Loading and unloading equipment for production lines

Abstract

The present invention relates to loading and unloading equipment applied to a production line, and is applied to an automated production line. The automated production line includes a processing machine tool, a processing spindle is arranged on one side of the processing machine tool, and includes a loading and unloading manipulator and a material box, a positioning mechanism and a transfer conveyor belt arranged below the loading and unloading manipulator. The loading and unloading manipulator is arranged in the processing machine tool and is arranged on the side of the processing machine tool away from the processing spindle. The material box is used to vertically place the workpiece, the positioning mechanism is used to position the workpiece before processing, and the transfer conveyor belt is used to transport the workpiece, wherein the loading and unloading manipulator is provided with at least one group of first suction cup assemblies for picking up and placing the workpiece, and a rotating shaft for driving the first suction cup assembly to rotate so that the workpiece is placed horizontally or vertically. The present invention realizes the automated flow in the processing process of the production line, reduces the mutual interference between the machine tool processing operation and the loading and unloading operation, effectively improves the production efficiency, and improves the reliability of loading and unloading.

Description

Technical Field

[0001] The invention relates to loading and unloading equipment applied to a production line, and belongs to the technical field of automated processing. Background Art

[0002] At present, with the continuous development of the electronics and automobile consumer markets, the demand for digital products that use glass as display screens and touch screens is also increasing, and the size of components such as displays and touch screens is also increasing. However, the existing glass processing mainly relies on manual board placement and board retrieval, or can only achieve single-machine automation, with low processing efficiency and unable to meet mass production requirements. At the same time, the existing stand-alone equipment and automated production lines are prone to interference between machine tool processing and loading and unloading, which not only affects the reliability of the manipulator and positioning mechanism, but also brings inconvenience to operations such as tool replacement and spindle maintenance. In addition, in the existing automated production lines, the finished products are circulated through the material box, which makes the loading and unloading of the workpiece inefficient and easy to cause damage to the workpiece, and also occupies a lot of manpower costs. Summary of the invention

[0003] The present invention provides a loading and unloading device applied to a production line, aiming to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a loading and unloading device applied to a production line, which can reduce the mutual interference between components and improve the processing efficiency.

[0004] The technical solution of the present invention relates to a loading and unloading device on one hand, which is applied to an automated production line. The automated production line includes a processing machine tool, and a processing spindle is provided on one side of the processing machine tool, including:

[0005] A loading and unloading robot, the loading and unloading robot is arranged in the processing machine tool and is arranged on a side of the processing machine tool away from the processing spindle;

[0006] A material box for vertically placing workpieces, a positioning mechanism for positioning the workpieces before processing, and a transfer conveyor belt for transporting the workpieces are arranged below the loading and unloading manipulator;

[0007] The loading and unloading robot is provided with at least one set of first suction cup assemblies for picking up and placing workpieces, and a rotating shaft for driving the first suction cup assemblies to rotate so as to place the workpieces horizontally or vertically.

[0008] Furthermore, the loading and unloading robot includes a rotating shaft assembly, and the rotating shaft assembly is provided with a lower connecting block, and the lower connecting block is a U-shaped structure with an opening facing downward, and two ends of the lower connecting block are respectively connected to two ends of the rotating shaft.

[0009] Furthermore, the rotating shaft assembly is movably disposed on a first movable beam, the first movable beam is movably disposed on a manipulator support, and the manipulator support is connected to the processing machine tool.

[0010] Furthermore, the first suction cup assemblies are provided in at least two groups, and each two groups of the first suction cup assemblies are symmetrically arranged.

[0011] Furthermore, the material box includes a material box and a plurality of limiting rods, and the two clamping plates are respectively connected to two ends of the limiting rods.

[0012] Furthermore, the splint is a U-shaped structure with an opening facing upward.

[0013] Furthermore, the positioning mechanism is arranged on a side of the loading and unloading robot close to the processing machine tool, and the material box and the transfer conveyor belt are arranged on a side of the positioning mechanism facing away from the processing machine tool.

[0014] Furthermore, one end of the transfer conveyor belt away from the material box is exposed to the processing machine tool to be connected to a material unloading conveyor belt arranged outside the processing machine tool.

[0015] Another aspect of the technical solution of the present invention relates to a material loading and unloading control method, which is applied to the processing production line of the above embodiment of the present invention; the method comprises the following steps:

[0016] N100, obtaining the processing instruction of the current process, adjusting the posture of the first suction cup assembly through the rotating axis, so as to suck up the vertically placed workpiece in the material box through the first suction cup assembly;

[0017] N200, after the workpiece is moved to the set position by the loading and unloading manipulator, the posture of the first suction cup assembly is adjusted by the rotating axis so that the workpiece is placed horizontally, and then the workpiece is placed on the positioning mechanism by the loading and unloading manipulator;

[0018] N300, after the workpiece is positioned by the positioning mechanism and processed by the processing machine, the workpiece is transferred to the transfer conveyor belt by the loading and unloading robot.

[0019] Further, the first suction cup assembly is provided in at least two groups, and each two groups of the first suction cup assembly are symmetrically arranged;

[0020] The step N200 includes the following steps:

[0021] N210, after taking out the blank workpiece in the material box and moving it to the set position through one of the first suction cup assemblies of the loading and unloading manipulator, adjust the posture of the first suction cup assembly through the rotating axis so that the blank workpiece is placed horizontally and above the rotating axis;

[0022] N220, after obtaining the completion instruction of the previous process, the finished workpiece is moved to the positioning mechanism by the processing machine tool, and the finished workpiece is picked up and moved to the set position by another first suction cup assembly of the loading and unloading manipulator;

[0023] N230, flip the first suction cup assembly through the rotating axis so that the blank workpiece is under the rotating axis, and place the blank workpiece on the positioning mechanism through the loading and unloading robot.

