Human-computer interactive multi-axis machining system and machining method

Abstract

The application provides a man-machine interactive multi-axis machining system, which comprises a machine tool, a carrier table and a material moving manipulator, the machine tool is used for machining parts, a worktable for fixing blank materials to be machined is arranged in the machine tool, a feeding and discharging hole is arranged on the top of the machine tool, and the feeding and discharging hole is located directly above the worktable; the carrier table is located outside the machine tool and is used for placing blank materials and parts that have been machined; and the material moving manipulator can pass through the feeding and discharging hole and move the blank materials on the carrier table to the worktable or move the parts that have been machined on the worktable to the carrier table. The man-machine interactive multi-axis machining system has the advantages of compact structure, high automation degree and production efficiency and reliable and stable work.

Description

TECHNICAL FIELD

[0001] The present application relates to a machine tool processing system, in particular to a man-machine interactive multi-axis processing system and a processing method. BACKGROUND

[0002] A machine tool is a device capable of cutting a workpiece into a desired shape. In a machine tool that performs cutting, a turning center that processes a workpiece by bringing a tool for cutting into contact with a rotating workpiece, a machining center that processes a workpiece by bringing a rotating tool into contact with a workpiece, and a compound machining center that has both functions are provided. During processing, a tool is fixed to a tool holding portion such as a spindle or a tool holder, and the machine tool changes the tool according to a processing program prepared in advance and processes the workpiece while moving the tool holding portion.

[0003] In the prior art, during processing, the ingredients need to be placed on the workbench by hand and clamped and fixed. After processing is completed, the parts are removed by manual means, which is time-consuming and labor-intensive, and has certain safety hazards.

[0004] Therefore, a mechanical arm is provided at the front end of the machine tool to clamp the material (ingredients, parts) by the mechanical arm. The existing mechanical arm is a multi-section mechanical structure, which is high in cost and is arranged at the front end of the machine tool, which will affect the operator to some extent. At the same time, when clamping the material, a traditional claw clamping structure is used, and when the side wall of the blank or the part is a vertical surface or an inclined surface, such as a cylinder or a cone, the clamping is easy to loosen. Therefore, in order to improve the clamping reliability, the clamping force needs to be increased, which will scratch the surface of the part, thereby affecting the product quality, especially in the case of soft material. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a man-machine interactive multi-axis processing system capable of realizing automatic material taking and placing, stable and reliable taking and placing, and high efficiency.

[0006] The present application provides a man-machine interactive multi-axis processing system, which comprises:

[0007] A machine tool 1 is used for processing parts, and a workbench for fixing blanks for processing is arranged in the machine tool 1. An upper and lower material hole 10 is arranged at the top of the machine tool 1, and the upper and lower material hole 10 is located directly above the workbench.

[0008] A material loading platform is arranged outside the machine tool 1 and is used for placing blanks and parts that have completed processing.

[0009] A material moving robot 2 can pass through the upper and lower material hole 10 and move the blanks on the material loading platform to the workbench or move the parts that have completed processing on the workbench to the material loading platform.

[0010] Further, the material moving manipulator comprises a stand 21 fixed to the ground on the left side or the right side of the machine tool 1, a cross beam 22 fixed to the stand 21, a first sliding seat 23 horizontally slidingly arranged on the cross beam 22, and a longitudinal beam 24 vertically slidingly arranged on the first sliding seat 23, the lower end of the longitudinal beam 24 is vertically fixed with a rotary air cylinder capable of rotating by 180 degrees, the output end of the rotary air cylinder is fixed with a mounting plate 3, the lower end of the mounting plate 3 is symmetrically provided with a material clamping device; the object carrier is located at the front end of the stand 1.

[0011] Further, the object carrier is provided with a material positioning seat, the material positioning seat is provided with a material placing hole capable of inserting a blank or a part, the material placing hole is two, and the distance between the two material placing holes is the same as the distance between the two material clamping devices; the side wall of the material placing hole is provided with an opening for feeding or discharging, and the lower end of each of the two material placing holes is respectively provided with a first conveying belt for feeding and a second conveying belt for discharging.

[0012] Further, the upper and lower material holes 10 are provided with a grating, when the machine tool is in a machining state, the material moving manipulator 2 cannot enter the upper and lower material holes; when the material moving manipulator passes through the grating, the main shaft of the machine tool is locked at the initial position.

[0013] Further, the material clamping device comprises a vertically arranged outer sleeve 8 with an open lower end, the inner wall of the outer sleeve 8 is provided with a first air bag 52, the first air bag 52 is strip-shaped, and the length direction thereof is parallel to the axis of the outer sleeve 8, the extension direction of the first air bag 52 is perpendicular to the axis of the outer sleeve 8, the first air bag 52 is three or four and is circumferentially distributed, and a clamping area is formed between the first air bags 52; the end of the first air bag 52 is provided with a strip-shaped rubber suction cup 53 facing the clamping area, the length direction of the rubber suction cup is parallel to the axis of the outer sleeve, and the strip-shaped rubber suction cup 53 is provided with an air hole 530, the air hole 530 can realize air blowing and cleaning the side wall surface of the blank or the part in the clamping area, and can realize air suction and form negative pressure between the side wall of the blank or the part in the clamping area to realize fixation.

[0014] Further, the inner sleeve 6 is coaxially arranged in the outer sleeve, a strip-shaped support plate 51 is slidingly arranged between the inner sleeve 6 and the outer sleeve 8, the sliding direction of the support plate 51 is parallel to the radial direction of the clamping area, the support plate 51 is three or four and is circumferentially distributed, a second air bag 54 for driving the support plate 51 to slide is arranged between the inner wall of the outer sleeve 8 and the support plate 51, and the first air bag 52 is fixed to the inner side end face of the support plate 51.

[0015] Further, the center of the upper end and / or lower end of the support plate 51 is provided with a limiting pin 55, the axis of the limiting pin 55 is parallel to the axis of the outer sleeve, the upper end and / or lower end of the inner sleeve 6 axially extends and forms an annular support part 65, the support part 65 is externally provided with a limiting ring 41, the limiting ring 41 is a circular ring and can realize radial rotation, the limiting ring 41 is uniformly provided with limiting holes in the circumferential direction, the limiting holes are strips and the length direction thereof is inclined to the sliding direction of the support plate 51, the limiting pin can be inserted into the limiting holes and the synchronous sliding of each support plate 51 can be realized.

