Frame-shaped profile machining apparatus and control method thereof

Abstract

The application discloses a frame-shaped special-shaped part machining equipment and a control method thereof, and relates to the technical field of frame-shaped part machining equipment.The frame-shaped special-shaped part machining equipment and the control method thereof are provided with a feeding mechanism, a transfer mechanism and a grabbing mechanism, can avoid the problems of slow manual feeding, low feeding efficiency and inaccurate feeding position, can uniformly place a plurality of frame-shaped special-shaped parts to be machined at an angle position, can unify the angle direction and position of subsequent material taking, can avoid the trouble of visual identification of traditional material placement on a vibrating tray, grabbing by a six-axis mechanical arm and visual identification of feeding, can reduce the stroke of the six-axis mechanical arm, can reduce the feeding time, and can improve work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mirror frame processing equipment, in particular to a frame-shaped special-shaped part processing equipment and a control method thereof. BACKGROUND

[0002] Glasses are a kind of supplies for improving vision and protecting eyes, and are composed of a mirror frame, a lens and a mirror leg, etc., wherein the mirror frame, as shown in the figure, comprises a frame body 41 and a protruding part 42, and the mirror frame needs to be processed after production, that is, it needs to be cut in a V shape, and after cutting, as shown in the figure, it is convenient for subsequent assembly of the lens. Figure 12 Figure 13 At present, the cutting of the mirror frame needs to use a V-shaped cutting mechanism, which comprises two cutting knives arranged in a V shape and a fixing structure for fixing the mirror frame, and usually has two feeding modes, one of which is manual feeding, and the other is feeding by using a vibrating tray, and the mirror frame to be processed on the vibrating tray is identified by visual recognition, and then a six-axis mechanical arm is used to grab each one and then position it by visual recognition, so that each mirror frame is accurately positioned at a uniform angle and position and is fed to the fixing structure for cutting.

[0003] The above two modes have certain defects, manual feeding has the problems of slow feeding, low feeding efficiency, inaccurate feeding position, etc., and the process of grabbing by the six-axis mechanical arm after visual recognition and then feeding by visual recognition again needs a certain time, so the work efficiency is low, and when grabbing the mirror frames in different positions on the vibrating tray, the six-axis mechanical arm needs to be adjusted to the appropriate position angle and then placed on the fixing structure, and almost every time the movement stroke of the six-axis mechanical arm is different, thereby increasing the stroke of the six-axis mechanical arm and the feeding time, and further reducing the work efficiency. SUMMARY

[0004] In order to overcome the defects of the prior art, the present application provides a frame-shaped special-shaped part processing equipment and a control method thereof, to solve the problems of slow manual feeding, low feeding efficiency, inaccurate feeding position and low work efficiency of the process of grabbing by the six-axis mechanical arm after visual recognition and then feeding by visual recognition again.

[0005] In order to overcome the defects of the prior art, the present application provides a frame-shaped special-shaped part processing equipment and a control method thereof, to solve the problems of slow manual feeding, low feeding efficiency, inaccurate feeding position and low work efficiency of the process of grabbing by the six-axis mechanical arm after visual recognition and then feeding by visual recognition again.

[0006] To solve the above technical problems, the present application provides the following technical scheme: a frame-shaped special-shaped part processing equipment, the frame-shaped special-shaped part comprising an integrally formed frame body and a protruding part, the processing equipment comprising a fixed cutting mechanism, the processing equipment further comprising:

[0007] ​The feeding mechanism comprises a supporting assembly and a first driving assembly, the supporting assembly comprises a first supporting piece for supporting the frame body and a limiting part for limiting the protruding part, and the first driving assembly drives the frame-shaped special-shaped piece to move and be separated from the supporting assembly one by one.

[0008] The transfer mechanism comprises a first adjusting assembly and a first clamping assembly, the first adjusting assembly drives the first clamping assembly to move and be aligned with the discharging end of the supporting assembly, and after the first clamping assembly clamps the frame-shaped special-shaped piece separated from the supporting assembly one by one, the protruding part is located directly below the frame body.

[0009] The grabbing mechanism grabs and conveys the frame-shaped special-shaped piece on the transfer mechanism to the fixed cutting mechanism.

