CN105598758A - Automatic flexible crankshaft connecting line based on robots and machining method of crankshafts - Google Patents

Automatic flexible crankshaft connecting line based on robots and machining method of crankshafts Download PDF

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Publication number
CN105598758A
CN105598758A CN201610144662.5A CN201610144662A CN105598758A CN 105598758 A CN105598758 A CN 105598758A CN 201610144662 A CN201610144662 A CN 201610144662A CN 105598758 A CN105598758 A CN 105598758A
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CN
China
Prior art keywords
bent axle
robot
truss
grinding machine
blanking
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Granted
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CN201610144662.5A
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Chinese (zh)
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CN105598758B (en
Inventor
吴少威
朱惠德
蒋仕龙
陈健
刘强
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Heshi Industrial Technology Co., Ltd
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Guangdong He Shi Automatic Technology Inc Co
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Priority to CN201610144662.5A priority Critical patent/CN105598758B/en
Publication of CN105598758A publication Critical patent/CN105598758A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B5/00Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
    • B24B5/36Single-purpose machines or devices
    • B24B5/42Single-purpose machines or devices for grinding crankshafts or crankpins
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B5/00Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
    • B24B5/35Accessories
    • B24B5/355Feeding means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B7/00Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
    • B24B7/10Single-purpose machines or devices
    • B24B7/16Single-purpose machines or devices for grinding end-faces, e.g. of gauges, rollers, nuts, piston rings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0093Programme-controlled manipulators co-operating with conveyor means

Abstract

The invention provides an automatic flexible crankshaft connecting line based on robots and a machining method of crankshafts. The automatic flexible crankshaft connecting line based on the robots comprises a vertically-inserting type crankshaft storing unit, and the number of stored crankshafts is increased several times; the multi-grab truss feeding robot and the truss discharging robot are arranged on two independent trusses, and it is guaranteed that interference and impacting are avoided between the robots. The machining method of the crankshafts is based on the automatic flexible crankshaft connecting line; due to the stored crankshafts in the number increased several times and the multi-grab truss feeding robot, the crankshaft carrying speed during machining is increased several times.