[0016] Further, the inner sleeve 6 comprises a cylindrical inner sleeve body 61, the outer wall of the inner sleeve body 61 is externally provided with three outwardly protruding mounting parts 63 which are uniformly distributed in the circumferential direction, the mounting part 63 is externally provided with a mounting cavity 630 which is open towards the axis of the inner sleeve, the two side walls of the mounting cavity are parallel to each other, the side wall of the mounting cavity is symmetrically provided with a strip-shaped guide groove 631, the length direction of the strip-shaped guide groove 631 is perpendicular to the axis of the inner sleeve; the side wall of the support plate 51 is provided with a protrusion and forms a guide block 511, the guide block 511 is sleeved in the strip-shaped guide groove and realizes sliding connection; the inner sleeve is sleeved with a limiting sleeve 7, the side wall of the limiting sleeve is provided with a rectangular hole 70 which can pass the first air bag and can limit the support plate, the two sides of the rectangular hole 70 are provided with strip-shaped protrusions which can be axially inserted into the mounting cavity and realize radial limitation.

[0017] Further, the lower end of the inner sleeve 6 is vertically and slidingly provided with a sliding ring 91, the upper end of the sliding ring 91 is provided with a circular ring-shaped third air bag 92, the top of the third air bag is connected with the positioning ring 42 of the outer wall of the inner sleeve 6 and can drive the sliding ring 91 to move up and down through expansion and contraction, the positioning ring is provided with an elastic member which makes the sliding ring have an upward movement tendency; the lower end of the sliding ring 91 is rotatably provided with a circular ring-shaped air ring 93, the air ring 93 is hollow and forms an air channel, the inner wall of the air ring 93 is uniformly provided with air injection holes 930 which are in communication with the air channel, the air injection holes are downwardly inclined and the axis thereof is in different planes with the axis of the air ring, when air is injected, the air ring can realize radial rotation and can clean the side wall of the blank or the part and the surface of the workbench; when being located at the lower limit position, the air ring is located below the outer sleeve, when being located at the upper limit position, the air ring is located in the outer sleeve.

[0018] Furthermore, the outer wall of the inner sleeve body 61 is provided with support pieces 62 parallel to its axial direction. There are at least three support pieces 62, which are evenly distributed circumferentially. The inner wall of the outer sleeve is provided with a mounting groove 80 for inserting the support pieces 62 from top to bottom. The upper end of the inner wall of the outer sleeve is fitted with a pressure sleeve 3. The outer wall of the pressure sleeve 3 is provided with a retaining strip that can be inserted into the mounting groove. The lower end of the retaining strip extends downward to the outside of the pressure sleeve 3 and forms a pressing part. The end of the pressing part contacts the top surface of the support piece and achieves pressing. There is a gap between the lower end of the pressure sleeve and the upper end of the inner sleeve, forming a mounting area for installing the limiting ring 41.

[0019] Meanwhile, the present invention also provides a machining method for a human-machine interactive multi-axis machining system, which includes the following steps:

[0020] S0, Start;

[0021] S1. Reset: Reset the spindle and worktable on the machine tool so that the worktable is in a horizontal position and the spindle is in its initial position outside the worktable.

[0022] S2. The first conveyor belt moves, causing the blank on the first conveyor belt to enter the feeding hole at the feeding end of the platform. The blank triggers the detection sensor in the feeding hole and sends out the first sensing signal.

[0023] S3. The material handling robot moves to directly above the material placement hole, and aligns one of the clamping devices with the material placement hole. After receiving the first sensing signal, the material handling robot moves vertically downward, and the clamping devices sequentially perform the following actions:

[0024] S31, the third airbag inflates, pushing the slip ring and air ring to the lower limit position;

[0025] S32. The air passages inside the air ring are filled with air. The gas is ejected from the jet holes on the inner wall of the air ring at an angle downwards and rotates radially under the thrust of air pressure. The ejected gas cleans the entire surface of the blank.

[0026] S33. When the material handling robot moves to height h1, the air ring stops inflating, and the third air bag is deflated, causing the air ring to rise and reset.

[0027] S34. When the robot arm moves to the lower limit position, the second airbag 54 and the first airbag 51 are inflated. The second airbag pushes the support plate to slide radially inward and ensures that the sliding distance of each support plate is the same through the upper limit ring. The first airbag 51 brings the rubber suction cup 53 closer to the blank.

[0028] During the approach process, the air source connected to the rubber suction cup supplies air, so that the air holes on the rubber suction cup spray air onto the surface of the blank to be clamped for cleaning.

[0029] S35, when the rubber suction disc surface contacts the blank surface and the pressure in the first or second air bag reaches a specified value, the first and second air bags stop inflating, and the rubber suction disc inhales and is vacuumized;

[0030] S36, when the air source connected to the rubber suction disc reaches a specified negative pressure value, the blank negative pressure fixing is completed, and a second signal is sent out;

[0031] S4, the material moving manipulator rises and moves horizontally to the top of the loading and unloading hole of the machine tool, then passes through the loading and unloading hole and moves downward, and in the process of moving downward, triggers the grating on the loading and unloading hole, and sends out a third signal;

[0032] S41, after receiving the third signal, the position state of the spindle and the workbench is detected;

[0033] A when it is detected that the spindle and the workbench are in the initial state, the material moving manipulator continues to move downward;

[0034] B otherwise, the material moving manipulator stops moving downward, and the spindle and the workbench are preferentially reset until the reset is completed, and the above step A is executed;

[0035] S5, when the workbench has a part, the other empty material clamping device is aligned with the part by rotating the air cylinder and taking the part, and the taking step is S31-S36;

[0036] S51, after the material taking is completed, the material moving manipulator moves upward to h1 height, h1 is a pre-set horizontal height, the rotating air cylinder rotates 180 degrees, and the blank end is switched to the top of the to-be-placed position;

