Double-layer multi-station automatic material clamping and discharging system and using method thereof

Abstract

The invention belongs to the technical field of machining, and relates to a double-layer multi-station automatic material clamping and discharging system and a using method thereof. The system comprises a double-layer movable frame type unit, a movable clamping unit and a servo driving mechanism. The servo driving mechanism comprises a PLC, a first servo driver, a second servo driver and a third servo driver, wherein the first servo driver, the second servo driver and the third servo driver are connected with the PLC. Each servo driver controls the corresponding servo motor to act. When a double-layer material clamping command is triggered, the second servo driver drives the ball screw to rotate, meanwhile, the third servo driver operates in a linkage mode, the target position of the double-layer materials is adjusted, the first servo driver drives the whole discharging mechanism to move forwards, and after the whole discharging mechanism reaches the target position, the clamping unit executes the clamping action, and automatic discharging is completed. According to the system, the rack, the double-layer moving unit and the servo driving mechanism are integrated, the overall rigidity is high, the structure is compact and reasonable, and stable movement of the stub bar can be controlled during operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of machining, and relates to a double-layer multi-station automatic material clamping, extracting and discharging system and a using method thereof. Background Art

[0002] With the rapid development of non-ferrous metal heat treatment and manufacturing industry, the mechanical automation and intelligent clamping, extracting and discharging devices for materials play a crucial role in the field of non-ferrous metal processing. The clamping and transfer of materials are usually key processes connecting the upstream and downstream. With the continuous improvement of customers' requirements for the response speed, accuracy and precision of clamping, the existing discharging technologies are difficult to meet the market demands, often leading to potential quality problems, which in turn affect the overall product quality and customer satisfaction.

[0003] However, there are some significant problems in the current production status of the material discharging mechanism. Firstly, due to the simple design of the mechanical mechanism and poor rigidity of the frame, there are deformation, distortion and wear. During the operation of the frame, there is jitter, resulting in inaccurate positioning of the material head. Secondly, the specifications of the lengths of the material ends are different, and it is difficult to accurately detect the recognition of the material during the clamping process. When using proximity switch sensors and other devices to detect the material head, there are often missed clamping phenomena. Due to the above problems, phenomena such as inability to clamp and missed clamping that cannot be ignored occur during the production process.

[0004] In view of this, the present invention is specifically proposed. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned disadvantages of the prior art and provide a double-layer multi-station automatic material clamping, extracting and discharging system and a using method thereof.

[0006] This double-layer multi-station automatic material clamping, extracting and discharging system includes: a double-layer mobile frame unit, a mobile clamping unit and a servo drive mechanism; the servo drive mechanism includes a PLC controller, a first servo driver, a second servo driver and a third servo driver respectively connected to the PLC controller, and each servo driver controls the corresponding servo motor to act;

[0007] The double-layer mobile frame unit includes a frame, a double-layer mobile unit located on the frame, and first sliding rails arranged on both side edges of the frame. A first slider adapted to the first sliding rails is installed at the bottom of the double-layer mobile unit; the first servo driver controls the first servo motor to act, and the output shaft of the first servo motor drives the first slider to move linearly along the first sliding rails through a first transmission mechanism, and at the same time drives the double-layer mobile unit to move back and forth in a first direction, and the first direction is parallel to the length direction of the frame;

[0008] The mobile clamping unit is installed on the double-layer mobile unit through the second transmission mechanism, and moves back and forth in the first direction driven by the double-layer mobile unit; the mobile clamping unit moves left and right in the second direction under the action of the second servo driver and the second servo motor, and / or the mobile clamping unit moves up and down in the third direction under the action of the third servo driver and the third servo motor; the first direction, the second direction, and the third direction are perpendicular to each other pairwise. It should be noted that to improve the on-site operation efficiency, the mobile clamping unit can move in the second direction and the third direction simultaneously, which is convenient for reducing the overall adjustment time.

[0009] Specifically, the first transmission mechanism includes: a driving roller sprocket directly connected to the output shaft of the first servo motor, and a row of blunt racks are fixed along the first direction on the outer side of the base body fixing the first sliding guide rail. The blunt racks are meshed with the driving roller sprocket to make the first transmission mechanism reciprocate along the direction of the first sliding guide rail.

