Numerical control machining method based on intelligent automatic bar conveying

Abstract

The numerical control machining method based on intelligent automatic bar conveying comprises the steps that bars are conveyed to a numerical control lathe sequentially through an automatic conveyor, a storage device, a lifting feeding mechanism, a guide device, an arrangement device, a positioning device and a mechanical arm, and then the machined bars are placed into a discharging device through the mechanical arm. According to the automatic bar conveying device, the axis position of the bar is not prone to change through material arrangement of the material arrangement device, the bar can fall into the positioning device more reliably, then the bar is positioned in the positioning device, the bar is accurately clamped to the numerical control lathe by controlling the mechanical arm, and conveying of the whole bar is more accurate and reliable.

Description

Technical Field

[0001] The invention relates to a conveying processing method, in particular to a numerical control processing method based on intelligent automatic conveying of bar materials. Background Art

[0002] CNC machining is currently a relatively high-precision machining method. CNC machining mainly processes workpieces through CNC machine tools, which include CNC lathes, CNC milling machines, CNC machining centers, and so on.

[0003] Traditional CNC machining mostly uses manual loading and unloading when installing and disassembling workpieces. This method has low efficiency in installing and disassembling workpieces on the one hand, and low installation precision on the other hand. Therefore, the use of automated manipulators to install and disassemble workpieces began to appear later. For example, in the patent document with Chinese patent application number 202022397997.2, application date October 26, 2020, and authorization announcement date May 28, 2021, an automatic loading device for CNC lathes is disclosed, which belongs to the field of automatic loading technology. The automatic loading device for CNC lathes includes a frame body, a top material assembly and a clamping assembly. The clamping assembly includes a lifting bracket, a guide rail, a sliding seat, a second hydraulic cylinder, a third hydraulic cylinder, a fourth hydraulic cylinder and a manipulator. Open the second, third and fourth hydraulic cylinders to move the manipulator to the top of the support block, open the manipulator to clamp the shaft blank, and clamp it to the clamping area of ​​the CNC lathe. Another manipulator clamps the previously processed finished shaft to the finished product placement area. The automated material ejection design allows for convenient stacking of shaft blanks. The automated clamping design allows for convenient loading of shaft blanks and unloading of multiple finished shaft parts without manual intervention, which greatly improves the processing efficiency of the CNC lathe and increases the clamping and processing accuracy of the CNC lathe. The ejection assembly includes an ejection bracket, a support block, a feed box, an ejection plate and a first hydraulic cylinder. The bottom of the ejection bracket is vertically fixed to one side of the top of the frame body. The support block is symmetrically arranged on the outer side of the upper end of the ejection bracket. The feed box is tilted upward and arranged on the side of the side wall of the ejection bracket away from the support block. The ejection plate slides vertically between the ejection brackets. The cylinder body of the first hydraulic cylinder is vertically arranged on the outer side of the ejection bracket below the feed box. The bottom of the ejection plate is fixed to the outer side of the piston rod of the first hydraulic cylinder. During operation, under the action of the first hydraulic cylinder, the ejection plate lifts the shaft blank between the feed box and the support plate, rolls over the upper end of the support plate into the V-shaped groove of the support block, and then clamps the shaft blank into the CNC lathe through the clamping assembly.

[0004] Although the automatic loading device for the above-mentioned CNC lathe can realize the loading and unloading of shaft workpieces, when the top plate lifts the shaft blank over the support plate, due to its own weight and the effect of the support plate, the axis of the shaft blank may deviate from the original axis direction during the process of entering the V-groove, making it difficult for the shaft blank to enter the V-groove and the clamping assembly to clamp the shaft blank. In addition, when the clamping assembly is clamping the shaft blank, if the diameter of the shaft blank is different, the displacement distance of the clamping assembly is different. If no control calculation is performed, it is easy to cause interference or a long displacement distance, resulting in low efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a CNC machining method based on intelligent automatic conveying of bars. By using the CNC machining method of the present invention, the conveying of bars is reliable, the clamping accuracy of bars is high, the moving position of the clamped bars can be better controlled, and the clamping efficiency of bars is improved.

[0006] To achieve the above object, a CNC machining method based on intelligent automatic bar conveying includes the following steps: S1 The bars are conveyed to a storage device through an automatic conveyor, and the bottom surface of the storage device is tilted downward from the input end to the output end; the bars are arranged in sequence from the output end to the input end of the bottom surface of the storage device in the storage device under the action of the bars' own gravity.

[0007] S2 lifts the bars in the storage device into the material guiding device one by one through the lifting and feeding mechanism, and the bottom surface of the material guiding device is tilted downward from the input end to the output end.

[0008] S3 At the output end of the material guide device, the material is transported to the positioning device after being sorted by the sorting device; the sorting device includes a rotating shaft, a baffle arranged on the rotating shaft, and a torsion spring arranged between the material guide device and the rotating shaft, the rotating shaft is rotatably mounted on the material guide device, and the baffle extends downward from the rotating shaft along the radial direction of the rotating shaft; specifically includes: S31 When the first bar rolls along the bottom surface of the material guide device to the baffle, the baffle blocks the first bar under the action of the torsion spring. When the second bar is lifted and blocked by the first bar, under the action of the first bar and the second bar, the baffle overcomes the torsion force of the torsion spring and opens, allowing the first bar to fall into the positioning device.

[0009] S32 After the first bar falls, the baffle is reset under the action of the torsion spring.

[0010] S33 Repeat the above S31 and S32 to achieve the position arrangement and continuous transportation of the bars.

[0011] S4 Positions the bar in the positioning device.

[0012] S5 Obtain the length L, diameter D of the bar and the coordinates of the center point of one end of the bar on the XZ plane (X a , Z a ), determine the moving distance L1 of the tailstock of the CNC lathe in the X-axis direction through the length L, and determine the moving distance L1 of the tailstock of the CNC lathe in the X-axis direction through the diameter D and the coordinate (X a , Z a ) Determine the X-axis and Z-axis movement distance of the manipulator installed on the CNC lathe.