[0037] When the switching is completed or there is no part on the workbench, the following steps are executed:

[0038] S6, in the process of approaching the workbench, the following steps are executed:

[0039] S61, the third air bag inflates, and the slip ring and the air ring are pushed to the lower limit position;

[0040] S62, the air duct in the air ring is inflated, the gas is inclined downward from the air jet hole in the inner wall of the air ring, and radial rotation is generated under the air pressure thrust, and the ejected gas cleans the surface of the workbench;

[0041] S7, when the material moving manipulator moves to h2 height, the air ring stops inflating, and the third air bag is vacuumized and the air ring is raised and reset, h2 is a pre-set height value;

[0042] S8, when the material moving manipulator moves to the lower limit position, the air source connected to the rubber suction disc inflates and releases the vacuum state between the rubber suction disc and the blank;

[0043] S9, the first air bag and the second air bag are pumped, the rubber suction cup is moved outward and separated from the blank;

[0044] S10, the mechanical hand is moved upward and reset to the top of the object table;

[0045] S101, when the part is clamped on the material clamping device, it is placed in the material placing hole at the discharge end, and the detection sensor in the material placing hole is touched, the placing step is S8-S9, the second conveying belt acts and moves the part in the material placing hole out;

[0046] S11, the material moving mechanical hand is moved upward and reset.

[0047] The advantages of the present application are that the man-machine interactive multi-axis machining system sets the material moving mechanical hand and the object table, can realize automatic feeding and automatic discharging of the machine tool, has high automation degree, greatly reduces the labor intensity of the operator, and improves the production and machining efficiency; the double material clamping device can realize simultaneous material taking and discharging, reduces the idle stroke time, and improves the production efficiency; the double air bag clamping mechanism has large stroke, wide use range, and fast clamping or loosening rate; the sliding to the supporting plate structure has high structural strength, avoids downward deformation caused by gravity during material grabbing, and realizes stable and reliable material grabbing; the rubber suction cup structure can realize soft contact with the part, avoids scratching the surface of the part, and sets the air holes for air intake and air outlet on the suction cup, can blow and clean the surface of the part, realizes negative pressure material taking, greatly improves the grabbing strength and reliability, avoids falling, and is especially suitable for parts with cylindrical or conical structure; the air ring can blow and clean the surface of the part and the workbench, improves the clamping reliability and part placing precision, and avoids impurities scratching the surface of the part; the telescopic air ring structure can be hidden, avoids touching other parts during work, is stable and reliable in use, and has compact appearance; the detachable inner sleeve structure has low machining difficulty and cost, is convenient to assemble, and is convenient for later maintenance; the man-machine interactive multi-axis machining system has compact structure, high automation degree and production efficiency, and is reliable and stable in work. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 It is a structural schematic view of the man-machine interactive multi-axis machining system of the present application;

[0049] Figure 2 It is a multi-axis schematic view of the machine tool of the man-machine interactive multi-axis machining system of the present application;

[0050] Figure 3 It is a structural schematic view of the material moving mechanical hand of the man-machine interactive multi-axis machining system of the present application;

[0051] Figure 4 It is Figure 3 the enlarged view of A part;

[0052] Figure 5 It is a structural schematic view of the mounting plate of the man-machine interactive multi-axis machining system of the present application;

[0053] Figure 6 It is a structural schematic view of the mounting plate of the man-machine interactive multi-axis machining system of the present application from another angle;

[0054] Figure 7 It is a structural schematic view of the material clamping device of the man-machine interactive multi-axis machining system of the present application;

[0055] Figure 8 It is a structural schematic view of the material clamping device of the man-machine interactive multi-axis machining system of the present application;

[0056] Figure 9 It is a sectional view of the material clamping device of the man-machine interactive multi-axis machining system of the present application;

[0057] Figure 10 It is an exploded structural schematic view of the material clamping device of the man-machine interactive multi-axis machining system of the present application;

[0058] Figure 11 It is a mounting schematic view of the inner sleeve of the man-machine interactive multi-axis machining system of the present application;

[0059] Figure 12 It is a structural schematic view of the outer sleeve of the man-machine interactive multi-axis machining system of the present application;

[0060] Figure 13 It is a structural schematic view of the inner sleeve of the man-machine interactive multi-axis machining system of the present application;

[0061] Figure 14 It is a sectional view of the inner sleeve of the man-machine interactive multi-axis machining system of the present application;

[0062] Figure 15 It is a mounting schematic view of the first air bag of the man-machine interactive multi-axis machining system of the present application;

[0063] Figure 16 It is a mounting schematic view of the second air bag of the man-machine interactive multi-axis machining system of the present application;

[0064] Figure 17 It is a structural schematic view of the limiting sleeve of the man-machine interactive multi-axis machining system of the present application;

[0065] Figure 18 It is a mounting schematic view of the third air bag of the man-machine interactive multi-axis machining system of the present application;

[0066] Figure 19 It is a structural schematic view of the air ring of the man-machine interactive multi-axis machining system of the present application. DETAILED DESCRIPTION

[0067] The embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0068] Referring to Figures 1-19 The present application provides a human-computer interactive multi-axis machining system, which comprises a machine tool 1, a carrier table and a material moving manipulator 2.

[0069] The machine tool 1 is used for machining parts, and a worktable for fixing a blank for machining is arranged in the machine tool 1. Figure 2 The worktable is arranged on a rotating support, which comprises a first support capable of rotating around an x-axis and a second support capable of rotating around a z-axis, wherein the second support is arranged on the first support, and the worktable is arranged on the second support; meanwhile, the main shaft can realize the movement of x, y and z, so that the whole forms a five-axis machine tool; a sliding door is arranged at the front end of the machine tool, which is used for the operation of an operator; a feeding and discharging hole 10 is arranged at the top of the machine tool 1, which is used for the feeding of materials and the discharging of parts, and the feeding and discharging hole 10 is located directly above the worktable; the above machine tool can be one or two, and when there are two, they are arranged left and right, and a spacing is arranged between the two, which is used for installing the carrier table and the material moving manipulator.

