechanical arm assembly 2 is used for grabbing and transferring the product workpiece 7, grabbing the fixture daughter board and installing the fixture daughter board on a fixture mother board of the milling machine assembly;
and the control assembly (not shown) is connected with the manipulator assembly 2 and the milling machine assemblies, and is used for controlling the manipulator assembly 2 and controlling the plurality of milling machine assemblies to simultaneously process the product workpieces 7.
The number of milling machine components may be determined according to the number of times of specific machining of the product workpiece 7, and two or more milling machine components may be provided. This embodiment will be further described by taking two steps of processing the product workpiece 7 as an example. The milling machine components are provided with two milling machine components, namely a first milling machine component 3 and a second milling machine component 4. The product workpiece 7 to be processed is placed on the material table component. The fixture daughter board required by the processing procedure is obtained according to the processing procedure required by the product workpiece 7, and the control assembly controls the manipulator assembly 2 to grab the fixture daughter board from the fixture daughter board placing table and then transfer the fixture daughter board to the fixture mother board of the first milling machine assembly 3 and the fixture mother board of the second milling machine assembly 4; control manipulator subassembly 2 snatchs product work piece 7 and transfer to first milling machine subassembly 3 on the material platform subassembly and fix, control subassembly control first milling machine subassembly 3 carries out first processing to product work piece 7, and the back that finishes of processing, manipulator subassembly 2 snatchs product work piece 7 and removes fixedly on second milling machine subassembly 4, and control subassembly control second milling machine subassembly 4 carries out the second and processes to product work piece 7.
When the second milling machine component 4 performs the second processing on the product workpiece 7, the manipulator component 2 can continuously grab the second product workpiece 7 on the material table component and move the second product workpiece 7 to the first milling machine component 3 for the first processing, and after the first product workpiece 7 is processed on the second milling machine component 4, the first product workpiece 7 can be transferred to the material table component; after the second product workpiece 7 is machined on the first mill assembly 3, the second product workpiece 7 may be transferred to the second mill assembly 4 for a second pass. Meanwhile, the manipulator assembly 2 can continuously grab the third product workpiece 7 on the material table assembly for processing, and so on, and the processing of all the product workpieces 7 is completed. In the process, the manipulator assembly 2 and the two milling machine assemblies basically have no idle time, the next procedure can be processed without waiting for the completion of the previous procedure of the product workpiece 7, and the whole processing efficiency is high. Since the product workpieces 7 may be placed in the pockets 31a at different positions, the position at which the robot assembly 2 picks up the product workpieces 7 at a time may be different.
In order to enable each product workpiece 7 placed on the first milling machine component 3 to be placed at a fixed processing position, the full-automatic milling device further comprises a transfer positioning table 5, a positioning groove is formed in the transfer positioning table 5, and the transfer positioning table 5 is used for grabbing the product workpieces 7 at the manipulator component 2 and placing the product workpieces 7 on the transfer positioning table 5 to position the product workpieces 7. After grabbing product work piece 7 from silo 31a, manipulator subassembly 2 can place product work piece 7 in the constant head tank earlier, and manipulator subassembly 2 snatchs product work piece 7 again and transfers to first milling machine subassembly 3 and second milling machine subassembly 4 and fix for every product work piece 7 all can be stable place on first milling machine subassembly 3 and second milling machine subassembly 4. Specifically, as shown in fig. 2, the transfer positioning table 5 includes a first fixed positioning plate 52, two second fixed positioning plates 53, a movable positioning plate 54 and a cylinder 55, which are disposed on the working table 51, the two second fixed positioning plates 53 are respectively fixed at two ends of the first fixed positioning plate 52, and the first fixed positioning plate 52, the two second fixed positioning plates 53 and the movable positioning plate 54 surround to form positioning grooves. The air cylinder 55 is connected with the movable positioning plate 54, and the air cylinder 55 pushes the movable positioning plate 54 to move, so that the product workpiece 7 is clamped between the first fixed positioning plate 52 and the movable positioning plate 54, and the product workpiece 7 is positioned. Further, each of the second fixing positioning plates 53 includes a positioning portion 531, and the positioning portion 531 is disposed in an inclined state. Due to the action of gravity, when the product workpiece 7 is placed on the positioning portion 531, the product workpiece 7 can slide along the setting direction of the positioning portion 531, and thus the positioning of the product workpiece 7 is realized.
