An intelligent production line for curtain wall columns and its processing technology

Abstract

The present invention relates to the technical field of curtain wall column processing, and in particular to an intelligent production line for curtain wall columns and its processing technology. The production line includes a loading rack for placing raw material profiles, a double-headed saw module for cutting the ends of the profiles to a specified length, a CNC milling machine and a machining center for leveling the cut profiles, a transfer platform, a first clamping mechanism, a second clamping mechanism, and a semi-finished product conveyor line disposed between the first and second clamping mechanisms. The first clamping mechanism is capable of conveying the profiles on the loading rack to the double-headed saw module, conveying the profiles on the double-headed saw module to the CNC milling machine, and conveying the profiles on the CNC milling machine to the semi-finished product conveyor line. A visual assistance system is provided on a wood strip loading robot. When using the present invention, production efficiency is greatly improved and labor intensity is reduced. The wood strips are used to separate adjacent layers of profiles, making it easier for the robot to retrieve the material and facilitating automation.

Description

Technical Field

[0001] The present invention relates to the technical field of curtain wall column processing, and in particular to an intelligent production line for curtain wall columns and a processing technology thereof. Background Art

[0002] Curtain walls are the exterior walls of buildings. They are non-load-bearing and are hung like a curtain. They are lightweight, decorative walls commonly used in modern large and high-rise buildings. Curtain walls are composed of panels and a supporting structural system.

[0003] In the supporting structure, columns and beams are the main load-bearing components connecting the panels. Both columns and beams are cut from profiles to the appropriate lengths and machined with corresponding holes. Furthermore, after cutting both ends, they often need to be deburred and smoothed.

[0004] Existing profile cutting and forming processes are performed on different equipment in different steps. From loading to cutting, drilling and deburring, the profiles need to be manually transferred between the various processing equipment. In addition, the finished profiles need to be stacked manually, and the waste generated needs to be manually handled.

[0005] Moreover, the profiles need to be stacked. To ensure that the material of each layer is easy for the robot to grab, blocking strips need to be placed between the layers to leave space for the robot to grab. Two wooden strips need to be placed between each layer to separate the upper and lower layers manually.

[0006] Each transfer of profiles requires manual operation, and the entire production line requires 4-5 people, which is labor-intensive and has low production efficiency. Summary of the Invention

[0007] The purpose of the present invention is to provide an automated curtain wall column intelligent production line and a processing technology thereof in view of the defects and shortcomings of the prior art.

[0008] To achieve the above object, the technical solution adopted by the present invention is:

[0009] The intelligent production line for curtain wall columns described in the present invention includes a loading rack for placing profile raw materials, a double-headed saw module for cutting the ends of the profile to specified lengths, a CNC milling machine and a machining center for leveling the cut profiles, a transfer platform, a first clamping mechanism, a second clamping mechanism, and a semi-finished product conveyor line arranged between the first clamping mechanism and the second clamping mechanism; the first clamping mechanism is capable of conveying the profiles on the loading rack to the double-headed saw module, conveying the profiles on the double-headed saw module to the CNC milling machine, and conveying the profiles on the CNC milling machine to the semi-finished product conveyor line;

[0010] The second clamping mechanism is used to convey the profiles on the semi-finished product conveyor line to the processing center and to convey the profiles on the processing center to the finished product stacking rack;

[0011] A material head recovery mechanism is provided between the first clamping mechanism and the second clamping mechanism: a transfer platform is provided on the side of the loading rack away from the AGV feeding trolley; a loading bracket is provided on the side of the loading rack away from the double-head saw module; a wood strip loading robot is provided on the loading bracket; a visual assistance system is provided on the wood strip loading robot; the visual assistance system is a camera connected to the central system.

[0012] Furthermore, the first clamping mechanism is composed of a first gantry and a plurality of clamping manipulators; the clamping manipulators on the first gantry are first clamping manipulators; each first clamping manipulator can perform independent transverse movement on the first gantry;

[0013] The second clamping mechanism consists of a second gantry and a plurality of clamping manipulators; the clamping manipulators on the second gantry are second clamping manipulators; each second clamping manipulator can perform independent transverse movement on the second gantry.

