Horizontal machining center robot automatic machining system

Abstract

The application relates to a horizontal machining center robot automatic machining system, which comprises an automatic guided vehicle, a CNC machining machine tool, a polishing table and an industrial robot. The automatic guided vehicle is provided with a lifting platform for carrying a tray loaded with a workpiece to be machined. The CNC machining machine tool is used for machining the workpiece. The polishing table is used for deburring the machined workpiece. The rotary table is used for receiving the workpiece to be machined and temporarily storing the machined workpiece. The industrial robot is configured to be capable of transferring the workpiece between the CNC machining machine tool, the polishing table and the rotary table. The horizontal machining center robot automatic machining system designed by the application realizes the full-process automation from blank feeding, CNC machining, online deburring, cleaning, air tightness detection to finished product discharging by integrating the horizontal CNC machining machine tool, the polishing station, the air tightness detection station and the internal and external material exchange table and by scheduling and executing the workpiece transfer, machining assistance and post-processing operation between the stations by the single industrial robot.

Description

Technical Field

[0001] This application relates to the field of automated processing equipment technology, and in particular to an automated processing system for a horizontal machining center robot. Background Technology

[0002] With the rapid development of modern manufacturing towards intelligence and automation, the application of industrial robots on production lines is becoming increasingly widespread, especially in the field of high-precision, high-volume parts processing. Taking the key castings required for the body of industrial robots as an example, the market demand is huge, and customers have put forward extremely high requirements for the processing accuracy, appearance quality, and production efficiency of the products.

[0003] Traditional casting processing typically relies on a combination of CNC (Computer Numerical Control) machining centers and manual operation. A typical process flow in this model includes: the operator manually positions and clamps the casting blank onto the CNC machine tool's fixture and starts the machining program; after machining, the worker removes the workpiece, manually cleans it, and uses grinding tools to remove burrs and sharp edges generated during machining; then, the workpiece is transported to a separate inspection station for quality inspection using airtightness testing equipment; finally, qualified products are manually stacked and await transfer.

[0004] In this traditional processing mode, manual loading and unloading, deburring, and inspection are time-consuming processes, becoming bottlenecks in the overall production cycle. Furthermore, human factors, such as worker skill level and fatigue, can cause fluctuations in workpiece clamping accuracy, deburring quality, and the standardization of inspection operations, making it difficult to guarantee consistent product quality, especially during night shifts. Utility Model Content

[0005] To address the aforementioned issues, this application provides an automated machining system for a horizontal machining center robot that improves overall production efficiency.

[0006] To achieve the above objectives, the horizontal machining center robot automated machining system designed in this application includes:

[0007] An automated guided vehicle (AGV) has a lifting platform for carrying a pallet loaded with workpieces to be processed.

[0008] CNC machining tools are used to process workpieces;

[0009] A grinding table is used to deburr processed workpieces.

[0010] A rotary table is used to receive workpieces to be processed and to temporarily store already processed workpieces.

[0011] An industrial robot configured to perform a workpiece transfer operation between the CNC machining tool, the grinding table, and the rotary table;

[0012] The rotary table has a first area and a second area. The first area is used to dock with the automated guided vehicle, and the second area is used for the industrial robot to grasp or place workpieces. Both the first area and the second area are provided with clearance space adapted to the automated guided vehicle.

[0013] The lifting platform of the automated guided vehicle is configured to pass through the clearance space, transport the pallet to above the first area in the raised state, and detach the pallet from the lifting platform by lowering it so that it is supported by the first area.

[0014] Preferably, the industrial robot has a replaceable end effector; the end effector includes a gripper for grasping the workpiece and a grinding head for performing deburring; the industrial robot completes the deburring process by replacing the end effector with the grinding head in conjunction with the grinding table.

[0015] Preferably, the gripper includes a base, the top of the base is provided with a connector that is mated and fixed to the end effector, and the bottom of the base is provided with two opposing clamps, each of the two clamps including two opposing pneumatic contouring claws, the two pneumatic contouring claws are staggered in the vertical direction, and the clamping surface of the pneumatic contouring claws is adapted to the shape of the predetermined clamping part of the workpiece.

[0016] Preferably, the grinding table includes a rotatable loading platform and tool racks for loading the grippers and the grinding head, respectively; a chip guard is provided on the loading platform, and one side of the chip guard has an opening adapted to the industrial robot.