The material platform subassembly of full-automatic milling device is including first platform 11 and the second platform 12 of placing, and first platform 11 of placing can be used to place the product work piece 7 of treating processing, and the second platform 12 of placing can be used to place the product work piece 7 of accomplishing all manufacturing procedure.
In order to facilitate the grabbing or placing of the product workpiece 7 by the manipulator assembly 2, the first placing table 11 and the second placing table 12 can be respectively arranged at two sides of the manipulator assembly 2, and the first placing table 11 can be arranged close to the first milling machine assembly 3, so that the manipulator assembly 2 can grab the product workpiece 7 more quickly and move the product workpiece 7 to the first milling machine assembly 3 more quickly; the second placing table 12 may be disposed adjacent to the second milling machine assembly 4, so that the robot assembly 2 can grasp the processed product workpiece 7 more quickly and move the processed product workpiece 7 to the second placing table 12 more quickly.
As shown in fig. 3, the first placement stage 11 and the second placement stage 12 may be configured to have the same structure or different structures, and may be determined according to the shapes of the product workpiece 7 before and after machining. The first placing table 11 and the second placing table 12 of this embodiment are identical in structure, the first placing table 11 and the second placing table 12 both include a plurality of trough 31a, the plurality of trough 31a is arranged in an inclined state, the higher side of the trough 31a of the first placing table 11 is close to the first milling machine assembly 3, and the higher side of the trough 31a of the second placing table 12 is close to the second milling machine assembly 4.
A large number of experiments show that the inclination of the trough 31a is kept at 30-60 degrees, so that the manipulator assembly 2 can grab or place product workpieces conveniently, and the working efficiency is high.
As shown in fig. 4, the robot assembly 2 is used to grasp and move product workpieces, and there are many types of robot assemblies 2 that can accomplish this. The robot assembly 2 of this embodiment includes a fixed base 21, a rotating base 22 and a robot mechanism 2a, the fixed base 21 and the robot mechanism 2a are respectively connected to two sides of the rotating base 22, and the robot mechanism 2a can rotate relative to the fixed base 21 through the rotating base 22. Specifically, manipulator mechanism 2a passes through the trachea and connects the control assembly, and the control assembly passes through the trachea and provides power for manipulator mechanism 2a, makes manipulator mechanism 2a rotate to the position of adjustment manipulator mechanism 2a is convenient for snatch or shift product work piece 7.
In some possible embodiments, the robot mechanism 2a may include a robot base, a first movable arm 23, a second movable arm 24, a third movable arm 25, and a grasping structure 26, wherein the first movable arm 23, the second movable arm 24, and the third movable arm 25 cooperate to move to adjust the position of the grasping structure 26 in the space, so as to move the grasped product workpiece 7 to the target position. One end of the first movable arm 23 is hinged to the robot base so that the first movable arm 23 is rotated in a first direction to adjust the position of the grasping structure 26 in the first direction. The other end of the first movable arm 23 is hinged to one end of the second movable arm 24, the other end of the second movable arm 24 is hinged to the third movable arm 25, so that the second movable arm 24 and the third movable arm 25 both rotate in the second direction, and the other end of the third movable arm 25 is hinged to the grabbing structure 26, so as to adjust the position of the grabbing structure 26 in the second direction. The first direction and the second direction may form an included angle with a certain range of angles, and in order to facilitate the grasping structure 26 to grasp the product workpiece 7, the first direction and the second direction may be set to be perpendicular to each other.