[0013] S6 uses a robot to clamp the rod in the positioning device to the CNC lathe; the rod is clamped by the chuck and tailstock of the CNC lathe.

[0014] S7 uses CNC lathes to CNC machine bars to form workpieces.

[0015] S8 uses a robot to clamp the workpiece to the blanking chute, and then lets the workpiece fall into the collecting frame through the blanking chute.

[0016] In the above-mentioned CNC machining method based on intelligent automatic conveying of bars, since the bottom surface of the storage device is tilted downward from the input end to the output end, the bars can reliably enter the output end of the storage device after entering the storage device. Since a lifting and feeding mechanism is provided, when the lifting and feeding mechanism does not convey the bars to the guide device, the bars in the storage device can be prevented from directly entering the guide device, and the bars in the storage device can be blocked by the cooperation of the lifting and feeding mechanism and the guide device to prevent the bars in the storage device from slipping. In the present invention, since a material-forming device is provided, when the rod enters the material-forming device through the material-guiding device, due to the provision of the torsion spring, the first rod will not push open the baffle, and the baffle allows the axis of the rod to maintain the direction of feeding into the positioning device, so that the rod can fall into the positioning device reliably. When the second rod contacts the first rod, it can overcome the elastic force of the torsion spring to push open the baffle, allowing the first rod to fall into the positioning device, and then the baffle is reset under the action of the torsion spring to resist the next rod and organize and position it, and so on, so that the rods that come in successively can fall into the positioning device reliably, and the transportation of the rods is reliable and accurate. After the rod enters the positioning device, by obtaining the length L, diameter D and coordinates of the center point of one end face of the rod on the XZ plane (X a , Z a ), determine the moving distance L1 of the tailstock of the CNC lathe in the X-axis direction through the length L, and determine the moving distance L1 of the tailstock of the CNC lathe in the X-axis direction through the diameter D and the coordinate (X a , Z a) Determine the moving distance of the X-axis and Z-axis of the manipulator installed on the CNC lathe. In this way, the moving distance of the tailstock of the CNC lathe can be more accurate, the time consumed can be shorter, and the moving distance of the manipulator can be better controlled, thereby improving the reliability and accuracy of clamping the bar and improving the work efficiency of the manipulator, and reducing the interference between the manipulator and other parts of the CNC lathe due to clamping the bar.

[0017] Furthermore, the material storage device includes a material storage frame and a material storage rack, the material storage rack includes a material storage bottom plate and a material storage side plate, the material storage side plates are respectively arranged on both sides of the material storage bottom plate, the material storage bottom plate is arranged on the material conveying frame, and the material storage bottom plate is arranged to be tilted downward from the input end to the output end. The material storage device has a simple structure and low cost.

[0018] Furthermore, a material storage adjustment plate parallel to the material storage side plate is provided in the material storage rack, a material storage adjustment screw is provided on the material storage adjustment plate, a material storage adjustment nut engaged with the material storage adjustment screw is rotatably installed on one of the material storage side plates, and the material storage adjustment nut is rotated to adjust the position of the material storage adjustment plate. By providing the material storage adjustment plate, the material storage space can be adjusted according to the rods of different sizes and lengths to be suitable for storing rods of different models. And by combining the material storage adjustment screw and the material storage adjustment nut, the structure is simple.

[0019] Further, the lifting and feeding mechanism includes a lifting and feeding base, a guide seat, a guide rail, a lifting guide plate, a lifting plate and a lifting drive; guide seats are respectively arranged on both sides of the lifting and feeding base, and guide rails are respectively arranged on both sides of the lifting plate, the guide rails are slidably arranged on the guide seats, the lifting guide plate is arranged on the lifting and feeding base, the lifting plate and the lifting guide plate are slidably fitted, the upper end of the lifting plate forms an inclined surface downward from the input end to the output end, and the lifting drive is arranged between the lifting and feeding base and the lifting plate; the specific steps of S2 are: S21 The lifting plate moves downward under the action of the lifting drive, so that the input end of the lifting plate is flush with the bottom surface of the storage device, and the bars of the storage device enter the upper end of the lifting plate and are blocked by the lifting guide plate.

[0020] S22 drives the lifting plate to rise through the lifting drive, uses the upper end of the lifting plate and the lifting guide plate to limit the rod, and drives the rod to rise to the input end of the material guide device through the lifting plate.

[0021] S23 Repeat S21 and S22 to lift and transport the next bar.

[0022] In the above structure and method, since an inclined surface is formed at the upper end of the lifting plate, a receiving groove is formed between the upper end of the lifting plate and the side surface of the material guiding device. When the rod enters the receiving groove, the rod can be reliably transported upward through the lifting plate and when the output end of the inclined surface is equal to or higher than the guide device, the rod can naturally enter the material guiding device.

[0023] Furthermore, the material guide device includes a material guide base, a material guide frame and a material guide adjustment plate. The material guide base is arranged on the lifting and feeding mechanism. The material guide frame includes a material guide bottom plate and a material guide side plate. The material guide side plates are arranged on both sides of the material guide bottom plate. A material guide adjustment plate is arranged in the material guide frame. A material guide adjustment screw is arranged on the material guide adjustment plate. A material guide adjustment nut is rotatably arranged on one of the material guide side plates. The material guide adjustment screw is meshed with the material guide adjustment nut. The input end of the material guide adjustment plate is tilted outward. Since the material guide adjustment plate is arranged, it can be suitable for conveying rods of different lengths. Since the input end of the material guide adjustment plate is tilted outward, it can guide the plate entering the material guide device, so that the rod can reliably enter the material guide device.

