Machining unit distribution combined type machining equipment

Abstract

The utility model discloses processing unit distribution combined type processing equipment which comprises a plurality of processing units which are distributed along a preset geometric track and are in communication connection, and the preset geometric track is selected from a closed curve or an open curve. The material transferring device is movably arranged in the central area of the machining unit set and comprises a multi-degree-of-freedom material transferring device, and the tail end of the material transferring device covers the working area range of all the machining units; and the control module is connected with the processing unit and the material transferring device. According to the machining unit distribution combined type machining equipment, the distribution forms of the machining units are diversified, the adaptability to sites is good, the workpiece transmission efficiency between the machining units is high, special feeding and discharging stations do not need to be arranged when the multiple machining units are arranged in a closed mode, the output efficiency of a unit area is high, and the machining efficiency is high. The multiple workpiece procedures can be fully coordinated to improve the efficiency, the takt time of the workpiece procedures is kept consistent, and the output efficiency of a unit area can be improved.

Description

Technical Field

[0001] This utility model belongs to the field of CNC machining equipment technology, specifically relating to a machining unit distributed combination machining equipment. Background Technology

[0002] In existing technologies, multiple processing units are combined to form an integrated processing system. However, the current mainstream solutions have the following drawbacks:

[0003] 1. Existing processing units typically adopt a radial-ring layout, where several processing units are distributed circumferentially along a central circular work platform. However, this layout has the following technical drawbacks: First, the closed-loop ring structure leads to spatiotemporal exclusivity between workpiece loading and finished product unloading operations, making parallel material transfer difficult. Second, due to the inherent characteristics of the ring topology, there are geometrically overlapping areas in the material transfer paths, which can easily cause interference and conflicts in the logistics of workpiece preparation and finished product transfer processes. Third, the rigid spatial constraints of the circular layout cannot meet the process requirements of modern production lines for the sequential direction of material transfer, and its fixed curvature characteristics reduce the spatial adaptability of equipment and work area, specifically manifested as insufficient matching between equipment geometry and field contours, resulting in engineering implementation problems such as reduced space utilization.

[0004] 2. When multiple existing processing units are enclosed in a closed area, a dedicated empty machine position is required in order to transport and output workpieces to the internal workpiece transfer unit. A dedicated loading and unloading channel is set up in the empty machine position. This channel is equipped with a dedicated conveying mechanism to transport workpieces to be processed inward or to output processed workpieces outward. This not only occupies machine space, but also prevents workpiece input and output from occurring simultaneously, resulting in reduced efficiency.

[0005] 3. In machining units arranged radially around a central circular worktable, there is a problem of low workpiece transfer efficiency. The transfer process requires not only the rotation and indexing of the turntable but also the use of a height-adjustable rotary worktable. By raising and lowering the rotary worktable, the fixed rotating arms and grippers rotate in a staggered manner to complete the transfer and positioning of the workpiece in three-dimensional space. This type of transmission mechanism has inherent defects such as complex workpiece transfer structure and inflexible process adjustment, resulting in low efficiency and significantly limiting the equipment's adaptability in flexible manufacturing scenarios.

[0006] 4. Because each processing unit of the processing equipment is equipped with a separate CNC system, it is equivalent to purchasing multiple processing units at once. The cost of the CNC module of each processing unit is relatively high, which leads to a higher overall cost of the processing equipment. However, when multiple units are networked, because all processing units in the processing unit group rarely operate at full load at the same time, the computing module's capacity is idle most of the time, and the depreciation value of the CNC system is also relatively large after long-term use.

[0007] 5. Existing systems consist of various machining units, such as one or more lathes, milling machines, drilling machines, grinding machines, and boring machines, forming a single system for machining. Even in systems composed of multiple identical machining units, each identical machining unit does not correspond to a specific process. The same process on a workpiece is often randomly assigned to different machining units. Each machining unit contains the execution program for all processes. It is not possible to assign workpieces to machining units specifically corresponding to a particular process based on the workpiece's machining process. Different machining units have the same fixed cutting tools. Because these machining units usually do not have tool magazines, there is a problem of using slightly smaller tools to machine larger cross-sections, resulting in low machining efficiency. In addition, there is a problem of different machining times for the same process due to inconsistent tool sizes. It is not possible to assign workpieces to corresponding machining units according to the time corresponding to the process, or to maintain a consistent number of workpieces processed in each process by allocating different numbers of different machining units, thereby improving machining efficiency.

