WO2019047207A1 - Fully automatic material-loading and -unloading device and material-unloading method for grinding/polishing machine - Google Patents
Fully automatic material-loading and -unloading device and material-unloading method for grinding/polishing machine Download PDFInfo
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- WO2019047207A1 WO2019047207A1 PCT/CN2017/101200 CN2017101200W WO2019047207A1 WO 2019047207 A1 WO2019047207 A1 WO 2019047207A1 CN 2017101200 W CN2017101200 W CN 2017101200W WO 2019047207 A1 WO2019047207 A1 WO 2019047207A1
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- refueling
- head
- moving
- workpiece
- processed
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B13/00—Machines or devices designed for grinding or polishing optical surfaces on lenses or surfaces of similar shape on other work; Accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Definitions
- the invention belongs to the field of optical lens processing equipment, and particularly relates to the field of hem pendulum optical lens polishing equipment.
- a hem pendulum optical lens polisher is commonly used in the prior art, and such devices operate on a quasi-spherical principle. While the spindle rotates at high speed, the spindle system (including the spindle motor) reciprocates around the swing axis. The polishing liquid containing abrasive particles and corrosive chemicals flows between the optical lens and the polishing mold, and the mechanism is mechanically polished.
- This polishing mechanism is a commonly accepted polishing mechanism, mainly due to the combined effects of polishing, polishing, glass, etc., ie mechanical, chemical and physical effects) to achieve medium diameter, Fine-grained, surface-polished processing of medium- and high-precision optical lenses.
- Such equipment has multiple grinding chambers for different steps of the lens, such as grinding chamber, polishing chamber, fine grinding chamber, etc.
- the loading and unloading can only be carried out manually, under normal circumstances,
- One equipment is equipped with four grinding bins of different precision. Each person handles the loading and unloading of each bin according to the processing sequence.
- Such workers need to have fast action, skilled operation ability and processing time grasping ability. Familiar with the working state of the equipment, the familiarity of such workers directly affects the accuracy and yield of the workpiece, the safety requirements page of the staff's work process is very high, and there is an accident risk of personal injury during the fast work.
- there is a high cost of training for the staff, and skilled workers need long-term training to meet the production requirements.
- the invention provides a full-automatic loading and unloading device for the hem machine and a loading and unloading method, aiming at solving the problems of low precision of the manual operation and loading and unloading process, high labor cost and safety hazard of the operator in the prior art.
- the present invention provides a fully automatic loading and unloading device for a hem machine, comprising a feeding unit, a moving unit and a refueling unit disposed on a working surface of the hem machine, wherein the feeding unit is disposed on a table top of the hem machine One end of the refueling unit corresponding to the grinding chamber of the hem machine, wherein
- the moving unit includes a horizontal axis of the horizontally movable moving material, and at least two moving heads for capturing the workpiece to be processed, the moving head being disposed below the horizontal axis of the moving material;
- the refueling unit includes a propulsion device, and a refueling head disposed at an end of the propulsion device;
- the distance from the feeding unit to be processed to the refueling head is equal to the distance between the two moving heads;
- the feeding unit sequentially supplies the workpiece to be captured and picked up at the calibration position, and the moving unit drives the horizontal axis of the moving material through the control system to perform horizontal processing.
- Directional movement moving the moving head closest to the direction of the feeding unit to the calibration position of the feeding unit to capture and pick up the workpiece to be processed, and at this time another moving head is above the refueling head to capture and pick up
- the polished material to be processed is taken out from the grinding chamber by the refueling head, and the horizontal axis of the moving material starts to move laterally after the two moving heads capture and pick up the corresponding workpiece to be processed, so that the feeding unit
- the moving head that captures the workpiece to be processed is moved to the top of the refueling head, and then the workpiece to be processed is delivered to the refueling head, and the workpiece to be processed is sent to the grinding chamber for grinding by the refueling head, and the other is moved.
- the material head moves the ground workpiece to be processed to the corresponding position for cutting.
- the whole processing process realizes full automatic control, which makes the grinding time length standardized, makes the processing parts more fine, the whole batch is more standard, the yield rate rises, the loading and unloading is automated, the labor is liberated, the personnel cost is reduced, and the solution is also solved.
- the safety of personnel handling during work is also solved.
- the refueling head has upper and lower capture ends that can capture and pick up the workpiece to be processed, the refueling head is coupled to a drive rotating device, and the drive rotating device is mounted on the propulsion device.
- the propulsion device comprises a refueling fixing seat and a refueling propulsion seat, wherein the refueling fixing seat is provided with a sliding rail of a Y-axis moving direction, and the refueling propulsion seat is disposed on the sliding rail.
- the refueling pusher is provided with a refueling drive device in the Z-axis direction, and the refueling drive device is connected to the refueling connection seat, and the drive rotation device is disposed on the refueling connection seat.
- the propulsion device comprises a telescopic propulsion link, a fixing seat, a driving device for moving in the Z-axis direction, and a driver for propelling the propulsion connecting rod, the driving device connecting the refueling a connecting seat, the refueling connecting seat is disposed on a driving rotating device, the driving rotating device is connected to the propulsion connecting rod and drives a rotary motion thereof, and the refueling head has two upper and lower portions for capturing and picking up the workpiece to be processed. Capture side.
- a conveyance link is disposed below the horizontal axis of the conveyance, the conveyance link is connected to the conveyance horizontal axis by a vertical axis of the conveyance, and the transfer head is disposed at a lower end of the conveyance link .
- the loading head is provided in plurality, corresponding to the feeding unit to be processed position, the turning mechanism, the refueling head position, and the detecting mechanism, and the second refueling unit corresponding to the second grinding bin
- the position of the refueling head, the spacing between the moving heads, the position of the feeding unit to be processed, the turning mechanism, the refueling head position, and the detecting mechanism, and the second refueling corresponding to the second grinding bin The spacing between the refueling head positions of the units corresponds.
- the other end corresponding to the feeding unit is provided with a receiving unit having a receiving tray driven by the X, Y drive shaft.
- a detecting mechanism is disposed between the feeding unit and the refueling unit; the detecting mechanism includes a jig, a motor disposed behind the jig to drive the jig to perform a rotating motion, and a detecting head and the jig Connected detectors.
- the moving head and the capturing end adopt a vacuum nozzle.
- the invention further provides a fully automatic loading and unloading method for the hem machine, comprising the automatic loading and unloading device of the hem machine described in the above technical solution, and the automatic loading and unloading device of the hem machine is mounted on the working platform of the hem machine Adjusting the corresponding position of the refueling unit and the grinding bin, and connecting the power source, the working steps are specifically as follows:
- the moving material horizontal axis drives the moving head to move toward the feeding unit, reaches the position of the feeding unit to be processed, and at the same time, the other moving head moves to the corresponding refueling head ;
- the moving head captures the workpiece to be processed and moves to the refueling head, and after the position is reached, the workpiece to be processed is transferred to the refueling head for capture, and then moved to the feeding unit again;
- the refueling head is pushed by the propulsion device to the grinding chamber and held by the grinding head in the grinding chamber, and is returned to the original position after the grinding time reaches the grinding time requirement;
- step S04 repeating the step S01, the loading head captures and picks up the workpiece to be processed, and the other moving material head also captures the preliminary grinding workpiece to be processed from the refueling head;
- step S05 repeating step S02, the other moving material head transports the initially ground workpiece to the blanking unit or the detecting device or the processing unit of the next step;
- the working process is repeated, the refueling head has two upper and lower capture ends that can capture and pick up the workpiece to be processed, wherein the refueling head sends the workpiece to be processed into the grinding bin in step S03, first After the last workpiece to be processed has been captured and picked up by using the capturing end under the refueling head, the refueling head is rotated by 180 degrees, and the workpiece to be processed at the upper capturing end is placed in a processing station for clamping. Then exit to return to the original position and wait for the moving head to remove the workpiece to be processed.