As shown in fig. 5, in other possible embodiments, the grasping mechanism 26 includes a hinge 26a, a connecting member 26b, a fixed plate 26c, and a suction member 26e, and one end of the hinge 26a is hinged to the third movable arm 25, so that the entire grasping mechanism 26 can rotate relative to the third movable arm 25. The other end of the hinge 26a is connected to one end of the connecting element 26b, the other end of the connecting element 26b is connected to the fixing plate 26c, and the two ends of the connecting element 26b can be connected to the hinge 26a and the fixing plate 26c by screws, so that the later maintenance or replacement is facilitated. Both ends of one side of the fixing plate 26c, which is far away from the connecting piece 26b, are provided with adsorption pieces 26e, and the adsorption pieces 26e are used for adsorbing the product workpiece 7.
In other possible embodiments, the suction member 26e can suck the product workpiece 7 by negative pressure. Specifically, the adsorption piece 26e may be provided with an adsorption port, the adsorption port is communicated with a negative pressure pump through an air pipe, the negative pressure pump is connected with the control assembly, and the control assembly controls the negative pressure pump to enable the adsorption port of the adsorption piece 26e to adsorb the product workpiece 7; when the product workpiece 7 is placed, the control component controls the negative pressure pump to be powered off.
In other possible embodiments, the suction member 26e can suck the product workpiece 7 by magnetic suction. Specifically, the adsorption piece 26e is made of a magnet material, the adsorption piece 26e is connected with a power supply through a lead, and the power supply is connected with the control component; the control assembly controls the power supply to enable the power supply to electrify the attraction piece 26e to generate magnetic force, the attraction piece 26e attracts the product workpiece 7, and when the product workpiece 7 is placed, the control assembly controls the power supply to be powered off.
Still be equipped with buffer spring 26d between fixed plate 26c and the absorption piece 26e, when absorption piece 26e and product work piece 7 contact, buffer spring 26d can play the cushioning effect, avoids product work piece 7 to receive the rigidity power of absorption piece 26e and damages.
As shown in fig. 6, in some possible embodiments, the milling machine assembly includes a milling table 31, a first driving cylinder 32 and a first slide rail are disposed on the milling table 31, a second slide rail is disposed on the first slide rail, and the first driving cylinder 32 is connected to the second slide rail for driving the second slide rail to move in a first direction. The second slide rail is connected with a processing material plate 34, the processing material plate 34 is connected with a second driving cylinder 33, and the second driving cylinder 33 is used for driving the processing material plate 34 to move on the second slide rail so as to adjust the position of the processing material plate 34 in the second direction. Still be provided with the third on the milling material platform 31 and drive actuating cylinder and track 36, vertical slider 37 sliding connection is on track 36, and the third drives actuating cylinder and connects vertical slider 37, and vertical slider 37 is connected in processing flitch 34, and the third drives actuating cylinder and drives vertical slider 37 and move in vertical direction to the position of the product work piece 7 that the adjustment set up on the processing flitch 34 is ground on the fixed bistrique 38 that sets up in the top of milling material platform 31 through the setting and is processed product work piece 7. The processing material plate 34 is provided with a fixture mother plate 35, and the fixture mother plate 35 and the fixture daughter plate 60 are matched to clamp and fix the product workpiece 7.
As shown in fig. 7, in some possible embodiments, the fixture mother board 35 may be provided with a positioning groove 35a, a positioning boss 35b and a vent hole 35c, and further, two positioning grooves 35a may be provided for inserting and fixing the bosses at two corresponding positions at the bottom of the fixture daughter board 60. The positioning convex columns 35b can be uniformly arranged on the upper surface of the fixture mother board 35, and the positioning convex columns 35b are used for being matched with positioning grooves formed in the bottom of the fixture daughter board 60 to further fix the fixture daughter board 60. The clamp sub-plate 60 is used for loosening and tightening the product workpiece 7; one end of the vent hole 35c communicates with the jig sub-plate 60, and the other end communicates with the control unit. The control assembly is communicated with the vent hole 35c through the air pipe and controls air to enter the vent hole 35c so as to drive the clamp sub-plate 60 to clamp or loosen the product workpiece 7.