[0014] Furthermore, the material clamping robot includes a lifting module, a fixed base connected to the lifting module and a flip plate rotatably connected to the fixed base; the fixed base is connected to a rotating mechanism for driving the flip plate to rotate; and clamping components are provided at both ends of the flip plate.

[0015] Furthermore, the clamping assembly consists of a clamping cylinder with one end fixed to the flip plate, a movable clamping plate fixed to the other end of the clamping cylinder, and a fixed clamping plate fixed to the flip plate; the fixed clamping plate and the movable clamping plate are arranged opposite to each other.

[0016] Furthermore, the slug recovery mechanism includes a second recovery conveyor line; the end of the second recovery conveyor line is connected to the first recovery conveyor line; the end of the first recovery conveyor line is connected to a slug recovery box.

[0017] A processing technology for an intelligent production line of curtain wall columns comprises the following steps:

[0018] ① Arrange multiple layers of profiles on an empty loading rack, and set two wooden strips perpendicular to the length of the profiles between each layer;

[0019] ② The AGV feeding trolley lifts the loading rack filled with profiles off the ground and drives the loading rack to the bottom of the first clamping mechanism. The AGV feeding trolley drives the loading rack down and places it on the ground. The AGV feeding trolley then enters the space between the loading rack and the finished product stacking rack and waits for operation.

[0020] ③. The first clamping mechanism grabs the profiles on the loading rack one by one and clamps them into the double-head saw module. When the profiles enter the double-head saw module, the sensor on the double-head saw module sends a signal to the central system, which instructs the double-head saw module to cut the profiles into the length of the distance between the two saw blades. The cut stubs are placed into the stub recovery mechanism through the first clamping mechanism.

[0021] When the profiles on the loading rack are taken out, the central system controls the wood strip loading robot to move to the position of the loading rack;

[0022] The wood strip feeding robot uses the visual assistance system to obtain an image of the wood strip arrangement on the feeding rack. This image is compared with the image in the central system to control the gripping position of the wood strip feeding robot. The visual assistance system then obtains the position of the arranged wood strips on the transfer platform, determines the placement of the wood strips taken from the feeding rack, and recovers the wood strips on the feeding rack.

[0023] ④. The cut profile is clamped and transported to the CNC milling machine through the first clamping mechanism. When the sensor on the CNC milling machine senses the arrival of the profile, it sends a signal to the central system. The fixture of the CNC milling machine clamps the profile and controls the CNC milling machine to trim the two end surfaces of the profile.

[0024] ⑤. The profile after trimming the end surface is clamped by the first clamping mechanism and conveyed to the semi-finished product conveyor line. The semi-finished product conveyor line cooperates with the sensor to convey the profile to the second clamping mechanism;

[0025] ⑥. After the sensor on the semi-finished product conveyor line senses that the profile has reached the set position of the second clamping mechanism, the second clamping mechanism takes the profile out of the semi-finished product conveyor line and places it on the machining center, where the surface of the profile is processed;

[0026] ⑦. The profiles after surface processing are transported to the finished product stacking rack through the second clamping mechanism for stacking;

[0027] When a full layer of profiles is stacked, the central system controls the strip loading robot to move to the transfer platform. The visual assistance system captures an image of the strip arrangement on the loading rack. This image is compared with the image from the central system to control the gripping position of the strip loading robot, which then grabs two strips from the transfer platform and places them on the top surface of the finished product stacking rack.

[0028] ⑧. After the finished product stacking rack is fully stacked with profiles, the finished product stacking rack is lifted off the ground and transported to the outside by the AGV feeding trolley.

[0029] After adopting the above structure, the beneficial effects of the present invention are:

[0030] 1. By realizing automatic loading and automatic processing of the production line, the production efficiency is greatly improved and the labor intensity is reduced;

[0031] 2. Adjacent profile layers are separated by wooden strips to facilitate the robot to take the material and facilitate the realization of automation;

[0032] 3. The camera captures the images of the wood strips when they are picked up and put down, and then feeds them back to the central system to determine the movement required by the wood strip loading robot, making the loading and unloading of wood strips more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a perspective view of the present invention;

[0034] Figure 2 This is a structural diagram of the present invention after the fence, machining center, double-head saw module and CNC milling machine are disassembled;

[0035] Figure 3 It is the structural diagram of the clamping robot;