- FIG 1 is an overall perspective view of the rear side of the product provided by the present invention.
- FIG. 2 is a schematic perspective view of the front side of the product provided by the present invention.
- Figure 3 is a perspective view of the product handling mechanism provided by the present invention.
- FIG. 4 is a perspective view showing the front angle of the product refueling mechanism provided by the present invention.
- Figure 5 is a perspective view showing the rear angle of the product refueling mechanism provided by the present invention.
- FIG. 6 is a schematic view showing the operation of the product of the fourth embodiment provided by the present invention.
- the embodiment provides a full-automatic loading and unloading device for a hem machine, comprising a feeding unit 20, a moving unit 30 and a refueling unit 40 disposed on the working surface 11 of the hem machine 1 .
- the feeding unit 20 is disposed at one end of the working surface 11 of the hem machine 1
- the refueling unit 40 is disposed corresponding to the grinding chamber 10 of the swaying machine 1 , wherein
- the moving unit 30 includes a horizontally movable moving conveyance shaft 31, at least two loading heads 33 capable of picking up a workpiece to be processed, and the loading head 33 is disposed on the moving material Below the horizontal axis 31;
- the refueling unit 40 includes a propulsion device 42 and a refueling head 43 disposed at an end of the propulsion device 42.
- the refueling head has upper and lower two captureable pick-up items to be processed.
- the capturing end 433, the capturing end 433 is arranged up and down to facilitate the connection of the cylinder, and the capturing end 433 adopts a nozzle design, and the workpiece is connected by a negative pressure when the workpiece is captured, and the refueling head 43 is connected to the
- the rotating device 41 is driven to facilitate the 180° rotation of the refilling head 43 after the grinding head 10 is sucked into the grinding chamber 10, and the workpiece to be processed is turned toward the grinding fixture, and then passed through the refueling driving device 44.
- the lowering is placed in the grinding fixture, and the driving rotating device 41 is mounted on the propulsion device.
- the propulsion device 42 includes a refueling fixing base 421 and a refueling propulsion seat 422.
- the refueling fixing base 421 a slide rail 423 having a Y-axis movement direction, wherein the refueling pusher 422 is disposed on the slide rail 423, and the refueling pusher 422 is provided with a refueling drive device 44 for moving in the Z-axis direction.
- Refueling drive 44 is connected to the refueling connection 45.
- the driving rotation device 41 is disposed on the refueling connection seat 45.
- the series of connecting members in the propulsion device 42 are moved by the Y-axis and the Z-axis movement, and the refueling head 43 is realized along the Y.
- the purpose of moving forward and backward in the axial direction and moving up and down along the Z-axis direction is to set the working program during the working process, and the actions of picking, placing, extending, retracting the workpiece to be processed can be completed.
- the distance from the feeding unit 20 to the processing head 43 is equal to the distance between the two moving heads 33;
- a conveyance link 32 is disposed below the conveyance horizontal shaft 31, and the conveyance link 32 is connected to the conveyance horizontal shaft 31 via a conveyance vertical shaft 34, and the transfer head 33 is disposed at the conveyance
- the moving material link 32 can move left and right in the horizontal direction, in addition to the moving horizontal axis 31, and can also be carried out by the vertical axis 34 of the moving material.
- the whole moving material connecting rod 32 drives the plurality of moving material heads 33 to move in position, and then drives the material to be driven downwards, then lifts up and lifts up, moves to the position, and then repeats the downward movement to the corresponding position, at the receiving end 60
- the receiving unit is designed to have a receiving tray 61 driven by the X and Y driving shafts 62, 63.
- the receiving tray 61 that needs to receive the blanking has The function of automatic alignment receiving, inputting the position coordinate to the computer, and the receiving tray 61 can drive the position of each disk in the coordinate position under the driving of the X and Y driving shafts 62, 63, so as to facilitate the moving head. 33 Accurate release of the workpiece.
- the loading head 33 and the capturing end 433 employ a vacuum nozzle.
- the feeding unit 20 sequentially supplies the workpiece to be captured and picked up at the calibration position, and the moving unit 30 drives the horizontal axis of the moving material through the control system.
- 31 is moved in the horizontal direction so that the moving head 33 closest to the direction of the feeding unit 20 is moved to the calibration position of the feeding unit 20 to capture and pick up the workpiece to be processed, and at this time, the other moving head 33 is in the position
- the above-mentioned refueling head 43 captures and picks up the ground workpiece to be processed taken out from the grinding chamber 10 by the refueling head 43, and the moving horizontal axis 31 is captured and picked up in two or more moving heads 33.
- the moving head 33 that captures the workpiece to be processed from the feeding unit 20 is moved to the top of the refueling head 43, and then the workpiece to be processed is delivered to the refueling head 43,
- the workpiece to be processed is fed into the grinding chamber 10 by the refueling head 43 for grinding processing, and the other moving head 33 moves the ground workpiece to be processed to the corresponding position for blanking.
- the whole processing process realizes full automatic control, which makes the grinding time length standardized, makes the processing parts more fine, the whole batch is more standard, the yield rate rises, the loading and unloading is automated, the labor is liberated, the personnel cost is reduced, and the solution is also solved.
- the second embodiment differs from the first embodiment in that the propulsion device comprises a telescopic propulsion link, a fixing seat, and a driving device for moving in the Z-axis direction and for propelling the propulsion a drive of the connecting rod, the driving device is connected to the refueling connecting seat, the refueling connecting seat is disposed on a driving rotating device, the driving rotating device is connected to the propulsion connecting rod and drives the rotating movement thereof, the refueling
- the head has two upper and lower capture ends for capturing the workpiece to be processed, which saves a certain cost compared with the first embodiment, and the accessories such as the slide rail are omitted.
- a detecting mechanism is disposed between the feeding unit and the refueling unit, and the loading head is provided in plurality, corresponding to the position of the feeding unit to be processed, the turning mechanism, and the refueling a head position, and a detecting mechanism, a refueling head position of the second refueling unit corresponding to the second grinding chamber, a spacing between the moving heads, a position of the feeding unit to be processed, a turning mechanism, and the changing The position of the material head and the spacing between the detecting mechanism and the position of the refueling head of the second refueling unit corresponding to the second grinding chamber, the detecting mechanism comprising a clamp and the rear of the clamp driving the clamp to rotate
- the moving motor and the detector connected to the detecting head and the detecting head are driven by the motor to clamp the workpiece to be processed, and then the workpiece to be processed is rotated, and the workpiece is ground in the grinding chamber and sent to the detecting mechanism.
- the processing can be performed according to the processing precision requirements and the requirements in the middle.
- the corresponding work station is added to complete more processing steps, and no manual intervention is required at all, which is convenient, fast and safe.
- Embodiment 4 provides a structure for simultaneously feeding and receiving materials at both ends.
- the feeding unit 20 and the receiving end are disposed on both ends of the working surface 11 of the swaying machine 1.
- 60, a moving unit 30 and a refueling unit 40 the feeding unit 20 is disposed at two ends of the working surface 11 of the swaying machine 1
- the refueling unit 40 is disposed corresponding to the grinding chamber 10 of the swaying machine 1
- the moving unit 30 includes a horizontal axis that can move horizontally, and at least two loading heads that can capture and pick up the workpiece to be processed, and the moving head is disposed below the horizontal axis of the moving material.
- the processing unit 30 obtains the workpiece to be processed from the feeding unit 20 and then transfers it to the refueling unit 40 for processing. Thereafter, the processed workpiece is transported by the processing unit 30 to the reclaimed material end 60, and both sides can be simultaneously performed, increasing Processing efficiency.