[0010] Preferably, the first supporting piece is a first supporting rod, and the limiting part comprises two limiting rods arranged in parallel, and a gap with a width suitable for the protruding part is formed between the two limiting rods.

[0011] Preferably, the supporting assembly is a second supporting rod, and a long slot is formed in one end of the second supporting rod along the length direction of the second supporting rod, the long slot comprises a frame slot suitable for the frame body and a limiting slot suitable for the protruding part, and the limiting part is the limiting slot.

[0012] Preferably, the device further comprises a visual shooting unit for identifying the protruding part of the frame-shaped special-shaped piece grabbed by the grabbing mechanism.

[0013] Preferably, the limiting part is located directly above the first supporting piece, the first adjusting assembly comprises a first translation unit, a second translation unit and a rotating unit, the first translation unit is used for conveying the frame-shaped special-shaped piece clamped by the first clamping assembly to one side of the visual shooting unit, and the rotating unit drives the first clamping assembly to rotate so that the protruding part is located directly below the frame body.

[0014] Preferably, the first clamping assembly comprises two clamping plates moving towards or away from each other for clamping the frame body, and a notch suitable for the protruding part is formed in one side of each of the two clamping plates.

[0015] Preferably, the device further comprises a second supporting piece, the second supporting piece comprises a supporting table, and a supporting unit is obliquely arranged on the top surface of the supporting table, and the supporting assembly is detachably connected to the supporting unit.

[0016] Preferably, the grabbing mechanism comprises a multi-dimensional adjusting assembly and a second clamping assembly, and the output end of the multi-dimensional adjusting assembly is connected to the second clamping assembly.

[0017] Preferably, the device further comprises a blanking mechanism for grabbing the cut frame-shaped special-shaped piece.

[0018] A control method of a frame-shaped special-shaped piece processing device, comprising the following steps:

[0019] I: The protruding part of the frame-shaped special-shaped part to be processed is aligned with the limiting part, and the frame-shaped special-shaped part is placed on the support assembly with uniform angle one by one;

[0020] II: Adjust the first adjusting assembly to drive the first clamping assembly to move, so that the first clamping assembly is aligned with the discharge end of the support assembly;

[0021] III: Adjust the first driving assembly to drive the frame-shaped special-shaped part to move, so that one frame-shaped special-shaped part is separated from the support assembly and falls onto the first clamping assembly and is clamped and fixed;

[0022] IV: Adjust the first adjusting assembly to drive the first clamping assembly to move, so that the protruding part is located directly below the frame body;

[0023] V: The frame-shaped special-shaped part on the first clamping assembly is grabbed and conveyed to the fixed cutting mechanism by driving the grabbing mechanism;

[0024] VI: The fixed frame-shaped special-shaped part is cut by the fixed cutting mechanism.

[0025] Compared with the prior art, the present application can achieve the following beneficial effects:

[0026] I. By setting the feeding mechanism, the transfer mechanism and the grabbing mechanism, the problems of slow manual feeding, low feeding efficiency and inaccurate feeding position can be avoided, and multiple frame-shaped special-shaped parts to be processed can be placed at a uniform angle, so that the subsequent material taking angle and position are uniform, avoiding the trouble of visual recognition and then grabbing by a six-axis robot and visual recognition of feeding again, reducing the travel of the six-axis robot and the feeding time, and improving the work efficiency;

[0027] II. By setting the transfer mechanism and the grabbing mechanism for cooperation, the transfer mechanism can simultaneously perform the clamping and taking work of the next frame-shaped special-shaped part to be processed while the grabbing mechanism conveys the frame-shaped special-shaped part to be processed to the fixed cutting mechanism for cutting, so that the traditional single six-axis robot grabbing and conveying work can be avoided, the feeding time is further reduced, and the work efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0029] Figure 2 It is a schematic diagram of the structure of the second support, the first driving unit, the second driving unit, the fixing mechanism and the support frame of the present application;

[0030] Figure 3 It is a schematic diagram of the first setting mode of the support assembly of the present application;

[0031] Figure 4 It is the schematic view of the first driving unit and driving piece structure of the application;

