CN105728851B - High-precision high-efficiency automation grinding and detection production line and production method - Google Patents
High-precision high-efficiency automation grinding and detection production line and production method Download PDFInfo
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- CN105728851B CN105728851B CN201610277204.9A CN201610277204A CN105728851B CN 105728851 B CN105728851 B CN 105728851B CN 201610277204 A CN201610277204 A CN 201610277204A CN 105728851 B CN105728851 B CN 105728851B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D65/00—Making tools for sawing machines or sawing devices for use in cutting any kind of material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
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- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of high-precision high-efficiency automation grinding and detection production line, including three freedom degree manipulator mechanism（s）, wiper mechanism（q）, switching mechanism（f）, testing agency（j）, workbench（g）, material table（w）Workbench is respectively in two（g）The grinding machine at both ends（m）；The three freedom degree manipulator mechanism（s）, for loading and unloading；The workbench（g）, for installing three freedom degree manipulator mechanism（s）, wiper mechanism（q）, switching mechanism（f）, testing agency（j）And material table（w）；The material table（w）, for placing workpiece.Present invention also offers a kind of high-precision high-efficiency automation grinding and detection production method.The present invention is compact-sized, and raw material crawl, workpiece cleaning, workpiece turning, workpiece sensing are arranged on same workbench, and manipulator makes two grinding machines realize working condition simultaneously by each action, greatly improves operating efficiency.
Description
Technical field
The invention belongs to field of machining, is related to a kind of high-precision high-efficiency automation grinding and detection production line and producer
Method.
Background technology
Existing automation grinding unit is that simple completion loading and unloading are automatic, and cleaning, detection, the sorting of workpiece also need
Want manual operation, it is impossible to fully demonstrate the advantage of automatic production line, and grinding goes out product（Such as saw blade）Size
Precision uniformity can not ensure that operating efficiency also falls flat.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of high-precision high-efficiency automation grinding and detection production line and life
Production method, the production line are the production lines that a three degrees of freedom right angle coordinate manipulator services two horizontal surface grinding machine with rotary table.
To achieve these goals, the present invention adopts the following technical scheme that.
High-precision high-efficiency automation grinding and detection production line, including three freedom degree manipulator mechanism, wiper mechanism, tipper
Structure, testing agency, workbench, material table and Liang Tai are respectively in the grinding machine at workbench both ends.The three freedom degree manipulator mechanism,
For for wiper mechanism, switching mechanism, testing agency, workbench, material table and two grinding machine charging and dischargings.The workbench, use
In installation three freedom degree manipulator mechanism, wiper mechanism, switching mechanism, testing agency and material table.The material table, for putting
Put workpiece.Workbench and material table can be welded to form by rectangular square tube and steel plate.
Three freedom degree manipulator mechanism, including X-axis part, Y-axis part, Z axis part and manipulator part.X-axis part bag
X-axis guide rail plate and X-axis slide unit are included, X-axis slide unit can move along a straight line on X-axis guide rail plate along X-axis.X-axis guide rail plate is arranged at Y-axis
On slide unit, X-axis slide unit is connected with Z axis guide rail plate.Y-axis part includes Y-axis slide unit and Y-axis beam.Y-axis beam is fixed on workbench, Y
Axle slide unit can move along a straight line on Y-axis beam along Y-axis.Z axis part includes Z axis guide rail plate and Z axis slide unit, and Z axis slide unit can be in Z
Moved along a straight line on axis rail plate along Z axis.The end connection manipulator part of Z axis slide unit.Manipulator part includes manipulator box, machine
Manipulator electromagnet and manipulator cylinder are installed, manipulator electromagnet is used for grabbing workpiece, and manipulator cylinder is used on tool hand box
In the absorption for making workpiece depart from manipulator electromagnet.
Further, X-axis line slideway and X-axis ball-screw are installed, X-axis ball-screw is by X-axis on the X-axis guide rail plate
Servomotor drives；X-axis leading screw contiguous block on X-axis slide unit connection X-axis ball-screw, X-axis slide unit are connected on X-axis line slideway
The X-axis slide block of setting.Further, X-axis ball-screw is fixed on X-axis guide rail plate by X-axis fulcrum bearing.Further, X-axis
Ball-screw connects X-axis servomotor by X-axis shaft coupling.Further, X-axis servomotor is consolidated by X-axis motor mounting plate
It is scheduled on X-axis guide rail plate.Further, X-axis protective cover is arranged on X-axis component outer, and it is security protection and dust-proof that it, which is acted on,.Enter
One step, the X-axis servomotor of X-axis part drives X-axis ball-screw to rotate by X-axis shaft coupling, then is connected by X-axis leading screw
Block and X-axis slide block, X-axis slide unit is driven to do the linear motion of X-direction.
Further, the Y-axis beam bottom is supported provided with Y-axis beam, and the support of Y-axis beam is fixed on workbench, and Y-axis beam is provided with
Y-axis line slideway and Y-axis rack.The Y-axis slide unit includes Y-axis slide unit transverse slat and Y-axis slide unit riser, the Y-axis tooth of interconnection
Wheel and Y-axis servomotor are fixed on Y-axis slide unit riser, and Y-axis gear coordinates with Y-axis rack, Y-axis slide unit transverse slat and Y-axis straight line
The Y-axis sliding block connection set on guide rail.Further, Y-axis slide unit rib is additionally provided between Y-axis slide unit transverse slat and Y-axis slide unit riser
Plate.Further, Y-axis line slideway has two pieces, is separately mounted to top surface and the side of Y-axis beam.Further, Y-axis rack two
End is additionally provided with Y-axis limited block.
Further, Z axis line slideway and Z axis ball-screw are installed, Z axis ball-screw is by Z axis on the Z axis guide rail plate
Servomotor drives；Z axis leading screw contiguous block on Z axis slide unit connection Z axis ball-screw, Z axis slide unit are connected on Z axis line slideway
The Z axis sliding block of setting.Further, Z axis ball-screw is fixed on Z axis guide rail plate by Z axis fulcrum bearing.Further, Z axis
Ball-screw connects Z axis servomotor by Z axis shaft coupling.Further, Z axis servomotor is consolidated by Z axis motor mounting plate
It is scheduled on Z axis guide rail plate.Further, Z axis protective cover is arranged on Z axis component outer, and it is security protection and dust-proof that it, which is acted on,.Enter
One step, the Z axis servomotor of Z axis part drives Z axis ball-screw to rotate by Z axis shaft coupling, then is connected by Z axis leading screw
Block and Z axis sliding block, Z axis slide unit is driven to do the linear motion of Z-direction.Further, the end of Z axis slide unit is connected with Z axis gas
Cylinder, Z axis cylinder connection manipulator part.Further, the end of Z axis slide unit is provided with Z axis bottom plate, and Z axis cylinder is fixed on Z axis
On bottom plate.Further, Z axis guide rail plate is provided with Z axis proximity switch, and provided with triggering, Z axis is close to be opened Z axis leading screw contiguous block
The Z axis proximity switch baffle plate of pass.Further, the end of Z axis part is additionally provided with drag chain connecting plate.