[0070] In order to improve the safety in use and avoid accidents, a grating is arranged on the feeding and discharging hole 10, which can detect whether an object (the material moving manipulator) passes through the feeding and discharging hole; when the machine tool is in a machining state, the material moving manipulator 2 cannot enter the feeding and discharging hole; when the material moving manipulator passes through the grating, the main shaft of the machine tool is locked at the initial position.

[0071] The carrier table is located outside the machine tool 1, and in this embodiment, it is arranged at the left end or the right end of the machine tool, which is used for placing blanks and parts that have been machined; specifically, a material positioning seat is arranged on the carrier table, which is used for accurately positioning the blanks or parts, so as to facilitate the accurate grabbing of the material moving manipulator; a material placing hole capable of inserting the blanks or parts is arranged on the material positioning seat, and there are two material placing holes, and the distance between the two material placing holes is the same as the distance between the two clamping devices on the material moving manipulator; an opening for feeding or discharging is arranged on the side wall of the material placing hole, which is V-shaped or U-shaped and is arranged forwardly; a first conveying belt for feeding and a second conveying belt for discharging are respectively arranged at the lower end of the material placing hole, that is, the first conveying belt conveys the blanks in the direction of the material positioning seat, and the upper end of the blanks enters the material placing hole after passing through the opening, so as to realize accurate positioning; the second conveying belt conveys in the direction away from the material positioning seat, and the second conveying belt at the lower end of the part in the material placing hole moves the part out of the material placing hole, so as to realize discharging.

[0072] The material moving manipulator 2 is arranged at the left end or the right end of the machine tool, or between the two machine tools when the machine tools are two, and can pass through the feeding and discharging hole 10, so as to move the blank on the loading table to the worktable, or move the finished part on the worktable to the loading table; specifically, the material moving manipulator comprises a stand 21 fixed on the ground at the left end or the right end of the machine tool 1, a cross beam 22 fixed on the stand 21, a first sliding seat 23 horizontally slidingly arranged on the cross beam 22, and a longitudinal beam 24 vertically slidingly arranged on the first sliding seat 23, a rotating cylinder capable of rotating by 180 degrees is vertically fixed at the lower end of the longitudinal beam 24, the rotating axis of the rotating cylinder is perpendicular to the horizontal plane, an installation plate 3 is fixed at the output end of the rotating cylinder, and a material clamping device is symmetrically arranged at the lower end of the installation plate 3, that is, the material clamping device can realize the movement of X, Y and Z axes, and the 180-degree rotation of the Z axis, the material clamping device is used for clamping materials, especially cylindrical or less inclined conical materials, and the loading table is located at the front end of the stand 1.

[0073] The structure of the material clamping device in the present application will be described below:

[0074] The material clamping device comprises a vertically arranged outer sleeve 8 with an open lower end, the outer sleeve is in the shape of a cylinder, the top of the outer sleeve is radially bent outward and forms a flange portion 81, and mounting holes are uniformly distributed in the circumferential direction of the flange portion for connecting with the installation plate 3.

[0075] A first air bag 52 is arranged on the inner wall of the outer sleeve 8, the first air bag 52 is in the shape of a strip, and the length direction of the first air bag 52 is parallel to the axis of the outer sleeve 8, the extension direction of the first air bag 52 is perpendicular to the axis of the outer sleeve 8, that is, the first air bag 52 can approach or move away from the axis of the outer sleeve 8, there are three or four first air bags 52 and they are uniformly distributed in the circumferential direction, a clamping area is formed between each two first air bags 52, the cross section of the first air bag 52 is in the shape of an isosceles trapezoid, a rubber suction cup 53 is arranged at the end of the first air bag 52, the rubber suction cup faces the clamping area, specifically, the rubber suction cup 53 faces the axis of the outer sleeve 8, the rubber suction cup 53 is in the shape of a strip and is in the shape of a ring body (track shape), the middle part of the rubber suction cup is concave inward, the edge part is used for contacting the side wall of the blank or the part, the length direction of the rubber suction cup 53 is parallel to the axis of the outer sleeve 8, air holes 530 are arranged in the rubber suction cup 53 (in the middle concave groove), the air holes are multiple and are equidistantly arranged along the length direction of the rubber suction cup, the rubber suction cup is connected with an air pump through a reversing valve and can realize air blowing or air suction (air extraction), when air blowing, the side wall surface of the blank or the part in the clamping area can be cleaned by air blowing, when air suction (air extraction), the blank or the part in the clamping area can form a negative pressure between the side walls, so as to realize the fixation between the rubber suction cup and the blank or the part.

[0076] In order to improve the fitting degree and the material gripping effect, in the present application, the first air bags at each end can be arranged from top to bottom, that is, two or more first air bags located on the same straight line constitute a first air bag.

[0077] Specifically, the inner sleeve 6 is coaxially arranged in the outer sleeve, and a spacing is formed between the outer wall of the inner sleeve and the inner wall of the outer sleeve, forming an installation interval. A support plate 51 is slidingly arranged in the installation interval. The support plate 51 is strip-shaped (rectangular), and the length direction of the support plate 51 is parallel to the axis of the inner sleeve. The support plate 51 can realize radial sliding, that is, the sliding direction of the support plate 51 is parallel to the radial direction of the clamping area. The support plate 51 is three or four and is circumferentially distributed. A second air bag 54 is arranged between the inner wall of the outer sleeve 8 and the support plate 51. The second air bag is strip-shaped (rectangular), and is used to drive the support plate 51 to slide. In order to improve the reset efficiency and reliability, a tension spring is arranged on the inner wall of the outer sleeve in the embodiment. The end of the tension spring is connected with the support plate 51, and an outward pulling force is generated on the support plate. When the second air bag is depressurized, the support plate can be moved away from the clamping area and reset under the action of the pulling force of the spring. The support plate can also be reset by air extraction of the second air bag, or both of them are performed at the same time, so as to improve the reset efficiency and reset reliability. The first air bag 52 is fixed to the inner side end face of the support plate 51. The arrangement of the first air bag and the second air bag can improve the clamping efficiency, increase the stroke of the rubber suction cup, and increase the diameter range of the two pieces that can be gripped, so as to have a wide application range. At the same time, the radial width of the single air bag is reduced, the clamping reliability is improved, the downward deformation of the air bag caused by the gravity of the part during clamping is avoided, and the material gripping stability and reliability are improved.

