Automatic flexible machining production line for riding wheel device

Abstract

The invention discloses an automatic flexible machining production line for a riding wheel device, which comprises a production module, a speed monitoring module, a speed calculation module, a robot regulation and control module and a remote terminal, and is characterized in that the production module is used for machining a roller ring, a shaft and a bearing cover; the speed monitoring module is used for monitoring the machining time of each machining device and the walking and carrying time of the joint robot in real time; the speed calculation module calculates the start-stop time difference value of each piece of equipment, the process waiting time of the joint robot and the process round-trip time of the joint robot based on the machining time of each piece of machining equipment monitored in real time and the walking and carrying time of the joint robot. According to the automatic flexible machining production line for the riding wheel device, the procedure walking route of the joint robot can be reformulated and optimized, the waiting time of the joint robot is shortened, the joint robot is circularly utilized to carry workpieces back and forth among all the procedures, and the batch production efficiency of the workpieces is improved.

Description

Technical Field

[0001] The invention relates to the technical field of supporting roller device production, and in particular to an automated flexible processing production line for supporting roller devices. Background Art

[0002] The supporting wheel device is an important component of the grate cooler. It is mainly composed of three parts: shaft, roller ring and bearing cover. It refers to the wheel used to support the scraper chain in material handling machinery. Its main function is to support the movable grate bed so that it can move smoothly inside the grate cooler, thereby completing the cooling process of the clinker. It is usually made of low-alloy steel and other materials, and has good wear resistance, heat resistance and corrosion resistance. Its quality and performance directly affect the operation effect and life of the grate cooler.

[0003] A Chinese patent discloses a processing production line for a grate cooler roller device, and its publication number is (CN118990012A). The patented technology can arrange various production equipment in sequence according to the processing procedures of roller rings, shafts, and bearing caps, reduce the turnover routes and time of workpieces in various workshops, and avoid the situation where the route of the entire processing process is long due to the dispersion of various production equipment in different workshops, saving time and labor, and improving production efficiency; however, the patented technology uses articulated robots to clamp and transport workpieces for loading and unloading in each process. When the articulated robots clamp and transport workpieces in each process, they need to wait for the equipment to complete processing before transporting the workpiece to the next process, which will generate more waiting time for the process, and the articulated robots cannot be recycled to transport workpieces back and forth between the processes for processing, thereby reducing production efficiency;

[0004] Therefore, there is an urgent need for an automated flexible processing production line with a roller device that can reduce the waiting time of an articulated robot and recycle the articulated robot to transport workpieces back and forth between various processes. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides an automated flexible processing production line for a support wheel device, which formulates the process walking route of the articulated robot according to the start and stop time difference of each equipment, the process waiting time of the articulated robot and the process round-trip time of the articulated robot, optimizes the walking route of the articulated robot, reduces the waiting time of the articulated robot, recycles the articulated robot to transport workpieces back and forth between various processes, and improves the batch production efficiency of workpieces, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] Automated flexible machining production line for supporting wheel device, including: production module, speed monitoring module, speed calculation module, robot control module and remote terminal. Among them, the production module is used for machining roller rings, shafts and bearing covers; the speed monitoring module is used for real-time monitoring of the machining time of each processing equipment and the walking and handling time of the articulated robot; the speed calculation module calculates the start-stop time difference of each equipment, the process waiting time of the articulated robot and the process round-trip time of the articulated robot based on the machining time of each processing equipment and the walking and handling time of the articulated robot monitored in real time. The robot control module formulates the process walking route of the articulated robot based on the start-stop time difference of each equipment, the process waiting time of the articulated robot and the process round-trip time of the articulated robot, controls the articulated robot to pick up and unload workpieces at each process back and forth according to the process walking route of the articulated robot, optimizes the walking route of the articulated robot, reduces the waiting time of the articulated robot, and improves the batch production efficiency of workpieces; the remote terminal communicates with the articulated robot in real time to control the articulated robot to work back and forth between processes.

[0008] As a further solution of the present invention: the production module includes a U-shaped ground rail, an articulated robot, a loading tray, a first numerical control machine tool, a first flipping platform, a second numerical control machine tool, a second flipping platform, a third numerical control machine tool, a roller ring placement rack, a vertical machining center, a quenching machine tool and an unloading tray. Among them, the articulated robot is arranged on the U-shaped ground rail and walks on it between each process to pick up workpieces. The first numerical control machine tool, the first flipping platform, the second numerical control machine tool, the second flipping platform, the third numerical control machine tool, the roller ring placement rack, the vertical machining center and the quenching machine tool are used for machining roller rings, shafts and bearing covers. A number of trays are arranged on the loading tray and the unloading tray, and the number of trays are respectively used for placing the roller rings, shafts and bearing covers before and after machining.