Further, manipulator part also includes the manipulator lid covered on manipulator box, and manipulator lid connects with Z axis cylinder
Connect.Further, the manipulator box is provided with manipulator cylinder jacking block, and manipulator cylinder jacking block is driven by manipulator cylinder,
Eject the absorption that workpiece departs from manipulator electromagnet.Further, the manipulator box is provided with manipulator proximity switch, machinery
Hand proximity switch can be fixed on manipulator box by manipulator proximity switch cushion block.
Wiper mechanism, including rinse bath, cleaning trays frame, cleaning motor, cleaning rotary shaft, cleaning groove lid, closing lid driving
Device and closing lid guider.Rinse bath, for accommodating cleaning liquid.Cleaning trays frame, for carrying workpiece；The cleaning
Tray rack includes the pallet axle being fixedly connected and some tray bars, tray bar are uniformly distributed centered on pallet axle, each pallet
Direction is extended along on bar and is provided with least one cleaning trays rubber blanket.Motor is cleaned, for cleaning rotary shaft conveying power.
Rotary shaft is cleaned, for the power for cleaning motor to be passed into cleaning trays frame.Groove lid is cleaned, for being covered in cleaning workpiece
Above cleaning trays frame.Closing lid drive device, for drive clean groove lid, make cleaning groove lid be located at cleaning trays frame top or
Person deviates the top of cleaning trays frame.Closing lid guider, for the motion for cleaning groove lid to be limited in the stroke of setting；Close
Lid guider includes slide-bar and sliding sleeve, and slide-bar is fixed on the inner side of rinse bath, and sliding sleeve is fixed on slide-bar, and can be along cunning
Axle is moved, and sliding sleeve is fixedly connected with cleaning groove lid.
As a further improvement on the present invention, the bottom of the rinse bath is also connected with fixing leg, and fixing leg is easy to
Rinse bath is fixed on the table.Further, water inlet is additionally provided with the rinse bath, the clear of workpiece is realized in water inlet water inlet
Wash.Further, the water inlet can be two.Further, the tray bar is four, in cross.Cross support
Bar can allow workpiece to be in a horizontal position, and be easy to rinse, and cleaning trays rubber blanket plays the surface for protecting work pieces process good and is not damaged.
Further, each tray bar is provided with two cleaning trays rubber blankets.Further, the wiper mechanism also includes cleaning support
Discone cap, cleaning trays cone cap is arranged above pallet axle, for being positioned to workpiece.Further, cleaning motor passes through cleaning
Motor coupler is to cleaning rotary shaft conveying power.Further, the wiper mechanism also includes cleaning motor mounting plate, cleaning
Motor mounting plate is fixed on the lower section of rinse bath, and motor is cleaned for fixed.Further, the cleaning motor mounting plate includes
Upper plate, lower plate and connection upper plate and the riser of lower plate.Further, the wiper mechanism also includes rotary shaft fulcrum bearing, rotation
Shaft supporting seat can be fixed on cleaning motor mounting plate, and rotary shaft is cleaned for fixed.Further, the closing lid driving
Device includes cylinder, and cylinder is fixed on air cylinder support.Further, air cylinder support is fixed on above rinse bath.
Switching mechanism, including the first support member, the second support member, main rotatable parts, auxiliary rotatable parts, connecting portion
Part, the first hold assembly, the second hold assembly and driving part.First support member is set parallel relative to the second support member
Put, the first support member is used to carry main rotatable parts.Second support member is set parallel relative to the first support member, and second
Support member is used to carry auxiliary rotatable parts.Connection member includes the first elongated end and the second elongated end, the first elongated end and master
Rotatable parts are connected, and the second elongated end is then connected with auxiliary rotatable parts；Connection member, for by the rotatory force of main rotatable parts
Auxiliary rotatable parts are given in transition, main rotatable parts and auxiliary rotatable parts is kept synchronous when rotating.Main rotatable parts, including first
Axle, the first axle pass through the first axle sleeve being carried in the first support member, and main rotatable parts receive turning for driving part transmission
Power is simultaneously rotated, and rotatory force is passed into connection member.Auxiliary rotatable parts, including the second axle, second axle are passed through and held
The second axle sleeve being loaded in the second support member, auxiliary rotatable parts receive the rotatory force of connection member transmission and rotated.The
One hold assembly, for clamping workpiece, and main rotatable parts are followed to rotate.First hold assembly, including the first clamping lower plate, the
The first magnet for adsorbing workpiece is fixed with one clamping lower plate, first magnet can adsorb a face of workpiece.First
Hold assembly also includes the first clamping upper plate, and the first clamping upper plate is correspondingly arranged with the first clamping lower plate, on the first clamping upper plate
Provided with the first rubber blanket, first rubber blanket is used to enter row buffering to the another side of workpiece.Second hold assembly, for clamping work
Part, and follow auxiliary rotatable parts to rotate.Second hold assembly, including second clamping lower plate, second clamping lower plate on be fixed with use
In the second magnet of absorption workpiece, second magnet can adsorb a face of workpiece.Second hold assembly also includes the second folder
Upper plate is held, the second clamping upper plate is correspondingly arranged with the second clamping lower plate, and the second clamping upper plate is provided with the second rubber blanket, and this second
Rubber blanket is used to enter row buffering to the another side of workpiece.
As a further improvement on the present invention, the driving part includes stepper motor, and stepper motor passes through stepper motor
Shaft coupling is connected with first axle.
Switching mechanism also includes stepping stepper motor installing plate, and stepping stepper motor installing plate is fixed on the first support member
On, stepper motor is fixed in the first support member by stepping stepper motor installing plate.
The first axle is fixed in the first support member by the first axle installing plate.
Further, first axle is multidiameter shaft, and the multidiameter shaft includes thin footpath end and wide diameter end, and thin footpath end passes through stepper motor
Shaft coupling connects stepper motor, and wide diameter end is fixed in the first support member by the first axle installing plate.
Second axle is fixed in the second support member by the second axle installing plate.
Further, the second axle is multidiameter shaft, and the multidiameter shaft includes thin footpath end and wide diameter end, and wide diameter end is pacified by the second axle
Loading board is fixed in the second support member.
The switching mechanism also includes location sensitive part.
Location sensitive part includes the first proximity switch, and the first proximity switch is used to detect the clamped position letter of workpiece
Breath, first proximity switch can be fixed in stepper motor installing plate or the first support member, it is preferred that first is close
Switch is fixed on the side of stepper motor installing plate by proximity switch support.
The location sensitive part includes the second proximity switch and proximity switch baffle plate, and the second proximity switch is auxiliary for detecting
The rotation position information of rotatable parts, proximity switch baffle plate are fixed on the second axle, give the second proximity switch trigger signal.
Second proximity switch can be fixed in the second support member by support.
Proximity switch baffle plate is fixed on the thin footpath end of the second axle.
The thin footpath end of second axle is further fixed on bolt, and bolt can limit the direction that proximity switch baffle plate extends to thin footpath end
It is mobile.
First support member includes the first support block, agent structure of first support block as the first support member,
The bottom of first support block is fixedly connected with the first support mounting plate.
Second support member includes the second support block, agent structure of second support block as the second support member,
The bottom of second support block is fixedly connected with the second support mounting plate.