[0017] Preferably, it further includes a fence that encloses the CNC machine tool to form an isolation space, and the grinding table and industrial robot are arranged in the isolation space; the fence has an opening on the side away from the CNC machine tool that is adapted to the rotary table; wherein, the first area is located outside the isolation space, and the second area is located inside the isolation space.

[0018] Preferably, a cleaning tank is also provided in the isolation space, and the industrial robot is configured to transfer the workpiece from the grinding table to the cleaning tank for brushing or rinsing.

[0019] Preferably, an airtightness testing platform is also provided in the isolation space, and the industrial robot is configured to transfer the workpiece from the cleaning tank to the airtightness testing platform for airtightness testing.

[0020] The automated robotic machining system for a horizontal machining center designed in this application integrates a horizontal CNC machine tool, a grinding station, an airtightness testing station, and internal and external material exchange tables. A single industrial robot schedules and executes workpiece transfer, machining assistance, and post-processing operations between the stations, achieving full automation from blank loading, CNC machining, online deburring, cleaning, airtightness testing, and finished product unloading. This system utilizes an industrial robot with automatically interchangeable end effectors, enabling it to perform both material handling and process processing functions. This improves equipment utilization, optimizes system layout, ensures consistent product quality, and enhances overall production efficiency. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the horizontal machining center robot automatic machining system provided in the embodiments of this application.

[0022] Figure 2 This is a schematic diagram of the gripper structure provided in the embodiments of this application.

[0023] Figure 3 This is a schematic diagram of the structure of the polishing table provided in the embodiment of this application.

[0024] The components include: workpiece 100, automated guided vehicle 10, pallet 20, CNC machining tool 30, grinding table 40, loading table 41, tool rack 42, chip guard 43, rotary table 50, first area 51, second area 52, industrial robot 60, gripper 61, base 611, connector 612, fixture 613, pneumatic contouring gripper 614, grinding head 62, fence 70, opening 71, cleaning box 80, and airtightness test bench 90. Detailed Implementation

[0025] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0026] like Figures 1 to 3 As shown in the figure, the horizontal machining center robot automatic machining system described in this embodiment mainly includes an automated guided vehicle (AGV) 10, a CNC machine tool 30, a grinding table 40, a rotary table 50, and an industrial robot 60.

[0027] Specifically, the CNC machining center 30 is a horizontal machining center, which is equipped with a hydraulic clamping system (not shown in the figure) for automatically positioning and clamping the workpiece 100, and for performing preset milling, drilling, boring and other machining operations on the workpiece 100. The automated guided vehicle 10 can travel automatically according to a predetermined path, and its upper part is equipped with a vertically lifting platform, which is used to carry the pallet 20 loaded with the workpiece 100 to be processed.

[0028] In this embodiment, the industrial robot 60 is preferably a six-axis industrial robot with its mounting base fixed to the ground. Its working range covers the area where the CNC machining tool 30, the grinding table 40, and the rotary table 50 are located, so as to perform the transfer operation of the workpiece 100 between the CNC machining tool 30, the grinding table 40, and the rotary table 50. The grinding table 40 is used to deburr the processed workpiece 100; while the rotary table 50 is used to receive the workpiece 100 to be processed and to temporarily store the processed workpiece 100.

[0029] The rotary table 50 is structurally divided into a first area 51 and a second area 52. The first area 51 faces the external logistics channel and is used for the handover of pallets 20 with the automated guided vehicle 10; the second area 52 faces the industrial robot 60 and serves as a workstation for the robot to grasp workpieces to be processed and place processed workpieces.

[0030] In a specific implementation, it also includes a fence 70, which, together with the CNC machining tool 30, forms an independent and safe internal isolation space. The grinding table 40 and the industrial robot 60 are located within the isolation space. The fence 70 has an opening 71 on the side away from the CNC machining tool 30 that is adapted to the rotary table 50. The first area 51 is located outside the isolation space, and the second area 52 is located inside the isolation space.

[0031] The turntable 50 is designed with a clearance space underneath, the height and width of which are sufficient to allow the vehicle body of the automated guided vehicle 10 to drive in. In this embodiment, this clearance space is provided under both the first area 51 and the second area 52 to provide maximum layout flexibility. The turntable 50 itself has a rotation function, enabling it to rotate the tray 20 located in the first area 51 to the position in the second area 52.