[0024] Furthermore, the gravity of the bar is set to G, and the angle between the bottom surface of the material guide device and the horizontal plane is set to , then the load N of each rod acting on the baffle is G×sin , set the baffle swing After the angle is adjusted, the bar can fall from the guide device into the positioning device. is a positive integer, and the load acting on the baffle is set to M, which can make the baffle open. Angle, where 1.5N≤M≤2N, according to K=(E*d 4 ) / (1167*D m *P*N*R) to determine the wire diameter d of the torsion spring, where: K represents the load (kgf / mm) for each additional 1° torsion angle when the torsion spring is twisted. M=K* , d is the wire diameter of the torsion spring, D m is the median diameter of the torsion spring, N is the total number of coils of the torsion spring, R is the force arm of the load, p=3.1416, D m , N and R are all set values.

[0025] This arrangement can prevent the first rod from pushing open the baffle through the arrangement of the torsion spring, and when the second rod enters, it can push open the rod and allow the first rod to fall into the positioning device.

[0026] Furthermore, the positioning device includes a positioning base, a V-block, an end face positioning plate, a positioning drive seat, a positioning drive and a positioning drive rod. More than two V-blocks are arranged on the positioning base. The end face positioning plate is arranged on the positioning base and is located at one end of the positioning base. The positioning drive seat is arranged on the positioning base and is located at the other end of the positioning base. The V-block is located between the end face positioning plate and the positioning drive seat. The positioning drive is arranged on the positioning drive seat. The positioning drive rod is arranged on the output shaft of the positioning drive. The rod falls from the guide device onto the V-block, and then the positioning drive drives the axis of the positioning drive rod to move, so that one end face of the rod is against the end face positioning plate. In this structure and method, when the rod falls onto the V-block, the V-block is first used to position the rod in the Y-axis and Z-axis directions, and then the positioning drive is started. The positioning drive drives the positioning drive rod to move, and the positioning drive rod drives the rod to move toward the end face positioning plate. When one end face of the rod contacts the end face positioning plate, the positioning drive stops working, thereby realizing the X-axis positioning of the rod. Therefore, the structure and method can realize the positioning of the rod in three directions, so that the robot can clamp the rod easily and accurately.

[0027] Furthermore, the length L and diameter D of the rod falling into the positioning device are obtained by the camera, and the reference coordinates are set to (X0, Z0). The reference coordinates are the center coordinates of the end face of the reference rod close to the CNC lathe after positioning. The distance between the center point of one end face of the rod and Z0 in the Z-axis direction is obtained by the camera as H. The coordinates (X0, Z0) are determined by the length L and the distance H. a , Z a ), where X a =X0+L,Z a =Z0+H. This method, when the coordinates (X a , Z a ), the robot can be controlled to accurately clamp the rod on the positioning device and the robot can move the shortest distance, thereby improving the clamping efficiency.

[0028] Furthermore, the manipulator includes a manipulator mounting seat, a drive fixing seat, a transverse drive, a transverse slider, a lifting mounting seat, a lifting drive, a rotary drive, a manipulator base and a finger-type manipulator. The manipulator mounting seat is installed on a CNC lathe, the drive fixing seat is installed on the manipulator mounting seat, the transverse slider is slidably arranged on the drive fixing seat, the transverse drive is arranged between the drive fixing seat and the transverse slider, the lifting mounting seat can be lifted and lowered relative to the transverse slider, the lifting drive is arranged on the transverse slider and the lifting mounting seat, the rotary drive is installed at the lower end of the lifting mounting seat, the manipulator base is installed on the output shaft of the rotary drive, and finger-type manipulators are symmetrically arranged at both ends of the manipulator base.

[0029] Furthermore, the driving fixed seat comprises a guide bar, the transverse slider has a guide groove, and the guide bar passes through the guide groove. Through the action of the guide groove and the guide bar, the transverse slider can be better guided. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a three-dimensional view of the intelligent automatic bar feeding CNC lathe.

[0031] Figure 2 This is a stereoscopic image from another perspective of the intelligent automatic bar feeding CNC lathe.

[0032] Figure 3 This is a three-dimensional diagram of an automatic conveyor.

[0033] Figure 4 This is a stereoscopic image from another perspective of the automatic conveyor.

[0034] Figure 5 This is an exploded view of the automatic conveyor.

[0035] Figure 6 A three-dimensional diagram of the connecting seat.

[0036] Figure 7 This is the front view of the connector.

[0037] Figure 8 A schematic diagram of the support leg assembly.

[0038] Fig. 9 for Figure 5 A is an enlarged view of the middle image.

[0039] Fig.10 It is a three-dimensional diagram of the storage device.

[0040] Fig.11 This is a three-dimensional image of the storage device from another perspective.

[0041] Fig.12 It is a three-dimensional diagram of the side frame, lifting and feeding mechanism, material guiding device, material sorting device, positioning device and blanking device.

[0042] Fig.13 It is a stereoscopic diagram from another perspective of the side frame, lifting and feeding mechanism, material guiding device, material sorting device, positioning device and blanking device.

[0043] Fig.14 It is a schematic diagram of the side frame and the lifting and feeding mechanism without the lifting guide plate.

[0044] Fig.15 This is an exploded view of the side frame, lifting and feeding mechanism, and does not include the lifting guide plate.

[0045] Fig.16It is a schematic diagram of the material guiding device, the material organizing device and the positioning device.

[0046] Fig.17 It is a schematic diagram of the forces acting on the positioning device and the rod.

[0047] Fig.18 Schematic diagram of positioning drive rod.

[0048] Fig.19 A three-dimensional diagram of the robot.

[0049] Fig. 20 This is a stereoscopic image of the robot from another perspective.

[0050] Fig.21 This is an exploded view of the robot.

[0051] Fig. 22 Schematic diagram of the robot removing the guide strip.