- the invention further provides a fully automatic loading and unloading method for the hem machine, comprising the automatic loading and unloading device of the hem machine described in the above technical solution, and the automatic loading and unloading device of the hem machine is mounted on the working platform of the hem machine Adjusting the corresponding position of the refueling unit and the grinding bin, and connecting the power source, the working steps are specifically as follows:
- the moving material horizontal axis drives the moving head to move toward the feeding unit, reaches the position of the feeding unit to be processed, and at the same time, the other moving head moves to the corresponding refueling head ;
- the moving head captures the workpiece to be processed and moves to the refueling head, and after the position is reached, the workpiece to be processed is transferred to the refueling head for capture, and then moved to the feeding unit again;
- the refueling head is pushed by the propulsion device to the grinding chamber and held by the grinding head in the grinding chamber, and is returned to the original position after the grinding time reaches the grinding time requirement;
- step S04 repeating the step S01, the loading head captures and picks up the workpiece to be processed, and the other moving material head also captures the preliminary grinding workpiece to be processed from the refueling head;
- step S05 repeating step S02, the other moving material head transports the initially ground workpiece to the blanking unit or the detecting device or the processing unit of the next step;
- the refueling head has two upper and lower capture ends that can capture and pick up the workpiece to be processed, wherein the refueling head first feeds the workpiece to be processed into the grinding bin in step S03. After the capturing end under the refueling head captures and captures the last processed workpiece to be processed, the refueling head rotates 180 degrees, and the workpiece to be processed at the original upper capturing end is placed in the processing station for clamping, and then exits. Go back to the original position and wait for the moving head to remove the parts to be processed.
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Abstract
Provided is a fully automatic material-loading and -unloading device for a grinding/polishing machine (1), comprising a material feed unit (20), material-moving unit (30), material exchange unit (40), and detection mechanism, all arranged on a work surface (11) of said grinding/polishing machine (1); said material feed unit (20) is arranged on one end of the work surface (11) of the grinding/polishing machine (1); the material exchange unit (40) is arranged corresponding to a grinding bin (10) of the grinding/polishing machine (1); the material-moving unit (30) comprises a horizontally movable transverse shaft (31) and at least two material-moving heads (33) capable of catching and picking up a workpiece to be machined; the material-moving heads (33) are arranged beneath the material-moving transverse shaft (31); the material exchange unit (40) comprises an advancing device (42) and a material exchange head (43) arranged at the end part of the advancing device (42); the distance from the position of the workpiece to be machined of the material feed unit (20) to the material exchange head (43) is equal to the distance between two material-moving heads (33). The entire machining process is fully automatically controlled, such that grinding time is standardized, making the machined workpiece finer and more precise, the entire batch is more standardized, the yield is higher, and material-loading and -unloading are automated, thus freeing up manual labor, while also solving the problem of safety of personnel during the work process.
Description
本发明属于光学透镜加工设备领域，尤其涉及下摆式光学透镜抛光设备领域。The invention belongs to the field of optical lens processing equipment, and particularly relates to the field of hem pendulum optical lens polishing equipment.
近年来， 随着光-机-电领域的技术进步，
各种扫描仪、投影机、数码相机等新产品对光学透镜的需求量越来越大，精度要求也越来越高。现有技术中通常采用的是下摆式光学透镜抛光机，此类设备采用准球心式原理工作，
主轴在高速旋转的同时主轴*** (包含主轴电机) 绕摆动轴做往复摆动， 含有磨粒和腐蚀性化学药剂的抛光液则在光学透镜与抛光模具之间流动， 通过机械化学抛光机理
(此抛光机理是一种被人们普遍认可的抛光机理， 主要是由抛光模、 抛光液、 玻璃等综合作用的结果， 即机械、 化学和物理作用) 实现对中等直径、
中高级精度的光学透镜的精磨、 表面抛光加工。In recent years, with the technological advancement in the field of light-machine-electricity,
New products such as scanners, projectors, and digital cameras are increasingly demanding optical lenses, and the accuracy requirements are getting higher and higher. A hem pendulum optical lens polisher is commonly used in the prior art, and such devices operate on a quasi-spherical principle.
While the spindle rotates at high speed, the spindle system (including the spindle motor) reciprocates around the swing axis. The polishing liquid containing abrasive particles and corrosive chemicals flows between the optical lens and the polishing mold, and the mechanism is mechanically polished.
(This polishing mechanism is a commonly accepted polishing mechanism, mainly due to the combined effects of polishing, polishing, glass, etc., ie mechanical, chemical and physical effects) to achieve medium diameter,
Fine-grained, surface-polished processing of medium- and high-precision optical lenses.
通常此类设备具有多个研磨仓对透镜进行不同步骤的处理，例如研磨仓、抛光仓、精磨仓等等，加工处理过程中，上下料目前只能通过人工的方式进行，常规情况下，一台设备配备四个不同精度的研磨仓，由一个人按照加工顺序，分别对各个仓进行上料和下料的处理，此类工作人员需要具备动作快，熟练操作能力，加工时间把握能力，对设备工作状态熟悉等能力，此类工作人员的工作熟悉程度直接影响到加工件的精度、良品率，工作人员的工作过程安全要求页很高，快速工作过程中有发生人员受伤的意外风险，另外还有就是工作人员的培养成本较高，熟练工需要长时间的培养才能满足生产要求。Usually such equipment has multiple grinding chambers for different steps of the lens, such as grinding chamber, polishing chamber, fine grinding chamber, etc. During the processing, the loading and unloading can only be carried out manually, under normal circumstances, One equipment is equipped with four grinding bins of different precision. Each person handles the loading and unloading of each bin according to the processing sequence. Such workers need to have fast action, skilled operation ability and processing time grasping ability. Familiar with the working state of the equipment, the familiarity of such workers directly affects the accuracy and yield of the workpiece, the safety requirements page of the staff's work process is very high, and there is an accident risk of personal injury during the fast work. In addition, there is a high cost of training for the staff, and skilled workers need long-term training to meet the production requirements.
故此，传统生产设备生产精度和稳定性不能满足各个领域对光学透镜的精度要求，工艺技术起着至关重要的作用，
对操作者的技艺依赖性很大，造成生产工艺不稳定，废品率极高的现象。Therefore, the production precision and stability of traditional production equipment cannot meet the precision requirements of optical lenses in various fields, and the process technology plays a vital role.
It is very dependent on the skill of the operator, resulting in unstable production process and extremely high scrap rate.
本发明提供一种下摆机全自动上下料装置及上下料方法，旨在解决现有技术中人工操作上下料工艺精度不高、人工成本高、操作人员存在安全隐患等问题。The invention provides a full-automatic loading and unloading device for the hem machine and a loading and unloading method, aiming at solving the problems of low precision of the manual operation and loading and unloading process, high labor cost and safety hazard of the operator in the prior art.