[0032] In a specific workflow:

[0033] An automated guided vehicle 10, carrying a pallet 20 fully loaded with workpieces 100 to be processed, travels to the first area 51 of the rotary table 50 until its body enters the clearance space below the first area 51. The lifting platform of the automated guided vehicle 10 then passes through this clearance space, transporting the pallet 20 to the support structure of the first area 51 while in its raised state. The pallet 20 is then lowered, detaching from the lifting platform and landing securely on the support structure of the first area 51, where it is supported. Specifically, the first area 51 is equipped with at least two spaced-apart forks. The pallet 20 has a hollow frame structure. When the automated guided vehicle 10 enters the clearance space, the forks can be inserted into the hollow pallet 20. Subsequently, the lifting platform of the automated guided vehicle 10 lowers, allowing the pallet 20 to be supported by multiple forks.

[0034] Next, the rotary table 50 rotates, transferring the pallet 20 located in the first area 51 to the second area 52 facing the industrial robot 60. At this time, the industrial robot 60 begins to perform its transfer operation, picking up a workpiece 100 to be processed from the pallet 20 in the second area 52 and accurately loading it into the hydraulic fixture of the CNC machining tool 30, whereby the CNC machining tool 30 executes the processing program.

[0035] After processing, the industrial robot 60 re-enters the CNC machining center 30, removes the processed workpiece 100, and transports and places it on the grinding table 40. The grinding table 40 performs fine deburring on the workpiece 100. After deburring, the industrial robot 60 again picks up the processed workpiece 100 and places it back into the empty position on the second area 52 of the rotary table 50. The rotary table 50 then rotates again, transferring the processed workpiece 100 to the first area 51, awaiting pickup by the automated guided vehicle 10, thus completing a full work cycle. In this embodiment, the first area 51 and the second area 52 are located on the same diameter extension line of the rotary table 50, so that the rotary table 50 can complete the switching between processing and processed workpiece positions with a single rotation, reducing the movement requirements of the automated guided vehicle 10.

[0036] In some embodiments, the industrial robot 60 has a replaceable end effector; the end effector includes a gripper 61 for gripping the workpiece 100 and a grinding head 62 for performing deburring. The industrial robot 60 can automatically travel back and forth to the tool changer according to a preset program in one work cycle to complete the replacement between the gripper 61 and the grinding head 62. That is, the industrial robot 60 completes the deburring process by replacing the end effector with the grinding head 62 in conjunction with the grinding table 40.

[0037] Specifically, such as Figure 2As shown, the gripper 61 includes a base 611. A connector 612, which is fixed to the end effector, is located on the top of the base 611. Two opposing clamps 613 are located on the bottom of the base 611. Each clamp 613 includes two opposing pneumatic contouring claws 614. These contouring claws are the components that ultimately contact the workpiece 100 and are driven to open and close by a pneumatic system. The two pneumatic contouring claws 614 are staggered vertically to simultaneously clamp the workpiece 100 from different heights, resulting in better stability. Furthermore, the clamping surfaces of the pneumatic contouring claws 614 are adapted to the shape of the predetermined clamping portion of the workpiece 100, effectively increasing the contact area, avoiding damage to the workpiece surface, and providing good positioning accuracy. In this embodiment, the grinding head 62 can be a wire grinding head integrating a standard connector 612, which can also be quickly replaced by the industrial robot 60.

[0038] In addition, the polishing table 40 that works in conjunction with this, such as Figure 1 , Figure 3 As shown, the grinding table 40 includes a rotatable loading platform 41 to coordinate with the industrial robot 60 by rotating the workpiece, enabling it to handle the replacement of various parts of the workpiece without blind spots, and a tool holder 42 for loading the gripper 61 and the grinding head 62, so that the industrial robot 60 can move the gripper 61 and the grinding head 62 only along a predetermined path. Meanwhile, the loading platform 41 is equipped with a chip shield 43 to collect metal chips and dust generated during the grinding process, keeping the working environment clean. One side of the chip shield 43 has an opening adapted to the industrial robot 60, allowing the industrial robot 60 to control the grinding head 62 to extend through the opening of the chip shield 43 to grind the workpiece.

[0039] In some embodiments, such as Figure 1 As shown, a cleaning tank 80 is also provided within the isolation space. The industrial robot 60 is configured to transfer the workpiece 100 from the grinding table 40 to the cleaning tank 80 for brushing or rinsing. In specific implementation, the cleaning tank 80 may be equipped with high-pressure spray heads, mechanical brushes, and other cleaning devices, and contains cleaning fluid to effectively remove all residual chips and contaminants.

