阅读说明：本技术 一种基于agv小车自动上刀、注油系统 (Automatic cutter feeding and oil injecting system based on AGV trolley ) 是由 杨孔华 于 2021-06-30 设计创作，主要内容包括：本发明公开一种基于AGV小车自动上刀、注油系统,其特征在于,包括：AGV小车,执行调度系统的指令,按照预设路径在指定位置之间运动；注油装置,存储油品,设在AGV小车上；具放置装置,存放刀具,设在AGV小车上；协作机器人,根据调度系统的指令执行更换刀具、注油动作；调度系统,接收加工中心设备的换刀、注油请求信息,调配装有刀具或油品的AGV小车至指定位置,控制协作机器人更换刀具或注油。本发明结构简单,成本低廉,能自动给设备上刀及加注油品,不影响设备生产,不降低设备的开动率,一次性的投入终生受益,具有广泛的推广价值。(The invention discloses an automatic cutter feeding and oiling system based on an AGV (automatic guided vehicle), which is characterized by comprising the following components: the AGV trolley executes the instruction of the scheduling system and moves between the specified positions according to a preset path; the oiling device is used for storing oil products and is arranged on the AGV trolley; the tool storage device is used for storing tools and is arranged on the AGV trolley; the cooperative robot executes actions of replacing a cutter and injecting oil according to the instruction of the scheduling system; and the dispatching system receives tool changing and oil injection request information of the machining center equipment, allocates the AGV with the tools or oil products to an appointed position, and controls the cooperative robot to change the tools or inject oil. The invention has simple structure and low cost, can automatically feed equipment with tools and fill oil products, does not influence the production of the equipment, does not reduce the starting rate of the equipment, benefits the whole life after one-time investment, and has wide popularization value.)

1. The utility model provides an automatic sword, oiling system of going up based on AGV dolly which characterized in that includes:

the AGV trolley executes the instruction of the scheduling system and moves between the specified positions according to a preset path;

the oiling device is used for storing oil products and is arranged on the AGV trolley;

the tool storage device is used for storing tools and is arranged on the AGV trolley;

the cooperative robot executes actions of replacing a cutter and injecting oil according to the instruction of the scheduling system;

and the dispatching system receives tool changing and oil injection request information of the machining center equipment, allocates the AGV with the tools or oil products to an appointed position, and controls the cooperative robot to change the tools or inject oil.

2. The AGV based automatic knife feeding and oiling system of claim 1, characterized in that: the scheduling system includes: the system comprises a navigation path preset for the AGV trolley, a wireless data transfer station for storing state information of each component, and a control system for transmitting requirements and instructions of each component; all the components are communicated through a communication wireless local area network, and the accuracy of information transmission is ensured through wireless monitoring.

3. The AGV based automatic knife feeding and oiling system of claim 1, characterized in that: the cooperation robot comprises a manipulator, one end of the manipulator is mounted on the AGV trolley, and the other end of the manipulator is provided with a 3D vision system and an electric clamping jaw; the manipulator and the electric clamping jaw are matched to perform actions of replacing a cutter and injecting oil; the 3D vision system identifies the coordinates of the action position of the clamping jaw.

4. The AGV based automatic knife feeding and oiling system of claim 1, characterized in that: the tool placing device comprises: a plurality of tool-holding seats for holding tools, and a tool ID chip reader; a cutter number display screen for displaying the information of the cutters on the placing cutter seats is arranged beside each placing cutter seat; the tool ID chip reader reads and determines information on the tool on which the tool rest is placed, and this information is indicated by a status indicator lamp.

5. The AGV based automatic knife feeding and oiling system of claim 1, characterized in that: the oil injection device comprises an oil injection gun, an oil tank, an oil pump, an automatic telescopic coil pipe device and an oil way control system; the oil circuit control system detects the oil quantity of the oil tank and transmits information to the dispatching system, the oil pump is controlled to pump oil through the automatic telescopic coil, and the robot is cooperated to grab the oil gun control switch.

6. The AGV based automatic knife feeding and oiling system of claim 5, wherein: when the low liquid level of the oil tank gives an alarm, the dispatching system instructs the AGV car to run to the oil product warehouse through a preset navigation path, and requests an oil product warehouse manager to fill the oil tank carried by the oil product warehouse manager, and the oil product warehouse manager is reminded to stop filling oil until the high liquid level of the oil tank gives an alarm.

Technical Field

The invention belongs to the technical field of automatic machining, and particularly relates to an automatic cutter feeding and oiling system based on an AGV.

Background

In modern production, along with the wide application of high-speed, high-efficiency and high-flexibility processing production lines, the automation degree is higher and higher, and unmanned production is wider and wider.

