A method of transferring a metal additively manufactured workpiece

Abstract

The application discloses a kind of metal additive production line workpiece transfer methods, belong to metal additive technical field;Solve the technical problem of low efficiency of the existing metal additive production line workpiece transfer method when transferring workpiece.This metal additive production line workpiece transfer method includes the following steps: step 1, using workpiece clamping subsystem clamping the rudder surface substrate ejected from the turnover station together with workpiece;Step 2, using lateral transfer subsystem to move the rudder surface substrate ejected from the turnover station together with workpiece to the position directly above the jacking subsystem;Step 3, using jacking subsystem to lower workpiece from lateral transfer position to transfer trolley picking position;Step 4, using transfer trolley to transfer the rudder surface substrate together with workpiece to buffer station.The application realizes the efficient transfer of workpiece.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of additive manufacturing, in particular to a metal additive production line transfer method. BACKGROUND

[0002] In the 3D printing additive manufacturing technology, the 3D printing industry in China is still in the early stages of development. The 3D printing industry chain in the early stages of development mainly includes the initial raw material processing, equipment manufacturing to the final printing application and service. The printing materials mainly include metal, ceramic, plastic, cell tissue, gypsum, inorganic powder and photosensitive resin, etc. However, the application of industrial-grade metal powder such as titanium, stainless steel, gold and silver is still limited by technology, and the application range is relatively narrow.

[0003] At present, the main 3D printing mode is mainly single equipment printing operation, which is caused by the limitation of technology popularization and market scale in the early stages of industry development. In the long term, the professional division of 3D industry chain will be further deepened. With the rapid development of additive technology, 3D printing additive manufacturing has entered mass production, therefore, 3D printing production line is gradually formed, but the automation of the production line is poor, therefore, the design of intelligent transfer platform is needed. The transfer platform is an intermediate transfer platform between 3D additive equipment and production line transfer trolley. SUMMARY

[0004] In view of the above analysis, the present application aims to provide a metal additive production line workpiece transfer method to solve the technical problem of poor automation of the existing metal additive production line transfer system, resulting in low workpiece transfer efficiency.

[0005] The purpose of the present application is mainly realized by the following technical solutions:

[0006] The present application provides a metal additive production line workpiece transfer method, comprising the following steps:

[0007] Step 1, using a workpiece clamping subsystem to clamp the rudder surface substrate ejected from the turnover station together with the workpiece;

[0008] Step 2, a horizontal transfer subsystem is used to move the rudder surface substrate ejected from the turnover station together with the workpiece to a position directly above the jacking subsystem;

[0009] Step 3, a jacking subsystem is used to lower the workpiece from the horizontal transfer position to the transfer trolley pickup position;

[0010] Step 4, using a transfer trolley to transfer the rudder surface substrate together with the workpiece to a buffer station.

[0011] Further, in step 1, the workpiece clamping subsystem comprises a first grabbing beam and a second grabbing beam arranged in parallel with each other; a plurality of screws are arranged on the first grabbing beam and the second grabbing beam, and screw limiting blocks are arranged on the screws.

[0012] Further, in step 1, screw holes are arranged on the bottom surface of the control surface substrate corresponding to the positions of the first grabbing beam and the second grabbing beam, and the screws are inserted into the screw holes to clamp the control surface substrate.

[0013] Further, in step 1, the clamping subsystem further comprises a first adjusting fixed plate and a second adjusting fixed plate which are identical in structure, and the first adjusting fixed plate and the second adjusting fixed plate are arranged at the two ends of the first grabbing beam and the second grabbing beam respectively, and the first grabbing beam, the first adjusting fixed plate, the second grabbing beam and the second adjusting fixed plate are sequentially connected to form a rectangular frame.

[0014] The first adjusting fixed plate and the second adjusting fixed plate can adjust the distance between the first grabbing beam 38 and the second grabbing beam.

[0015] Further, in step 2, the transverse transfer subsystem comprises a power assembly, a power assembly fixed plate, a guide rail, a guide rail support plate, a belt pulley and a belt pulley support frame; the power assembly is arranged on the power assembly fixed plate, the guide rail is arranged on the guide rail support plate, and the power assembly fixed plate is fixedly connected with one end of the guide rail; the power assembly is used to drive the belt pulley to move along the guide rail.

[0016] Further, in step 2, the power assembly comprises a first servo motor, a first speed reducer, a speed reducer fixed plate, a first coupling and a second coupling.

[0017] The speed reducer fixed plate is arranged on the power assembly fixed plate, the first speed reducer is installed on the speed reducer fixed plate, and the first servo motor is arranged below the power assembly fixed plate and is in transmission connection with the first speed reducer; the first speed reducer is connected with the first coupling and the second coupling on its two sides through a rotating shaft, and the first coupling and the second coupling are connected with corresponding belt pulley support frames.

[0018] Further, in step 3, the plane positioning unit is used to position the control surface substrate in the plane; the lifting unit is driven by the gear transmission unit to move in the vertical direction, so as to realize the movement of the control surface substrate in the vertical direction.

[0019] Further, in step 3, when the plane positioning unit is used to position the control surface substrate, the first positioning pin and the second positioning pin in the plane positioning unit are inserted into the first positioning pin hole and the second positioning pin hole on the control surface substrate.

[0020] Further, in step 3, the positioning attitude detection unit is used to detect whether the control surface substrate is in an inclined state.

[0021] Further, in step 3, the positioning attitude detection unit comprises a first proximity sensor and a second proximity sensor.

[0022] Compared with the prior art, the present application can achieve at least one of the following beneficial effects:

[0023] (1) The present application uses the transverse transfer subsystem to move the rudder surface substrate and the workpiece ejected from the turnover station to the top of the jacking subsystem, uses the jacking subsystem to lower the workpiece from the transverse transfer position to the pickup position of the transfer trolley, and uses the transfer trolley to transfer the rudder surface substrate and the workpiece to the buffer station, thereby avoiding manual transfer of the workpiece and achieving efficient transfer of the rudder surface substrate and the workpiece.