[0010] Specifically, the mobile clamping unit includes a lifting unit vertically arranged on the frame and a clamping unit horizontally arranged; the lifting unit is nested in the double-layer mobile unit and moves up and down in the third direction, and the clamping unit can move left and right in the second direction within the space where the double-layer mobile unit is located.

[0011] Specifically, the double-layer mobile unit is a first rectangular frame, the lifting unit is a second rectangular frame nested in the first rectangular frame, and the second rectangular frame is slidably connected to the first rectangular frame through a guiding strut assembly;

[0012] Linear movement components are distributed on the bottom and two opposite vertical beams of the second rectangular frame, and the setting direction of the linear movement components is parallel to the second direction. The clamping unit moves left and right in the second direction under the action of the linear movement components;

[0013] A second ball screw is arranged between two adjacent vertical beams in the first rectangular frame. The number of the second ball screws is two and they are arranged oppositely. A second slider is arranged on each second ball screw, and the second slider is fixedly connected to the cross beam of the second rectangular frame;

[0014] The third servo motors are symmetrically installed on the top of the first rectangular frame. The output shafts of the third servo motors are connected to the second ball screws. The third servo driver controls the actions of the third servo motors, and then drives the second sliders and the second rectangular frame connected to the second sliders to move up and down in the third direction.

[0015] Specifically, connection parts for connecting guiding columns are provided on the four vertical beams of the first rectangular frame, and guiding positioning sleeves for connecting guiding columns are respectively provided at the corners of the second rectangular frame. The connection between the first rectangular frame and the second rectangular frame is realized through the cooperation of the guiding positioning sleeves, the connection parts and the guiding columns.

[0016] Specifically, the linear movement assembly includes a second sliding guide rail, which is rigidly fixed on the vertical beam of the second rectangular frame. A first ball screw is distributed in the second sliding guide rail. The second servo motor is installed at the end of the first ball screw and is located outside the vertical beam. One end of the first ball screw is connected to the output shaft of the second servo motor through a coupling, and the other end is fixed on the vertical beam through a bearing.

[0017] A third slider is further installed on the first ball screw. A mounting plate for mounting the clamping unit is fixedly connected to the third slider. The second servo driver controls the action of the second servo motor, thereby driving the first ball screw to rotate, and then driving the clamping unit fixed on the first ball screw to move left and right along the second direction.

[0018] Specifically, the clamping unit further includes: a clamping part fixed on the mounting plate, a clamp arm fixedly connected to the clamping part, and a clamp fixedly connected to the clamp arm.

[0019] Specifically, the clamping unit further includes a clamp arm. One end of the clamp arm is fixedly connected to the clamping part, and the other end is fixedly connected to the clamp.

[0020] Specifically, multiple groups of support units for supporting the bottom of the material are further arranged inside the frame of the rack. The support unit includes a servo electric push rod and a support pad located at the top of the servo electric push rod. The servo electric push rod is connected to the PLC controller through a signal line.

[0021] Specifically, the support pad is a polyurethane support pad.

[0022] In addition, the present invention also discloses a use method of a double-layer multi-station automatic material clamping and discharging system. The use method includes the following steps:

[0023] Step 1: Set material information on the human-machine interface of the host computer. The material information includes information such as the number of materials, material specifications / grades, material diameters, material lengths, and weights.

[0024] Step 2: Perform zero position calibration and parameter information calibration on the first servo driver, the second servo driver, and the third servo driver.

[0025] Step 3: Execute the clamping command.

[0026] The double-layer multi-station material automatic clamping and unloading system has two working modes: manual and fully automatic. When the manual working mode is selected, all motion mechanisms (including servo drive, double-layer mobile frame unit, servo motor, clamping unit) can be controlled by a single action on the human-machine interface; when the fully automatic working mode is selected, only the first material information needs to be checked to ensure accurate positioning before fully automatic operation.

[0027] Furthermore, the human-machine interface of the host computer includes a main control screen, a manual screen, an alarm screen, a parameter screen, an I / O monitoring screen, a limit and origin screen of each servo motor, a screen of each servo electric push rod in the support unit, etc.