[0032] Figure 5 It is the schematic view of the fixed mechanism structure of the application;

[0033] Figure 6 It is the schematic view of the first adjusting assembly, first clamping assembly and visual shooting unit structure of the application;

[0034] Figure 7 It is the schematic view of the first adjusting assembly, clamping plate and notch structure of the application;

[0035] Figure 8 It is the schematic view of the material grabbing mechanism structure of the application;

[0036] Figure 9 It is the schematic view of the fixed cutting mechanism structure of the application;

[0037] Figure 10 It is the schematic view of the fixed assembly structure of the application;

[0038] Figure 11 It is the schematic view of the blanking mechanism structure of the application;

[0039] Figure 12 It is the schematic view of the frame-shaped special-shaped piece before cutting structure of the application;

[0040] Figure 13 It is the schematic view of the frame-shaped special-shaped piece after cutting structure of the application;

[0041] Wherein: 1, feeding mechanism; 11, support assembly; 111, limiting plate; 112, limiting rod; 113, first support; 114, connecting piece; 1141, positioning groove; 12, first driving unit; 13, second driving unit; 131, sliding frame; 14, fixed mechanism; 141, third driving unit; 142, fixed plate; 15, second support; 151, support table; 152, support plate; 16, support frame; 17, pushing piece; 2, transfer mechanism; 21, first adjusting assembly; 211, first translation unit; 212, second translation unit; 213, rotation unit; 22, first clamping assembly; 221, clamping plate; 222, notch; 3, material grabbing mechanism; 31, multi-dimension adjusting assembly; 32, second clamping assembly; 41, frame body; 42, protruding part; 5, fixed cutting mechanism; 51, fixed assembly; 511, second driving assembly; 512, fixed clamping plate; 52, cutting assembly; 53, second adjusting assembly; 54, protective cover; 6, blanking mechanism; 61, multi-axis manipulator; 62, third clamping assembly; 7, material collecting assembly; 8, machine body; 9, sealing plate; 10, visual shooting unit. DETAILED DESCRIPTION

[0042] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the present application is further described below in combination with specific embodiments. However, the following embodiments are only preferred embodiments of the present application, not all. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative labor also belong to the protection scope of the present application. The experimental methods in the following embodiments are conventional methods, and the materials and reagents used in the following embodiments are commercially available unless otherwise specified.

[0043] As shown in Figures 1-13 , the present application provides a frame-shaped special-shaped part processing equipment, which includes an integrally formed frame body 41 and a protruding portion 42 (as shown in Figure 12 , a frame-shaped special-shaped part before cutting, as shown in Figure 13 , a frame-shaped special-shaped part after cutting), the processing equipment includes a fixed cutting mechanism 5, which is a prior structure, and the processing equipment further includes a machine body 8, the machine body 8 is provided with a feeding mechanism 1, a transfer mechanism 2 and a grabbing mechanism 3;

[0044] As shown in Figure 9 and Figure 10 , the fixed cutting mechanism 5 is briefly described here, which includes a fixed assembly 51, a cutting assembly 52 and a second adjusting assembly 53, the fixed assembly 51 includes two fixed clamping plates 512 and a second driving assembly 511, the second driving assembly 511 can be a cylinder structure, which is used to drive the two fixed clamping plates 512 to move close to or away from each other, so as to clamp and fix the frame-shaped special-shaped part, in particular, the two fixed clamping plates 512 are provided with inclined openings on both sides, the two inclined openings are V-shaped, and the other two fixed clamping plates 512 are provided with an inner groove on the side close to each other, which is matched with the protruding portion 42, so as to facilitate accurate placement of the frame-shaped special-shaped part, the inner groove is communicated with the inclined opening, so as to facilitate the cutting knife to cut the frame-shaped special-shaped part through the inclined opening;

[0045] In order to ensure that the debris generated by cutting processing will not splash, a protective cover 54 is arranged on the machine body 8, and the protective cover 54 covers the fixed cutting mechanism 5;

[0046] Further, the top surface of the protective cover 54 is provided with a top opening opposite to the cutting assembly 52, which facilitates the entry and exit of the frame-shaped special-shaped part, and two sealing plates 9 are arranged at the top opening to open or close the top opening. The structure for driving the sealing plate 9 to open or close the top opening is a prior art, which will not be described in detail here.