Automated Guided Vehicle, abbreviated AGV, is also commonly referred to as an AGV. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path is set up by using an electromagnetic path (electromagnetic path-following system), the electromagnetic path is adhered to the floor, and the unmanned transport vehicle moves and operates according to the information brought by the electromagnetic path.

In a flexible production line, a numerical control machining center is often used as a main part, and dozens of machining tools can be installed in a tool magazine of each machining center device. Except that the first preparation is processed and can adopt the manual work to go up the sword, machining center equipment has not formed the processing cycle this moment, does not delay production efficiency, but whole line production once starts up and reaches certain start rate, if one of them machining center equipment cutter had already reached the life limit at this moment and need the tool changing, at this moment adopts the manual work to change the outfit again, needs equipment to stop operation, must delay whole line processing, influences the start rate of whole line. The traditional tool changing mode is difficult to adapt to the state of modern continuous processing production. How to avoid the influence of a manual tool changing mode on the production efficiency of a machine tool is a problem to be solved urgently at present.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide an automatic tool feeding and oiling system based on an AGV trolley, which can automatically change tools and perform oiling according to production requirements, does not need to stop, has high production efficiency and is used for intelligent production.

In order to achieve the aim, the AGV trolley automatic knife feeding and oiling system is characterized by comprising:

the AGV trolley executes the instruction of the scheduling system and moves between the specified positions according to a preset path;

the oiling device is used for storing oil products and is arranged on the AGV trolley;

the tool storage device is used for storing tools and is arranged on the AGV trolley;

the cooperative robot executes actions of replacing a cutter and injecting oil according to the instruction of the scheduling system;

and the dispatching system receives tool changing and oil injection request information of the machining center equipment, allocates the AGV with the tools or oil products to an appointed position, and controls the cooperative robot to change the tools or inject oil.

Preferably, the scheduling system includes: the system comprises a navigation path preset for the AGV trolley, a wireless data transfer station for storing state information of each component, and a control system for transmitting requirements and instructions of each component; all the components are communicated through a communication wireless local area network, and the accuracy of information transmission is ensured through wireless monitoring.

Preferably, the cooperative robot comprises a manipulator, one end of the manipulator is mounted on the AGV trolley, and the other end of the manipulator is provided with a 3D vision system and an electric clamping jaw; the manipulator and the electric clamping jaw are matched to perform actions of replacing a cutter and injecting oil; the 3D vision system identifies the coordinates of the action position of the clamping jaw.

Preferably, the tool placing device includes: a plurality of tool-holding seats for holding tools, and a tool ID chip reader; a cutter number display screen for displaying the information of the cutters on the placing cutter seats is arranged beside each placing cutter seat; the tool ID chip reader reads and determines information on the tool on which the tool rest is placed, and this information is indicated by a status indicator lamp.

Preferably, the oil injection device comprises an oil injection gun, an oil tank, an oil pump, an automatic telescopic coil pipe device and an oil way control system; the oil circuit control system detects the oil quantity of the oil tank and transmits information to the dispatching system, the oil pump is controlled to pump oil through the automatic telescopic coil, and the robot is cooperated to grab the oil gun control switch.

Preferably, when the oil tank is in a low liquid level alarm state, the dispatching system instructs the AGV car to run to the oil product warehouse through a preset navigation path, and requests an oil product warehouse manager to fill the oil tank carried by the oil product warehouse manager, and the oil product warehouse manager is reminded to stop filling oil until the oil tank is in a high liquid level alarm state.

The invention has the beneficial effects that: 1. when the equipment is fed with a knife, the equipment does not need to stop running, the equipment processing is not delayed, and the starting rate of the whole line is not influenced. 2. The equipment is fed with a knife and filled with oil, which is equivalent to the operation of a machine instead of a human, and meets the requirements of modern technology. 3. The 3D vision system and the scheduling system are configured to realize self-perception, self-judgment and self-feedback, and meet the intelligent production requirements.

The automatic feeding and oiling device of the AGV trolley is simple in structure and low in cost, when the automatic feeding and oiling device of the AGV trolley feeds a tool to equipment, the equipment does not need to stop running, the equipment processing is not delayed, and the starting rate of the whole line is not influenced; the automatic cutter feeding and oil filling device of the AGV trolley is used for feeding cutters and filling oil to equipment, which is equivalent to replacing a human with a robot, reduces the labor intensity of workers and meets the requirement of modernization; the automatic cutter feeding and oiling device of the AGV trolley is used for configuring a 3D vision system and a scheduling system to realize self perception, self judgment and self feedback, meets the intelligent production requirements, and has great popularization value.

The invention has simple structure and low cost, can automatically feed equipment with tools and fill oil products, does not influence the production of the equipment, does not reduce the starting rate of the equipment, benefits the whole life after one-time investment, and has wide popularization value.

