CN106826451B - Pipe fitting polishing assembly line - Google Patents
Pipe fitting polishing assembly line Download PDFInfo
- Publication number
- CN106826451B CN106826451B CN201710019064.XA CN201710019064A CN106826451B CN 106826451 B CN106826451 B CN 106826451B CN 201710019064 A CN201710019064 A CN 201710019064A CN 106826451 B CN106826451 B CN 106826451B
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- China
- Prior art keywords
- pipe fitting
- guide groove
- fixture
- clamp body
- assembly line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
- B24B41/067—Work supports, e.g. adjustable steadies radially supporting workpieces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
This technology provides that a kind of operating efficiency is high, grinding effect is good, being capable of automated job, the pipe fitting polishing assembly line that uses manpower and material resources sparingly, it is suitable for the polishing operation of the pipe fitting especially extinguishing pipe small to the big one end in one end, it includes: pipe fitting feeding device, position is determined for pipe fitting to be delivered to certain, and keeps big end small end state directed downwardly upward；Fixture, for the clamping and release of material, its underpart can extend into pipe fitting and clamp to pipe fitting；Manipulator, for driving the pipe fitting clamped by fixture movement, fixture is fixed on arm end；Burr remover, including the deburrer rotated under the drive of deburring power device, for removing the burr on pipe fitting outer wall；Grinding device gets on the position of flash removed for being ground pipe fitting outer wall including the abrasive grinding wheel that rotates in the case where polishing power device drives.
Description
Technical field
This technology is related to carrying out pipe fitting especially extinguishing pipe the assembly line of polishing operation.
Background technique
Pipe fitting especially casting pipe is in the fabrication process, inevitably jagged on outer wall.Extinguishing pipe is come
It says, production and application amount is big, and its status is special, has shorter cylindrical big end and longer taper small end, cylindrical big
End and taper small end form the shaft shoulder.If the polishing of the small top and big bottom pipe fitting to similar extinguishing pipe can be rapidly completed, one
It does not solve directly.
Summary of the invention
The purpose of this technology be to provide a kind of operating efficiency is high, grinding effect is good, can automated job, save manpower object
The pipe fitting polishing assembly line of power, it is suitable for the polishing operation of the pipe fitting especially extinguishing pipe small to the big one end in one end.
The polishing assembly line of pipe fitting described in this technology, it includes:
Pipe fitting feeding device determines position for pipe fitting to be delivered to certain, and keeps big end small end state directed downwardly upward；
Fixture, for the clamping and release of material, its underpart can extend into pipe fitting and clamp to pipe fitting；
Manipulator, for driving the pipe fitting clamped by fixture movement, fixture is fixed on arm end；
Burr remover, including the deburrer rotated under the drive of deburring power device, for removing outside pipe fitting
Burr on wall；
Grinding device gets on including the abrasive grinding wheel rotated in the case where polishing power device drives for being ground pipe fitting outer wall
The position of flash removed.
This technology the utility model has the advantages that using mechanical manual task, determination should first be arrived by the fixture for installing on a robotic arm
At position, pipe fitting is clamped by fixture, is then moved at burr remover, is passed through by mechanical hand-motion fixture and pipe fitting again
The movement of mechanical hand-motion pipe fitting and the rotation of deburrer, deburrer carry out cutting unhairing to the outer surface of pipe fitting
Thorn, may be smooth not enough at pipe fitting deburring after the completion of deburring operation, is then moved to again by machinery hand-motion pipe fitting
At grinding device, pipe fitting is polished smooth by abrasive grinding wheel, completes entire operation.This technology can reduce manpower throwing
Enter, eliminate artificial investment, operating efficiency is high.
The assembly line as an improvement, above-mentioned pipe fitting is polished, setting detects the presence of the pipe fitting of pipe fitting at the determining position
Whether there is or not sensor, the output of sensor connects the Manipulator Controller of control manipulator behavior.
It is detected by pipe fitting whether there is or not sensor (such as optoelectronic switch sensor) and determines that whether there is or not pipe fittings at position, if there is pipe
Part, then manipulator is controlled by Manipulator Controller and carries out the movements such as clamping pipe fitting again, further improve the degree of automation.