[0024] (2) The present application uses the gear transmission unit to drive the jacking unit, the jacking unit applies an upward supporting force to the positioning plate, the first positioning pin can be inserted into the first positioning pin hole, and the second positioning pin can be inserted into the second positioning pin hole, thereby achieving accurate positioning of the rudder surface substrate and lowering the workpiece on the rudder surface substrate.

[0025] In the present application, the above technical solutions can be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present application will be described in the subsequent specification, and some advantages will become apparent from the specification or will be understood by implementing the present application. The purposes and other advantages of the present application can be achieved and obtained through the contents specifically indicated in the specification examples and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0027] Figure 1a Figure 1 is a schematic diagram of the overall structure of the loading system;

[0028] Figure 1b Figure 2 is a schematic diagram of the structure and surrounding docking unit of the transfer system;

[0029] Figure 1c Figure 3 is a schematic diagram of the overall structure of the transfer system Figure 2 ;

[0030] Figure 2 Figure 4 is a structural diagram of the high-level frame of the support frame;

[0031] Figure 3 Figure 5 is a structural schematic diagram of the transverse transfer subsystem;

[0032] Figure 4 Figure 6 is a structural schematic diagram of the jacking subsystem;

[0033] Figure 5 Structure diagram of workpiece grabbing subsystem;

[0034] Figure 6 Structure diagram of low-level frame;

[0035] Figure 7 Flow chart of the transfer method of the present application.

[0036] Reference signs:

[0037] 1 - cache station; 2 - support frame; 3 - transverse transfer subsystem; 4 - jacking subsystem; 5 - workpiece grabbing subsystem; 6 - anchor bolt; 7 - anchor bolt fixing plate; 8 - positioning sensor; 9 - drag chain mounting plate; 10 - end limit mechanical sensor; 11 - drag chain plate; 12 - high-level frame; 13 - power assembly fixing plate; 14 - first servo motor; 15 - speed reducer fixing plate; 16 - rotating shaft; 17 - first coupling; 18 - first pulley support frame; 19 - pulley; 20 - guide rail; 21 - guide rail support plate; 22 - first positioning pin; 23 - positioning plate; 24 - first guide rod sleeve; 25 - support plate; 26 - lead screw mounting plate; 27 - first guide rod; 28 - lead screw; 29 - bottom plate; 30 - second servo motor; 31 - second speed reducer; 32 - drag chain; 33 - movable end of drag chain mounting plate; 34 - fixed end of drag chain mounting plate; 35 - driving gear; 36 - driven gear; 37 - fixed end of drag chain plate; 38 - first grabbing cross beam; 39 - first screw rod limiting block; 40 - first screw rod; 41 - first adjusting plate; 42 - guide rail fixing block; 43 - belt fixing block; 44 - aluminum profile; 45 - low-level frame; 46 - transfer trolley; 47 - workpiece. DETAILED DESCRIPTION

[0038] The preferred embodiments of the present application will be described in detail below with reference to the drawings, which form a part of this application, and together with the description thereof, illustrate the principles of the application, and are used to explain the principles of the application, but not to limit the scope of the application.

[0039] In one aspect, the present application provides a transfer method of metal additive production line workpieces, referring to Figure 7 The transfer method comprises the following steps:

[0040] Step 1, using the workpiece grabbing subsystem 5 to grab the rudder surface substrate ejected from the turnover station together with the workpiece 47;

[0041] Step 2, the transverse transfer subsystem 3 is used to move the rudder surface substrate ejected from the turnover station together with the workpiece 47 to a position directly above the jacking subsystem 4;

[0042] Step 3, the jacking subsystem 4 is used to lower the workpiece 47 from the transverse transfer position to the pickup position of the transfer trolley 46;

[0043] Step 4, the rudder surface substrate is transported to the buffer station by the transport trolley 46.

[0044] In step 1, the workpiece clamping subsystem 5 includes a first grabbing beam 38 and a second grabbing beam arranged in parallel with each other; the first grabbing beam 38 and the second grabbing beam are each provided with a plurality of screw limiting blocks, and the screw limiting blocks are provided with a plurality of screws; the rudder surface substrate is provided with screw holes at positions corresponding to the first grabbing beam 38 and the second grabbing beam, and the screws are inserted into the screw holes to clamp the rudder surface substrate.

[0045] Specifically, as shown in Figure 5 the first grabbing beam 38 and the second grabbing beam are provided with a plurality of screws; for example, the first grabbing beam 38 and the second grabbing beam each include a first screw 40 and a second screw, the first screw 40 is provided with a first screw limiting block 39, the second screw is provided with a second screw limiting block, and the rudder surface substrate is provided with the same number and corresponding positions of first screw holes and second screw holes; the first screw 40 is inserted into the first screw hole and fixed by the first screw 40 fixing block, and the second screw is inserted into the second screw hole and fixed by the second screw fixing block; at this time, the rudder surface substrate with the workpiece 47 is fixed together with the workpiece clamping subsystem to realize the clamping function of the clamping subsystem.

[0046] In the above step 1, the clamping subsystem described above further includes a first adjusting fixing plate and a second adjusting fixing plate which are the same structure; the first adjusting fixing plate and the second adjusting fixing plate are respectively arranged at the two ends of the first grabbing beam 38 and the second grabbing beam, and the first grabbing beam 38, the first adjusting fixing plate, the second grabbing beam and the second adjusting fixing plate are sequentially connected to form a rectangular frame; the first adjusting fixing plate and the second adjusting fixing plate are used to adjust the distance between the first grabbing beam 38 and the second grabbing beam and to fix them on the guide rail 20 and fixedly connect them with the belt pulley 19.

[0047] Compared with the prior art, the distance between the first grabbing beam 38 and the second grabbing beam can be adjusted by the first adjusting fixing plate and the second adjusting fixing plate to clamp workpieces of different sizes, thereby improving the applicability of the workpiece clamping subsystem 5.

[0048] It should be further noted that the first adjusting fixing plate and the second adjusting fixing plate each include a first adjusting plate 41, a second adjusting plate, a guide rail 20 fixing block and a plurality of belt fixing blocks 43; wherein the first adjusting plate 41 and the second adjusting plate are arranged at the two ends of the guide rail 20 fixing block and fixedly connected (for example, bolted) with the guide rail 20 fixing block; the bottom surface of the guide rail 20 fixing block is fixedly connected with the guide rail 20, the top surface of the guide rail 20 fixing block is provided with a groove, the belt pulley 19 is embedded in the groove, and the plurality of belt fixing blocks 43 fix the belt pulley 19 in the groove of the guide rail 20 fixing block.

