Robot feeding and discharging six-face drilling production line

Abstract

The utility model discloses a robot feeding and discharging six-face drilling production line which comprises a center controller, a robot feeding part, a first machining center, a second machining center and a robot discharging part. The robot feeding part, the first machining center, the second machining center and the robot discharging part are connected to the center controller. The first machining center and the second machining center each comprise a conveying line. The robot feeding part comprises a feeding robot, a first feeding conveying part, a second feeding conveying part and a third feeding conveying part, the first feeding conveying part comprises a first power roller and a first feeding lifting table, and the second feeding conveying part comprises a second power roller and a second feeding lifting table; the third feeding conveying part comprises a third power roller, a fourth power roller and a third feeding lifting table. The robot discharging part comprises a discharging robot and a discharging lifting conveying part. Therefore, the whole production line is fully automatic, manual participation is not needed, and the full-automatic technology of intelligent factory robot feeding and discharging multi-machining-center six-face drilling line connection is achieved.

Description

Technical Field

[0001] The utility model relates to the field technology of panel furniture production line of woodworking machinery, in particular to a six-sided drilling production line with robot loading and unloading. Background Art

[0002] With the emergence of microprocessors, the world has entered a new era of numerical control. The rapid rise of multi-axis controlled machine tools that can only be realized by computers has brought wood processing into an era of automation and intelligence. The application of numerical control wood processing centers in the field of wood processing is becoming more and more common. In the existing technology, numerical control wood processing centers can complete milling, vertical drilling, and grooving processes. With the help of wood processing centers, wood can be processed conveniently and production efficiency can be improved.

[0003] With the emergence of the demand for six-sided processing of wood, in order to meet the six-sided drilling processing of wood, six-sided drilling production lines have emerged one after another. The six-sided drilling production lines on the existing market can perform six-sided drilling processing on wood very well. However, most of the six-sided drilling production lines on the existing market are flat roller lines, which are flexible enough, but for large-scale wood processing, they do not use robots for loading, nor do they have the function of automatically dividing boards of different widths, nor do they use robots for unloading, nor do they have the function of automatically collecting boards after processing. As a result, more manual participation is required during loading and unloading, dividing and collecting boards, resulting in the overall automation level of the production line being not high enough, over-reliance on manual labor, reducing production efficiency, and failing to achieve fully automated technology for connecting unmanned intelligent factories.

[0004] Therefore, it is necessary to develop a new technical solution to solve the above problems. Utility Model Content

[0005] In view of this, the utility model aims to solve the deficiencies in the prior art, and its main purpose is to provide a robot loading and unloading six-sided drilling production line, the entire production line is fully automated, no human participation is required, production efficiency is improved, and the fully automated technology of six-sided drilling connection of multiple processing centers with robot loading and unloading in smart factories is realized.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A robot loading and unloading six-sided drilling production line, comprising a central control and a robot loading part, a No. 1 machining center, a No. 2 machining center, and a robot unloading part respectively connected to the central control, wherein the No. 1 machining center and the No. 2 machining center are arranged in a front-to-back spacing;

[0008] The No. 1 machining center and the No. 2 machining center have the same structure, and both the No. 1 machining center and the No. 2 machining center include a six-sided CNC drilling center and a conveying line passing through the six-sided CNC drilling center;

[0009] The robot loading part includes a loading robot and a first loading conveying part, a second loading conveying part, and a third loading conveying part which are arranged in sequence along the left-right direction. The first loading conveying part includes a first powered roller and a first loading lifting platform which are connected in sequence front to back. The second loading conveying part includes a second powered roller and a second loading lifting platform which are connected in sequence front to back. The third loading conveying part includes a third powered roller, a fourth powered roller, and a third loading lifting platform which are connected in sequence front to back.

[0010] The robot unloading part includes an unloading robot and an unloading lifting and conveying part;

[0011] The feeding robot reciprocates between the first feeding lifting platform, the second feeding lifting platform, the third feeding lifting platform, and the input side of the conveyor line;

[0012] The unloading robot reciprocates between the output side of the conveyor line and the unloading lifting and conveying part.