[0024] The beneficial effects of the present invention are as follows.

[0025] The loading and unloading equipment of the embodiment of the present invention respectively arranges the processing area and the loading and unloading area on the front and rear sides of the processing machine tool, and is equipped with a material box for vertically placing workpieces and a loading and unloading robot that can rotate the workpiece. It can realize the transformation of the horizontal and vertical postures of large-sized workpieces in a narrow machine tool, make full use of the vertical space in the machine tool, realize fully automatic loading and unloading of workpieces such as large-sized flat glass in small and compact machine tools (such as engraving and milling machines, etc.), and cooperate with the transfer conveyor belt to unload the workpiece in the machine tool, so as to realize the synchronous loading and unloading of the loading and unloading robot in the limited internal space of the processing machine tool, realize fully automatic loading and unloading in the machine tool, effectively avoid the mutual interference between the loading and unloading operations and the processing operations, and reduce the dependence on manual loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0027] Figure 1 It is an overall schematic diagram of an automated processing production line according to an embodiment of the present invention.

[0028] Figure 2 yes Figure 1 A magnified top view of the internal structure of the processing machine tool at point A in the middle.

[0029] Figure 3 It is a schematic structural diagram of a processing machine tool and loading and unloading equipment according to an embodiment of the present invention.

[0030] Figure 4 It is a side structural diagram of a loading and unloading device according to an embodiment of the present invention.

[0031] Figure 5 is a structural schematic diagram of a positioning mechanism according to an embodiment of the present invention.

[0032] Figure 6 yes Figure 1 A magnified view of the back of the automated processing line in the middle.

[0033] Reference numerals:

[0034] 100 machining machine tool; 110 machining mechanism; 111 workbench; 112 machining spindle; 120 bed; 130 machining telescopic guide rail; 140 vacuum adsorption base;

[0035] 200 loading and unloading manipulator; 210 manipulator bracket; 211 first column; 212 first crossbeam; 220 first slide; 230 first moving beam; 240 first slide plate; 250 rotating shaft assembly; 251 rotating shaft connecting frame; 252 rotating shaft; 253 upper connecting block; 254 lower connecting block; 260 first suction cup assembly; 261 vacuum suction cup; 270 mounting bracket;

[0036] 300 material box; 310 clamping plate; 320 limit rod;

[0037] 400 positioning mechanism; 410 positioning block; 411 positioning recess; 420 positioning translation bracket; 430 positioning connecting bracket; 440 cylinder connecting plate; 450 positioning cylinder;

[0038] 500 transfer conveyor belt;

[0039] 600 unloading conveyor belt;

[0040] 700 unloading manipulator; 710 second column; 720 second crossbeam; 730 second slide; 740 connecting assembly; 741 adapter plate; 742 connecting rod; 750 second suction cup assembly;

[0041] 800 artifacts. DETAILED DESCRIPTION

[0042] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0043] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature, or it may be indirectly fixed or connected to the other feature. In addition, the descriptions of up, down, left, right, top, bottom, etc. used in the present invention are only relative to the relative positional relationship of the components of the present invention in the drawings.

[0044] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention. The term "and / or" used herein includes any combination of one or more related listed items.

[0045] It should be understood that, although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of the present disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0046] See also Figures 1 to 6 The automated processing production line of the technical solution of the present invention comprises a processing machine tool 100, a loading and unloading robot 200, a transfer conveyor belt 500, a unloading conveyor belt 600 and a unloading robot 700. The loading and unloading robot 200 is used to switch the position of the workpiece 800 between the loading and unloading area and the processing area. The processing area and the loading and unloading area are respectively arranged on opposite sides of the processing machine tool 100. The loading and unloading robot 200 is arranged in the loading and unloading area. One end of the transfer conveyor belt 500 is arranged in the loading and unloading area. The unloading conveyor belt 600 is arranged on the side of the processing machine tool 100. The unloading robot 700 is used to switch the position of the workpiece 800 between the unloading conveyor belt 600 and the transfer conveyor belt 500.

[0047] Specifically, after the operator places a plurality of blank workpieces 800 at the loading end, the blank workpieces 800 are loaded by the loading and unloading manipulator 200. After the blank workpieces 800 are processed in the processing area of ​​the processing machine tool 100, the loading and unloading manipulator 200 takes out the finished workpieces 800 and places them at one end of the transfer conveyor belt 500. The transfer conveyor belt 500 transports the finished workpieces 800 to the other end. The unloading manipulator 700 picks up the finished workpieces 800 on the transfer conveyor belt 500 and places them on the unloading conveyor belt 600. The finished workpieces 800 are transported to the next process or to the unloading end through the unloading conveyor belt 600. It should be noted that the automated processing production line of the present invention can be applied to glass processing.

[0048] In the multi-station glass processing automated production line of the present invention, a loading and unloading robot 200 is provided in a processing machine tool 100, and is equipped with a transfer conveyor belt 500, a unloading robot 700 and a unloading conveyor belt 600, and a processing area and a loading and unloading area are respectively arranged on opposite sides of the processing machine tool 100, thereby realizing automated circulation during the processing of the production line, while reducing mutual interference during machine tool processing operations and loading and unloading operations, which is beneficial to avoiding the need for components to stop and wait for operations, effectively improving production efficiency, and reducing the pollution of the robot and the workpiece 800 by processing auxiliary fluids and waste chips, thereby improving the reliability of loading and unloading.

[0049] Understandably, see Figure 1The automated processing production line of the present invention may be provided with a plurality of processing machines 100, and the plurality of processing machines 100 are respectively provided on both sides of the unloading conveyor belt 600. Furthermore, the plurality of processing machines 100 may be used for processing the same process or for processing different processes.

