Fully automatic processing production line

Abstract

The present invention discloses a full-automatic processing production line, which relates to the technical field of machining. The full-automatic processing production line includes a machining center, a manipulator and a fork picking device. The fork picking device includes a fixed frame arranged on the manipulator, a movable frame hinged to the fixed frame through a hinged structure, an elastic mechanism arranged between the fixed frame and the movable frame, a pick arm arranged on the movable frame, and a pressing mechanism arranged on the movable frame. The pick arm has a fork head, and the fork head is driven by the manipulator to pick a tray carrying a product into the machining center or pick the tray out of the machining center. The pressing mechanism is used to press the picked-up tray. The machining center is used to automatically process the product on the picked-up tray. The full-automatic processing production line of the present invention realizes full-automatic processing production, reduces the labor employment amount, and improves the work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of machining, and in particular to a fully automatic machining production line. Background Art

[0002] At present, the outer shapes and internal structures of most products are machined by machining centers. The transfer of products inside and outside the machining centers all uses trays. Its operation process is as follows: Workers manually carry the tray carrying the product into the machining center for positioning, and the machining center processes the product on the positioned tray; after the product is processed, the workers then take out the tray carrying the product from the machining center.

[0003] Although the above manual operation method can realize the processing and transfer of products, it has a large amount of labor, low work efficiency, and due to the presence of oil mist, noise and strong repetitive operations in the working environment, it seriously affects human health. Summary of the Invention

[0004] In view of the above defects existing in the prior art, the present invention provides a fully automatic machining production line, which realizes fully automatic machining production, reduces the amount of labor, and improves work efficiency.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A fully automatic machining production line includes a machining center, a manipulator and a fork picking device. The fork picking device includes a fixed frame arranged on the manipulator, a movable frame hinged to the fixed frame through a hinged structure, an elastic mechanism arranged between the fixed frame and the movable frame, a pick arm arranged on the movable frame, and a pressing mechanism arranged on the movable frame; the pick arm has a fork head, and the fork head is driven by the manipulator to pick the tray carrying the product into the machining center or pick the tray out of the machining center; the pressing mechanism is used to press the picked-up tray; the machining center is used to automatically process the product on the picked-up tray;

[0007] The pick arm includes a cantilever part and two fork claws. One end of the cantilever part is connected to the movable frame, and the two fork claws are arranged at intervals at the other end of the cantilever part, and the two fork claws and the cantilever part together enclose a U-shaped accommodating groove with an upper opening, a lower opening and a side opening. The U-shaped accommodating groove and the two fork claws together form the fork head;

[0008] The tray has a tray fork picking part, and the tray fork picking part has a fork picking head that cooperates with the U-shaped accommodating groove. When picking up the tray, the fork picking head is located in the U-shaped accommodating groove, and the two fork claws fork up the fork picking head;

[0009] The pressing mechanism includes a power member disposed on the movable frame, a pressing member disposed on the power member and slidably disposed on the pick arm. The power member is used to drive the pressing member to move, and the pressing member is used to press the material tray.

[0010] Wherein, a guiding chamfer is provided at the upper opening, and a guiding fillet is provided at the side opening.

[0011] Wherein, the hinged structure includes a first hinged ear disposed on the fixed frame, two second hinged ears spaced apart on the movable frame, and a hinge shaft. An installation hole is provided on the first hinged ear. One end of the hinge shaft is fixed to one of the second hinged ears, and the other end of the hinge shaft passes through the installation hole and is fixed to the other second hinged ear.

[0012] Wherein, the diameter of the installation hole is larger than the diameter of the hinge shaft, and the distance between the two second hinged ears is larger than the thickness of the first hinged ear.

[0013] Wherein, the elastic mechanism includes a positioning shaft having a conical head and a rod portion, and an elastic member disposed between the fixed frame and the movable frame. A conical positioning hole adapted to the conical head is provided on the fixed frame, and the rod portion passes through the conical positioning hole and the elastic member and is fixed to the movable frame.

[0014] Wherein, a wear-resistant bushing is provided on the fixed frame, and the conical positioning hole is the inner hole of the wear-resistant bushing.

[0015] Wherein, two sets of the elastic mechanisms are provided, and the two elastic mechanisms are symmetrically arranged on both sides of the hinged structure.

[0016] Wherein, the machining center is a four-axis machining center, and a material tray positioning seat for positioning the material tray is provided at the top of the fourth axis of the four-axis machining center. The fork head is used to pick the material tray to the material tray positioning seat for positioning under the drive of the manipulator.