Description

A kind of bent axle flexible automation line based on robot and the processing method of bent axle
Technical field
The present invention relates to Crankshaft Machining field, relate in particular to a kind of bent axle flexible automation line based on robot and a kind of processing method of bent axle.
Background technology
With the accelerated development of automatic field, the bent axle flexible automation line based on robot is quoted more popular in the production and processing of bent axle. The existing bent axle flexible automation line based on robot comprises multiple bent axle material stocks unit, lathe unit, multiple truss feed robot, multiple truss blanking robot; Bent axle material stock unit adopts V-type frame chain, and bent axle is carried out horizontal material stock and transported; Multiple truss feed robots and multiple truss blanking robot share same truss track, and truss feed robot and truss blanking machine be single gripping-type per capita, all only have one to clamp.
The problem that the existing bent axle flexible automation line based on robot exists is that, because bent axle material stock unit carries out horizontal material stock to bent axle, greatly, the area of restriction can not be fully utilized the requirement of material stock floor space, needs often to supplement material crankshaft. The truss feed robot of single gripping-type and truss blanking robot share same truss track, not only operating efficiency is low, bent axle previous step processing is carried out complete need to be handed off to next step processing in, between truss feed robot and truss blanking robot, easily there is abnormal collision, directly affect the service life of truss and truss feed robot, truss blanking robot, and have potential safety hazard.
Summary of the invention
First goal of the invention of the present invention is for providing a kind of efficient and good bent axle flexible automation line based on robot of security;
Second goal of the invention of the present invention is for providing a kind of processing method of the bent axle of efficiently removing material.
Bent axle flexible automation line based on robot provided by the invention, comprise bent axle material stock unit, grinding machine group, truss feed robot, truss blanking robot and bent axle detent mechanism, truss feed robot and truss blanking robot transport bent axle between bent axle material stock unit, grinding machine group and bent axle detent mechanism; Bent axle material stock unit comprises carrier chain and driver, the chain link loopy moving on driver drives carrier chain; Bent axle is placed on chain and with chain link and moves; It is characterized in that: bent axle material stock unit also comprises slot plate, and slot plate is fixedly connected on chain link, slot plate is provided with at least three slots of arranged, and the depth direction of slot is vertical with the rectilinear movement direction of chain link, and bent axle vertically inserts in slot; Truss feed robot and truss blanking robot are located on two truss, and truss feed robot is provided with at least three and clamps position.
From such scheme, insert in bent axle material stock unit because bent axle is perpendicular, every bent axle floor space several times decline, and limiting the bent axle several times increase that can deposit in area, improve loading efficiency when drop in reduction place; Adopt Duo Zhuashi feed robot and the blanking robot of independent truss effectively to avoid interference and collision between the two, extend robot service life and avoid unexpected generation, the position robots that clamp coordinate the perpendicular formula bent axle material stock unit of inserting that bent axle handling efficiency several times are improved more simultaneously.
Further scheme is that the bent axle flexible automation line based on robot also comprises the first six-DOF robot and the second six-DOF robot; Grinding machine group comprises at least one centerless grinder, at least one eccentric grinding machine and at least one thrust surface grinding machine; The first six-DOF robot is provided with at least two first and captures position, and the first six-DOF robot is movable to eccentric grinding machine place and bent axle detent mechanism place; The second six-DOF robot is provided with at least two second and captures position, and the second six-DOF robot is movable to thrust surface grinding machine place and bent axle detent mechanism place.
From such scheme, bent axle material stock unit transports perpendicular multiple bent axles of inserting, and rear truss feeding machine device people carries out feeding and centreless grinding processing to three above bent axles simultaneously; After truss blanking robot on different truss bent axle is taken out from centreless grinding and temporary, rear the first six-DOF robot and the second six-DOF robot carry out bias simultaneously and grind and thrust surface grinder order after plural bent axle being captured successively. This bent axle flexible automation line working (machining) efficiency based on robot effectively improves, and reduces material stock area and increases feeding rate, and truss feed robot and truss blanking robot avoid interfering, and in the service life of effectively improving robot, improve security simultaneously.
Further scheme is that bent axle detent mechanism comprises supporting seat, driving wheel and measurement section. Supporting seat is provided with roller set, and roller set supports the main shaft part of bent axle; Driving wheel can and make bent axle rotate along the axle center of main shaft part with main shaft part butt; Measurement section comprises gage outfit and measuring seat, and gage outfit and measuring seat are slidably connected, and gage outfit is connected to the side face of the eccentric axial portion of bent axle, and the sensor in measuring seat reads the displacement data of gage outfit.
Therefore in the time that drive wheel is rotated bent axle, eccentric shaft is synchronous rotates the displacement transducer making in measuring seat and reads the displacement of gage outfit, PLC system read sensor signal the eccentric position that draws bent axle, positioning precision is higher.