为了解决上述问题，本发明提供一种下摆机全自动上下料装置，包括设置于下摆机工作台面上的供料单元，搬料单元和换料单元，所述供料单元设置于下摆机工作台面的一端，所述换料单元对应所述下摆机的研磨仓设置，其中，In order to solve the above problems, the present invention provides a fully automatic loading and unloading device for a hem machine, comprising a feeding unit, a moving unit and a refueling unit disposed on a working surface of the hem machine, wherein the feeding unit is disposed on a table top of the hem machine One end of the refueling unit corresponding to the grinding chamber of the hem machine, wherein
所述搬料单元包括可水平运动的搬料横轴，至少两个可捕获拾取待加工件的搬料头，所述搬料头设置于所述搬料横轴下方；The moving unit includes a horizontal axis of the horizontally movable moving material, and at least two moving heads for capturing the workpiece to be processed, the moving head being disposed below the horizontal axis of the moving material;
所述换料单元包括推进装置，以及设置于所述推进装置端部的换料头；The refueling unit includes a propulsion device, and a refueling head disposed at an end of the propulsion device;
所述供料单元待加工件位置到所述换料头距离等于两个所述搬料头之间的距离；The distance from the feeding unit to be processed to the refueling head is equal to the distance between the two moving heads;
依借上述技术方案，在进行对待加工件加工过程中，首先所述供料单元内在标定位置依次供应待加工件等待捕获拾取，所述搬料单元通过控制***驱动所述搬料横轴进行水平方向运动，使其下方最靠近供料单元方向的所述搬料头移动至供料单元的标定位置捕获拾取待加工件，而此时另一个搬料头正处于所述换料头上方捕获拾取所述换料头从研磨仓中取出的研磨完毕的待加工件，所述搬料横轴在两个搬料头都捕获拾取了相应的待加工件之后开始进行横向运动，使从供料单元捕获拾取待加工件的搬料头移动至所述换料头上方，然后将待加工件交给所述换料头，由换料头将待加工件送入研磨仓进行研磨加工，另一个搬料头将研磨后的待加工件移动到相应位置进行下料。整体加工过程实现全自动化控制，使其具有研磨时间长度标准化，使加工件更加精细，整体批次更加标准，良品率上升，上料下料自动化，解放了人工，降低了人员成本，同时也解决了工作过程中人员操控的安全性问题。According to the above technical solution, in the processing of the workpiece to be processed, first, the feeding unit sequentially supplies the workpiece to be captured and picked up at the calibration position, and the moving unit drives the horizontal axis of the moving material through the control system to perform horizontal processing. Directional movement, moving the moving head closest to the direction of the feeding unit to the calibration position of the feeding unit to capture and pick up the workpiece to be processed, and at this time another moving head is above the refueling head to capture and pick up The polished material to be processed is taken out from the grinding chamber by the refueling head, and the horizontal axis of the moving material starts to move laterally after the two moving heads capture and pick up the corresponding workpiece to be processed, so that the feeding unit The moving head that captures the workpiece to be processed is moved to the top of the refueling head, and then the workpiece to be processed is delivered to the refueling head, and the workpiece to be processed is sent to the grinding chamber for grinding by the refueling head, and the other is moved. The material head moves the ground workpiece to be processed to the corresponding position for cutting. The whole processing process realizes full automatic control, which makes the grinding time length standardized, makes the processing parts more fine, the whole batch is more standard, the yield rate rises, the loading and unloading is automated, the labor is liberated, the personnel cost is reduced, and the solution is also solved. The safety of personnel handling during work.
优选地，所述换料头具有上下两个可捕获拾取待加工件的捕获端，所述换料头连接一驱动旋转装置，所述驱动旋转装置安装于所述推进装置上。Preferably, the refueling head has upper and lower capture ends that can capture and pick up the workpiece to be processed, the refueling head is coupled to a drive rotating device, and the drive rotating device is mounted on the propulsion device.
优选地，所述推进装置包括换料固定座、换料推进座，所述换料固定座上设有Y轴运动方向的滑轨，所述换料推进座设于所述滑轨上，所述换料推进座上设有Z轴方向运动的换料驱动装置，所述换料驱动装置连接换料连接座，所述驱动旋转装置设于所述换料连接座上。Preferably, the propulsion device comprises a refueling fixing seat and a refueling propulsion seat, wherein the refueling fixing seat is provided with a sliding rail of a Y-axis moving direction, and the refueling propulsion seat is disposed on the sliding rail. The refueling pusher is provided with a refueling drive device in the Z-axis direction, and the refueling drive device is connected to the refueling connection seat, and the drive rotation device is disposed on the refueling connection seat.
优选地，所述推进装置包括可伸缩推进连杆、固定座，所述固定座上设有Z轴方向运动的驱动装置以及用于推进所述推进连杆的驱动器，所述驱动装置连接换料连接座，所述换料连接座上设于一驱动旋转装置，所述驱动旋转装置连接所述推进连杆并驱动其旋转运动，所述换料头具有上下两个可捕获拾取待加工件的捕获端。Preferably, the propulsion device comprises a telescopic propulsion link, a fixing seat, a driving device for moving in the Z-axis direction, and a driver for propelling the propulsion connecting rod, the driving device connecting the refueling a connecting seat, the refueling connecting seat is disposed on a driving rotating device, the driving rotating device is connected to the propulsion connecting rod and drives a rotary motion thereof, and the refueling head has two upper and lower portions for capturing and picking up the workpiece to be processed. Capture side.
优选地，所述搬料横轴下方设置有搬料连杆，所述搬料连杆通过搬料垂直轴连接所述搬料横轴，所述搬料头设置于所述搬料连杆下端。Preferably, a conveyance link is disposed below the horizontal axis of the conveyance, the conveyance link is connected to the conveyance horizontal axis by a vertical axis of the conveyance, and the transfer head is disposed at a lower end of the conveyance link .
优选地，所述搬料头设置多个，分别对应所述供料单元待加工件位置、翻转机构、所述换料头位置、以及检测机构、与第二研磨仓对应的第二换料单元的换料头位置，所述搬料头之间间距与所述供料单元待加工件位置、翻转机构、所述换料头位置、以及检测机构、与第二研磨仓对应的第二换料单元的换料头位置之间的间距相对应。Preferably, the loading head is provided in plurality, corresponding to the feeding unit to be processed position, the turning mechanism, the refueling head position, and the detecting mechanism, and the second refueling unit corresponding to the second grinding bin The position of the refueling head, the spacing between the moving heads, the position of the feeding unit to be processed, the turning mechanism, the refueling head position, and the detecting mechanism, and the second refueling corresponding to the second grinding bin The spacing between the refueling head positions of the units corresponds.
优选地，与所述供料单元相对应的另一端设置有收料单元，所述收料单元具有受X、Y驱动轴驱动的收料盘。Preferably, the other end corresponding to the feeding unit is provided with a receiving unit having a receiving tray driven by the X, Y drive shaft.
优选地，所述供料单元与所述换料单元之间设置有一检测机构；所述检测机构包括夹具、设置于夹具后方的带动所述夹具做旋转运动的电机，和检测头与所述夹具相连的检测仪。Preferably, a detecting mechanism is disposed between the feeding unit and the refueling unit; the detecting mechanism includes a jig, a motor disposed behind the jig to drive the jig to perform a rotating motion, and a detecting head and the jig Connected detectors.
优选地，所述搬料头与捕获端采用真空吸嘴。Preferably, the moving head and the capturing end adopt a vacuum nozzle.