[0047] As shown in Figures 1-4 , the feeding mechanism 1 includes a supporting assembly 11 and a first driving assembly, the supporting assembly 11 includes a first supporting piece 113 for supporting the frame body 41 and a limiting portion for limiting the protruding portion 42, and the first driving assembly drives the frame-shaped special-shaped part to move to separate from the supporting assembly 11 one by one;

[0048] The support assembly 11 can be provided in two ways as follows:

[0049] The first way is as follows:

[0050] As shown in the drawings, the support assembly 11 comprises a first support rod and a limiting rod 112, the first support rod is a first support piece 113, the limiting part comprises two limiting rods 112 arranged in parallel, and the two limiting rods 112 have a gap with a width adapted to the convex part 42; Figures 1-3 As shown in the drawings, the first driving assembly comprises a driving piece and a pushing piece 17, the driving piece drives the pushing piece 17 to move (here, the pushing piece 17 is arranged to slide in the gap), so that the frame body 41 is separated from the first support piece 113 one by one, and the first clamping assembly 22 can receive the frame-shaped special-shaped workpiece separated from the first support piece 113 at the discharge end (here, the feeding end and the discharge end are the same opening) of the gap;

[0051] Figure 2 In addition, the limiting part can also be a U-shaped plate or the like with an open end, which will not be listed one by one; Figure 4 As shown in the drawings, the limiting piece further comprises an adjusting unit, the adjusting unit comprises two limiting plates 111 arranged in parallel, the two limiting rods 112 are located between the two limiting plates 111, and the two limiting rods 112 slide towards or away from each other along the width direction of the limiting plate 111 to adjust the gap width;

[0052] Specifically, a long hole is formed on the limiting rod 112, and a threaded hole is formed on the limiting plate 111, the limiting rod 112 can be locked and fixed on the limiting plate 111 by screwing the screw through the long hole into the threaded hole, the position of the two limiting rods 112 can be adjusted through the long hole and then fixed, so as to adjust the distance between the two limiting rods 112, that is, to adjust the gap width, so as to limit the convex part 42 of the frame with different weights, and improve the applicability of the device;

[0053] Figure 2 In addition, a hydraulic rod or the like driving structure can be arranged on the limiting plate 111 to adjust the distance between the two limiting rods 112 (not shown in the drawings), which will not be described one by one. Figure 3 As shown in the drawings, the limiting piece further comprises an adjusting unit, the adjusting unit comprises two limiting plates 111 arranged in parallel, the two limiting rods 112 are located between the two limiting plates 111, and the two limiting rods 112 slide towards or away from each other along the width direction of the limiting plate 111 to adjust the gap width;

[0054] Specifically, a long hole is formed on the limiting rod 112, and a threaded hole is formed on the limiting plate 111, the limiting rod 112 can be locked and fixed on the limiting plate 111 by screwing the screw through the long hole into the threaded hole, the position of the two limiting rods 112 can be adjusted through the long hole and then fixed, so as to adjust the distance between the two limiting rods 112, that is, to adjust the gap width, so as to limit the convex part 42 of the frame with different weights, and improve the applicability of the device;

[0055] In addition, a hydraulic rod or the like driving structure can be arranged on the limiting plate 111 to adjust the distance between the two limiting rods 112 (not shown in the drawings), which will not be described one by one.

[0056] Figure 2 ​​​As shown, the driving member includes a first driving unit 12 and a second driving unit 13, the output end of the second driving unit 13 is connected with a sliding frame 131, the sliding frame 131 is provided with the first driving unit 12, the output end of the first driving unit 12 is connected with a pushing member 17, and the pushing member 17 is a push rod;

[0057] Further comprising a second support member 15, the second support member 15 includes a support table 151, the top surface of the support table 151 is inclined and fixedly installed with a support plate 152, the support plate 152 is provided with the second driving unit 13, the second driving unit 13 is an electric cylinder, the first driving unit 12 is a pneumatic cylinder, the height position of the discharge end (i.e. the feeding end, which is provided as the same opening here) of the gap is higher than the height positions of other points of the gap, so as to ensure that the to-be-processed frame material can be stably placed on the first support member 113 when being fed to the first support member 113, and facilitate the to-be-processed frame to slide to the bottom end position of the gap when being guided from the discharge end (feeding end) to the first support member 113, thereby avoiding the trouble of manual pushing.