Above-mentioned pipe fitting polishing assembly line, it further include:
Camera recognition system, including camera, for identification working position of pipe fitting；The output of camera connects control mechanical, hand-driven
The Manipulator Controller of work；Camera is located at top side at the determining position.
After fixture clamps pipe fitting, pipe fitting is shot by camera, and send to Manipulator Controller and identified, judgement adds
Ministry of worker position (usually at the molding on pipe fitting bus) whether in setting position, if it is not, by mechanical hand-motion pipe fitting around
The axis of pipe fitting rotates, until needing working position to rotate setting position.Then manipulator is controlled again carries out subsequent movement etc.
Operation.The advantages of operating in this way is that manipulator subsequent job path (motion track) can be unified, and subsequent operation is simplified, can
By realizing automated job.
Above-mentioned pipe fitting polishing assembly line, pipe fitting feeding device include:
Climbing conveyer, with rack, the conveying moved under the drive of power delivery unit being obliquely installed in rack
Chain or conveyer belt, for the pipe fitting for being located at carrier chain or conveyer belt lower to be transported to eminence；
Material conveying device, including inclined guide groove, guiding groove width is greater than the path at the pipe fitting shaft shoulder, but is less than axis
Major diameter at shoulder；In front of the high-end lower part for being located at carrier chain or conveyer belt eminence of guide groove, so that from carrier chain or conveying
It can be fallen into guide groove with the pipe fitting that eminence is fallen, the pipe fitting fallen into guide groove is understood due to self weight oneself is turned to big end court
Upper small end state directed downwardly, and since the shaft shoulder is supported on guide groove top, pipe fitting is slided along guide groove to guide groove low side；It is leading
The limit crossbeam for stopping the pipe fitting to glide is internally provided with to the low side of slot.
This pipe fitting feeding device can be delivered to the unordered pipe fitting after roughing certain and determine position, and keep big end
Small end state directed downwardly upward.Specifically, by climbing conveyer that the unordered pipe fitting conveying of each arbitrary arrangement is supreme
Place, then falls towards in guide groove, since guiding groove width is greater than the path at the pipe fitting shaft shoulder, but is less than the major diameter at the shaft shoulder；
In addition the light lower end in pipe fitting upper end weight, drop into pipe fitting in guide groove due to self weight, can automatic turning to big end small end court upward
Under state, the shaft shoulder is supported on guide groove top, and such pipe fitting will be snapped down to the low side of guide groove according to such state
(i.e. the determination position) is limited at crossbeam.
Above-mentioned pipe fitting polishing assembly line, in guide groove inner wall somewhere, setting pipe fitting quantity controls sensor, pipe fitting quantity
The output of control sensor connects the climbing conveyer controller of control power delivery unit；When the pipe fitting for being located at guide groove lower end
Quantity at least two when, pipe fitting quantity control sensor to climbing conveyer controller issue signal, climbing conveyer control
Device control power delivery unit stopping movement processed.
Pipe fitting quantity control sensor (such as photoelectric sensor) can control the quantity in the pipe fitting of guide groove lower end,
It prevents quantity too many, as quantity too many (but no less than two), sends a signal to climbing conveyer controller, so that it stops
Movement.
Above-mentioned pipe fitting is polished assembly line, and certain equidistant boss, boss and boss are arranged on carrier chain or conveyer belt
Between formed and can accommodate the groove of a pipe fitting, and boss height is greater than the half of pipe fitting maximum outside diameter, but is less than maximum outer
Diameter.
In this way, each pipe fitting can be sunk in a groove, ensure that pipe fitting one by one by carrier chain or conveyer belt
It send to eminence, orderly falls into guide groove.
Above-mentioned pipe fitting polishing assembly line, is provided with above the middle part of carrier chain or conveyer belt along carrier chain or conveying
The limit rope that bandwidth direction extends, the both ends of limit rope are fixed in the fixed column of the two sides of carrier chain or conveyer belt,
Fixed column is arranged on the rack；The distance of limit rope to groove floor is 1.1-1.7 times of pipe fitting maximum outside diameter.