本发明另外还提供了一种下摆机全自动上下料方法，包括上述技术方案中所述的下摆机全自动上下料装置，将所述下摆机全自动上下料装置安装到下摆机的工作平台上，调整所述换料单元与研磨仓对应位置，连接电源，工作步骤具体为：The invention further provides a fully automatic loading and unloading method for the hem machine, comprising the automatic loading and unloading device of the hem machine described in the above technical solution, and the automatic loading and unloading device of the hem machine is mounted on the working platform of the hem machine Adjusting the corresponding position of the refueling unit and the grinding bin, and connecting the power source, the working steps are specifically as follows:
S01，所述搬料横轴驱动所述搬料头向供料单元方向移动，抵达所述供料单元待加工件位置，与此同时，所述其他搬料头移动到对应的换料头上方；S01, the moving material horizontal axis drives the moving head to move toward the feeding unit, reaches the position of the feeding unit to be processed, and at the same time, the other moving head moves to the corresponding refueling head ;
S02，所述搬料头捕获拾取待加工件后向所述换料头方向移动，抵达位置后将待加工件交给所述换料头捕获，之后再次运动至供料单元处；S02, the moving head captures the workpiece to be processed and moves to the refueling head, and after the position is reached, the workpiece to be processed is transferred to the refueling head for capture, and then moved to the feeding unit again;
S03，所述换料头受所述推进装置推送至研磨仓中交由研磨仓中的研磨头夹持，待研磨达到研磨时间要求后退回原位；S03, the refueling head is pushed by the propulsion device to the grinding chamber and held by the grinding head in the grinding chamber, and is returned to the original position after the grinding time reaches the grinding time requirement;
S04，重复S01步骤，所述搬料头捕获拾取待加工件的同时其他搬料头也将初步研磨的待加工件从所述换料头上捕获拾取；S04, repeating the step S01, the loading head captures and picks up the workpiece to be processed, and the other moving material head also captures the preliminary grinding workpiece to be processed from the refueling head;
S05，重复S02步骤，其他搬料头将初步研磨的待加工件运送到下料单元或者检测装置或者下一步的加工处理单元；S05, repeating step S02, the other moving material head transports the initially ground workpiece to the blanking unit or the detecting device or the processing unit of the next step;
优选地，所述作业工序重复进行，所述换料头具有上下两个可捕获拾取待加工件的捕获端，其中所述换料头在步骤S03中将待加工件送入研磨仓后，首先使用所述换料头下方的捕获端将已经加工完毕的上一个待加工件捕获拾取后，所述换料头进行180度旋转，将原上方捕获端的待加工件置入加工工位进行夹持，然后退出回到原位，等待搬料头取走待加工件。Preferably, the working process is repeated, the refueling head has two upper and lower capture ends that can capture and pick up the workpiece to be processed, wherein the refueling head sends the workpiece to be processed into the grinding bin in step S03, first After the last workpiece to be processed has been captured and picked up by using the capturing end under the refueling head, the refueling head is rotated by 180 degrees, and the workpiece to be processed at the upper capturing end is placed in a processing station for clamping. Then exit to return to the original position and wait for the moving head to remove the workpiece to be processed.
图1是本发明提供的产品后侧位整体立体示意图；1 is an overall perspective view of the rear side of the product provided by the present invention;
图2是本发明提供的产品正面整体立体示意图；2 is a schematic perspective view of the front side of the product provided by the present invention;
图3是本发明提供的产品搬料机构立体示意图；Figure 3 is a perspective view of the product handling mechanism provided by the present invention;
图4是本发明提供的产品换料机构正面角度立体示意图；4 is a perspective view showing the front angle of the product refueling mechanism provided by the present invention;
图5是本发明提供的产品换料机构后面角度立体示意图；Figure 5 is a perspective view showing the rear angle of the product refueling mechanism provided by the present invention;
图6是本发明提供的实施例四产品工作示意图；6 is a schematic view showing the operation of the product of the fourth embodiment provided by the present invention;
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
参照图1和图2所示，本实施例提供一种下摆机全自动上下料装置，包括设置于下摆机1工作台面11上的供料单元20，搬料单元30和换料单元40，所述供料单元20设置于下摆机1工作台面11的一端，所述换料单元40对应所述下摆机1的研磨仓10设置，其中，Referring to FIG. 1 and FIG. 2, the embodiment provides a full-automatic loading and unloading device for a hem machine, comprising a feeding unit 20, a moving unit 30 and a refueling unit 40 disposed on the working surface 11 of the hem machine 1 . The feeding unit 20 is disposed at one end of the working surface 11 of the hem machine 1 , and the refueling unit 40 is disposed corresponding to the grinding chamber 10 of the swaying machine 1 , wherein
参照图3所示，所述搬料单元30包括可水平运动的搬料横轴31，至少两个可捕获拾取待加工件的搬料头33，所述搬料头33设置于所述搬料横轴31下方；Referring to FIG. 3, the moving unit 30 includes a horizontally movable moving conveyance shaft 31, at least two loading heads 33 capable of picking up a workpiece to be processed, and the loading head 33 is disposed on the moving material Below the horizontal axis 31;
参照图4和5所示，所述换料单元40包括推进装置42，以及设置于所述推进装置42端部的换料头43，所述换料头具有上下两个可捕获拾取待加工件的捕获端433，所述捕获端433上下错落布置，方便连接气缸，而所述捕获端433采用吸嘴设计，对待加工件进行捕获时通过负压吸取即可，所述换料头43连接一驱动旋转装置41，便于所述换料头43伸入研磨仓10后吸取已完成研磨的待加工件后进行180度旋转，将原上方的待加工件朝向研磨夹具，然后通过换料驱动装置44进行下放，置入所述研磨夹具中，所述驱动旋转装置41安装于所述推进装置上，所述推进装置42包括换料固定座421、换料推进座422，所述换料固定座421上设有Y轴运动方向的滑轨423，所述换料推进座422设于所述滑轨423上，所述换料推进座422上设有Z轴方向运动的换料驱动装置44，所述换料驱动装置44连接换料连接座45，所述驱动旋转装置41设于所述换料连接座45上，所述推进装置42中的一系列连接件通过Y轴运动结合Z轴运动，将所述换料头43实现了沿Y轴方向前后运动以及沿Z轴方向上下运动的目的，在工作过程中设定好工作程序，即可完成对待加工件的拾取、置放、伸出、收回等动作。Referring to Figures 4 and 5, the refueling unit 40 includes a propulsion device 42 and a refueling head 43 disposed at an end of the propulsion device 42. The refueling head has upper and lower two captureable pick-up items to be processed. The capturing end 433, the capturing end 433 is arranged up and down to facilitate the connection of the cylinder, and the capturing end 433 adopts a nozzle design, and the workpiece is connected by a negative pressure when the workpiece is captured, and the refueling head 43 is connected to the The rotating device 41 is driven to facilitate the 180° rotation of the refilling head 43 after the grinding head 10 is sucked into the grinding chamber 10, and the workpiece to be processed is turned toward the grinding fixture, and then passed through the refueling driving device 44. The lowering is placed in the grinding fixture, and the driving rotating device 41 is mounted on the propulsion device. The propulsion device 42 includes a refueling fixing base 421 and a refueling propulsion seat 422. The refueling fixing base 421 a slide rail 423 having a Y-axis movement direction, wherein the refueling pusher 422 is disposed on the slide rail 423, and the refueling pusher 422 is provided with a refueling drive device 44 for moving in the Z-axis direction. Refueling drive 44 is connected to the refueling connection 45. The driving rotation device 41 is disposed on the refueling connection seat 45. The series of connecting members in the propulsion device 42 are moved by the Y-axis and the Z-axis movement, and the refueling head 43 is realized along the Y. The purpose of moving forward and backward in the axial direction and moving up and down along the Z-axis direction is to set the working program during the working process, and the actions of picking, placing, extending, retracting the workpiece to be processed can be completed.