[0050] In some embodiments, the processing machine tool 100 includes at least one processing mechanism 110, and the processing mechanism 110 includes a workbench 111 and at least one processing spindle 112. The processing spindle 112 is arranged above the workbench 111, thereby adopting a multi-station multi-channel setting, and cooperating with a robot and a conveyor belt to realize simultaneous processing and circulation of multiple workpieces 800, which can effectively improve production efficiency.

[0051] Here, it is taken as an example that the processing machine tool 100 is provided with two processing mechanisms 110 and each group of processing mechanisms 110 is provided with two processing spindles 112, that is, the processing machine tool 100 adopts a four-station dual-channel design, see Figure 1 and Figure 2 The two processing mechanisms 110 are arranged side by side at the front side of the processing machine 100 as a processing area, and the loading and unloading robot 200 is arranged at the rear side of the processing machine 100 as a loading and unloading area. Each processing mechanism 110 can be provided with two processing spindles 112, and correspondingly, two workpieces 800 are placed on the workbench 111 to achieve synchronous processing of the two workpieces 800.

[0052] In some specific embodiments, the processing machine tool 100 is provided with a bed 120, a processing telescopic guide rail 130 and a positioning mechanism 400, the processing telescopic guide rail 130 is arranged on the upper side of the bed 120, the workbench 111 is movably arranged on the processing telescopic guide rail 130, and the positioning mechanism 400 and the processing mechanism 110 are respectively arranged on both sides of the processing telescopic guide rail 130. Figure 2 and Figure 3 A processing telescopic guide rail 130 is provided on the upper side of the bed 120, a workbench 111 for placing the workpiece 800 is provided on the processing telescopic guide rail 130, a processing spindle 112 is provided above the front side of the processing telescopic guide rail 130, and the loading and unloading manipulator 200 can move to the upper rear side of the processing telescopic guide rail 130. During the processing, the workbench 111 first moves to the rear of the processing telescopic guide rail 130, and after the loading and unloading manipulator 200 places the blank workpiece 800 on the workbench 111, the workbench 111 drives the workpiece 800 to move to the front side of the processing telescopic guide rail 130, and after the processing spindle 112 moves down to complete the processing of the workpiece 800, the workbench 111 drives the finished workpiece 800 to move to the rear side of the processing telescopic guide rail 130, and the loading and unloading manipulator 200 takes the finished workpiece 800 on the workbench 111 and places it on the transfer conveyor belt 500.

[0053] In some specific embodiments, the positioning mechanism 400 includes a positioning sensor and a movable positioning block 410, the positioning block 410 is provided with a positioning surface for contacting the workpiece 800, and the positioning sensor is provided on the positioning surface. Figure 3 , Figure 4 and Figure 5 A vacuum adsorption base 140 for fixing the workpiece 800 is provided on the workbench 111. The positioning mechanism 400 includes a positioning and translation bracket 420, a positioning and connecting bracket 430 and a plurality of positioning blocks 410. The plurality of positioning blocks 410 are fixedly connected to the positioning and connecting bracket 430. The lower side of the positioning and connecting bracket 430 is connected to the positioning slider. The lower side of the positioning slider is connected to the positioning and translation guide rail. The positioning and translation guide rail is arranged on the positioning and translation bracket 420. The positioning and translation bracket 420 is arranged on the bed 120 and at the rear end of the processing telescopic guide rail 130. The positioning and translation bracket 420 can be perpendicular to the processing telescopic guide rail 130.

[0054] Furthermore, one end of the positioning translation bracket 420 is connected to a cylinder connecting plate 440, and a positioning cylinder 450 is installed on the cylinder connecting plate 440. The telescopic end of the positioning cylinder 450 is connected to one end of the positioning connecting bracket 430, so that the positioning block 410 is driven to move left and right by the positioning cylinder 450 to position the workpiece 800 on the vacuum adsorption base 140. It should be noted that the number of positioning blocks 410 is the same as the number of machining spindles 112. Multiple positioning blocks 410 are arranged side by side on the positioning connecting bracket 430, and multiple workpieces 800 can be positioned at the same time. It should be noted that the positioning cylinder 450 can also be replaced by a stepper motor or a servo motor.

[0055] In some specific embodiments, the positioning block 410 is provided with a positioning recess 411, and a positioning sensor is provided on the positioning recess 411, and the position of the workpiece 800 on the vacuum adsorption base 140 is determined according to the detection feedback of the positioning sensor. Figure 3 and Figure 5 The positioning block 410 includes a mutually perpendicular positioning horizontal plate and a positioning vertical plate. One side of the positioning horizontal plate is connected to one side of the positioning vertical plate, thereby forming an L-shaped positioning block 410. The positioning surface on one side of the positioning horizontal plate intersects with the positioning surface on one side of the positioning vertical plate to form a right-angled positioning recess 411. Furthermore, two positioning sensors are provided, and the two positioning sensors are respectively arranged on the positioning surface of the positioning horizontal plate and the positioning surface of the positioning vertical plate. It should be noted that the shape of the positioning recess 411 can be set to different shapes such as circular, elliptical or right-angled according to the shape of the workpiece 800. For example, the automated processing production line of the present invention is applied to the processing of square glass. Accordingly, the positioning recess 411 is set to a right-angle structure.

[0056] Specifically, the positioning transverse plate is parallel to the positioning translation bracket 420, the positioning vertical plate is parallel to the processing telescopic guide rail 130, and one end of the positioning transverse plate close to the positioning cylinder 450 is connected to the rear end of the positioning vertical plate, thereby forming a right-angle positioning recess 411 with an opening facing away from the positioning cylinder 450.