Further scheme is, bent axle material stock unit also comprises truss material stirring-up mechanism, and truss material stirring-up mechanism comprises fixed part, sliding part and flip-arm, and sliding part and fixed part are slidably connected, upset portion and sliding part are rotationally connected, and flip-arm is provided with at least three the 3rd and captures position.
Therefore truss material stirring-up mechanism can be turned into accumbency by the bent axle in upright state, the crawl of truss feeding machanism to bent axle of being more convenient for, the processing characteristics of the bent axle flexible automation line of optimization based on robot.
Further scheme is, bent axle material stock unit also comprises bent axle slide unit, and bent axle slide unit and fixed part are slidably connected, and is provided with at least three first and keeps in position on bent axle slide unit, and described bent axle is put for crouching in each first temporary position; Truss feed robot moves between bent axle slide unit and centerless grinder.
Therefore, when truss material stirring-up mechanism will first be positioned over the first temporary position of bent axle slide unit after the bent axle upset of setting, in truss feed robot in bent axle slide unit feeding, bent axle material stirring-up mechanism has returned to slot plate place continues bent axle again to take out upset, improves the operating efficiency of the bent axle flexible automation line based on robot.
Further scheme is, truss blanking robot comprises blanking crawl arm and due-in district, due-in district is provided with at least three second temporary positions, the second temporary position is for the sleeping bent axle of putting, blanking crawl arm can move between centerless grinder and due-in district, and truss feed robot can move between due-in district and centerless grinder.
Therefore, blanking crawl arm takes out and is temporary in due-in district to the bent axle of having processed in centerless grinder, after this, when truss feed robot takes out next step processing of preparation to due-in district inside crankshaft, blanking crawl arm again moves in centerless grinder another bent axle is taken out, two step work are synchronously carried out, and improve the operating efficiency of the bent axle flexible automation line based on robot.
Further scheme is, is provided with the first blanking transmission line between centerless grinder and eccentric grinding machine, is provided with the multiple the 4th temporary position on the first blanking transmission line, and the 4th temporary position is for the sleeping bent axle of putting; Truss feed mechanical arm moves between due-in district and the first blanking transmission line; The first six-DOF robot moves between the first blanking transmission line and bent axle detent mechanism.
Therefore, the first blanking transmission line is set between centerless grinder and eccentric grinding machine, by truss feed robot and the first six-DOF robot, bent axle is transmitted, it is adjustable flexible that distance between lathe and relative position become, and makes the process automation that transports to bent axle between the two improve simultaneously.
Further scheme is, is provided with the second blanking transmission line between eccentric grinding machine and thrust surface grinding machine, and the second blanking transmission line comprises portal support and multiple transports position, and transport position is slidably connected with portal support, and transport position is for capturing bent axle; The first six-DOF robot moves between eccentric grinding machine and the second blanking transmission line, and the second six-DOF robot moves between the second blanking transmission line and bent axle detent mechanism.
Therefore, because production line entire length after many lathe lines is partially long, between eccentric grinding machine and thrust surface grinding machine, be provided with the second blanking transmission line of portal support and with the first six-DOF robot and the second six-DOF robot transmission, be convenient to staff and between production line, equipment checked and monitor, improve the automaticity of the bent axle flexible automation line based on robot simultaneously.
Further scheme is that the bent axle flexible automation line based on robot also comprises First Transition supply line and the second transition supply line; On First Transition supply line, be provided with multiple the first screens, the first screens is used for placing bent axle; The first six-DOF robot moves between First Transition supply line and bent axle detent mechanism; The first six-DOF robot moves between eccentric grinding machine and First Transition supply line; On the second transition supply line, be provided with multiple the second screens, the second screens is used for placing bent axle; The second six-DOF robot moves between the second transition supply line and bent axle detent mechanism; The second six-DOF robot moves between thrust surface grinding machine and the second transition supply line.
Therefore, First Transition supply line is identical with the second transition supply line effect, taking First Transition supply line as example, after the eccentric grinding machine of First processes, the first six-DOF robot takes out and is positioned on First Transition supply line bent axle and transports, and second another first six-DOF robot corresponding to eccentric grinding machine takes out bent axle from First Transition supply line, delivers to and in detent mechanism, carries out bias location, carry out again second eccentric mill processing, circulation like this. First Transition supply line can be avoided mutually waiting for and causing that the first six-DOF robot cannot carry out work to next workpiece owing to directly transmitting between the first six-DOF robot, reduce unnecessary time loss and improve working (machining) efficiency.