Pipe fitting is not fallen on boss in groove in order to prevent, or the pipe fitting in two neighboring groove in order to prevent
Between top have pipe fitting, be provided with limit rope, with the rising of carrier chain or conveyer belt, limit rope can prevent on boss and
The rising of the pipe fitting in groove is not fallen within, the upper of between the pipe fitting in the two neighboring groove pipe fitting on top can be also prevented
It rises, this pipe fitting not fallen in groove is stirred downwards, allows them to normally fall in groove, reliably ensure that each
A pipe fitting is all in a groove and as carrier chain or conveyer belt rise.In the two sides of carrier chain or conveyer belt there is setting to exist
Baffle in rack, prevents pipe fitting from falling on outside baffle.
Above-mentioned pipe fitting is polished assembly line, in the high-end two sides of guide groove setting upwardly extend, for from carrier chain
Or the pipe fitting fallen on conveyer belt plays the pipe fitting guide plate of guiding role.Pipe fitting guide plate effectively prevent the pipe fitting fallen to fall on leading
To the outside of slot.
Pose adjustment device is arranged on the top of guide groove in above-mentioned pipe fitting polishing assembly line, and pose adjustment device includes fixing
Pose adjustment device side wall on guide groove two sidewalls top；Two pose adjustment device side walls are with the axisymmetrical of guide groove, posture tune
The distance between whole device side wall is slightly larger than the maximum outside diameter of pipe fitting.When the pipe fitting in guide groove has skew, pass through pose adjustment
After device, pipe fitting axis state substantially in a vertical shape, and be located on the axis of guide groove.
Above-mentioned pipe fitting polishing assembly line, the fixture includes the fixture for clamping power mechanism and can extend into tube intracavity
Body, in the circumferential direction of clamp body, uniformly distributed there are three clamp jaws；Clamp jaw is triangular in shape, has inner corner portion, external angle and lower corner；Folder
Tight pawl can be rotatably arranged on clamp body in radial direction relative to clamp body, the central part setting of clamp body can on move down
Dynamic center of circle disk；Center of circle disk is connected with its clamping power mechanism moved up and down is driven；The circumferential setting annular groove of center of circle disk, interior angle
Portion protrudes into annular groove；When the center of circle, disk is moved down, and inner corner portion moves down under the action of annular groove, clamp jaw rotation, and lower corner is outside
It moves up and is contacted with the inner wall of pipe fitting, to clamp pipe fitting；Conversely, move up when center of circle disk, then lower corner is to introversion
Pipe fitting is unclamped in lower movement.
When in use, when center of circle circle moves up and down under the drive of fixture power mechanism, the triangle being attached thereto is pushed
The inner corner portion of clamp jaw is swung, due to clamp jaw pivot be arranged on clamp body, when triangle clamp jaw one end
Inner corner portion encloses pressure by the center of circle or when lifting, lower corner can be pushed out or push back along the radial direction of clamp body, to realize to being located at
The clamping or disengaging of the pipe fitting on clamp body periphery.Three clamp jaws are in symmetrical circle configurations, and internal structure is simple, to disposition energy
It is good, even if occurring burr between the lower corner and pipe fitting inner wall of a clamp jaw, three between lower corner and pipe fitting can also be made
Clamping face still in the same plane, guarantees that pipe fitting will not generate inclination when clamping, and avoids the occurrence of material polishing non-uniform phenomenon.
When material is detached from from fixture, clamp end spring expansion, material is quickly separated with fixture under spring force, is avoided the occurrence of
Material stuck phenomenon.
Above-mentioned pipe fitting is polished assembly line, and thimble slides up and down to setting in clamp body lower end, thimble and clamp body it
Between be provided with the elastic element for making thimble be downwardly away from clamp body lower end under normal conditions.