[0057] In some specific embodiments, when the loading and unloading robot 200 places the blank workpiece 800 at the above-mentioned right-angle positioning recess 411, the loading and unloading robot 200 drives the workpiece 800 to move backward, so that the rear side of the workpiece 800 contacts the positioning surface on the positioning horizontal plate. After determining that the workpiece 800 has reached the preset position according to the positioning sensor, the loading and unloading robot 200 releases the workpiece 800, so that the workpiece 800 is placed on the base of the vacuum suction cup 261. Then, the positioning cylinder 450 drives the positioning connecting bracket 430 and the positioning block 410 to move, so that the positioning surface on the positioning vertical plate contacts the right side of the workpiece 800, and the positioning block 410 pushes the workpiece 800 to move to the left. According to the feedback from the positioning cylinder 450 and the positioning sensor, after determining that the workpiece 800 has reached the preset position, the positioning connecting bracket 430 and the positioning block 410 return to their original positions, and the vacuum adsorption base 140 fixes the workpiece 800 on the workbench 111, thereby completing the positioning of the workpiece 800 before processing through the cooperation of the loading and unloading robot 200 and the positioning mechanism 400.

[0058] In some specific embodiments, a material box 300 for storing the blank workpiece 800 is provided in the processing machine tool 100. The material box 300 is provided on the side of the transfer conveyor belt 500 away from the unloading conveyor belt 600. The positioning mechanism 400 is provided between the material box 300 and the processing telescopic guide rail 130. Figure 2 and Figure 3 , a plurality of processing spindles 112 are arranged side by side on the front side of the bed 120, a material box 300 and a transfer conveyor belt 500 are arranged side by side on the rear side of the bed 120, a positioning translation bracket 420 is arranged between the material box 300 and the processing telescopic guide rail 130 and between the transfer conveyor belt 500 and the processing telescopic guide rail 130, a positioning cylinder 450 is arranged on the side of the positioning translation bracket 420 away from the unloading conveyor belt 600, and a positioning block 410 protrudes toward the processing telescopic guide rail 130. The loading and unloading manipulator 200 is arranged above the material box 300, the positioning mechanism 400 and the transfer conveyor belt 500 to realize the switching position of the workpiece 800 between the material box 300, the positioning mechanism 400 and the transfer conveyor belt 500.

[0059] In some embodiments, the automated processing production line of the present invention can be applied to the processing of large-sized flat glass, wherein the large-sized flat glass workpiece 800 is vertically placed in the material box 300, which can fully utilize the vertical space position in the machine tool. Figure 3 and Figure 4The material box 300 includes two clamping plates 310 and a plurality of limiting rods 320. The two clamping plates 310 are respectively connected to the front end and the rear end of the limiting rods 320. The plurality of limiting rods 320 are respectively arranged on the left side, the right side and the bottom side of the material box 300. The workpiece 800 is placed between the two clamping plates 310 from the top of the material box 300. The left side, the right side and the bottom side of the workpiece 800 are respectively in contact with the limiting rods 320. Further, see Figure 6 The clamping plate 310 is a U-shaped structure with an opening facing upward, wherein two limit rods 320 are connected to the upper side of the clamping plate 310, and the other two limit rods 320 are connected to the lower side of the clamping plate 310, so that the middle part of the workpiece 800 at the outermost side of the material box 300 is exposed, and the vacuum suction cup 261 can contact the middle part of the workpiece 800, which is conducive to ensuring reliable retrieval and improving the stability of the material box 300 for storing the workpiece 800.

[0060] See also Figures 1 to 6 The loading and unloading equipment of the technical solution of the present invention is applied to an automated production line, which includes a processing machine tool 100, and a processing spindle 112 is arranged on one side of the processing machine tool 100. The loading and unloading equipment includes a loading and unloading robot 200 and a material box 300, a positioning mechanism 400 and a transfer conveyor belt 500 arranged below the loading and unloading robot 200. The loading and unloading robot 200 is arranged in the processing machine tool 100 and is arranged on the side of the processing machine tool 100 away from the processing spindle 112. The material box 300 is used to vertically place the workpiece 800, the positioning mechanism 400 is used to position the workpiece 800 before processing, and the transfer conveyor belt 500 is used to transport the workpiece 800, wherein the loading and unloading robot 200 is provided with at least one group of first suction cup assemblies 260 for picking up and placing the workpiece 800, and a rotating shaft 252 for driving the first suction cup assembly 260 to rotate so that the workpiece 800 is placed horizontally or vertically.

[0061] The material loading and unloading control method of the technical solution of the present invention is applied to an automated processing production line and comprises at least the following steps:

[0062] N100, obtaining the processing instruction of the current process, adjusting the posture of the first suction cup assembly 260 through the rotating shaft 252, so as to suck up the vertically placed workpiece 800 in the material box 300 through the first suction cup assembly 260;

[0063] N200, after the workpiece 800 is moved to the set position by the loading and unloading robot 200, the posture of the first suction cup assembly 260 is adjusted by the rotating shaft 252 so that the workpiece 800 is placed horizontally, and then the workpiece 800 is placed on the positioning mechanism 400 by the loading and unloading robot 200;

[0064] N300 , after the workpiece 800 is positioned by the positioning mechanism 400 and processed by the processing machine tool 100 , the workpiece 800 is transferred to the transfer conveyor belt 500 by the loading and unloading robot 200 .

[0065] Among them, see Figure 4 and Figure 5 When at least two groups of first suction cup assemblies 260 are provided, and each two groups of first suction cup assemblies 260 are symmetrically arranged, the loading and unloading robot 200 can immediately load the blank workpiece 800 after unloading the finished workpiece 800, and the loading and unloading operation includes at least the following steps:

[0066] N210, after taking out the blank workpiece 800 in the material box 300 and moving it to the set position through one of the first suction cup assemblies 260 of the loading and unloading robot 200, adjust the posture of the first suction cup assembly 260 through the rotating shaft 252 so that the blank workpiece 800 is placed horizontally and above the rotating shaft 252;

[0067] N220, after obtaining the completion instruction of the previous process, the finished workpiece 800 is moved to the positioning mechanism 400 by the processing machine tool 100, and the finished workpiece 800 is picked up and moved to the set position by another first suction cup assembly 260 of the loading and unloading robot 200;

[0068] N230, flip the first suction cup assembly 260 through the rotating shaft 252 so that the blank workpiece 800 is located below the rotating shaft 252, and place the blank workpiece 800 on the positioning mechanism 400 through the loading and unloading robot 200.