[0017] Adopting the above technical solution, the beneficial effects of the present invention are:

[0018] The full-automatic processing production line provided by the present invention has a fork picking device that can not only pick any tray, with a wide range of applications, but also is not restricted by space when picking the tray. It only requires the manipulator to drive the picking arm of the fork picking device to extend into the processing center, without the need to extend the entire fork picking device into the processing center. During use, the manipulator drives the fork picking device to move to pick the tray into the processing center, and then the processing center automatically processes the products on the picked tray. When the product processing is completed, the manipulator drives the fork picking device to move again to pick the tray out of the processing center. The entire process does not require manual participation, realizing the full-automatic processing production of products, reducing the labor usage, and improving the work efficiency. At the same time, during the entire process of picking the tray, since an elastic mechanism is provided between the fixed frame and the movable frame, it can not only ensure the normal reset of the picking arm but also greatly reduce the vibration amplitude of the picking arm when picking the tray, improving the stability when picking the tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a partial structural schematic diagram of the full-automatic processing production line of the present invention;

[0020] Figure 2 is Figure 1 the structural schematic diagram of the fork picking device in

[0021] Figure 3 is Figure 2 a partial structural schematic diagram of

[0022] Figure 4 is Figure 2 the sectional view of

[0023] Figure 5 is Figure 1 the connection schematic diagram of the processing center and the tray positioning seat in

[0024] Figure 6 is the structural schematic diagram of the tray;

[0025] Figure 7 is Figure 6 the structural schematic diagram of the other side;

[0026] In the figure: 100, fork picking device; 1, fixed frame; 11, frame body; 12, connecting arm; 13, connecting flange; 14, first hinge ear; 2, movable frame; 21, second hinge ear; 22, hinge shaft; 3, picking arm; 31, cantilever part; 32, fork claw; 33, U-shaped placement groove; 34, guiding chamfer; 35, guiding fillet; 4, positioning shaft; 41, conical head; 42, rod part; 5, elastic part; 6, wear-resistant bushing; 61, conical positioning hole; 7, power part; 8, pressing part; 9, material tray; 91, material tray body; 92, material tray positioning table; 93, product positioning die core; 94, material tray fork picking part; 95, material tray stacking structure; 200, manipulator; 300, machining center; 400, material tray positioning seat; 401, material tray positioning groove. Detailed implementation manners

[0027] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] As Figures 1 to 7 As commonly shown, a full-automatic processing production line includes a machining center 300, a manipulator 200 and a fork picking device 100. The fork picking device 100 includes a fixed frame 1 arranged on the manipulator 200, a movable frame 2 hinged to the fixed frame 1 through a hinge structure, an elastic mechanism arranged between the fixed frame 1 and the movable frame 2, a picking arm 3 arranged on the movable frame 2, and a pressing mechanism arranged on the movable frame 2; the picking arm 3 has a fork head, and the fork head is used to pick a material tray 9 carrying a product (not shown in the figure) into the machining center 300 or pick the material tray 9 out of the machining center 300 under the drive of the manipulator 200; the pressing mechanism is used to press the picked-up material tray 9; the machining center 300 is used to automatically process the product on the picked-up material tray 9.

[0029] In this embodiment, the fixed frame 1 of the fork picking device 100 includes a frame body 11 and a connecting arm 12 arranged on one side of the frame body 11. A connecting flange 13 connected to the manipulator 200 is arranged at the end of the connecting arm 12. During use, the connecting flange 13 is connected to the manipulator 200 through bolts, and the fork picking device 100 is driven by the manipulator 200 to move.

[0030] In this embodiment, the hinge structure of the fork picking device 100 includes a first hinge ear 14 provided on the other side of the frame 11, two second hinge ears 21 spaced apart on the movable frame 2, and a hinge shaft 22. An installation hole (not shown in the figure) is provided on the first hinge ear 14. One end of the hinge shaft 22 is fixed to one of the second hinge ears 21, and the other end of the hinge shaft 22 passes through the installation hole and is fixed to the other second hinge ear 21. With such a structure, the rotational connection between the movable frame 2 and the fixed frame 1 is realized.

[0031] In order to realize the multi-degree-of-freedom movement of the movable frame 2, in this embodiment, the diameter of the installation hole is set to be larger than the diameter of the hinge shaft 22. At the same time, the distance s between the two second hinge ears 21 is set to be larger than the thickness d of the first hinge ear 14.

[0032] In order to ensure that the movable frame 2 can be reset in time, at the same time reduce the vibration amplitude of the pick arm 3 when picking up the tray 9, and improve the stability of the fork picking device 100 when picking up the tray 9, two sets of elastic mechanisms of the fork picking device 100 are provided in this embodiment, and the two sets of elastic mechanisms are symmetrically arranged on both sides of the hinge structure.

