CN104816042A - Robot high-pressure balance burr removing device and method - Google Patents
Robot high-pressure balance burr removing device and method Download PDFInfo
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- CN104816042A CN104816042A CN201510247971.0A CN201510247971A CN104816042A CN 104816042 A CN104816042 A CN 104816042A CN 201510247971 A CN201510247971 A CN 201510247971A CN 104816042 A CN104816042 A CN 104816042A
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Abstract
The invention provides a robot high-pressure balance burr removing device and method, which are used for cleaning burrs on an oil channel opening on an engine bent axle washing machine. The device comprises a conveying mechanism, a clamp mechanism and a burr removing mechanism, wherein the burr removing mechanism comprises a robot, a high-pressure balance nozzle and a high-pressure hose; the robot is fixed on a washing machine body; the high-pressure balance nozzle is fixed on a robot wrist; the high-pressure hose is connected on the high-pressure balance nozzle; the high-pressure balance nozzle comprises a channel body, a turbulent flow sheet, a nozzle and a pressing cover; the channel body is provided with a water inlet hole channel; two water outlet hole channels are symmetrically arranged at the tail ends of the water inlet hole channel to form a T-shaped channel body with two ends for discharging water; the turbulent flow sheet and the nozzle are arranged in the water outlet hole channels. The robot is used for removing burrs so that the burr cleaning reliability and controllability is improved; the high-pressure balance nozzle with the two ends for discharging water is adopted so that the counter-acting force is reduced when the high-pressure water is sprayed out; the loading requirements on the robot are reduced by 90% so that the purchasing cost of the robot is reduced by 70%.
Description
Technical field
the present invention relates to a kind of be suitable for using on engine crankshaft cleaning machine oil duct burr remover and method.
Background technology
At present, the burr of engine crankshaft oil hole is mainly by artificial sand paper or file cleaning.This kind of deburred mode also exists very large hidden danger in practice, due to productive temp nervous on production line, the working strength requirement of cleaning personnel will inevitably be improved, so the reliability of artificial deburring and controllability just can greatly reduce, once deburred is thorough not, remaining burr will enter the lubricating system of engine, will produce ill effect to the life-span of engine.
Summary of the invention
For above-mentioned existing problems, the present invention aims to provide a kind of robot high-pressure balancing burr remover and method.
The present invention is realized by following technical proposals:
A kind of robot high-pressure balancing burr remover, comprise conveying mechanism, clamp mechanism, burring mechanism, cleaning body, described clamp mechanism comprises cross sliding driving device, traversing carriage, the axis of guide, left and right Finial device, overturning drive device, traversingly to issue an order, checkout gear, upset checkout gear; Cross sliding driving device is fixed on cleaning body by clamp mount; Traversing carriage is connected with transmission support seat, and transmission support seat is fixing on the conveyor, and traversing carriage can do the traversing slip of straight line on the axis of guide; Left and right Finial device is fixed on traversing carriage respectively by traversing jig arm, and right Finial device is provided with shift fork, and shift fork is driven by overturning drive device, and overturning drive device is fixed on cleaning body; Lower end and the traversing carriage of traversing starting apparatus slidingly contact, upper end is placed in traversing checkout gear, traversing checkout gear is fixed on cleaning body, and traversing starting apparatus can swing with the transverse shifting of traversing carriage and detect in horizontal checkout gear; Upset checkout gear is fixed on cleaning body; It is characterized in that, described burring mechanism comprises robot, high-pressure balancing nozzle, high-pressure hose, robot is fixed on cleaning body by robot mount pad, high-pressure balancing nozzle is fixed on robot wrist, for providing the high-pressure hose of water under high pressure to be connected to high-pressure balancing nozzle to high-pressure balancing nozzle.
