An integrated robot milling processing workstation

Abstract

The present invention relates to an integrated robot milling processing workstation. The present invention comprises a load-bearing box, wherein a partition is provided in the load-bearing box, and the inner part of the load-bearing box is divided into a processing area, an electric control area, an operation control area and an equipment area by the partition. The processing area is provided with a processing module, the electric control area is provided with an electric control module, the operation control area is provided with a robot control module and a human-machine interaction module, and the equipment area is provided with a pneumatic module, a hydraulic module and a cooling module. The present invention determines the internal structural area of ​​the load-bearing box through the standardized design of the robot milling system, and each module is located in a specific position with a compact structure, which can maximize the use of the space of the box, reduce the work of integrating the original workstation in various sites, greatly reduce costs, reduce working time, improve the quality and application stability of the robot milling processing workstation, and reduce the overall manufacturing cost.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical manufacturing and processing, in particular to an integrated robot milling processing workstation. Background Art

[0002] With the continuous development of automation technology, robot technology has been gradually applied to all walks of life. Compared with machine tool milling, robot milling has lower rigidity characteristics due to the structure of the robot itself, resulting in the trajectory running accuracy and repeated positioning accuracy of the robot end-effector tool being weaker than that of the machine tool.

[0003] Robotic milling technology is programmable, versatile, adaptable to the working environment, and can process a variety of parts. It is an important means to achieve digital, automated, and intelligent production. These characteristics are also unattainable by machine tool milling. Robotic milling can greatly reduce auxiliary working hours, reduce employee workload, and improve processing efficiency. The dedicated software in the workstation can calculate the corresponding suitable processing plan according to different models.

[0004] The robot milling system mainly includes industrial robots, electric spindles, CNC rotary tables, tool changers, fixtures, electric control cabinets, vacuum pumps, etc. There are no standard products for robot milling systems in the existing market. Generally, each manufacturer customizes the robot milling system according to its specific needs. The parameters of the components related to the robot milling system vary, and such robot milling systems have different requirements for industrial sites, which ultimately leads to high integration costs and low flexibility of the overall system. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the problems of high integration cost and low flexibility of the overall system of the robot milling system in the prior art.

[0006] In order to solve the above technical problems, the present invention provides an integrated robot milling processing workstation, including a load-bearing box, wherein a partition is provided in the load-bearing box, and the inner part of the load-bearing box is divided into a processing area, an electric control area, an operation control area and an equipment area by the partition. The processing area is provided with a processing module, the electric control area is provided with an electric control module, the operation control area is provided with a robot control module and a human-computer interaction module, and the equipment area is provided with a pneumatic module, a hydraulic module and a cooling module.

[0007] In one embodiment of the present invention, the load-bearing box is provided with a frame, the frame is a hexahedral structure, and the frame is connected with a box bottom plate, a box top plate, and a box front plate, a box rear plate, a box left side plate and a box right side plate arranged between the box top plate and the box bottom plate.

[0008] In one embodiment of the present invention, the processing module includes a six-axis robot located near the front plate and the left side plate of the box. The six-axis robot includes a base and an electric spindle connected to its end, and high-speed rotation and automatic tool change are performed by the electric spindle. The six-axis robot is connected to the bottom plate of the box through the base.

[0009] In one embodiment of the present invention, the electric control module includes an electrical cabinet and a reactor cabinet connected to the bottom plate of the box and close to the rear plate and the right side plate of the box. The electrical cabinet is integrated with a servo controller for controlling the six-axis robot, and the reactor cabinet is used to start and stop the electric spindle.

[0010] In one embodiment of the present invention, the control module includes a robot control cabinet located near the front plate and the right side plate of the box, the human-machine interaction module includes an HMI human-machine operating table, the robot control cabinet is connected between the bottom plate and the partition of the box, and the HMI human-machine operating table includes an HMI human-machine operating interface and buttons arranged above the robot control cabinet.

[0011] In one embodiment of the present invention, the pneumatic module includes a pneumatic component for processing an air source and an air compressor for supplying air to the pneumatic component, the hydraulic module includes a hydraulic pump station, the cooling module includes an oil cooler, the pneumatic component is arranged on a partition, the oil cooler is connected to the bottom plate of the box and is close to the rear plate of the box and the right side plate of the box, the air compressor is connected to the upper end of the oil cooler, and the hydraulic pump station is connected to the bottom plate of the box and is located between the partition and the oil cooler.

