Workpiece multi-process machining transportation method and transportation system

Abstract

The invention provides a workpiece multi-process machining conveying method and conveying system.The method comprises the steps that a movable grabbing assembly with at least two working faces is adopted and matched with a transfer bearing table, and a workpiece in a first posture is placed and fixed to the transfer bearing table through a first working face; and the second working face grabs and turns over the workpiece from the opposite direction to enable the workpiece to be converted into a second posture, then the second working face grabs at least one workpiece kept in the first posture, and the workpieces in the different postures are integrated and integrally conveyed to a target station. The corresponding conveying system comprises a multi-joint robot, a double-face grabbing device, a transfer bearing table, a feeding unit, a discharging unit and a machining station provided with different process stations. By means of the method and system, under the condition that an independent turnover mechanism is not needed, workpiece posture conversion and one-time clamping and conveying of multi-procedure workpieces are achieved, the middle clamping and transferring links are reduced, the machine tool shutdown material changing time is shortened, and the machining efficiency and the system operation stability are improved.

Description

Technical Field

[0001] This application relates to the field of automated production equipment technology, specifically to a method and system for multi-process processing and transportation of workpieces. Background Technology

[0002] In the field of mechanical manufacturing, for workpieces with multiple machined surfaces, it is usually necessary to process different machined surfaces of the workpiece separately in different processes. In order to improve machining accuracy and production efficiency, automated machining units consisting of CNC machine tools and automatic loading and unloading devices are commonly used to complete multiple machining processes on the workpiece sequentially.

[0003] In existing technologies, common multi-process machining methods require manual or robotic removal and flipping of the workpiece after the first process, followed by re-clamping to complete the next machining step. This method suffers from numerous clamping operations, long cycle times, and complex flipping operations. Furthermore, frequent clamping and flipping can introduce positioning errors, affecting machining consistency. To reduce manual intervention, some automated production lines introduce independent flipping mechanisms, rotary tables, or dedicated fixtures with flipping functions to achieve posture changes between workpiece processes. While these solutions can achieve automatic flipping, they typically require motors, reduction gears, or complex transmission structures, resulting in high equipment costs and large space requirements. Additionally, the action time of the flipping mechanism is often not fully masked by the machine tool's processing time, impacting workpiece transfer efficiency. Other solutions involve industrial robots directly flipping workpieces in mid-air. These solutions place high demands on the robot's load capacity, motion space, and control precision. When multiple workpieces or various machining postures need to be processed simultaneously, the complexity of control logic and mechanism design increases further, making it difficult to simultaneously and orderly clamp workpieces in different machining postures across multiple processes during a single loading operation, thus affecting overall system efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a method and system for transporting workpieces through multi-process machining, which can realize the one-time clamping and processing of workpieces with different processes, and reduce the downtime of machine tools for changing materials.

[0005] This application is achieved through the following technical solution, specifically: A method for transporting workpieces through multi-process machining, using a mobile gripping assembly with at least two working surfaces and a transfer platform, the method comprising the following steps: S1: At least one workpiece in a first posture is placed and fixed on the transfer support platform through the first working surface of the mobile gripping component; S2: Using the second working surface of the mobile gripping component, the workpiece fixed on the transfer platform in the first posture is gripped from the direction opposite to the placement direction, and the mobile gripping component is controlled to flip so that the gripped workpiece changes from the first posture to the second posture. S3: Grab at least one workpiece that maintains the first posture through the second working surface of the moving gripping component; S4: Transport the workpiece in the second posture integrated on the second working surface of the mobile gripping component and the workpiece in the first posture as a whole to the target station.

[0006] In this solution, by setting at least two working surfaces on the mobile gripping component and introducing a transfer platform with relative placement and gripping directions, the workpiece can be transported to the target station together with the workpiece maintaining its original posture after completing the posture change without interrupting the continuous transport cycle. There is no need to set up an independently driven flipping mechanism or a complex transmission device, which realizes the posture change and integrated transport of the workpiece between different processing steps. At the same time, the flipping and replenishment process can be completed within the masking time of the machine tool processing, avoiding extra cycle time and improving the overall line operating efficiency.

[0007] Furthermore, the first posture is with the back of the workpiece facing up, and the second posture is with the front of the workpiece facing up.