[0040] In some embodiments, such as Figure 1As shown, an airtightness testing platform 90 is also provided within the isolation space. The industrial robot 60 is configured to transfer the workpiece 100 from the cleaning tank 80 to the airtightness testing platform 90 for airtightness testing. The airtightness testing platform 90 can be a commercially available testing platform, which generally includes a placement platform for stably placing the workpiece, several sealing plugs or sealing rings that can automatically extend and seal with openings on the workpiece, and a pneumatic control and detection system connected to the sealing plugs. After the workpiece 100 is cleaned and removed from the cleaning tank 80 by the industrial robot 60, the robot will accurately place it on the platform of the airtightness testing platform 90. Subsequently, the sealing plugs of the testing platform will automatically extend and press down, completely sealing the internal cavity of the workpiece. The pneumatic system will then fill the cavity with compressed air at a predetermined pressure, and after maintaining the pressure for a period of time, a high-precision pressure sensor will monitor whether the pressure drops. If the pressure remains stable within a specified time, the workpiece is deemed to be airtight; otherwise, it is considered unqualified.

[0041] The automated robotic machining system for a horizontal machining center designed in this application integrates a horizontal CNC machine tool, a grinding station, an airtightness testing station, and internal and external material exchange tables. A single industrial robot schedules and executes workpiece transfer, machining assistance, and post-processing operations between the stations, achieving full automation from blank loading, CNC machining, online deburring, cleaning, airtightness testing, and finished product unloading. This system utilizes an industrial robot with automatically interchangeable end effectors, enabling it to perform both material handling and process processing functions. This improves equipment utilization, optimizes system layout, ensures consistent product quality, and enhances overall production efficiency.

[0042] In the description of this application, it should be noted that the terms "vertical", "up", "down", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply 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 application.

[0043] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0044] Finally, it should be noted that the above descriptions are merely preferred embodiments of this application and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A horizontal machining center robot automatic machining system, characterized in that, include: An automated guided vehicle (AGV) has a lifting platform for carrying a pallet loaded with workpieces to be processed. CNC machining tools are used to process workpieces; A grinding table is used to deburr processed workpieces. A rotary table is used to receive workpieces to be processed and to temporarily store already processed workpieces. An industrial robot configured to perform a workpiece transfer operation between the CNC machining tool, the grinding table, and the rotary table; The rotary table has a first area and a second area. The first area is used to dock with the automated guided vehicle, and the second area is used for the industrial robot to grasp or place workpieces. Both the first area and the second area are provided with clearance space adapted to the automated guided vehicle. The lifting platform of the automated guided vehicle is configured to pass through the clearance space, transport the pallet to above the first area in the raised state, and detach the pallet from the lifting platform by lowering it so that it is supported by the first area.

2. The automated machining system for a horizontal machining center robot according to claim 1, characterized in that, The industrial robot has a replaceable end effector; the end effector includes a gripper for grasping the workpiece and a grinding head for performing deburring; the industrial robot performs deburring by replacing the end effector with the grinding head in conjunction with the grinding table.

3. The automated machining system for a horizontal machining center robot according to claim 2, characterized in that, The gripper includes a base, the top of which is provided with a connector that is fixed to the end effector, and the bottom of which is provided with two opposing clamps. Each clamp includes two opposing pneumatic contouring claws. The two pneumatic contouring claws are staggered in the vertical direction, and the clamping surface of the pneumatic contouring claws is adapted to the shape of the predetermined clamping part of the workpiece.

4. The automated machining system for a horizontal machining center robot according to claim 2 or 3, characterized in that, The grinding table includes a rotatable loading platform and tool racks for loading the grippers and the grinding head, respectively; a chip guard is provided on the loading platform, and an opening adapted to the industrial robot is provided on one side of the chip guard.

5. The automated machining system for a horizontal machining center robot according to claim 1, characterized in that, It also includes a fence that encloses the CNC machining tool to form an isolation space, and the grinding table and industrial robot are set in the isolation space; the fence has an opening on the side away from the CNC machining tool that is adapted to the rotary table; wherein, the first area is located outside the isolation space, and the second area is located inside the isolation space.

6. The automated machining system for a horizontal machining center robot according to claim 5, characterized in that, The isolation space is also equipped with a cleaning tank, and the industrial robot is configured to transfer the workpiece from the grinding table to the cleaning tank for brushing or rinsing.

7. The automated machining system for a horizontal machining center robot according to claim 6, characterized in that, An airtightness testing platform is also provided in the isolation space, and the industrial robot is configured to transfer the workpiece from the cleaning tank to the airtightness testing platform for airtightness testing.

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