When fixture clamps material, clamp body protrudes into tube intracavity, since pipe fitting is in upper coarse and lower fine pyramidal structure, certain stroke
Later, pipe fitting inner wall and the thimble of fixture the lower part back center that is engaged can not move, with clamp body relative to pipe fitting after
Continuous to move down, Distance Shortened between thimble and clamp body, elastic element is compressed, and certain elastic potential energy is stored.Then, the center of circle is enclosed
It being moved down under the drive of fixture power mechanism, center of circle circle moves down the swing for pushing the triangle clamp jaw being attached thereto,
When the inner corner portion end that clamp jaw is connected with center of circle circle is depressed, lower corner is ejected to be compressed with pipe fitting inner wall, realizes material
It clamps.After pipe fitting completes the process, center of circle circle moves up under the drive of fixture power mechanism, encloses the interior angle being connected with the center of circle
Portion is lifted at end, and clamp jaw rotates backward, and the lower foot that material clamps, which inwardly resets downwards, retracts, and pipe fitting is relaxed, in gravity
Effect is lower to fall.Meanwhile the elastic potential energy release of compressed elastic element storage before, thimble are downward by elastic element
Active force pushes pipe fitting to move down, and pipe fitting is quickly separated with fixture under double gravity, can effectively solve pipe fitting and take off from fixture
From when stuck phenomenon, improve working efficiency.
Above-mentioned pipe fitting polishing assembly line, when clamp body extends downwardly into pipe fitting, pipe fitting inner wall is contacted with thimble, with folder
Specifically continuing to move down, between thimble and clamp body after Distance Shortened, elastic element is compressed, when in the center of circle, disk is not moved down also,
External angle and pipe fitting upper end surface are in contact condition.
In this manner it is possible to which the distance protruded into pipe fitting to clamp body is defined.Specifically, when clamp body extends downwardly into
In pipe fitting, after pipe fitting inner wall is contacted with thimble, as clamp body continues to move down, elastic element is compressed, at this time due to center of circle disk
There are no moving down, clamp jaw is not rotated, and external angle is located above pipe fitting upper surface, when clamp body moves down again, clamp jaw
External angle clamp body can be prevented to continue to move down relative to pipe fitting with the upper end face contact of pipe fitting.
Detailed description of the invention
Fig. 1 pipe fitting automatically grinding assembly line schematic diagram；
Fig. 2 is to remove assembly line schematic diagram after a manipulator, a burr remover, a grinding device；
Fig. 3 is climbing conveyer schematic diagram；
Fig. 4 is material conveying device schematic diagram；
Fig. 5 is another schematic diagram of material conveying device；
Fig. 6 is schematic diagram of the fixture before clamping pipe fitting；
Fig. 7 is the partial enlarged view in Fig. 6；
Fig. 8 is schematic diagram of the fixture when clamping pipe fitting；
Fig. 9 is the partial enlarged view in Fig. 8；
Figure 10 is fixture outline drawing；
Figure 11 is the A-A cross-sectional view of Figure 10.
Specific embodiment
This technology is illustrated with reference to the accompanying drawing.
The pipe fitting up big and down small to extinguishing pipe etc. shown in Figure 1 carries out the assembly line of automatically grinding, including by climbing
The pipe fitting feeding device that conveyer 1 and material conveying device 2 form, fixture 3, two manipulators 4, two burr removers 5, two
A grinding device 6, two housings 7, camera recognition system 8, whether there is or not sensor 9, pipe fitting quantity to control sensor 10 etc. for pipe fitting.
The extinguishing pipe 100 for needing to polish includes shorter cylindrical big end 101 and longer taper small end 102, cylinder
Big end and taper small end form the shaft shoulder 103.The diameter and extinguishing pipe that major diameter at the shaft shoulder is cylindrical big end 101 are most
Big outer diameter.
Pipe fitting feeding device, the determination position for being delivered to pipe fitting on guide groove low side, and keep big end small upward
Hold state directed downwardly；Including by climbing conveyer 1 and material conveying device 2.
Climbing conveyer 1, with rack 11, be obliquely installed in rack moved under the drive of power delivery unit it is defeated
Chain 12 is sent, for the pipe fitting for being located at carrier chain lower to be transported to eminence.Certain boss 13 at equal intervals is set on carrier chain, it is convex
The groove 14 that can accommodate a pipe fitting is formed between platform and boss, the width of groove is slightly larger than the maximum gauge of pipe fitting, and convex
Platform height is about 0.8 times of pipe fitting maximum outside diameter.