[0028] Furthermore, the PLC controller executes the gripping command, and the specific process is as follows:

[0029] Step 3.1, click the material clamping command on the human-machine interface, the double-layer automatic clamping function is activated, and the PLC controller sends the information to the first servo drive and the second servo drive simultaneously through the PROFINET bus based on the input material information and the actual state and position of the double-layer automatic clamping and discharging device (double-layer mobile frame unit and mobile clamping unit);

[0030] Step 3.2, the first servo driver drives the first servo motor to rotate forward, and the active roller sprocket engages the blunt rack, so that the first transmission mechanism moves forward along the first sliding guide rail, and drives the double-layer moving unit to move forward along the first direction;

[0031] Step 3.3, the second servo driver drives the second servo motor to rotate forward, and the gripping unit moves slowly from left to right along the second sliding guide rail, and stops precisely at the precise position of the material to be gripped according to the received command information;

[0032] Step 3.4, after reaching the current gripping position, the gripper servo motor (third servo motor) outputs a certain torque value that has been set, and the lifting unit moves in conjunction with the gripping unit (specially designed adaptive upper and lower paired clamps open and close) to complete the gripping of the material;

[0033] Step 3.5, the first servo driver drives the first servo motor to rotate in the opposite direction, and the entire double-layer moving unit moves backward along the direction of the first sliding guide rail. At the same time, as the moving distance gradually increases, the multiple groups of supporting units at the bottom of the rack are controlled by the PLC controller, and each group drives the servo electric push rod to extend in turn to support the material after a certain period of time;

[0034] Step 3.6, after all the single materials are clamped, the clamps of the clamping unit open to release the materials, the first servo driver drives the first servo motor to rotate in the opposite direction, and the entire double-layer moving unit continues to move backward a short distance along the direction of the first sliding guide rail; at this time, the rightmost servo electric push rod among the multiple groups of servo electric push rods at the bottom of the frame descends, and the support unit formed by the servo electric push rods changes from a horizontal plane to an inclined plane with a lower right side and a higher left side. Under the action of gravity, the material rolls to the right along the inclined plane to proceed to the next production process.

[0035] At this point, the discharging process of a single material is completed, and all servo mechanisms are reset to automatically clamp the next material.

[0036] Furthermore, the moving distance of each servo mechanism along the sliding guide rail is calculated according to the value of the built-in rotary encoder of the servo motor and participates in the precise position control; at the same time, extreme hard limit switches are set at both ends of each sliding guide rail, which are input into the PLC controller as digital I / O points to participate in the control, and after the extreme position is triggered, the DO module of the PLC controller outputs sound and light alarms.

[0037] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0038] 1) The system integrates the frame, double-layer mobile unit and servo drive mechanism into one, with strong overall rigidity, compact and reasonable structure, and can control stable movement during operation to prevent the clamping unit from moving randomly during operation, causing inaccurate positioning and clamping of the material head;

[0039] 2) Based on the PLC control system (composed of a PLC controller, three servo drives and three servo motors), when the double-layer material clamping command is triggered, the first servo drive, the second servo drive and the third servo drive operate in conjunction to complete automatic discharging; the clamping mechanism is controlled by the second servo motor and the third servo motor, which effectively improves the clamping accuracy, avoids the inaccurate positioning of the clamping machinery caused by deformation of mechanical parts, wear gaps, and jitter during operation, and solves the problem of missed clamping caused by different material specifications and inaccurate detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are incorporated in and constitute a part of this specification and, together with the description, serve to explain the principles of the present invention.

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 The main structural view of the double-layer multi-station automatic material extraction system provided by the present invention;

[0043] Figure 2 The left view of the double-layer moving unit provided by the present invention;

[0044] Figure 3 The control principle block diagram of the double-layer multi-station automatic material extraction system provided by the present invention.

[0045] Explanation of reference numerals:

[0046] 1. Frame; 2. Double-layer moving unit; 3. First servo driver; 4. First sliding guide rail; 5. Guide positioning sleeve; 6. Guide pillar; 7. First ball screw; 8. Fixed guide sleeve; 9. Second servo driver; 10. Second sliding guide rail; 11. Third servo driver; 12. Second ball screw; 13. Clamp arm; 14. Clamp; 15. Support pad; 16. Servo electric push rod; 17. Electric push rod base; 18. First transmission mechanism; 19. Gripping unit; 20. Mobile gripping unit; 21. Human-machine interface; 22. PLC controller; 23. Lifting unit; 24. First servo motor; 25. Second servo motor; 26. Third servo motor; A. First rectangular frame; B. Second rectangular frame; X. First direction; Y. Second direction; Z. Third direction. Detailed implementation mode

[0047] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation modes described in the following exemplary embodiments do not represent all implementation modes consistent with the present invention. On the contrary, they are only examples consistent with some aspects of the present invention detailed in the appended claims.