[0049] In step 2, the transverse transfer subsystem 3 includes a power assembly, a power assembly fixing plate 13, a guide rail 20, a guide rail support plate 21, a belt pulley 19 and a belt pulley 19 support frame. The power assembly is arranged on the power assembly fixing plate 13, the guide rail 20 is arranged on the guide rail support plate 21, and the power assembly fixing plate 13 is fixedly connected with one end of the guide rail 20. The power assembly is used to drive the belt pulley 19 to move along the guide rail 20.

[0050] Specifically, as shown in Figure 3 the guide rail support plate 21 is arranged on the high-level support frame 2, the guide rail 20 is arranged on the guide rail support plate 21, the guide rail 20 includes two parallel tracks, the power assembly fixing plate 13 is arranged at the moving end of the guide rail 20, the power assembly fixing plate 13 connects the two guide rails 20, and the belt pulley 19 support frame is arranged at the connection between the guide rail 20 and the power assembly fixing plate 13. The power assembly can drive the belt pulley 19 to move transversely along the guide rail 20 through the belt pulley 19 support frame, thereby driving the workpiece clamping subsystem 5 on the belt pulley 19 to move.

[0051] It should be noted that the belt pulley 19 is provided with a deep groove ball bearing, and the belt pulley 19 can rotate synchronously with the shafts of the first coupling 17 and the second coupling through the deep groove ball bearing.

[0052] In addition, the power assembly includes a first servo motor 14, a first speed reducer, a speed reducer fixing plate 15, and a first coupling 17 and a second coupling. The speed reducer fixing plate 15 is arranged on the power assembly fixing plate, the first speed reducer is arranged on the speed reducer fixing plate 15, and the first servo motor 14 is arranged below the power assembly fixing plate and is in transmission connection with the first speed reducer. The first speed reducer is connected with the first coupling 17 and the second coupling on its two sides through the shaft 16, and the first coupling 17 and the second coupling are connected with the corresponding belt pulley 19 support frame.

[0053] Specifically, as shown in Figure 3 the speed reducer fixing plate 15 is arranged above the power assembly fixing plate, and the size of the speed reducer fixing plate 15 is smaller than that of the power assembly fixing plate. The first speed reducer is arranged on the speed reducer fixing plate, and the first servo motor 14 is arranged below the power assembly fixing plate and is on the same axis as the first speed reducer. The first speed reducer is connected with the shaft 16 on its two ends, and the two shafts 16 are connected with the first coupling 17 and the second coupling, respectively.

[0054] When the workpiece 47 needs to be moved, the first servo motor 14 is started, the first servo motor 14 drives the first speed reducer to rotate, the first speed reducer drives the first shaft and the second shaft through the two rotating shafts 16, and the first shaft and the second shaft drive the pulley 19 on the corresponding connecting belt wheel support frame to rotate, the pulley 19 rotates while being able to drive the workpiece clamping subsystem 5 to move in the transverse direction, so as to achieve the purpose of moving the rudder surface base plate and the workpiece 47 on the transverse guide rail 20; when the rudder surface base plate and the workpiece 47 move to the top of the jacking subsystem 4, the positioning sensor can detect the information, at this time, the power assembly of the transverse moving subsystem is closed, the rudder surface base plate and the workpiece 47 stop moving, at this time, the rudder surface base plate and the workpiece 47 are moved to the working position of the transfer trolley 46 by using the jacking subsystem 4, and the rudder surface base plate and the workpiece 47 are moved to the buffer station 1 by using the transfer trolley 46, so as to complete the transfer of the rudder surface base plate and the workpiece 47.

[0055] In the above step 3, the positioning plate 23 of the present application is provided with a first positioning pin 22 and a second positioning pin; the bottom surface of the rudder surface base plate is provided with a first positioning pin hole and a second positioning pin hole, the first positioning pin 22 can be inserted into the first positioning pin hole, and the second positioning pin can be inserted into the second positioning pin hole.

[0056] Specifically, the first positioning pin 22 can be inserted into the first positioning pin hole, and the second positioning pin can be inserted into the second positioning pin hole, when the workpiece 47 on the rudder surface base plate needs to be jacked up, the jacking unit is driven by using the gear transmission unit, the jacking unit applies an upward supporting force to the positioning plate 23, and the rudder surface base plate is precisely positioned while the workpiece 47 on the rudder surface base plate is lowered.

[0057] In order to avoid the inclination of the rudder surface base plate caused by the first positioning pin 22 and / or the second positioning pin not being inserted into the corresponding positioning pin hole on the rudder surface base plate, the jacking system of the present application further comprises a posture detection unit; the posture detection unit is arranged on the positioning plate 23, and the posture detection unit is used for detecting whether the rudder surface base plate is in an inclined state.

[0058] Compared with the prior art, by arranging the posture detection unit on the positioning plate 23, the present application can timely find the bad phenomenon of the inclination of the rudder surface base plate, so as to timely adjust the rudder surface base plate to be precisely positioned with the positioning plate 23.

[0059] In the above step 3, the above-mentioned positioning posture detection unit comprises a first proximity sensor and a second proximity sensor; the first proximity sensor is arranged adjacent to the first positioning pin 22, and the second proximity sensor is arranged adjacent to the second positioning pin, and the first proximity sensor and the second proximity sensor are located on the opposite sides of the connecting line of the first positioning pin 22 and the second positioning pin.