[0078] In the present application, the limiting pin 55 is arranged at the upper end and / or the lower end of the support plate 51. The limiting pin is located at the center of the support plate, and the axis of the limiting pin is parallel to the axis of the outer sleeve. At the same time, the upper end and / or the lower end of the inner sleeve 6 is provided with a supporting portion 65. The supporting portion is axially extended from the upper end or the lower end of the inner sleeve. The limiting ring 41 is arranged outside the supporting portion 65. The limiting ring 41 is a circular ring, and can realize radial rotation. The limiting holes are circumferentially and uniformly distributed on the limiting ring 41. The number of the limiting holes is the same as the number of the limiting pins. The limiting holes are strip-shaped, and the length direction of the limiting holes is inclined to the sliding direction of the support plate 51, that is, the limiting holes are arranged obliquely. The limiting holes can accommodate the limiting pins, and realize the synchronous sliding of the support plates 51, that is, the support plates 51 can slide inward or outward at the same speed and distance.

[0079] The inner sleeve 6 includes an inner sleeve body 61. The inner sleeve body 61 is overall cylindrical. The mounting portion 63 protruding outward is formed on the inner sleeve body 61. Referring to Figures 13-14The mounting portion 63 is three or four and is uniformly distributed in the circumference. The mounting cavity 630 is formed on the mounting portion 63. The opening of the mounting cavity 630 is towards the axis of the inner sleeve. The cross section of the mounting cavity is U-shaped structure. Meanwhile, the two side walls of the mounting cavity are parallel to each other. The strip-shaped guide groove 631 is symmetrically arranged on the side wall of the mounting cavity. There are at least two strip-shaped guide grooves on each side and they are arranged at the upper and lower ends respectively. The length direction of the strip-shaped guide groove 631 is perpendicular to the axis of the inner sleeve. Correspondingly, the protrusion is arranged on the side wall of the support plate 51 and forms the guide block 511. The guide block 511 is sleeved in the strip-shaped guide groove. Thus, the sliding connection of the support plate is realized.

[0080] In order to protect the first air bag and limit the support plate, the limiting sleeve 7 is sleeved in the inner sleeve in the application. The inner wall of the inner sleeve is in contact with the outer wall of the limiting sleeve. The rectangular hole 70 is arranged on the side wall of the limiting sleeve. The number of the rectangular hole is same as that of the first air bag and is uniformly distributed in the circumference. The size (length and height) of the rectangular hole is larger than that of the first air bag and is smaller than that of the support plate. Therefore, the first air bag can pass through the rectangular hole and the support plate can be limited. When the support plate is in contact with the outer wall edge of the rectangular hole, it indicates that the support plate is moved to the position. The strip-shaped protrusion 71 is arranged on the two sides of the outer wall of the rectangular hole 70. The distance between the outer walls of the two strip-shaped protrusions is same as the width of the mounting cavity. Therefore, the strip-shaped protrusion can be axially inserted into the mounting cavity. Thus, the radial limitation of the limiting sleeve is realized. In the application, the inner limiting sleeve is inserted from bottom to top. The step surface is arranged on the lower end of the limiting sleeve. The step surface can be in contact with the lower end of the inner sleeve and realize the axial limitation.

[0081] In order to clean the side wall surface of the ingredients and parts, avoid the influence of surface impurities on the grabbing effect, and even scratch the surface of the parts, and at the same time, clean the surface of the workbench when placing the blank, facilitate accurate installation of the blank, in the embodiment, a sliding ring 91 is vertically and slidingly arranged outside the lower end of the inner sleeve 6. The sliding ring is a whole circular ring, which is exactly sleeved outside the inner sleeve and can realize axial movement. At least three limiting holes 64 are arranged on the lower end side wall of the inner sleeve. The limiting holes are strip-shaped, and the length direction thereof is parallel to the axis of the inner sleeve. At the same time, a plurality of limiting pins 911 are uniformly distributed on the inner wall of the sliding ring. The limiting pins 911 are sleeved in the limiting holes and realize up and down limiting. A circular ring-shaped third air bag 92 is arranged at the upper end of the sliding ring 91. The top of the third air bag is connected with the positioning ring 42 of the outer wall of the inner sleeve 6. The third air bag drives the sliding ring 91 to move up and down through inflation or air extraction. In order to guarantee the reliability of the upward reset, an elastic component is arranged on the positioning ring. The elastic component is a tension spring. The lower end of the tension spring is connected with the sliding ring, so that the sliding ring has an upward movement tendency to realize reset. A circular ring-shaped air ring 93 is rotatably arranged at the lower end of the sliding ring 91. The air ring is rectangular in cross section, hollow inside and forms an air channel. A plurality of air injection holes 930 are uniformly distributed on the inner wall of the air ring 93. The air injection holes 930 are in communication with the air channel and are used for air injection. In the application, the air injection holes are inclined downward, and the axis of the air injection hole and the axis of the air ring are located in different planes. Therefore, when air is injected, the air ring can be pushed to rotate, thereby realizing 360-degree omnidirectional air injection, and the side wall of the blank or the parts and the surface of the workbench can be cleaned. When located at the lower limit position, the air ring is located below the outer sleeve. Specifically, the air injection hole is located outside (lower end) of the inner sleeve. When located at the upper limit position, the air ring is located inside the outer sleeve. Specifically, the bottom surface of the air ring is higher than the inner sleeve or the outer sleeve, so as to achieve the purpose of hiding and protecting, and avoid damage caused by impact during the descending process.