[0012] In one embodiment of the present invention, a front door is hinged at the left end or the right end of the front panel of the box body, and the front door includes a plurality of first door panels hinged in sequence by hinges, each first door panel is connected to a first mounting block, a first pull rod is inserted into the first mounting block, and a first fixing block is connected to the frame located above and below the first door panel, and the first fixing block is provided with a first fixing groove that cooperates with the first pull rod.

[0013] In one embodiment of the present invention, a left door is hinged at the left end or the right end of the left side panel of the box body, and the left door includes a plurality of second door panels hinged in sequence by hinges, each second door panel is connected to a second mounting block, a second mounting block is interspersed with a second pull rod, and a second fixing block is connected to the frame located above and below the second door panel, and the second fixing block is provided with a second fixing groove cooperating with the second pull rod.

[0014] In one embodiment of the present invention, a rear door is provided on the rear panel of the box body near the electric control area, and the rear door is hinged to the right end of the rear panel of the box body through a hinge, and the rear door is connected to a third mounting block, and a third pull rod is inserted into the third mounting block, and a third fixing block is connected to the frame located above and below the third door panel, and the third fixing block is provided with a third fixing groove cooperating with the third pull rod, and a first grille is provided on the rear panel of the box body near the equipment area.

[0015] In one embodiment of the present invention, an inspection door is provided on the right side panel of the box body near the equipment area, and a second grille is provided on the inspection door.

[0016] The above technical solution of the present invention has the following advantages compared with the prior art:

[0017] The integrated robot milling workstation described in the present invention is designed in a standardized manner for the robot milling system. The internal structural area of ​​the load-bearing box is determined. Each module is placed in a specific position and has a compact structure. The space of the box can be used to the maximum extent, which is convenient for product standardization and mass production. The integrated robot milling workstation is easy to move and transport, has high flexibility, reduces the work of integrating the original workstation in various sites, greatly reduces costs, reduces working time, improves the quality and application stability of the robot milling workstation, and reduces the overall manufacturing cost. The details are as follows:

[0018] Compared with traditional robot milling processing workstations, there is no need to plan the site layout in advance before processing. The components of the workstation, such as electrical cabinets and air compressors, do not need to be designed and placed one by one. There is no need to design the layout of lines and pipelines and cast cable troughs in advance, which greatly reduces the workload of application engineers and the on-site application costs of the application party.

[0019] Compared with the traditional robot milling processing workstation, the traditional electrical cabinets, air compressors, and other supporting components need to be moved and transported multiple times by forklifts and cranes. The present invention only needs to plan the transportation once according to the size and weight structure of the load-bearing box, which greatly reduces the transportation cost and difficulty of transportation work.

[0020] Compared with the traditional robot milling workstation, the present invention has much lower requirements on the working environment and can adapt to a variety of working environments. It only needs to fix the load-bearing box and connect a qualified power supply to perform milling processing. The application range is greatly increased and it can adapt to different workshops and different sites. In the case of tight processing time, the existing design can greatly reduce the processing time.

[0021] Compared with traditional robotic milling processing workstations, the various components of the robotic milling processing workstation of the present invention can be purchased as standardized products. The technical parameters of each component are determined by the process parameters of the final robotic milling processing. According to the diverse needs of different customers in the market, components with different parameters can be selected for integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein

[0023] Figure 1 It is a schematic diagram of the overall structure of the integrated robot milling processing workstation of the present invention.

[0024] Figure 2 yes Figure 1 Top view of the .

[0025] Figure 3 It is a structural diagram of a six-axis robot.

[0026] Figure 4 It is a structural schematic diagram of the other side of the integrated robot milling processing workstation of the present invention.

[0027] Figure 5 It is a schematic diagram of the structure of the front plate of the box body of the present invention.

[0028] Figure 6 It is a schematic structural diagram of the box rear plate and the box left side plate of the present invention.

[0029] Figure 7 It is a schematic structural diagram of the right side plate of the box body of the present invention.