Drawings

FIG. 1: perspective view of the invention;

FIG. 2: the invention discloses a moving track diagram;

FIG. 3: the invention discloses a schematic upper cutter drawing;

FIG. 4: the invention discloses an oiling schematic diagram.

Detailed Description

The technical solutions of the present invention (including the preferred ones) are described in further detail below by means of fig. 1 to 4 and enumerating some alternative embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

As shown in fig. 1, the automatic tool feeding and oiling system based on the AGV disclosed by the invention comprises an AGV 8, which executes the instruction of a scheduling system and moves between specified positions according to a preset path; the oiling device is used for storing oil products; a tool storage device for storing tools; the cooperative robot executes the actions of replacing the cutter and injecting oil according to the instruction of the scheduling system 15; and the dispatching system 15 is used for receiving tool changing and oil injection request information of the machining center equipment 14, allocating the AGV trolley 8 with the tools or oil products to a specified position, and controlling the cooperative robot to change the tools or inject oil. The oiling device and the cutter placing device are arranged on an AGV trolley 8.

Have arm 1, 3D visual system 2, electronic clamping jaw 3 on the cooperation robot, 1 fixed mounting of arm is on AGV dolly 8, 3D visual system 2, electronic clamping jaw 3 are installed at 1 arm end of arm.

The oiling device is provided with an oiling gun 9, an oil tank 7, an oil pump 6, an automatic telescopic coil device 4 and an oil way control system 5; when the oil tank 7 of the oiling device alarms at a low liquid level, the dispatching system 15 instructs the AGV dolly 8 to run to the oil product warehouse 21 through the appointed navigation path 26, and requests the oil product warehouse manager to fill the oil tank 7 carried by the manager, and the manager is reminded to stop oiling until the high liquid level of the oil tank alarms.

The tool placing device is provided with 6 tool placing tool seats 10, and a state indicator lamp 13, a tool number display screen 12 and a tool ID chip reader 27 are arranged beside each tool placing tool seat 10.

The dispatching system 15 comprises a navigation path 26, a communication wireless local area network 18, a wireless monitor 19, a management and control system 17 and a wireless data transfer station 16.

When one of the tools 11 of one of the machining center devices 14 on the production automation line is fast to the service life limit, the machining center device 14 sends a tool changing request signal to the dispatching system 15; the dispatching system 15 sends an instruction to the AGV trolley 8, the AGV trolley 8 runs to the tool storehouse 20 through the specified navigation path 26 in the waiting area, and the storehouse manager is requested to place the new tool 11 on the tool apron 10 of the tool placing device; meanwhile, a cutter ID chip reader 27 on the cutter placing device reads and judges whether the information of the newly placed new cutter 11 is consistent with the cutter number displayed by the cutter number display screen 12 or not, and an alarm is given to remind a warehouse manager to replace and place again when a mistake occurs.

When the tool ID chip reader 27 on the tool placing device reads and judges that the information of the tool 11 is correct, the dispatching system 15 sends an instruction to the AGV trolley 8, the AGV trolley 8 carries the tool 11 to run to the side of the equipment 14 needing tool changing in the production field through the specified navigation path 26, and the dispatching system 15 waits for the next instruction.

The dispatching system 15 transmits the information that the AGV trolley 8 reaches the side of the equipment 14 to the machining center equipment 14 through the wireless data transfer station 16, the machining center equipment 14 lowers the cutter supporting device 22 to the original position for preparation, the cutter changing protective door 24 is opened, and the information is transmitted to the dispatching system through the control system 17.

After the cooperative robot receives the instruction of the dispatching system 15, the arm of the mechanical arm 1 on the cooperative robot extends out, the tail end 3D vision system 2 identifies and positions the coordinate position of the cutter supporting device 22 of the machining center equipment 14, and retracts to identify and position the coordinate position of the cutter 11 on the cutter placing device, and the coordinate positions are compared with each other; an electric clamping jaw 3 at the tail end of an arm 1 of a mechanical arm 1 on the cooperative robot clamps a proper position of a cutter 11 on the cutter placing device and takes out the cutter; further arm extension movement of the robot arm 1 to the machining center 14 blade holder assembly position 22.

The electric clamping jaw 3 at the tail end of the arm of the mechanical arm 1 on the cooperative robot loosens and accurately and correctly places the cutter 11 on the cutter supporting device 22 of the machining center equipment 14, further the arm of the mechanical arm 1 retracts, and information is transmitted to the dispatching system 15 through the communication wireless local area network 18 and the wireless data transfer station 16.

The scheduling system 15 transmits information that the robot arm 1 has accurately and correctly placed the tool to the machining center 14, and the machining center 14 determines whether there is a tool signal on the cutter holder 22 or not.