[0060] Specifically, as shown in Figure 4As shown, the first proximity sensor and the second proximity sensor are respectively arranged on two opposite short edges of the positioning plate 23, the first proximity sensor is adjacent to the first positioning pin 22, the second proximity sensor is adjacent to the second positioning pin, and the first proximity sensor and the second proximity sensor are located on the opposite sides of the line connecting the first positioning pin 22 and the second positioning pin. The purpose of such arrangement is that when the control surface substrate is placed on the positioning plate 23, if the control surface substrate is placed in close contact with the positioning plate 23, at this time, the pressure data measured by the first proximity sensor and the second proximity sensor are the same; once the control surface substrate is placed in an inclined manner with the positioning plate 23, at this time, since the first positioning pin 22 or the second positioning pin does not insert into the corresponding positioning pin hole and abuts against the control surface substrate, the pressure data measured by the proximity sensor adjacent to the positioning pin supporting the control surface substrate is smaller than the pressure data measured by the other proximity sensor, so that it is detected that the control surface substrate is in an inclined state, at this time, the operator can timely adjust the installation state of the control surface substrate according to the received feedback information, so as to realize accurate positioning of the control surface substrate.

[0061] In the above step 3, the jacking unit includes a support plate 25, a lead screw 28 and a lead screw 28 fixing plate; the support plate 25 and the lead screw 28 fixing plate are sequentially arranged below the positioning plate 23; the positioning plate 23, the support plate 25 and the lead screw 28 fixing plate are connected through the lead screw 28; a gear transmission unit is arranged on the support plate 25, and the gear transmission unit is used to provide rotary power for the lead screw 28, and the lead screw 28 can drive the positioning plate 23 at the top and the bottom plate 29 at the bottom to move in the vertical direction.

[0062] Specifically, the support plate 25 of the present application is installed on the frame of the printing platform of the 3D printing production line, the support plate 25 is arranged below the positioning plate 23, the positioning plate 23, the support plate 25 and the bottom plate 29 are fixedly connected through the lead screw 28, wherein the gear transmission unit is arranged on the support plate 25, when the control surface substrate needs to be jacked up, the control surface substrate is first accurately positioned with the positioning plate 23, after positioning, the gear transmission unit is started, the gear transmission unit can provide rotary power for the lead screw 28, at this time, the lead screw 28 can move upward in the vertical direction together with the positioning plate 23 at the top and the bottom plate 29 at the bottom, so as to realize jacking up of the control surface substrate.

[0063] In the above step 3, the gear transmission unit includes a second servo motor 30, a speed reducer, a driving gear 35, a driven gear 36, a lead screw 28 nut and a lead screw 28 fixing plate; wherein the lead screw 28 fixing plate is arranged on the support plate 25, the lead screw 28 nut is installed on the lead screw 28 fixing plate, and the driven gear 36 is installed on the lead screw 28 nut; the driving gear 35 is also arranged above the lead screw 28 fixing plate, the speed reducer and the second servo motor 30 are sequentially arranged below the support plate 25, and the driving gear 35 is arranged on the shaft of the speed reducer.

[0064] Specifically, a screw rod 28 fixing plate is arranged on the support plate 25, and the size of the screw rod 28 fixing plate is smaller than that of the support plate 25; the screw rod 28 fixing plate and the support plate 25 are both rectangular plates, and the screw rod 28 fixing plate and the support plate 25 are precisely positioned through shaft hole cooperation, and then are connected and fixed together through bolts. When the rudder surface base plate needs to be jacked up, the second servo motor 30 drives the driving gear 35 to rotate through the speed reducer, the driving gear 35 drives the screw rod 28 nut to rotate through the driven gear 36, and the screw rod 28 drives the positioning plate 23 to move up and down when the screw rod 28 nut rotates.

[0065] In another aspect, the present application also provides a metal additive manufacturing workpiece transfer system for implementing the above-mentioned transfer method, as shown in Figure 1a 、 Figure 1b and Figure 1c , the transfer system comprises a support frame 2, a workpiece buffer subsystem, a jacking subsystem 4, a horizontal transfer subsystem 3 and a workpiece clamping subsystem 5; wherein the workpiece buffer subsystem, the jacking subsystem 4, the horizontal transfer subsystem 3 and the workpiece clamping subsystem 5 are all arranged on the support frame 2, the workpiece clamping subsystem 5 is used for clamping the workpiece 47, the horizontal transfer subsystem 3 is used for moving the rudder surface base plate jacked out of the turnover station together with the workpiece 47 to a position directly above the jacking subsystem 4, and the jacking subsystem 4 is used for lowering the workpiece 47 from the horizontal transfer position to a workpiece taking position of a transfer trolley.

[0066] In the prior art, when the rudder surface base plate and the workpiece 47 are transferred, a manual transfer mode is mostly used, and the transfer efficiency of this transfer mode is relatively low and the safety is poor.

[0067] Compared with the prior art, the present application sets a plurality of buffer stations 1 for buffering the workpiece 47 on the support frame 2, uses the horizontal transfer subsystem 3 to move the rudder surface base plate jacked out of the turnover station together with the workpiece 47 to a position directly above the jacking subsystem 4, uses the jacking subsystem 4 to lower the workpiece 47 from the horizontal transfer position to a workpiece taking position of a transfer trolley, and uses the transfer trolley 46 to transfer the rudder surface base plate and the workpiece 47 to the buffer station 1, thereby avoiding manual transfer of the workpiece 47, and the present application realizes efficient transfer of the rudder surface base plate and the workpiece 47.

[0068] It should be further pointed out that the transfer system of the present application has good stability, high safety and high operation convenience.

[0069] In order to support other subsystems of the transfer system, the support frame 2 of the present application comprises a lower frame 45 and an upper frame 12; the workpiece buffer subsystem is arranged on the lower frame 45; the jacking subsystem 4, the horizontal transfer subsystem 3 and the workpiece clamping subsystem 5 are all arranged on the upper frame 12.

[0070] Specifically, as shown in Figure 1a 、 Figure 1b, Figure 1c and Figure 2 and Figure 6 As shown, the support frame 2 of the present invention includes a lower frame 45 and a higher frame 12. A plurality of workpiece 47 buffer stations 1 are provided on the lower frame 45. A transverse transfer subsystem 3 is provided on the top of the higher frame 12. A workpiece clamping subsystem 5 is provided on the transverse transfer subsystem 3 and can move on the transverse transfer subsystem 3.