[0036] Description of reference numerals:

[0037] 1. First recycling conveyor line; 2. AGV feeding trolley; 3. Clamping robot; 301. Lifting module; 302. Rotating mechanism; 303. Clamping cylinder; 304. Movable splint; 305. Fixed splint; 306. Flip plate; 307. Fixed seat; 4. First gantry; 5. Loading rack; 6. Visual assistance system; 7. Second gantry; 8. Finished product stacking rack; 9. Machining center; 10. Semi-finished product conveyor line; 11. Double-head saw module; 12. Second recycling conveyor line; 13. Material head recovery box; 14. CNC milling machine; 15. Loading bracket; 16. Transfer platform; 17. Wood strip loading robot. DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to the accompanying drawings.

[0039] like Figures 1 to 3 As shown, the present invention discloses an intelligent production line for curtain wall columns and a processing technology thereof, which includes a loading rack 5 for placing profile raw materials, a double-headed saw module 11 for cutting both ends of the profile to a specified length, a CNC milling machine 14 and a machining center 9 for leveling the cut profile, a transfer platform 16, a first clamping mechanism, a second clamping mechanism, and a semi-finished product conveyor line 10 arranged between the first clamping mechanism and the second clamping mechanism; the first clamping mechanism can realize the conveyance of the profile on the loading rack 5 to the double-headed saw module 11, the conveyance of the profile on the double-headed saw module 11 to the CNC milling machine 14, and the conveyance of the profile on the CNC milling machine 14 to the semi-finished product conveyor line 10;

[0040] The second clamping mechanism is used to convey the profiles on the semi-finished product conveyor line 10 to the processing center 9 and to convey the profiles on the processing center 9 to the finished product stacking rack 8;

[0041] A material head recovery mechanism is provided between the first material clamping mechanism and the second material clamping mechanism;

[0042] The double-head saw module 11 is composed of two sawing mechanisms with set distances. After the double-head saw module 11 clamps the profile, the sawing mechanisms on both sides cut the profile into the set length. There is no essential difference from the existing technology, so it is not described in detail.

[0043] The CNC milling machine 14 is used to process the end face of the profile, so that one end of the profile is milled flat or milled into a set shape. It is essentially the same as the prior art, so it is not described in detail.

[0044] The machining center 9 is used to open corresponding notches on the profile;

[0045] In the first step, the first clamping mechanism clamps a profile on the loading rack 5 and places it into the double-head saw module 11 for clamping and fixing. When the profile enters the double-head saw module 11, the sensor on the double-head saw module 11 will send a signal to the central system, and the central system will command the double-head saw module 11 to cut the profile into the set length;

[0046] In the second step, the cut profile is clamped by the first clamping mechanism and transported to the CNC milling machine 14. After the sensor on the CNC milling machine 14 senses the arrival of the profile, it sends a signal to the central system. The fixture of the CNC milling machine 14 clamps the profile and controls the CNC milling machine 14 to trim the two end surfaces of the profile.

[0047] In the third step, the profile after trimming the end surface is clamped by the first clamping mechanism and conveyed to the semi-finished product conveying line 10. The semi-finished product conveying line 10 cooperates with the sensor to convey the profile to the second clamping mechanism;

[0048] In the fourth step, after the sensor on the semi-finished product conveyor line 10 senses that the profile has reached the set position of the second clamping mechanism, the second clamping mechanism takes the profile out of the semi-finished product conveyor line 10 and places it on the machining center 9, which processes the surface of the profile;

[0049] In the fifth step, the profiles after surface processing are transported to the finished product stacking rack 8 through the second clamping mechanism for stacking.

[0050] This structure can greatly improve production efficiency and reduce labor intensity by realizing automatic loading and automatic processing of the production line.

[0051] The loading rack 5 is connected to an AGV feeding trolley 2 with a lifting mechanism; the loading rack 5 and the finished product stacking rack 8 have the same structure; the AGV feeding trolley 2 is provided with a lifting structure, which can drive the loading rack 5 and the finished product stacking rack 8 to perform lifting movements; after the loading rack 5 and the finished product stacking rack 8 are lowered to a certain height, the feet of the loading rack 5 and the finished product stacking rack 8 are supported on the ground and will not continue to descend with the lifting plate of the AGV feeding trolley 2, thereby realizing the separation of the loading rack 5 and the finished product stacking rack 8 from the AGV feeding trolley 2.