[0082] In order to reduce the manufacturing difficulty, facilitate assembly and daily maintenance, the support piece 62 is arranged on the outer wall of the inner sleeve body 61, the support piece 62 is parallel to the axis direction of the inner sleeve, that is, is arranged vertically, the support piece 62 is at least three and is uniformly distributed in the circumferential direction, meanwhile, the mounting clamping groove corresponding to the support piece is arranged on the inner wall of the outer sleeve, the mounting clamping groove is strip-shaped and is arranged vertically, the upper end of the mounting clamping groove penetrates to the outside of the outer sleeve, the support piece 62 can be inserted into the mounting clamping groove 80 from top to bottom, thereby realizing the connection between the inner sleeve and the outer sleeve; meanwhile, the pressing sleeve 3 is arranged on the upper end of the inner wall of the outer sleeve, the pressing sleeve is annular as a whole, the clamping strip is arranged on the outer wall of the pressing sleeve 3, the clamping strip is strip-shaped and the length direction is parallel to the axis direction of the pressing sleeve, the clamping strip can be inserted into the clamping strip of the mounting clamping groove, thereby realizing the radial positioning and installation of the pressing sleeve, meanwhile, the lower end of the clamping strip extends downward to the outside of the pressing sleeve 3, thereby forming the pressing part, the end part of the pressing part is in contact with the top surface of the support piece, thereby realizing the axial fixation of the inner sleeve, the gap between the lower end of the pressing sleeve and the upper end of the inner sleeve forms the mounting area, which is used for mounting the limiting ring 41.

[0083] Meanwhile, the application also provides a machining method of the man-machine interactive multi-axis machining system, which comprises the following steps:

[0084] S0, starting the power supply, including the machine tool, the material moving manipulator and the material carrying table (the first and second conveying belts);

[0085] S1, resetting, resetting the main shaft and the workbench on the machine tool, so that the workbench is in a horizontal state, facilitating the placement of the blank and the taking of the part (downloading), and the main shaft is located at the initial position outside the workbench, avoiding collision with the material moving manipulator;

[0086] S2, the first conveying belt acts, conveying in the direction of the seat, the blank on the first conveying belt enters the placement hole of the feeding end on the material carrying table, and realizes the accurate positioning of the blank, the blank triggers the detection sensor in the placement hole, and sends out a first sensing signal;

[0087] S3, the material moving manipulator moves to the upper side of the placement hole, and one of the clamping devices is coaxial with the placement hole, after receiving the first sensing signal, the material moving manipulator vertically moves downward, and the clamping device sequentially executes the following actions:

[0088] S31, the third air bag is inflated, the sliding ring is pushed to the lower limit position, and the air ring is located outside the inner sleeve;

[0089] S32, the air duct in the air ring is inflated, the gas is obliquely sprayed downward from the gas injection hole in the inner wall of the air ring, the air ring rotates radially under the air pressure thrust, and the sprayed gas cleans the whole surface of the blank for 360 degrees;

[0090] S33, when the material moving manipulator moves to h1 height, the gas ring stops inflating, and the third air bag is deflated and the gas ring is lifted to reset, h1 is a pre-set height value;

[0091] S34, when the manipulator moves to the lower limit position (set value), the second air bag 54 and the first air bag 51 inflate, which improves the clamping efficiency, that is, the approaching speed of the rubber sucker, the second air bag pushes the support plate to slide radially inward, and in the sliding process, the limiting ring at the upper end can ensure that the sliding distance of each support plate is the same, and the first air bag 51 makes the rubber sucker 53 approach the blank;

[0092] During the approaching process, the gas source connected with the rubber sucker supplies gas, so that the air holes on the rubber sucker spray and clean the surface of the blank to be clamped;

[0093] S35, when the surface of the rubber sucker contacts the surface of the blank, and the pressure in the first air bag or the second air bag reaches a specified value at the same time, it indicates that it has been clamped sufficiently, at this time, the first air bag and the second air bag stop inflating and lock the air pressure, and at the same time, the rubber sucker inhales and deflates;

[0094] S36, when the gas source connected with the rubber sucker reaches a specified negative pressure value, the blank negative pressure fixation is completed, and a second signal is sent out;

[0095] S4, after receiving the second signal, it indicates that the clamping is completed, the material moving manipulator rises and moves horizontally to the top of the loading and unloading hole of the machine tool, then passes through the loading and unloading hole and moves downward, in the process of moving downward, the grating on the loading and unloading hole is triggered, and a third signal is sent out;

[0096] S41, after receiving the third signal, the position state of the spindle and the workbench is detected;

[0097] A when it is detected that the spindle and the workbench are in the initial state, it is a normal state, and the material moving manipulator continues to move downward;

[0098] B otherwise, that is, when it is detected that the spindle or the workbench is in a non-initial state, the material moving manipulator stops moving downward, and the spindle and the workbench are preferentially reset until the reset is completed, and the above step A is executed;

[0099] S5, when the workbench has a part, the other empty clamping device is aligned with the part through the rotary cylinder and takes the part, and the taking step is S31-S36;

[0100] Specifically

[0101] S31, the third air bag inflates, pushes the sliding ring to the lower limit position, and makes the gas ring located outside the inner sleeve;

[0102] S32, the air ring is inflated, the gas is inclined downward from the air jet hole of the inner wall of the air ring, the air ring is radially rotated under the air pressure thrust, and the sprayed gas cleans the whole surface of the part at 360 degrees;

[0103] S33, when the material moving manipulator moves to h1 height, the air ring stops inflating, and the third air bag is deflated to make the air ring rise and reset, h1 is a pre-set height value;

[0104] S34, when the manipulator moves to the lower limit position (set value), the second air bag 54 and the first air bag 51 are inflated, which can improve the clamping efficiency, that is, the approaching speed of the rubber sucker, the second air bag pushes the support plate to slide radially inward, and in the sliding process, the limiting ring at the upper end can ensure that the sliding distances of the support plates are the same, and the first air bag 51 makes the rubber sucker 53 approach the part;

[0105] S35, when the surface of the rubber sucker contacts the surface of the part, and the pressure in the first air bag or the second air bag reaches a specified value, it indicates that the clamping is sufficient, at this time, the first air bag and the second air bag stop inflating and lock the air pressure, and at the same time, the rubber sucker inhales and is vacuumized;

[0106] S36, when the air source connected with the rubber sucker reaches a specified negative pressure value, the part negative pressure fixation is completed, and a second signal is sent out;