[0058] Wherein, the electric cylinder and the pneumatic cylinder cooperate to push the material, so as to ensure that the to-be-processed frame can be accurately pushed and fallen out of the first support member 113 one by one.

[0059] The second kind:

[0060] The support assembly 11 is a second support rod, one end of the second support rod is provided with a long slot along the length direction thereof, the long slot includes a frame slot adapted to the frame body 41 and a limiting slot adapted to the protruding part 42, and the limiting part is a limiting slot (not shown in the figure).

[0061] As shown in Figure 6 and Figure 7 The transfer mechanism 2 includes a first adjusting assembly 21 and a first clamping assembly 22, the first adjusting assembly 21 drives the first clamping assembly 22 to move in alignment with the discharge end of the support assembly 11, and after the first clamping assembly 22 clamps the frame-shaped special-shaped part which is separated from the support assembly 11 one by one, the protruding part 42 is located directly below the frame body 41.

[0062] As shown in Figure 1 and Figure 8 The grabbing mechanism 3 grabs and conveys the frame-shaped special-shaped part on the transfer mechanism 2 to the fixed cutting mechanism 5.

[0063] As shown in Figure 6 Further comprising a visual shooting unit 10, which is signal-connected with the grabbing mechanism 3, the visual shooting unit 10 identifies the protruding part 42 of the frame-shaped special-shaped part grabbed by the grabbing mechanism 3, and then adjusts the frame-shaped special-shaped part through the multi-dimensional adjusting assembly 31 of the grabbing mechanism 3, so as to further improve the accuracy of placing the frame-shaped special-shaped part on the fixed cutting mechanism 5, and prevent the deviation of the position of the frame-shaped special-shaped part during the transfer process.

[0064] AsFigure 1 and Figure 8 As shown in

[0065] The specific structure and principle of the multi-dimensional adjustment assembly 31 can refer to the six-axis paint spraying machine XYZ axis linkage structure with the publication number CN213943640U, and will not be described here. The second clamping assembly 32 is a common jaw structure, in which a protective element such as silica gel is embedded on the surface of the jaw in contact with the frame-shaped special-shaped part, which can prevent damage to the frame-shaped special-shaped part during clamping and fixing, and also has good anti-skid effect, preventing the frame-shaped special-shaped part from sliding when clamped and fixed, resulting in inaccurate placement on the fixed cutting mechanism 5 and inaccurate subsequent cutting.

[0066] As shown in Figure 1 , Figure 6 and Figure 7 The first adjustment assembly 21 includes a first translation unit 211, a second translation unit 212, and a rotation unit 213. The first translation unit 211 is used to transport the frame-shaped special-shaped part clamped and fixed by the first clamping assembly 22 to the side of the visual shooting unit 10. The rotation unit 213 drives the first clamping assembly 22 to rotate, so that the protruding part 42 is located directly below the frame body 41.

[0067] Here, the limiting part is located directly above the first support 113, which is the best setting state (the limiting part can also be located to the side or below the first support 113). The support assembly 11 is taken as an example to illustrate the first setting mode:

[0068] First, align the protruding part 42 of the frame-shaped special-shaped part to be processed with the limiting part (here, the gap), and the first support rod supports the frame body 41. The limiting part and the first support rod simultaneously limit and fix multiple frame-shaped special-shaped parts, so that multiple frame-shaped special-shaped parts are placed on the support assembly 11 at a uniform angle, as shown in Figure 3 The protruding part 42 is located directly above the frame body 41.

[0069] Adjust the first adjustment assembly 21 (including the first translation unit 211 and the second translation unit 212) so that the two clamping plates 221 of the first clamping assembly 22 are aligned with the first support 113 and the limiting rod 112, ensuring that the notch 222 on the clamping plate 221 is aligned with the protruding part 42.