As shown in fig. 8, the fixture sub-plate 60 may have different structures according to the positioning direction of the product workpiece 7, and one of the structures is further described in the present embodiment. The clamp sub-plate 60 may include a clamping cylinder 61, a support 64, a pressing member 63, and a fixing table 65, wherein one end of a driving rod 62 disposed in the clamping cylinder 61 is communicated with the vent hole 35c, the other end of the driving rod 62 is hinged to one end of the pressing member 63, the position of the pressing member 63 near the middle portion is hinged to the support 64, a product workpiece 7 is disposed on the fixing table 65, and when the control assembly controls the clamping cylinder 61 to intake air, the other end of the driving rod 62 is used for pressing and fixing the product workpiece 7. The fixed product workpiece 7 is machined stably on the corresponding milling machine assembly.
The full-automatic milling device that this embodiment provided includes that material platform subassembly, two at least milling machine subassemblies, anchor clamps daughter boards place platform, manipulator subassembly and control assembly. The mechanical arm component moves a product workpiece which completes a first processing procedure to another milling machine component for processing, meanwhile, the mechanical arm component can transfer an unprocessed product workpiece to the first milling machine component for processing, the multiple milling machine components can process simultaneously, and the next processing can be carried out without waiting for the product workpiece to complete the previous processing; meanwhile, the manipulator directly installs the fixture daughter board on the fixture daughter board placing table to the fixture mother board arranged on the milling machine assembly, and the machining efficiency is high.
Example two
The embodiment provides a milling machine, and the milling machine includes the full-automatic milling device of embodiment one. The milling machine can also be provided with a control panel for compiling a corresponding control program so as to control the mechanical arm component 2 and the milling machine component to process the product workpiece 7. The milling machine can be provided with a corresponding number of milling machine components according to the process complexity of the product workpiece 7 to be processed.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (10)
1. The utility model provides a full-automatic milling device which characterized in that includes:
the material platform component is used for placing a product workpiece (7) to be processed and/or a processed product workpiece (7);
at least two milling machine components used for processing the product workpiece (7) in different procedures, wherein the milling machine components are provided with a fixture mother board (35);
the fixture daughter board placing table (6) is used for placing a fixture daughter board (60) required in the machining process;
a robot assembly (2) for gripping and transferring the product workpiece (7), and gripping the fixture daughter board (60) and mounting the fixture daughter board (60) to a fixture mother board (35) of the milling machine assembly;
the mechanical arm assembly (2) and the milling machine assembly are connected with the control assembly, and the control assembly is used for controlling the mechanical arm assembly (2) and controlling the plurality of milling machine assemblies to simultaneously process the product workpieces (7).
2. The full-automatic milling device according to claim 1, further comprising a transfer positioning table (5), wherein a positioning groove is formed in the transfer positioning table (5), and the transfer positioning table (5) is used for positioning the product workpiece (7) after the manipulator assembly (2) grabs the product workpiece (7) and places the product workpiece (7) in the positioning groove.
3. The full-automatic milling device according to claim 2, wherein the transfer positioning table (5) comprises a first fixed positioning plate (52), two second fixed positioning plates (53), a movable positioning plate (54) and an air cylinder (55), the first fixed positioning plate (52), the two second fixed positioning plates (53), the movable positioning plate (54) and the air cylinder (55) are arranged on a workbench (51), the two second fixed positioning plates (53) are respectively fixed at two ends of the first fixed positioning plate (52), the two second fixed positioning plates (53) and the movable positioning plate (54) surround to form positioning grooves, and the air cylinder (55) is connected with the movable positioning plate (54).