[0030] Description of the accompanying drawings: 100, processing area; 200, electric control area; 300, operation control area; 400, equipment area; 1, load-bearing box; 11, partition; 12, frame; 13, box bottom plate; 14, box top plate; 15, box front plate; 151, front door; 152, first door plate; 153, first mounting block; 154, first pull rod; 155, first fixing block; 156, first fixing groove; 16, box rear plate; 161, rear door; 162, third door plate; 163, third mounting block; 164, third pull rod; 165, third fixing block; 166, third Fixed slot; 167, first grille; 17, left side panel of the box; 171, left door; 172, second door panel; 173, second mounting block; 174, second pull rod; 175, second fixed block; 176, second fixed slot; 18, right side panel of the box; 181, inspection door; 182, second grille; 2, six-axis robot; 21, base; 22, electric spindle; 3, electrical cabinet; 4, reactor cabinet; 5, robot control cabinet; 6, HMI human-machine operating table; 61, HMI human-machine operating interface; 62, button; 7, pneumatic components; 8, air compressor; 9, hydraulic pump station; 10, oil cooler. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0032] Reference Figures 1 to 7 As shown, an integrated robot milling processing workstation of the present invention includes a load-bearing box 1, in which a partition 11 is provided, and the interior of the load-bearing box 1 is divided into a processing area 100, an electric control area 200, an operation control area 300 and an equipment area 400 by the partition 11. The processing area 100 is provided with a processing module, the electric control area 200 is provided with an electric control module, the operation control area 300 is provided with a robot control module and a human-computer interaction module, and the equipment area 400 is provided with a pneumatic module, a hydraulic module and a cooling module.

[0033] Through the above arrangement, the internal structural area of ​​the load-bearing box 1 is determined, and each module is placed in a specific position with a compact structure, which can maximize the use of the space of the box and facilitate product standardization and mass production. The integrated robot milling processing workstation is easy to move and transport, with high flexibility, which reduces the work of integrating the original workstation in various sites, greatly reduces costs, and reduces working time.

[0034] Specifically, the load-bearing box 1 is provided with a frame 12, which has a hexahedral structure. The frame 12 is connected to a box bottom plate 13, a box top plate 14, and a box front plate 15, a box rear plate 16, a box left side plate 17 and a box right side plate 18 arranged between the box top plate 14 and the box bottom plate 13.

[0035] Specifically, the processing module includes a six-axis robot 2 located near the front plate 15 of the box and the left side plate 17 of the box. The six-axis robot 2 includes a base 21 and an electric spindle 22 connected to the end thereof. The electric spindle 22 is used for high-speed rotation and automatic tool change. The six-axis robot 2 is connected to the bottom plate 13 of the box (through bolts and washers, etc.) through the base 21. The robot generally used for milling processing is an industrial robot, and is equipped with an electric spindle 22 and a milling cutter. In this embodiment, the six-axis robot 2 is an IRB6660 robot of ABB. According to the needs of the processing technology, other industrial robots can also be integrated, such as IRB7600 of ABB, KR500 FORTEC of Kuka, etc., by simply replacing the mounting plate of the base 21 of the matching robot.

[0036] Specifically, the electric control module includes an electrical cabinet 3 and a reactor cabinet 4 connected to the bottom plate 13 of the box body and close to the rear plate 16 of the box body and the right side plate 18 of the box body. The electrical cabinet 3 is integrated with a servo controller for controlling the six-axis robot 2, such as a PLC, and can also integrate various relays, air circuit breakers, servo controllers, etc. as needed; the reactor cabinet 4 is used to start and stop the electric spindle 22. Due to the effect of electromagnetic induction, there is a certain inductance. The reactor cabinet 4 can prevent current changes and minimize the impact of current changes on milling processing. The electrical cabinet 3 complies with national standards for low-voltage distribution cabinets such as GB156-2007, GB50054-95, and GB / T14048.1-93.

[0037] Specifically, the control module includes a robot control cabinet 5 located near the front plate 15 of the box and the right side plate 18 of the box. The robot control cabinet 5 is a control cabinet supporting the ABB IRB 6660 robot. The human-machine interaction module includes an HMI human-machine operating table 6. The robot control cabinet 5 is connected between the bottom plate 13 of the box and the partition 11. The HMI human-machine operating table 6 is made of sheet metal structure, including an HMI human-machine operating interface 61 and buttons 62 arranged above the robot control cabinet 5. The upper position is detachable for replacing different models of HMI human-machine operating interfaces 61 (screens).

