Automatic feeding and discharging integrated equipment

Abstract

The utility model relates to automatic feeding and discharging integrated equipment which comprises a robot system, a walking ground rail system, a feeding and discharging clamping system, a material storage system, a cleaning system and a master control system. The robot system is arranged on a trolley of the walking ground rail system and reciprocates along a ground rail along with the trolley; the three feeding and discharging clamping systems are arranged at the front end of the production line in a linear mode. According to the automatic feeding and discharging integrated equipment, through cooperation of the robot system, the walking ground rail system and the feeding and discharging clamping system, the problems that traditional manual feeding and discharging are low in efficiency, high in labor intensity and unstable in precision are solved; a high-precision joint robot and a rapid butt joint tooling of the robot system are combined with stable linear motion of the walking ground rail system, and accurate and efficient grabbing and carrying are achieved. A high-precision clamping station and assistance equipment of the feeding and discharging clamping system reduce the manual operation intensity and improve the clamping efficiency and accuracy.

Description

Technical Field

[0001] This utility model relates to the field of automated processing technology, specifically to an automated loading and unloading integrated device. Background Technology

[0002] In modern manufacturing, the demand for automated loading and unloading of CNC machine tools is increasing. Traditional manual loading and unloading methods suffer from problems such as low efficiency, high labor intensity, and unstable accuracy. Especially in production lines where multiple machine tools are running simultaneously, manual operation is difficult to meet the requirements of efficient and precise production. Although existing automated loading and unloading equipment has achieved a certain degree of mechanization, it still has shortcomings in areas such as multi-machine tool collaborative control, workpiece identification and sorting, cleaning and protection, and system integration. For example, workpieces are prone to mixing or repeated processing during clamping, the cleaning device does not completely separate oil and debris, resulting in high maintenance costs, and the stability and positioning accuracy of the ground rail operation need to be improved. Utility Model Content

[0003] To achieve the above objectives, this utility model provides the following technical solution: an automated loading and unloading integrated equipment, comprising a robot system, a walking rail system, a loading and unloading clamping system, a material storage system, a cleaning system, and a central control system; the robot system is mounted on a trolley of the walking rail system and moves back and forth along the rail with the trolley; the loading and unloading clamping system is located at the front end of the production line, consisting of three sets arranged in a straight line; the material storage system is located on one side of the production line, adjacent to the walking rail system; the cleaning system is located on one side of the walking rail system, close to the machine tool area; the central control system is located outside the machine tool and achieves coordinated operation of each system through electrical control.

[0004] Furthermore, the robot system includes a FANUC R-2000IC / 210F articulated robot and an end effector; the articulated robot is mounted on the top plane of the trolley via a flange, with a maximum wrist load of 210 kg, an achievable radius of 2655 mm, and a repeatability of ±0.05 mm; the end effector uses a German SCHUNK NSR160 coupling, which is bolted to the SCHUNK PKL160 coupling on the carrier plate for quick docking.

[0005] Furthermore, the traveling track system includes a track body, a servo motor, a linear guide rail, and a gear rack; the linear guide rail is fixedly installed on both sides of the track body, and the trolley is slidably connected to the linear guide rail via a slider; the gear rack is centrally arranged along the length of the track body and meshes with the gearbox on the trolley; the servo motor is a Mitsubishi HG-SR502BJ model, which drives the gear rack through a high-precision planetary reducer to achieve linear motion of the trolley and maximum running speed.

[0006] Furthermore, each set of the loading and unloading clamping system includes a loading and unloading clamping station, a 21-inch monitor, a tool hanging rack, a vacuum cleaner, and a assisted folding arm crane; the cantilever end of the assisted folding arm crane can cover the entire clamping area and the finished shipment area; the loading and unloading clamping station is driven by a rodless cylinder with a stroke of 0.9m, a repeatability of 0.05mm, and a single station load of 200kg.