[0008] In view of the above-mentioned technical defects, this utility model proposes a new technical innovation solution to solve them. Utility Model Content

[0009] The purpose of this utility model is to provide a processing unit distribution combination processing equipment to solve the problems proposed in the background art, such as poor adaptability to site due to the single distribution form of multiple processing units, low workpiece transfer efficiency between processing units, reduced output efficiency per unit area due to the need to set up special loading and unloading stations when multiple processing units are arranged in a closed manner, insufficient coordination of multiple processes leading to reduced efficiency, and low processing efficiency of a single processing unit due to the use of a single plane worktable, which is not conducive to improving the unit output efficiency.

[0010] To achieve the above objectives, the present invention adopts the following technical solution: a processing unit distributed combination processing equipment, comprising:

[0011] Processing unit group: includes multiple processing units distributed along a predetermined geometric trajectory and connected in communication, wherein the predetermined geometric trajectory is selected from a closed curve or an open curve;

[0012] Material transfer device: Movably installed in the central area of ​​the processing unit group, including a multi-degree-of-freedom material transfer device, the end of which covers the working area of ​​all processing units;

[0013] Control module: connected to the processing unit and the material transfer device.

[0014] Furthermore, it also includes a fixed base, which is located in the central area of ​​the processing unit group. The material transfer device is located on the fixed base. The multiple processing units and the fixed base are respectively provided with connecting devices that can be quickly disassembled and assembled. The connecting devices include electrical connectors for electrical connection and rigid connectors for rigid fixation.

[0015] Furthermore, the base of the material transfer device is connected to the processing equipment via a slide rail, and the extension direction of the slide rail is set along the maximum distribution area formed by the working areas of the multiple processing units.

[0016] Furthermore, the form and parameters of the cutting tools installed and fixed on each processing unit are different.

[0017] Furthermore, the material transfer device is a gantry-type rectangular coordinate robotic arm, which includes a Y-axis slide, an X-axis beam, and a Z-axis lifting mechanism. The span of the gantry-type rectangular coordinate robotic arm covers the maximum distribution width of the multiple processing units. The X-axis beam is movably mounted on the Y-axis slide. The Z-axis lifting mechanism is movably mounted on the X-axis beam, and an actuator is provided on the Z-axis.

[0018] Furthermore, the processing unit has a worktable in its working area, and the worktable is equipped with a worktable fixture that can automatically clamp the workpiece.

[0019] Furthermore, at least one of the processing units is also provided with a feeding / discharging device for loading and unloading materials.

[0020] Furthermore, the feeding and discharging device is a ball screw guide pair, which includes a sub-slide, a slide drive module, and a slide seat that are slidably connected to each other. The slide seat is fixed to the worktable, the sub-slide is slidably connected to the slide seat, and the slide drive module is located between the sub-slide and the slide seat.

[0021] Furthermore, a braking device is provided between the sub-slide table and the slide rail seat to keep the sub-slide table and the slide rail seat relatively stationary.

[0022] Furthermore, the slide rail drive module is a lead screw and nut pair.

[0023] Furthermore, it also includes an electromagnetic compensator, through which the actuator is fixed to the robotic arm.

[0024] Furthermore, it also includes an industrial camera, which is mounted on the processing unit and aligned with the worktable fixture.

[0025] Furthermore, the control module includes a cloud computing platform, an edge computing module, and a motion actuator, with each processing unit equipped with the edge computing module and the motion actuator; the edge computing modules are interconnected with each other through an industrial IoT communication module and are also connected to the cloud computing platform;

[0026] in:

[0027] The edge computing module includes at least a basic motion control unit and a communication interface unit, and is configured to execute real-time motion control commands of the processing unit;

[0028] The cloud computing platform includes a complex scheduling algorithm module, which is configured to perform the following operations: receive status data from each processing unit, run a global optimization algorithm to generate scheduling instructions, and send motion control parameters to the edge computing module. A hierarchical computing architecture is established between the basic motion control unit and the complex scheduling algorithm module, and the processor computing power configuration of the edge computing module does not exceed one-tenth of the computing power of the cloud computing platform.

[0029] Because of the above-mentioned improved technical solution, this utility model has the following beneficial effects:

[0030] 1. These multiple processing units are arranged along self-closed or open curves and are typically installed on a planar foundation structure. The predetermined geometric trajectory is selected from closed or open curves, so it can be set in a variety of structural forms to adapt to a variety of different site needs, with greater environmental applicability and to meet more market demands.