The processing method of bent axle, the bent axle flexible automation line of this processing method based on robot realized, and this line comprises bent axle material stock unit, grinding machine group, truss feed robot, truss blanking robot and bent axle detent mechanism; Bent axle material stock unit comprises carrier chain and driver, and bent axle material stock unit also comprises slot plate, and slot plate is fixedly connected on carrier chain, and slot plate is provided with at least three slots of arranged, and slot is axially vertical with the rectilinear movement direction of chain link; Grinding machine group comprises at least one centerless grinder, at least one eccentric grinding machine and at least one thrust surface grinding machine; Bent axle flexible automation line based on robot also comprises the first six-DOF robot and the second six-DOF robot; Truss feed robot is from truss blanking robot on different truss, and truss feed robot is provided with at least three and clamps position; The first six-DOF robot is provided with at least two first and captures position; The second six-DOF robot is provided with at least two second and captures position. The processing method of bent axle comprises erects bent axle to insert on the slot of bent axle material stock unit, and carrier chain transports bent axle; Truss feed robot is transported to centerless grinder place after at least three bent axles on bent axle material stock unit are taken out and carries out centreless grinding processing; Truss blanking robot takes out bent axle and keeps in from centerless grinder; The first six-DOF robot captures and is transported to bent axle detent mechanism place at least two bent axles and carries out bent axle location, and rear the first six-DOF robot takes out and is transported to eccentric grinding machine at least two bent axles from bent axle detent mechanism and carries out the processing of bias mill; The first six-DOF robot takes out and keeps in from eccentric grinding machine bent axle; The second six-DOF robot captures and is transported to bent axle detent mechanism place at least two bent axles and carries out bent axle location, and rear the second six-DOF robot takes out and is transported to thrust surface grinding machine at least two bent axles from bent axle detent mechanism and carries out the processing of thrust surface mill; The second six-DOF robot takes out from thrust surface grinding machine bent axle and carries out bent axle discharging.
From such scheme, truss feed robot takes out and transports at least three bent axles erectting and carries out centreless grinding processing, the first six-DOF robot transports at least two bent axles and carries out bias mill and process, the second six-DOF robot transports at least two bent axles the whereabouts pushing surface mill processing of going forward side by side, from the discharging that is transported to bent axle of bent axle material stock unit, the quantity that every procedure transports bent axle promotes at double, removes material efficiency and significantly improves, thereby improve Production of Crankshaft efficiency.
Brief description of the drawings
Fig. 1 is the structure chart of the bent axle flexible automation line embodiment based on robot.
Fig. 2 is the structure chart at another visual angle of bent axle flexible automation line embodiment based on robot.
Fig. 3 is the enlarged drawing at A place in Fig. 2.
Fig. 4 is the enlarged drawing at B place in Fig. 1.
Fig. 5 is the enlarged drawing at C place in Fig. 1.
Fig. 6 is the enlarged drawing at D place in Fig. 1.
Fig. 7 is the enlarged drawing at E place in Fig. 1.
Fig. 8 is the enlarged drawing at F place in Fig. 1.
Fig. 9 is the enlarged drawing at G place in Fig. 1.
Figure 10 is the enlarged drawing at H place in Fig. 1.
Below in conjunction with accompanying drawing reference example, the present invention is described in detail.
Detailed description of the invention
Bent axle flexible automation line embodiment based on robot:
As shown in Figure 1, Fig. 1 is the structure chart of the bent axle flexible automation line based on robot. bent axle flexible automation line based on robot is to pass through truss robot, multi-freedom robot and guide rail are at PLC programmable controller and wired, under the control of wireless network, bent axle is transported to the full-automatic flexible production line of processing in grinding machine group, production line comprises bent axle material stock unit 100, centerless grinder 1, eccentric grinding machine 2, the truss feed robot 200 that thrust surface grinding machine 3 and carrying bent axle are used, truss blanking robot 300, the first blanking transmission line 400, the first six-DOF robot 500, First Transition supply line 550, the second blanking transmission line 600, the second six-DOF robot 700 and the second transition supply line 750, also be useful on the bent axle detent mechanism 800 of crankshaft eccentric location use.
As shown in Figures 2 and 3, Fig. 2 is the structure chart at another visual angle of bent axle flexible automation line based on robot, and Fig. 3 is the enlarged drawing at A place in Fig. 2. Bent axle material stock unit 100 is the top of the bent axle flexible automation line based on robot, bent axle material stock unit 100 in the present invention is vertical crankshaft material stock unit, to deposit, transport, overturn and keep in bent axle 10 in bent axle material stock unit 100, be the crawl Job readiness of truss feed robot 200 in next procedure of processing. The basic components of bent axle material stock unit 100 are driver 110 and conveyer chain 120, and driver 110 is drive motors, and driver 110 drive sprockets rotate, and sprocket wheel drives the chain link 121 in conveyer chain 120 to produce rectilinear motion between two sprocket wheels. Driver 110 output shafts are connected with two groups of conveyer chains 120 that structure is identical, and there is certain distance in the middle of two groups of conveyer chains 120, in two groups of conveyer chains 120, two chain links 121 are connected in slot plate 130 both sides, two groups of conveyer chains 120 are synchronously rotated, thereby the chain link of both sides 121 advanced in unison drive slot plate 130 rectilinear motions.