[0070] Subsequently, the driving member (specifically, the first driving unit 12 and the second driving unit 13) is adjusted to drive the pushing member 17 to move, so that the pushing member 17 moves along the gap, and the plurality of frame-shaped special-shaped members are moved until one frame-shaped special-shaped member is separated from the first support member 113 and enters between the two clamping plates 221. Then, the two clamping plates 221 are driven to move close to each other by a structure such as a gas cylinder, so as to clamp the frame body 41, and the protruding part 42 is in the gap 222 (subsequently, the driving member only needs to drive the pushing member 17 to move a distance of the width of one frame-shaped special-shaped member, so that the frame-shaped special-shaped members can be taken out from the first support member 113 one by one);

[0071] After taking out, the first translation unit 211 is adjusted to transfer the first clamping assembly 22 and the frame-shaped special-shaped member to the side of the visual shooting unit 10. At this time, the rotation unit 213 is adjusted to drive the frame-shaped special-shaped member to rotate by 180° (as shown in Figure 6 The subsequent grabbing mechanism 3 (the multi-dimensional adjustment assembly 31 and the second clamping assembly 32) can grab the frame-shaped special-shaped member, and the protruding part 42 of the frame-shaped special-shaped member is placed vertically downward on the fixed cutting mechanism 5 to be fixed and cut;

[0072] By the above-mentioned automatic material taking and processing mode, the problems of slow manual feeding, low feeding efficiency, and inaccurate feeding position in the traditional feeding mode are avoided. In addition, by arranging the support assembly 11, the plurality of frame-shaped special-shaped members to be processed can be placed at a unified angle position, so that the subsequent taking angle direction and position are unified, the process of visual recognition, grabbing by a six-axis mechanical arm, and visual recognition and feeding of the material placed on a vibrating tray is avoided, the stroke of the six-axis mechanical arm is reduced, the feeding time is reduced, and the work efficiency is improved.

[0073] In addition, by arranging the transfer mechanism 2 and the grabbing mechanism 3 to be used cooperatively, the transfer mechanism 2 can perform clamping and taking work on the next frame-shaped special-shaped member to be processed while the grabbing mechanism 3 feeds the frame-shaped special-shaped member to be processed to the fixed cutting mechanism 5 to be cut, so that the traditional single six-axis mechanical arm grabbing and feeding work is avoided, the feeding time is further reduced, and the work efficiency is improved.

[0074] Meanwhile, the six-axis paint spraying machine XYZ axis linkage structure with the publication number CN213943640U is used as the multi-dimensional adjustment assembly 31 to replace the traditional six-axis mechanical arm. The adjustment may not be as flexible as the traditional six-axis mechanical arm, but the adjustment angle range required in the present application is relatively small, and the six-axis mechanical arm is not needed. By using the multi-dimensional adjustment assembly 31, the cost of adjusting and grabbing by the traditional six-axis mechanical arm can be greatly reduced.

[0075] In particular, to ensure that the first translation unit 211 does not collide with the support assembly 11 when the first clamping assembly 22 is moved close to the support assembly 11, the second translation unit 212 drives the first clamping assembly 22 away from the visual shooting unit 10 when the material grabbing mechanism 3 grabs the frame-shaped special-shaped part on the first clamping assembly 22.

[0076] As shown in Figure 7 , the first clamping assembly 22 includes two clamping plates 221 that move close to or away from each other (the movement of the clamping plates 221 can be driven by a cylinder or other mechanism, which is prior art and will not be described in detail here), for clamping the frame 41, and the two clamping plates 221 are provided with notches 222 on the side close to each other, which are adapted to the protruding part 42;

[0077] By providing notches 222 on the two clamping plates 221, after the rotating unit 213 drives the first clamping assembly 22 to rotate 180°, it is not necessary to reset by rotating 180°, but only by adjusting the first translation unit 211 and the second translation unit 212 to complete the grabbing of the next frame-shaped special-shaped part to be processed.