[0008] This application is implemented through the following technical solution, specifically: A transport system for implementing the above-described multi-process workpiece transport method includes: Multi-joint robot; A mobile grasping component is installed at the end of the multi-joint robot and has a first working surface and a second working surface arranged opposite to each other. A transfer platform is set within the working range of the multi-joint robot to temporarily fix and assist in changing the posture of the workpiece relative to the moving gripping component. The loading unit is used to provide the workpiece in its first orientation; The unloading unit is used to receive the processed workpiece; a processing station is provided between the loading unit and the unloading unit, the processing station includes a first process station for accommodating a workpiece in a first posture and a second process station for accommodating a workpiece in a second posture.

[0009] In this solution, by equipping a mobile gripping component at the end of a multi-joint robot and cooperating with a transfer platform, the robot's own degrees of freedom of motion combined with the gripping device's non-plane switching function can be fully utilized to make full use of the machine tool's masking time. The flipping of the workpiece to be processed and the integration and sorting of workpieces in different postures can be completed outside the machine. Thus, the processing station's simultaneous needs for workpieces in the first and second postures can be met with a single feed action, achieving low-cost conversion and reorganization of workpiece postures. This significantly shortens the machine tool's downtime for changing materials and solves the problems of complex and inefficient multi-process flow equipment in existing technologies.

[0010] As an improvement of this application, the mobile gripping component includes a connecting flange, a first mounting plate and a second mounting plate, wherein the first mounting plate and the second mounting plate are connected by the connecting flange and form a first working surface and a second working surface arranged opposite to each other.

[0011] Furthermore, both the first mounting plate and the second mounting plate are provided with gripper units, which are arranged in an array.

[0012] Furthermore, two sets of gripper units are arranged in parallel on the first mounting plate and the second mounting plate, and each set of gripper units includes at least one gripper.

[0013] As an improvement of this application, the transfer platform includes a support and an upper end face positioning mechanism disposed on the upper part of the support; the upper end face positioning mechanism is used to receive and fix the workpiece from above, and the upper and lower end faces of the support are connected in the vertical direction to form a gripping channel that allows the second working surface of the movable gripping component to extend from the lower end face of the support and grip the workpiece.

[0014] Furthermore, the upper end face positioning mechanism includes a plurality of limiting posts adapted to the workpiece contour and a clamping mechanism for pressing the workpiece onto the bracket.

[0015] Furthermore, the clamping mechanism includes a drive cylinder, a transmission link, and a pressure arm. The pressure arm is hinged to the bracket via a rotating shaft. One end of the drive cylinder is connected to the bracket, and the other end is connected to the transmission link, for driving the pressure arm to switch between a clamping position and a releasing position.

[0016] The beneficial effects of this application are as follows: 1. The solution of this application sets at least two working surfaces on the mobile gripping component and introduces a transfer platform with relative placement and gripping directions. Without interrupting the continuous transport cycle, the workpiece can be transported to the target station together with the workpiece that maintains its original posture after completing the posture change. There is no need to set up an independently driven flipping mechanism or a complex transmission device. This realizes the posture change and integrated transport of the workpiece between different processing steps. At the same time, the flipping and replenishment process can be completed within the masking time of the machine tool processing, avoiding extra cycle time and improving the overall line operating efficiency.

[0017] 2. The solution proposed in this application, by equipping a mobile gripping component at the end of a multi-joint robot and cooperating with a transfer platform, utilizes the robot's own degrees of freedom of motion combined with the non-plane switching function of the gripping device. This allows for full utilization of the machine tool's masking time, enabling the flipping of workpieces to be processed and the integrated sorting of workpieces in different postures to be completed off-machine. Furthermore, a single feed motion satisfies the simultaneous needs of the processing station for workpieces in both first and second postures, achieving low-cost conversion and reconfiguration of workpiece postures. This significantly reduces machine tool downtime for material changes and solves the problems of complexity and low efficiency in existing multi-process transfer equipment. In addition to the technical problems solved by the present invention, the technical features constituting the technical solutions, and the advantages brought about by the technical features of these technical solutions as described above, other technical problems that the present invention can solve, other technical features contained in the technical solutions, and the advantages brought about by these technical features will be further described in detail with reference to the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the layout of a transportation system according to an embodiment of this application; Figure 2 This is a schematic diagram of the transfer platform in the embodiments of this application; Figure 3 This is a schematic diagram of the first working surface of the moving gripping component in the embodiments of this application; Figure 4 This is a schematic diagram of the second working surface of the moving gripping component in the embodiments of this application.