There is the baffle 15 being arranged on the rack in the two sides of carrier chain.It is provided with above the middle part of carrier chain along defeated
The limit rope 16 for sending chain width direction to extend, the both ends of limit rope are fixed in the fixed column 17 of the two sides of carrier chain, Gu
Fixed column is arranged on the rack；The distance of limit rope to groove floor is 1.5 times of pipe fitting maximum outside diameter.
Material conveying device 2, including inclined guide groove 21, guide groove 21 is by being fixed on two opposite guide groove plates
22, the guide plate 24,25 on 23 tops forms, and the guiding groove width of formation is greater than the path at the pipe fitting shaft shoulder, but is less than at the shaft shoulder
Major diameter.Guide plate high-end side setting upwardly extend, for the pipe fitting fallen from carrier chain play guiding make
Pipe fitting guide plate 26,27.Pipe fitting guide plate 26,27 is located in front of the lower part of carrier chain eminence, pipe fitting guide plate 26 and carrier chain
Carrier bar top cambered surface is in tangent state, so that the pipe fitting fallen from carrier chain eminence can be fallen into guide groove.
Pose adjustment device 28 includes the pose adjustment device side wall 282,283 for being fixed on guide plate 24,25 tops, is connected to two
Roof 281 between pose adjustment device side wall；Two pose adjustment device side walls are with the axisymmetrical of guide groove, pose adjustment device side wall
The distance between be slightly larger than pipe fitting maximum outside diameter.
The pipe fitting fallen into guide groove is understood due to self weight oneself is turned to big end small end state directed downwardly upward, and due to axis
Shoulder is supported on guide plate, and pipe fitting is slided along guide groove to guide groove low side.In sliding process, pass through pose adjustment device 28
Two sidewalls are oriented to pipe fitting, and pipe fitting axis is substantially vertical, coplanar with axis of guiding groove.Pipe fitting is until slipping down to and limit crossbeam
Until 29 contacts.The limit crossbeam 29 of the pipe fitting to glide is stopped to be arranged in inside the low side of guide groove.
Pipe fitting feeding device realizes automatically supplying for pipe fitting material, which allows pipe fitting material to fall in irregular status
Enter climbing conveyer, and guarantee that material is moved during supply by definitive orbit, pipe fitting material in feeding process is avoided to occur
It arbitrarily rolls, throw away tracks, phenomenon.
40 ° of carrier chain angle with horizontal plane or so, surrounding installs baffle, is arranged on carrier bar a certain number of convex at equal intervals
Platform, and boss height is greater than material radius, and groove is formed between boss and boss, the rule for material is placed.Material can be in
Irregular status falls into carrier chain, and material is not necessarily fallen into groove, due to the angle of carrier bar and horizontal plane, acts in frictional force
Under, it is moved up in the material of irregular status with carrier bar.After moving certain stroke, under the action of limit rope, not recessed
Material in slot is rolled downwards due to the barrier effect by limit rope along carrier bar, material below rolled and under object
The effect of material, and irregular status material is acted on by boss simultaneously during exercise, and certain pipe fitting material is fallen into groove,
It by limit rope, continues up, completes the transmission of next step.
This climbing conveyer 1 allows pipe fitting material to fall into climbing conveyer in irregular status, and limit rope has automatic adjust
Whole material angle function guarantees that irregular status material is finally regularly fallen into groove, and then completes further work.
45 ° of the guide surface angle with horizontal plane of guide groove structure makes pipe fitting material slide downward under the effect of gravity.It leads
To groove top end installation pipe fitting guide plate 26,27, the carrier bar top cambered surface of pipe fitting guide plate 26 and carrier chain is in tangent state, pipe fitting guide plate
27 height are sufficiently large.After material movement is to carrier chain carrier bar top, since pipe fitting guide plate 26 and carrier bar top cambered surface are tangent,
Simultaneously under the barrier effect of pipe fitting guide plate 27, it is ensured that material is smoothly fallen into guide groove, rather than throws away tracks.It leads
Pose adjustment device is set on slot, and material falls into guide groove not necessarily completely in vertically downward state, and material is by posture at this time
After adjuster effect, its whereabouts angle is adjusted, is in vertical placement status in guide groove.The roof height of pose adjustment device is slightly higher
In material, not only guaranteed that material passed through pose adjustment device, but also material run-off the straight in guide groove is avoided to shake, and had guaranteed material
It is in straightened condition slide downward in guide groove.Guide groove end installation limit crossbeam, plays position-limiting action to material, makes material water
Placing flat guarantees that fixture accurately steadily picks up material in specified position.A rubber ring is covered on limit crossbeam, to buffer material impact
Power guarantees material position precision.