[0052] The loading rack 5 is filled with multiple layers of profiles, and two wooden strips are set between each layer of profiles;

[0053] The AGV feeding trolley transports the full material loading rack 5 to the bottom of the first clamping mechanism. The AGV feeding trolley 2 drives the material layer to descend so that the loading rack 5 is supported on the ground. The lifting structure of the AGV feeding trolley 2 is separated from the loading rack 5, and the loading rack 5 is fixed to the ground. The empty AGV feeding trolley 2 enters between the loading rack 5 and the finished product stacking rack 8, generally below the transfer platform 16.

[0054] After the finished product stacking rack 8 is full of materials, the AGV feeding trolley 2 enters under the finished product stacking rack 8, and then the lifting structure of the AGV feeding trolley 2 rises to lift the finished product stacking rack 8 off the ground. The AGV feeding trolley 2 can then take out the fully loaded finished product stacking rack 8: the loading rack 5 is provided with a transfer platform 16 on the side away from the AGV feeding trolley 2;

[0055] In order to facilitate material retrieval and realize material retrieval automation, two wooden strips perpendicular to the profiles are laid between each layer of the profiles on the AGV feeding trolley 2. The wooden strips are used to bridge the gap between the upper and lower layers of the profiles, and there is a gap between the wooden strips on the same layer, and the gap between the wooden strips is large enough for the clamping robot 3 to extend into; a loading bracket 15 is provided on the side of the loading rack 5 away from the double-head saw module 11; a wooden strip loading robot 17 is provided on the loading bracket 15; a visual assistance system 6 is provided on the wooden strip loading robot 17; the visual assistance system 6 is a camera connected to the central system; the camera obtains images of the arrangement of wooden strips on the loading rack 5, the arrangement of wooden strips on the transfer platform 16, and the arrangement of wooden strips on the finished product stacking rack 8, and compares them with the images of the central system respectively, and executes the work of the wooden strip loading robot 17;

[0056] The wood strip feeding robot 17 can perform lifting, horizontal movement, vertical movement and clamping actions; the camera is used to obtain the arrangement image of the wood strips on the transfer platform 16, and is used to obtain the arrangement image of the wood strips on the feeding rack 5;

[0057] For example, the loading rack 5 can load nine layers of materials, with five pieces arranged in sequence on each layer;

[0058] Each layer is separated by two wooden strips with a cross-section of 20mm*20mm;

[0059] The clamping manipulator 3 on the first gantry 4 takes the first layer of profiles on the loading rack 5, and then notifies the wooden strip loading manipulator 17 to take the two wooden strips under the first layer to the transfer platform 16 at one time. Similarly, the wooden strip temporary storage area will have coordinate memory, which is convenient for rapid positioning of the wooden strips.

[0060] In the finished product unloading area: after the bottom layer of the finished product stacking rack 8 is completed and before the second layer of finished products is placed, the wood strip loading robot 17 is notified to pick up the wood strips on the transfer platform 16 and transport them to the finished product stacking rack 8. The materials of each layer are also separated by two wood strips, and so on. The scanner on the first clamping mechanism starts scanning from the ninth layer. The material sensor also uses a visual system. The visual system is placed on the far right of the wood strip robot. When the AGV moves from the loading area to the waiting area, the visual system scans up and down once to grab the position of the profile and the position of the wood strip, and then feeds it back to the central system. The central system controls the first clamping mechanism to start clamping. During the clamping process, the camera continuously captures the image of the material on the loading rack 5 and analyzes it through the central system. When the profiles on the top layer are taken out, the central system commands the robot on the first clamping mechanism used to load materials from the loading rack 5 to stop moving and reset. Then the strip loading robot 17 for taking the strips from the loading rack 5 moves to clamp the strips on the top layer of the loading rack 5 onto the transfer platform 16; when the strips are transferred to the transfer platform 16, the camera facing the transfer platform 16 obtains the image of the strips on the transfer platform 16 and feeds it back to the central system, which controls the strip loading robot 17 for clamping the strips to control the position of placing the strips on the transfer platform 16 and the position of placing the strips on the finished product stacking rack 8, thereby realizing the intelligent utilization and recycling of the strips.