[0033] Specifically, the elastic mechanism includes a positioning shaft 4 having a conical head 41 and a rod portion 42, and an elastic member 5 provided between the frame body 11 of the fixed frame 1 and the movable frame 2. A conical positioning hole 61 adapted to the conical head 41 is provided on the frame body 11, and the rod portion 42 passes through the conical positioning hole 61 and the elastic member 5 and is fixed to the movable frame 2.

[0034] Among them, the conical positioning hole 61 includes a conical positioning section that cooperates with the conical head 41 and a straight section that has a clearance fit with the rod portion 42. With such a structure, both the multi-degree-of-freedom movement of the movable frame 2 and the reset accuracy of the movable frame 2 can be ensured.

[0035] Since the spring has good elastic reset ability, therefore, the elastic member 5 in this embodiment is preferably a spring. In practical applications, the elastic member 5 can also be made of an elastic rubber body, which is specifically selected according to actual needs, and this embodiment does not limit this.

[0036] In order to extend the service life of the fork picking device 100, a wear-resistant bushing 6 is provided on the frame body 11 of the fixed frame 1, and the conical positioning hole 61 is the inner hole of the wear-resistant bushing 6.

[0037] In this embodiment, the pick arm 3 of the fork picking device 100 includes a cantilever portion 31 and two fork claws 32. One end of the cantilever portion 31 is connected to the movable frame 2, and the two fork claws 32 are spaced apart at the other end of the cantilever portion 31. According to Figure 3 As shown, the two fork claws 32 and the cantilever portion 31 together enclose a U-shaped accommodating groove 33 having an upper opening, a lower opening, and a side opening. The U-shaped accommodating groove 33 and the two fork claws 32 together form a fork head.

[0038] According to Figure 6 and Figure 7 As shown, the tray 9 used in this embodiment includes a tray body 91, a tray positioning table 92 provided on one side of the tray body 91, and a product positioning die core 93 and a tray fork picking member 94 provided on the other side of the tray body 91. The tray fork picking member 94 has a fork picking head that cooperates with the U-shaped placement groove 33. When picking up the tray 9, the fork picking head of the tray fork picking member 94 is located in the U-shaped placement groove 33, and the two fork claws 32 fork up the fork picking head of the tray fork picking member 94.

[0039] In order to facilitate forking up the fork picking head of the tray fork picking member 94, a guiding chamfer 34 is provided at the upper opening of the U-shaped placement groove 33 in this embodiment. At the same time, a guiding fillet 35 is provided at the side opening of the U-shaped placement groove 33.

[0040] The pressing mechanism of the fork picking device 100 in this embodiment includes a power member 7 provided on the movable frame 2, and a pressing member 8 provided on the power member 7 and slidably provided on the picking arm 3. The power member 7 is used to drive the pressing member 8 to move, and the pressing member 8 is used to press or release the fork picking head of the tray fork picking member 94.

[0041] The power member 7 in this embodiment uses a telescopic cylinder, and the pressing member 8 uses a shaft-like part. In practical applications, the power member 7 can also use an electric cylinder or an electric push rod, and the pressing member 8 can also use a plate-like part or a block-like part, which is specifically selected according to actual needs, and this embodiment does not limit this.

[0042] In order to be able to detect abnormalities in a timely manner, a magnetic switch (not shown in the figure) for detecting whether the movable frame 2 moves abnormally is provided on the frame body 11 in this embodiment, and a magnet (not shown in the figure) that cooperates with the magnetic switch is provided on the power member 7.

[0043] The manipulator 200 in this embodiment uses a six-axis manipulator. In practical applications, the manipulator 200 can also use a three-axis manipulator or a five-axis manipulator, which is specifically selected according to actual needs, and this embodiment does not limit this.

[0044] In order to enable the trays 9 to be stacked and reduce the floor space, a tray stacking structure 95 is provided at the edge of the tray body 91 in this embodiment.

[0045] The machining center 300 in this embodiment is a four-axis machining center. A tray positioning seat 400 for positioning the tray 9 is provided at the top of the fourth axis of the four-axis machining center. The fork head is used to pick the tray 9 to the tray positioning seat 400 for positioning under the drive of the manipulator 200.

[0046] In this embodiment, two pallet positioning platforms 92 on the pallet 9 are arranged at intervals, and a pallet positioning groove 401 adapted to the two pallet positioning platforms 92 is arranged on the pallet positioning seat 400. The pallet 9 is positioned by the cooperation of the two pallet positioning platforms 92 and the two pallet positioning grooves 401.