[0052] Fig.23 A perspective view of the guide block. DETAILED DESCRIPTION

[0053] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] The CNC machining method based on intelligent automatic bar conveying is realized by an intelligent automatic bar conveying CNC lathe. Figure 1 and Figure 2 As shown, the intelligent automatic bar conveying CNC lathe includes an automatic conveyor 1, a material storage device 2, a lifting and feeding mechanism 3, a material guiding device 4, a material sorting device 5, a positioning device 6, a CNC lathe 7, a manipulator 8 and a blanking device 9.

[0055] like Figures 3 to 5 As shown, the automatic conveyor 1 includes a support foot group 11, a side baffle 12, a conveying roller 13 and a conveying drive. The support foot group 11 includes a support foot 111, an adjustment foot 112, an inclined brace 113 and a connecting seat 114; each support foot group 11 is provided with two support feet 111 that are parallel to each other and extend vertically, and the adjusting foot 112 is threadedly connected to the lower end of the support foot 111. By providing the adjusting foot 112, it is convenient to adjust the height of the support foot 111. Two inclined braces 113 are connected between the two support feet 111, and the two inclined braces 113 are X-shaped. The upper end of the support foot 111 is connected to the connecting seat 114 by bolts. As shown Figure 6 and Figure 7As shown, the connection seat 114 includes a side connection plate 1141 and a vertical connection plate 1142 bent from both sides of the side connection plate 1141 to the same outer side, a notch 1143 is formed at the inner lower end of the side connection plate 1141 and the vertical connection plate 1142, and an angle 1145 is formed at the outer side of the upper end of the vertical connection plate 1142 to reduce the interference between the outer side of the upper end of the connection seat 114 and other parts, and a receiving groove 1144 is formed between the side connection plate 1141 and the vertical connection plate 1142. The upper end of the support foot 113 extends into the receiving groove 1144, and the support foot 113 is connected to the vertical connection plate 1142 by bolts. Therefore, the upper end of the support foot 113 can be well limited by using the side connection plate 1141 and the vertical connection plate 1142. Figure 8 As shown, when the support foot group 11 is installed on the side baffle 12, the inner side surface of the side connecting plate 1141 contacts the side baffle 12. Since the cutout 1143 is provided, the distance a between the two side connecting plates of the same support foot group is smaller than the distance b between the vertical sides of the cutout 1143, and the inner side surface of the support foot is located outside the vertical side surface of the cutout. Therefore, it is convenient to install the support foot group, and at the same time the distance between the support feet is increased, thereby improving the stability of the support.

[0056] The side baffles 12 are mounted on the connecting seat 114. A plurality of horizontally arranged conveying rollers 13 are mounted between the side baffles 12 via bearings. Fig. 9 As shown, at least one sprocket 131 is provided at one end of the conveying roller 13 .

[0057] The conveying drive includes a servo motor (not shown in the figure), a conveying drive shaft 141 and a conveying drive sprocket 142. The conveying drive shaft 141 is installed between the baffles 12 on both sides, and the conveying drive sprocket 142 is installed on the conveying drive shaft 141. The servo motor drives the conveying drive shaft 141 to rotate. A chain is arranged between the conveying drive sprocket 142 and the sprocket 131. When the servo motor is working, the conveying roller 13 can be driven to rotate through the conveying drive sprocket 142, the sprocket 131 and the chain, thereby conveying the bars on the automatic conveyor.

[0058] like Figure 1 As shown, a side frame 70 is installed on one side of the CNC lathe 7.

[0059] like Fig.10 and Fig.11As shown, the storage device 2 includes a storage rack 21 and a storage rack 22. The storage rack 21 is installed on the side frame 70. The storage rack 22 includes a storage bottom plate 221 and a storage side plate 222. The storage side plates 222 are respectively arranged on both sides of the storage bottom plate 221. The storage bottom plate 221 is arranged on the feeding rack 21. The storage bottom plate 221 is arranged downwardly inclined from the input end to the output end. A storage guide plate 223 that bends downward and extends is arranged at the output end of the storage bottom plate 221. A storage adjustment plate 23 parallel to the storage side plate 222 is arranged in the storage rack 22. A storage adjustment screw 24 is arranged on the storage adjustment plate 23. A storage adjustment nut 25 that meshes with the storage adjustment screw is rotatably installed on one of the storage side plates. The storage adjustment nut 25 is rotated to adjust the position of the storage adjustment plate 23 to be suitable for storing bars of different lengths.

[0060] like Figures 12 to 15 As shown, the lifting and feeding mechanism 3 includes a lifting and feeding base 31, a guide seat 32, a guide rail 33, a lifting guide plate 34, a lifting plate 35 and a lifting drive 36; the lifting and feeding base 31 is installed on the side frame 70, and the lifting and feeding base 31 is provided with an avoidance hole 311, and the avoidance hole 311 provides an avoidance space for the lifting and lowering of the lifting plate 35, and the guide seats 32 are respectively arranged on both sides of the lifting and feeding base 31, and the guide blocks 321 are installed on the inner sides of the guide seats 32, and the guide rails 33 are slidably arranged on the guide blocks 321, and the guide rails 33 are respectively arranged on both sides of the lifting plate 35, and the lifting guide plate 34 is arranged on the lifting and feeding base 31 through the connecting device 37, and the lifting plate 35 is slidably fitted with the lifting guide plate 34, and the upper end 351 of the lifting plate 35 forms an inclined surface downward from the input end to the output end, and the lifting drive 36 is a lifting hydraulic cylinder, and the cylinder body of the lifting hydraulic cylinder is installed on the CNC lathe, and the piston rod of the neural hydraulic cylinder is connected to the lifting plate 35 through the connecting block 38. When the lifting hydraulic cylinder is working, the lifting hydraulic cylinder drives the lifting plate 35 to move up and down through the connecting block 38. When the lifting plate 35 moves up and down, the guide rail 33 slides on the guide block 321 to achieve position guidance.

[0061] When the upper end 351 of the lifting plate 35 forms an inclined surface downward from the input end to the output end, the bar 30 can be limited in position under the action of the inclined surface of the lifting plate 35 and the lifting guide plate 34 to prevent the bar 30 from falling off the lifting plate 35.