[0031] 2. For processing equipment with multiple processing units surrounding a closed area, since each processing unit is equipped with input and output devices, each processing unit can be used as an input and output unit. Therefore, there is no need to set up a dedicated loading and unloading station, and interference between loading and unloading logistics can be avoided.

[0032] 3. The actuator works in conjunction with the robotic arm or robot as a material transfer device. These multiple different processing units and the robotic arm are all connected through communication channels, and the actuator's working range covers the working area of ​​all processing units. Because the robotic arm operates at a faster speed, it can load or unload materials to each processing unit individually. Unlike the traditional method where multiple rotating arms are fixed on the same turntable, requiring all rotating arms to drive the grippers to rotate simultaneously and move all workpieces synchronously, the robotic arm does not need to wait for multiple gripper mechanisms to complete all their actions before rotating together. Therefore, the transfer of workpieces is more flexible and efficient, and the process of all processing units can be adjusted at any time. The process of processing units is not limited by the order of arrangement, thus making it more flexible and efficient.

[0033] 4. A solution employs an independent edge computing module for each processing unit. These modules retain only basic motion control and communication functions, enabling distributed control of the processing units through an Industrial Internet of Things (IIoT) architecture. Complex scheduling algorithms with high hardware requirements are uniformly optimized in the cloud. This solution simplifies the configuration requirements of each processing unit's CNC system, reduces hardware redundancy and costs, facilitates future upgrades and maintenance, and lowers end-user operating costs.

[0034] 5. Each processing unit of the processing equipment is equipped with a specific spindle, and each spindle is also fixed with the corresponding tool to complete a specific process. Therefore, the processing unit does not need to use a tool magazine, which saves costs and makes the processing efficiency of the workpiece higher. It is also easier for technicians to maintain quickly and is more convenient to use. At the same time, different numbers of processing units can be allocated according to the time consumption of each workpiece process, so that there will be no situation where one processing unit stops because it is waiting for the process of another processing unit, which can improve the processing efficiency. Attached Figure Description

[0035] Figure 1 This is a three-dimensional structural diagram of the processing unit distribution and combination according to the first embodiment of the present invention;

[0036] Figure 2 This is a top view schematic diagram of the processing unit distribution and arrangement in the first embodiment of the present invention;

[0037] Figure 3 This is a top view schematic diagram of the processing unit distribution and arrangement in the second embodiment of the present invention;

[0038] Figure 4 This is a top view schematic diagram of the processing unit distribution and arrangement in the third embodiment of this utility model;

[0039] Figure 5 This is a top view schematic diagram of the processing unit distribution and arrangement in the fourth embodiment of the present invention;

[0040] Figure 6This is a top view schematic diagram of the processing unit distribution and arrangement in the fifth embodiment of this utility model;

[0041] Figure 7 This is a perspective view of the processing unit with feeding and discharging devices of this utility model;

[0042] Figure 8 This is a top view of the processing unit with feeding and discharging device of this utility model in the processing state;

[0043] Figure 9 This is a top view of the processing unit with feeding and discharging devices of this utility model in the feeding state;

[0044] Figure 10 A schematic diagram illustrating the principle of configuring an edge computing module for the processing unit of this utility model;

[0045] Figure 11 This is a perspective view of the robotic arm used as a material transfer device in this utility model.

[0046] In the picture:

[0047] 1. Machining unit, 12. Worktable, 13. Spindle, 16. Slide rail seat, 17. Sub-slide table, 3. Robotic arm, 39. Actuator, 5. Fixed seat, 50. Loading port, 51. Loading and unloading station, 55. Discharge port. Detailed Implementation

[0048] To make the objectives, features, and advantages of this utility model more apparent, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Numerous specific details will be introduced in the following description to provide a full understanding of this utility model. However, the embodiments of this utility model are far more than the specific examples described below, and those skilled in the art can make similar improvements without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments described below.