[0019] Explanation of reference numerals in the attached figures: 1. Multi-joint robot; 2. Mobile gripping assembly; 21. Connecting flange; 22. First mounting plate; 23. Second mounting plate; 24. Gripper unit; 241. Gripper; 3. Transfer platform; 31. Bracket; 32. Upper end face positioning mechanism; 321. Limiting post; 322. Clamping mechanism; 323. Drive cylinder; 324. Transmission link; 325. Pressure arm; 4. Loading unit; 5. Unloading unit. Detailed Implementation

[0020] The following will be combined with the appendix Figures 1-4 The embodiments of the technical solutions of this application are described in detail below. The following embodiments are only used to more clearly illustrate the technical solutions of this application, and are therefore merely examples and should not be used to limit the scope of protection of this application. Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0021] To address the problems existing in the prior art or products in the background, this application provides a method for transporting workpieces through multi-process machining, using a mobile gripping assembly with at least two working surfaces and a transfer platform. The method includes the following steps: S1: At least one workpiece in a first posture is placed and fixed on the transfer support platform through the first working surface of the mobile gripping component; S2: Using the second working surface of the mobile gripping component, the workpiece fixed on the transfer platform in the first posture is gripped from the direction opposite to the placement direction, and the mobile gripping component is controlled to flip so that the gripped workpiece changes from the first posture to the second posture. S3: Grab at least one workpiece that maintains the first posture through the second working surface of the moving gripping component; S4: Transport the workpiece in the second posture integrated on the second working surface of the mobile gripping component and the workpiece in the first posture as a whole to the target station.

[0022] Specifically, in a complete work cycle, both the first and second working surfaces of the moving gripper component are initially unloaded. In step S1, the moving gripper component uses its first working surface to grip the semi-finished workpieces that have completed the first process and are ready for the second process from the production line. These workpieces are currently in a first posture. Subsequently, the moving gripper component transports and places them on the upper surface of the transfer platform, where the transfer platform locks the relative position of the workpieces. In step S2, the moving gripper component adjusts its posture, moves its unloaded second working surface to below the transfer platform, and grips the lower surface of the fixed workpiece from below through the hollow structure of the transfer platform. After gripping, the transfer platform releases the workpiece, and the moving gripper component carries the workpiece out of the transfer area. It then rotates 180 degrees through its wrist joint (e.g., the J6 axis). Since the gripping orientation is opposite to the placement orientation, combined with the flipping action of the moving gripper component, the workpiece, originally in the first posture, undergoes a 180-degree reversal in the spatial coordinate system, thus transforming it into a second posture suitable for the next process.

[0023] In step S3, the moving gripper component maintains the orientation of its second working surface and moves to the loading position. Utilizing the remaining empty clamping positions on the second working surface, it directly grips the workpiece to be processed in the first posture. At this point, the second working surface simultaneously carries workpieces required for different processes and in two different processing postures. In step S4, the moving gripper component moves the entire second working surface, which integrates workpieces in different postures, to the target station, such as a mixed-process fixture on a CNC machine tool. Through a single downward clamping action, all workpieces integrated on the second working surface are simultaneously loaded into the corresponding fixture station on the machine tool, completing the loading process.

[0024] In one implementation, the first posture is with the back of the workpiece facing up, and the second posture is with the front of the workpiece facing up.

[0025] Specifically, taking the machining of disc-shaped parts as an example, the first process typically processes the back side of the workpiece, so the first orientation is set to back side up for easy positioning and clamping on the first process fixture. The second process processes the front side of the workpiece, so the workpiece needs to be flipped to a second orientation with the front side up. In this embodiment, by controlling the moving gripping component to grip the workpiece from the bottom surface in reverse, efficient switching of the workpiece orientation can be achieved without a flipping drive device, and the workpieces in both orientations can be entered into the machine tool together in subsequent steps.

[0026] Figure 1 A schematic diagram of the structure of a transportation system according to an embodiment of this application is shown; Figure 2 A schematic diagram of the transfer platform in an embodiment of this application is shown; Figure 3 This paper shows a schematic diagram of the operation of the first working surface of the mobile gripping component in an embodiment of this application; Figure 4 A schematic diagram of the second working surface of the moving gripping component in an embodiment of this application is shown. Figures 1 to 4 As shown, this application provides a transportation system for implementing the workpiece multi-processing and transportation method described in the above embodiments, comprising: Multi-joint robot 1; The mobile gripping component 2 is installed at the end of the multi-joint robot 1 and has a first working surface and a second working surface arranged opposite to each other. The transfer platform 3 is set within the working range of the multi-joint robot 1 and is used to temporarily fix and assist in changing the posture of the workpiece relative to the mobile gripping component 2. Feeding unit 4 is used to provide the workpiece in the first orientation; The unloading unit 5 is used to receive the processed workpieces; A processing station is provided between the loading unit 4 and the unloading unit 5. The processing station includes a first process station for accommodating a workpiece in a first posture and a second process station for accommodating a workpiece in a second posture.