[0061] The wooden strips are taken out from the AGV feeding trolley 2 of the loading rack 5 and transferred to the transfer platform 16, and then all are placed between the profiles on the finished product stacking rack 8. The number of wooden strips on the AGV feeding trolley 2 when full is equal to the number of wooden strips on the finished product stacking rack 8 when full. The number of wooden strips on the transfer platform 16 will not accumulate and increase, and it only plays a transfer role.

[0062] The camera is used to capture images to accurately determine the position of the wood strips, thereby improving the accuracy of the clamping position of the wood strip feeding robot 17.

[0063] As a preferred embodiment of the present invention, the first clamping mechanism is composed of a first gantry 4 and a plurality of clamping manipulators 3; the clamping manipulators 3 on the first gantry 4 are first clamping manipulators; each first clamping manipulator can perform independent transverse movement on the first gantry 4;

[0064] The second clamping mechanism is composed of a second gantry 7 and a plurality of clamping manipulators 3; the clamping manipulators 3 on the second gantry 7 are second clamping manipulators; each second clamping manipulator can perform independent transverse movement on the second gantry 7;

[0065] A transverse movement module is provided between the clamping manipulator 3 and the second gantry 7; the transverse movement module can drive the entire clamping manipulator 3 to move transversely; each transverse movement module receives an independent signal, so each transverse movement module also moves independently.

[0066] As a preferred embodiment of the present invention, the material clamping manipulator 3 includes a lifting module 301, a fixed base 307 connected to the lifting module 301, and a flip plate 306 rotatably connected to the fixed base 307; the fixed base 307 is connected to a rotating mechanism 302 for driving the flip plate 306 to rotate; the rotating mechanism 302 is a motor and a rotating shaft structure, the rotating shaft is connected to the flip plate 306, and the flip plate 306 is driven to rotate by the motor; both ends of the flip plate 306 are provided with clamping components;

[0067] The lifting module 301 is connected to the transverse module. After the clamping assembly clamps and fixes the profile, the lifting module 301 is combined with the transverse module to move, so that the clamping assembly and the profile move on the vertical plane to realize the transportation of the profile.

[0068] As a preferred embodiment of the present invention, the clamping assembly consists of a clamping cylinder 303 fixed at one end on the flip plate 306, a movable clamping plate 304 fixed at the other end of the clamping cylinder 303, and a fixed clamping plate 305 fixed on the flip plate 306; the fixed clamping plate 305 is arranged opposite to the movable clamping plate 304; the clamping cylinder 303 drives the movable clamping plate 304 to move toward the fixed clamping plate 305, clamping the profile between the fixed clamping plate 305 and the movable clamping plate 304.

[0069] As a preferred embodiment of the present invention, the slug recovery mechanism includes a second recovery conveyor line 12; the end of the second recovery conveyor line 12 is connected to the first recovery conveyor line 1; the end of the first recovery conveyor line 1 is connected to a slug recovery box 13;

[0070] When the double-head saw module 11 is cutting, the first clamping mechanism of the double-head saw module 11 clamps and fixes the cut material head. After cutting, the first clamping mechanism clamps and sends it to the second recovery conveyor line 12, and finally enters the material head recovery box 13 after passing through the second recovery conveyor line 12 and the first recovery conveyor line 1; similarly, the material blocks cut out in the machining center 9 are also transported to the second recovery conveyor line 12 through the second clamping mechanism and finally sent to the material head recovery box 13.

[0071] A processing technology for an intelligent production line of curtain wall columns comprises the following steps:

[0072] ① Arrange multiple layers of profiles on the empty loading rack 5, and set two wooden strips perpendicular to the length direction of the profiles between each layer of profiles;

[0073] ② The AGV feeding trolley 2 lifts the loading rack 5 filled with profiles off the ground and drives the loading rack 5 to the bottom of the first clamping mechanism. The AGV feeding trolley 2 drives the loading rack 5 down and places the loading rack 5 on the ground. The AGV feeding trolley 2 then enters between the loading rack 5 and the finished product stacking rack 8 and waits for operation.