[0007] Furthermore, the material storage system includes a temporary storage automated warehouse and an RFID pallet identification system. The temporary storage automated warehouse has 41 storage locations, including 16 locations with a height of 400mm and 25 locations with a height of 300mm. Each storage location has a load-bearing capacity of 150kg. Each storage location is equipped with a pallet presence / absence switch to detect whether a pallet is in place. The RFID pallet identification system includes an RFID scanner installed at the entrance of the automated warehouse. The RFID scanner is connected to the central control system via a data cable to transmit identification information in real time. It is used to read the RFID chip information on the pallet to determine the pallet size and workpiece type.

[0008] Furthermore, the cleaning system includes a pallet workpiece cleaning device, a pallet and rivet cleaning device, and a chip conveyor; the pallet workpiece cleaning device is equipped with an air nozzle, which adjusts the position and angle of the pallet through the movement of the robot joint to clean oil mist stains on the workpiece surface.

[0009] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0010] 1. This automated loading and unloading integrated equipment solves the problems of low efficiency, high labor intensity, and unstable accuracy of traditional manual loading and unloading through the coordinated operation of a robot system, a walking rail system, and a loading and unloading clamping system. The high-precision articulated robot and fast docking end effector of the robot system, combined with the stable linear motion of the walking rail system, achieve precise and efficient grasping and handling. The high-precision clamping station and assistive equipment of the loading and unloading clamping system reduce the intensity of manual operation and improve clamping efficiency and accuracy.

[0011] 2. This automated loading and unloading integrated equipment, through its material storage system, cleaning system, and central control system, makes up for the shortcomings of existing automated equipment in many aspects; the RFID pallet identification and storage location detection of the material storage system avoids mixing and storage chaos; the cleaning system achieves efficient cleaning and oil and debris separation, reducing maintenance costs; the central control system accurately schedules each system, improves the collaborative control capability of multiple machine tools and the system integration, and ensures stable and efficient operation of the equipment. Attached Figure Description

[0012] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0013] Figure 2This is a three-dimensional structural diagram of the robot system of this utility model;

[0014] Figure 3 This is a three-dimensional structural diagram of the walking track of this utility model.

[0015] In the diagram: 1. Robot system; 1-1. Articulated robot; 1-2. End effector; 2. Walking rail system; 2-1. Rail body; 2-2. Servo motor; 2-4. Linear guide rail; 2-5. Gear and rack; 3. Loading and unloading clamping system; 4. Material storage system; 5. Cleaning system; 9. Central control system. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] Please see Figures 1-3 This embodiment of an automated loading and unloading integrated device includes a robot system 1, a walking rail system 2, a loading and unloading clamping system 3, a material storage system 4, a cleaning system 5, and a central control system 9. The robot system 1 is mounted on a trolley of the walking rail system 2 and moves back and forth along the rail with the trolley. The loading and unloading clamping system 3 is located at the front end of the production line, consisting of 3 sets arranged in a straight line. The material storage system 4 is located on one side of the production line, adjacent to the walking rail system 2. The cleaning system 5 is located on one side of the walking rail system 2, close to the machine tool area. The central control system 9 is located outside the machine tool and realizes the coordinated operation of each system through electrical control.

[0018] Robot System 1, which includes the FANUC R-2000IC / 210F articulated robot 1-1, is mounted on the top plane of the trolley via a flange. With a maximum wrist load of 210kg, a radius of 2655mm, and a repeatability of ±0.05mm, it can accurately and stably grasp workpieces of different weights and positions. The end effector 1-2 uses a German SCHUNK NSR160 coupling to be bolted to the SCHUNK PKL160 coupling on the carrier plate end, achieving quick docking. It can quickly change the appropriate gripping tool according to different workpiece types, improving the equipment's adaptability to various workpieces. This solves the problems of unstable accuracy and low efficiency in traditional manual loading and unloading, and also avoids the situation of mixed materials or repeated processing that easily occurs during workpiece clamping in existing automated equipment.