[0049] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only to facilitate the description of this utility model and simplify the narrative, and do not mean that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0050] Furthermore, the term "and / or" is used to describe the relationship between related objects, indicating that there are three possible relationships. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " in this document generally indicates an "or" relationship between the preceding and following related objects. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. In the description of this utility model, the term "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0051] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0052] In this utility model, unless otherwise explicitly specified and limited, the descriptions such as "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "under," and "below" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0053] Please see Figures 1 to 11 To address the aforementioned issues, embodiments of this application provide a processing unit distributed combination processing device. Multiple processing units are arranged along self-closed or open curves to form the processing unit distributed combination processing device. The device includes a processing unit group, a material transfer device, and a control module. The processing unit group comprises multiple processing units 1 distributed along a predetermined geometric trajectory and connected in communication. The predetermined geometric trajectory is selected from closed or open curves. The material transfer device is movably disposed in the central area of ​​the processing unit group and includes a multi-degree-of-freedom material transfer device. The end of the material transfer device covers the working area of ​​all processing units 1. The control module is connected to the processing unit group and the material transfer device. The material transfer device, combined with these multiple distributed processing units 1, forms a loading and unloading platform for the processing equipment, used for loading and unloading all processing units 1.

[0054] In this embodiment, the workpiece transfer device is movably set in the central area of ​​the processing unit group. The end of the multi-degree-of-freedom transfer device covers the working area of ​​all processing units 1, so as to take out workpieces from the worktable of any processing unit 1 or place workpieces on the worktable of any processing unit 1, thereby realizing the transfer of workpieces between different processing units 1.

[0055] In some embodiments, a fixed base 5 is added, which is located in the central area of ​​the processing unit group. The material transfer device is located on the fixed base 5. Multiple processing units 1 can be detachably fixedly connected to the fixed base 5 to realize the rapid assembly and disassembly of the processing equipment. Multiple processing units 1 and the fixed base are respectively provided with connecting devices that can be quickly disassembled and assembled. The connecting devices include electrical connectors for electrical connection and rigid connectors for rigid fixation. The male / female heads of the electrical connectors are respectively provided on the fixed base 5 and each processing unit 1. Correspondingly, the male / female heads of the rigid connectors are also respectively provided on the fixed base 5 and each processing unit. The rigid connectors usually adopt a mechanical structure and usually include interlocking and disassembling T-slots and T-heads, as well as positioning pins and positioning holes for positioning assistance during the interlocking assembly process.

[0056] The loading and unloading device in this example includes a robotic arm 3 and an actuator 39. The actuator 39 is located at the end of the robotic arm 3. The robotic arm 3 moves back and forth between the worktables of each processing unit 1. The actuator 39 is used to transfer workpieces on the worktables of different processing units 1 to complete all processing of different processes of the workpieces.

[0057] In this embodiment of the invention, multiple processing units 1 are distributed along a predetermined geometric trajectory. This predetermined geometric trajectory includes various closed curves, which can be set according to the site shape and various requirements. The predetermined geometric trajectory can also use various open curves. For some special production scenarios, a combination of closed and open curves can be used, or multiple closed curves can be linked with multiple open curves to meet the needs of specific processing scenarios. When using open curves, a dedicated feeding port 50 and a dedicated discharging port 55 are typically provided. In short, the predetermined geometric trajectory can be set to any structural form according to the site to adapt to various different site needs, has greater environmental applicability, and meets more market demands.

[0058] Specifically, the material transfer device employs a multi-degree-of-freedom robotic arm or robot, depending on usage requirements and cost constraints. The robotic arm 3 can be a multi-axis serial robotic arm, which can be a four-axis, five-axis, or six-axis serial structure. An actuator 39 is installed at the end of each robotic arm 3 or multi-degree-of-freedom robot. The actuator 39 is used to directly grip the workpiece, or it can grip the workpiece using a workpiece clamping fixture. Depending on the specific situation, multiple processing units 1 can be directly fixed to each other to form a processing device, or they can be separately fixed to the foundation structure to form a processing device. The robotic arm 3 or robot transfers workpieces between different processing units 1 via the actuator 39. The actuator 39 can be of various types. When there are many processing units 1, pneumatic or electric grippers, such as robotic claws, require the robotic arm 3 or robot to move back and forth along a certain trajectory to ensure that the end effector of the robotic arm 3 or robot can cover the working area of ​​all processing units 1. In this case, a separate slide rail is often required. The robotic arm 3 or robot is positioned on the slide rail and slides back and forth. The slide rail and processing units 1 can be fixed to the foundation structure together. For processing equipment with a fixed base 5, the robotic arm 3 or robot can also be fixed to an appropriate area on the fixed base 5, or the slide rail can be fixed to the fixed base 5 along a suitable trajectory, or both processing units 1 and the slide rail can be fixed to the foundation structure to achieve mutual positioning between processing units 1 and the slide rail. In common applications, the robotic arm 3 of the material transfer device is a six-axis serial robotic arm. The number of degrees of freedom of the robotic arm 3 can also be reduced according to the actual layout and installation position of the robotic arm 3 to minimize costs.