[0009] As a further solution of the present invention: the speed monitoring module includes an equipment speed monitoring unit and a robot speed monitoring unit. Among them, the equipment speed monitoring unit is used for real-time monitoring of the workpiece machining time of the first numerical control machine tool, the first flipping platform, the second numerical control machine tool, the second flipping platform, the third numerical control machine tool, the vertical machining center and the quenching machine tool; the robot speed monitoring unit is used for real-time monitoring of the time for the articulated robot on the U-shaped ground rail to walk to each process and the loading and unloading time for the articulated robot to pick up workpieces in each process.

[0010] As a further solution of the present invention: The speed calculation module includes a device speed calculation unit and a robot speed calculation unit. Among them, the device speed calculation unit calculates the start-stop time difference of the first CNC machine tool, the first turning platform, the second CNC machine tool, the second turning platform, the third CNC machine tool, the vertical machining center, and the quenching machine tool based on the workpiece processing time of the above-mentioned equipment monitored in real time, and feeds back the start-stop time difference of the first CNC machine tool, the first turning platform, the second CNC machine tool, the second turning platform, the third CNC machine tool, the vertical machining center, and the quenching machine tool to the robot control module; The robot speed calculation unit calculates the process waiting time and the process round-trip time of the articulated robot based on the time for the articulated robot on the U-shaped ground rail to walk to each process and the loading and unloading time for the articulated robot to pick up and place workpieces in each process, and feeds back the process waiting time and the process round-trip time of the articulated robot to the robot control module.

[0011] As a further solution of the present invention: The robot control module includes a task trimming unit and a task issuing unit. Among them, the task trimming unit formulates the process walking route of the articulated robot based on the start-stop time difference of the first CNC machine tool, the first turning platform, the second CNC machine tool, the second turning platform, the third CNC machine tool, the vertical machining center, and the quenching machine tool, the process waiting time of the articulated robot, and the process round-trip time of the articulated robot, and optimizes the walking route of the articulated robot; The task issuing unit controls the articulated robot to pick up and place workpieces for loading and unloading between each process based on the process walking route of the articulated robot, reduces the waiting time of the articulated robot, and improves the batch production efficiency of workpieces.

[0012] As a further solution of the present invention: A database is set in the remote terminal. The database is used to record and store the operation data of each device and the articulated robot in real time, and display the operation data of each device and the articulated robot on the display screen for the staff to view.

[0013] As a further solution of the present invention: A Bluetooth communication module is set in the remote terminal. The remote terminal communicates with the articulated robot in real time through the Bluetooth communication module to control the articulated robot to independently walk between processes to pick up and place workpieces for loading and unloading.

[0014] As a further solution of the present invention: A drive system is built in the U-shaped ground rail. The drive system dynamically adjusts the motor output based on the PID algorithm to achieve uniform speed walking of the articulated robot.

[0015] Compared with the prior art, the advantages of the present invention are: the automated flexible processing production line of the support wheel device proposed in the present application adopts an equipment speed monitoring unit and a robot speed monitoring unit to monitor in real time the workpiece processing time of the first CNC machine tool, the first flip platform, the second CNC machine tool, the second flip platform, the third CNC machine tool, the vertical machining center and the quenching machine tool, as well as the time for the articulated robot on the U-shaped ground rail to walk to each process and the loading and unloading time of the articulated robot clamping the workpiece in each process; the first CNC machine tool, the first flip platform, the second CNC machine tool, the second flip platform, the third CNC machine tool, the vertical machining center and the quenching machine tool are calculated according to the real-time monitored workpiece processing time of the first CNC machine tool, the first flip platform, the second CNC machine tool, the second flip platform, the third CNC machine tool, the vertical machining center and the quenching machine tool The start and stop time difference of the rotating platform, the third CNC machine tool, the vertical machining center and the quenching machine tool is calculated. At the same time, the robot speed calculation unit is used to calculate the process waiting time of the articulated robot and the process round-trip time of the articulated robot. According to the start and stop time difference of the first CNC machine tool, the first flip platform, the second CNC machine tool, the second flip platform, the third CNC machine tool, the vertical machining center and the quenching machine tool, the process waiting time of the articulated robot and the process round-trip time of the articulated robot, the process walking route of the articulated robot is formulated, the walking route of the articulated robot is optimized, the articulated robot is controlled to go back and forth between each process to clamp the workpiece for loading and unloading, the waiting time of the articulated robot is reduced, the articulated robot is recycled to transport the workpiece back and forth between each process, and the batch production efficiency of the workpiece is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 It is a schematic diagram of equipment distribution of an automated flexible processing production line for a supporting wheel device according to an embodiment of the present invention;

[0018] Figure 2 It is a schematic diagram of the process of an automated flexible processing production line for a supporting wheel device according to an embodiment of the present invention;

[0019] Figure 3 It is a structural block diagram of an automated flexible processing production line for a supporting roller device according to an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of a production process of a roller ring according to an embodiment of the present invention;

[0021] Figure 5 is a schematic diagram of a production process of a shaft according to an embodiment of the present invention;

[0022] Figure 6 Schematic diagram of the production process of a bearing cover according to an embodiment of the present invention. Detailed implementation manners

[0023] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more. Additionally, the term "comprising" and any variations thereof are intended to cover non-exclusive inclusion.