First support mounting plate and the second support mounting plate are easy to whole switching mechanism to be fixed on such as worktop
On operating platform.
The first support floor is additionally provided between first support block and the first support mounting plate.Second support block and
The second support floor is additionally provided between second support mounting plate.
The connection member is connection strap, and the connection strap can be arc, in order to be bonded with the workpiece of circle.
Testing agency, including detection bracket, detection support frame, upper compacting part, lower compacting part, detection part, detection
Pallet and raceway.Bracket is detected, for carrying the miscellaneous part in addition to bracket is detected in testing agency, and to detection pallet
The mobile length that provides is supported.Support frame is detected, one end on detection bracket is arranged at, for carrying upper compacting part, lower compressed part
Part and detection part.Upper compacting part, including compress support（Sensor stand）, compress support and be provided with compression cylinder, compress
Block departs from the workpiece being carried on detection pallet under the driving of compression cylinder, or compresses the workpiece being carried on detection pallet
A face.Lower compacting part, for withstanding another face for the workpiece being carried on detection pallet.Pallet is detected, for holding
Workpiece, and the raceway that can be set along the detection bracket other end are carried, closer or far from detection part.Detection part has a lot
Kind, the present invention can select at least one therein, such as detection part can detect proximity switch, the detection proximity switch
The data that can be detected, the data of detection can be thickness of workpiece etc..
As a further improvement on the present invention, the detection support frame includes the first supporting plate, the second supporting plate and consolidated
The support frame bottom plate being scheduled on both above-mentioned.First supporting plate and the second supporting plate are fixed on detection bracket, upper compressed part
Part, lower compacting part and detection part are fixed on support frame bottom plate.Further, the compression support is provided with displacement sensing
Device, for sensing the movement position of workpiece.Further, institute's displacement sensors are fixed on the side for compressing support, compress gas
Cylinder is fixed on the opposite side for compressing support.Further, institute's displacement sensors can be laser displacement sensor.Further
, the testing agency also includes compact heap fixed plate, and compression cylinder is connected with compact heap fixed plate, and compact heap is fixed on the pressure
In tight block fixed plate.Further, the lower compacting part, including the measurement base block being fixed on support frame bottom plate, measurement
Steel ball is provided with base block, steel ball withstands another face for the workpiece being carried on detection pallet.Further, the support
Frame bottom plate is the narrow structure in the wide one end in one end, and one end close to raceway is narrow one end, and measurement base block is fixed on narrow one end
On, it is easy to lower compacting part to stretch into workpiece, and coordinate workpiece pressing with upper compacting part.Further, the detection pallet
Detection pallet cone cap is provided with, realizes the certralizing ability of workpiece.Further, it is additionally provided with pallet connection on the detection pallet
Block, pallet contiguous block are connected with propulsion cylinder, receive the power of propulsion cylinder transmission, propulsion cylinder be fixed on detection bracket or
Detect on support frame.Further, the detection proximity switch is fixed on detection support frame by detecting proximity switch installing plate
On.Further, the detection proximity switch is two pieces, sets gradually, is realized in workpiece on the moving direction of detection pallet
The detection of outer two location points.
Grinding machine can be horizontal surface grinding machine with rotary table, and the grinding machine includes fuselage, column, Grinder bench, bistrique and mill
Head elevating mechanism, column and Grinder bench are fixed on fuselage, and column is provided with bistrique, and bistrique is driven by grinding head lift mechanism
Dynamic, in the vertical direction is closer or far from Grinder bench.
Grinding machine can also include Grinder bench tractor, and Grinder bench is driven by Grinder bench tractor
Moved in horizontal direction.
Grinding machine also includes the bistrique grease-box that lubricating oil is provided for grinding.
Grinding machine also includes Grinder bench protector and/or fuselage protector.
The side of column is additionally provided with Electric Appliance Cabinet.
Present invention also offers a kind of high-precision high-efficiency automation grinding and detection production method, comprise the following steps.
Step 1, first workpiece is captured, cleaning, detection, delivers to the face of First grinding machine first.Step 2, crawl the
Two workpiece, cleaning, detection, deliver to second face of grinding machine first.Step 3, the 3rd workpiece is captured, cleaning, detection, is sent
It is to be processed to First grinding machine.Step 4, the 4th workpiece is captured, cleaning, detection, it is to be processed to deliver to second grinding machine.Step 5,
First workpiece turning in the first face has been ground on crawl First grinding machine.Step 6, capture to be processed the on First grinding machine
Three workpiece deliver to the face of First grinding machine first.Step 7, first workpiece cleaning after crawl upset.Step 8, capture
Second workpiece turning in the first face has been ground on second grinding machine.Step 9, to be processed on second grinding machine the 4th is captured
Workpiece delivers to second face of grinding machine first.Step 10, first cleaned workpiece is captured, First mill is delivered to after detection
Bed is to be processed.Step 11, second workpiece cleaning after crawl upset.Step 12, second cleaned workpiece is captured, is detected
After to deliver to second grinding machine to be processed.Step 13, the 3rd workpiece turning that the first face has been ground on First grinding machine is captured.Step
Rapid 14, capture first workpiece to be processed and deliver to the face of First grinding machine second.Step 15, capture and ground on second grinding machine
The 4th workpiece turning in the first face is cut.Step 16, capture second workpiece to be processed and deliver to second grinding machine
Two faces.Step 17, the 4th workpiece after crawl upset, cleaning, detection, it is to be processed to deliver to second grinding machine.Step 18, capture
First workpiece turning in the second face has been ground on First grinding machine.Step 19, capture the 3rd workpiece to be processed and deliver to
One face of grinding machine second.Step 20, the 5th workpiece is captured, cleaning, detection, it is to be processed to deliver to First grinding machine.Step
21, the cleaning of first workpiece, detection after crawl upset, it is put into finished product area.Step 22, capture and the has been ground on second grinding machine
Second workpiece turning in two faces.Step 23, capture the 4th workpiece to be processed and deliver to second face of grinding machine second.Step
Rapid 24, the 6th workpiece is captured, cleaning, detection, it is to be processed to deliver to second grinding machine.Step 25, second after crawl upset
Workpiece cleaning, detection, are put into finished product area.
Five workpiece of cyclic process, three freedom degree manipulator and two grinding machines are constantly in work successively on whole production line
Make state, substantially increase production efficiency, and fully demonstrate the superiority of automatic production line.
Realize the tight fit between manipulator and grinding machine.Manipulator is integrated with raw material crawl, workpiece cleans, workpiece turns over
Turn, multiple actions such as workpiece sensing, product sorting, realize the automatic loading/unloading and thickness of workpiece automatic detection work(of workpiece grinding
Energy, realizes the full-automatic processing of saw blade, and production efficiency is increased dramatically.The saw blade dimensional uniformity that the present invention processes is good.
The present invention can realize abrasion of grinding wheel dynamic compensation algorithm according to saw blade Thickness sensitivity data, enable emery wheel in blades machining
During carry out online dynamic and compensate, improve the machining accuracy of saw blade, ensure that the dimensional uniformity of saw blade.Present invention lifting
The processing efficiency of saw blade.In the present invention, the rational allocation by manipulator to saw blade, it is constantly in two grinding machine parts
Working condition, it ensure that the efficient work of whole saw blade full-automatic grinding unit.This invention removes the scuffing to saw blade.