[0059] In one embodiment, when the material transfer device is a robotic arm 3 or a multi-degree-of-freedom robot, in order to complete the operation of transferring workpieces, it usually includes a base and a slide. The slide is fixed to the foundation structure, the base cooperates with the slide, and the processing unit group composed of multiple processing units 1 is also fixed to the foundation structure. The multiple processing units 1 are distributed according to a predetermined geometric trajectory to form a processing device. The slide can also be fixed to one or all of the processing units 1 in the processing unit group. The base is fixedly connected to the processing unit group through the slide to form a processing device. The extension direction of the slide is set along the maximum distribution area formed by the working area of ​​the processing units 1. The material transfer device can have multiple robotic arms 3 or multi-degree-of-freedom robots. All actuators 39 or robot working areas cover the worktable area of ​​all processing units 1. In order for the actuators 39 or robots to quickly grip the workpiece and complete the transfer between different processing units 1, pneumatic or electric worktable fixtures are usually set on the worktable of processing unit 1. The actuators 39 grip the workpiece and transfer it to the worktable fixture of processing unit 1. The workpiece is directly positioned, aligned and fixed with the worktable fixture. Alternatively, the workpiece can be fixed to the worktable of processing unit 1 through a special fixture module. The fixture module includes a fixture base and a fixture block. The fixture base is fixed to the worktable of processing unit 1, and the workpiece is fixed on the special fixture block. The fixture block is provided with a positioning head, and the fixture base is provided with a clamping hole that cooperates with the positioning head. The fixture base can quickly grip the fixture block.

[0060] In related technologies, if the processing unit 1 forms a processing device along a closed geometric trajectory, such as a closed curve of a circle, in order to load and unload materials, at least one station in the closed area needs to be equipped with a feeding and discharging device for loading and unloading materials. This not only occupies a dedicated work station, but also the loading and unloading are in a dedicated position, which can easily cause interference between loading and unloading.

[0061] Please see Figures 7 to 9 In some embodiments, for processing equipment with a closed curve geometric trajectory, the processing unit 1 can be used as a loading and unloading device. One or more, or even all, of the processing units 1 can be selected. Loading and unloading devices are set on the worktables of these processing units 1. The loading and unloading devices slide on the worktable to realize independent loading and unloading functions. The loading and unloading devices replace the loading and unloading workstations of the existing closed curve processing equipment, thereby eliminating the dedicated loading and unloading workstation 51 and avoiding interference between loading and unloading materials. Loading and unloading can be carried out through any processing unit 1. The input and output of workpieces can be carried out simultaneously on different idle processing units 1, thereby improving the overall processing efficiency.

[0062] Specifically, the feeding and discharging device is a ball screw guide pair. The ball screw guide pair includes a sub-slide 17, a slide rail drive module, and a slide rail seat 16 that are slidably connected to each other. The slide rail seat 16 is fixed to the worktable of the processing unit 1, the sub-slide 17 is slidably connected to the slide rail seat, and the slide rail drive module is located between the sub-slide and the slide rail seat.

[0063] In some embodiments, the slide rail drive module is a ball screw and nut pair. Typically, the slide rail base is fixed to the worktable of the processing unit. The slide rail drive module includes a ball screw pair and a drive motor for the drive screw. The motor for the drive module can be a servo motor or a conventional motor; a conventional motor can also use a high speed. The drive motor drives the ball screw of the ball screw and nut pair to rotate at high speed, thereby driving the sub-slide table to slide rapidly relative to the slide rail base, enabling rapid relative movement between the sub-slide table and the slide rail base. A sub-worktable can also be fixed on the sub-slide table, making it easier to fix the workpiece and preventing damage to the surface of the sub-slide table. Through the relative movement between the sub-slide table and the slide rail base, the relative movement between the sub-worktable and the worktable of the processing unit can ultimately be achieved. Simultaneously, a braking device between the sub-slide table and the slide rail base can limit the sub-worktable's relative movement with respect to the worktable after braking. The movement of the sub-worktable allows the workpiece to remain stationary relative to the worktable of the processing unit during machining. After machining, when loading or unloading is required, the ball screw guide pair for loading and unloading operates, and the sub-slide slides rapidly along the slide rail under the drive of the slide rail drive device. When the sub-slide moves close to the door of the processing unit, the machine tool door can be opened to realize the loading and unloading operation: for example, fixing the workpiece to be processed on the sub-worktable, or removing the processed workpiece from the worktable fixture on the sub-worktable. This completes the loading or unloading operation of the workpiece without the need to set up a special loading and unloading station, saving space and making the operation faster and more convenient. Each processing unit can be used as a loading and unloading station, which facilitates loading and unloading operations and can effectively improve the processing efficiency.