Material conveying device 2 can guarantee tubular materials steady slide downward in guide groove, and material is avoided to throw away
Tracks generate tilt slide phenomenon in guide groove.Guarantee the final position precision of material, it is ensured that fixture exactly
Pick up material.
Fixture 3 is used for the clamping and release of material, cylinder (clamp power mechanism) 31 including top and can extend into pipe
The clamp body 32 of part inner cavity,
The lower part of the housing of cylinder is fixedly linked with clamp body upper end.Clamp jaw there are three being evenly distributed in the circumferential direction on clamp body top
33；Clamp jaw is triangular in shape, has inner corner portion 331, external angle 333 and lower corner 332；The central part of clamp jaw passes through one and hangs down
Directly in the pin shaft of radial direction 34, clamp jaw can be swung around pin shaft in radial direction relative to clamp body.The center of clamp body
The center of circle disk 35 that can move up and down is arranged in portion；Center of circle disk upper end is connected with the piston rod 311 of its cylinder moved up and down is driven；
The circumferential setting annular groove 351 of center of circle disk, inner corner portion protrudes into annular groove；When center of circle disk cylinder piston rod drive under move down,
Inner corner portion moves down under the action of annular groove, and clamp jaw is swung, and lower corner 332 is moved up and connect with the inner wall of pipe fitting big end outward
Touching, to clamp pipe fitting；Conversely, then lower corner moves inwardly downward when center of circle disk moves up, pipe fitting is unclamped.
Thimble 36, which slides up and down to, is arranged in the guide rod 37 for being fixed on clamp body lower end, thimble and clamp body or guide rod it
Between be provided with the spring 38 for making thimble be downwardly away from clamp body lower end under normal conditions.
When clamp body extends downwardly into pipe fitting, pipe fitting lower end inner wall is contacted with thimble, then clamp body continue move down one
Set a distance then just shortens corresponding distance between clamp body and thimble, spring is compressed, external angle 333 and pipe fitting upper end surface
In contact condition (when in the center of circle, disk is not moved down also).
When fixture clamps material, clamp body is protruded into inside pipe fitting material, since material is in upper coarse and lower fine pyramidal structure, centainly
After stroke, material inner wall is contacted with clamp body bottom end thimble, as clamp body continues to move down under the drive of manipulator, spring
It is compressed, stores certain elastic potential energy.The air inlet of cylinder intake pipe, cylinder piston rod extend downwardly at this time, and promotion is attached thereto
Center of circle circle move down, cylinder is in work into state at this time.Moving down for center of circle circle pushes the triangle clamp jaw being attached thereto
It swinging, clamp jaw centre bore is connect with a pin shaft, when clamp jaw is depressed with center of circle circle connected end, that is, inner corner portion, lower corner quilt
Ejection is compressed with material inner wall, and cylinder is in locking state at this time, realizes the clamping of material.Clamp body circle distribution three identical
Clamp jaw is distributed between clamp jaw in hexagonal angle, even if there is burr between a clamp jaw and material clamping face, can also make three folders
Tight face still in the same plane, guarantees that the clamping of material will not generate inclination, avoids the occurrence of material polishing non-uniform phenomenon；Material
After completing the process, cylinder exhaust pipe exhaust, piston rod is retracted, and center of circle circle moves up, and cylinder is in fast-rewinding state at this time.Center of circle circle
Moving up, which makes clamp jaw be attached thereto the i.e. inner corner portion in end, lifts, so that the pinching end of clamp jaw and material, that is, lower corner reset is retracted,
Material is relaxed, and is fallen under gravity.Meanwhile the elastic potential energy release of spring store, material is by downward spring
Power effect, material are quickly separated with fixture under double gravity, are improved work efficiency.