[0062] like Fig.12 , Fig.13 and Fig.16 As shown, the material guide device 4 includes a material guide base 41, a material guide frame 42 and a material guide adjustment plate 43. The material guide base 41 is arranged on the lifting guide plate 34. The material guide frame 42 includes a material guide bottom plate 421 and a material guide side plate 422. The material guide side plates 422 are respectively arranged on both sides of the material guide bottom plate 421. A material guide adjustment plate 43 is arranged in the material guide frame 42. A material guide adjustment screw 44 is arranged on the material guide adjustment plate 43. A material guide adjustment nut 45 is rotatably arranged on one of the material guide side plates. The material guide adjustment screw 44 is meshed with the material guide adjustment nut 45. The input end 431 of the material guide adjustment plate is tilted outward. When the material guide adjustment nut 45 is rotated, the material guide adjustment screw can move axially, so that the material guide adjustment plate 43 can be moved, so that it is suitable for bars of different lengths. Since the input end of the material guide adjustment plate 43 is tilted outward, the plate entering the material guide device can be guided, so that the bar can reliably enter the material guide device.

[0063] like Fig.12 , Fig.13 and Fig.16 As shown, the material-forming device 5 comprises a rotating shaft 51, a baffle 52 arranged on the rotating shaft 51, and a torsion spring (not shown in the figure) arranged between the material-guiding side plate 422 and / or the material-guiding adjustment plate 43 and the rotating shaft. The rotating shaft 51 is rotatably mounted on the material-guiding device, and the baffle 52 extends downward from the rotating shaft along the radial direction of the rotating shaft. In this embodiment, a material-forming device is arranged on a material-guiding side plate, and a material-forming device is arranged on the material-guiding adjustment plate. The two material-forming devices are on the same plane and jointly tidy up the bar materials.

[0064] In the present invention, if Fig.17 As shown, the gravity of the rod 100 is set to G, and the angle between the upper bottom surface of the guide bottom plate 421 and the horizontal plane is set to , then the load N of each rod acting on the baffle 52 is N=G×sin , set the baffle swing After the angle is adjusted, the bar can fall from the guide device into the positioning device. is a positive integer, and the load acting on the baffle is set to M, which can make the baffle open. Angle, where 1.5N≤M≤2N, according to K=(E*d 4 ) / (1167*D m *P*N*R) to determine the wire diameter d of the torsion spring, where: K represents the load (kgf / mm) for each additional 1° torsion angle when the torsion spring is twisted. M=K* ; d is the wire diameter of the torsion spring, D m is the median diameter of the torsion spring, N is the total number of coils of the torsion spring, R is the force arm of the load, p=3.1416, D m , N and R are all set values. In this embodiment, the wire diameter of the torsion spring of each material-forming device 5 is d1=d / 2. Since the range selected by M is 1.5N≤M≤2N, and the resistance to the rotation of the baffle and the shaft is small, this range can meet the requirements of the present invention.

[0065] like Fig.12 , Fig.13 and Fig.16 As shown, the positioning device 6 includes a positioning base 61, a V-shaped block 62, an end surface positioning plate 63, a positioning drive seat 64, a positioning drive 65 and a positioning drive rod 66. The positioning base 61 is installed on the material guide base 41, and more than two V-shaped blocks 62 are arranged on the positioning base 61. The plurality of V-shaped blocks 62 are arranged side by side, and there is a gap between adjacent F-shaped blocks 62. The end surface positioning plate 63 is arranged on the positioning base 61 and is located at one end of the positioning base. The end surface positioning plate 63 is arranged close to the CNC lathe. The end surface positioning plate 63 is located on the side of the V-shaped block close to the CNC lathe. The positioning drive seat 64 is arranged on the positioning base 61 and is located at the other end of the positioning base. The V-shaped block 62 is located between the end surface positioning plate 63 and the positioning drive seat 64. The positioning drive 65 is a positioning cylinder. The positioning drive 65 is arranged on the positioning drive seat 64. The positioning drive rod 66 is arranged on the output shaft of the positioning drive, as shown in FIG. Fig.18 As shown, the positioning drive rod 66 has a accommodating cavity 661 with an opening at one end, a camera 1000 is arranged in the accommodating cavity 661, and a tempered glass sheet 662 is arranged at the opening. The diameter of the rod in the positioning device is collected through the tempered glass 662 by the camera 1000. When the rod is pushed by the positioning drive rod 66, the force that the tempered glass can withstand is greater than the thrust of the positioning drive rod 66 to avoid the tempered glass from breaking; the rod falls from the guide device onto the V-block, and then the positioning drive drives the axis of the positioning drive rod to move, so that one end face of the rod is against the end face positioning plate.

[0066] like Figures 19 to 22 As shown, the manipulator 8 includes a manipulator mounting seat 81, a drive fixing seat 82, a lateral drive 83, a lateral slider 84, a lifting mounting seat 85, a lifting drive 86, a rotation drive 87, a manipulator base 88 and a finger-type manipulator 89.

[0067] The manipulator mounting seat 81 is mounted on the CNC lathe 8 . A step 811 is provided on the manipulator mounting seat 81 . The step 811 is used to support the driving fixing seat 82 .

[0068] The driving fixed seat 82 includes a bottom plate 821, a top plate 822, a first side plate 823, a second side plate 824 and a third side plate 824, the lower ends of the first side plate 823, the second side plate 824 and the third side plate 824 are connected to the bottom plate 821, the upper ends of the first side plate 823, the second side plate 824 and the third side plate 824 are connected to the top plate 822, the bottom plate 821, the top plate 822, the first side plate 823, the second side plate 824 and the third side plate 824 form a cavity 820, and an open groove is provided opposite the first side plate 823.