On slot plate 130, be provided with nine slots 131, the circular hole that multiple slots 131 are straight line, the depth direction of slot 131, each circular hole is axially vertical with the straight-line direction of chain link 121, insert in slot 131 and bent axle 10 blank material are perpendicular, form perpendicular the inserting side by side of bent axle 10. To the horizontal placement compared with V-type seat, perpendicular slotting bent axle 10 material stock amounts are at least increased to three times side by side.
Because conveyer chain 120 is mobile, truss feed robot 200 need capture static bent axle 10, therefore bent axle material stock unit 100 also comprises truss material stirring-up mechanism 140 and bent axle slide unit 190. Truss material stirring-up mechanism comprises fixed part 170, sliding part 160 and flip-arm 150, the fixed part 170 of door case type is fixed with respect to ground, sliding part 160 is slidably connected by the realizations such as slide rail and cylinder or servomotor and fixed part 170, and flip-arm 150 is rotationally connected with sliding part 160 lower ends, flip-arm 150 is provided with 151, the three crawl positions 151, three the 3rd crawl positions and can bent axle 10 be captured folding. Bent axle slide unit 190 is slidably connected to slide unit fixed part 180, and slide unit fixed part 180 is relative with fixed part 170 fixing, is provided with three first temporary positions 191 on bent axle slide unit 190. When the 3rd of flip-arm 150 captures after 10 crawls of 151 pairs of positions bent axle, carry out 90 degree upset and carryings, last let-down, in the first temporary position 191, treats that truss feed robot 200 removes material.
As shown in Figure 2, Figure 3 and Figure 4, Fig. 4 is the enlarged drawing at B place in Fig. 1, and truss feed robot 200 comprises main couple 201 and feed arm 210, and main couple 201 top rails are stretched portion's whole installation tooth bar, and feed arm 210 moves horizontally on main couple 201. Feed arm 210 is vertical elongated arm, is provided with linear slide rail on it, makes three the 4th of feed arm 210 lower ends to capture position 211 vertically slippages; The 4th captures position 211 can capture bent axle 10 under drive motors drives in folding. Owing to having multiple centerless grinders 1 side by side and extremely on bent axle flexible automation line, main couple 201 is crossed over many centerless grinders 1 simultaneously, and according to the working alone property between centerless grinder 1, on main couple 201, be equipped with multiple truss feed robot 200 and respectively each centerless grinder 1 carried out to independent feed work.
As shown in Figure 1 and Figure 5, Fig. 5 is the enlarged drawing at C place in Fig. 1, and Fig. 5 is the structure chart of truss blanking robot 300. Every centerless grinder 1 is all equipped with an independently truss blanking robot 300, and truss blanking robot 300 comprises blanking truss 310, blanking crawl arm 320 and due-in district 330. Blanking crawl arm 320 is slidably connected on blanking truss 310, passes through driven by servomotor; Blanking crawl arm 320 ends are provided with blanking and capture position 321, and under air cylinder driven, blanking captures position 321 and can on blanking crawl arm 320, vertically slide. Below blanking crawl arm 320, be provided with can horizontal slip due-in district 330, and the glide direction in due-in district 330 is vertical with the glide direction of blanking crawl arm 330, in due-in district 330, being provided with temporary position 331, three second temporary positions 331, the second is V-type seat horizontal crankshaft storage unit. When bent axle 10 is in centerless grinder 1 after completion of processing, blanking crawl arm 320 level on blanking truss 310 is moved and bent axle 10 is captured, after on blanking truss 310, move horizontally and return again, keep in the blanking crawl position 321 of realizing with cylinder by moving horizontally of blanking truss vertically mobile 330 places of due-in district that arrive, and treats second step centreless grinding operation or next eccentric grinder order.
As shown in Fig. 1 and Fig. 6, Fig. 6 is the enlarged drawing at D place in Fig. 1, and Fig. 6 is the structure chart of the first blanking supply line 400. The first blanking supply line 400 is arranged between centerless grinder 1 and eccentric grinding machine 2 for bent axle 10(Fig. 5 being shown between two procedures) carrying; The first blanking supply line 400, for being provided with the second conveyer chain 410, the second conveyer chains 410 rectilinear motion under the driving of motor 420 of V-type seat 411, shows sleeping bent axle 10(Fig. 5 being put on V-type seat 411) straight line is transported near eccentric grinding machine 2 one end.
As shown in Figure 1 and Figure 7, Fig. 7 is the enlarged drawing at E place in Fig. 1, and Fig. 7 is the local structural graph of the second six-DOF robot 700. every eccentric grinding machine 2 is all equipped with independently first six-DOF robot 500, every thrust surface grinding machine 3 is all equipped with independently second six-DOF robot 700, the first six-DOF robot 500 is identical with the second six-DOF robot 700 structures, taking the second six-DOF robot 700 as example, the second six-DOF robot 700 is multi-axis robot, the end crawl section 710 of robot be provided with two can independent folding second capture position 711, the second six-DOF robot 700 can capture also mobile to bent axle 10, rotate, carrying bent axle 10 to bent axle detent mechanism 800 carries out bias location, after be transported to thrust surface grinding machine 2 places and process. in like manner, two first of the first six-DOF robot 500 crawl section ends capture position can to bent axle 10 capture and mobile, rotate, carrying bent axle 10 to bent axle detent mechanism 800 carries out bias locates, after be transported to eccentric grinding machine 3 places and process.