[0048] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the drawings and embodiments.

[0049] Embodiment

[0050] As Figures 1 to 3 shown, this embodiment provides a double-layer multi-station automatic material clamping and extraction system, including: a double-layer moving frame type unit, a mobile clamping unit 20 and a servo drive mechanism; the servo drive mechanism includes a PLC controller 22, a first servo driver 3, a second servo driver 9 and a third servo driver 11 respectively connected to the PLC controller 22, and each servo driver controls the corresponding servo motor to act;

[0051] The double-layer mobile frame type unit includes a frame 1, a double-layer mobile unit 2 located on the frame 1, and first sliding guide rails 4 arranged on both side edges of the frame 1. A first slider adapted to the first sliding guide rails 4 is installed at the bottom of the double-layer mobile unit 2; the first servo driver 3 controls the operation of a first servo motor 24, and an output shaft of the first servo motor 24 drives the first slider to move linearly along the first sliding guide rails 4 through a first transmission mechanism 18, and simultaneously drives the double-layer mobile unit 2 to move back and forth along a first direction X, and the first direction X is parallel to the length direction of the frame 1;

[0052] The mobile clamping unit 20 is installed on the double-layer mobile unit 2 through a second transmission mechanism and moves back and forth along the first direction X under the drive of the double-layer mobile unit 2; the mobile clamping unit 20 moves left and right along a second direction Y under the action of a second servo driver 9 and a second servo motor 25, and / or the mobile clamping unit 20 moves up and down along a third direction Z under the action of a third servo driver 11 and a third servo motor 26; the first direction X, the second direction Y, and the third direction Z are perpendicular to each other in pairs.

[0053] In this embodiment, when the first servo driver 3 drives the first servo motor 24 to rotate clockwise, the double-layer mobile unit 2 moves linearly forward along the first sliding guide rails 4 until it stops at the front required position; when the first servo driver 3 drives the first servo motor 24 to rotate counterclockwise, the double-layer mobile unit 2 moves linearly backward along the first sliding guide rails 4 until it stops at the end stop position.

[0054] Further, the first transmission mechanism 18 includes: a driving roller sprocket directly connected to the output shaft of the first servo motor 24, and a row of blunt racks are fixed along the first direction X on the outer side of the base body fixing the first sliding guide rails 4, and the blunt racks are meshed with the driving roller sprocket to enable the first transmission mechanism 18 to reciprocate along the direction of the first sliding guide rails 4.

[0055] Further, the mobile clamping unit 20 includes a lifting unit 23 vertically arranged on the frame 1 and a clamping unit 19 horizontally arranged; the lifting unit 23 is nested in the double-layer mobile unit 2 and moves up and down along the third direction Z, and the clamping unit 19 can move left and right along the second direction Y within the space where the double-layer mobile unit 2 is located.

[0056] Further, the double-layer mobile unit 2 is a first rectangular frame A, the lifting unit 23 is a second rectangular frame B nested in the first rectangular frame A, and the second rectangular frame B is slidably connected to the first rectangular frame A through a guiding pillar assembly;

[0057] On the bottom of the second rectangular frame B and on two oppositely arranged vertical beams, linear movement components are distributed. The arrangement direction of the linear movement components is parallel to the second direction Y. The clamping unit 19 moves left and right along the second direction Y under the action of the linear movement components.

[0058] In the first rectangular frame A, a second ball screw 12 is arranged between two adjacent vertical beams. The number of the second ball screws 12 is two and they are arranged oppositely. A second slider is arranged on each second ball screw 12. The second slider is fixedly connected to the cross beam of the second rectangular frame B.

[0059] The third servo motor 26 is symmetrically installed on the top of the first rectangular frame A. The output shaft of the third servo motor 26 is connected to the second ball screw 12. The third servo driver 11 controls the operation of the third servo motor 26, thereby driving the second slider and the second rectangular frame B connected to the second slider to move up and down along the third direction Z.