[0013] As a preferred solution, there are two conveyor lines, which are arranged at a front-to-back interval, and the two conveyor lines are respectively defined as a first conveyor line and a second conveyor line. The first conveyor line includes, in order of process sequence, a first translation conveyor, a second translation conveyor, a first conveyor platform, a second conveyor platform, a third translation conveyor, and a roller conveyor. The second conveyor line includes, in order of process sequence, a fourth translation conveyor, a third conveyor platform, a fourth conveyor platform, and a fifth translation conveyor.

[0014] As a preferred solution, the loading robot is connected to the first translation conveyor, one side of the second translation conveyor is connected to the fourth translation conveyor, one side of the fifth translation conveyor is connected to the third translation conveyor, and the unloading robot is connected to the roller conveyor.

[0015] As a preferred solution, the material unloading lifting and conveying part includes a first material unloading conveying part, a second material unloading conveying part, and a third material unloading conveying part which are arranged in sequence and at intervals along the front-to-back direction.

[0016] As a preferred solution, the first unloading and conveying part includes a fifth powered roller and a first unloading lifting platform connected in sequence on the left and right, the second unloading and conveying part includes a sixth powered roller and a second unloading lifting platform connected in sequence on the left and right, and the third unloading and conveying part includes a seventh powered roller and a third unloading lifting platform connected in sequence on the left and right; the unloading robot reciprocates between the roller conveyor, the first unloading lifting platform, the second unloading lifting platform, and the third unloading lifting platform.

[0017] Compared with the prior art, the utility model has obvious advantages and beneficial effects. Specifically, it can be seen from the above technical scheme that it is mainly achieved by making the robot loading and unloading six-sided drilling production line include a central control and a robot loading part, a No. 1 machining center, a No. 2 machining center, and a robot unloading part respectively connected to the central control, and specifically making the loading robot reciprocate between the first loading lifting platform, the second loading lifting platform, the third loading lifting platform, and the input side of the conveyor line, and making the unloading robot reciprocate between the output side of the conveyor line and the unloading lifting and conveying part, and making the first translation conveyor have a plate dividing function, and making the roller conveyor have a plate collecting function, and, combined with the specific robot loading process and the robot unloading process, in this way, the entire production line can be fully automated without manual participation, thereby improving production efficiency and realizing the fully automated technology of six-sided drilling connection of robot loading and unloading multiple machining centers in smart factories.

[0018] In order to more clearly illustrate the structural features, technical means and specific purposes and functions achieved by the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of a six-sided drilling production line with robot loading and unloading according to an embodiment of the utility model;

[0020] Figure 2 This is a flowchart of the robot loading process of an embodiment of the utility model;

[0021] Figure 3 yes Figure 2 The enlarged schematic diagram of point E in the middle;

[0022] Figure 4 yes Figure 2 The enlarged schematic diagram of F in the middle;

[0023] Figure 5 yes Figure 2 The enlarged schematic diagram of G in the middle;

[0024] Figure 6 This is a flowchart of the robot unloading process of the embodiment of the utility model;

[0025] Figure 7 yes Figure 6 The enlarged schematic diagram of the H in the middle;

[0026] Figure 8 yes Figure 6 The enlarged schematic diagram of point I in the middle;

[0027] Fig. 9 yes Figure 6 Enlarged schematic diagram of point J in the middle. DETAILED DESCRIPTION

[0028] Please refer to Figures 1 to 9 As shown, it shows the specific structure of an embodiment of the utility model.

[0029] A control method for a robot loading and unloading six-sided drilling production line, wherein the robot loading and unloading six-sided drilling production line includes a central control and a robot loading part, a No. 1 machining center A, a No. 2 machining center B, and a robot unloading part respectively connected to the central control, and the No. 1 machining center A and the No. 2 machining center B are arranged in front and back spacing; the No. 1 machining center A and the No. 2 machining center B have the same structure, and the No. 1 machining center A and the No. 2 machining center B both include a six-sided CNC drilling center and a conveyor line passing through the six-sided CNC drilling center.