[0024] Embodiment 1

[0025] Combined with Figures 1-6As shown in the figure, in this embodiment, the automatic flexible processing production line for the supporting wheel device includes: a production module, a speed monitoring module, a speed calculation module, a robot control module, and a remote terminal. The production line uses an equipment speed monitoring unit and a robot speed monitoring unit to monitor in real time the workpiece processing time of the first numerical control machine tool, the first turning platform, the second numerical control machine tool, the second turning platform, the third numerical control machine tool, the vertical machining center, and the quenching machine tool, as well as the time for the articulated robot on the U-shaped ground rail to walk to each process and the loading and unloading time for the articulated robot to pick up and place workpieces in each process; the equipment speed calculation unit calculates the start-stop time difference of the first numerical control machine tool, the first turning platform, the second numerical control machine tool, the second turning platform, the third numerical control machine tool, the vertical machining center, and the quenching machine tool based on the workpiece processing time monitored in real time, and the robot speed calculation unit calculates the process waiting time of the articulated robot and the process round-trip time of the articulated robot based on the time for the articulated robot on the U-shaped ground rail to walk to each process and the loading and unloading time for the articulated robot to pick up and place workpieces in each process. The task trimming unit formulates the process walking route of the articulated robot based on the start-stop time difference of the first numerical control machine tool, the first turning platform, the second numerical control machine tool, the second turning platform, the third numerical control machine tool, the vertical machining center, and the quenching machine tool, the process waiting time of the articulated robot, and the process round-trip time of the articulated robot, and optimizes the walking route of the articulated robot. The task publishing unit controls the articulated robot to pick up and place workpieces for loading and unloading between each process based on the process walking route of the articulated robot, reduces the waiting time of the articulated robot, and circulates the articulated robot to carry workpieces back and forth between each process to improve the batch production efficiency of workpieces.

[0026] Combined with Figure 1 As shown in the figure, in this embodiment, the production module includes a U-shaped ground rail, an articulated robot, a loading tray, a first numerical control machine tool, a first turning platform, a second numerical control machine tool, a second turning platform, a third numerical control machine tool, a roller ring placement rack, a vertical machining center, a quenching machine tool, and a blanking tray; during production, the U-shaped ground rail drive system dynamically adjusts the motor output based on the PID algorithm to achieve the uniform speed walking of the articulated robot. The articulated robot picks up roller rings, shafts, and bearing covers from the loading tray and walks to the first numerical control machine tool, the first turning platform, the second numerical control machine tool, the second turning platform, the third numerical control machine tool, the roller ring placement rack, the vertical machining center, and the quenching machine tool in sequence to pick up and place workpieces for loading and unloading. Then, the first numerical control machine tool, the first turning platform, the second numerical control machine tool, the second turning platform, the third numerical control machine tool, the roller ring placement rack, the vertical machining center, and the quenching machine tool are used to process the roller rings, shafts, and bearing covers. Finally, the processed roller rings, shafts, and bearing covers are picked up by the articulated robot and placed in the blanking tray for storage, completing the production of the supporting wheel device and realizing the automatic production of the supporting wheel device.

[0027] Example 2

[0028] Based on Example 1, combined with Figure 1 、 Figure 2 、 Figure 3 and Figure 4 as shown, the production process equipment for the roll ring is successively: a roll ring loading tray, a first numerical control machine tool, a first flipping platform, a second numerical control machine tool, a roll ring storage rack, a third numerical control machine tool, a vertical machining center, and a roll ring unloading tray; it is set that the production line mass-produces roll rings, there are four articulated robots on the U-shaped ground rail, and the respective processing procedures for the roll ring are: Procedure 1, Procedure 2, Procedure 3, Procedure 4, Procedure 5, Procedure 6, Procedure 7, and Procedure 8.