Conventional grinding machine is when taking saw blade after machining, due to reasons such as vacuum, it is not easy to remove, more or less can be to saw blade
Scratch.But saw blade full-automatic grinding unit solves this problem, carrys out pick-and-place saw blade using manipulator in the project, whole
During to be not in saw blade slide the possibility for producing cut with other dependency structures.In actual production, worker only needs
The operation such as the carrying of blank batch feeding and finished product and the replacing of emery wheel is carried out, it is single that a people can operate multiple productions
Member, production efficiency is improved, reduce the labor intensity of worker.
The invention has the advantages that the present invention realizes a manipulator while services the structure shape of two grinding machines
Formula, and robot manipulator structure compact systems, raw material crawl, workpiece cleaning, workpiece turning, workpiece sensing are arranged on same work
On platform.Manipulator makes two grinding machines realize working condition simultaneously by each action, greatly improves operating efficiency.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention.Fig. 2 is three freedom degree manipulator mechanism structure schematic diagram.Fig. 3 is X-axis
The front view of part.Fig. 4 is the top view of X-axis part.Fig. 5 is Y-axis girder construction schematic diagram.Fig. 6 is that Y-axis beam is matched somebody with somebody with Y-axis slide unit
Close structural representation.Fig. 7 is Z axis part front view.Fig. 8 is Z axis part top view.Fig. 9 is manipulator part front view.Figure 10
It is manipulator part top view.Figure 11 is wiper mechanism overall structure diagram.Figure 12 is switching mechanism overall structure diagram.
Figure 13 is switching mechanism front view.Figure 14 is switching mechanism top view.Figure 15 is testing agency's overall structure diagram.Figure 16 is
Testing agency's front view.Figure 17 is testing agency's top view.Figure 18 is grinding machine front view.Figure 19 is grinding machine top view.
Wherein, s, three freedom degree manipulator mechanism；Q, wiper mechanism；F, switching mechanism；J, testing agency；G, workbench；
W, material table；M, grinding machine；D, work area to be added.S1, X-axis part；S2, Y-axis part；S3, Z axis part；S4, manipulator part.
S101, X-axis guide rail plate；S102, X-axis slide unit；S103, X-axis line slideway；S104, X-axis ball-screw；S105, X-axis fulcrum bearing；
S106, X-axis servomotor；S107, X-axis motor mounting plate；S108, X-axis shaft coupling；S109, X-axis leading screw contiguous block；s110、X
Axle sliding block；S111, X-axis protective cover.S201, Y-axis slide unit；S202, Y-axis beam；S203, the support of Y-axis beam；S204, Y-axis straight line are led
Rail；S205, Y-axis rack；S206, Y-axis limited block；S207, Y-axis gear；S208, Y-axis servomotor；S209, Y-axis sliding block.
S301, Z axis guide rail plate；S302, Z axis slide unit；S303, Z axis line slideway；S304, Z axis ball-screw；S305, Z axis fulcrum bearing；
S306, Z axis servomotor；S307, Z axis motor mounting plate；S308, Z axis shaft coupling；S309, Z axis leading screw contiguous block；s310、Z
Axle sliding block；S311, Z axis protective cover；S312, Z axis cylinder；S313, Z axis bottom plate；S314, Z axis proximity switch；S315, Z axis connect
Nearly switch baffle plate；S316, drag chain connecting plate.S401, manipulator box；S402, manipulator lid；S403, manipulator electromagnet；
S404, manipulator cylinder；S405, manipulator cylinder jacking block；S406, manipulator proximity switch；S407, manipulator proximity switch pad
Block.Q1, rinse bath；Q2, cleaning trays frame；Q3, cleaning motor；Q4, cleaning rotary shaft；Q5, cleaning groove lid；Q6, closing lid driving
Device；Q7, closing lid guider.Q11, fixing leg；Q12, water inlet.Q21, pallet axle；Q22, tray bar；Q23, cleaning support
Disk rubber blanket；Q24, cleaning trays cone cap.Q31, cleaning motor coupler；Q32, cleaning motor mounting plate.Q41, rotary shaft branch
Bearing.Q71, slide-bar；Q72, sliding sleeve.F1, the first support member；F2, the second support member；F3, main rotatable parts；F4, auxiliary turn
Dynamic component；F5, connection member；F6, the first hold assembly；F7, the second hold assembly；F8, driving part；F9, location sensitive portion
Part.F11, the first support block；F12, the first support mounting plate；F13, the first support floor.F21, the second support block；F22, second
Support mounting plate；F23, the second support floor.F31, first axle；F32, the first axle installing plate；F33, the first axle sleeve.F41, second
Axle；F42, the second axle installing plate；F43, the second axle sleeve.F61, the first clamping lower plate；F62, the first magnet；On f63, the first clamping
Plate；F64, the first rubber blanket.F71, the second clamping lower plate；F72, the second magnet；F73, the second clamping upper plate；F74, the second rubber
Pad.F81, stepper motor；F82, stepper motor shaft coupling；F83, stepper motor installing plate.F91, the first proximity switch；F92, connect
Nearly switch bracket；F93, the second proximity switch；F94, proximity switch baffle plate；F95, bolt.J1, detection bracket；J2, detection support
Frame；J3, upper compacting part；J4, lower compacting part；J5, detection part；J6, detection pallet；J7, raceway；J8, propulsion cylinder.
J21, the first supporting plate；J22, the second supporting plate；J23, support frame bottom plate.J31, compress support；J32, compression cylinder；J33, pressure
Tight block fixed plate；J34, compact heap；J35, displacement transducer.J41, measurement base block；J42, steel ball.J51, detect close open
Close；J52, detection proximity switch installing plate.J61, detection pallet cone cap；J62, pallet contiguous block.M1, fuselage；M2, column；m3、
Grinder bench；M4, bistrique；M5, grinding head lift mechanism；M6, bistrique grease-box；M7, Grinder bench protector；m8、
Fuselage protector；M9, Electric Appliance Cabinet.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing.
As shown in figure 1, three freedom degree manipulator detection cleaning automatic production line, including three freedom degree manipulator mechanism s,
Wiper mechanism q, switching mechanism f, testing agency j, workbench g, material table w and Liang Tai are respectively in the grinding machine m at workbench g both ends.
Workbench g, for installing three freedom degree manipulator mechanism s, wiper mechanism q, switching mechanism f, testing agency j, material table w and treating
Processing district d.Work area d to be added has two, is divided to before two grinding machine m.Material table w, for placing workpiece.
As shown in Fig. 2 three freedom degree manipulator mechanism s, including X-axis part s1, Y-axis part s2, Z axis part s3 and machinery
Hand unit s4.