[0069] In some embodiments, the loading and unloading robot 200 is provided with a robot support 210, a first slide 220, a first moving beam 230, a first slide plate 240 and a rotating shaft assembly 250 for picking up and placing the workpiece 800. The robot support 210 is provided on the first column 211 and the first beam 212. Figure 3 and Figure 4 , two first columns 211 and two first beams 212 are provided, the two first columns 211 are respectively provided on the left and right sides of the bed 120, the first columns 211 are hollow square frames, the two ends of each first beam 212 are respectively connected to the upper ends of one side of the two first columns 211, the material box 300, the positioning mechanism 400 and one end of the transfer conveyor belt 500 are provided between the two columns and below the first beam 212. The two first slides 220 are respectively provided on the upper sides of the two beams so as to be movable left and right, the two ends of the first moving beam 230 are respectively connected to the two first slides 220, the first slide plate 240 is provided on the first moving beam 230 so as to be movable forward and backward, and the rotating shaft assembly 250 is provided on the first slide plate 240 so as to be movable up and down, thereby realizing the movement of the rotating shaft assembly 250 on the XYZ three axes.

[0070] In some specific embodiments, the shaft assembly 250 includes a shaft connecting frame 251, a rotating shaft 252, a shaft driver for driving the rotating shaft 252 to rotate, and at least one set of first suction cup assemblies 260. The shaft connecting frame 251 can be moved up and down and is arranged on the first slide plate 240. The rotating shaft 252 can be rotatably arranged on the shaft connecting frame 251. The first suction cup assembly 260 is arranged on the rotating shaft 252. Figure 3 , Figure 4 and Figure 6 The rotating shaft connecting frame 251 includes an upper connecting block 253 and a lower connecting block 254. The lower connecting block 254 is an inverted U-shaped structure, that is, the lower connecting block 254 includes a crossbar and two vertical bars, and the two ends of the crossbar are respectively connected to the upper ends of the two vertical bars. The upper side of the upper connecting block 253 is connected to the first slide 240, the lower end of the upper connecting block 253 is connected to the middle part of the upper side of the lower connecting block 254 (that is, the upper side of the middle part of its crossbar), and the two ends of the lower side of the lower connecting block 254 (that is, the lower ends of its two vertical bars) are respectively connected to the two ends of the rotating shaft 252. The rotating driver is arranged on the lower connecting block 254 and its rotating end is connected to the rotating shaft 252. The first suction cup assembly 260 is fixedly connected to the rotating shaft 252 and can rotate with the rotating shaft 252. It can be understood that each first suction cup assembly 260 is provided with at least one vacuum suction cup 261. In some specific embodiments, each first suction cup assembly 260 is provided with four vacuum suction cups 261.

[0071] Specifically, when the processing machine tool 100 needs to load the blank workpiece 800, the loading and unloading robot 200 moves in the XY direction to move the fixture assembly to the top of the material box 300, the rotating shaft 252 rotates to place the vacuum suction cup 261 of the first suction cup assembly 260 vertically, and the first suction cup assembly 260 moves down along the Z axis so that the vacuum suction cup 261 reaches the side of the workpiece 800, and the suction end of the vacuum suction cup 261 faces the workpiece 800. The first suction cup assembly 260 moves forward or backward, so that the vacuum suction cup 261 sucks the side of the workpiece 800 tightly, and then the first suction cup assembly 260 drives the workpiece 800 to move upward, so that the workpiece 800 leaves the material box 300 and reaches the set height, and then the rotating shaft 252 drives the first suction cup assembly 260 to rotate, so that the workpiece 800 is placed horizontally, and then the first suction cup assembly 260 moves along the three axes to place the workpiece 800 horizontally on the positioning assembly. After being positioned by the positioning assembly, the processing spindle 112 processes the workpiece 800. See also Figure 3 The first movable beam 230 in the loading and unloading robot 200 of the present invention can adopt a shorter length, so as to realize an axial short-span single-drive or double-drive beam structure, which is different from the existing axial long-span single-drive or double-drive beam structure, and can be applied to internal loading and unloading of small and compact machine tools.

[0072] In some specific embodiments, at least two groups of first suction cup assemblies 260 are provided, wherein the vacuum suction cups 261 of each two groups of first suction cup assemblies 260 face opposite directions, so that the loading and unloading manipulator 200 can load and unload the workpiece 800 synchronously, thereby improving processing efficiency. Here, a specific embodiment is used for illustration, each processing mechanism 110 is provided with two processing spindles 112, and correspondingly, the material box 300 and the positioning mechanism 400 are both provided with two, and two vacuum adsorption bases 140 are provided on the workbench 111 corresponding to each processing mechanism 110, then the first suction cup assembly 260 is provided with four groups, wherein two groups of first suction cup assemblies 260 are symmetrically arranged on the left side of the rotating shaft 252, and the other two groups of first suction cup assemblies 260 are symmetrically arranged on the right side of the rotating shaft 252, and the orientation of one of the suction cups on the left side is the same as the orientation of one of the suction cups on the right side, and the orientation of the other suction cup on the left side is the same as the orientation of the other suction cup on the right side.