[0107] After the material is taken out, the material moving manipulator moves to h1 height, h1 is a pre-set horizontal height, the rotary cylinder rotates by 180 degrees, and the blank end is switched to the position directly above the placement position;

[0108] When the switching is completed or there is no part on the workbench, the following steps are executed:

[0109] S6, in the process of approaching the workbench, the following steps are executed:

[0110] S61, the third air bag is inflated to push the sliding ring and the air ring to the lower limit position;

[0111] S62, the air duct in the air ring is inflated, the gas is inclined downward from the air jet hole of the inner wall of the air ring, and the air ring is radially rotated under the air pressure thrust, and the sprayed gas cleans the surface of the workbench;

[0112] S7, when the material moving manipulator moves to h2 height, the air ring stops inflating, and the third air bag is deflated to make the air ring rise and reset, h2 is a pre-set height value;

[0113] S8, when the material moving manipulator moves to the lower limit position (set value), the air source connected with the rubber sucker is inflated to release the vacuum state between the rubber sucker and the blank;

[0114] S9, the first air bag and the second air bag are pumped, the rubber suction cup is moved outward and separated from the blank;

[0115] S10, the mechanical hand is moved upward and reset to the top of the object table;

[0116] S101, when the clamping device is clamped with a part, the part is placed in the material placing hole at the discharge end, and the detection sensor in the material placing hole is touched, the placing step is S8-S9, and then the second conveying belt acts and moves the part in the material placing hole out;

[0117] S11, the material moving mechanical hand is moved upward and reset, and a working cycle is completed.

[0118] The man-machine interactive multi-axis machining system provided by the application sets a material moving mechanical hand and an object table, can realize automatic feeding and automatic discharging of the machine tool, has high automation degree, greatly reduces the labor intensity of the operator, and improves the production and machining efficiency; the double clamping device can realize simultaneous material taking and discharging, reduces the empty stroke time, and improves the production efficiency; the double air bag clamping mechanism has a large stroke, a wide use range, and a fast clamping or loosening rate; the sliding-to-support plate structure has high structural strength, avoids downward deformation caused by gravity during material grabbing, and realizes stable and reliable material grabbing; the rubber suction cup structure can realize soft contact with the part, avoids scratching the surface of the part, and simultaneously sets air holes for air intake and air outlet on the suction cup, can blow and clean the surface of the part, realizes negative pressure material taking, greatly improves the grabbing strength and reliability, avoids falling, and is especially suitable for parts with a cylindrical or conical structure; the air ring can blow and clean the surface of the part and the workbench, improves the clamping reliability and part placing precision, and avoids impurities scratching the surface of the part; the telescopic air ring structure can be hidden, avoids contact with other parts during work, is stable and reliable in use, and has compact appearance; the detachable inner sleeve structure has low machining difficulty and cost, is convenient to assemble, and is convenient for later maintenance; the man-machine interactive multi-axis machining system has compact structure, high automation degree and production efficiency, and is reliable and stable in work.

[0119] The above only describes the preferred embodiments of the application, and it should be noted that, for ordinary skilled persons in the technical field, some improvements and refinements can be made without departing from the technical principles of the application, and these improvements and refinements should also be regarded as the protection scope of the application.

Claims

1. A human-machine interactive multi-axis machining system, characterized in that, include: A machine tool for processing parts, the machine tool having a worktable for fixing blanks for processing, and loading and unloading holes on the top of the machine tool located directly above the worktable; A stage, located outside the machine tool, is used to place blanks and finished parts; The material handling robot can pass through the loading and unloading holes and move the blank on the loading platform to the worktable, or move the parts that have been processed on the worktable to the loading platform; The material handling robot includes a stand fixed to the left or right side of the machine tool, a crossbeam fixed to the stand, a first slide block horizontally slidable on the crossbeam, and a longitudinal beam vertically slidable on the first slide block. A rotary cylinder capable of 180-degree rotation is vertically fixed to the lower end of the longitudinal beam. A mounting plate is fixed to the output end of the rotary cylinder. Clamping devices are symmetrically arranged at the lower end of the mounting plate. The platform is located at the front end of the stand. The clamping device includes a vertically arranged outer sleeve with an open lower end. A first airbag is provided inside the outer sleeve. The first airbag is strip-shaped, with its length parallel to the axis of the outer sleeve. The extension and retraction direction of the first airbag is perpendicular to the axis of the outer sleeve. There are three or four first airbags evenly distributed circumferentially, forming a clamping area between them. The ends of the first airbags are provided with strip-shaped rubber suction cups facing the clamping area. The length of the rubber suction cups is parallel to the axis of the outer sleeve. The strip-shaped rubber suction cups have air holes. These air holes can blow air to clean the sidewall surface of the blank or part within the clamping area and can also suck air to create negative pressure between the sidewall of the blank or part within the clamping area for fixation. An inner sleeve is coaxially arranged inside the outer sleeve, and a strip-shaped support plate is slidably fitted between the inner sleeve and the outer sleeve. The sliding direction of the support plate is parallel to the radial direction of the clamping area. There are three or four support plates evenly distributed around the circumference. A second airbag for driving the support plate to slide is provided between the inner wall of the outer sleeve and the support plate. The first airbag is fixed to the inner end face of the support plate. The upper and / or lower ends of the support plate are provided with a limiting pin at their center. The axis of the limiting pin is parallel to the axis of the outer sleeve. The upper and / or lower ends of the inner sleeve extend axially to form an annular support portion. The support portion is fitted with a limiting ring. The limiting ring is circular and can rotate radially. The limiting ring is circumferentially distributed with limiting holes. The limiting holes are strip-shaped and their length direction is inclined to the sliding direction of the support plate. They can accommodate the insertion of the limiting pin and realize the synchronous sliding of each support plate. A slip ring is vertically slidably mounted on the lower outer side of the inner sleeve. A third annular air bladder is provided at the upper end of the slip ring. The top of the third air bladder is connected to a positioning ring on the outer wall of the inner sleeve and can drive the slip ring to move up and down via telescopic movement. The positioning ring has an elastic component that gives the slip ring an upward tendency to move. A circular air ring is rotatably mounted on the lower end of the slip ring. The air ring is hollow and forms an air passage. Air jet holes communicating with the air passage are evenly distributed circumferentially on the inner wall of the air ring. The air jet holes are inclined downwards, and their axes are located in different planes from the axis of the air ring. When air is jetted, the air ring can rotate radially and can clean the side walls of the blank or part and the surface of the worktable. When in the lower limit position, the air ring is located below the outer sleeve; when in the upper limit position, the air ring is located inside the outer sleeve.