As Figure 3-Figure 4, X-axis part s1 includes X-axis guide rail plate s101 and X-axis slide unit s102, and X-axis slide unit s102 can
Moved along a straight line on X-axis guide rail plate s101 along X-axis.X-axis guide rail plate s101 is arranged on Y-axis slide unit s201, X-axis slide unit s102 with
The s301 connections of Z axis guide rail plate.Two sets of X-axis line slideway s103 and a set of X-axis ball-screw are installed on the X-axis guide rail plate s101
S104, X-axis line slideway s103 are arranged on X-axis guide rail plate s101, and ensure the two sets of X-axis line slideway s103 depth of parallelism；X
Axle ball-screw s104 is fixed on X-axis guide rail plate s101 by two pieces X-axis fulcrum bearing s105.X-axis servomotor s106 passes through X
Spindle motor installing plate s107 is fixed on X-axis guide rail plate s101, and X-axis ball-screw s104 passes through X-axis by X-axis servomotor s106
Shaft coupling s108 drives；X-axis leading screw contiguous block s109 on X-axis slide unit s102 connection X-axis ball-screws s104, X-axis slide unit
The X-axis slide block s110 set on s102 connection X-axis line slideways s103.X-axis protective cover s111 is arranged on outside X-axis part s1.
As shown in Fig. 5-Fig. 6, Y-axis part s2 includes Y-axis slide unit s201 and Y-axis beam s202.Y-axis slide unit s201 can be in Y
Moved along a straight line on bloster s202 along Y-axis.The Y-axis beam s202 bottoms are provided with Y-axis beam support s203, and Y-axis beam support s203 is fixed
In on workbench g, Y-axis beam s202 is provided with Y-axis line slideway s204 and Y-axis rack s205, and Y-axis line slideway s204 has two
Part, is separately mounted to Y-axis beam s202 top surface and side, and Y-axis rack s205 both ends are additionally provided with Y-axis limited block s206, play Y-axis
The effect of the stroke protection of direction operation.The Y-axis slide unit s201 includes Y-axis slide unit transverse slat, Y-axis slide unit riser and both it
Between Y-axis slide unit floor, the Y-axis gear s207 and Y-axis servomotor s208 of interconnection be fixed on Y-axis slide unit riser, Y-axis
Gear s207 is connected on Y-axis servomotor s208 axle, is fixed with gear back-up ring and screw.Y-axis gear s207 and Y-axis rack
S205 coordinates, and Y-axis slide unit transverse slat is connected with the Y-axis sliding block s209 set on Y-axis line slideway s204.
As shown in Figs. 7-8, Z axis part s3 includes Z axis guide rail plate s301 and Z axis slide unit s302, and Z axis slide unit s302 can
Moved along a straight line on Z axis guide rail plate s301 along Z axis.Z axis slide unit s302 end connection manipulator part s4.The Z axis guide rail
Two sets of Z axis line slideway s303 and a set of Z axis ball-screw s304 are installed, Z axis line slideway s303 is arranged on Z axis on plate s301
On guide-rail plate s301, and ensure the two sets of Z axis line slideway s303 depth of parallelism；Z axis ball-screw s304 is supported by two pieces Z axis
Seat s305 is fixed on Z axis guide rail plate s301.Z axis servomotor s306 is fixed on Z axis guide rail by Z axis motor mounting plate s307
On plate s301, Z axis ball-screw s304 is driven by Z axis servomotor s306 by Z axis shaft coupling s308；Z axis slide unit s302 connects
The Z axis leading screw contiguous block s309 on Z axis ball-screw s304 is met, is set on Z axis slide unit s302 connection Z axis line slideways s303
Z axis sliding block s310.Z axis protective cover s311 is arranged on outside Z axis part s3.Z axis slide unit s302 end is connected with Z axis cylinder
S312, Z axis cylinder s312 connection manipulator parts s4.Z axis slide unit s302 end is provided with Z axis bottom plate s313, Z axis cylinder
S312 is fixed on Z axis bottom plate s313.Z axis guide rail plate s301 is provided with Z axis proximity switch s314, Z axis leading screw contiguous block
S309 is provided with triggering Z axis proximity switch s314 Z axis proximity switch baffle plate s315.Z axis part s3 end is additionally provided with drag chain
Connecting plate s316.
As shown in Fig. 9-Figure 10, manipulator part s4 includes manipulator box s401 and manipulator lid s402.Manipulator box
Four manipulator electromagnet s403 and a manipulator cylinder s404 are installed, manipulator electromagnet s403 is used to capture on s401
Workpiece, manipulator cylinder s404 driving manipulator cylinder jacking blocks s405.Manipulator cylinder s404 and manipulator cylinder jacking block s405,
For making workpiece depart from manipulator electromagnet s403 absorption.Manipulator lid s402 is covered on manipulator box s401, manipulator lid
S402 is connected with Z axis cylinder s312.The manipulator box s401 is provided with manipulator proximity switch s406, manipulator proximity switch
S406 can be fixed on manipulator box s401 by manipulator proximity switch cushion block s407.
As shown in figure 11, wiper mechanism q, including rinse bath q1, cleaning trays frame q2, cleaning motor q3, cleaning rotary shaft
Q4, cleaning groove lid q5, closing lid drive device q6 and closing lid guider q7.Rinse bath q1, for accommodating cleaning liquid.It is described
Rinse bath q1 bottom is also connected with fixing leg q11, and fixing leg q11 is easy to rinse bath q1 to fix on the table.It is described
Two water inlet q12 are additionally provided with rinse bath q1, water inlet q12, which is intake, realizes the cleaning of workpiece.Cleaning trays frame q2, positioned at clear
In washing trough q1, for carrying workpiece；The cleaning trays q2 framves include the pallet axle q21 and four tray bar q22 being fixedly connected,
Tray bar q22 is in cross, is uniformly distributed centered on pallet axle q21, and direction is extended along on each tray bar q22 provided with two
Individual cleaning trays rubber blanket q23.Pallet axle q21 top is provided with cleaning trays cone cap q24, for being positioned to workpiece.Cleaning electricity
Machine q3, power is conveyed to cleaning rotary shaft q4 by cleaning motor coupler q31, motor q3 is by cleaning motor mounting plate for cleaning
Q32 is fixed on rinse bath q1 lower section, and the cleaning motor mounting plate q32 includes upper plate, lower plate and connection upper plate and lower plate
Riser.Rotary shaft q4 is cleaned, for the power for cleaning motor q3 to be passed into cleaning trays frame q2, cleaning rotary shaft q4 passes through
Rotary shaft fulcrum bearing q41 is fixed on cleaning motor mounting plate q32 upper plate.Groove lid q5 is cleaned, agrees with rinse bath q1, is used for
Covered in cleaning workpiece above cleaning trays frame q2.Closing lid drive device q6, groove lid q5 is cleaned for driving, makes cleaning groove lid
Q5 is located at cleaning trays frame q2 top or deviates cleaning trays frame q2 top.The closing lid drive device includes cylinder,
Cylinder is fixed on air cylinder support.Air cylinder support is fixed on above rinse bath q1.Closing lid guider q7, including slide-bar q71 and
Sliding sleeve q72, slide-bar q71 are fixed on rinse bath q1 inner side by fixed mount, and sliding sleeve q72 is fixed on slide-bar q71, and being capable of edge
Slide-bar q71 movements, sliding sleeve q72 is fixedly connected with cleaning groove lid q5.