另外，为了能够让搬料头33顺利应用到每个工位，所述供料单元20待加工件位置到所述换料头43距离等于两个所述搬料头33之间的距离；同时，所述搬料横轴31下方设置有搬料连杆32，所述搬料连杆32通过搬料垂直轴34连接所述搬料横轴31，所述搬料头33设置于所述搬料连杆32下端，工作过程中，所述搬料连杆32除了在所述搬料横轴31的带动下可以沿水平方向进行左右移动以外，还可依借所述搬料垂直轴34进行上下运动，整体搬料连杆32带动多个搬料头33运动到位后向下驱动取料，然后向上运动提起，移动到位后再重复向下运动置放到相对应位置，在收料端60的设计上，本实施例将所述收料单元设计为具有受X、Y驱动轴62、63驱动的收料盘61，当最后的搬料头33将加工完毕的加工件运送到最后一个环节的时候，由于位置是固定的，故此需要接收下料的收料盘61具有自动对位接收的功能，将该位置坐标输入至计算机，收料盘61在X、Y驱动轴62、63的驱动之下可以将每个盘中空位对位在坐标位置上，方便搬料头33准确释放加工件。所述搬料头33与捕获端433采用真空吸嘴。In addition, in order to enable the loading head 33 to be smoothly applied to each station, the distance from the feeding unit 20 to the processing head 43 is equal to the distance between the two moving heads 33; A conveyance link 32 is disposed below the conveyance horizontal shaft 31, and the conveyance link 32 is connected to the conveyance horizontal shaft 31 via a conveyance vertical shaft 34, and the transfer head 33 is disposed at the conveyance In the lower end of the material connecting rod 32, during the operation, the moving material link 32 can move left and right in the horizontal direction, in addition to the moving horizontal axis 31, and can also be carried out by the vertical axis 34 of the moving material. Up and down movement, the whole moving material connecting rod 32 drives the plurality of moving material heads 33 to move in position, and then drives the material to be driven downwards, then lifts up and lifts up, moves to the position, and then repeats the downward movement to the corresponding position, at the receiving end 60 In this embodiment, the receiving unit is designed to have a receiving tray 61 driven by the X and Y driving shafts 62, 63. When the last loading head 33 transports the processed workpiece to the last link. At the time, since the position is fixed, the receiving tray 61 that needs to receive the blanking has The function of automatic alignment receiving, inputting the position coordinate to the computer, and the receiving tray 61 can drive the position of each disk in the coordinate position under the driving of the X and Y driving shafts 62, 63, so as to facilitate the moving head. 33 Accurate release of the workpiece. The loading head 33 and the capturing end 433 employ a vacuum nozzle.
依借上述技术方案，在进行对待加工件加工过程中，首先所述供料单元20内在标定位置依次供应待加工件等待捕获拾取，所述搬料单元30通过控制***驱动所述搬料横轴31进行水平方向运动，使其下方最靠近供料单元20方向的所述搬料头33移动至供料单元20的标定位置捕获拾取待加工件，而此时另一个搬料头33正处于所述换料头43上方捕获拾取所述换料头43从研磨仓10中取出的研磨完毕的待加工件，所述搬料横轴31在两个或多个搬料头33都捕获拾取了相应的待加工件之后开始进行横向运动，使从供料单元20捕获拾取待加工件的搬料头33移动至所述换料头43上方，然后将待加工件交给所述换料头43，由换料头43将待加工件送入研磨仓10进行研磨加工，另一个搬料头33将研磨后的待加工件移动到相应位置进行下料。整体加工过程实现全自动化控制，使其具有研磨时间长度标准化，使加工件更加精细，整体批次更加标准，良品率上升，上料下料自动化，解放了人工，降低了人员成本，同时也解决了工作过程中人员操控的安全性问题。According to the above technical solution, in the processing of the workpiece to be processed, first, the feeding unit 20 sequentially supplies the workpiece to be captured and picked up at the calibration position, and the moving unit 30 drives the horizontal axis of the moving material through the control system. 31 is moved in the horizontal direction so that the moving head 33 closest to the direction of the feeding unit 20 is moved to the calibration position of the feeding unit 20 to capture and pick up the workpiece to be processed, and at this time, the other moving head 33 is in the position The above-mentioned refueling head 43 captures and picks up the ground workpiece to be processed taken out from the grinding chamber 10 by the refueling head 43, and the moving horizontal axis 31 is captured and picked up in two or more moving heads 33. After the workpiece is to be processed, lateral movement is started, the moving head 33 that captures the workpiece to be processed from the feeding unit 20 is moved to the top of the refueling head 43, and then the workpiece to be processed is delivered to the refueling head 43, The workpiece to be processed is fed into the grinding chamber 10 by the refueling head 43 for grinding processing, and the other moving head 33 moves the ground workpiece to be processed to the corresponding position for blanking. The whole processing process realizes full automatic control, which makes the grinding time length standardized, makes the processing parts more fine, the whole batch is more standard, the yield rate rises, the loading and unloading is automated, the labor is liberated, the personnel cost is reduced, and the solution is also solved. The safety of personnel handling during work.
实施例二，本实施例与实施例一不同之处在于所述推进装置包括可伸缩推进连杆、固定座，所述固定座上设有Z轴方向运动的驱动装置以及用于推进所述推进连杆的驱动器，所述驱动装置连接换料连接座，所述换料连接座上设于一驱动旋转装置，所述驱动旋转装置连接所述推进连杆并驱动其旋转运动，所述换料头具有上下两个可捕获拾取待加工件的捕获端，相对于实施例一会节约一定的成本，将滑轨等配件省略。The second embodiment differs from the first embodiment in that the propulsion device comprises a telescopic propulsion link, a fixing seat, and a driving device for moving in the Z-axis direction and for propelling the propulsion a drive of the connecting rod, the driving device is connected to the refueling connecting seat, the refueling connecting seat is disposed on a driving rotating device, the driving rotating device is connected to the propulsion connecting rod and drives the rotating movement thereof, the refueling The head has two upper and lower capture ends for capturing the workpiece to be processed, which saves a certain cost compared with the first embodiment, and the accessories such as the slide rail are omitted.
实施例三，所述供料单元与所述换料单元之间设置有检测机构，所述搬料头设置多个，分别对应所述供料单元待加工件位置、翻转机构、所述换料头位置、以及检测机构、与第二研磨仓对应的第二换料单元的换料头位置，所述搬料头之间间距与所述供料单元待加工件位置、翻转机构、所述换料头位置、以及检测机构、与第二研磨仓对应的第二换料单元的换料头位置之间的间距相对应，所述检测机构包括夹具、设置于夹具后方的带动所述夹具做旋转运动的电机，和检测头与所述夹具相连的检测仪，通过电机带动夹具夹紧待加工件后再通过旋转对待加工件进行检测，待加工件一面在研磨仓中进行研磨后送至检测机构检测弧度，挑出不良品后移至翻转机构进行翻转，
之后在第二研磨仓对待加工件另一面进行研磨，随后对待加工进行厚度检测以区分研磨的精度，在所述将上述实施例一的应用进行延展，可以按照加工精度要求以及中途进行检测的需求增加相应的工位，以便完成更多的加工环节，完全不需要人工的介入，方便快捷安全。In a third embodiment, a detecting mechanism is disposed between the feeding unit and the refueling unit, and the loading head is provided in plurality, corresponding to the position of the feeding unit to be processed, the turning mechanism, and the refueling a head position, and a detecting mechanism, a refueling head position of the second refueling unit corresponding to the second grinding chamber, a spacing between the moving heads, a position of the feeding unit to be processed, a turning mechanism, and the changing The position of the material head and the spacing between the detecting mechanism and the position of the refueling head of the second refueling unit corresponding to the second grinding chamber, the detecting mechanism comprising a clamp and the rear of the clamp driving the clamp to rotate The moving motor and the detector connected to the detecting head and the detecting head are driven by the motor to clamp the workpiece to be processed, and then the workpiece to be processed is rotated, and the workpiece is ground in the grinding chamber and sent to the detecting mechanism. Detect the curvature, pick out the defective product, then move to the turning mechanism to flip,
Then, the other side of the workpiece to be processed is ground in the second grinding chamber, and then the thickness is detected to be processed to distinguish the precision of the grinding. In the above-mentioned application of the first embodiment, the processing can be performed according to the processing precision requirements and the requirements in the middle. The corresponding work station is added to complete more processing steps, and no manual intervention is required at all, which is convenient, fast and safe.