[0073] See also Figure 3 and Figure 6 For example, the first suction cup assembly 260 marked as A1 and the first suction cup assembly 260 marked as A2 are symmetrically arranged about the rotation axis 252, the first suction cup assembly 260 marked as B1 and the first suction cup assembly 260 marked as B2 are arranged as above, and the suction cups of the first suction cup assembly 260 marked as A1 and the first suction cup assembly 260 marked as B1 are oriented in the same direction, and the suction cups of the first suction cup assembly 260 marked as A2 and the first suction cup assembly 260 marked as B2 are oriented in the same direction. After the first suction cup assemblies 260 marked as A1 and B1 of the loading and unloading robot 200 have sucked the blank workpiece 800 in the material box 300, the rotating shaft 252 rotates to place the multiple blank workpieces 800 horizontally, and the multiple workpieces 800 are respectively located above the first suction cup assemblies 260 marked as A2 and B2, the rotating shaft assembly 250 moves to reach the top of the positioning assembly, and the first suction cup assemblies 260 marked as A2 and B2 are moved down to suck up the finished workpiece 800 on the positioning assembly, and then the rotating shaft assembly 250 drives the blank workpiece 800 and the finished workpiece 800 to rise to the set height, and the rotating shaft 252 flips the first suction cup Component 260, so that the blank workpiece 800 and the first suction cup component 260 marked as A1 and B1 are both at the bottom, the finished workpiece 800 and the first suction cup component 260 marked as A2 and B2 are both at the top, the shaft component 250 moves down to place the blank workpiece 800 on the positioning component, completing the loading of the processing machine 100, and then the shaft component 250 moves to the top of the transfer conveyor belt 500 and flips the first suction cup component 260 again, so that the finished workpiece 800 is at the bottom and horizontally arranged, the loading and unloading robot 200 places the workpiece 800 horizontally on the transfer conveyor belt 500, completing the unloading of the processing machine tool 100.

[0074] The automated processing production line of the present invention sets the processing area and the loading and unloading area on the front and rear sides of the processing machine tool 100 respectively, and is equipped with a material box 300 for vertically placing the workpiece 800 and a loading and unloading robot 200 that can rotate the workpiece 800. It can realize the horizontal and vertical posture transformation of large-sized workpieces 800 in a narrow machine tool, make full use of the vertical space in the machine tool, and realize the fully automatic loading and unloading of large-sized flat glass and other workpieces 800 in small and compact machine tools (such as engraving and milling machines, etc.), as well as, cooperate with the transfer conveyor belt 500 to unload the workpiece 800 in the machine tool and the unloading conveyor belt 600 to circulate the workpiece 800 outside the machine tool, thereby realizing the synchronous loading and unloading of the loading and unloading robot 200 in the limited internal space of the processing machine tool 100, and in the four-station dual-channel processing, realizing fully automatic loading and unloading in the machine tool while effectively avoiding the mutual interference between the loading and unloading operations and the processing operations, and reducing the dependence on manual loading and unloading.

[0075] It can be understood that the loading and unloading equipment composed of the loading and unloading manipulator 200, the material box 300, the positioning mechanism 400 and the transfer conveyor 500 in the present invention can be installed on the processing machine 100 as a module. Specifically, a mounting bracket 270 is provided on the lower side of the loading and unloading equipment. The mounting bracket 270 is a triangular frame. The vertical side of the mounting bracket 270 can be fixedly connected to the side of the bed 120. The horizontal top surface of the mounting bracket 270 can be used to install the material box 300, the positioning mechanism 400 and the transfer conveyor 500, and the positioning block 410 of the positioning mechanism 400 faces the workbench 111. The first column 211 of the loading and unloading manipulator 200 is respectively arranged on the mounting bracket 270 and the bed 120, so that the loading and unloading equipment can be installed on the rear side of the processing machine 100, which is convenient for the production installation of the equipment and the layout of the production line.

[0076] In some embodiments, one end of the transfer conveyor 500 is disposed in the processing machine 100 and below the loading and unloading robot 200, and the other end of the transfer conveyor 500 is exposed to the processing machine 100, and the unloading conveyor 600 is disposed outside the processing machine 100 and disposed on the side of the end of the transfer conveyor 500. After the loading and unloading robot 200 places the finished workpiece 800 on the transfer conveyor 500, the transfer conveyor 500 transports the finished workpiece 800 to its other end, and the unloading robot 700 picks up the workpiece 800 on the transfer conveyor 500 and places it on the unloading conveyor 600. It can be understood that the transfer conveyor 500 can be perpendicular to the unloading conveyor 600, which is conducive to providing space utilization and realizing a compact configuration of the growth line. Specifically, the finished workpiece 800 is transported to the outside of the processing machine tool 100 by moving left and right. After the unloading robot 700 transfers the finished workpiece 800 from the transfer conveyor belt 500 to the unloading conveyor belt 600, the unloading conveyor belt 600 drives the finished workpiece 800 to move forward and backward to reach the next process or the unloading end.

[0077] In some embodiments, the automated processing production line is provided with multiple processing machines 100, and the multiple processing machines 100 are symmetrically arranged on both sides of the unloading conveyor belt 600. Figure 1 Six processing machine tools 100 are arranged on the automated processing production line, and three processing machine tools 100 are arranged on both sides of the unloading conveyor belt 600.

[0078] In some specific embodiments, the unloading robot 700 includes a second column 710, a second beam 720, a second slide 730, a connecting assembly 740 and at least one second suction cup assembly 750. The second column 710 is vertically fixed to the ground, the second beam 720 is fixed to the second column 710, the second slide 730 is movably arranged on the second beam 720, the connecting assembly 740 is movably arranged on the second beam 720, and the second suction cup assembly 750 is fixedly arranged on the connecting assembly 740. Figure 6 A beam connector is connected between the upper end of the second column 710 and the second beam 720. The beam connector is in a right angle shape, the horizontal plate of the beam connector is connected to the upper end of the second column 710, the vertical plate of the beam connector is connected to the side of the second beam 720, the second beam 720 is connected to the side facing away from the vertical plate with a second slide plate 730 that can move left and right, and the lower side of the second slide plate 730 is connected with a connection assembly 740 and a second suction cup assembly 750.