[0069] The transverse drive 83 includes a transverse drive motor 831, a driving pulley 832, a driven pulley 833, a belt 834 and a pulley mounting seat 835. The transverse drive motor 831 is mounted on one end of the first side plate 823, the driving pulley 832 is mounted on the output shaft of the transverse drive motor 831, the driving pulley 832 is located in the cavity, the driven pulley 833 is mounted between the first side plate 823 and the pulley mounting seat 835, the belt 834 is sleeved between the driving pulley 832 and the driven pulley 833, and the pulley mounting seat 835 is mounted on the other end of the first side plate. When the transverse drive motor 831 is working, the transverse drive motor 831 drives the driving pulley 832 to rotate, thereby driving the belt 834 to move.

[0070] A transverse guide rail 840 is installed on the inner side of the first side plate 823; the transverse slider 84 includes a slider body 841, a guide block 842, a limit plate 843, a connecting plate 844, a nut seat 845 and a pressure plate 846. The slider body 841 is slidably arranged on the transverse guide rail 840; Fig.23As shown, the guide block 842 includes a guide block body 8422, two first limit blocks 8423 extending outward from one side of the guide block body 8422, and two second limit blocks 8424 extending outward from the other side of the guide block body 8422. A clamping groove 8421 is formed between the two first limit blocks 8423. The clamping groove 8421 is used to clamp the slider body 841, so that the slider body 841 can be limited. A guide groove 8425 is formed between the two second limit blocks 8424; the limit plate 843 is installed on the second limit block 8424 by bolts, the connecting plate 844 is installed on the limit plate 843, the nut seat 845 is installed on the connecting plate 844, and the pressure plate 846 is installed on one of the first limit blocks 8423. The pressure plate 846 and the first limit block 8423 clamp the belt 834. Figures 19 to 22 As shown, the lifting mount 85 includes a lifting mount body 851, a lifting upper seat 852 installed at the upper end of the lifting mount body 851, and a lifting lower seat 853 installed at the lower end of the lifting mount body 851. The lifting drive 86 includes a lifting motor 861, a lifting screw 862, and a lifting nut 863. The lifting motor 861 is installed on the lifting upper seat 852, the lifting screw 862 is rotatably installed between the lifting upper seat and the lifting lower seat, the lifting nut 863 is installed on the nut seat 845, and the lifting screw 862 is threadedly connected with the lifting nut 863. A guide rod 864 is installed between the lifting upper seat and the lifting lower seat, and the guide rod slides through the nut seat 845. When the lifting motor is working, the lifting motor drives the lifting screw to rotate, and under the action of the lifting nut, the lifting motor, the lifting mount, and the lifting screw move up and down under the guidance of the guide rod.

[0071] The rotary drive 87 is a rotary cylinder, which is mounted on the lower end of the lifting mount 85. The manipulator base 88 is mounted on the output shaft of the rotary drive. Finger manipulators 89 are symmetrically arranged at both ends of the manipulator base 88.

[0072] When the above-mentioned manipulator needs to clamp the rod from the positioning device, the transverse drive motor 831 is controlled to work, and the transverse slider 84 is driven to move toward the positioning device position through the belt 834, and then the lifting motor 861 is started, and the lifting mounting seat is driven downward by the lifting motor 861, and the rotary drive 87 is started at the same time, so that one of the finger-type manipulators is located above the rod. When the finger-type manipulator can clamp the rod, the rod is clamped by the finger-type manipulator, and then the lifting mounting seat is driven upward by the lifting motor, and then the rod is driven to move toward the CNC lathe by the transverse drive motor. When the rod moves to the specified position, the rod is driven downward by the lifting motor so that the rod is located between the chuck and the tailstock of the CNC lathe, and then the rod is driven to move toward the chuck by the transverse drive motor. When one end of the rod moves to the point where the chuck can clamp the rod, the transverse drive motor stops moving, and then the finger-type manipulator releases the rod, the lifting motor drives the finger-type manipulator to move upward, and then the finger-type manipulator is reset by the transverse drive motor.

[0073] like Figure 1 , Fig.12 and Fig.13 As shown, the blanking device 9 includes a blanking frame 91, a blanking trough 92, a collection frame 93 and a conveyor belt device 94. The blanking frame 91 is arranged on the side frame, the blanking trough 92 is installed on the blanking frame 91, the collection frame 93 is located at the output end of the blanking trough 92, and a conveyor belt device 94 is arranged on one side of the side frame. The conveyor belt device 94 is used to transport the collection frame 92 out, and the conveyor belt device 94 is a prior art.

[0074] The CNC machining method based on intelligent automatic conveying of bars includes the following steps: S1 The bars are conveyed to the storage device 2 by the automatic conveyor 1; the bars are arranged in sequence from the output end to the input end of the bottom surface of the storage device 2 under the action of the bars' own gravity.

[0075] S2: The bars in the storage device 2 are lifted one by one into the material guiding device 4 through the lifting and feeding mechanism 3. The bottom surface of the material guiding device 4 is tilted downward from the input end to the output end. The specific steps are as follows.

[0076] S21 The lifting plate moves downward under the action of the lifting drive, so that the input end of the lifting plate is flush with the bottom surface of the storage device, and the bars of the storage device enter the upper end of the lifting plate and are blocked by the lifting guide plate.

[0077] S22 drives the lifting plate to rise through the lifting drive, uses the upper end of the lifting plate and the lifting guide plate to limit the rod, and drives the rod to rise to the input end of the material guide device through the lifting plate.

[0078] S23 Repeat S21 and S22 to lift and transport the next bar.

[0079] S3 The material is transported to the positioning device after being tidied by the tidier at the output end of the material guiding device; specifically includes: S31 When the first bar rolls along the bottom surface of the material guide device to the baffle, the baffle blocks the first bar under the action of the torsion spring. When the second bar is lifted and blocked by the first bar, under the action of the first bar and the second bar, the baffle overcomes the torsion force of the torsion spring and opens, allowing the first bar to fall into the positioning device.