Manipulator 4, for driving the pipe fitting clamped by fixture movement, the shell upper end of cylinder is fixed on arm end.
The burr remover 5 for belonging to the prior art, including the deburrer rotated under the drive of deburring power device
51, for removing the burr on pipe fitting outer wall；
The grinding device 6 for belonging to the prior art is used for including the abrasive grinding wheel 61 rotated in the case where polishing power device drives
Grinding pipe fitting outer wall gets on the position of flash removed.
Housing 7 surrounds burr remover 5 and grinding device 6, prevents burr remover 5 and grinding device 6 from carrying out unhairing
When piercing operation and polishing operation, tiny chip is splashed around.
Camera recognition system 8, including camera, for identification working position of pipe fitting；The output of camera connects control manipulator
The Manipulator Controller of movement；Camera is located at top side at limit crossbeam 29.
Setting detects the presence of the pipe fitting of pipe fitting whether there is or not sensor 9, sensings at the guide groove plate inner wall close to limit crossbeam
The output of device connects the Manipulator Controller of control manipulator behavior.
In guide groove plate inner wall somewhere, setting pipe fitting quantity controls sensor 10, and the output of pipe fitting quantity control sensor connects
Control the climbing conveyer controller of power delivery unit；When being located at the quantity of pipe fitting of guide groove lower end is two, pipe
Number of packages amount controls sensor and issues signal to climbing conveyer controller, and climbing conveyer controller control power delivery unit stops
Stop is made.
Pipe fitting material delivers into material conveying device 2 through climbing conveyer 1, finally in 2 guide groove of material conveying device
It is regularly arranged in guide groove end under the action of end limit crossbeam.Guide groove end inner surface installs two sensors, pipe fitting
Quantity control sensor 10 is used to control the start and stop of climbing conveyer, and whether there is or not the movements that sensor 9 is used to control manipulator for pipe fitting.
When pipe fitting quantity control sensor 10 detects that guide groove end is more than climbing conveyer controller reception in the presence of two pipe fittings
Pipe fitting quantity controls the stop motion signal that sensor 10 issues；When pipe fitting quantity control sensor 10 detects guide groove end
In the presence of less than two materials, climbing conveyer controller receives enabling signal.Guarantee robot movement to when being oriented to groove location
Always have material that can clamp, but guide groove in again will not storing excess material.When whether there is or not sensors 9 to detect guide groove for pipe fitting
In the presence of there is material in end, robot movement to guiding groove location, when manipulator arrive specific position when, be ready to pass through fixture clamp
Pipe fitting.In the presence of pipe fitting detects that guide groove end does not have material whether there is or not sensor 9, manipulator attonity.
When mechanical hand-motion fixture protrudes into the pipe fitting being located at limit crossbeam 29, then fixture clamps pipe fitting, and manipulator is
Pipe fitting vertical ascent is driven to be detached from guide groove.Then camera takes pictures to pipe fitting, the position that pipe fitting needs to process is judged, if processing department
Not in setting position, i.e. the end joint of control manipulator drives fixture, pipe fitting to rotate around the axis of pipe fitting for position, then takes pictures again
Working position is judged whether in setting position, until working position is until setting position.
Then manipulator can drive fixture and pipe fitting by the movement of setting track, specifically, pipe fitting is first moved to unhairing
At bayonet tool, by driving movement of the pipe fitting relative to deburrer, complete to remove task to the burr on pipe fitting outer wall；It connects
Mechanical hand-motion pipe fitting be moved at abrasive grinding wheel, by driving movement of the pipe fitting relative to abrasive grinding wheel, further processing
Deburring surface, to improve processing quality；Later mechanical hand-motion pipe fitting to collect the blanking frame (not shown) top of pipe fitting into
Row discharging；When discharging, cylinder movement drives piston rod to move up, and clamp jaw backswing, lower corner moves inward downwards, unclamps
Pipe fitting；Spring pushes pipe fitting to fall by thimble simultaneously, and pipe fitting quickly falls into blanking frame under the effect of the elastic force of self weight and spring,
Complete the polishing operation of pipe fitting.Two manipulator simultaneously operations, alternately to the crawl of material, processing, release, provide significantly
Working efficiency.