[0060] Further, connection parts for connecting the guiding columns 6 are arranged on the four vertical beams of the first rectangular frame A. Guiding and positioning sleeves 5 for connecting the guiding columns 6 are respectively arranged at the corners of the second rectangular frame B. The connection between the first rectangular frame A and the second rectangular frame B is realized under the cooperation of the guiding and positioning sleeves 5, the connection parts and the guiding columns 6.

[0061] It should be noted that when the third servo driver 11 drives the third servo motor 26 to rotate forward, the second ball screw 12 installed in cooperation with it rotates clockwise. At the same time, through the accurate guiding and positioning of 4 groups of a total of 8 guiding and positioning sleeves 5 around, the lifting and moving unit 20 moves smoothly downward. After reaching the specified position, the movement stops. On the contrary, when the third servo driver 11 drives the third servo motor 26 to rotate reversely, the second ball screw 12 installed in cooperation with it rotates counterclockwise. At the same time, through the accurate guiding and positioning of 4 groups of a total of 8 guiding and positioning sleeves 5 around, the lifting and moving unit 20 moves smoothly upward. After reaching the specified position, the movement stops.

[0062] Further, the linear movement component includes a second sliding guide rail 10. The second sliding guide rail 10 is rigidly fixed on the vertical beam of the second rectangular frame B. A first ball screw 7 is distributed in the second sliding guide rail 10. The second servo motor 25 is installed at the end of the first ball screw 7 and is located outside the vertical beam. One end of the first ball screw 7 is connected to the output shaft of the second servo motor 25 through a coupling, and the other end is fixed on the vertical beam through a bearing.

[0063] A third slider is also installed on the first ball screw 7. A mounting plate for installing the clamping unit 19 is fixedly connected to the third slider. The second servo driver 9 controls the operation of the second servo motor 25, thereby driving the first ball screw 7 to rotate, so as to drive the clamping unit fixed on the first ball screw 7 to move left and right along the second direction Y.

[0064] It should be noted that a fixed guide sleeve 8 is also provided at one end of the first ball screw 7 close to the coupling. The third slider and the fixed guide sleeve 8 are integrally formed and are uniformly fixed in the second sliding guide 10. When the second servo driver 9 drives the second servo motor 25 to rotate clockwise, the clamping unit 19 moves linearly to the left along the first ball screw 7, that is, makes a linear motion in the lateral far end along the second direction Y, and stops until it reaches the required position at the lateral far end. When the second servo driver 9 drives the second servo motor 25 to rotate counterclockwise, the clamping unit 19 moves linearly to the right along the first ball screw 7, that is, makes a linear motion in the lateral near end along the second direction Y, and stops until it reaches the required position at the lateral near end.

[0065] Further, the clamping unit 19 further includes: a clamping portion fixed on the mounting plate, a clamp arm 13 fixedly connected to the clamping portion, and a clamp 14 fixedly connected to the clamp arm 13.

[0066] Further, the clamping unit 19 further includes a clamp arm 13. One end of the clamp arm 13 is fixedly connected to the clamping portion, and the other end is fixedly connected to the clamp 14. When the clamping unit 19 reaches the designated position, the internal mechanism of the clamp 14 acts to accurately and stably clamp the material. At this time, the entire mobile clamping unit mechanism moves backward. When it moves to a certain specific position, the 4 groups of support units are sequentially raised to lift the bottom of the material through the support pads 15.

[0067] Furthermore, multiple groups of support units for lifting the bottom of the material are also provided inside the frame of the rack 1. The support unit includes a servo electric push rod 16 provided on the base 17 of the electric push rod and a support pad 15 located at the top of the servo electric push rod 16. The servo electric push rod 16 is connected to the PLC controller 22 through a signal line.

[0068] Preferably, the support pad 15 is a polyurethane support pad.

[0069] It is additionally noted that the servo drive mechanism is also connected to the host computer, and the PLC controller 22, servo drive, double-layer mobile frame unit, servo motor, and gripping unit 19 can be controlled through the human-machine interface 21 of the host computer, and the position of the double-layer multi-station material can also be set through the human-machine interface 21. The servo drive is controlled to execute independently through the PLC controller 22, and the servo drive includes a first servo drive 3, a second servo drive 9, and a third servo drive 11; the first servo drive 3 communicates with the PLC controller 22 through Ethernet, thereby controlling the double-layer mobile unit 2 to move forward and backward along the first direction X; the second servo drive 9 communicates with the PLC controller 22 through Ethernet, thereby controlling the gripping unit 19 to move horizontally and vertically along the second direction Y; the third servo drive 11 communicates with the PLC controller 22 through Ethernet, thereby controlling the lifting and moving unit 20 to move up and down along the third direction Z.