4. The full-automatic milling device according to claim 3, characterized in that each of the second fixed positioning plates (53) comprises a positioning portion (531), and the positioning portions (531) are arranged in an inclined state.
5. The full-automatic milling device according to claim 1, wherein the manipulator assembly (2) comprises a fixed base (21), a rotating base (22) and a manipulator mechanism (2a), the fixed base (21) and the manipulator mechanism (2a) are respectively connected to two sides of the rotating base (22), and the manipulator mechanism (2a) can rotate relative to the fixed base (21) through the rotating base (22).
6. The full-automatic milling device according to claim 5, wherein the manipulator mechanism (2a) comprises a manipulator base, a first movable arm (23), a second movable arm (24), a third movable arm (25) and a grabbing structure (26), one end of the first movable arm (23) is hinged to the manipulator base, so that the first movable arm (23) rotates in a first direction, the other end of the first movable arm (23) is hinged to one end of the second movable arm (24), the other end of the second movable arm (24) is hinged to the third movable arm (25), so that the second movable arm (24) and the third movable arm (25) both rotate in a second direction, and the other end of the third movable arm (25) is hinged to the grabbing structure (26).
7. The full-automatic milling device according to claim 6, wherein the grabbing structure (26) comprises a hinge element (26a), a connecting element (26b), a fixing plate (26c) and an adsorbing element (26e), one end of the hinge element (26a) is hinged to the third movable arm (25), the other end of the hinge element (26a) is connected to one end of the connecting element (26b), the other end of the connecting element (26b) is connected to the fixing plate (26c), the adsorbing element (26e) is arranged on the fixing plate (26c), and the adsorbing element (26e) is used for adsorbing the product workpiece (7).
8. The full-automatic milling device according to claim 1, characterized in that the material platform assembly comprises a first placing platform (11) and a second placing platform (12), the first placing platform (11) and the second placing platform (12) are respectively arranged at two sides of the manipulator assembly (2), the first placing platform (11) is used for placing unprocessed product workpieces (7), and the second placing platform (12) is used for placing processed product workpieces (7).
9. The full-automatic milling device according to claim 8, characterized in that the first placing table (11) and the second placing table (12) are consistent in structure, the first placing table (11) comprises a plurality of material troughs (31a), and the plurality of material troughs (31a) are arranged in an inclined state.
10. A milling machine, characterized by comprising a fully automatic milling device according to any one of claims 1 to 9.
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| CN202023120202.XU CN214024737U (en) | 2020-12-22 | 2020-12-22 | Full-automatic milling device and milling machine |
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| CN202023120202.XU CN214024737U (en) | 2020-12-22 | 2020-12-22 | Full-automatic milling device and milling machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114850511A (en) * | 2022-05-07 | 2022-08-05 | 四川竞本科技有限公司 | Workpiece turning equipment based on manipulator circulation operation |
| CN114888313A (en) * | 2022-05-07 | 2022-08-12 | 四川竞本科技有限公司 | Turning device |
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2020
- 2020-12-22 CN CN202023120202.XU patent/CN214024737U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114850511A (en) * | 2022-05-07 | 2022-08-05 | 四川竞本科技有限公司 | Workpiece turning equipment based on manipulator circulation operation |
| CN114888313A (en) * | 2022-05-07 | 2022-08-12 | 四川竞本科技有限公司 | Turning device |
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| TR01 | Transfer of patent right |
Effective date of registration: 20211207 Address after: 710000 Room 305, building 5, Fengxi new town headquarters economic Park, Xixian New District, Xi'an City, Shaanxi Province Patentee after: Sany construction robot (Xi'an) Research Institute Co., Ltd Address before: No.129, south section of Huangxing Avenue, Langli street, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Patentee before: Hunan Sany Building Co.,Ltd. |
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| TR01 | Transfer of patent right |