[0071] It should be noted that the support frame 2 of this invention is constructed from 90*90 aluminum profiles 44 connected by bolts. The support frame 2 also includes anchor bolts 6, anchor bolt fixing plates 7, positioning sensors, cable chain mounting plates 9, end limit mechanical sensors 10, and cable chain plates 11. The anchor bolts 6 and anchor bolt fixing plates 7 are assembled together to form a single unit, which is then installed at the lower end of the aluminum profiles 44 to provide support and adjust the height. The positioning sensors 8, cable chain mounting plates 9, end limit mechanical sensors 10, and cable chain plates 11 are all bolted to the upper end of the support frame 2. The end limit mechanical sensors 10 are located at the end of the lateral movement subsystem. The positioning sensor 8 is used to position the lifting subsystem 4 directly above it, stopping the lateral movement of the workpiece clamping subsystem 5 when it reaches this position. The cable chain mounting plate 9 is fixedly connected to the moving end 33 of the cable chain mounting plate. The cable chain 32 is used to protect the sensor wires and / or motor wires from movement. The end limit mechanical sensor 10 is provided to prevent the workpiece gripping subsystem 5 from touching the end position of the lateral movement subunit when it is moving laterally.

[0072] To ensure that the workpiece 47 moves smoothly in the lateral direction, the lateral transfer subsystem 3 of the present invention includes a power component, a power component fixing plate 13, a guide rail 20, a guide rail support plate 21, a pulley 19, and a pulley 19 support frame; the power component is mounted on the power component fixing plate 13, the guide rail 20 is mounted on the guide rail support plate 21, and the power component fixing plate 13 is fixedly connected to one end of the guide rail 20; the power component is used to drive the pulley 19 to move along the guide rail 20.

[0073] Specifically, such as Figure 3 As shown, the guide rail support plate 21 is mounted on the high-rise support frame 2. A guide rail 20 is mounted on the guide rail support plate 21. The guide rail 20 includes two parallel tracks. A power component fixing plate 13 is mounted at the moving end of the guide rail 20. The power component fixing plate 13 connects the two guide rails 20. A pulley 19 support frame is mounted at the connection between the guide rail 20 and the power component fixing plate 13. The power component can drive the pulley 19 to move laterally along the guide rail 20 through the pulley 19 support frame, thereby driving the workpiece clamping subsystem 5 on the pulley 19 to move.

[0074] It should be noted that the pulley 19 is provided with deep groove ball bearings, and the pulley 19 can rotate synchronously with the shafts of the first and second shaft couplings 17 and 18 through the deep groove ball bearings.

[0075] In order to realize the smooth movement of the pulley 19 in the transverse direction, the power assembly of the present application comprises a first servo motor 14, a first speed reducer, a speed reducer fixing plate 15, and first and second shaft couplings 17 and 18; the speed reducer fixing plate 15 is arranged on the power assembly fixing plate, the first speed reducer is arranged on the speed reducer fixing plate 15, and the first servo motor 14 is arranged below the power assembly fixing plate and is in transmission connection with the first speed reducer; the first speed reducer is connected with the first and second shaft couplings 17 and 18 on its two sides through the shafts 16, and the first and second shaft couplings 17 and 18 are connected with the corresponding pulley support frames 19.

[0076] Specifically, as shown in Figure 3 the speed reducer fixing plate 15 is arranged above the power assembly fixing plate, and the size of the speed reducer fixing plate 15 is smaller than that of the power assembly fixing plate; the first speed reducer is arranged on the speed reducer fixing plate, and the first servo motor 14 is arranged below the power assembly fixing plate and is on the same axis as the first speed reducer. The two ends of the first speed reducer are respectively connected with the shafts 16, and the two shafts 16 are respectively connected with the first and second shaft couplings 17 and 18.

[0077] When it is needed to move the workpiece 47, the first servo motor 14 is started, the first servo motor 14 drives the first speed reducer to rotate, the first speed reducer drives the first and second shaft couplings 17 and 18 on its two sides to rotate through the two shafts 16, and the first and second shaft couplings 17 and 18 drive the pulleys 19 on the pulley support frames 19 connected therewith to rotate, the pulleys 19 can drive the workpiece clamping subsystem 5 to move in the transverse direction at the same time, so as to realize the movement of the rudder surface base plate and the workpiece 47 on the transverse guide rail 20; when the rudder surface base plate and the workpiece 47 move to the top of the jacking subsystem 4, the positioning sensor can detect the information, at this time, the power assembly of the transverse movement subsystem is closed, and the rudder surface base plate and the workpiece 47 stop moving, at this time, the rudder surface base plate and the workpiece 47 are moved downward to the working position of the transfer trolley 46 by the jacking subsystem 4, and the rudder surface base plate and the workpiece 47 are moved to the buffer station 1 by the transfer trolley 46, so as to complete the transfer of the rudder surface base plate and the workpiece 47.

[0078] In order to better grasp the rudder surface base plate and the workpiece 47, the workpiece clamping subsystem 5 of the present application comprises first and second grasping cross beams 38 and 39 arranged in parallel with each other; a plurality of screw limiting blocks are arranged on the first and second grasping cross beams 38 and 39, and a plurality of screws are arranged on the screw limiting blocks; screw holes are arranged on the rudder surface base plate at positions corresponding to the first and second grasping cross beams 38 and 39, and the screws are inserted into the screw holes to clamp the rudder surface base plate.

[0079] Specifically, as shown in Figure 5 The first and second grabbing beams are provided with a plurality of screw rods; for example, the first and second grabbing beams each include a first screw rod provided with a first screw rod limiting block and a second screw rod provided with a second screw rod limiting block, and the rudder surface base plate is provided with a same number of first screw holes and second screw holes corresponding in position, the first screw rod is inserted into the first screw hole and fixed by the first screw rod fixing block, and the second screw rod is inserted into the second screw hole and fixed by the second screw rod fixing block, at this time, the rudder surface base plate with the workpiece is fixed together with the transverse moving subsystem to realize the grabbing function of the grabbing subsystem.