[0038] Specifically, the pneumatic module includes a pneumatic component 7 for processing the air source and an air compressor 8 for supplying air to the pneumatic component 7. The model of the air compressor 8 is selected so that the exhaust volume and exhaust pressure load can meet the process requirements of the workstation, and the noise can meet the manufacturer's requirements for the working environment. The pneumatic component 7 can be equipped with pneumatic control valves, cleaners, air pipes, etc. as needed to provide various gas requirements of the workstation; the hydraulic module includes a hydraulic pump station 9, which is composed of a motor, a relief valve, a directional valve, a pressure control valve, etc., and is used to meet the functions of the hydraulic actuators. , mainly meeting the tool changing function of the electric spindle 22. The cooling module includes an oil cooler 10, which is used for cooling the electric spindle 22. The cooling capacity meets the heat of the robot electric spindle 22, and the external dimensions meet the spatial area design of the load-bearing box 1; the pneumatic component 7 is arranged on the partition 11, the oil cooler 10 is connected to the box bottom plate 13 and is close to the box rear plate 16 and the box right side plate 18, the air compressor 8 is connected to the upper end of the oil cooler 10, and the hydraulic pump station 9 is connected to the box bottom plate 13 and is located between the partition 11 and the oil cooler 10.

[0039] Specifically, a front door 151 is hinged at the left or right end of the front panel 15 of the box body, and the front door 151 includes a plurality of first door panels 152 hinged in sequence by hinges, each first door panel 152 is connected to a first mounting block 153, and a first pull rod 154 is inserted into the first mounting block 153. A first fixing block 155 is connected to the frame body 12 located above and below the first door panel 152, and the first fixing block 155 is provided with a first fixing groove 156 that cooperates with the first pull rod 154.

[0040] Specifically, a left door 171 is hinged at the left end or the right end of the left side panel 17 of the box body, and the left door 171 includes a plurality of second door panels 172 hinged in sequence by hinges, each second door panel 172 is connected to a second mounting block 173, and a second pull rod 174 is inserted into the second mounting block 173. A second fixing block 175 is connected to the frame body 12 located above and below the second door panel 172, and the second fixing block 175 is provided with a second fixing groove 176 that cooperates with the second pull rod 174.

[0041] Specifically, a rear door 161 is provided on the rear panel 16 of the box body near the electric control area 200, and the rear door 161 is hinged to the right end of the rear panel 16 of the box body through a hinge, and the rear door 161 is connected to a third mounting block 163, and a third pull rod 164 is inserted into the third mounting block 163, and a third fixing block 165 is connected to the frame 12 located above and below the third door panel 162, and the third fixing block 165 is provided with a third fixing groove 166 that cooperates with the third pull rod 164, and a first grille 167 is provided on the rear panel 16 of the box body near the equipment area 400.

[0042] Specifically, an inspection door 181 is provided on the right side panel 18 of the box body near the equipment area 400, and a second grille 182 is provided on the inspection door 181 to facilitate maintenance work by engineers.

[0043] Through the above arrangement, the exterior of the load-bearing box 1 is provided with a front door 151, a left door 171 and a rear face of a container-type pull rod, and the front door 151 and the left door 171 can be fully opened to facilitate the robot to perform milling operations.

[0044] The present invention determines the internal structural area of ​​the load-bearing box 1 through the standardized design of the robot milling system. Each module is placed in a specific position with a compact structure, which can maximize the use of the space of the box and facilitate product standardization and mass production. The integrated robot milling processing workstation is easy to move and transport, with high flexibility, which reduces the work of integrating the original workstation in various sites, greatly reduces costs, reduces working time, improves the quality and application stability of the robot milling processing workstation, and reduces the overall manufacturing cost.