As shown in Fig. 1 and Fig. 8, Fig. 8 is the enlarged drawing at F place in Fig. 1, Fig. 8 is the structure chart of bent axle detent mechanism 800, bent axle detent mechanism 800 comprises supporting seat 810, drive wheel assemblies 820, measurement section 830 and localization handspike 840, supporting seat 810 is two groups of roller set 811, between two groups of roller set 811, have certain distance, two groups of roller set 811 have four rolling altogether provides the strong point of four line Contact Pair, makes the rotational freedom that bent axle 10 supports thereon and bent axle 10 is axial there is no restrained restriction, drive wheel assemblies 820 comprises driving wheel 821, driving wheel cylinder 822 and driving wheel motor 823, driving wheel 821 and driving wheel motor 823 mediate on plate 824, intermediate plate 824 be articulated with the relatively-stationary base 850 of supporting seat 810 on, driving wheel cylinder 822 is articulated with on base 850, and the piston-rod end of driving wheel cylinder 822 and intermediate plate 824 are hinged, when driving wheel cylinder 822 moves, piston rod promotes to make the side face butt of driving wheel 821 and bent axle 10 main shaft part, and driving wheel motor 823 starts rotates driving wheel 821, under frictional force effect, bent axle 10 rotates along the axle center of its main shaft part.
Be provided with measurement section 830 in supporting seat 810 1 sides, measurement section 830 comprises gage outfit 831 and measuring seat 832, gage outfit 831 coordinates with measuring seat 832 Elastic Sliding, in measuring seat 832, is provided with displacement transducer, and displacement transducer is connected with PLC programmable controller end. Gage outfit 831 and bent axle 10 eccentric axial portion side face butts, when bent axle 10 rotates and makes under driving wheel 821 effects, the rotation of bent axle 10 eccentric wheel portions makes gage outfit 831 slide with respect to measuring seat 832, make displacement transducer produce displacement signal, then transferring to PLC processing and draw eccentric location, is that next step processing is prepared.
Because bent axle 10 horizontal levels of putting supporting seat 810 are not by correctly, so being set, localization handspike 840 promotes bent axle 10 end faces, ensure that bent axle 10 eccentric shaft side faces contact with gage outfit 831.
As shown in Fig. 1 and Fig. 9, Fig. 9 is the enlarged drawing at G place in Fig. 1, be the structure chart of First Transition supply line 550, due to eccentric grinding machine 2 and thrust surface grinding machine 3 in bent axle flexible automation line be one or more than, between eccentric grinding machine 2 and eccentric grinding machine 2, be provided with First Transition supply line 550, between pushing surface grinding machine 3 and thrust surface grinding machine 3, be provided with the second transition supply line 750. First Transition supply line 550 is identical with the second transition supply line 750 structures, with next taking First Transition supply line 550 as example explanation. First Transition supply line 550 still adopts conveyer chain structure, and motor drives First Transition conveyer chain 551 to make the transition chain chain link on it produce rectilinear movement. On motor output shaft, connecting four and be with to each other sprocket wheel at regular intervals, and transition connects on chain link and is provided with lug boss, make to be positioned over fixing in First Transition conveyer chain 551 and be not shifted. After the bent axle 10 of the eccentric mill of first step completion of processing is taken out by the first six-DOF robot 500, be placed on First Transition supply line 550, First Transition supply line 550 is transported to and is applicable to behind position bent axle 10, full-time second the first six-DOF robot 500 in the eccentric mill processing of second step takes out bent axle 10 from First Transition supply line 550, delivering to bent axle detent mechanism 800 carries out behind bias location, send in second eccentric grinding machine 2 again and process, so many step is carried out.
As shown in Fig. 1 and Figure 10, Figure 10 is the enlarged drawing at H place in Fig. 1, i.e. the second blanking supply line 600 local structural graphs, between eccentric grinding machine 2 and thrust surface grinding machine 3, be provided with the second blanking supply line 600, the first blanking supply line 600 is planer-type transportation frame, on portal support, be provided with vertical slide rail 620 and horizontal slide rail 640, twice vertical slide rail 620 is positioned at described horizontal slide rail two ends. on the second blanking supply line 600, be connected with transport position, transport position comprises vertical transport position 610 and horizontal transport position 630, and vertical transport position 610 runs in vertical slide rail 620, and horizontal transport position 630 runs on horizontal slide rail 640. on vertical transport position 610 and horizontal transport position 630, be provided with two can folding bent axle lay position, in eccentric grinding machine 2, the bent axle 10 of completion of processing is delivered on the first side vertical transport position 610 after being taken out by the first six-DOF robot 500, the vertical slip in vertical transport position 610 is transported to bent axle 10 to approach after horizontal slide rail 640, vertical transport position 610 and horizontal transport position 630 are carried out bent axle 10 and are laid handing-over, bent axle 10 is captured by horizontal transport position 630 and carries out horizontal transport, until horizontal transport position 630 arrives horizontal slide rail 640 second ends, join with the vertical transport position 610 that is positioned at the second end again, rear vertical transport position 610 is after the vertical slide rail 620 of the second side, bent axle 10 on it is taken out and is transported by the second six-DOF robot 700, carry out bias location and the processing of thrust surface mill.
In bent axle flexible automation line based on robot, that bent axle material stock unit 100, truss feed robot 200, the first six-DOF robot 500 or the second six-DOF robot 700 are expected all several times liftings of efficiency to removing of bent axle 10, and bent axle material stock unit 100 several times under same area increase material stock amount, the outstanding material stock unit of having optimized.
The processing method embodiment of bent axle