[0080] In order to improve the applicability of the transverse moving subsystem and make it suitable for rudder surface base plates of different sizes, the grabbing subsystem of the present application further includes first and second adjusting fixing plates which are the same in structure, the first and second adjusting fixing plates are respectively arranged at two ends of the first and second grabbing beams, and the first grabbing beam, the first adjusting fixing plate, the second grabbing beam and the second adjusting fixing plate are sequentially connected to form a rectangular frame; the first and second adjusting fixing plates are used for adjusting the distance between the first and second grabbing beams and for fixing the first and second grabbing beams on the guide rail 20 and fixedly connecting the first and second grabbing beams with the belt pulley 19.

[0081] Compared with the prior art, the distance between the first and second grabbing beams can be adjusted by the first and second adjusting fixing plates, thereby improving the applicability of the workpiece grabbing subsystem 5.

[0082] It should be further noted that the first and second adjusting fixing plates each include a first adjusting plate 41, a second adjusting plate, a guide rail 20 fixing block and a plurality of belt fixing blocks 43; the first adjusting plate 41 and the second adjusting plate are arranged at two ends of the guide rail 20 fixing block and fixedly connected (for example, bolted) with the guide rail 20 fixing block; the bottom surface of the guide rail 20 fixing block is fixedly connected with the guide rail 20, the top surface of the guide rail 20 fixing block is provided with a groove, the belt pulley 19 is embedded in the groove, and the plurality of belt fixing blocks 43 fix the belt pulley 19 in the groove of the guide rail 20 fixing block.

[0083] In addition, the first and second adjusting fixing plates of the present application are further provided with a drag chain plate fixing end 37 for fixing a drag chain.

[0084] It should be further noted that:

[0085] The support frame 2 of the present application is provided with an electric control cabinet, which is a circuit integration system and is responsible for the operation and stop of the entire system, and is installed on the side support frame 2.

[0086] In order to move the rudder surface base plate and the workpiece 47 up and down, the jacking subsystem 4 of the present application comprises a plane positioning unit, a jacking unit and a gear transmission unit; the plane positioning unit comprises a positioning plate 23 arranged below the rudder surface base plate, which is used for plane positioning of the lower end surface of the rudder surface base plate; the jacking unit is arranged below the plane positioning unit and fixedly connected with the plane positioning unit; and the gear transmission unit is arranged on the jacking unit and used for driving the jacking unit to move in the vertical direction to realize the jacking of the rudder surface base plate in the vertical direction.

[0087] Specifically, the jacking system of the present application comprises a plane positioning unit, a jacking unit and a gear transmission unit; wherein the plane positioning unit comprises a positioning plate 23 arranged below the rudder surface base plate, the workpiece 47 produced by 3D printing is placed on the rudder surface base plate, and the positioning plate 23 can be accurately positioned with the rudder surface base plate. In addition, the jacking unit and the gear transmission unit are arranged below the positioning unit, the gear transmission unit is arranged on the jacking unit, and the jacking unit can move the workpiece 47 produced by 3D printing in the vertical direction, thereby facilitating the later handling of the workpiece 47.

[0088] Compared with the prior art, the present application can realize accurate positioning of the rudder surface base plate by arranging the positioning plate 23; in addition, the jacking unit and the gear transmission unit can realize the lowering and jacking of the workpiece 47 on the rudder surface base plate, thereby facilitating the later handling thereof.

[0089] In order to further accurately position the rudder surface base plate, the positioning plate 23 of the present application is provided with a first positioning pin 22 and a second positioning pin; the bottom surface of the rudder surface base plate is provided with a first positioning pin hole and a second positioning pin hole, the first positioning pin 22 can be inserted into the first positioning pin hole, and the second positioning pin can be inserted into the second positioning pin hole.

[0090] Specifically, the first positioning pin 22 can be inserted into the first positioning pin hole, and the second positioning pin can be inserted into the second positioning pin hole; when it is necessary to jacking the workpiece 47 on the rudder surface base plate, the jacking unit is driven by the gear transmission unit, and the jacking unit applies an upward supporting force to the positioning plate 23, thereby realizing accurate positioning of the rudder surface base plate and lowering the workpiece 47 on the rudder surface base plate.

[0091] In order to avoid the inclination of the rudder surface base plate caused by the first positioning pin 22 and / or the second positioning pin not being inserted into the corresponding positioning pin hole on the rudder surface base plate, the jacking system of the present application further comprises a posture detection unit; the posture detection unit is arranged on the positioning plate 23, and is used for detecting whether the rudder surface base plate is in an inclined state.

[0092] Compared with the prior art, the present application can timely discover the adverse phenomenon of the inclination of the rudder surface base plate by arranging the posture detection unit on the positioning plate 23, thereby timely adjusting the rudder surface base plate to accurately position it with the positioning plate 23.

[0093] In order to better detect whether the control surface base plate tilts during lifting, the positioning attitude detection unit of the present invention includes a first proximity sensor and a second proximity sensor; the first proximity sensor is disposed near the first positioning pin 22, and the second proximity sensor is disposed near the second positioning pin, and the first proximity sensor and the second proximity sensor are located on opposite sides of the line connecting the first positioning pin 22 and the second positioning pin.

[0094] Specifically, such as Figure 4 As shown, the positioning plate 23 of the present invention is a rectangular plate with multiple triangular slots. For example, four triangular slots are provided, and the four slots are evenly distributed along the intersection of the two diagonals of the rectangular positioning plate 23. Compared with the prior art, the present invention sets the positioning plate 23 into a slotted structure, which can reduce the weight of the positioning plate 23. When lifting the rudder base plate, the lifting weight can be reduced and the lifting efficiency of the rudder base plate can be improved. In addition, a first proximity sensor and a second proximity sensor are respectively provided on the two opposite short sides of the positioning plate 23. The first proximity sensor is adjacent to the first positioning pin 22, and the second proximity sensor is adjacent to the second positioning pin. The first proximity sensor and the second proximity sensor are located on opposite sides of the line connecting the first positioning pin 22 and the second positioning pin. The purpose of this arrangement is that when the rudder base plate is placed on the positioning plate 23, if the rudder base plate and the positioning plate 23 are placed in close contact, the pressure data measured by the first proximity sensor and the second proximity sensor are the same. Once the rudder base plate is tilted, since the first positioning pin 22 or the second positioning pin is not inserted into the corresponding positioning pin hole and is pressing against the rudder base plate, the pressure data measured by the proximity sensor adjacent to the positioning pin that plays a supporting role will be less than the pressure data measured by the other proximity sensor, thereby detecting that the rudder base plate is tilted. At this time, the operator can adjust the installation state of the rudder base plate in time according to the feedback information received, thereby achieving accurate positioning of the rudder base plate.