[0070] In summary, the working principle of the double-layer multi-station material automatic clamping and unloading system is as follows:

[0071] After the automatic clamping starts, the current position of the clamping unit 19 is detected through the PLC controller 22 and the human-machine interface 21. If it is not at the starting position, the PLC controller 22 drives the mobile clamping unit 19 to return to the starting position through the servo drive mechanism (the first servo drive 3, the second servo drive 9 and the third servo drive 11). After reaching the starting position, click the automatic operation button on the human-machine interface 21 to start executing the double-layer material clamping instruction. At this time, the second servo motor 26 drives the first ball screw 7 to rotate under the action of the second servo drive 9, and the third servo drive 11 drives the third servo motor 27 to run in linkage, and adjust to the target position of the double-layer material. Immediately afterwards, the first servo drive 3 drives the first servo motor 25 to rotate, and the first transmission mechanism 18 moves the entire mobile clamping unit forward. After reaching the target position, the clamping unit 19 completes the clamping action to discharge the material. During the discharge process, the four groups of servo electric push rods 16 act in sequence, and the support pads 15 on the top of the servo electric push rods 16 support the material to remain relatively stable, thereby completing the entire discharge action. After the material is discharged, the double-layer moving unit 2 is reset and returns to the initial position to prepare for the next material clamping.

[0072] Furthermore, the moving distance of each servo mechanism along the sliding guide rail is calculated according to the value of the built-in rotary encoder of the servo motor and participates in the precise position control; at the same time, extreme hard limit switches are set at both ends of each sliding guide rail, which are input into the PLC controller as digital I / O points to participate in the control, and after the extreme position is triggered, the DO module of the PLC controller outputs sound and light alarms.

[0073] Specifically, the system is used as follows:

[0074] Step 1: Set the material information on the human-machine interface 21 of the host computer;

[0075] Step 2: Perform zero position verification and parameter information verification on the first servo driver 3, the second servo driver 9, and the third servo driver 11;

[0076] Step 3: Execute the clamping command through the PLC controller 22;

[0077] Furthermore, the specific process of Step 3 is as follows:

[0078] Step 3.1: Click the material clamping command on the human-machine interface 21. The PLC controller 22 sends the material information, the actual status and position information of the double-layer mobile frame unit and the mobile clamping unit to the first servo driver 3 and the second servo driver 9 according to the input material information, combined with the actual status and position of the double-layer mobile frame unit and the mobile clamping unit;

[0079] Step 3.2: The first servo driver 3 drives the first servo motor 24 to rotate forward, drives the first transmission mechanism 18 to move forward along the first sliding guide 4, and drives the double-layer mobile unit 2 to move forward along the first direction X;

[0080] Step 3.3: The second servo driver 9 drives the second servo motor 25 to rotate forward, and the clamping unit 19 moves from left to right along the second sliding guide 10 and stops at the precise position of the material to be clamped according to the received command information;

[0081] Step 3.4: After reaching the current clamping position, the third servo motor 26 outputs a set torque value of a certain specific value, drives the lifting unit 23 to move, and completes the clamping of the material through the clamp 14 of the clamping unit 19;

[0082] Step 3.5: The first servo driver 3 drives the first servo motor 24 to rotate reversely, and the entire double-layer mobile unit 2 moves backward along the direction of the first sliding guide 4. As the moving distance gradually becomes longer, multiple groups of support units at the bottom of the frame 1 are controlled by the PLC controller 22 to drive the servo electric push rods 16 to extend out in sequence at specified intervals to support the material;

[0083] Step 3.6: After all single materials are clamped, the clamp 14 of the clamping unit 19 opens to release the material, and the first servo driver 3 drives the first servo motor 24 to rotate reversely, and the entire double-layer mobile unit 2 continues to move backward a specified distance along the direction of the first sliding guide 4; At this time, the rightmost servo electric push rod 16 among multiple groups of servo electric push rods 16 at the bottom of the frame 1 descends, and the material rolls to the right along the inclined plane under the action of gravity for the next production process.