As shown in Figure 12-Figure 14, switching mechanism f, including the first support member f1, the second support member f2, main rotation section
Part f3, auxiliary rotatable parts f4, connection member f5, the first hold assembly f6, the second hold assembly f7 and driving part f8.First
Support member f1 is set parallel relative to the second support member f2, and the first support member f1 is used to carry main rotatable parts f3.The
Two support member f2 are set parallel relative to the first support member f1, and the second support member f2 is used to carry auxiliary rotatable parts f4.
The first support member f1 includes the first body junction of support block f11, the first support block f11 as the first support member f1
Structure, the first support block f11 bottom are fixedly connected with the supports of the first support mounting plate f12, the first support block f11 and first
The first support floor f13 is additionally provided between installing plate f12.The second support member f2 includes the second support block f21, second
Agent structures of the bracer f22 as the second support member f2, the second support block f21 bottom are fixedly connected with the second support installation
Plate f22, the second support floor f23 is additionally provided between the second support block f21 and the second support mounting plate f22.First support
Installing plate f12 and the second support mounting plate f22 are fixed on workbench, realize the support and installation of switching mechanism.Connecting portion
Part f5 includes the first elongated end and the second elongated end, and the first elongated end is connected with main rotatable parts f3, and the second elongated end then with
Auxiliary rotatable parts f4 connections；Connection member f5, for giving main rotatable parts f3 rotatory force transition to auxiliary rotatable parts f4, make master
Rotatable parts f3 and auxiliary rotatable parts f4 keeps synchronous when rotating.The connection member f5 is connection strap, and the connection strap is arc
Shape, in order to be bonded with the workpiece of circle.
Connection strap both ends are connected on the clamping lower plates of the first clamping lower plate f61 and second f71, realize left and right clamping
Uniformity operating.Main rotatable parts f3, including first axle f31, first axle f31 are multidiameter shaft, and the multidiameter shaft includes thin footpath end
And wide diameter end, thin footpath end pass through the first axle installing plate f32 by stepper motor shaft coupling f82 connection stepper motor f81, wide diameter end
It is fixed on the first support block f11.First axle f31 passes through the first axle sleeve f33 being carried on the first support block f11, main to turn
Dynamic component f3 receives the rotatory force that stepper motor f81 is transmitted and rotated, and rotatory force is passed into connection member f5.Auxiliary turn
Dynamic component f4, including the second axle f41, the second axle f41 is multidiameter shaft, the multidiameter shaft includes thin footpath end and wide diameter end, and wide diameter end leads to
Cross the second axle installing plate f42 to be fixed on the second support block f21, second axle f41 is passed through and is carried on the second support block f21
Second axle sleeve f43, the rotatory force of auxiliary rotatable parts f4 reception connection members f5 transmission are simultaneously rotated.First hold assembly f6,
For clamping workpiece, and main rotatable parts f3 is followed to rotate.First hold assembly f6, including the first clamping lower plate f61 and first
Clamp upper plate f63, the first clamping lower plate f61 and the first clamping upper plate f63 is fixed on the first axle installing plate f32.First clamping
The first magnet f62 for adsorbing workpiece is fixed with lower plate f61, first magnet f62 adsorbs a face of workpiece.First folder
Hold upper plate f63 and the first clamping lower plate f61 to be correspondingly arranged, the first clamping upper plate f63 is provided with the first rubber blanket f64, and this first
Rubber blanket f64 is used to enter row buffering to the another side of workpiece.Second hold assembly f7, for clamping workpiece, and follow auxiliary rotation
Part f4 is rotated.Second hold assembly f7, including the second clamping lower plate f71 and the second clamping upper plate f73, the second clamping lower plate
The clampings of f71 and second upper plate f73 is fixed on the second axle installing plate f42.It is fixed with second clamping lower plate f71 for adsorbing work
Second magnet f72 of part, second magnet f72 can adsorb a face of workpiece.Under second clamping upper plate f73 and the second clamping
Plate f71 is correspondingly arranged, and the second clamping upper plate f73 is provided with the second rubber blanket f74, and second rubber blanket f74 is used for workpiece
Another side enters row buffering.The rubber blanket of two pieces first is mounted with respectively below first clamping upper plate f63 and the second clamping upper plate f73
The magnetic of two pieces first is mounted with respectively above f64 and the second rubber blanket f74, the first clamping lower plate f61 and the second clamping lower plate f71
Iron f62 and the second magnet f72, the first magnet f62 and the second magnet f72 is powered to workpiece sticking, so as to realize that workpiece is being overturn
During do not slide.The driving part f8 includes stepper motor f81, stepper motor f81 by stepper motor shaft coupling f82 with
First axle f31 is connected.Stepper motor installing plate f83 is fixed on the first support block f11, and stepper motor f81 passes through stepper motor
Installing plate f83 is fixed on the first support block f11.The switching mechanism f also includes location sensitive part f9.Location sensitive part
F9 includes the first proximity switch f91, the first proximity switch f91 positional informations clamped for detecting workpiece, and described first connects
Nearly switch f91 is fixed on stepper motor installing plate f83 side by proximity switch support f92.The location sensitive part f9
It is used for turn for detecting auxiliary rotatable parts f4 including the second proximity switch f93 and proximity switch baffle plate f94, the second proximity switch f93
Dynamic positional information, proximity switch baffle plate f94 are fixed on the second axle f41, give the second proximity switch f93 trigger signals.Second
Proximity switch f93 is fixed on the second support block f21 by support.Proximity switch baffle plate f94 is fixed on the second axle f41 thin footpath
End.Second axle f41 thin footpath end is further fixed on bolt f95, and bolt f95 can limit proximity switch baffle plate f94 and prolong to thin footpath end
The direction movement stretched.Second proximity switch f93 can determine the upturned position of workpiece, realize accurate switching process.
As shown in Figure 15-Figure 17, testing agency j, including detection bracket j1, detection support frame j2, upper compacting part j3, under
Compacting part j4, detection part j5, detection pallet j6, raceway j7 and propulsion cylinder j8.Bracket j1 is detected, for carrying detection machine
The miscellaneous part in addition to bracket j1 is detected on structure, detection support frame j2 and raceway j7 are respectively placed in detection bracket j1 both ends,
Bracket j1 is detected the mobile offer length for detecting pallet j6 is provided by raceway j7 thereon.Support frame j2 is detected, is arranged at
One end on bracket j1 is detected, for carrying upper compacting part j3, lower compacting part j4 and detection part j5.The detection support frame
J2 includes the first supporting plate j21, the second supporting plate j22 and the support frame bottom plate j23 being fixed on both above-mentioned.First
Fagging j21 and the second supporting plate j22 is fixed on detection bracket j1, upper compacting part j3, lower compacting part j4 and detection part
J5 is fixed on support frame bottom plate j23.Support frame as described above bottom plate j23 is the narrow structure in the wide one end in one end, close to the one of raceway j7
Hold as narrow one end, measurement base block j41 is fixed on narrow one end, is easy to lower compacting part j4 to stretch into workpiece, and with it is upper
Compacting part j3 coordinates workpiece pressing.Upper compacting part j3, including support j31 is compressed, the side compressed on support j31 is provided with pressure
Tight cylinder j32, compression cylinder j32 are connected with compact heap fixed plate j33, and compact heap j34 is fixed on compact heap fixed plate j33
On.Compact heap j34 departs from the workpiece being carried on detection pallet j6 under compression cylinder j32 driving, or compresses and be carried on
Detect a face of the workpiece on pallet j6.The opposite side compressed on support j31 is provided with displacement transducer j35, for sensing work
The movement position of part.Lower compacting part j4, including the measurement base block j41 being fixed on support frame bottom plate j23, measure base block
Steel ball j42 is provided with j41, steel ball j42 withstands another face for the workpiece being carried on detection pallet j6.Detection part j5 bags
Include two pieces detection proximity switch j51, detection proximity switch j51 and be fixed on support frame bottom by detecting proximity switch installing plate j52
On plate j23, detection proximity switch j51 can detect the thickness of workpiece.Two pieces detects shiftings of the proximity switch j51 in detection pallet j6
Set gradually on dynamic direction, realize the detection of workpiece inside and outside two location points.Pallet j6 is detected, for carrying workpiece, and can
The raceway j7 set along the detection bracket j1 other ends, closer or far from detection part j5.The detection pallet j6 is provided with inspection
Pallet cone cap j61 is surveyed, realizes the certralizing ability of workpiece.The detection pallet j6 bottoms are additionally provided with pallet contiguous block j62, and pallet connects
Meet block j62 to be connected with propulsion cylinder j8, receive the power of propulsion cylinder j8 transmission, propulsion cylinder j8 is fixed on inspection support frame bottom plate
On j23.