[0027] Specifically, the multi-joint robot 1 serves as the motion carrier for the mobile gripping component 2, driving the mobile gripping component 2 to move, position, and rotate in three-dimensional space. The multi-joint robot 1 is preferably a six-axis industrial robot. The loading unit 4 can be a conveyor belt, a hopper, or the output end of the previous station, continuously providing workpieces in the first orientation. The unloading unit 5 receives workpieces removed from the processing station. The processing station is typically the worktable of a CNC machine tool. The first and second processing stations can be set on different machine tools to process workpieces in the first and second orientations respectively, or in different processing areas of the same machine tool. For example, the first processing station can be used to process the back of the workpiece, while the second processing station can be used to process the front of the workpiece.

[0028] The entire transportation system is logically controlled by the main control system (PLC), which coordinates the I / O signal interaction of each unit and component to ensure the anti-interference and coordinated operation of each action sequence.

[0029] Continue reading Figure 3 In one implementation, the mobile gripping component 2 includes a connecting flange 21, a first mounting plate 22, and a second mounting plate 23. The first mounting plate 22 and the second mounting plate 23 are connected through the connecting flange 21 and form a first working surface and a second working surface that are arranged opposite to each other.

[0030] Specifically, the connecting flange 21 is fixed to the end of the robot's sixth axis by bolts. The first mounting plate 22 and the second mounting plate 23 are installed parallel to each other and back to back. The two mounting plates have air circuit integration blocks and solenoid valve groups arranged inside or on the back to independently control the opening and closing of the grippers on each side.

[0031] Preferably, both the first mounting plate 22 and the second mounting plate 23 are provided with gripper units 24, and the gripper units 24 are arranged in an array.

[0032] Specifically, the gripper units can be pneumatically, electrically, or hydraulically driven to adapt to different workpieces and processing environments. The density and layout of the array arrangement can be adjusted according to the size and shape of the workpiece. For example, two sets of gripper units 24 are arranged in parallel on each of the first mounting plate 22 and the second mounting plate 23, each set including at least one gripper 241. In this embodiment, each mounting plate has four grippers 241 arranged in a 2×2 pattern. This arrangement matches the station layout of the fixtures on the processing station, allowing the robot to load or unload four workpieces at once. In step S3, two sets of grippers on the second working surface are used to carry the semi-finished product after being flipped in step S2, while the other two sets of idle grippers are used to grab new blanks in the loading unit 4. This partitioned management design supports the function of integrating multiple workpieces on a single working surface.

[0033] Continue reading Figure 2 In one implementation, the transfer platform 3 includes a support 31 and an upper end face positioning mechanism 32 disposed on the upper part of the support 31; The upper end face positioning mechanism 32 is used to receive and fix the workpiece from above. The upper and lower end faces of the bracket 31 are connected in the vertical direction to form a gripping channel that allows the second working surface of the moving gripping component 2 to extend from the lower end face of the bracket 31 and grip the workpiece.

[0034] Specifically, the support 31 is welded from high-rigidity profiles, and its height design must allow for the movement space of the moving gripping component 2 for flipping and extending. The perforated gripping channel ensures that the bottom surface of the workpiece is accessible in a fixed state, thereby realizing the gripping of the workpiece from different sides and the conversion of its posture. The upper end positioning mechanism 32 can use magnetic adsorption, vacuum adsorption, or mechanical clamping to ensure reliable fixation of the workpiece.

[0035] Optionally, the upper end face positioning mechanism 32 includes a plurality of limiting posts 321 adapted to the workpiece contour and a clamping mechanism 322 for pressing the workpiece onto the bracket 31. The limiting posts 321 are distributed at multiple points. After the workpiece is placed, its outer contour is restricted by the limiting posts 321 to prevent displacement in the horizontal direction. The clamping mechanism 322 provides clamping force from the vertical direction to ensure that when the moving gripping assembly 2 grips from below in the reverse direction, the workpiece will not tilt or detach due to the initial thrust of the gripper.