Described high-pressure balancing nozzle comprises passage body, turbulent sheet, nozzle, gland, described passage body is provided with a water inlet duct, water inlet duct end symmetrical is provided with two water outlet ducts, form the T-shaped passage body of two ends water outlet, passage body is provided with high-pressure hose interface and communicates with water inlet duct, the water outlet of passage body is provided with turbulent sheet and nozzle in duct, nozzle end leans out passage body water outlet duct, nozzle leans out part gland and fastens, pressure cover screw and passage body are connected, and water jet and the jet hole of gland match.
The aperture of described nozzle is column by trumpet-like transition and extends, and jet hole diameter is greater than column nozzle bore.
Described turbulent sheet both ends of the surface are equipped with packing ring, and described gland the inner is provided with the potted component matched with nozzle.
A kind of robot high-pressure balancing burr removing method, is characterized in that, comprise the following steps:
A) crankshaft workpiece is transported to appointment station by conveying mechanism;
B) after crankshaft workpiece is transported and is put in place, Finial device relative movement is driven to make left and right toply to clamp in advance crankshaft workpiece by the cross sliding driving device of clamp mechanism by driving-chain, shift fork on right Finial device with top traversing crankshaft workpiece is positioned spacing, traversing carriage is done the traversing slip of straight line and is accurately led to left and right Finial device on the axis of guide, traversingly to issue an order, checkout gear detects two top exact positions and the power source that feedback signal controls cross sliding driving device in time exports, and finally realizes clamping and positioning;
C) after the clamping of crankshaft workpiece location, connect water under high pressure treatment system, water in water tank is provided water under high pressure through supercharging, filtration feeding high-pressure hydraulic pump by high pressure processing system, by high-pressure hose, water under high pressure is supplied to high-pressure balancing nozzle, and carries out break-make control and pressure monitor to water route;
D) robot holds high-pressure balancing nozzle and carries out circular motion to crankshaft workpiece oil hole periphery, beats water under high pressure at oil hole edge, thus burr removing is clean; After the burr removing of crankshaft workpiece side oil hole is clean, is driven by overturning drive device by the shift fork on right Finial device, crankshaft workpiece is overturn 180 °, continue to hold high-pressure balancing nozzle by clean for opposite side oil hole periphery burr removing by robot.
E) crankshaft workpiece oil hole burr removing clean after, high-pressure hydraulic pump starts off-load, disconnects water under high pressure treatment system, completes an oil duct deburring working cycles.
Beneficial effect of the present invention is as follows:
(1) adopt robotic deburring, improve reliability and the controllability of crankshaft oil passage deburred, make deburred operation synchronously adapt to nervous productive temp, eliminate the hidden danger of quality of deburred, and then ensured the service life of engine.
(2) adopt the high-pressure balancing nozzle of two ends water outlet, reaction force during water under high pressure ejection can be offset, the requirement of strength of nozzle and external fixator is greatly reduced, namely reduces the requirement of robot bearing capacity.According to general nozzle, need to adopt and be carried as 50kgf and above robot, and adopt described high-pressure balancing nozzle, bearing capacity only need be adopted to be the robot of 5kgf, 90% is reduced to the load bearing requirements of robot, thus makes the acquisition cost of robot reduce by 70%.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is I partial enlargement two sides view in Fig. 1.
In figure: 1-conveying mechanism, the left Finial device of 2-, 3-transmission support seat, the traversing jig arm of 4-, 5-transmission holder, 6-transmission bracket, the traversing starting apparatus of 7-, 8-clamp mount, 9-chain protects, the traversing checkout gear of 10-, the traversing reductor of 11-, 12-mount pad, 13-robot, 1301-robot wrist, 14-high-pressure hose, 1401-high-pressure hose interface, 15-high-pressure balancing nozzle, 1501-gland, 1502-packing ring, 1503-turbulent flow sheet, 1504-plug, 1505-nozzle, 1506-potted component, 1507-passage body, 1508-screw, 1509-bolt, 16-reductor bearing, the traversing carriage of 17-, the horizontal driving-chain of 18-, the vertical driving-chain of 19-, the 20-axis of guide, 21-overturns reductor, 22-overturns transmission support, 23-overturns checkout gear, the right Finial device of 24-, 25-cleans body, 26-crankshaft workpiece.