If the machining center equipment 14 judges that the cutter 11 signal exists on the cutter supporting device 22, closing the cutter changing protective door 24 and carrying out cutter feeding preparation; if the machining center equipment 14 judges that no tool 11 signal exists on the tool supporting device 22, the mechanical arm 1 needs to be stretched into again, the tail end 3D vision system 2 recognizes again, the difference of the correct position posture of the tool 11 is judged, and the electric clamping jaw 3 at the tail end of the mechanical arm 1 needs to clamp the tool 11 again for posture adjustment until the machining center equipment 14 judges that the tool 11 signal exists on the tool supporting device 22, then the tool changing protective door 24 is closed, and tool feeding preparation is carried out.

In the next processing cycle, in the processing process of the process with the longest processing time, the machining center device 14 raises the cutter supporting device 22 to the final position, installs the new cutter 11 into the empty cutter seat of the cutter storage 23 from the cutter supporting device 22, and simultaneously lowers the cutter supporting device 22 back to the original position;

when the machining center 14 reaches the end of the life of the old tool 11, the tool holder 22 is raised to the final position, and in the machining process of the process with the longest machining time, the old tool 11 is retracted from the tool holder of the tool magazine 23 onto the tool holder 22, and the tool holder is lowered 22 to the original position.

The machining center equipment 14 transmits information needing tool unloading to the dispatching system 15 through the control system 17, and the dispatching system 15 instructs the AGV trolley 8 to reach the machining center equipment 14;

the machining center equipment 14 opens the tool changing protective door 24, the arm of the mechanical arm 1 on the cooperative robot device extends out, and the tail end 3D vision system 3 identifies the posture coordinate of the old tool 11 on the tool supporting device 22 of the machining center equipment 14;

an arm of a mechanical arm 1 on a cooperative robot extends into machining center equipment 14, an electric clamping jaw 3 at the tail end of the arm of the mechanical arm 1 clamps an old cutter on a cutter supporting device 22 of the machining center equipment 14 and takes out the old cutter, then the arm of the mechanical arm 1 retracts to a cutter placing device, the electric clamping jaw 3 at the tail end of the arm of the mechanical arm 1 is loosened, the old cutter is placed on a cutter seat 10 on the cutter placing device, the machining center equipment 14 closes a cutter changing protective door 24, and meanwhile the cutter supporting device 22 descends to the original position;

the scheduling system 15 instructs the AGV cart 8 to travel to the tool magazine 20 via the designated navigation path 26, requesting the magazine manager to retrieve the old knife.

When the lubricating oil tank or hydraulic oil tank 25 of one of the machining center devices 14 on the production automatic line alarms at a low liquid level, information is transmitted to the dispatching system 15 through the management and control system 17;

the dispatching system 15 sends an instruction to the AGV 8, and the AGV 8 runs to the side of the oil tank 25 of the machining center equipment 14 in the waiting area through a specified navigation path 26;

the mechanical arm 1 on the cooperative robot extends out, and the tail end 3D vision system 2 identifies the position coordinate of the oil filling port of the oil tank 25;

an electric clamping jaw 3 at the tail end of the arm of the mechanical arm 1 lifts an oil injection opening turnover cover;

the arm of the mechanical arm 1 retracts, the tail end electric clamping jaw 3 clamps the oil gun 9 from an oil gun seat on the oil injection device and extends into an oil injection port of the oil tank 25, and the dispatching system 15 instructs the oil pump 6 to start for oil injection;

when the oil tank 25 filled with oil to the machining center equipment 14 has a high liquid level alarm, information is transmitted to the dispatching system 15 through the management and control system 17;

the dispatching system 15 sends out an instruction to the oil pump 6 on the oil injection device to immediately stop oil injection;

the mechanical arm 1 clamps the grease gun 9 by the electric clamping jaw 3 at the tail end of the mechanical arm 1, returns, the automatic telescopic coil device 4 automatically withdraws the oil pipe, and the mechanical arm 1 returns the grease gun 9 to finish the oiling process.

When the service life of a tool of machining center equipment is up to the limit, the tool is conveyed from a tool room in advance and is placed on a tool supporting device of the machining center equipment, a new tool can be conveyed into an empty tool apron of a tool magazine by the tool supporting device in the process of machining the process with the longest machining time, and when the original tool in the tool magazine reaches the limit of the service life, the machining center equipment directly calls the new tool to perform machining circulation without delaying production; meanwhile, in the next processing cycle, in the process of the longest processing time, the old knife is returned to the knife supporting device from the knife base of the tool magazine, and the AGV trolley automatically feeds the knife and the oil injection device to retrieve the old knife and sends the old knife back to the tool magazine; the invention can also automatically drive the oil tank to fill the machining center equipment after filling the oil storage in advance when the lubricating oil tank or the hydraulic oil tank of the machining center equipment has low liquid level alarm.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and any modification, combination, replacement, or improvement made within the spirit and principle of the present invention is included in the scope of the present invention.