[0029] The production process flow of the roll ring is as follows: The U-shaped ground rail drive system dynamically adjusts the motor output based on the PID algorithm to achieve the uniform walking of the articulated robot. The articulated robot grabs the roll ring blank from the roll ring loading tray and walks to the first numerical control machine tool for milling to remove the excess material on one side of the roll ring blank. Then, the roll ring blank on the first numerical control machine tool is grabbed and transferred to the first flipping platform. The clamped roll ring blank is flipped using the clamping and flipping mechanism, and the residual chips on the roll ring blank are removed through the chip removal mechanism. Then, the flipped roll ring blank on the first flipping platform is grabbed and transferred to the second numerical control machine tool for milling to remove the excess material on the other side of the roll ring blank, obtaining a blank with the roll ring outer contour. Then, the blank with the roll ring outer contour is grabbed and transferred to the roll ring storage rack. The roll ring storage rack stores the blank with the roll ring outer contour and transfers it to an external heat treatment furnace for heat treatment. Then, the heat-treated blank with the roll ring outer contour on another roll ring storage rack is grabbed and successively transferred to the third numerical control machine tool and the vertical machining center. The third numerical control machine tool and the vertical machining center grind and drill the heat-treated blank with the roll ring outer contour to obtain the roll ring workpiece. The articulated robot grabs the roll ring workpiece and transfers it to the roll ring unloading tray to complete the processing of the roll ring.

[0030] The method for regulating the walking route of the articulated robot on the roll ring production line is as follows: The U-shaped ground rail drive system dynamically adjusts the motor output based on the PID algorithm to achieve the uniform walking of Articulated Robot 1, Articulated Robot 2, Articulated Robot 3, and Articulated Robot 4. First, Articulated Robot 1 picks up the roll ring blank 1 at Process 1 and walks to Process 2 for feeding. After the roll ring blank 1 completes the processing at Process 2, Articulated Robot 1 picks up the roll ring blank 1 after Process 2 and walks to Process 3 for feeding. At the same time, the robot speed calculation unit calculates the time for Articulated Robot 1 to return to Process 1, pick up the roll ring blank 2, and walk to Process 2 for feeding based on the walking and handling time of Articulated Robot 1, and confirms whether the time for Articulated Robot 1 to return to Process 1, pick up the roll ring blank 2, and walk to Process 2 for feeding is less than the workpiece processing time at Process 3. If the time for Articulated Robot 1 to return to Process 1, pick up the roll ring blank 2, and walk to Process 2 for feeding is less than the workpiece processing time at Process 3, the task trimming unit regulates the walking route of Articulated Robot 1 to return to Process 1, and the task issuing unit controls Articulated Robot 1 to return to Process 1, pick up the roll ring blank 2, and walk to Process 2 for feeding; if the time for Articulated Robot 1 to return to Process 1, pick up the roll ring blank 2, and walk to Process 2 for feeding is greater than the workpiece processing time at Process 3, after the roll ring blank 1 completes Process 3, Articulated Robot 1 picks up the roll ring blank 1 and walks to Process 4. At this time, Articulated Robot 2 picks up the roll ring blank 2 at Process 1 and walks to Process 2 for feeding. The equipment speed calculation unit calculates the start-stop time difference between Process 2 and Process 4 based on the workpiece processing times of Process 2 and Process 4, confirms the process waiting time of Articulated Robot 1, and the robot speed calculation unit calculates the time for Articulated Robot 1 to return to Process 2, pick up the roll ring blank 2, and walk to Process 3 for feeding based on the walking and handling time of Articulated Robot 1, and confirms whether the time for Articulated Robot 1 to return to Process 2, pick up the roll ring blank 2, and walk to Process 3 for feeding is less than the workpiece processing time at Process 4. If the time for Articulated Robot 1 to return to Process 2, pick up the roll ring blank 2, and walk to Process 3 for feeding is less than the workpiece processing time at Process 4, the task trimming unit regulates the walking route of Articulated Robot 1 to return to Process 2, and the task issuing unit controls Articulated Robot 1 to return to Process 2, pick up the roll ring blank 2, and walk to Process 3 for feeding;If the time for the articulated robot 1 to return to process 2 to pick up the roller ring blank 2 and walk to process 3 for loading is longer than the workpiece processing time of process 4, after the articulated robot 1 waits for the roller ring blank 1 to complete process 4, it picks up the roller ring blank 1 and moves it to process 5. The articulated robot 2 waits for the roller ring blank 2 to complete process 2, and then picks up the roller ring blank 2 and moves it to process 3 for loading. At this time, the articulated robot 2 repeats the actions of the articulated robot 1. The articulated robot 3 picks up the roller ring blank 3 at process 1 and walks to process 2 for loading... Repeat the above actions to put the articulated robot 1, articulated robot 2, articulated robot 3, and articulated robot 4 into each process in turn until the production of the roller ring ends. By calculating the start-stop time differences of processes 1, 2, 3, 4, 5, 6, 7, and 8, the process waiting times of the articulated robot 1, articulated robot 2, articulated robot 3, and articulated robot 4, and the process round-trip times of the articulated robot, according to the start-stop time differences of processes 1, 2, 3, 4, 5, 6, 7, and 8, the process waiting times of the articulated robot 1, articulated robot 2, articulated robot 3, and articulated robot 4, and the process round-trip times, formulate the process walking routes of the articulated robot 1, articulated robot 2, articulated robot 3, and articulated robot 4, optimize the walking routes of the articulated robot 1, articulated robot 2, articulated robot 3, and articulated robot 4, control the articulated robot to pick up and load workpieces and unload at each process, reduce the waiting time of the articulated robot, recycle the articulated robot to carry workpieces back and forth between each process, and improve the batch production efficiency of workpieces.