Detailed description of the invention
hereinafter, with reference to the accompanying drawings of embodiments of the invention.
As shown in Figure 1-2, the robot high-pressure balancing burr remover of the embodiment of the present invention, comprises conveying mechanism 1, clamp mechanism, burring mechanism, cleaning body 25, and in clamp mechanism, transmission support seat 3 is fixed on conveying mechanism 1; Left Finial device 2 is separately fixed in traversing jig arm 4 with right Finial device 24; Right Finial device 24 is provided with shift fork, and crankshaft workpiece 26 can be driven to rotate, and right top tail spindle inserts on upset transmission support 22; Upset transmission support 22 is fixed on cleaning body 26; The opposite side fixing upset reductor 21 of upset transmission support 22; Upset checkout gear 23 is fixed on cleaning body 26, for the angle position state of indirect detection workpiece; Traversing jig arm 4 is fixed on traversing carriage 17; Traversing carriage 17 can do traversing slip on the axis of guide 20; Traversing carriage 17 drives the swing of traversing starting apparatus 7; Traversing checkout gear 10 is used for detecting traversing starting apparatus 7, thus judges the location status that left and right is top; Transmission holder 5 connects horizontal chain 18, horizontal chain 18 drives traversing jig arm 4 to move; Transmission holder 5 is fixed in transmission bracket 6; The axis of guide 20 is fixed in transmission bracket 6; Transmission bracket 6 is fixed on clamp mount 8; Traversing reductor 11 is fixed on reductor bearing 16; Reductor bearing 16 is fixed on clamp mount 8; Chain protection 9 is fixed on clamp mount 8; Traversing reductor 11 drives vertical driving-chain 19 to move, and vertical driving-chain 19 drives the sprocket rotation on transmission support seat 3, and the sprocket wheel on transmission support seat 3 drives horizontal driving-chain 18 to move; Horizontal driving-chain 18 drives traversing jig arm 4 to move; In burring mechanism, high-pressure hose 14 is connected on high-pressure balancing nozzle 15, provides water under high pressure; High-pressure balancing nozzle 15 is fixed in robot 13, and robot 13 is fixed on robot mount pad 12, and robot mount pad 12 is fixed on cleaning body 25.
As shown in Figure 3, high-pressure balancing nozzle is by gland 1501, passage body 1507, turbulent flow sheet 1503, nozzle 1505, plug 1504, high-pressure hose connector 1401 is formed by combining, passage body is that carbon sheet processes, make the carrier of water under high pressure flowing, passage body is connected mutually by bolt 1509 and robot wrist 1301, nozzle is installed on passage body, pressure cover screw 1508 is fixed to passage body water side, plug is installed on passage body with the fabrication hole of blocking channel body, turbulent flow sheet is installed in passage body for water under high pressure is turbulent, turbulent flow sheet both ends of the surface are equipped with packing ring 1502, the potted component 1506 matched with nozzle is provided with in gland, high-pressure hose connector is installed on passage body for connecting high-pressure hose 14, the overall hydraulic pressure that can bear 70Ma, the water outlet of high-pressure balancing nozzle ends, reaction force during water under high pressure ejection can be offset, nozzle and the outside time fixed fixing intensity required significantly are reduced, namely the requirement of robot bearing capacity is reduced.