[0078] As shown in Figure 2 , the processing equipment further comprises a second support 15, the second support 15 comprises a support table 151 and a support plate 152, the top surface of the support table 151 is inclined and provided with a support unit, the support unit comprises a support frame 16, the support plate 152 is fixedly installed with the support frame 16, the support frame 16 is detachably connected with the support assembly 11, and the interval between the support assembly 11 and the support frame 16 is greater than the height of the frame 41, so as to ensure that the frame to be processed can move smoothly in the interval;

[0079] As shown in Figure 2 , Figure 3 and Figure 5 , the support frame 16 is provided with a fixing mechanism 14, the support assembly 11 comprises a connecting piece 114, the connecting piece 114 is fixedly installed with a limiting plate 111, the fixing mechanism 14 comprises a third driving unit 141 and a fixed plate 142, the third driving unit 141 (which can be a cylinder driving structure) drives the fixed plate 142 to move and limit the connecting piece 114, and the bottom surface of the fixed plate 142 is flush with the top surface of the connecting piece 114;

[0080] Preferably, the connecting piece 114 is provided with a positioning groove 1141, and the support frame 16 is provided with a positioning block matched with the positioning groove 1141, so as to facilitate quick positioning and placement of the connecting piece 114;

[0081] The fixed plate 142 is provided with a long hole, and the connecting piece 114 is provided with a threaded hole, and the connecting piece 114 can be fixed by a screw passing through the long hole and the threaded hole;

[0082] When the to-be-processed frame materials on a support assembly 11 are used up, the screw is disassembled, the third driving unit 141 is adjusted to drive the fixed plate 142 to move away from the connecting piece 114, so that the fixed plate 142 is no longer in contact with the connecting piece 114, thereby facilitating the removal of the entire support assembly 11. Replace the support assembly 11 filled with to-be-processed frame materials, so as to avoid the trouble of adding materials one by one after the to-be-processed frame materials are used up, and reduce the waiting time.

[0083] As shown in Figure 1 and Figure 11 The processing equipment also includes a feeding mechanism 6 for grabbing the cut frame-shaped special-shaped parts;

[0084] The specific feeding mechanism 6 includes a multi-axis manipulator 61 and a third clamping assembly 62. The multi-axis manipulator 61 drives the third clamping assembly 62 to move through the top opening to automatically take the cut frame-shaped special-shaped parts. A material collecting assembly 7 is arranged on the machine body 8. The material collecting assembly 7 is an inclined long rod (the feeding end of the long rod is the highest position). The third clamping assembly 62 driven by the multi-axis manipulator 61 can place the processed frame-shaped special-shaped parts on the long rod. Since the long rod is inclined, the frame-shaped special-shaped parts placed on the long rod will automatically slide to the bottom end position, so that they are orderly placed on the long rod.

[0085] The use method of the frame-shaped special-shaped part processing equipment includes the following steps:

[0086] One: align the protruding part 42 of the to-be-processed frame-shaped special-shaped part with the limiting part, and place the frame-shaped special-shaped parts on the support assembly 11 with uniform angles one by one;

[0087] Two: adjust the first adjusting assembly 21 to drive the first clamping assembly 22 to move, so that the first clamping assembly 22 is aligned with the discharge end of the support assembly 11;

[0088] Three: adjust the first driving assembly to drive the frame-shaped special-shaped part to move, so that one frame-shaped special-shaped part is separated from the support assembly 11 and falls onto the first clamping assembly 22 and is clamped and fixed by the first clamping assembly 22;

[0089] Four: adjust the first adjusting assembly 21 to drive the first clamping assembly 22 to move, so that the protruding part 42 is located directly below the frame body 41;

[0090] Five: drive the grabbing mechanism 3 to grab the frame-shaped special-shaped part on the first clamping assembly 22 and convey it to the fixed cutting mechanism 5;

[0091] Six: cut the fixed frame-shaped special-shaped part by the fixed cutting mechanism 5;

[0092] Finally, repeat the above steps 2 to 6 on all the frame-shaped special-shaped pieces on the support assembly 11 to complete the processing work of taking out the frame-shaped special-shaped pieces one by one.

[0093] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely divergences of the principles and spirit of the application and that numerous modifications, changes, substitutions, and alterations can be made thereto without departing from the spirit and scope of the application as defined by the appended claims and their equivalents.