[0031] Example 3

[0032] Based on Example 1, combined with Figure 1 , Figure 2 , Figure 3 and Figure 5 as shown, the production process equipment for the shaft is in turn: shaft loading tray, first CNC machine tool, first flipping platform, second CNC machine tool, third CNC machine tool, vertical machining center, and shaft unloading tray; it is set that the production line mass-produces the shaft, and there are four articulated robots on the U-shaped ground rail. The respective processing processes of the shaft are: process 1, process 2, process 3, process 4, process 5, process 6, and process 7.

[0033] The production process flow of the shaft ring is as follows: The U-shaped ground rail drive system dynamically adjusts the motor output based on the PID algorithm to achieve the uniform walking of the articulated robot. The articulated robot picks up the shaft blank from the shaft loading tray and walks to the first CNC machine tool for milling to remove the excess material on one side of the shaft blank. Then, the shaft blank on the first CNC machine tool is grabbed and transferred to the first flipping platform. The clamping and flipping mechanism is used to clamp and flip the shaft blank, and the residual debris on the shaft blank is removed through the chip removal mechanism. Then, the flipped shaft blank on the first flipping platform is grabbed and transferred to the second CNC machine tool for milling to remove the excess material on the other side of the shaft blank, obtaining a blank with the shaft outer contour. Then, the blank with the outer contour is sequentially transferred to the third CNC machine tool 6 and the vertical machining center 7. The third CNC machine tool 6 and the vertical machining center 7 grind and drill the blank with the shaft outer contour to obtain the shaft workpiece. Finally, the articulated robot grabs and transfers the shaft workpiece to the shaft unloading tray to complete the processing of the shaft.

[0034] The method for regulating the walking route of the articulated robot on the shaft production line is as follows: The U-shaped ground rail drive system dynamically adjusts the motor output based on the PID algorithm to achieve the uniform walking of Articulated Robot 1, Articulated Robot 2, Articulated Robot 3, and Articulated Robot 4. First, Articulated Robot 1 picks up the shaft blank 1 at Process 1 and walks to Process 2 for loading. After the shaft blank 1 completes the processing at Process 2, Articulated Robot 1 picks up the shaft blank 1 after Process 2 and walks to Process 3 for loading. At the same time, the robot speed calculation unit calculates the time for Articulated Robot 1 to return to Process 1, pick up the shaft blank 2, and walk to Process 2 for loading based on the walking and handling time of Articulated Robot 1, and confirms whether the time for Articulated Robot 1 to return to Process 1, pick up the shaft blank 2, and walk to Process 2 for loading is less than the workpiece processing time at Process 3. If the time for Articulated Robot 1 to return to Process 1, pick up the shaft blank 2, and walk to Process 2 for loading is less than the workpiece processing time at Process 3, the task trimming unit regulates the walking route of Articulated Robot 1 to return to Process 1, and the task issuing unit controls Articulated Robot 1 to return to Process 1, pick up the shaft blank 2, and walk to Process 2 for loading; if the time for Articulated Robot 1 to return to Process 1, pick up the shaft blank 2, and walk to Process 2 for loading is greater than the workpiece processing time at Process 3, after the shaft blank 1 completes Process 3, Articulated Robot 1 picks up the shaft blank 1 and walks to Process 4. At this time, Articulated Robot 2 picks up the shaft blank 2 at Process 1 and walks to Process 2 for loading. The equipment speed calculation unit calculates the start-stop time difference between Process 2 and Process 4 based on the workpiece processing times of Process 2 and Process 4, confirms the process waiting time of Articulated Robot 1, and the robot speed calculation unit calculates the time for Articulated Robot 1 to return to Process 2, pick up the shaft blank 2, and walk to Process 3 for loading based on the walking and handling time of Articulated Robot 1, and confirms whether the time for Articulated Robot 1 to return to Process 2, pick up the shaft blank 2, and walk to Process 3 for loading is less than the workpiece processing time at Process 4. If the time for Articulated Robot 1 to return to Process 2, pick up the shaft blank 2, and walk to Process 3 for loading is less than the workpiece processing time at Process 4, the task trimming unit regulates the walking route of Articulated Robot 1 to return to Process 2, and the task issuing unit controls Articulated Robot 1 to return to Process 2, pick up the shaft blank 2, and walk to Process 3 for loading;If the time it takes for the articulated robot 1 to return to process 2 to pick up the shaft blank 2 and walk to process 3 for loading is longer than the workpiece processing time of process 4, after the articulated robot 1 waits for the shaft blank 1 to complete process 4, it picks up the shaft blank 1 and moves it to process 5. The articulated robot 2 waits for the shaft blank 2 to complete process 2 and then picks up the shaft blank 2 and moves it to process 3 for loading. At this time, the articulated robot 2 repeats the actions of the articulated robot 1. The articulated robot 3 picks up the shaft blank 3 at process 1 and walks to process 2 for loading... Repeat the above actions to put the articulated robot 1, the articulated robot 2, the articulated robot 3, and the articulated robot 4 into each process in turn until the shaft production ends. By calculating the start-stop time differences of processes 1, 2, 3, 4, 5, 6, and 7, the process waiting times of the articulated robot 1, the articulated robot 2, the articulated robot 3, and the articulated robot 4, and the process round-trip times of the articulated robot, according to the start-stop time differences of processes 1, 2, 3, 4, 5, 6, and 7, the process waiting times of the articulated robot 1, the articulated robot 2, the articulated robot 3, and the articulated robot 4, and the process round-trip times, formulate the process walking routes of the articulated robot 1, the articulated robot 2, the articulated robot 3, and the articulated robot 4, optimize the walking routes of the articulated robot 1, the articulated robot 2, the articulated robot 3, and the articulated robot 4, control the articulated robot to pick up and load workpieces and unload workpieces at each process back and forth, reduce the waiting time of the articulated robot, recycle the articulated robot to carry workpieces back and forth between each process, and improve the batch production efficiency of workpieces.