[0036] Preferably, the pressing mechanism 322 includes a drive cylinder 323, a transmission link 324, and a pressing arm 325. The pressing arm 325 is hinged to the bracket 31 via a rotating shaft. One end of the drive cylinder 323 is connected to the bracket 31, and the other end is connected to the transmission link 324, for driving the pressing arm 325 to switch between a pressing position and a releasing position.

[0037] Specifically, the reciprocating motion of the drive cylinder 323 drives the pressure arm 325 to rotate via the transmission link 324. When the pressure arm 325 rotates to the clamping position, its end presses vertically against the upper surface edge of the workpiece. After the robot completes the secondary gripping, the cylinder retracts, causing the pressure arm 325 to move aside, making room for the workpiece to leave the transfer platform 3. This pneumatic drive method has a fast response speed and is easy to integrate with the robot's I / O signals. A flexible buffer pad can be provided at the end of the pressure arm 325.

[0038] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "set", "equipped with", "connected", and "installed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for transporting and processing a workpiece in multiple steps, characterized in that, The method comprises the following steps by using a mobile grabbing assembly with at least two working surfaces and a transfer support platform: S1: placing and fixing at least one workpiece in a first posture on the transfer support platform through the first working surface of the mobile grabbing assembly; S2: grabbing the workpiece in the first posture fixed on the transfer support platform from the opposite direction of the placing direction through the second working surface of the mobile grabbing assembly, controlling the mobile grabbing assembly to flip, so that the grabbed workpiece changes from the first posture to a second posture; S3: grabbing at least one workpiece in the first posture through the second working surface of the mobile grabbing assembly; S4: transporting the workpiece in the second posture integrated on the second working surface of the mobile grabbing assembly and the workpiece in the first posture to a target station as a whole.

2. A method according to claim 1, wherein, The first posture is that the back of the workpiece faces upward, and the second posture is that the front of the workpiece faces upward.

3. A transport system for implementing the multi-step workpiece processing transport method of claim 1 or 2, characterized in that, It comprises: a multi-joint robot (1); a mobile grabbing assembly (2) installed at the end of the multi-joint robot (1) and having a first working surface and a second working surface arranged oppositely; a transfer support platform (3) arranged within the working range of the multi-joint robot (1) and used for temporarily fixing and assisting in changing the posture of the workpiece relative to the mobile grabbing assembly (2); a feeding unit (4) for providing workpieces in the first posture; a discharging unit (5) for receiving finished workpieces; a processing station is arranged between the feeding unit (4) and the discharging unit (5), and the processing station comprises a first process station for accommodating workpieces in the first posture and a second process station for accommodating workpieces in the second posture.

4. The transport system of claim 3, wherein, The mobile grabbing assembly (2) comprises a connecting flange (21), a first mounting plate (22), and a second mounting plate (23), and the first mounting plate (22) and the second mounting plate (23) are connected by the connecting flange (21) and constitute the first working surface and the second working surface arranged oppositely.

5. The transport system of claim 4, wherein, The first mounting plate (22) and the second mounting plate (23) are each provided with a plurality of jaw units (24) arranged in an array.

6. The transport system of claim 5, wherein, The first mounting plate (22) and the second mounting plate (23) are each provided with two groups of jaw units (24) arranged in parallel, and each group of jaw units (24) comprises at least one jaw (241).

7. The transport system of claim 3, wherein, The transfer support platform (3) comprises a support (31) and an upper end surface positioning mechanism (32) arranged on the upper part of the support (31). The upper and lower end surfaces of the support (31) are penetrated in the vertical direction to form a grabbing channel allowing the second working surface of the mobile grabbing assembly (2) to extend into and grab the workpiece from the lower end surface of the support (31).

8. The transport system of claim 7, wherein, The upper end surface positioning mechanism (32) comprises a plurality of limiting columns (321) matched with the profile of the workpiece and a pressing mechanism (322) for pressing the workpiece on the support (31).

9. The transport system of claim 8, wherein, The pressing mechanism (322) comprises a driving cylinder (323), a transmission connecting rod (324) and a pressing arm (325), the pressing arm (325) is hinged to the support (31) through a rotating shaft, one end of the driving cylinder (323) is connected to the support (31), the other end is connected to the transmission connecting rod (324), and the driving cylinder (323) is used for driving the pressing arm (325) to switch between a pressing position and a releasing position.

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