As depicted in figs. 18-19, the grinding machine m includes fuselage m1, column m2, Grinder bench m3, bistrique m4, grinding head lifting
Mechanism m5, bistrique grease-box m6, Grinder bench protector m7, fuselage protector m8 and Electric Appliance Cabinet m9.Column m2 and
Grinder bench m3 is fixed on fuselage m1, and column m2 is provided with bistrique m4, and bistrique m4 is driven by grinding head lift mechanism m5, perpendicular
Nogata is abutted up close or remote from Grinder bench m3.Grinding machine m also includes Grinder bench tractor, and Grinder bench m3 is by grinding
The tractor driving of bed workbench is moved in the horizontal direction.Grinding machine m also includes the bistrique lubricating oil that lubricating oil is provided for grinding
Case m6.Grinding machine m also includes Grinder bench protector m7 and fuselage protector m8.Column m2 side is additionally provided with Electric Appliance Cabinet
m9。
Claims (7)
1. high-precision high-efficiency automation grinding and detection production line, it is characterized in that, including three freedom degree manipulator mechanism（s）, cleaning
Mechanism（q）, switching mechanism（f）, testing agency（j）, workbench（g）, material table（w）Workbench is respectively in two（g）Both ends
Grinding machine（m）；
The three freedom degree manipulator mechanism（s）, for for wiper mechanism（q）, switching mechanism（f）, testing agency（j）, work
Platform（g）, material table（w）With two grinding machines（m）Loading and unloading；
The workbench（g）, for installing three freedom degree manipulator mechanism（s）, wiper mechanism（q）, switching mechanism（f）, detection
Mechanism（j）And material table（w）；
The material table（w）, for placing workpiece；
Switching mechanism（f）, including the first support member（f1）, the second support member（f2）, main rotatable parts（f3）, auxiliary rotation section
Part（f4）, connection member（f5）, the first hold assembly（f6）, the second hold assembly（f7）And driving part（f8）；
First support member（f1）Relative to the second support member（f2）It is parallel to set, the first support member（f1）For carrying master
Rotatable parts（f3）；
Second support member（f2）Relative to the first support member（f1）It is parallel to set, the second support member（f2）It is auxiliary for carrying
Rotatable parts（f4）；
Connection member（f5）Including the first elongated end and the second elongated end, the first elongated end and main rotatable parts（f3）Connection, and
Second elongated end then with auxiliary rotatable parts（f4）Connection；Connection member, for by main rotatable parts（f3）Rotatory force transition give
Auxiliary rotatable parts（f4）, make main rotatable parts（f3）With auxiliary rotatable parts（f4）Keep synchronous when rotating；
Main rotatable parts（f3）, including first axle（f31）, the first axle（f31）Through being carried on the first support member（f1）On
The first axle sleeve（f33）, main rotatable parts（f3）Receive driving part（f8）The rotatory force of transmission is simultaneously rotated, and will be rotated
Power passes to connection member（f5）；
Auxiliary rotatable parts（f4）, including the second axle（f41）, second axle（f41）Through being carried on the second support member（f2）On
The second axle sleeve（f43）, auxiliary rotatable parts（f4）Receive connection member（f5）The rotatory force of transmission is simultaneously rotated；
First hold assembly（f6）, for clamping workpiece, and follow main rotatable parts（f3）Rotate；
First hold assembly（f6）, including the first clamping lower plate（f61）, the first clamping lower plate（f61）On be fixed with for adsorbing
First magnet of workpiece（f62）, first magnet（f62）Adsorb a face of workpiece；
First hold assembly（f6）Also include the first clamping upper plate（f63）, the first clamping upper plate（f63）With the first clamping lower plate
（f61）It is correspondingly arranged, the first clamping upper plate（f63）It is provided with the first rubber blanket（f64）, first rubber blanket（f64）For right
The another side of workpiece enters row buffering；
Second hold assembly（f7）, for clamping workpiece, and follow auxiliary rotatable parts（f4）Rotate；
Second hold assembly（f7）, including the second clamping lower plate（f71）, the second clamping lower plate（f71）On be fixed with for adsorbing
Second magnet of workpiece（f72）, second magnet（f72）Adsorb a face of workpiece；
Second hold assembly（f7）Also include the second clamping upper plate（f73）, the second clamping upper plate（f73）With the second clamping lower plate
（f71）It is correspondingly arranged, the second clamping upper plate（f73）It is provided with the second rubber blanket（f74）, second rubber blanket（f74）For right
The another side of workpiece enters row buffering；
The switching mechanism（f）Also include location sensitive part（f9）；Location sensitive part（f9）Including the first proximity switch
（f91）, the first proximity switch（f91）The positional information clamped for detecting workpiece, the first proximity switch（f91）By close
Switch bracket（f92）It is fixed；
The location sensitive part（f9）Including the second proximity switch（f93）With proximity switch baffle plate（f94）, the second proximity switch
（f93）For detecting auxiliary rotatable parts（f4）Rotation position information, proximity switch baffle plate（f94）It is fixed on the second axle（f41）
On, give the second proximity switch（f93）Trigger signal.