[0095] To achieve the lifting of the control surface base plate, the lifting unit of the present invention includes a support plate 25, a lead screw 28, and a lead screw 28 fixing plate; the support plate 25 and the lead screw 28 fixing plate are arranged in parallel below the positioning plate 23; the positioning plate 23, the support plate 25, and the lead screw 28 fixing plate are all connected by the lead screw 28; a gear transmission unit is provided on the support plate 25, and the gear transmission unit is used to provide rotational power to the lead screw 28, which can drive the top positioning plate 23 and the bottom base plate 29 to move in the vertical direction.

[0096] Specifically, the support plate 25 of the present application is installed on the frame of the printing platform of the 3D printing production line, the support plate 25 is arranged below the positioning plate 23, and the positioning plate 23, the support plate 25 and the bottom plate 29 are fixedly connected through the lead screw 28, wherein the gear transmission unit is arranged on the support plate 25; when it is necessary to lift the rudder surface substrate, the rudder surface substrate is first accurately positioned with the positioning plate 23; after positioning, the gear transmission unit is started, and the gear transmission unit can provide rotary power for the lead screw 28; at this time, the lead screw 28 can move upward in the vertical direction together with the positioning plate 23 at the top and the bottom plate 29 at the bottom, thereby realizing the lifting of the rudder surface substrate.

[0097] In order to reduce the lifting space, the gear transmission unit of the present application comprises a second servo motor 30, a speed reducer, a driving gear 35, a driven gear 36, a lead screw 28 nut and a lead screw 28 fixing plate; wherein the lead screw 28 fixing plate is arranged on the support plate 25, the lead screw 28 nut is installed on the lead screw 28 fixing plate, and the driven gear 36 is installed on the lead screw 28 nut; the driving gear 35 is also arranged above the lead screw 28 fixing plate, the speed reducer and the second servo motor 30 are sequentially arranged below the support plate 25, and the driving gear 35 is arranged on the shaft of the speed reducer.

[0098] Specifically, the lead screw 28 fixing plate is arranged on the support plate 25, and the size of the lead screw 28 fixing plate is smaller than that of the support plate 25; both the lead screw 28 fixing plate and the support plate 25 are rectangular plates, the lead screw 28 fixing plate and the support plate 25 are accurately positioned through shaft hole cooperation, and then are connected and fixed together through bolts. When it is necessary to lift the rudder surface substrate, the second servo motor 30 drives the driving gear 35 to rotate through the speed reducer, the driving gear 35 drives the lead screw 28 nut to rotate through the driven gear 36, and the lead screw 28 nut drives the positioning plate 23 to move up and down when rotating.

[0099] It should be noted that the both ends of the lead screw 28 of the present application are directional structures, and the driven gear 36 drives the lead screw 28 nut to rotate; at this time, the lead screw 28 does not rotate synchronously but only moves in the vertical direction; this design can reduce the layout space of the lead screw 28, and at the same time, the movement space of the lead screw 28 is compressed, thereby avoiding the waste of the movable part of the lead screw 28.

[0100] In order to guide the lead screw 28 to avoid shaking during work, the lifting unit of the present application further comprises a plurality of guide rods arranged in parallel with the lead screw 28, and a plurality of guide rod sleeves equal in number to the guide rods are arranged above the support plate 25; the bottom ends of the plurality of guide rods are fixed to the bottom plate 29, and the top ends thereof are fixed to the lower bottom surface of the positioning plate 23; the plurality of guide rods penetrate through the support plate 25 through the corresponding guide rod sleeves.

[0101] Specifically, the support plate 25 of the application is provided with a plurality of guide rods, for example, four guide rods, including a first guide rod 27, a second guide rod, a third guide rod and a fourth guide rod, and in addition, the support plate 25 is also provided with a first guide rod sleeve 24, a second guide rod sleeve, a third guide rod sleeve and a fourth guide rod sleeve, wherein the bottom ends of the first guide rod 27 to the fourth guide rod are fixed on the bottom plate 29, and the top ends thereof are fixed on the positioning plate 23, the first guide rod 27 to the fourth guide rod pass through the support plate 25 through the corresponding guide rod sleeves, when the rudder surface base plate needs to be lifted, the second servo motor 30 drives the driving gear 35 to rotate through the speed reducer, the driving gear 35 drives the driven gear 36 on the screw nut of the lead screw 28 to rotate to realize the rotation of the screw nut of the lead screw 28, when the screw nut of the lead screw 28 rotates, the lead screw 28 does not rotate, it only moves in the vertical direction, when the lead screw 28 moves in the vertical direction, the first guide rod 27 to the fourth guide rod are used as guides, the positioning plate 23 fixedly connected with the lead screw 28 and the bottom plate 29 move synchronously with the lead screw 28 in the vertical direction, and the first guide rod 27 to the fourth guide rod can ensure that the lead screw 28 does not shake in the working state.

[0102] It should be emphasized that the first guide rod sleeve 24 to the fourth guide rod sleeve of the application are all arranged above the support plate 25, and the first guide rod sleeve 24 to the fourth guide rod sleeve adopt this reverse installation mode, which can compress the movement space of the lead screw 28 and reduce the activity space of the lead screw 28.

[0103] In order to further reduce the activity space occupied by the lead screw 28, the bottom plate 29 of the application is provided with a containing groove, which can accommodate the second servo motor 30 and the speed reducer.

[0104] Specifically, when the lead screw 28 drives the bottom plate 29 to move upwards, because the speed reducer and the second servo motor 30 arranged below the support plate 25 occupy a certain space, the bottom plate 29 cannot be attached to the bottom of the support plate 25, the application sets the containing groove on the bottom plate 29, the containing groove is on the same vertical line with the speed reducer and the second servo motor 30, when the lead screw 28 drives the bottom plate 29 to move below the support plate 25, the speed reducer and the second servo motor 30 can be accommodated in the containing groove, so that the top surface of the floor is attached to the bottom of the support plate 25, thereby reducing the setting space of the lead screw 28.