[0064] In some embodiments, to ensure that the workpiece on the sub-slide remains stationary during processing, a braking device is also included. The braking device is located between the sub-slide and the slide rail. The direction in which the sub-slide and the slide rail slide relative to each other and the direction of movement of the worktable are both consistent with the Y-axis direction. The frame has a gantry structure. The sub-slide is also equipped with a fixture for fixing the workpiece. When the sub-slide moves relative to the slide rail, the braking device is released and does not work. The sub-slide and the slide rail can slide relative to each other along the Y-axis direction and stop between the working area in front of the processing unit 1 and the transfer area behind it. The working area is located on one side of the cutting tool in the processing unit 1, and the transfer area is located on the rear side of the processing unit 1 near the transfer material device. When the workpiece is being processed, the braking device stops the sub-slide and the slide rail, keeping them relatively stationary and ensuring processing accuracy.

[0065] In related technologies, when multiple processing units 1 form a processing device along a circular geometric trajectory, a rotating turntable is set at the center to transfer workpieces between different processing units 1. Because the turntable rotates simultaneously, this structure has the problem of low efficiency in transferring workpieces between different processing units 1.

[0066] In some embodiments, the material transfer device is a gantry-type rectangular coordinate robotic arm, which includes a Y-axis slide, an X-axis beam, and a Z-axis lifting mechanism. The span of the gantry-type rectangular coordinate robotic arm covers the maximum distribution width of multiple processing units 1. The X-axis beam is movably mounted on the Y-axis slide; the Z-axis lifting mechanism is movably mounted on the X-axis beam; and an actuator 39 is mounted on the Z-axis. The actuator 39 can be directly mounted on the Z-axis, and it can remove and secure the workpiece from the worktable fixture through a telescopic device. Alternatively, a robotic arm with degrees of freedom can be used to fix the actuator 39. Correspondingly, a worktable 12 is provided in the working area of ​​the processing unit 1, and a worktable fixture capable of automatically clamping workpieces is provided on the worktable 12.

[0067] The actuator 39 works in conjunction with the robotic arm 3 as a material transfer device. These multiple different processing units 1 and the robotic arm 3 are all connected through a communication channel. The working range of the actuator 39 covers the working area of ​​all processing units 1. Because the robotic arm 3 operates at a faster speed and can independently load or unload materials from each processing unit 1, unlike the traditional material transfer method where multiple rotating arms are fixed on the same turntable and all rotating arms and grippers must rotate simultaneously, all workpieces can be moved synchronously at the same time. There is no need to wait for multiple grippers to complete all the gripping / releasing actions of the workpieces before rotating together. Therefore, the transfer of workpieces is more flexible and efficient. The process can be modified at any time, and the process of all processing units 1 can be adjusted according to the process modification. The process is not limited by the order of the processing units 1, so it is more flexible and efficient.

[0068] In some embodiments, to quickly complete all processes of a workpiece, the processing unit 1 is typically divided into different process groups according to the processes it needs to process. Each process group of processing unit 1 corresponds to different processes, and processing units 1 of different process groups are equipped with different parameters and types of cutting tools according to the processes corresponding to each process group. For example, drill bits or milling heads with different processing technologies are fixed to process the corresponding processes, such as drilling and grooving. For example, even with grooving, if the grooving size is large, a milling head or milling head with a larger specification size is used. At the same time, the process requirements must be met to achieve the best processing efficiency and meet the workpiece's accuracy requirements. In this case, the processing time corresponding to each process can be quickly calculated based on the feed speed of the processing unit 1.

[0069] In some embodiments, an electromagnetic compensator is also included. The actuator 39 is fixed to the robotic arm by the electromagnetic compensator. By adjusting the electromagnetic compensator, the position of the actuator 39 relative to the robotic arm can be adjusted to eliminate the error of the actuator 39.