[0035] Example 4

[0036] Based on Example 1, combined with Figure 1 , Figure 2 , Figure 3 and Figure 6 as shown, the production process equipment for the bearing cover is in turn: a bearing cover loading tray, a first CNC machine tool, a first flipping platform, a second CNC machine tool, a third CNC machine tool, a vertical machining center, and a bearing cover unloading tray; it is set that the production line mass-produces shafts, and there are four articulated robots on the U-shaped ground rail. The respective processing processes of the shafts are: process 1, process 2, process 3, process 4, process 5, process 6, and process 7.

[0037] The production process flow of the bearing cover is as follows: The U-shaped ground rail drive system dynamically adjusts the motor output based on the PID algorithm to achieve the uniform walking of the articulated robot. The articulated robot picks up the shaft blank from the shaft loading tray and walks to the first CNC machine tool for milling to remove the excess material on one side of the bearing cover blank. Then, the bearing cover blank on the first CNC machine tool is grabbed and transferred to the first flipping platform. The clamping and flipping mechanism is used to clamp and flip the bearing cover blank, and the residual chips on the bearing cover blank are removed through the chip removal mechanism. Then, the flipped bearing cover blank on the first flipping platform is grabbed and transferred to the second CNC machine tool for milling to remove the excess material on the other side of the bearing cover blank, obtaining a blank with the outer contour of the bearing cover. Then, the blank with the outer contour of the bearing cover is grabbed and transferred to the second flipping platform. The clamping and flipping mechanism is used to clamp and flip the bearing cover blank, and the residual chips on the bearing cover blank are removed through the chip removal mechanism. Then, the blank with the outer contour of the bearing cover is grabbed and transferred to the vertical machining center. The vertical machining center drills the blank with the outer contour of the bearing cover to obtain the bearing cover workpiece. Then, the bearing cover workpiece is grabbed and transferred to the quenching machine tool. The quenching machine tool performs quenching treatment on the bearing cover workpiece to improve the hardness, strength, and wear resistance of the bearing cover workpiece. At the same time, the bearing cover workpiece on the machine tool is cooled through the cooling mechanism and the softened water mechanism to complete the quenching treatment of the bearing cover workpiece. Finally, the articulated robot picks up the bearing cover workpiece and transfers the bearing cover workpiece to the bearing cover unloading tray to complete the processing of the bearing cover.