[0047] During use, the manipulator 200 drives the fork picking device 100 to move to pick the pallet 9 into the machining center 300, and then the machining center 300 automatically processes the products on the picked pallet 9. After the products are processed, the manipulator 200 drives the fork picking device 100 to move to pick the pallet 9 out of the machining center 300. The whole process does not require manual participation, realizing the full-automatic processing and production of products, reducing the labor usage, and improving the work efficiency.

[0048] Moreover, the fork picking device 100 of the full-automatic processing production line of the present invention can not only pick any pallet 9, with a wide range of use, but also the fork picking device 100 is not restricted by space when picking the pallet 9. It only needs the manipulator 200 to drive the picking arm 3 of the fork picking device 100 to extend into the machining center 300, without the need to extend the whole fork picking device 100 into the machining center 300. At the same time, during the whole process of picking the pallet 9, since an elastic mechanism is arranged between the fixed frame 1 and the movable frame 2, it can not only ensure the normal reset of the picking arm 3, but also greatly reduce the vibration amplitude of the picking arm 3 when picking the pallet 9, improving the stability when picking the pallet 9.

[0049] The present invention is not limited to the above specific embodiments. All kinds of transformations made by those of ordinary skill in the art starting from the above concepts without creative labor fall within the protection scope of the present invention.

Claims

1. A fully automatic processing production line, characterized in that, It includes a machining center, a manipulator and a fork picking device. The fork picking device includes a fixed frame arranged on the manipulator, a movable frame hinged to the fixed frame through a hinged structure, an elastic mechanism arranged between the fixed frame and the movable frame, a pick arm arranged on the movable frame, and a pressing mechanism arranged on the movable frame. The pick arm has a fork head, and the fork head is used to pick the tray carrying the product into the machining center or pick the tray out of the machining center under the drive of the manipulator; the pressing mechanism is used to press the picked tray; the machining center is used to automatically process the product on the picked tray. The pick arm includes a cantilever portion and two fork claws. One end of the cantilever portion is connected to the movable frame, and the two fork claws are arranged at intervals at the other end of the cantilever portion. The two fork claws and the cantilever portion together form a U-shaped accommodating groove with an upper opening, a lower opening and a side opening, and the U-shaped accommodating groove and the two fork claws together form the fork head. The tray has a tray fork picking member, and the tray fork picking member has a fork picking head adapted to the U-shaped accommodating groove. When picking the tray, the fork picking head is located in the U-shaped accommodating groove, and the two fork claws fork up the fork picking head. The pressing mechanism includes a power member arranged on the movable frame, and a pressing member arranged on the power member and slidably arranged on the pick arm. The power member is used to drive the pressing member to move, and the pressing member is used to press the fork picking head.

2. The fully automatic processing production line according to claim 1, wherein, A guiding chamfer is arranged at the upper opening, and a guiding fillet is arranged at the side opening.

3. The fully automatic processing production line according to claim 1, characterized in that, The hinged structure includes a first hinged ear arranged on the fixed frame, two second hinged ears arranged at intervals on the movable frame, and a hinged shaft. An installation hole is arranged on the first hinged ear. One end of the hinged shaft is fixed on one of the second hinged ears, and the other end of the hinged shaft passes through the installation hole and is fixed on the other second hinged ear.

4. The fully automatic processing production line according to claim 3, characterized in that, The diameter of the installation hole is larger than the diameter of the hinged shaft, and the distance between the two second hinged ears is larger than the thickness of the first hinged ear.

5. The fully automatic processing production line according to claim 1, characterized in that, The elastic mechanism includes a positioning shaft having a conical head and a rod portion, and an elastic member arranged between the fixed frame and the movable frame. A conical positioning hole adapted to the conical head is arranged on the fixed frame, and the rod portion passes through the conical positioning hole and the elastic member and is fixed on the movable frame.

6. The fully automatic processing production line according to claim 5, characterized in that, A wear-resistant bushing is arranged on the fixed frame, and the conical positioning hole is the inner hole of the wear-resistant bushing.

7. The fully automatic processing production line according to claim 1, characterized in that, Two sets of the elastic mechanisms are arranged, and the two elastic mechanisms are symmetrically arranged on both sides of the hinged structure.

8. The full-automatic processing production line according to any one of claims 1 to 7, characterized in that, The machining center is a four-axis machining center. A tray positioning seat for positioning the tray is arranged at the top of the fourth axis of the four-axis machining center. The fork head is used to pick the tray to the tray positioning seat for positioning under the drive of the manipulator.

Images