[0019] The walking rail system 2 provides the foundation for the movement of the robot system 1. The linear guide rails 2-4 fixedly installed on both sides of the rail body 2-1 enable the trolley to achieve a stable sliding connection through the slider. The gear rack 2-5, which is centrally arranged along the length of the rail body 2-1, meshes with the gearbox on the trolley. The Mitsubishi HG-SR502BJ servo motor 2-2 drives the gear rack 2-5 through a high-precision planetary reducer to achieve linear movement of the trolley. This design ensures that the robot system 1 can move efficiently and accurately between different machine tools on the production line. The maximum operating speed meets the needs of multi-machine collaborative operation. Compared with the existing rail system, which has insufficient stability and positioning accuracy, this design significantly improves the reliability and accuracy of the equipment operation and ensures the continuity of the entire loading and unloading process.

[0020] Each component of the loading and unloading clamping system 3 is meticulously designed. The loading and unloading clamping station is driven by a rodless cylinder with a stroke of 0.9m, a repeatability of 0.05mm, and a single station load of 200kg, enabling stable and precise workpiece clamping and unloading operations. A 21-inch monitor allows operators to view clamping parameters and equipment operating status in real time. A tool rack facilitates the storage and retrieval of clamping tools. A vacuum cleaner promptly removes debris generated during clamping. The cantilever end of the assisted folding arm crane can cover the entire clamping area and the finished product shipping area, reducing the labor intensity of operators and improving clamping efficiency. Multiple loading and unloading clamping systems 3 are arranged in a straight line at the front of the production line, working in conjunction with the robot system 1 to achieve simultaneous and efficient loading and unloading of multiple machine tools, solving the problems of high labor intensity and low efficiency associated with traditional manual loading and unloading.

[0021] The material storage system 4 has 41 storage locations in its temporary storage warehouse. The different heights of the storage locations meet the storage needs of various pallets and workpieces. Each storage location has a load-bearing capacity of 150kg, ensuring storage stability. The pallets in the storage locations are equipped with identification switches to detect whether the pallets are in place in real time, avoiding storage chaos. In the RFID pallet identification system, the RFID scanner installed at the entrance of the automated warehouse is connected to the central control system 9 via a data cable to transmit identification information in real time. It can accurately read the RFID chip information on the pallets, determine the pallet size and workpiece type, so that the robot system 1 can accurately grab the corresponding workpiece based on the identification results, effectively preventing material mixing and improving the intelligence and accuracy of material management.

[0022] The pallet workpiece cleaning device of cleaning system 5 is equipped with air nozzles. By adjusting the position and angle of the pallet through the movement of the robot joints, it can clean the oil mist and stains on the surface of the workpiece from all directions without dead angles. The pallet and rivet cleaning device performs deep cleaning of the pallet and rivets, and the chip conveyor promptly removes the debris and oil stains generated during the cleaning process. Compared with the problem of high maintenance costs caused by incomplete oil and chip separation in existing cleaning devices, this cleaning system 5 achieves efficient cleaning and good oil and chip separation, reduces equipment maintenance costs, ensures the cleanliness of workpieces and equipment, and extends the service life of equipment.

[0023] The central control system 9 is located outside the machine tool and enables the coordinated operation of various systems through electrical control. The central control system 9 receives RFID identification information from the material storage system 4 and rationally schedules the robot system 1 and the walking rail system 2 according to the workpiece type and machine tool processing requirements, controlling them to move to the corresponding positions for loading and unloading operations. At the same time, it coordinates the loading and unloading clamping system 3 to complete the workpiece clamping and monitors the working status of the cleaning system 5 to ensure that the entire automated loading and unloading integrated equipment operates efficiently, stably, and accurately, solving the shortcomings of existing automated equipment in multi-machine tool collaborative control and system integration.

[0024] In summary, this automated loading and unloading integrated equipment solves the problems of low efficiency, high labor intensity, and unstable accuracy associated with traditional manual loading and unloading through the coordinated operation of robot system 1, walking rail system 2, and loading / unloading clamping system 3. The high-precision articulated robot 1-1 and the quick-connecting end effector 1-2 of robot system 1, combined with the stable linear motion of walking rail system 2, achieve precise and efficient grasping and handling. The high-precision clamping station and assistive equipment of loading / unloading clamping system 3 reduce the intensity of manual operation and improve clamping efficiency and accuracy.