[0084] Thus, the discharging process of a single piece of material is completed, and all servo mechanisms are reset to perform the automatic clamping function for the next piece of material.

[0085] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention.

[0086] It should be understood that the present invention is not limited to the content already described above, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A double-layer multi-station automatic material clamping, extracting and discharging system, characterized in that Comprising: A double-layer mobile frame type unit, a mobile clamping unit (20), and a servo drive mechanism; the servo drive mechanism includes a PLC controller (22), a first servo driver (3), a second servo driver (9), and a third servo driver (11) respectively connected to the PLC controller (22), and each servo driver controls the corresponding servo motor to act; The double-layer mobile frame type unit includes a frame (1), a double-layer mobile unit (2) located on the frame (1), and first sliding guide rails (4) provided on both side edges of the frame (1). A first slider adapted to the first sliding guide rails (4) is installed at the bottom of the double-layer mobile unit (2); the first servo driver (3) controls the first servo motor (24) to act, and the output shaft of the first servo motor (24) drives the first slider to move linearly along the first sliding guide rails (4) through a first transmission mechanism (18), and at the same time drives the double-layer mobile unit (2) to move back and forth along a first direction (X), and the first direction (X) is parallel to the length direction of the frame (1); The mobile clamping unit (20) is installed on the double-layer mobile unit (2) through a second transmission mechanism and moves back and forth along the first direction (X) under the drive of the double-layer mobile unit (2); the mobile clamping unit (20) moves left and right along a second direction (Y) under the action of the second servo driver (9) and the second servo motor (25), and / or the mobile clamping unit (20) moves up and down along a third direction (Z) under the action of the third servo driver (11) and the third servo motor (26); the first direction (X), the second direction (Y), and the third direction (Z) are perpendicular to each other in pairs.

2. The double-layer multi-station automatic material clamping, extracting and discharging system according to claim 1, wherein The first transmission mechanism (18) includes: a driving roller sprocket directly connected to the output shaft of the first servo motor (24), and a row of blunt racks are fixed along the first direction (X) on the outer side of the base body fixing the first sliding guide rails (4), and the blunt racks are meshed with the driving roller sprocket to make the first transmission mechanism (18) reciprocate along the direction of the first sliding guide rails (4).

3. The double-layer multi-station automatic material clamping, extracting and discharging system according to claim 1, characterized in that The mobile clamping unit (20) includes a lifting unit (23) vertically arranged on the frame (1) and a clamping unit (19) horizontally arranged; the lifting unit (23) is nested in the double-layer mobile unit (2) and moves up and down along the third direction (Z), and the clamping unit (19) can move left and right along the second direction (Y) within the space where the double-layer mobile unit (2) is located.

4. The double-layer multi-station automatic material clamping, extracting and discharging system according to claim 3, characterized in that The double-layer mobile unit (2) is a first rectangular frame (A), the lifting unit (23) is a second rectangular frame (B) nested in the first rectangular frame (A), and the second rectangular frame (B) is slidably connected to the first rectangular frame (A) through a guiding pillar assembly; The bottom of the second rectangular frame (B) and two relatively arranged vertical beams are both distributed with linear movement components. The arrangement direction of the linear movement components is parallel to the second direction (Y). The clamping unit (19) moves left and right along the second direction (Y) under the action of the linear movement components. A second ball screw (12) is arranged between two adjacent vertical beams in the first rectangular frame (A). The number of the second ball screws (12) is two and they are relatively arranged. A second slider is arranged on each second ball screw (12). The second slider is fixedly connected to the cross beam of the second rectangular frame (B). The third servo motors (26) are symmetrically installed on the top of the first rectangular frame (A). The output shafts of the third servo motors (26) are connected to the second ball screws (12). The third servo driver (11) controls the actions of the third servo motors (26), thereby driving the second sliders and the second rectangular frame (B) connected to the second sliders to move up and down along the third direction (Z).

5. The double-layer multi-station automatic material clamping, extracting and discharging system according to claim 4, wherein Connection parts for connecting the guiding columns (6) are arranged on the four vertical beams of the first rectangular frame (A). Guiding and positioning sleeves (5) for connecting the guiding columns (6) are respectively arranged at the corners of the second rectangular frame (B). The connection between the first rectangular frame (A) and the second rectangular frame (B) is realized through the cooperation of the guiding and positioning sleeves (5), the connection parts and the guiding columns (6).