[0079] Specifically, the connection assembly 740 includes an adapter plate 741, a connecting rod 742 and a lifting cylinder. The lifting cylinder is arranged on the second slide 730. The upper side of the adapter plate 741 is connected to the telescopic end of the lifting cylinder. The lower side of the adapter plate 741 is connected to the upper side of the connecting rod 742. The lower side of the connecting rod 742 is connected to the second suction cup assembly 750. The connection assembly 740 and the second suction cup assembly 750 are driven up and down by the lifting cylinder to achieve the picking and placing of the workpiece 800. In addition, the second slide 730 drives the second suction cup assembly 750 to move left and right to transfer the workpiece 800 on the transfer conveyor belt 500 to the unloading conveyor belt 600. It should be noted that the positioning cylinder 450 can also be replaced by a stepper motor or a servo motor.

[0080] The automated processing production line of the present invention uses a matching transfer conveyor belt 500 and a unloading conveyor belt 600, and adopts a built-in four-axis manipulator and an external two-axis manipulator to replace the traditional method of relying on multi-degree-of-freedom robots to achieve production line circulation, thereby realizing multi-station and multi-channel workpiece 800 processing, and by adopting a layout method in which the processing area and the loading and unloading area are arranged on opposite sides of the machine tool, mutual interference between loading and unloading and processing operations is effectively avoided, thereby effectively reducing the complexity of system control, reducing the requirements for production site space, and effectively improving production efficiency and reducing production costs.

[0081] In some specific embodiments, a plurality of processing machines 100 are symmetrically arranged on both sides of the unloading conveyor belt 600, and correspondingly, a plurality of unloading manipulators 700 are symmetrically arranged on both sides of the unloading conveyor belt 600. Further, the two symmetrically arranged unloading manipulators 700 may share a second beam 720. Figure 1 and Figure 6 The second crossbeam 720 is perpendicular to the unloading conveyor belt 600 and is disposed above the unloading conveyor belt 600. Both ends of the second crossbeam 720 protrude from both sides of the unloading conveyor belt 600. Two columns are disposed on both sides of the unloading conveyor belt 600 and are connected to both ends of the second crossbeam 720. Two transfer conveyor belts 500 are symmetrically disposed on both sides of the unloading conveyor belt 600. Both ends of the second crossbeam 720 are disposed above the two transfer conveyor belts 500.

[0082] In some specific embodiments, a plurality of groups of second suction cup assemblies 750 are connected to the connection assembly 740, so as to realize the synchronous transfer of a plurality of workpieces 800. Further, the number of the second suction cup assemblies 750 connected to each connection assembly 740 is the same as the number of the processing spindles 112 provided for each processing mechanism 110. For example, each processing mechanism 110 is provided with two processing spindles 112, and accordingly, each connection assembly 740 is provided with two second suction cup assemblies 750. Further, each second suction cup assembly 750 is provided with at least one vacuum suction cup 261, for example, each second suction cup assembly 750 is provided with four vacuum suction cups 261. Specifically, the connecting rod 742 is parallel to the second crossbeam 720, and the two groups of second suction cup assemblies 750 are symmetrically arranged on the left and right sides of the connecting rod 742. The two groups of second suction cup assemblies 750 move up and down synchronously with the connecting rod 742, and two finished workpieces 800 can be transferred at the same time.

[0083] See also Figures 1 to 6 The control method of the automated processing production line of the technical solution of the present invention is applied to the automated processing production line of the embodiment of the present invention, and the control method includes at least the following steps:

[0084] S100, obtaining the processing instruction of the current process, driving the loading and unloading manipulator 200 to take out the blank workpiece 800 from the material box 300, and driving the workbench 111 to reach the preset loading and unloading position, and placing the workpiece 800 on the positioning mechanism 400 by the loading and unloading manipulator 200;

[0085] S200, after the blank workpiece 800 is positioned on the positioning mechanism 400, the workbench 111 is driven to move the blank workpiece 800 to a preset processing position to process the workpiece 800;

[0086] S300, when receiving the completion instruction of the current process, driving the workbench 111 to move the finished workpiece 800 to the loading and unloading position, and taking up the finished workpiece 800 through the loading and unloading manipulator 200 and placing it on the transfer conveyor belt 500;

[0087] S400, after the finished workpiece 800 is transported to the outside of the processing machine tool 100 by the transfer conveyor belt 500, the finished workpiece 800 is transferred from the transfer conveyor belt 500 to the unloading conveyor belt 600 by the unloading robot 700 to circulate the finished workpiece 800.

[0088] In some specific embodiments, the present invention can be applied to a large-scale glass automated processing production line composed of multiple four-station dual-channel compact CNC machine tools. Figure 1The automated processing production line of the present invention is provided with six processing machine tools 100, six unloading manipulators 700 and a unloading conveyor belt 600. The processing area in each processing machine tool 100 is provided with two processing mechanisms 110, and each processing mechanism 110 is provided with two processing spindles 112, so as to realize four-station dual-channel processing of each machine tool. Correspondingly, the positioning mechanism 400 is provided with four positioning blocks 410, each positioning block 410 positions a workpiece 800 before loading a processing spindle 112, and the four positioning blocks 410 realize synchronous movement through the positioning connection bracket 430, so as to synchronously position multiple workpieces 800. The loading and unloading robot 200 is connected to a first suction cup assembly 260, and the unloading robot 700 is connected to two groups of second suction cup assemblies 750, so that it can cooperate with the dual-channel processing machine tool 100 to carry out synchronous loading and unloading of two workpieces 800, and, in conjunction with the material box 300 for vertically placing the workpiece 800, the multi-station and multi-channel large-size workpiece 800 can be fully automatically loaded and unloaded on the production line, which can effectively improve production efficiency, and is conducive to reducing the mutual interference between machine tool processing and loading and unloading, thereby improving processing quality.