2. high-precision high-efficiency automation grinding as claimed in claim 1 and detection production line, it is characterized in that,
The three freedom degree manipulator mechanism（s）, including X-axis part（s1）, Y-axis part（s2）, Z axis part（s3）And manipulator
Part（s4）；
X-axis part（s1）Including X-axis guide rail plate（s101）With X-axis slide unit（s102）, X-axis slide unit（s102）Can be in X-axis guide rail
Plate（s101）On moved along a straight line along X-axis；
X-axis guide rail plate（s101）It is arranged at Y-axis slide unit（s201）On, X-axis slide unit（s102）With Z axis guide rail plate（s301）Connection；
Y-axis part（s2）Including Y-axis slide unit（s201）With Y-axis beam（s202）；
Y-axis beam（s202）It is fixed on workbench（g）On, Y-axis slide unit（s201）Can be in Y-axis beam（s202）On along Y-axis straight line transport
It is dynamic；
Z axis part（s3）Including Z axis guide rail plate（s301）With Z axis slide unit（s302）, Z axis slide unit（s302）Can be in Z axis guide rail
Plate（s301）On moved along a straight line along Z axis；
Z axis slide unit（s302）End connection manipulator part（s4）；
Manipulator part（s4）Including manipulator box（s401）, manipulator box（s401）On manipulator electromagnet is installed（s403）
And manipulator cylinder（s404）, manipulator electromagnet（s403）For grabbing workpiece, manipulator cylinder（s404）For making workpiece
Depart from manipulator electromagnet（s403）Absorption.
3. high-precision high-efficiency automation grinding as claimed in claim 1 and detection production line, it is characterized in that, the wiper mechanism
（q）, including rinse bath（q1）, cleaning trays frame（q2）, cleaning motor（q3）, cleaning rotary shaft（q4）, cleaning groove lid（q5）, close
Lid drive device（q6）And closing lid guider（q7）；
Rinse bath（q1）, for accommodating cleaning liquid；
Cleaning trays frame（q2）, for carrying workpiece；The cleaning trays frame（q2）Including the pallet axle being fixedly connected（q21）With
Some tray bars（q22）, tray bar（q22）With pallet axle（q21）Centered on be uniformly distributed, each tray bar（q22）On along its
Bearing of trend is provided with least one cleaning trays rubber blanket（q23）；
Clean motor（q3）, for cleaning rotary shaft（q4）Convey power；
Clean rotary shaft（q4）, for motor will to be cleaned（q3）Power pass to cleaning trays frame（q2）；
Clean groove lid（q5）, for being covered in cleaning workpiece in cleaning trays frame（q2）Top；
Closing lid drive device（q6）, groove lid is cleaned for driving（q5）, make cleaning groove lid（q5）Positioned at cleaning trays frame（q2）'s
Cleaning trays frame is deviateed in top（q2）Top；
Closing lid guider（q7）, for groove lid will to be cleaned（q5）Motion be limited in the stroke of setting；Closing lid guider
（q7）, including slide-bar（q71）And sliding sleeve（q72）, slide-bar（q71）It is fixed on rinse bath（q1）Inner side, sliding sleeve（q72）It is fixed on
Slide-bar（q71）On, and can be along slide-bar（q71）It is mobile, sliding sleeve（q72）With cleaning groove lid（q5）It is fixedly connected.
4. high-precision high-efficiency automation grinding as claimed in claim 1 and detection production line, it is characterized in that, testing agency（j）, bag
Include detection bracket（j1）, detection support frame（j2）, upper compacting part（j3）, lower compacting part（j4）, detection part（j5）, detection
Pallet（j6）And raceway（j7）；
Detect bracket（j1）, detection bracket is removed in testing agency for carrying（j1）Outer miscellaneous part, and to detecting pallet
（j6）Mobile offer length support；
Detect support frame（j2）, it is arranged at detection bracket（j1）Upper one end, for carrying upper compacting part（j3）, lower compacting part
（j4）And detection part（j5）；
Upper compacting part（j3）, including compress support（j31）, compress support（j31）It is provided with compression cylinder（j32）, compact heap
（j34）In compression cylinder（j32）Driving under disengaging be carried on detection pallet（j6）On workpiece, or compress be carried on detection
Pallet（j6）On workpiece a face；
Lower compacting part（j4）, detection pallet is carried on for withstanding（j6）On workpiece another face；
Detect pallet（j6）, for carrying workpiece, and can be along detection bracket（j1）The raceway that the other end is set（j7）, it is close
Or away from detection part（j5）；
Detection part（j5）Including detecting proximity switch（j51）.
5. high-precision high-efficiency automation grinding as claimed in claim 4 and detection production line, it is characterized in that, the detection support frame
（j2）Including the first supporting plate（j21）, the second supporting plate（j22）And it is fixed on the support frame bottom plate on both above-mentioned
（j23）；First supporting plate（j21）With the second supporting plate（j22）It is fixed on detection bracket（j1）On, upper compacting part（j3）, under
Compacting part（j4）And detection part（j5）It is fixed on support frame bottom plate（j23）On.
6. high-precision high-efficiency automation grinding as claimed in claim 5 and detection production line, it is characterized in that, the lower compacting part
（j4）, including it is fixed on support frame bottom plate（j23）On measurement base block（j41）, measure base block（j41）On be provided with steel ball
（j42）, steel ball（j42）Withstand and be carried on detection pallet（j6）On workpiece another face.
7. high-precision high-efficiency automation grinding as claimed in claim 1 and the production method of detection production line, it is characterized in that, including
Following steps：
Step 1, first workpiece is captured, cleaning, detection, delivers to the face of First grinding machine first；
Step 2, second workpiece is captured, cleaning, detection, delivers to second face of grinding machine first；
Step 3, the 3rd workpiece is captured, cleaning, detection, it is to be processed to deliver to First grinding machine；
Step 4, the 4th workpiece is captured, cleaning, detection, it is to be processed to deliver to second grinding machine；
Step 5, first workpiece turning that the first face has been ground on First grinding machine is captured；
Step 6, capture the 3rd workpiece to be processed on First grinding machine and deliver to the face of First grinding machine first；
Step 7, first workpiece cleaning after crawl upset；
Step 8, second workpiece turning that the first face has been ground on second grinding machine is captured；
Step 9, capture the 4th workpiece to be processed on second grinding machine and deliver to second face of grinding machine first；
Step 10, first cleaned workpiece is captured, it is to be processed that First grinding machine is delivered to after detection；
Step 11, second workpiece cleaning after crawl upset；
Step 12, second cleaned workpiece is captured, it is to be processed that second grinding machine is delivered to after detection；
Step 13, the 3rd workpiece turning that the first face has been ground on First grinding machine is captured；
Step 14, capture first workpiece to be processed and deliver to the face of First grinding machine second；
Step 15, the 4th workpiece turning that the first face has been ground on second grinding machine is captured；
Step 16, capture second workpiece to be processed and deliver to second face of grinding machine second；
Step 17, the 4th workpiece after crawl upset, cleaning, detection, it is to be processed to deliver to second grinding machine；
Step 18, first workpiece turning that the second face has been ground on First grinding machine is captured；
Step 19, capture the 3rd workpiece to be processed and deliver to the face of First grinding machine second；
Step 20, the 5th workpiece is captured, cleaning, detection, it is to be processed to deliver to First grinding machine；
Step 21, first workpiece cleaning after crawl upset, detection, are put into finished product area；
Step 22, second workpiece turning that the second face has been ground on second grinding machine is captured；
Step 23, capture the 4th workpiece to be processed and deliver to second face of grinding machine second；
Step 24, the 6th workpiece is captured, cleaning, detection, it is to be processed to deliver to second grinding machine；
Step 25, second workpiece cleaning after crawl upset, detection, are put into finished product area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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