6. The double-layer multi-station automatic material clamping, extracting and discharging system according to claim 4, wherein The linear movement component includes a second sliding guide rail (10). The second sliding guide rail (10) is rigidly fixed on the vertical beam of the second rectangular frame (B). A first ball screw (7) is distributed in the second sliding guide rail (10). The second servo motor (25) is installed at the end of the first ball screw (7) and is located outside the vertical beam. One end of the first ball screw (7) is connected to the output shaft of the second servo motor (25) through a coupling, and the other end is fixed on the vertical beam through a bearing. A third slider is further installed on the first ball screw (7). A mounting plate for mounting the clamping unit (19) is fixedly connected to the third slider. The second servo driver (9) controls the action of the second servo motor (25), thereby driving the first ball screw (7) to rotate, and thus driving the clamping unit fixed on the first ball screw (7) to move left and right along the second direction (Y).

7. The double-layer multi-station automatic material clamping, extracting and discharging system according to claim 6, characterized in that, The clamping unit (19) further includes: a clamping part fixed on the mounting plate, a clamp arm (13) fixedly connected to the clamping part, and a clamp (14) fixedly connected to the clamp arm (13).

8. The double-layer multi-station material automatic clamping, extracting and discharging system according to any one of claims 1 to 7, characterized in that, Multiple groups of support units for supporting the bottom of the material are further arranged inside the frame of the rack (1). The support unit includes a servo electric push rod (16) and a support pad (15) located at the top of the servo electric push rod (16). The servo electric push rod (16) is connected to the PLC controller (22) through a signal line.

9. A method for using the double-layer multi-station material automatic clamping and discharging system according to any one of claims 1 to 8, characterized in that, The servo drive mechanism is also connected to the host computer, and the control of the PLC controller (22), servo driver, double-layer mobile frame unit, servo motor, and clamping unit (19) is realized through the human-machine interface (21) of the host computer. The specific usage method is as follows: Step 1: Set the material information on the human-machine interface (21) of the host computer. Step 2: Check the zero position and parameter information of the first servo driver (3), the second servo driver (9), and the third servo driver (11). Step 3: Execute the clamping command through the PLC controller (22).

10. The usage method according to claim 9, characterized in that, The specific process of Step 3 is as follows: Step 3.1: Click the material clamping command on the human-machine interface (21). The PLC controller (22) sends the material information, the actual status and position information of the double-layer mobile frame unit and the mobile clamping unit to the first servo driver (3) and the second servo driver (9) simultaneously according to the input material information and in combination with the actual status and position of the double-layer mobile frame unit and the mobile clamping unit. Step 3.2: The first servo driver (3) drives the first servo motor (24) to rotate forward, drives the first transmission mechanism (18) to move forward along the first sliding guide rail (4), and drives the double-layer mobile unit (2) to move forward along the first direction (X). Step 3.3: The second servo driver (9) drives the second servo motor (25) to rotate forward, and the clamping unit (19) moves from left to right along the second sliding guide rail (10) and stops at the precise position of the material to be clamped according to the received command information. Step 3.4: After reaching the current clamping position, the third servo motor (26) outputs a preset torque value, drives the lifting unit to move, and completes the clamping of the material through the clamp (14) of the clamping unit (19). Step 3.5: The first servo driver (3) drives the first servo motor (24) to rotate in the reverse direction, and the entire double-layer mobile unit (2) moves backward along the direction of the first sliding guide rail (4). As the moving distance gradually becomes longer, multiple groups of support units at the bottom of the frame (1) are controlled by the PLC controller (22) to drive the servo electric push rods (16) to extend out in sequence at specified intervals to support the material. Step 3.6: After all single materials are clamped, the clamp (14) of the clamping unit (19) opens to release the material, and the first servo driver (3) drives the first servo motor (24) to rotate in the reverse direction, and the entire double-layer mobile unit (2) continues to move backward a specified distance along the direction of the first sliding guide rail (4). At this time, the servo electric push rod (16) at the right end of multiple groups of servo electric push rods (16) at the bottom of the frame (1) descends, and the material rolls to the right along the inclined plane under the action of gravity for the next production process.

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