实施例四，本实施例提供一种两端同时进料，同时收料的结构，参照图6所示，包括设置于下摆机1工作台面11的两端上的供料单元20和收料端60，搬料单元30和换料单元40，所述供料单元20设置于下摆机1工作台面11的两端，所述换料单元40对应所述下摆机1的研磨仓10设置，所述搬料单元30包括可水平运动的搬料横轴，至少两个可捕获拾取待加工件的搬料头，所述搬料头设置于所述搬料横轴下方。所述搬料单元30从供料单元20获取待加工件后交由换料单元40进行处理，之后再由搬料单元30将加工后的加工件运送回收料端60，两边可以同时进行，增加处理效率。Embodiment 4, this embodiment provides a structure for simultaneously feeding and receiving materials at both ends. Referring to FIG. 6, the feeding unit 20 and the receiving end are disposed on both ends of the working surface 11 of the swaying machine 1. 60, a moving unit 30 and a refueling unit 40, the feeding unit 20 is disposed at two ends of the working surface 11 of the swaying machine 1, and the refueling unit 40 is disposed corresponding to the grinding chamber 10 of the swaying machine 1, The moving unit 30 includes a horizontal axis that can move horizontally, and at least two loading heads that can capture and pick up the workpiece to be processed, and the moving head is disposed below the horizontal axis of the moving material. The processing unit 30 obtains the workpiece to be processed from the feeding unit 20 and then transfers it to the refueling unit 40 for processing. Thereafter, the processed workpiece is transported by the processing unit 30 to the reclaimed material end 60, and both sides can be simultaneously performed, increasing Processing efficiency.
本发明另外还提供了一种下摆机全自动上下料方法，包括上述技术方案中所述的下摆机全自动上下料装置，将所述下摆机全自动上下料装置安装到下摆机的工作平台上，调整所述换料单元与研磨仓对应位置，连接电源，工作步骤具体为：The invention further provides a fully automatic loading and unloading method for the hem machine, comprising the automatic loading and unloading device of the hem machine described in the above technical solution, and the automatic loading and unloading device of the hem machine is mounted on the working platform of the hem machine Adjusting the corresponding position of the refueling unit and the grinding bin, and connecting the power source, the working steps are specifically as follows:
S01，所述搬料横轴驱动所述搬料头向供料单元方向移动，抵达所述供料单元待加工件位置，与此同时，所述其他搬料头移动到对应的换料头上方；S01, the moving material horizontal axis drives the moving head to move toward the feeding unit, reaches the position of the feeding unit to be processed, and at the same time, the other moving head moves to the corresponding refueling head ;
S02，所述搬料头捕获拾取待加工件后向所述换料头方向移动，抵达位置后将待加工件交给所述换料头捕获，之后再次运动至供料单元处；S02, the moving head captures the workpiece to be processed and moves to the refueling head, and after the position is reached, the workpiece to be processed is transferred to the refueling head for capture, and then moved to the feeding unit again;
S03，所述换料头受所述推进装置推送至研磨仓中交由研磨仓中的研磨头夹持，待研磨达到研磨时间要求后退回原位；S03, the refueling head is pushed by the propulsion device to the grinding chamber and held by the grinding head in the grinding chamber, and is returned to the original position after the grinding time reaches the grinding time requirement;
S04，重复S01步骤，所述搬料头捕获拾取待加工件的同时其他搬料头也将初步研磨的待加工件从所述换料头上捕获拾取；S04, repeating the step S01, the loading head captures and picks up the workpiece to be processed, and the other moving material head also captures the preliminary grinding workpiece to be processed from the refueling head;
S05，重复S02步骤，其他搬料头将初步研磨的待加工件运送到下料单元或者检测装置或者下一步的加工处理单元；S05, repeating step S02, the other moving material head transports the initially ground workpiece to the blanking unit or the detecting device or the processing unit of the next step;
所述作业工序重复进行，所述换料头具有上下两个可捕获拾取待加工件的捕获端，其中所述换料头在步骤S03中将待加工件送入研磨仓后，首先使用所述换料头下方的捕获端将已经加工完毕的上一个待加工件捕获拾取后，所述换料头进行180度旋转，将原上方捕获端的待加工件置入加工工位进行夹持，然后退出回到原位，等待搬料头取走待加工件。The working process is repeated, the refueling head has two upper and lower capture ends that can capture and pick up the workpiece to be processed, wherein the refueling head first feeds the workpiece to be processed into the grinding bin in step S03. After the capturing end under the refueling head captures and captures the last processed workpiece to be processed, the refueling head rotates 180 degrees, and the workpiece to be processed at the original upper capturing end is placed in the processing station for clamping, and then exits. Go back to the original position and wait for the moving head to remove the parts to be processed.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.
Claims (10)
- 一种下摆机全自动上下料装置，其特征在于，包括设置于下摆机工作台面上的供料单元，搬料单元和换料单元，所述供料单元设置于下摆机工作台面的一端，所述换料单元对应所述下摆机的研磨仓设置，其中， A fully automatic loading and unloading device for a hem machine, comprising: a feeding unit disposed on a working surface of a hem machine, a moving unit and a refueling unit, wherein the feeding unit is disposed at one end of a working surface of the hem machine The refueling unit corresponds to the grinding chamber setting of the hem machine, wherein所述搬料单元包括可水平运动的搬料横轴，至少两个可捕获拾取待加工件的搬料头，所述搬料头设置于所述搬料横轴下方；The moving unit includes a horizontal axis of the horizontally movable moving material, and at least two moving heads for capturing the workpiece to be processed, the moving head being disposed below the horizontal axis of the moving material;所述换料单元包括推进装置，以及设置于所述推进装置端部的换料头；The refueling unit includes a propulsion device, and a refueling head disposed at an end of the propulsion device;所述供料单元待加工件位置到所述换料头距离等于两个所述搬料头之间的距离。The distance from the feeding unit to be processed to the refueling head is equal to the distance between the two moving heads.
- 如权利要求1所述的下摆机全自动上下料装置，其特征在于，所述换料头具有上下两个可捕获拾取待加工件的捕获端，所述换料头连接一驱动旋转装置，所述驱动旋转装置安装于所述推进装置上。The swaying machine automatic loading and unloading device according to claim 1, wherein the refueling head has two upper and lower capture ends for capturing and picking the workpiece to be processed, and the refueling head is connected with a driving rotating device. The drive rotating device is mounted on the propulsion device.
- 如权利要求2所述的下摆机全自动上下料装置，其特征在于，所述推进装置包括换料固定座、换料推进座，所述换料固定座上设有Y轴运动方向的滑轨，所述换料推进座设于所述滑轨上，所述换料推进座上设有Z轴方向运动的换料驱动装置，所述换料驱动装置连接换料连接座，所述驱动旋转装置设于所述换料连接座上。The swaying machine automatic loading and unloading device according to claim 2, wherein the propulsion device comprises a refueling fixing seat and a refueling propulsion seat, and the refueling fixing seat is provided with a sliding rail of a Y-axis moving direction The refueling propulsion seat is disposed on the sliding rail, and the refueling propulsion seat is provided with a refueling driving device that moves in a Z-axis direction, and the refueling driving device is connected to the refueling connecting seat, and the driving rotation is The device is disposed on the refueling connection.