[0038] The method for regulating the walking route of the articulated robot on the bearing cover production line is as follows: The U-shaped ground rail drive system dynamically adjusts the motor output based on the PID algorithm to achieve the uniform walking of Articulated Robot 1, Articulated Robot 2, Articulated Robot 3, and Articulated Robot 4. First, Articulated Robot 1 picks up the bearing cover blank 1 at Process 1 and walks to Process 2 for loading. After the bearing cover blank 1 completes the processing at Process 2, Articulated Robot 1 picks up the bearing cover blank 1 after Process 2 and walks to Process 3 for loading. At the same time, the robot speed calculation unit calculates the time for Articulated Robot 1 to return to Process 1 to pick up the bearing cover blank 2 and walk to Process 2 for loading based on the walking and handling time of Articulated Robot 1, and confirms whether the time for Articulated Robot 1 to return to Process 1 to pick up the bearing cover blank 2 and walk to Process 2 for loading is less than the workpiece processing time of Process 3. If the time for Articulated Robot 1 to return to Process 1 to pick up the bearing cover blank 2 and walk to Process 2 for loading is less than the workpiece processing time of Process 3, the task trimming unit regulates the walking route of Articulated Robot 1 to return to Process 1, and the task issuing unit controls Articulated Robot 1 to return to Process 1 to pick up the bearing cover blank 2 and walk to Process 2 for loading; if the time for Articulated Robot 1 to return to Process 1 to pick up the bearing cover blank 2 and walk to Process 2 for loading is greater than the workpiece processing time of Process 3, after the bearing cover blank 1 completes Process 3, Articulated Robot 1 picks up the bearing cover blank 1 and walks to Process 4. At this time, Articulated Robot 2 picks up the bearing cover blank 2 at Process 1 and walks to Process 2 for loading. The equipment speed calculation unit calculates the start-stop time difference between Process 2 and Process 4 based on the workpiece processing times of Process 2 and Process 4, confirms the process waiting time of Articulated Robot 1, and the robot speed calculation unit calculates the time for Articulated Robot 1 to return to Process 2 to pick up the bearing cover blank 2 and walk to Process 3 for loading based on the walking and handling time of Articulated Robot 1, and confirms whether the time for Articulated Robot 1 to return to Process 2 to pick up the bearing cover blank 2 and walk to Process 3 for loading is less than the workpiece processing time of Process 4. If the time for Articulated Robot 1 to return to Process 2 to pick up the bearing cover blank 2 and walk to Process 3 for loading is less than the workpiece processing time of Process 4, the task trimming unit regulates the walking route of Articulated Robot 1 to return to Process 2, and the task issuing unit controls Articulated Robot 1 to return to Process 2 to pick up the bearing cover blank 2 and walk to Process 3 for loading;If the time for the articulated robot 1 to return to process 2 to pick up the bearing cover blank and walk to process 3 for loading is longer than the workpiece processing time of process 4, after the articulated robot 1 waits for the bearing cover blank 1 to complete process 4, it picks up the bearing cover blank 1 and moves it to process 5. The articulated robot 2 waits for the bearing cover blank 2 to complete process 2, then picks up the bearing cover blank 2 and moves it to process 3 for loading. At this time, the articulated robot 2 repeats the actions of the articulated robot 1. The articulated robot 3 picks up the bearing cover blank 3 at process 1 and walks to process 2 for loading... Repeat the above actions to put the articulated robot 1, articulated robot 2, articulated robot 3, and articulated robot 4 into each process in turn until the production of the bearing cover workpiece ends. By calculating the start-stop time differences of processes 1, 2, 3, 4, 5, 6, and 7, the process waiting times of the articulated robot 1, articulated robot 2, articulated robot 3, and articulated robot 4, and the process round-trip times of the articulated robot, according to the start-stop time differences of processes 1, 2, 3, 4, 5, 6, and 7, the process waiting times of the articulated robot 1, articulated robot 2, articulated robot 3, and articulated robot 4, and the process round-trip times, formulate the process walking routes of the articulated robot 1, articulated robot 2, articulated robot 3, and articulated robot 4, optimize the walking routes of the articulated robot 1, articulated robot 2, articulated robot 3, and articulated robot 4, control the articulated robot to pick up and load workpieces and unload at each process, reduce the waiting time of the articulated robot, recycle the articulated robot to carry workpieces back and forth between each process, and improve the batch production efficiency of workpieces.

[0039] The automatic flexible processing production line of the supporting wheel device proposed in this application can formulate the process walking routes of the articulated robot according to the start-stop time differences of each device, the process waiting times of the articulated robot, and the process round-trip times of the articulated robot, optimize the walking routes of the articulated robot, reduce the waiting time of the articulated robot, recycle the articulated robot to carry workpieces back and forth between each process, and improve the batch production efficiency of workpieces.