[0080] S32 After the first bar falls, the baffle is reset under the action of the torsion spring.

[0081] S33 Repeat the above S31 and S32 to achieve the position arrangement and continuous transportation of the bars.

[0082] S4 Positions the bar in the positioning device.

[0083] S5 Obtain the length L, diameter D of the bar and the coordinates of the center point of one end of the bar on the XZ plane (X a , Z a ), determine the moving distance L1 of the tailstock of the CNC lathe in the X-axis direction through the length L, and determine the moving distance L1 of the tailstock of the CNC lathe in the X-axis direction through the diameter D and the coordinate (X a , Z a ) determines the moving distance of the X-axis and Z-axis of the manipulator installed on the CNC lathe; specifically: the length L and diameter D of the rod falling into the positioning device are obtained by the camera, and the reference coordinates are set to (X0, Z0). The reference coordinates are the center coordinates of the end face of the reference rod close to the CNC lathe after positioning. The distance between the center point of one end face of the rod and Z0 in the Z-axis direction is obtained by the camera as H, and the coordinates (X0, Z0) are determined by the length L and the distance H. a , Z a ), where X a =X0+L,Z a =Z0+H.

[0084] S6 uses a robot to clamp the rod in the positioning device to the CNC lathe; the rod is clamped by the chuck and tailstock of the CNC lathe.

[0085] S7 uses CNC lathes to CNC machine bars to form workpieces.

[0086] S8 uses a robot to clamp the workpiece to the blanking chute, and then lets the workpiece fall into the collecting frame through the blanking chute.

[0087] In the above-mentioned CNC machining method based on intelligent automatic conveying of bars, since the bottom surface of the storage device is tilted downward from the input end to the output end, the bars can reliably enter the output end of the storage device after entering the storage device. Since a lifting and feeding mechanism is provided, when the lifting and feeding mechanism does not convey the bars to the guide device, the bars in the storage device can be prevented from directly entering the guide device, and the bars in the storage device can be blocked by the cooperation of the lifting and feeding mechanism and the guide device to prevent the bars in the storage device from slipping. In the present invention, since a material-forming device is provided, when the rod enters the material-forming device through the material-guiding device, due to the provision of the torsion spring, the first rod will not push open the baffle, and the axis of the rod will be kept in the direction of feeding into the positioning device through the baffle, so that the rod can fall into the positioning device reliably. When the second rod contacts the first rod, it can overcome the elastic force of the torsion spring to push open the baffle, allowing the first rod to fall into the positioning device, and then the baffle is reset under the action of the torsion spring to resist the next rod and organize and position it, and so on, so that the rods that come in successively can fall into the positioning device reliably, and the transportation of the rods is reliable and accurate. After the rod enters the positioning device, by obtaining the length L, diameter D and coordinates of the center point of one end face of the rod on the XZ plane (X a , Z a ), determine the moving distance L1 of the tailstock of the CNC lathe in the X-axis direction through the length L, and determine the moving distance L1 of the tailstock of the CNC lathe in the X-axis direction through the diameter D and the coordinate (X a , Z a ) Determine the moving distance of the X-axis and Z-axis of the manipulator installed on the CNC lathe. In this way, the moving distance of the tailstock of the CNC lathe can be more accurate, the time consumed can be shorter, and the moving distance of the manipulator can be better controlled, thereby improving the reliability and accuracy of clamping the bar and improving the work efficiency of the manipulator, and reducing the interference between the manipulator and other parts of the CNC lathe due to clamping the bar.

Claims

1. A CNC machining method based on intelligent automatic conveying of bars, characterized in that: The steps include: S1 The bars are conveyed to a storage device by an automatic conveyor, and the bottom surface of the storage device is tilted downward from the input end to the output end; the bars are arranged in sequence from the output end to the input end of the bottom surface of the storage device in the storage device under the action of the bars' own gravity; S2 lifts the bars in the storage device into the guide device one by one through the lifting and feeding mechanism, and the bottom surface of the guide device is tilted downward from the input end to the output end; S3 At the output end of the material guide device, the material is transported to the positioning device after being sorted by the sorting device; the sorting device includes a rotating shaft, a baffle arranged on the rotating shaft, and a torsion spring arranged between the material guide device and the rotating shaft, the rotating shaft is rotatably mounted on the material guide device, and the baffle extends downward from the rotating shaft along the radial direction of the rotating shaft; specifically includes: S31 When the first bar rolls along the bottom surface of the material guide device to the baffle, the baffle blocks the first bar under the action of the torsion spring. When the second bar is lifted and blocked by the first bar, under the action of the first bar and the second bar, the baffle overcomes the torsion of the torsion spring and opens, allowing the first bar to fall into the positioning device; S32 After the first bar falls, the baffle is reset under the action of the torsion spring; S33 repeats the above S31 and S32 to achieve the position arrangement and continuous transportation of the bars; S4 positions the bar in the positioning device; S5 Obtain the length L, diameter D of the bar and the coordinates of the center point of one end of the bar on the XZ plane (X a , Z a ), determine the moving distance L1 of the tailstock of the CNC lathe in the X-axis direction through the length L, and determine the moving distance L1 of the tailstock of the CNC lathe in the X-axis direction through the diameter D and the coordinate (X a , Z a ) Determine the X-axis and Z-axis movement distance of the manipulator installed on the CNC lathe; S6 clamps the bar in the positioning device to the CNC lathe through the manipulator; the bar is clamped by the chuck and tailstock of the CNC lathe; S7 uses a CNC lathe to CNC machine the bar material to form a workpiece; S8 uses a robot to clamp the workpiece to the blanking chute, and then lets the workpiece fall into the collecting frame through the blanking chute.