The bent axle flexible automation line based on robot of the processing method of bent axle based in upper embodiment, the structure of the bent axle flexible automation line based on robot is described in detail in upper embodiment, therefore do not repeat, below the process steps of bent axle explained orally:
As shown in Figures 1 to 10, when Crankshaft Machining starts, on slot 131 on the first slot plate 130 that bent axle 10 is vertically plugged in to bent axle material stock unit 100, multiple slots 131 are by after plug-in mounting, conveyer chain 120 starts shuttling movement under the driving of driver 110, drive the chain link 121 on it and drive slot plate 130 straight line between two sprocket wheels on chain link 121 to transport, until there is a slot plate 130 to arrive systemic presupposition position.
When slot plate 130 arrives behind systemic presupposition position, the flip-arm 150 on truss material stirring-up mechanism 140 starts three bent axles 10 on slot plate 130 to extract and turn over to turn 90 degrees, and makes the original bent axle 10 of erectting be converted into level. Thereafter, flip-arm 150 is vertical and horizontal slip on sliding part 160, and three bent axles 10 on it are transported on three first temporary positions 191 on bent axle slide unit 190. Bent axle 10 arrives behind three first temporary positions 191, and 190 horizontal slips of bent axle slide unit, transport bent axle 10 and arrive district undetermined, waits for that truss feed robot 200 receives.
Truss feed robot 200 upper three bent axles 10 on bent axle slide unit 190 are captured and on truss, carry out vertically, level transports, arrive centerless grinder 1 place and carry out the processing of first centreless grinding.
After first centreless grinding operation completes, the blanking crawl arm of truss blanking robot 300 moves in First centerless grinder 1, bent axle 10 is therefrom taken out and is slid on the second temporary position 331, and three bent axles 10 are temporary in due-in district 330. Certainly, the process requirements different according to bent axle 10, centreless grinding operation may need to carry out one to three time, if need carry out centreless grinding operation for the second time or for the third time, specialize in second truss feed robot 200 of second centerless grinder 1 and second truss blanking robot 300 the carrying step to bent axle 10 circulation first centreless grindings and carry out centreless grinding processing for the second time, the method for centreless grinding processing is for the third time identical with the method that centreless grinding is processed for the third time.
After last one centreless grinding operation completes, bent axle 10 is temporary in due-in district 330 by truss blanking robot 300, now needs the bent axle 10 between meticulous centerless grinder 1 and eccentric grinding machine 2 to carry. Between centerless grinder 1 and eccentric grinding machine 2, be provided with the first blanking supply line 400, a truss feed robot 100 that is responsible for centerless grinder 1 without sole duty captures three bent axles 10 be carried in the second conveyer chain 410 of the first blanking supply line 400, and in the second conveyer chain 410, V-type seat makes bent axle 10 fix and stablize and transport.
In the time that the first blanking supply line 400 transports approach the first six-DOF robot 500, full-time the first six-DOF robot 500 of doing in the eccentric grinder of the first step captures and is transported to full-time bent axle detent mechanism 800 places that do in the eccentric grinder of the first step by two bent axles 10 and carries out the work of eccentric location, then is transported in the eccentric grinding machine 2 of First and carries out eccentric grinder work. Because eccentric grinder order needs one or more eccentric grinding machine 2 to realize according to the different processing situation of bent axle 10, therefore be provided with First Transition supply line 550 between adjacent eccentric grinding machine 2, full-time the first six-DOF robot 500 in the eccentric grinding machine 2 of First is kept in and is transported being placed into First Transition supply line 550 after bent axle 10 is taken out from eccentric grinding machine 2, be transported to second eccentric grinding machine 2 place, the bent axle carrying operation that circulation as for the first time eccentric mill are consistent.
After last eccentric grinder order together, two bent axles 10 are transported to the second blanking supply line 600 between eccentric grinding machine 2 and thrust grinding machine 3 by the first six-DOF robot 500 of full-time last eccentric grinding machine 2 simultaneously, bent axle is transported to thrust grinding machine 2 one sides by the second blanking supply line 600, captured by the second six-DOF robot 700 of full-time first step thrust surface grinder order.
The second six-DOF robot 700 is transported to two bent axles 10 simultaneously and in bent axle detent mechanism 800, carries out one by one bias location, after bent axle 10 is transported in thrust surface grinding machine 3, carries out thrust surface processing again, after first step thrust surface completion of processing, the second six-DOF robot 700 is placed in the second transition supply line 750 and keeps in and transport, rear continuation second step thrust surface grinds processing, and its carrying step is with reference to first step thrust surface carrying operation.
After final step thrust surface grinder order, the second six-DOF robot 700 of full-time last thrust surface grinding machine 3 takes out from thrust surface grinding machine 3 two bent axles 10, and is placed on discharging haul road, carries out bent axle 10 dischargings.
Finally it is emphasized that; the foregoing is only the preferred embodiments of the present invention; be not limited to the present invention; for a person skilled in the art; the present invention can have various variations and change, as variation of the increase of bent axle material stock unit upper position quantity, grinding machine group Internal abrasive machine value volume and range of product etc., within the spirit and principles in the present invention all; any amendment of making, be equal to replacement, improvement etc., within protection scope of the present invention all should be included in.