[0040] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. Automatic flexible machining production line for supporting roller device, characterized in that, Including: A production module, a speed monitoring module, a speed calculation module, a robot control module and a remote terminal. Among them, the production module is used for processing roll rings, shafts and bearing caps; the speed monitoring module is used for real-time monitoring of the processing time of each processing device and the walking and handling time of the articulated robot; the speed calculation module calculates the start-stop time difference of each device, the process waiting time of the articulated robot and the process round-trip time of the articulated robot based on the real-time monitored processing time of each processing device and the walking and handling time of the articulated robot. The robot control module formulates the process walking route of the articulated robot based on the start-stop time difference of each device, the process waiting time of the articulated robot and the process round-trip time of the articulated robot, controls the articulated robot to pick up and place workpieces for loading and unloading at each process according to the process walking route of the articulated robot, optimizes the walking route of the articulated robot, reduces the waiting time of the articulated robot, and improves the batch production efficiency of workpieces; the remote terminal communicates with the articulated robot in real time and controls the articulated robot to work back and forth between processes.

2. The automatic flexible machining production line of the supporting roller device according to claim 1, characterized in that, The production module includes a U-shaped ground rail, an articulated robot, a loading tray, a first numerical control machine tool, a first flipping platform, a second numerical control machine tool, a second flipping platform, a third numerical control machine tool, a roll ring placement rack, a vertical machining center, a quenching machine tool and a unloading tray. Among them, the articulated robot is arranged on the U-shaped ground rail and walks on it to pick up workpieces between each process. The first numerical control machine tool, the first flipping platform, the second numerical control machine tool, the second flipping platform, the third numerical control machine tool, the roll ring placement rack, the vertical machining center and the quenching machine tool are used for processing roll rings, shafts and bearing caps. A number of pallets are arranged on the loading tray and the unloading tray, and the number of pallets are respectively used for placing the roll rings, shafts and bearing caps before and after processing.

3. The automatic flexible machining production line of a supporting roller device according to claim 1, wherein The speed monitoring module includes a device speed monitoring unit and a robot speed monitoring unit. Among them, the device speed monitoring unit is used for real-time monitoring of the workpiece processing time of the first numerical control machine tool, the first flipping platform, the second numerical control machine tool, the second flipping platform, the third numerical control machine tool, the vertical machining center and the quenching machine tool; the robot speed monitoring unit is used for real-time monitoring of the time for the articulated robot on the U-shaped ground rail to walk to each process and the loading and unloading time for the articulated robot to pick up workpieces in each process.

4. The automatic flexible processing production line for supporting wheel devices according to claim 1, characterized in that, The speed calculation module includes a device speed calculation unit and a robot speed calculation unit. Among them, the device speed calculation unit calculates the start-stop time difference of the first CNC machine tool, the first flipping platform, the second CNC machine tool, the second flipping platform, the third CNC machine tool, the vertical machining center, and the quenching machine tool based on the workpiece processing time of the above-mentioned equipment monitored in real time, and feeds back the start-stop time difference of the first CNC machine tool, the first flipping platform, the second CNC machine tool, the second flipping platform, the third CNC machine tool, the vertical machining center, and the quenching machine tool to the robot control module; the robot speed calculation unit calculates the process waiting time and the process round-trip time of the articulated robot based on the time for the articulated robot on the U-shaped ground rail to walk to each process and the loading and unloading time for the articulated robot to pick up and place workpieces in each process, and feeds back the process waiting time and the process round-trip time of the articulated robot to the robot control module.

5. The automatic flexible machining production line for supporting wheel devices according to claim 1, characterized in that, The robot control module includes a task trimming unit and a task issuing unit. Among them, the task trimming unit formulates the process walking route of the articulated robot and optimizes the walking route of the articulated robot based on the start-stop time difference of the first CNC machine tool, the first flipping platform, the second CNC machine tool, the second flipping platform, the third CNC machine tool, the vertical machining center, and the quenching machine tool, the process waiting time of the articulated robot, and the process round-trip time of the articulated robot; the task issuing unit controls the articulated robot to pick up and place workpieces for loading and unloading between each process based on the process walking route of the articulated robot, reduces the waiting time of the articulated robot, and improves the batch production efficiency of workpieces.

6. The automatic flexible machining production line of a supporting roller device according to claim 1, wherein A database is set in the remote terminal. The database is used to record and store the operation data of each device and the articulated robot in real time, and display the operation data of each device and the articulated robot on the display screen for the staff to view.

7. The automatic flexible machining production line for carrier rollers according to claim 1, characterized in that, A Bluetooth communication module is set in the remote terminal. The remote terminal communicates with the articulated robot in real time through the Bluetooth communication module, and controls the articulated robot to independently walk between processes to pick up and place workpieces for loading and unloading.

8. The automatic flexible processing production line of a supporting roller device according to claim 2, characterized in that The U-shaped ground rail is internally provided with a drive system. The drive system dynamically adjusts the motor output based on the PID algorithm to achieve the uniform speed walking of the articulated robot.

Images