[0030] The robot loading part includes a loading robot C and a first loading conveying part, a second loading conveying part, and a third loading conveying part arranged in sequence along the left and right directions. The first loading conveying part includes a first powered roller 107 and a first loading lifting platform 106 connected in sequence front to back. The second loading conveying part includes a second powered roller 105 and a second loading lifting platform 104 connected in sequence front to back. The third loading conveying part includes a third powered roller 103, a fourth powered roller 102, and a third loading lifting platform 101 connected in sequence front to back.

[0031] The robot unloading part includes an unloading robot D and an unloading lifting and conveying part; the loading robot C reciprocates between the first loading lifting platform 106, the second loading lifting platform 104, the third loading lifting platform 101, and the input side of the conveyor line; the unloading robot D reciprocates between the output side of the conveyor line and the unloading lifting and conveying part.

[0032] There are two conveyor lines, which are arranged at a front-to-rear spacing. The two conveyor lines are respectively defined as the first conveyor line and the second conveyor line. The first conveyor line includes, in order of process sequence, the first translation conveyor, the second translation conveyor, the first conveyor platform, the second conveyor platform, the third translation conveyor, and the roller conveyor. The second conveyor line includes, in order of process sequence, the fourth translation conveyor, the third conveyor platform, the fourth conveyor platform, and the fifth translation conveyor. The loading robot C is connected to the first translation conveyor, one side of the second translation conveyor is connected to the fourth translation conveyor, one side of the fifth translation conveyor is connected to the third translation conveyor, and the unloading robot D is connected to the roller conveyor.

[0033] The material unloading and lifting conveying part includes a first material unloading and conveying part, a second material unloading and conveying part, and a third material unloading and conveying part arranged in sequence along the front-to-back direction. The first material unloading and conveying part includes a fifth powered roller 205 and a first material unloading lifting platform 206 connected in sequence on the left and right. The second material unloading and conveying part includes a sixth powered roller 203 and a second material unloading lifting platform 204 connected in sequence on the left and right. The third material unloading and conveying part includes a seventh powered roller 201 and a third material unloading lifting platform 202 connected in sequence on the left and right. The material unloading robot D reciprocates between the roller conveyor, the first material unloading lifting platform 206, the second material unloading lifting platform 204, and the third material unloading lifting platform 202.

[0034] In addition, the loading robot C, the first powered roller, the first loading lifting platform, the second powered roller, the second loading lifting platform, the third powered roller, the fourth powered roller, the third loading lifting platform, the unloading robot D, the fifth powered roller, the first unloading lifting platform, the sixth powered roller, the second unloading lifting platform, the seventh powered roller, the third unloading lifting platform, the first translation conveyor, the second translation conveyor, the first conveyor platform, the second conveyor platform, the third translation conveyor, the roller conveyor, the fourth translation conveyor, the third conveyor platform, the fourth conveyor platform, the fifth translation conveyor, the six-sided CNC drilling center, etc. can directly use the existing ones on the market, and they only need to meet the requirements of realizing the corresponding functional effects, and they will not be elaborated here.

[0035] The control method comprises the following steps:

[0036] Step 1, robot loading process: the loading robot C grabs, transfers and loads the panels between the first loading lifting platform 106, the second loading lifting platform 104, the third loading lifting platform 101 and the input side of the conveyor line according to the data set by the central control;

[0037] Step 2, drilling: The plate loaded by the loading robot C is transported by the conveyor line to the six-sided CNC drilling center 19 of the No. 1 machining center A or the six-sided CNC drilling center 8 of the No. 2 machining center B for drilling processing;

[0038] Step 3, material discharging: convey the plate finished by the six-sided CNC drilling center 19 of the No. 1 machining center A or the six-sided CNC drilling center 8 of the No. 2 machining center B to the output side of the conveyor line of the corresponding machining center;

[0039] Step 4: Robot unloading process: The unloading robot D grabs and unloads the panels between the output side of the conveyor line and the unloading lifting and conveying part according to the data set by the central control.

[0040] Among them, in step 1, specifically, the robot loading process specifically includes the following processes:

[0041] Process 1: Use a barcode scanner to scan the barcodes of the panels on the first loading lifting platform 106 and the second loading lifting platform 104 to the central control. You can also pre-set the barcodes of the processed panels on the first loading lifting platform 106 and the second loading lifting platform 104. The central control then sends the processing files to the six-sided CNC drilling center 19 of the No. 1 machining center A or the six-sided CNC drilling center 8 of the No. 2 machining center B, and sets the number of columns of panels on the first loading lifting platform 106 and the second loading lifting platform 104 according to the one-column-multiple-pieces rule.