Claims (10)

1. the bent axle flexible automation line based on robot, comprising:
Bent axle material stock unit, grinding machine group, truss feed robot, truss blanking robot and bent axle detent mechanism, described truss feed robot and described truss blanking robot transport bent axle between described bent axle material stock unit, described grinding machine group and described bent axle detent mechanism;
Described bent axle material stock unit comprises carrier chain and driver, the chain link loopy moving described in described driver drives on carrier chain; Described bent axle is placed on described chain and with described chain link and moves;
It is characterized in that:
Described bent axle material stock unit also comprises slot plate, described slot plate is connected on described chain link, described slot plate is provided with at least three slots of arranged, and the depth direction of described slot is vertical with the rectilinear movement direction of described chain link, and described bent axle vertically inserts in described slot;
Described truss feed robot and described truss blanking robot are located on two truss, and described truss feed robot is provided with at least three and clamps position.
2. the bent axle flexible automation line based on robot according to claim 1, is characterized in that:
The described bent axle flexible automation line based on robot also comprises the first six-DOF robot and the second six-DOF robot;
Described grinding machine group comprises at least one centerless grinder, at least one eccentric grinding machine and at least one thrust surface grinding machine;
Described the first six-DOF robot is provided with at least two first and captures position, and described the first six-DOF robot is movable to described eccentric grinding machine place and described bent axle detent mechanism place;
Described the second six-DOF robot is provided with at least two second and captures position, and described the second six-DOF robot is movable to described thrust surface grinding machine place and described bent axle detent mechanism place.
3. the bent axle flexible automation line based on robot according to claim 2, is characterized in that:
Described bent axle detent mechanism comprises:
Supporting seat, described supporting seat is provided with roller set, and described roller set supports the main shaft part of described bent axle;
Driving wheel, described driving wheel can and make described bent axle rotate along the axle center of described main shaft part with described main shaft part butt;
Measurement section, described measurement section comprises gage outfit and measuring seat, and described gage outfit and described measuring seat are slidably connected, and described gage outfit is connected to the side face of the eccentric axial portion of described bent axle, and the sensor in described measuring seat reads the displacement data of described gage outfit.
4. the bent axle flexible automation line based on robot according to claim 3, is characterized in that:
Described bent axle material stock unit also comprises truss material stirring-up mechanism, and described truss material stirring-up mechanism comprises:
Fixed part, sliding part and flip-arm, described sliding part and described fixed part are slidably connected, and turning part and described sliding part are rotationally connected, and described flip-arm is provided with at least three the 3rd and captures position.
5. the bent axle flexible automation line based on robot according to claim 4, is characterized in that:
Described bent axle material stock unit also comprises bent axle slide unit, and described bent axle slide unit and described fixed part are slidably connected, and is provided with at least three first temporary positions on described bent axle slide unit, and described in each, the first temporary position is used for the sleeping described bent axle of putting;
Described truss feed robot moves between described bent axle slide unit and described centerless grinder.
6. the bent axle flexible automation line based on robot according to claim 5, is characterized in that:
Described truss blanking robot comprises blanking crawl arm and due-in district, described due-in district is provided with at least three second temporary positions, described bent axle is put for crouching in the described second temporary position, described blanking crawl arm can move between described centerless grinder and described due-in district, and described truss feed robot can move between described due-in district and described centerless grinder.
7. the bent axle flexible automation line based on robot according to claim 6, is characterized in that:
Between described centerless grinder and described eccentric grinding machine, be provided with the first blanking transmission line, be provided with the multiple the 4th temporary position on described the first blanking transmission line, the described the 4th temporary position is used for the sleeping described bent axle of putting;
Described truss feed mechanical arm moves between described due-in district and described the first blanking transmission line; Described the first six-DOF robot can move between described the first blanking transmission line and described bent axle detent mechanism.
8. the bent axle flexible automation line based on robot according to claim 7, is characterized in that:
Between described eccentric grinding machine and described thrust surface grinding machine, be provided with the second blanking transmission line, described the second blanking transmission line comprises portal support and multiple transports position, and described transport position and described portal support are slidably connected, and described transport position is for capturing described bent axle;
Described the first six-DOF robot can move between described eccentric grinding machine and described the second blanking transmission line, and described the second six-DOF robot can move between described the second blanking transmission line and described bent axle detent mechanism.
9. the bent axle flexible automation line based on robot according to claim 8, is characterized in that:
The described bent axle flexible automation line based on robot also comprises First Transition supply line and the second transition supply line;
On described First Transition supply line, be provided with multiple the first screens, described the first screens is used for placing described bent axle; Described the first six-DOF robot can move between described First Transition supply line and described bent axle detent mechanism; Described the first six-DOF robot can move between described eccentric grinding machine and described First Transition supply line;
On described the second transition supply line, be provided with multiple the second screens, described the second screens is used for placing described bent axle; Described the second six-DOF robot can move between described the second transition supply line and described bent axle detent mechanism; Described the second six-DOF robot can move between described thrust surface grinding machine and described the second transition supply line.
10. the processing method of bent axle, is characterized in that: the bent axle flexible automation line of this processing method based on robot realized, and this line comprises:
Bent axle material stock unit, grinding machine group, truss feed robot, truss blanking robot and bent axle detent mechanism; Described bent axle material stock unit comprises carrier chain and driver, described bent axle material stock unit also comprises slot plate, described slot plate is fixedly connected on described chain link, and described slot plate is provided with at least three slots of arranged, and described slot is axially vertical with the rectilinear movement direction of described chain link; Described grinding machine group comprises at least one centerless grinder, at least one eccentric grinding machine and at least one thrust surface grinding machine; The described bent axle flexible automation line based on robot also comprises the first six-DOF robot and the second six-DOF robot; Described truss feed robot is from described truss blanking robot on different truss, and described truss feed robot is provided with at least three and clamps position; Described the first six-DOF robot is provided with at least two first and captures position; Described the second six-DOF robot is provided with at least two second and captures position;
The processing method of described bent axle comprises:
Insert on the described slot of described bent axle material stock unit perpendicular described bent axle, described carrier chain transports and keeps in described bent axle;
Described truss feed robot is transported to described centerless grinder place after at least three on described bent axle material stock unit described bent axles are taken out and carries out centreless grinding processing;
Described truss blanking robot takes out described bent axle and keeps in from centerless grinder;
Described the first six-DOF robot captures and is transported to bent axle detent mechanism place simultaneously at least two described bent axles and carries out bent axle location, and described the first six-DOF robot takes out and is transported to described eccentric grinding machine at least two described bent axles from described bent axle detent mechanism and carries out the processing of bias mill;
Described the first six-DOF robot takes out and keeps in from described eccentric grinding machine described bent axle;
Described the second six-DOF robot captures and is transported to bent axle detent mechanism place simultaneously at least two described bent axles and carries out bent axle location, and described the second six-DOF robot takes out and is transported to described thrust surface grinding machine at least two described bent axles from described bent axle detent mechanism and carries out the processing of thrust surface mill;
Described the second six-DOF robot takes out from described thrust surface grinding machine described bent axle and carries out bent axle discharging.
CN201610144662.5A 2016-03-14 2016-03-14 A kind of processing method of bent axle flexible automation line and bent axle based on robot Active CN105598758B (en)

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CN109605188A (en) * 2018-12-07 2019-04-12 浙江大学台州研究院 Crankshaft flexible automation production line based on truss manipulator

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Inventor after: Wu Shaowei

Inventor after: Wang Liping

Inventor after: Li Weitong

Inventor after: Zhang Yunyan

Inventor after: Zhu Huide

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Address after: 519000 floor 1, floor 2, floor B, floor 3, workshop 1, No. 12, Honghui fifth road, Shuanglin District, LIANGANG Industrial Zone, Jinwan District, Zhuhai City, Guangdong Province

Patentee after: Heshi Industrial Technology Co., Ltd

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