[0070] In some embodiments, an industrial camera is also included. Typically, the industrial camera is mounted on the processing unit 1 and aimed at the worktable fixture. During the loading and unloading process, when the workpiece is clamped in the worktable fixture, the actuator 39 and the worktable fixture are photographed to monitor the error between the worktable fixture and the actuator 39.

[0071] Please see Figure 10 In some embodiments, the control module includes a cloud computing platform, an edge computing module, and a motion actuator. Each processing unit 1 is equipped with the edge computing module and the motion actuator. The edge computing modules are connected to each other through an industrial Internet of Things communication module and are connected to the cloud computing platform.

[0072] The edge computing module includes at least a basic motion control unit and a communication interface unit, and is configured to execute real-time motion control commands from processing unit 1. The cloud computing platform includes a complex scheduling algorithm module, which is configured to perform the following operations: receive status data from each processing unit, run a global optimization algorithm to generate scheduling commands, and send motion control parameters to the edge computing module. A hierarchical computing architecture is established between the basic motion control unit and the complex scheduling algorithm module. The processor computing power of the edge computing module does not exceed one-tenth of the computing power of the cloud computing platform, effectively reducing hardware redundancy and cost, facilitating future upgrades and maintenance, and reducing end-user usage costs.

[0073] On the other hand, this utility model proposes a processing method for the above-mentioned processing unit distributed combination processing equipment, including the following steps:

[0074] Step 1: Analyze the workpiece to be processed. First, identify all the processes. After analyzing the workpiece processes, obtain the processing information, which includes the tool information required to complete all workpiece processes, and the processing time required to complete the corresponding process using the tool information.

[0075] Step 2: Based on the process duration obtained in Step 1, calculate the number of processing units that should be allocated to each workpiece process, and assign tools to the processing units involved in the processing. The principle for determining this is: Number of processing units allocated to the Nth workpiece process / Process duration of the Nth workpiece process = K (K is a constant value, usually rounded down or up to the nearest integer). K can also be rounded to the nearest integer.

[0076] Step 3: Write a processing program for each workpiece process and input the processing program into the control module of the corresponding processing unit 1. The control module is used to control the operation of processing unit 1 and control the material transfer device to load and unload materials to different processing units 1.

[0077] By comprehensively analyzing the workpiece's geometry, dimensional accuracy, and drawing technical requirements, we first determine the tool information corresponding to all workpiece machining processes, the tools used, and the process time required to complete each workpiece process.

[0078] In this embodiment, processing unit 1 is equipped with an edge computing module. The edge computing modules of multiple processing units 1 are connected to each other, and all edge computing modules are connected via an industrial internet communication module and a cloud computing platform. Therefore, the control module in this embodiment includes interconnected edge computing modules and a cloud computing platform. The processing program can be stored in a simultaneous input and processing mode, or via a network, or via a storage medium such as a USB flash drive, into each processing unit 1 of the processing equipment.

[0079] In some embodiments, the workpiece processes can be sequentially arranged according to the characteristics of different workpiece processes to avoid interference between them during processing. The processing equipment composed of multiple processing units 1 of this invention, after starting work according to the set program, uses a material transfer device on the fixed base to load and unload materials for each processing unit, ensuring that the quantity processed in each group of processes for the same product is the same within a certain time. In this way, all processing units cooperate with each other, and each processing unit does not need to change tools; it only repeats the set processing steps to quickly complete the corresponding processing operations. Each processing unit does not need a tool magazine, which effectively reduces costs and improves the equipment utilization rate of all processing units 1, preventing a situation where one processing unit stops while waiting for another processing unit's process.

[0080] In some embodiments, the workpiece is fixed to the worktable using a quick-release fixture. First, the workpiece is fixed to the quick-release fixture, and then the standard clamping base is fixed to the worktable. The quick-release fixture and the standard clamping base on the worktable are quickly attached and detached. If necessary, a special clamping fixture can be fabricated and fixed to the standard clamping base, or a special fixture can be used to improve clamping speed, such as a robotic arm gripping device for a circular worktable. This quickly completes the fixing and detachment of the workpiece from the worktable, ensuring the stability of the workpiece clamping process. To identify different workpieces and avoid repetitive processing steps, for example, a module with RFID tags or other types can be added to the fixture system.