[0042] Here, when there are no panels on the first loading lifting platform 106 and the second loading lifting platform 104, the first loading lifting platform 106 and the second loading lifting platform 104 are lowered to the lower limit position and are respectively at the same height as the first power roller 107 and the second power roller 105. The first power roller 107 and the second power roller 105 convey panels to the first loading lifting platform 106 and the second loading lifting platform 104 respectively. After the panels of the first loading lifting platform 106 and the second loading lifting platform 104 are conveyed, the first loading lifting platform 106 and the second loading lifting platform 104 are raised to the upper limit position and always maintain the same height as the loading robot C;

[0043] Process 2: When there are no panels on the first translation conveyor 1 of the second processing center B and the first translation conveyor 12 of the first processing center A and the placement of panels is allowed, the loading robot C will first grab the panels on the first loading lifting platform 106. When there are no panels on the first loading lifting platform 106, the loading robot C will grab the panels on the second loading lifting platform 104 for loading. After the loading robot C grabs the panels, it will place the panels on the first translation conveyor 1 of the second processing center B and the first translation conveyor 12 of the first processing center A according to the programmed trajectory. Each time the loading robot C completes loading, the first loading lifting platform 106 or the second loading lifting platform 104 rises by one panel thickness to always maintain the same height as the loading robot C.

[0044] Here, when the first loading lifting platform 106 has finished grabbing the panels and it is detected that only the loading bottom plate is left on the first loading lifting platform 106, the loading robot C unloads the loading bottom plate of the first loading lifting platform 106 to the third loading lifting platform 101. The third loading lifting platform 101 descends by one loading bottom plate thickness each time it stacks a loading bottom plate so as to always maintain the same height with the loading robot C. When the third loading lifting platform 101 descends to the lower limit, the loading bottom plates are fully stacked, and then the third loading lifting platform 101 conveys the loading bottom plates to the fourth powered roller 102. After the loading bottom plates on the third loading lifting platform 101 are completely conveyed to the fourth powered roller 102, the fourth powered roller 102 conveys the loading bottom plates to the third powered roller 103.

[0045] Process 3: The first translation conveyor 1 of the No. 2 machining center B and the first translation conveyor 12 of the No. 1 machining center A have the function of separating the panels. When the panels to be processed are multiple pieces in one row, the panels flow down one by one to the second translation conveyor 2 of the No. 2 machining center B and the second translation conveyor 13 of the No. 1 machining center A. The second translation conveyor 2 of the No. 2 machining center B and the second translation conveyor 13 of the No. 1 machining center A are based on the panel processing data analyzed by the central control. When the panel width is greater than 800 mm, the panels on the second translation conveyor 2 of the No. 2 machining center B and the second translation conveyor 13 of the No. 1 machining center A only flow to the first conveyor table 6 of the No. 2 machining center B and the first conveyor table 17 of the No. 1 machining center A respectively. At this time, the first conveyor platform 6 of the No. 2 machining center B and the first conveyor platform 17 of the No. 1 machining center A are idle). When the width of the plate is less than 800 mm, the plates on the second translation conveyor 2 of the No. 2 machining center B and the second translation conveyor 13 of the No. 1 machining center A will flow to the first conveyor platform 6 of the No. 2 machining center B and the first conveyor platform 17 of the No. 1 machining center A respectively (at this time, the first conveyor platform 6 of the No. 2 machining center B and the first conveyor platform 17 of the No. 1 machining center A are idle), or flow to the fourth translation conveyor 3 of the No. 2 machining center B and the fourth translation conveyor 14 of the No. 1 machining center A respectively (at this time, the fourth translation conveyor 3 of the No. 2 machining center B and the fourth translation conveyor 14 of the No. 1 machining center A are idle);

[0046] After process three is completed, in step two, the panels that flow from the second translation conveyor 2 of machining center No. 2 B and the second translation conveyor 13 of machining center No. 1 A to the first conveyor table 6 of machining center No. 2 B and the first conveyor table 17 of machining center No. 1 A, or the panels that flow from the fourth translation conveyor 3 of machining center No. 2 B and the fourth translation conveyor 14 of machining center No. 1 A to the third conveyor table 4 of machining center No. 2 B and the third conveyor table 15 of machining center No. 1 A, are drilled at the six-sided CNC drilling center 8 of machining center No. 2 B or the six-sided CNC drilling center 19 of machining center No. 1 A.