2. The human-machine interactive multi-axis machining system as described in claim 1, characterized in that: The platform is provided with a fixed base, and the fixed base has a material placement hole that can accommodate blanks or parts for insertion. There are two material placement holes, and the distance between the two material placement holes is the same as the distance between the two clamping devices. The side wall of the material placement hole is provided with an opening for feeding or discharging. The lower end of the two material placement holes is respectively provided with a first conveyor belt for feeding and a second conveyor belt for discharging.

3. The human-machine interactive multi-axis machining system as described in claim 1, characterized in that: The loading and unloading holes are equipped with gratings. When the machine tool is in the processing state, the material handling robot cannot enter the loading and unloading holes; when the material handling robot passes through the grating, the spindle of the machine tool locks its initial position.

4. The human-machine interactive multi-axis machining system as described in claim 1, characterized in that: The inner sleeve includes a cylindrical inner sleeve body with three outwardly protruding mounting portions evenly distributed circumferentially. Each mounting portion has a mounting cavity with an opening facing the axis of the inner sleeve. The two side walls of the mounting cavities are parallel to each other, and the side walls of the mounting cavities are symmetrically provided with strip-shaped guide grooves. The length direction of the strip-shaped guide grooves is perpendicular to the axis of the inner sleeve. The side wall of the support plate has a protrusion forming a guide block, which is fitted into the strip-shaped guide groove and slidably connected. A limiting sleeve is fitted inside the inner sleeve. The side wall of the limiting sleeve has a rectangular hole that allows the first airbag to pass through and can limit the support plate. The rectangular hole has strip-shaped protrusions on both sides, which can be axially inserted into the mounting cavity and radially limited.

5. A machining method for a human-machine interactive multi-axis machining system, characterized in that, Includes the following steps: S0, Start; S1. Reset: Reset the spindle and worktable on the machine tool so that the worktable is in a horizontal position and the spindle is in its initial position outside the worktable. S2. The first conveyor belt moves, causing the blank on the first conveyor belt to enter the feeding hole at the feeding end of the platform. The blank triggers the detection sensor in the feeding hole and sends out the first sensing signal. S3. The material handling robot moves to directly above the material placement hole, and aligns one of the clamping devices with the material placement hole. After receiving the first sensing signal, the material handling robot moves vertically downward, and the clamping devices sequentially perform the following actions: S31, the third airbag inflates, pushing the slip ring and air ring to the lower limit position; S32. The air passages inside the air ring are filled with air. The gas is ejected from the jet holes on the inner wall of the air ring at an angle downwards and rotates radially under the thrust of air pressure. The ejected gas cleans the entire surface of the blank. S33. When the material handling robot moves to height h1, the air ring stops inflating, and the third air bag is deflated, causing the air ring to rise and reset. S34. When the robot arm moves to the lower limit position, the second airbag and the first airbag inflate. The second airbag pushes the support plate to slide radially inward and ensures that the sliding distance of each support plate is the same through the upper limit ring. The first airbag brings the rubber suction cup close to the blank. During the approach process, the air source connected to the rubber suction cup supplies air, so that the air holes on the rubber suction cup spray air onto the surface of the blank to be clamped for cleaning. S35. When the surface of the rubber suction cup contacts the surface of the blank and the pressure inside the first air bladder or the second air bladder reaches the specified value, the first air bladder and the second air bladder stop inflating, and the rubber suction cup sucks in air and draws a vacuum. S36. When the air source connected to the rubber suction cup reaches the specified negative pressure value, the negative pressure of the blank is fixed and a second signal is issued. S4. After the material handling robot rises and moves horizontally to directly above the loading and unloading holes of the machine tool, it passes through the loading and unloading holes and moves downward. During the downward movement, it triggers the grating on the loading and unloading holes and sends out a third signal. S41. After receiving the third signal, the position status of the spindle and the worktable is detected; A. When the spindle and worktable are detected to be in their initial state, the material handling robot continues to move downwards; B. Otherwise, the transfer robot stops moving downwards and prioritizes resetting the spindle and worktable until the reset is complete, and then performs step A above. S5. When there is a part on the worktable, the other empty clamping device is aligned with the part and picked up by rotating the cylinder. The picking steps are S31-S36. S51. After the material is picked up, the material transfer machine moves up to a height of h1, where h1 is a preset horizontal height. The rotary cylinder rotates 180 degrees and moves the blank end directly above the position to be placed. When the conversion is complete or there are no parts on the worktable, perform the following steps: S6. As the material handling robot approaches the worktable, it performs the following steps: S61, the third airbag inflates, pushing the slip ring and air ring to the lower limit position; S62. Inflate the air passages in the air ring. The gas is ejected from the jet holes on the inner wall of the air ring at an angle and downwards. Under the thrust of air pressure, it rotates radially and the ejected gas cleans the surface of the worktable. S7. When the material handling robot moves to height h2, the air ring stops inflating, and the third air bag is deflated, causing the air ring to rise and reset. h2 is a preset height value. S8. When the material handling robot moves to the lower limit position, the air source connected to the rubber suction cup is inflated and the vacuum state between the rubber suction cup and the blank is released. S9. The first and second airbags are deflated, causing the rubber suction cup to move outward and separate from the blank. S10. The robotic arm moves up and resets to directly above the stage; S101. When a part is clamped on the clamping device, the part is placed in the material placement hole at the discharge end, and the detection sensor in the material placement hole is triggered. The placement step is S8-S9. The second conveyor belt moves and moves the part out of the material placement hole. S11, The material transfer robot arm moves up and resets.

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