[0025] Furthermore, the material storage system 4, cleaning system 5, and central control system 9 compensate for the shortcomings of existing automated equipment in many aspects; the RFID pallet identification and storage location detection of the material storage system 4 avoids mixing and storage chaos; the cleaning system 5 achieves efficient cleaning and oil and debris separation, reducing maintenance costs; the central control system 9 accurately schedules each system, improves the collaborative control capability of multiple machine tools and the system integration, and ensures stable and efficient operation of the equipment.

[0026] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automated loading and unloading integrated device, characterized in that: The system includes a robot system (1), a walking rail system (2), a loading and unloading clamping system (3), a material storage system (4), a cleaning system (5), and a central control system (9). The robot system (1) is mounted on the trolley of the walking rail system (2) and moves back and forth along the rail with the trolley. The loading and unloading clamping system (3) is located at the front end of the production line, consisting of three sets arranged in a straight line. The material storage system (4) is located on one side of the production line, adjacent to the walking rail system (2). The cleaning system (5) is located on one side of the walking rail system (2), close to the machine tool area. The central control system (9) is located outside the machine tool and achieves coordinated operation of each system through electrical control.

2. The automated loading and unloading integrated equipment according to claim 1, characterized in that: The robot system (1) includes a FANUC R-2000IC / 210F articulated robot (1-1) and an end effector (1-2); the articulated robot (1-1) is mounted on the top plane of the trolley via a flange, with a maximum wrist load of 210 kg, a reachable radius of 2655 mm, and a repeatability of ±0.05 mm; the end effector (1-2) uses a German SCHUNK NSR160 coupling, which is bolted to the SCHUNK PKL160 coupling on the carrier plate for quick docking.

3. The automated loading and unloading integrated equipment according to claim 1, characterized in that: The walking track system (2) includes a track body (2-1), a servo motor (2-2), a linear guide rail (2-4), and a gear rack (2-5). The linear guide rail (2-4) is fixedly installed on both sides of the track body (2-1), and the trolley is slidably connected to the linear guide rail (2-4) through a slider. The gear rack (2-5) is arranged centrally along the length of the track body (2-1) and meshes with the gearbox on the trolley. The servo motor (2-2) is a Mitsubishi HG-SR502BJ model, which drives the gear rack (2-5) through a high-precision planetary reducer to achieve linear motion of the trolley and maximum running speed.

4. The automated loading and unloading integrated equipment according to claim 1, characterized in that: Each set of the loading and unloading clamping system (3) includes a loading and unloading clamping station, a 21-inch display, a tool hanging rack, a vacuum cleaner, and a assisted folding arm crane; the cantilever end of the assisted folding arm crane can cover the entire clamping area and the finished delivery area; the loading and unloading clamping station is driven by a rodless cylinder with a stroke of 0.9m, a repeatability of 0.05mm, and a single station load of 200kg.

5. The automated loading and unloading integrated equipment according to claim 1, characterized in that: The material storage system (4) includes a temporary storage warehouse and an RFID pallet identification system. The temporary storage warehouse has 41 storage locations, including 16 locations with a height of 400mm and 25 locations with a height of 300mm. Each storage location can bear a weight of 150kg. Each storage location is equipped with a pallet identification switch to detect whether the pallet is in place. The RFID pallet identification system includes an RFID scanner installed at the entrance of the warehouse. The RFID scanner is connected to the central control system (9) via a data cable to transmit identification information in real time. It is used to read the RFID chip information on the pallet and determine the pallet size and workpiece type.

6. The automated loading and unloading integrated equipment according to claim 1, characterized in that: The cleaning system (5) includes a pallet workpiece cleaning device, a pallet and rivet cleaning device and a chip conveyor; the pallet workpiece cleaning device is equipped with an air blowing nozzle, which adjusts the position and angle of the pallet by the movement of the robot joint to clean the oil mist stains on the surface of the workpiece.

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