[0047] In the step three, the panels processed in the six-sided CNC drilling center 8 of the second machining center B flow out to the second conveyor 7 or the fourth conveyor 5; the panels processed in the six-sided CNC drilling center 19 of the first machining center A flow out to the second conveyor 18 or the fourth conveyor 16; and, when the fifth translation conveyor 9 of the second machining center B is idle, the panels on the fourth conveyor 5 flow out to the fifth translation conveyor 9; when the third translation conveyor 10 of the second machining center B is idle, the panels on the second conveyor 7 and the fifth translation conveyor 9 flow out to the third translation conveyor 10 on a first-come-first-out basis; when the fifth translation conveyor 20 of the first machining center A is idle, the panels on the fourth conveyor 16 flow out to the fifth translation conveyor 20; when the third translation conveyor 21 is idle, the panels on the second conveyor 18 and the fifth translation conveyor 20 flow out to the third translation conveyor 21 on a first-come-first-out basis.

[0048] Moreover, the roller conveyor 11 of machining center No. 2 B and the roller conveyor 22 of machining center No. 1 A have the function of collecting plates. According to the number of plates set by the central control, the plates flow out from the third translation conveyor 10 of machining center No. 2 B and the third translation conveyor 21 of machining center No. 1 A to the roller conveyor 11 of machining center No. 2 B and the roller conveyor 22 of machining center No. 1 A respectively. When the plates collected by the roller conveyor 11 of machining center No. 2 B and the roller conveyor 22 of machining center No. 1 A reach the set number, the roller conveyor 11 of machining center No. 2 B and the roller conveyor 22 of machining center No. 1 A continue to operate together to gather the plates to the tail of the roller conveyor 11 of machining center No. 2 B and the roller conveyor 22 of machining center No. 1 A.

[0049] In step 4, specifically, the robot unloading process includes the following processes:

[0050] Process 1: Check whether there are unloading bottom plates on the first unloading lifting platform 206 and the second unloading lifting platform 204. When there are no unloading bottom plates, the unloading robot D will take the unloading bottom plates from the third unloading lifting platform 202 to the first unloading lifting platform 206 and the second unloading lifting platform 204; after each unloading bottom plate is taken away by the third unloading lifting platform 202, the third unloading lifting platform 202 will rise by the thickness of the unloading bottom plate to always keep the same height with the unloading robot D; when it is detected that there is no unloading bottom plate on the third unloading lifting platform 202, the third unloading lifting platform 202 will descend to the lower limit position, and the unloading bottom plate will be transported to the third unloading lifting platform 202 from the seventh power roller 201. After the transportation is completed, the third unloading lifting platform 202 will rise to the upper limit position to always keep the same height with the unloading robot D;

[0051] Process 2: Check that there are unloading bottom plates on the first unloading lifting platform 206 and the second unloading lifting platform 204. The unloading robot D will unload materials from the roller conveyor 11 of the second machining center B and the roller conveyor 22 of the first machining center A. Here, the central control controls the unloading robot D to unload materials according to the plate rules of the first loading lifting platform 106 and the second loading lifting platform 104. The plates of the first loading lifting platform 106 are stacked on the first unloading lifting platform 206, and the plates of the second loading lifting platform 104 are stacked on the second unloading lifting platform 204. Each time the unloading robot D completes unloading, the first unloading lifting platform 206 and the second unloading lifting platform 204 are lowered by one plate thickness to always maintain the same height as the unloading robot D.