[0074] ③. The first clamping mechanism grabs the profiles on the loading rack 5 one by one and clamps them into the double-head saw module 11. When the profiles enter the double-head saw module 11, the sensor on the double-head saw module 11 sends a signal to the central system, which instructs the double-head saw module 11 to cut the profile into the length of the distance between the two saw blades. The cut stubs are placed into the stub recovery mechanism through the first clamping mechanism.

[0075] When the upper layer of profiles on the loading rack 5 is taken out, the central system controls the wood strip loading robot 17 to move to the position of the loading rack 5;

[0076] The wood strip loading robot 17 obtains an image of the arrangement of wood strips on the loading rack 5 through the visual assistance system 6. This image is compared with the image of the central system to control the grasping position of the wood strip loading robot 17. The visual assistance system 6 then obtains the position of the arranged wood strips on the transfer platform 16, determines the placement position of the wood strips removed from the loading rack 5, and recovers the wood strips on the loading rack 5.

[0077] ④ The cut profile is clamped and transported to the CNC milling machine 14 through the first clamping mechanism. When the sensor on the CNC milling machine 14 senses the arrival of the profile, it sends a signal to the central system. The fixture of the CNC milling machine 14 clamps the profile and controls the CNC milling machine 14 to trim the two end surfaces of the profile.

[0078] ⑤. The profile after trimming the end surface is clamped by the first clamping mechanism and conveyed to the semi-finished product conveying line 10. The semi-finished product conveying line 10 cooperates with the sensor to convey the profile to the second clamping mechanism;

[0079] ⑥. After the sensor on the semi-finished product conveyor line 10 senses that the profile has reached the set position of the second clamping mechanism, the second clamping mechanism takes the profile out of the semi-finished product conveyor line 10 and places it on the machining center 9, which processes the surface of the profile;

[0080] ⑦, the profiles after surface processing are transported to the finished product stacking rack 8 through the second clamping mechanism for stacking;

[0081] After a full layer of profiles is stacked, the central system controls the strip loading robot 17 to move to the transfer platform 16 and obtains an image of the strip arrangement on the loading rack 5 through the visual assistance system 6. This image is compared with the image of the central system to control the gripping position of the strip loading robot 17, and the strips are grabbed from the transfer platform 16 and placed on the top surface of the loading layer of the finished product stacking rack 8.

[0082] ⑧. After the finished product stacking rack 8 is fully stacked with profiles, the finished product stacking rack 8 is lifted off the ground by the AGV feeding trolley 2 and transported to the outside.

[0083] The above description is only a preferred embodiment of the present invention. Therefore, any equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. An intelligent production line for curtain wall columns, comprising a loading rack (5) for placing profile raw materials, a double-head saw module (11) for cutting both ends of the profile to a specified length, a CNC milling machine (14) for leveling the cut profile, and a machining center (9); Its characteristics are: It also includes a transfer platform (16), a first clamping mechanism, a second clamping mechanism, and a semi-finished product conveying line (10) arranged between the first clamping mechanism and the second clamping mechanism; the first clamping mechanism is capable of conveying the profile on the loading rack (5) to the double-head saw module (11), conveying the profile on the double-head saw module (11) to the CNC milling machine (14), and conveying the profile on the CNC milling machine (14) to the semi-finished product conveying line (10); The second clamping mechanism is used to convey the profiles on the semi-finished product conveying line (10) to the processing center (9) and to convey the profiles on the processing center (9) to the finished product stacking rack (8); A material head recovery mechanism is provided between the first material clamping mechanism and the second material clamping mechanism; The loading rack (5) is connected to an AGV feeding trolley (2) with a lifting mechanism: the loading rack (5) is provided with a transfer platform (16) on the side away from the AGV feeding trolley (2); the loading rack (5) is provided with a loading bracket (15) on the side away from the double-head saw module (11); the loading bracket (15) is provided with a wood strip feeding robot (17); the wood strip feeding robot (17) is provided with a visual assistance system (6); the visual assistance system (6) is a camera connected to the central system; the first clamping mechanism is composed of a first gantry (4) and a plurality of clamping robots (3); the clamping robots (3) on the first gantry (4) are first clamping robots; each first clamping robot can perform independent transverse movement on the first gantry (4); The second material clamping mechanism is composed of a second gantry (7) and a plurality of material clamping manipulators (3); the material clamping manipulators (3) on the second gantry (7) are second material clamping manipulators; each second material clamping manipulator can perform independent transverse movement on the second gantry (7); the material clamping manipulator (3) includes a lifting module (301), a fixed seat (307) connected to the lifting module (301) and a flip plate (306) rotatably connected to the fixed seat (307); the fixed seat (307) is connected to a rotating mechanism (302) for driving the flip plate (306) to rotate; the flip plate (3 06) are provided with clamping assemblies at both ends; the clamping assembly is composed of a clamping cylinder (303) fixed on the flip plate (306) at one end, a movable clamping plate (304) fixed on the other end of the clamping cylinder (303) and a fixed clamping plate (305) fixed on the flip plate (306); the fixed clamping plate (305) and the movable clamping plate (304) are arranged opposite to each other; the material head recovery mechanism includes a second recovery conveying line (12); the end of the second recovery conveying line (12) is connected to the first recovery conveying line (1); the end of the first recovery conveying line (1) is connected to the material head recovery box (13).