[0105] In order to firmly fix the top end faces of the first guide rod 27 to the fourth guide rod and the lead screw 28 below the positioning plate 23, the bottom surface of the positioning plate 23 of the application is provided with a plurality of cylindrical countersunk holes, and the top ends of the lead screw 28 and the plurality of guide rods are fixed in the cylindrical countersunk holes through bolts.

[0106] The jacking system of the present application further comprises a drag chain 32, a fixed side of the drag chain plate and a moving side of the drag chain plate; wherein the drag chain 32 is arranged for the movement protection of each sensor line and motor line; the fixed side of the drag chain 32 is fixed to the fixed side of the drag chain plate, and the moving side of the drag chain 32 is fixed to the moving side of the drag chain plate; the fixed side of the drag chain plate is fixed on the platform constructed by the aluminum profile 44, and the moving side of the drag chain plate is fixed to the positioning plate 23, both of which are connected by bolts.

[0107] It is emphasized that the sensor pad is arranged above the support plate 25 of the present application, and the lower limit sensor is fixed on the sensor pad; the lower limit sensor is used for detecting the lowest safe limit position of the positioning plate 23 when the jacking mechanism is lowered, and the sensor pad is used for fixing the lower limit sensor.

[0108] The sensor bracket is arranged below the support plate 25 and aligned with the sensor pad, and the upper sensor is arranged on the sensor bracket; wherein the sensor bracket is used for fixing the upper sensor, and the upper sensor is used for limiting the specific rising accurate position when the jacking unit is rising. In addition, the upper limit sensor is further arranged below the support plate 25, and the upper limit sensor is used for detecting the highest safe limit position of the bottom plate 29 when the jacking mechanism is rising.

[0109] In summary, the first positioning pin 22 and the second positioning pin arranged on the positioning plate 23 can realize the accurate positioning of the rudder base plate. The first proximity sensor arranged beside the first positioning pin 22 and the second proximity sensor arranged beside the second positioning pin can realize the rudder base plate tilt detection function, and ensure the correct placement of the rudder base plate and ensure its stable state. The first guide rod sleeve 24 to the fourth guide rod sleeve arranged above the support plate 25 and the accommodating groove arranged on the bottom plate 29 can reduce the activity space occupied by the lead screw 28 and the space layout. The present application can realize the jacking movement while improving the plane positioning efficiency, and the overall structure of the mechanism is simple, which is convenient for processing, assembly and maintenance.

[0110] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any change or replacement easily thought by those skilled in the art within the technical range disclosed by the present application should be covered within the protection scope of the present application.

Claims

1. A method for transferring workpieces in a metal additive manufacturing line, characterized in that, Includes the following steps: Step 1: Use the workpiece clamping subsystem to clamp the rudder surface base plate and the workpiece ejected from the turnover station. Step 2: Use the lateral transfer subsystem to move the rudder plate and workpiece ejected from the turnover station to a position directly above the lifting subsystem. Step 3: The lifting subsystem is used to lower the workpiece from the lateral transfer position to the pick-up position of the transfer trolley; Step 4: Use a transfer trolley to transfer the workpiece connected to the rudder surface substrate to the buffer station; The workpiece clamping subsystem includes a first gripping beam and a second gripping beam arranged in parallel with each other; both the first gripping beam and the second gripping beam are provided with multiple screws, and each screw is provided with a screw limiting block; The bottom surface of the rudder base plate is provided with screw holes corresponding to the positions of the first gripping beam and the second gripping beam. Inserting the screw into the screw hole can clamp the rudder base plate. The workpiece clamping subsystem also includes a first adjusting fixing plate and a second adjusting fixing plate with the same structure. The first adjusting fixing plate and the second adjusting fixing plate are respectively located at both ends of the first gripping beam and the second gripping beam. The first gripping beam, the first adjusting fixing plate, the second gripping beam and the second adjusting fixing plate are connected in sequence to form a rectangular frame. The first adjusting fixing plate and the second adjusting fixing plate can adjust the distance between the first gripping crossbeam and the second gripping crossbeam.

2. The method for transferring workpieces in a metal additive manufacturing line according to claim 1, characterized in that, In step 2, the transverse transfer subsystem includes a power component, a power component fixing plate, a guide rail, a guide rail support plate, a pulley, and a pulley support frame; the power component is mounted on the power component fixing plate, the guide rail is mounted on the guide rail support plate, and the power component fixing plate is fixedly connected to one end of the guide rail; the power component is used to drive the pulley to move along the guide rail.

3. The method for transferring workpieces in a metal additive manufacturing line according to claim 2, characterized in that, In step 2, the power assembly includes a first servo motor, a first reducer, a reducer mounting plate, a first coupling, and a second coupling. The reducer mounting plate is disposed on the power component mounting plate, the first reducer is mounted on the reducer mounting plate, the first servo motor is disposed below the power component mounting plate and is connected to the first reducer in a transmission manner; the first reducer is connected to the first coupling and the second coupling on both sides of it through a rotating shaft, and the first coupling and the second coupling are both connected to the corresponding pulley support frame.

4. The method for transferring workpieces in a metal additive manufacturing line according to claim 1, characterized in that, In step 3, the planar positioning unit is first used to perform planar positioning of the rudder base plate; the gear transmission unit is used to drive the lifting unit to move in the vertical direction, so as to realize the movement of the rudder base plate in the vertical direction.

5. The method for transferring workpieces in a metal additive manufacturing line according to claim 4, characterized in that, In step 3, when the planar positioning unit is used to perform planar positioning on the rudder surface substrate, the first positioning pin and the second positioning pin in the planar positioning unit are inserted into the first positioning pin hole and the second positioning pin hole on the rudder surface substrate respectively.

6. The method for transferring workpieces in a metal additive manufacturing line according to claim 5, characterized in that, In step 3, the positioning attitude detection unit is used to detect whether the control surface base plate is in a tilted state.

7. The method for transferring workpieces in a metal additive manufacturing line according to claim 6, characterized in that, In step 3, the positioning attitude detection unit includes a first proximity sensor and a second proximity sensor.

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