[0052] Process three, when the lower limit of the first material unloading lifting platform 206 and the second material unloading lifting platform 204 is triggered or reaches the number of layers set by the central control, the first material unloading lifting platform 206 and the second material unloading lifting platform 204 discharge materials to the fifth powered roller 205 and the sixth powered roller 203 respectively. After the unloading is completed, the first material unloading lifting platform 206 and the second material unloading lifting platform 204 rise to the upper limit, waiting for the unloading robot D to put down the material bottom plate and enter the next unloading cycle.

[0053] To sum up, the design focus of the utility model is that it is mainly through the robot loading and unloading six-sided drilling production line including a central control and a robot loading part, a No. 1 machining center, a No. 2 machining center, and a robot unloading part respectively connected to the central control, and specifically making the loading robot reciprocate between the first loading lifting platform, the second loading lifting platform, the third loading lifting platform, and the input side of the conveyor line, and making the unloading robot reciprocate between the output side of the conveyor line and the unloading lifting and conveying part, and making the first translation conveyor have a plate dividing function, and making the roller conveyor have a plate collecting function, and, combined with the specific robot loading process and the robot unloading process, so that the entire production line can be fully automated, without manual participation, improving production efficiency, and realizing the fully automated technology of six-sided drilling connection of robot loading and unloading multiple machining centers in smart factories.

[0054] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A robot loading and unloading six-sided drilling production line, characterized in that: It includes a central control and a robot loading part, a No. 1 machining center, a No. 2 machining center, and a robot unloading part respectively connected to the central control, wherein the No. 1 machining center and the No. 2 machining center are arranged in a front-to-back spacing; The No. 1 machining center and the No. 2 machining center have the same structure, and both the No. 1 machining center and the No. 2 machining center include a six-sided CNC drilling center and a conveying line passing through the six-sided CNC drilling center; The robot loading part includes a loading robot and a first loading conveying part, a second loading conveying part, and a third loading conveying part which are arranged in sequence along the left-right direction. The first loading conveying part includes a first powered roller and a first loading lifting platform which are connected in sequence front to back. The second loading conveying part includes a second powered roller and a second loading lifting platform which are connected in sequence front to back. The third loading conveying part includes a third powered roller, a fourth powered roller, and a third loading lifting platform which are connected in sequence front to back. The robot unloading part includes an unloading robot and an unloading lifting and conveying part; The feeding robot reciprocates between the first feeding lifting platform, the second feeding lifting platform, the third feeding lifting platform, and the input side of the conveyor line; The unloading robot reciprocates between the output side of the conveyor line and the unloading lifting and conveying part.

2. The robot loading and unloading six-sided drilling production line according to claim 1 is characterized by: There are two conveyor lines, which are arranged at a front-to-rear spacing. The two conveyor lines are respectively defined as a first conveyor line and a second conveyor line. The first conveyor line includes, in order of process sequence, a first translation conveyor, a second translation conveyor, a first conveyor platform, a second conveyor platform, a third translation conveyor, and a roller conveyor. The second conveyor line includes, in order of process sequence, a fourth translation conveyor, a third conveyor platform, a fourth conveyor platform, and a fifth translation conveyor.

3. The robot loading and unloading six-sided drilling production line according to claim 2 is characterized by: The loading robot is connected to the first translation conveyor, one side of the second translation conveyor is connected to the fourth translation conveyor, one side of the fifth translation conveyor is connected to the third translation conveyor, and the unloading robot is connected to the roller conveyor.

4. The robot loading and unloading six-sided drilling production line according to claim 3 is characterized by: The material unloading lifting and conveying part comprises a first material unloading conveying part, a second material unloading conveying part, and a third material unloading conveying part which are arranged in sequence at intervals along the front-to-back direction.

5. The robot loading and unloading six-sided drilling production line according to claim 4 is characterized in that: The first unloading and conveying part includes a fifth powered roller and a first unloading lifting platform connected in sequence on the left and right, the second unloading and conveying part includes a sixth powered roller and a second unloading lifting platform connected in sequence on the left and right, and the third unloading and conveying part includes a seventh powered roller and a third unloading lifting platform connected in sequence on the left and right; the unloading robot reciprocates between the roller conveyor, the first unloading lifting platform, the second unloading lifting platform, and the third unloading lifting platform.

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