2. The CNC machining method based on intelligent automatic bar conveying according to claim 1 is characterized in that: The material storage device includes a material storage frame and a material storage rack. The material storage rack includes a material storage bottom plate and material storage sides. Material storage side plates are respectively arranged on both sides of the material storage bottom plate. The material storage bottom plate is arranged on the feeder frame. The material storage bottom plate is arranged to be tilted downward from the input end to the output end.

3. The CNC machining method based on intelligent automatic bar conveying according to claim 2 is characterized in that: A material storage adjusting plate parallel to the material storage side plate is arranged in the material storage rack, a material storage adjusting screw is arranged on the material storage adjusting plate, a material storage adjusting nut meshing with the material storage adjusting screw is rotatably installed on one of the material storage side plates, and the position of the material storage adjusting plate is adjusted by rotating the material storage adjusting nut.

4. The CNC machining method based on intelligent automatic bar conveying according to claim 1 is characterized in that: The lifting and feeding mechanism includes a lifting and feeding base, a guide base, a guide rail, a lifting guide plate, a lifting plate and a lifting drive; guide bases are respectively arranged on both sides of the lifting and feeding base, and guide rails are respectively arranged on both sides of the lifting plate, the guide rails are slidably arranged on the guide base, the lifting guide plate is arranged on the lifting and feeding base, the lifting plate and the lifting guide plate are slidably fitted, the upper end of the lifting plate forms an inclined surface downward from the input end to the output end, and the lifting drive is arranged between the lifting and feeding base and the lifting plate; the specific steps of S2 are: S21 The lifting plate moves downward under the action of the lifting drive, so that the input end of the lifting plate is flush with the bottom surface of the storage device, and the rods of the storage device enter the upper end of the lifting plate and are blocked by the lifting guide plate; S22 drives the lifting plate to rise through the lifting drive, limits the position of the bar material by using the upper end of the lifting plate and the lifting guide plate, and drives the bar material to rise to the input end of the material guide device through the lifting plate; S23 Repeat S21 and S22 to lift and transport the next bar.

5. The CNC machining method based on intelligent automatic bar conveying according to claim 1 is characterized in that: The material guiding device comprises a material guiding base, a material guiding frame and a material guiding adjustment plate. The material guiding base is arranged on the lifting and feeding mechanism. The material guiding frame comprises a material guiding bottom plate and a material guiding side plate. The material guiding side plates are respectively arranged on both sides of the material guiding bottom plate. A material guiding adjustment plate is arranged in the material guiding frame. A material guiding adjustment screw is arranged on the material guiding adjustment plate. A material guiding adjustment nut is rotatably arranged on one of the material guiding side plates. The material guiding adjustment screw is meshed with the material guiding adjustment nut. The input end of the material guiding adjustment plate is arranged to be tilted outward.

6. The CNC machining method based on intelligent automatic bar conveying according to claim 1 is characterized in that: Set the weight of the bar to G, and set the angle between the bottom of the guide device and the horizontal plane to , then the load N of each rod acting on the baffle is G×sin , set the baffle swing After the angle is adjusted, the bar can fall from the guide device into the positioning device. is a positive integer, and the load acting on the baffle is set to M, which can make the baffle open. Angle, where 1.5N≤M≤2N, according to K=(E*d 4 ) / (1167*D m *P*N*R) to determine the wire diameter d of the torsion spring, where: K represents the load (kgf / mm) for each additional 1° torsion angle when the torsion spring is twisted. M=K* , d is the wire diameter of the torsion spring, D m is the median diameter of the torsion spring, N is the total number of coils of the torsion spring, R is the force arm of the load, p=3.1416, D m , N and R are all set values.

7. The CNC machining method based on intelligent automatic bar conveying according to claim 1 is characterized in that: The positioning device includes a positioning base, a V-block, an end face positioning plate, a positioning drive seat, a positioning drive and a positioning drive rod. More than two V-blocks are arranged on the positioning base. The end face positioning plate is arranged on the positioning base and is located at one end of the positioning base. The positioning drive seat is arranged on the positioning base and is located at the other end of the positioning base. The V-block is located between the end face positioning plate and the positioning drive seat. The positioning drive is arranged on the positioning drive seat, and the positioning drive rod is arranged on the output shaft of the positioning drive. The rod falls from the guide device onto the V-block, and then the positioning drive drives the axis of the positioning drive rod to move, so that one end face of the rod is against the end face positioning plate.

8. The CNC machining method based on intelligent automatic bar conveying according to claim 1 is characterized in that: The length L and diameter D of the rod falling into the positioning device are obtained by the camera, and the reference coordinates are set to (X0, Z0). The reference coordinates are the center coordinates of the end face of the reference rod close to the CNC lathe after positioning. The distance between the center point of one end face of the rod and Z0 in the Z-axis direction is obtained by the camera as H. The coordinates (X0, Z0) are determined by the length L and the distance H. a , Z a ), where X a =X0+L,Z a =Z0+H.

9. The CNC machining method based on intelligent automatic bar conveying according to claim 1, characterized in that: The manipulator includes a manipulator mounting seat, a drive fixing seat, a transverse drive, a transverse slider, a lifting mounting seat, a lifting drive, a rotary drive, a manipulator base and a finger manipulator. The manipulator mounting seat is installed on a CNC lathe, the drive fixing seat is installed on the manipulator mounting seat, the transverse slider is slidably arranged on the drive fixing seat, the transverse drive is arranged between the drive fixing seat and the transverse slider, the lifting mounting seat can be lifted and lowered relative to the transverse slider, the lifting drive is arranged on the transverse slider and the lifting mounting seat, the rotary drive is installed at the lower end of the lifting mounting seat, the manipulator base is installed on the output shaft of the rotary drive, and finger manipulators are symmetrically arranged at both ends of the manipulator base.

10. The CNC machining method based on intelligent automatic bar conveying according to claim 9, characterized in that: The driving fixed seat comprises a guide bar, the transverse sliding block is provided with a guide groove, and the guide bar passes through the guide groove.

Images