Robot high-pressure balancing burr removing method comprises the following steps:
A) crankshaft workpiece 26 is transported to appointment station by conveying mechanism 1;
B) after crankshaft workpiece 26 is transported and is put in place, vertical driving-chain 19 is passed through by the traversing reductor 11 of clamp mechanism, horizontal driving-chain 18 drives a left side, right Finial device 2, 24 relative movements make a left side, the right side is top to be clamped in advance to crankshaft workpiece, shift fork on right Finial device 24 with top traversing crankshaft workpiece is positioned spacing, traversing carriage 17 does the traversing slip of straight line to a left side on the axis of guide 20, right Finial device accurately leads, traversingly to issue an order, checkout gear 7, 10 detect two top exact positions and the power source that feedback signal controls cross sliding driving device in time exports, finally realize clamping and positioning,
C) after crankshaft workpiece 26 locates clamping, connect water under high pressure treatment system, water in water tank is provided water under high pressure through supercharging, filtration feeding high-pressure hydraulic pump by high pressure processing system, by high-pressure hose 14, water under high pressure is supplied to high-pressure balancing nozzle 15, and carries out break-make control and pressure monitor to water route;
D) robot 13 holds high-pressure balancing nozzle 15 pairs of crankshaft workpiece oil hole peripheries and carries out circular motion, beats water under high pressure at oil hole edge, thus burr removing is clean; After the burr removing of crankshaft workpiece side oil hole is clean, is driven by overturning reductor 21 by the shift fork on right Finial device 24, crankshaft workpiece being overturn 180 °, continue to hold high-pressure balancing nozzle by clean for opposite side oil hole periphery burr removing by robot.
E) crankshaft workpiece oil hole burr removing clean after, high-pressure hydraulic pump starts off-load, disconnects water under high pressure treatment system, completes an oil duct deburring working cycles.
Claims (5)
1. a robot high-pressure balancing burr remover, comprise conveying mechanism, clamp mechanism, burring mechanism, cleaning body, described clamp mechanism comprises cross sliding driving device, traversing carriage, the axis of guide, left and right Finial device, overturning drive device, traversingly to issue an order, checkout gear, upset checkout gear; Cross sliding driving device is fixed on cleaning body by clamp mount; Traversing carriage is connected with transmission support seat, and transmission support seat is fixing on the conveyor, and traversing carriage can do the traversing slip of straight line on the axis of guide; Left and right Finial device is fixed on traversing carriage respectively by traversing jig arm, and right Finial device is provided with shift fork, and shift fork is driven by overturning drive device, and overturning drive device is fixed on cleaning body; Lower end and the traversing carriage of traversing starting apparatus slidingly contact, upper end is placed in traversing checkout gear, traversing checkout gear is fixed on cleaning body, and traversing starting apparatus can swing with the transverse shifting of traversing carriage and detect in horizontal checkout gear; Upset checkout gear is fixed on cleaning body; It is characterized in that, described burring mechanism comprises robot, high-pressure balancing nozzle, high-pressure hose, robot is fixed on cleaning body by robot mount pad, high-pressure balancing nozzle is fixed on robot wrist, for providing the high-pressure hose of water under high pressure to be connected to high-pressure balancing nozzle to high-pressure balancing nozzle.
2. robot according to claim 1 high-pressure balancing burr remover, it is characterized in that, described high-pressure balancing nozzle comprises passage body, turbulent flow sheet, nozzle, gland, described passage body is provided with a water inlet duct, water inlet duct end symmetrical is provided with two water outlet ducts, form the T-shaped passage body of two ends water outlet, passage body is provided with high-pressure hose interface and communicates with water inlet duct, turbulent flow sheet and nozzle are arranged in passage body water outlet duct, nozzle end leans out passage body water outlet duct, nozzle leans out part gland and fastens, pressure cover screw and passage body are connected, water jet and the jet hole of gland match.
3. robot according to claim 2 high-pressure balancing burr remover, is characterized in that, the aperture of described nozzle is column by trumpet-like transition and extends, and jet hole diameter is greater than column nozzle bore.
4. robot according to claim 1 high-pressure balancing burr remover, is characterized in that, described turbulent sheet both ends of the surface are equipped with packing ring, and described gland the inner is provided with the potted component matched with nozzle.