Claims

1. A frame-shaped special-shaped part processing device, the frame-shaped special-shaped part comprises an integrally formed frame body (41) and a protruding portion (42), the processing device comprises a fixed cutting mechanism (5), characterized in that: The processing equipment also includes: A feeding mechanism (1) comprises a support assembly (11) and a first driving assembly, wherein the first driving assembly drives the frame-shaped special-shaped parts to move and detach one by one from the support assembly (11), the support assembly (11) comprises a first support member (113) for supporting the frame body (41) and a limiting portion for limiting the protrusion (42), the first support member (113) being a first support rod, the limiting portion comprising two limiting rods (112) arranged in parallel, a gap being provided between the two limiting rods (112) and being adapted to the width of the protrusion (42); or, the support assembly (11) being a second support rod, a long slot being provided at one end of the second support rod along its length direction, the long slot comprising a frame slot adapted to the frame body (41) and a limiting slot adapted to the protrusion (42), the limiting portion being a limiting slot; The transfer mechanism (2) comprises a first adjusting component (21) and a first clamping component (22), wherein the first adjusting component (21) drives the first clamping component (22) to move and align with the discharge end of the support component (11), and after the first clamping component (22) clamps the frame-shaped special-shaped parts that are separated from the support component (11) one by one, the protrusion (42) is located directly below the frame (41), and the limiting part is located directly above the first support member (113). The first adjusting component (21) comprises a first translation unit (211), a second translation unit (212) and a rotation unit. Unit (213), the first translation unit (211) is used to transport the frame-shaped special-shaped part clamped and fixed by the first clamping component (22) to one side of the visual shooting unit (10), the rotation unit (213) drives the first clamping component (22) to rotate so that the protrusion (42) is located directly below the frame (41), the first clamping component (22) includes two clamping plates (221) that move toward or away from each other and are used to clamp the frame (41), and the two clamping plates (221) are each provided with a notch (222) that is adapted to the protrusion (42) on one side close to each other; The material grabbing mechanism (3) grabs the frame-shaped special-shaped parts on the transfer mechanism (2) and transports them to the fixed cutting mechanism (5); The visual shooting unit (10) identifies the protruding portion (42) of the frame-shaped special-shaped part grasped by the grasping mechanism (3).

2. The frame-shaped special-shaped parts processing equipment according to claim 1, characterized in that: It also includes a second support member (15), the second support member (15) includes a support platform (151), the top surface of the support platform (151) is provided with a support unit in an inclined manner, and the support unit is detachably connected to the support assembly (11).

3. The frame-shaped special-shaped parts processing equipment according to claim 1, characterized in that: The material grabbing mechanism (3) comprises a multi-dimensional adjustment component (31) and a second clamping component (32), and the output end of the multi-dimensional adjustment component (31) is connected to the second clamping component (32).

4. The frame-shaped special-shaped parts processing equipment according to claim 1, characterized in that: It also includes a blanking mechanism (6) for grabbing the cut frame-shaped special-shaped parts.

5. A control method for processing equipment for frame-shaped special-shaped parts, characterized in that: The processing equipment according to any one of claims 1 to 4 is applied, comprising the following steps: One: Align the protruding portion (42) of the frame-shaped special-shaped part to be processed with the limiting portion, so that the frame-shaped special-shaped parts are placed one by one at a uniform angle on the support assembly (11); Second: adjusting the first adjusting component (21) to drive the first clamping component (22) to move, so that the first clamping component (22) is aligned with the discharge end of the supporting component (11); Three: adjusting the first driving assembly so that it pushes the frame-shaped special-shaped member to move, so that a frame-shaped special-shaped member is separated from the supporting assembly (11) and falls onto the first clamping assembly (22) and is clamped and fixed thereon; Fourth, adjust the first adjustment component (21) to drive the first clamping component (22) to move, so that the protrusion (42) is located directly below the frame (41); Five: driving the grabbing mechanism (3) to grab the frame-shaped special-shaped part on the first clamping assembly (22) and transport it to the fixed cutting mechanism (5); Six: Cut the fixed frame-shaped special-shaped part by fixing the cutting mechanism (5).

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