2. The processing technology of the curtain wall column intelligent production line according to claim 1 comprises the following steps: ① Arrange multiple layers of profiles on an empty loading rack (5), and set two wooden strips perpendicular to the length direction of the profiles between each layer of profiles; ②, the AGV feeding trolley (2) lifts the loading rack (5) filled with profiles off the ground and drives the loading rack (5) to be transported to the bottom of the first clamping mechanism, the AGV feeding trolley (2) drives the loading rack (5) down and places the loading rack (5) on the ground, and then the AGV feeding trolley (2) enters between the loading rack (5) and the finished product stacking rack (8) and waits for operation; ③. The first clamping mechanism grabs the profiles on the loading rack (5) one by one and clamps them into the double-head saw module (11); when the profiles enter the double-head saw module (11), the sensor on the double-head saw module (11) sends a signal to the central system, and the central system directs the double-head saw module (11) to cut the profiles into the length of the distance between the two saw blades; the cut material heads are placed into the material head recovery mechanism through the first clamping mechanism; When the upper layer of profiles on the loading rack (5) is completely taken, the central system controls the wood strip loading manipulator (17) to move to the position of the loading rack (5); The wood strip feeding robot (17) obtains an image of the arrangement of the wood strips on the feeding rack (5) through the visual assistance system (6); the image is compared with the image of the central system to control the grasping position of the wood strip feeding robot (17); then, the position of the arranged wood strips on the transfer platform (16) is obtained through the visual assistance system (6), and the placement position of the wood strips taken out from the feeding rack (5) is determined, and the wood strips on the feeding rack (5) are recovered; ④. The cut profile is clamped and transported to the CNC milling machine (14) through the first clamping mechanism. The sensor on the CNC milling machine (14) senses the arrival of the profile and sends a signal to the central system. The fixture of the CNC milling machine (14) clamps the profile and controls the CNC milling machine (14) to trim the two end faces of the profile. ⑤. The profile after trimming the end surface is clamped and conveyed to the semi-finished product conveying line (10) by the first clamping mechanism. The semi-finished product conveying line (10) cooperates with the sensor to convey the profile to the second clamping mechanism; ⑦, after the sensor on the semi-finished product conveyor line (10) senses that the profile has reached the set position of the second clamping mechanism, the second clamping mechanism takes the profile out of the semi-finished product conveyor line (10) and places it on the processing center (9), and the processing center (9) processes the surface of the profile; ⑦, the profiles after surface processing are transported to the finished product stacking rack (8) through the second clamping mechanism for stacking; After a full layer of profiles is stacked, the central system controls the wood strip loading robot (17) to move to the transfer platform (16) and obtains an image of the arrangement of wood strips on the loading rack (5) through the visual assistance system (6); the image is compared with the image of the central system to control the grasping position of the wood strip loading robot (17), and grasps two wood strips from the transfer platform (16) to the top surface of the loading layer of the finished product stacking rack (8); ⑧. After the finished product stacking rack (8) is fully stacked with profiles, the finished product stacking rack (8) is lifted off the ground and transported to the outside by the AGV feeding trolley (2).

Images