5. a robot high-pressure balancing burr removing method, is characterized in that, comprises the following steps:
A) crankshaft workpiece is transported to appointment station by conveying mechanism;
B) after crankshaft workpiece is transported and is put in place, Finial device relative movement is driven to make left and right toply to clamp in advance crankshaft workpiece by the cross sliding driving device of clamp mechanism by driving-chain, shift fork on right Finial device with top traversing crankshaft workpiece is positioned spacing, traversing carriage is done the traversing slip of straight line and is accurately led to left and right Finial device on the axis of guide, traversingly to issue an order, checkout gear detects two top exact positions and the power source that feedback signal controls cross sliding driving device in time exports, and finally realizes clamping and positioning;
C) after the clamping of crankshaft workpiece location, open water under high pressure treatment system, water in water tank is provided water under high pressure through supercharging, filtration feeding high-pressure hydraulic pump by high pressure processing system, by high-pressure hose, water under high pressure is supplied to high-pressure balancing nozzle, and carries out break-make control and pressure monitor to water route;
D) robot holds high-pressure balancing nozzle and carries out circular motion to crankshaft workpiece oil hole periphery, beats water under high pressure at oil hole edge, thus burr removing is clean; After the burr removing of crankshaft workpiece side oil hole is clean, is driven by overturning drive device by the shift fork on right Finial device, crankshaft workpiece is overturn 180 °, continue to hold high-pressure balancing nozzle by clean for opposite side oil hole periphery burr removing by robot;
E) crankshaft workpiece oil hole burr removing clean after, high-pressure hydraulic pump starts off-load, disconnects water under high pressure treatment system, completes an oil duct deburring working cycles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510247971.0A CN104816042A (en) | 2015-05-15 | 2015-05-15 | Robot high-pressure balance burr removing device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510247971.0A CN104816042A (en) | 2015-05-15 | 2015-05-15 | Robot high-pressure balance burr removing device and method |
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| CN104816042A true CN104816042A (en) | 2015-08-05 |
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| CN201510247971.0A Pending CN104816042A (en) | 2015-05-15 | 2015-05-15 | Robot high-pressure balance burr removing device and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106270797A (en) * | 2016-08-31 | 2017-01-04 | 济南嘉和恒基数控科技有限公司 | A kind of bent axle deburring machine and debarring process |
| CN114800284A (en) * | 2022-04-13 | 2022-07-29 | 和氏工业技术股份有限公司 | High-pressure water jet deburring machine |
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| CN201978906U (en) * | 2011-01-24 | 2011-09-21 | 哈尔滨岛田大鹏工业有限公司 | Six-shaft robot held spray nozzle cleaning device |
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| DE102011000255A1 (en) * | 2011-01-21 | 2012-07-26 | Piller Entgrattechnik Gmbh | Device for deburring, cleaning and scraping shaft with liquid jets emerging under pressure from nozzles, comprises sealable chamber, which accommodates shaft and fixed nozzles |
| CN103857475A (en) * | 2011-08-11 | 2014-06-11 | 杜尔艾科克林有限公司 | Device for generating a pulsating fluid jet subjected to pressure |
| CN203778378U (en) * | 2014-04-15 | 2014-08-20 | 广州粤研液压机电有限公司 | Crankshaft cleaning device for high-pressure cleaning of engine crankshafts |
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| SU1741933A1 (en) * | 1989-06-22 | 1992-06-23 | Б.В.Алексеев | Crankshaft washing installation |
| CN1377735A (en) * | 2002-04-26 | 2002-11-06 | 浙江大学 | Directly high pressure atomizing fine water mist jet |
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| CN101524688A (en) * | 2009-04-03 | 2009-09-09 | 大连现代辅机开发制造有限公司 | Method and special device for rotary crankshaft cleaning and blowing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106270797A (en) * | 2016-08-31 | 2017-01-04 | 济南嘉和恒基数控科技有限公司 | A kind of bent axle deburring machine and debarring process |
| CN114800284A (en) * | 2022-04-13 | 2022-07-29 | 和氏工业技术股份有限公司 | High-pressure water jet deburring machine |
| CN114800284B (en) * | 2022-04-13 | 2023-02-21 | 和氏工业技术股份有限公司 | High-pressure water jet deburring machine |
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Application publication date: 20150805 |
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