- 如权利要求1所述的下摆机全自动上下料装置，其特征在于，所述推进装置包括可伸缩推进连杆、固定座，所述固定座上设有Z轴方向运动的驱动装置以及用于推进所述推进连杆的驱动器，所述驱动装置连接换料连接座，所述换料连接座上设于一驱动旋转装置，所述驱动旋转装置连接所述推进连杆并驱动其旋转运动，所述换料头具有上下两个可捕获拾取待加工件的捕获端。A fully automatic loading and unloading device for a swaying machine according to claim 1, wherein said propulsion device comprises a telescopic propulsion connecting rod and a fixing seat, wherein said fixing seat is provided with a driving device for moving in the Z-axis direction and Advancing a drive of the propulsion link, the drive device is connected to a refueling connection seat, the refueling connection seat is disposed on a drive rotation device, and the drive rotation device is connected to the propulsion link and drives the rotary motion thereof, The refueling head has upper and lower capture ends that can capture and pick up the workpiece to be processed.
- 如权利要求1所述的下摆机全自动上下料装置，其特征在于，所述搬料横轴下方设置有搬料连杆，所述搬料连杆通过搬料垂直轴连接所述搬料横轴，所述搬料头设置于所述搬料连杆下端。A fully automatic loading and unloading device for a hem machine according to claim 1, wherein a conveying link is disposed below the horizontal axis of the moving material, and the moving link is connected to the moving horizontal by a vertical axis of the moving material. a shaft, the moving head is disposed at a lower end of the moving link.
- 如权利要求1所述的下摆机全自动上下料装置，其特征在于，所述搬料头设置多个，分别对应所述供料单元待加工件位置、翻转机构、所述换料头位置、以及检测机构、与第二研磨仓对应的第二换料单元的换料头位置，所述搬料头之间间距与所述供料单元待加工件位置、翻转机构、所述换料头位置、以及检测机构、与第二研磨仓对应的第二换料单元的换料头位置之间的间距相对应。A fully automatic loading and unloading device for a hem machine according to claim 1, wherein the plurality of loading heads are disposed corresponding to the position of the workpiece to be processed, the turning mechanism, the position of the refueling head, And a detecting mechanism, a refueling head position of the second refueling unit corresponding to the second grinding chamber, a spacing between the moving heads, a position of the feeding unit to be processed, a turning mechanism, and a position of the refueling head And a spacing between the detection mechanism and the position of the refueling head of the second refueling unit corresponding to the second grinding chamber.
- 如权利要求1所述的下摆机全自动上下料装置，其特征在于，与所述供料单元相对应的另一端设置有收料单元，所述收料单元具有受X、Y驱动轴驱动的收料盘。A fully automatic loading and unloading device for a swaying machine according to claim 1, wherein a receiving end corresponding to said feeding unit is provided with a receiving unit, said receiving unit being driven by an X and Y driving shaft Receiving tray.
- 如权利要求6所述的下摆机全自动上下料装置，其特征在于，所述供料单元与所述换料单元之间设置有一检测机构；所述检测机构包括夹具、设置于夹具后方的带动所述夹具做旋转运动的电机，和检测头与所述夹具相连的检测仪。A fully automatic loading and unloading device for a swaying machine according to claim 6, wherein a detecting mechanism is disposed between the feeding unit and the refueling unit; the detecting mechanism includes a jig and is disposed behind the jig. The motor that performs the rotary motion of the clamp, and the detector that connects the detection head to the clamp.
- 一种下摆机全自动上下料方法，包括上述权利要求1到8任意一项所述的下摆机全自动上下料装置，其特征在于，将所述下摆机全自动上下料装置安装到下摆机的工作平台上，调整所述换料单元与研磨仓对应位置，连接电源，工作步骤具体为：A fully automatic loading and unloading method for a hem machine, comprising the automatic loading and unloading device of the hem machine according to any one of claims 1 to 8, characterized in that the swaying machine automatic loading and unloading device is mounted to the hem machine On the working platform, the corresponding position of the refueling unit and the grinding bin is adjusted, and the power source is connected, and the working steps are specifically as follows:S01，所述搬料横轴驱动所述搬料头向供料单元方向移动，抵达所述供料单元待加工件位置，与此同时，所述其他搬料头移动到对应的换料头上方；S01, the moving material horizontal axis drives the moving head to move toward the feeding unit, reaches the position of the feeding unit to be processed, and at the same time, the other moving head moves to the corresponding refueling head ;S02，所述搬料头捕获拾取待加工件后向所述换料头方向移动，抵达位置后将待加工件交给所述换料头捕获，之后再次运动至供料单元处；S02, the moving head captures the workpiece to be processed and moves to the refueling head, and after the position is reached, the workpiece to be processed is transferred to the refueling head for capture, and then moved to the feeding unit again;S03，所述换料头受所述推进装置推送至研磨仓中交由研磨仓中的研磨头夹持，待研磨达到研磨时间要求后退回原位；S03, the refueling head is pushed by the propulsion device to the grinding chamber and held by the grinding head in the grinding chamber, and is returned to the original position after the grinding time reaches the grinding time requirement;S04，重复S01步骤，所述搬料头捕获拾取待加工件的同时其他搬料头也将初步研磨的待加工件从所述换料头上捕获拾取；S04, repeating the step S01, the loading head captures and picks up the workpiece to be processed, and the other moving material head also captures the preliminary grinding workpiece to be processed from the refueling head;S05，重复S02步骤，其他搬料头将初步研磨的待加工件运送到下料单元或者检测装置或者下一步的加工处理单元；S05, repeating step S02, the other moving material head transports the initially ground workpiece to the blanking unit or the detecting device or the processing unit of the next step;
- 如权利要求9所述的下摆机全自动上下料方法，其特征在于，所述作业工序重复进行，所述换料头具有上下两个可捕获拾取待加工件的捕获端，其中所述换料头在步骤S03中将待加工件送入研磨仓后，首先使用所述换料头下方的捕获端将已经加工完毕的上一个待加工件捕获拾取后，所述换料头进行180度旋转，将原上方捕获端的待加工件置入加工工位进行夹持，然后退出回到原位，等待搬料头取走待加工件。 A fully automatic loading and unloading method for a hem machine according to claim 9, wherein said working process is repeated, said refueling head having upper and lower capture ends for capturing and picking up the workpiece to be processed, wherein said refueling After the head feeds the workpiece to the grinding chamber in step S03, the first workpiece to be processed is first captured and picked up using the capturing end below the refueling head, and the refueling head is rotated 180 degrees. The workpiece to be processed at the upper capture end is placed in the processing station for clamping, and then exits to the original position, waiting for the moving head to take off the workpiece to be processed.
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| PCT/CN2017/101200 WO2019047207A1 (en) | 2017-09-11 | 2017-09-11 | Fully automatic material-loading and -unloading device and material-unloading method for grinding/polishing machine |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2019047207A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977336A (en) * | 2021-11-26 | 2022-01-28 | 河北力准机械制造有限公司 | Exchange type feeding and discharging device |
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| CN107378688A (en) * | 2017-09-11 | 2017-11-24 | 深圳市灿弘自动化科技有限公司 | A kind of full-automatic handling equipment of downswing machine and loading and unloading method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP0146763A2 (en) * | 1983-12-07 | 1985-07-03 | ILLYCAFE' S.p.A. | Handling system for workpieces to be operated in a machine |
| JP2009227362A (en) * | 2008-03-19 | 2009-10-08 | Haruchika Seimitsu:Kk | Conveying and machining device for work |
| JP2010274395A (en) * | 2009-06-01 | 2010-12-09 | Haruchika Seimitsu:Kk | Lens carrier and lens processing system |
| CN104271282A (en) * | 2012-03-02 | 2015-01-07 | 株式会社日立造船福井 | Transport device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977336A (en) * | 2021-11-26 | 2022-01-28 | 河北力准机械制造有限公司 | Exchange type feeding and discharging device |
| CN113977336B (en) * | 2021-11-26 | 2023-05-16 | 河北力准机械制造有限公司 | Exchange type feeding and discharging device |
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