[0089] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of protection of the present disclosure. All should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. A loading and unloading equipment, characterized in that: The invention is applied to an automated production line and to fully automatic loading and unloading of a large-sized workpiece (800) in a small and compact machine tool; wherein the automated production line comprises a processing machine tool (100), a processing spindle (112) is arranged on one side of the processing machine tool (100), a bed (120) is arranged in the processing machine tool (100), and comprises: A loading and unloading robot (200), the loading and unloading robot (200) being arranged in the processing machine tool (100) and on a side of the processing machine tool (100) away from the processing spindle (112); the loading and unloading robot (200) being provided with a robot support (210) and a rotating shaft assembly (250) for picking up and placing a workpiece (800), the rotating shaft assembly (250) being movably arranged on the robot support (210); the robot support (210) being arranged between a first column (211) and a first beam (212); the first column (211) and the first beam (212) are each provided with two groups, and the two groups of the first columns (211) are respectively arranged on the left side and the right side of the bed (120); A material box (300) for vertically placing the workpiece (800), a positioning mechanism (400) for positioning the workpiece (800) before processing, and a transfer conveyor belt (500) for unloading the workpiece (800) from the processing machine tool (100) so as to circulate the workpiece (800) outside the processing machine tool (100) are arranged below the loading and unloading robot (200); A mounting bracket (270) for mounting the material box (300), the positioning mechanism (400) and the transfer conveyor belt (500), wherein the vertical side of the mounting bracket (270) can be fixedly connected to the side of the bed (120), and the two first columns (211) are respectively arranged on the mounting bracket (270) and the bed (120); The loading and unloading robot (200) is provided with at least one set of first suction cup assemblies (260) for picking up and placing the workpiece (800), and a rotating shaft (252) for driving the first suction cup assembly (260) to rotate so that the workpiece (800) is placed horizontally or vertically.

2. The loading and unloading equipment according to claim 1, characterized in that: The rotating shaft assembly (250) is provided with a lower connecting block (254), and the lower connecting block (254) is a U-shaped structure with an opening facing downward, and two ends of the lower connecting block (254) are respectively connected to two ends of the rotating shaft (252).

3. The loading and unloading equipment according to claim 2, characterized in that: The rotating shaft assembly (250) is movably disposed on a first movable beam (230), and the first movable beam (230) is movably disposed on the robot support (210).

4. The loading and unloading equipment according to claim 1, characterized in that: The first suction cup assemblies (260) are provided in at least two groups, and each two groups of the first suction cup assemblies (260) are symmetrically arranged.

5. The loading and unloading equipment according to claim 1, characterized in that: The material box (300) comprises a clamping plate (310) and a plurality of limiting rods (320), and the two clamping plates (310) are respectively connected to two ends of the limiting rods (320).

6. The loading and unloading equipment according to claim 5, characterized in that: The clamping plate (310) is a U-shaped structure with an opening facing upward.

7. The loading and unloading equipment according to claim 1, characterized in that: The positioning mechanism (400) is arranged on a side of the loading and unloading robot (200) close to the processing machine tool (100), and the material box (300) and the transfer conveyor belt (500) are arranged on a side of the positioning mechanism (400) facing away from the processing machine tool (100).

8. The loading and unloading equipment according to claim 1, characterized in that: One end of the transfer conveyor belt (500) away from the material box (300) is exposed to the outside of the processing machine tool (100) so as to be connected to a material unloading conveyor belt (600) arranged outside the processing machine tool (100).

9. A material loading and unloading control method, applied to the material loading and unloading equipment according to any one of claims 1 to 8; the method comprises the following steps: N100, obtaining a processing instruction for the current process, and adjusting the position of the first suction cup assembly (260) through the rotating shaft (252) so as to suck up a vertically placed workpiece (800) in the material box (300) through the first suction cup assembly (260); N200, after the workpiece (800) is moved to a set position by the loading and unloading manipulator (200), the position of the first suction cup assembly (260) is adjusted by the rotating shaft (252) so that the workpiece (800) is placed horizontally, and then the workpiece (800) is placed on the positioning mechanism (400) by the loading and unloading manipulator (200); N300, after the workpiece (800) is positioned by the positioning mechanism (400) and the workpiece (800) is processed by the processing machine tool (100), the workpiece (800) is transferred to the transfer conveyor belt (500) by the loading and unloading robot (200).

10. The material loading and unloading control method according to claim 9, characterized in that: The first suction cup assemblies (260) are provided in at least two groups, and each two groups of the first suction cup assemblies (260) are symmetrically arranged; The step N200 includes the following steps: N210, after taking out the blank workpiece (800) in the material box (300) and moving it to a set position through one of the first suction cup assemblies (260) of the loading and unloading robot (200), the position of the first suction cup assembly (260) is adjusted through the rotating shaft (252) so that the blank workpiece (800) is placed horizontally and above the rotating shaft (252); N220, after obtaining the completion instruction of the previous process, the finished workpiece (800) is moved to the positioning mechanism (400) by the processing machine tool (100), and the finished workpiece (800) is picked up and moved to the set position by another first suction cup assembly (260) of the loading and unloading robot (200); N230. Flip the first suction cup assembly (260) via the rotating shaft (252) so that the blank workpiece (800) is located below the rotating shaft (252), and place the blank workpiece (800) at the positioning mechanism (400) via the loading and unloading robot (200).

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