[0045] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. An integrated robot milling processing workstation, characterized in that: The invention comprises a load-bearing box (1), wherein a partition (11) is provided in the load-bearing box (1), and the interior of the load-bearing box (1) is divided into a processing area (100), an electric control area (200), an operation control area (300) and an equipment area (400) by the partition (11); the processing area (100) is provided with a processing module, the electric control area (200) is provided with an electric control module, the operation control area (300) is provided with a robot control module and a human-machine interaction module, and the equipment area (400) is provided with a pneumatic module, a hydraulic module and a cooling module; The load-bearing box (1) is provided with a frame (12), the frame (12) being a hexahedral structure, the frame (12) being connected with a box bottom plate (13), a box top plate (14), and a box front plate (15), a box rear plate (16), a box left side plate (17), and a box right side plate (18) arranged between the box top plate (14) and the box bottom plate (13); The processing module comprises a six-axis robot (2) located near the front plate (15) of the box body and the left side plate (17) of the box body, the six-axis robot (2) comprising a base (21) and an electric spindle (22) connected to the end thereof, and high-speed rotation and automatic tool change are performed by the electric spindle (22), and the six-axis robot (2) is connected to the bottom plate (13) of the box body through the base (21); The electric control module comprises an electrical cabinet (3) and a reactor cabinet (4) connected to the bottom plate (13) of the box body and close to the rear plate (16) of the box body and the right side plate (18) of the box body, wherein a servo controller for controlling the six-axis robot (2) is integrated in the electrical cabinet (3), and the reactor cabinet (4) is used for starting and stopping the electric spindle (22); The control module comprises a robot control cabinet (5) located near the box front plate (15) and the box right side plate (18), the human-machine interaction module comprises an HMI human-machine operation table (6), the robot control cabinet (5) is connected between the box bottom plate (13) and the partition plate (11), and the HMI human-machine operation table (6) comprises an HMI human-machine operation interface (61) and buttons (62) arranged above the robot control cabinet (5); The pneumatic module comprises a pneumatic component (7) for processing an air source and an air compressor (8) for supplying air to the pneumatic component (7); the hydraulic module comprises a hydraulic pump station (9); and the cooling module comprises an oil cooler (10). The pneumatic component (7) is arranged on a partition (11); the oil cooler (10) is connected to a box bottom plate (13) and is close to a box rear plate (16) and a box right side plate (18); the air compressor (8) is connected to an upper end of the oil cooler (10); and the hydraulic pump station (9) is connected to the box bottom plate (13) and is located between the partition (11) and the oil cooler (10).

2. The integrated robot milling processing workstation according to claim 1, characterized in that: A front door (151) is hingedly connected to the left or right end of the box front panel (15), and the front door (151) includes a plurality of first door panels (152) hingedly connected in sequence by hinges, each first door panel (152) is connected to a first mounting block (153), a first pull rod (154) is inserted into the first mounting block (153), and a first fixing block (155) is connected to the frame (12) located above and below the first door panel (152), and the first fixing block (155) is provided with a first fixing groove (156) that cooperates with the first pull rod (154).

3. The integrated robot milling processing workstation according to claim 2, characterized in that: A left door (171) is hingedly connected to the left or right end of the left side panel (17) of the box body. The left door (171) includes a plurality of second door panels (172) hingedly connected in sequence by hinges. Each second door panel (172) is connected to a second mounting block (173). A second pull rod (174) is inserted into the second mounting block (173). A second fixing block (175) is connected to the frame (12) located above and below the second door panel (172). The second fixing block (175) is provided with a second fixing groove (176) that cooperates with the second pull rod (174).

4. The integrated robot milling processing workstation according to claim 3, characterized in that: A rear door (161) is provided on the rear panel (16) of the box body near the electric control area (200), and the rear door (161) is hinged to the right end of the rear panel (16) of the box body through a hinge. The rear door (161) is connected to a third mounting block (163), and a third pull rod (164) is inserted into the third mounting block (163). A third fixing block (165) is connected to the frame (12) located above and below the third door panel (162), and the third fixing block (165) is provided with a third fixing groove (166) that cooperates with the third pull rod (164). A first grille (167) is provided on the rear panel (16) of the box body near the equipment area (400).

5. The integrated robot milling processing workstation according to claim 4, characterized in that: An inspection door (181) is provided on the right side plate (18) of the box body at a position close to the equipment area (400), and a second grille (182) is provided on the inspection door (181).

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