[0081] It should be added that the process of determining the process steps can be done entirely manually, or the initial machining path can be generated by CAM software. It can also include, but is not limited to, the following calculations: calculating tool trajectory coordinate values, optimizing the path using tool compensation functions, such as tool radius compensation and length compensation calculations, etc., to balance machining efficiency and accuracy.

[0082] In some embodiments, after tooling the participating machining units in step 2, a tool setting operation is performed on each machining unit. The origin of the workpiece coordinate system is determined by a tool setter or a vision positioning system, and then machining operations can be performed directly. Each machining unit 1 is equipped with a specific spindle, and each spindle is also fixed with a corresponding tool as needed to complete a specific process. The machining unit does not need to use a tool magazine, saving costs and improving workpiece machining efficiency. It is also easier for technicians to maintain quickly and is more convenient to use. At the same time, different numbers of machining units can be allocated according to the time consumption of each workpiece process, so that there will be no situation where one machining unit stops because it is waiting for the process of another machining unit, which can improve machining efficiency.

[0083] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0084] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A processing unit distributed combination processing equipment, characterized in that, include: Processing unit group: includes multiple processing units (1) distributed and connected in communication along a predetermined geometric trajectory, wherein the predetermined geometric trajectory is selected from a closed curve or an open curve; Material transfer device: Movably arranged in the central area of ​​the processing unit group, including a multi-degree-of-freedom material transfer device, the end of which covers the working area of ​​all processing units (1); Control module: connected to the processing unit and the material transfer device.

2. The processing unit distributed combination processing equipment according to claim 1, characterized in that, It also includes a fixed base (5), which is located in the central area of ​​the processing unit group. The material transfer device is located on the fixed base (5). The multiple processing units (1) and the fixed base (5) are respectively provided with connecting devices that can be quickly disassembled and assembled. The connecting devices include electrical connectors for electrical connection and rigid connectors for rigid fixation.

3. A modular processing apparatus according to claim 1, wherein, The base of the material transfer device is connected to the processing equipment via a slide rail, and the extension direction of the slide rail is set along the maximum distribution area formed by the working areas of the multiple processing units (1).

4. A modular processing apparatus according to claim 1, wherein, The form and parameters of the cutting tools installed and fixed on each of the processing units (1) are different.

5. A modular processing apparatus according to claim 1, wherein, The material transfer device is a gantry-type rectangular coordinate robot arm, which includes a Y-axis slide, an X-axis beam, and a Z-axis lifting mechanism. The span of the gantry-type rectangular coordinate robot arm covers the maximum distribution width of the multiple processing units. The X-axis beam is movably mounted on the Y-axis slide. The Z-axis lifting mechanism is movably mounted on the X-axis beam, and an actuator is provided on the Z-axis.

6. A modular processing apparatus according to claim 1, wherein, The processing unit has a workbench in its working area, and the workbench is equipped with a workbench fixture that can automatically clamp the workpiece.

7. The processing unit distributed combination processing equipment according to claim 6, characterized in that, At least one of the processing units is further provided with a feeding and discharging device for loading and unloading materials.

8. The processing unit distributed combination processing equipment according to claim 7, characterized in that, The feeding and discharging device is a ball screw guide pair, which includes a sub-slide, a slide drive module, and a slide seat that are slidably connected to each other. The slide seat is fixed to the worktable, the sub-slide is slidably connected to the slide seat, and the slide drive module is located between the sub-slide and the slide seat.

9. A modular processing apparatus according to claim 8, wherein, A braking device is also provided between the sub-slide and the slide rail to keep the sub-slide and the slide rail relatively stationary.

10. A modular processing apparatus according to claim 1, wherein, The control module includes a cloud computing platform, an edge computing module, and a motion actuator. Each processing unit (1) is equipped with the edge computing module and the motion actuator. The edge computing modules are connected to each other through an industrial Internet of Things communication module and are connected to the cloud computing platform. in: The edge computing module includes at least a basic motion control unit and a communication interface unit, and is configured to execute real-time motion control commands of the processing unit (1); The cloud computing platform includes a complex scheduling algorithm module, which is configured to perform the following operations: receive status data from each processing unit, run a global optimization algorithm to generate scheduling instructions, and send motion control parameters to the edge computing module. A hierarchical computing architecture is established between the basic motion control unit and the complex scheduling algorithm module, and the processor computing power configuration of the edge computing module does not exceed one-tenth of the computing power of the cloud computing platform.

Images