Claims (8)
- The assembly line 1. pipe fitting is polished, it is characterized in that: it includes:Pipe fitting feeding device determines position for pipe fitting to be delivered to certain, and keeps big end small end state directed downwardly upward；Fixture, for the clamping and release of material, its underpart can extend into pipe fitting and clamp to pipe fitting；The fixture includes folder Tight power mechanism and the clamp body that can extend into tube intracavity, in the circumferential direction of clamp body, uniformly distributed there are three clamp jaws；Clamp jaw is in Triangle has inner corner portion, external angle and lower corner；Clamp jaw can be rotatably arranged at folder in radial direction relative to clamp body Particularly, the center of circle disk that can move up and down is arranged in the central part of clamp body；Center of circle disk and the clamping for driving it to move up and down are dynamic Force mechanisms are connected；The circumferential setting annular groove of center of circle disk, inner corner portion protrude into annular groove；When the center of circle, disk is moved down, and inner corner portion is in ring It is moved down under the action of slot, clamp jaw rotation, lower corner is moved up outward and contacted with the inner wall of pipe fitting, to clamp pipe fitting； Conversely, then lower corner moves inwardly downward when center of circle disk moves up, pipe fitting is unclamped；Manipulator, for driving the pipe fitting clamped by fixture movement, fixture is fixed on arm end；Burr remover, including the deburrer rotated under the drive of deburring power device, for removing pipe fitting outer wall Burr；Grinding device gets on defeathering for being ground pipe fitting outer wall including the abrasive grinding wheel that rotates in the case where polishing power device drives The position of thorn；Thimble, which slides up and down to, to be arranged in clamp body lower end, is provided between thimble and clamp body and is made thimble downward under normal conditions Spring far from clamp body lower end；When fixture clamps material, clamp body protrudes into tube intracavity, since pipe fitting is in upper coarse and lower fine taper Structure, after certain stroke, the thimble of the pipe fitting inner wall and fixture lower part back center that is engaged can not be moved, with clamp body phase Pipe fitting is continued to move down, Distance Shortened between thimble and clamp body, spring is compressed, and certain elastic potential energy is stored.
- The assembly line 2. pipe fitting as described in claim 1 is polished, it is characterized in that: setting detects the presence of pipe fitting at the determining position Pipe fitting whether there is or not sensor, the output of sensor connect control manipulator behavior Manipulator Controller.
- The assembly line 3. pipe fitting as described in claim 1 is polished, it is characterized in that: further comprising:Camera recognition system, including camera, for identification working position of pipe fitting；The output of camera connects control manipulator behavior Manipulator Controller；Camera is located at top side at the determining position.
- The assembly line 4. pipe fitting as described in claim 1 is polished, it is characterized in that: pipe fitting feeding device includes:Climbing conveyer, with rack, the carrier chain moved under the drive of power delivery unit that is obliquely installed in rack or Conveyer belt, for the pipe fitting for being located at carrier chain or conveyer belt lower to be transported to eminence；Material conveying device, including inclined guide groove, guiding groove width is greater than the path at the pipe fitting shaft shoulder, but is less than at the shaft shoulder Major diameter；In front of the high-end lower part for being located at carrier chain or conveyer belt eminence of guide groove, so that high from carrier chain or conveyer belt The pipe fitting that place is fallen can be fallen into guide groove, oneself to be turned to big end small upward since self weight is understood for the pipe fitting fallen into guide groove State directed downwardly is held, and since the shaft shoulder is supported on guide groove top, pipe fitting is slided along guide groove to guide groove low side；In guide groove Low side be internally provided with for stop glide pipe fitting limit crossbeam.
- The assembly line 5. pipe fitting as claimed in claim 4 is polished, it is characterized in that: being controlled in guide groove inner wall somewhere setting pipe fitting quantity The output of sensor, pipe fitting quantity control sensor connects the climbing conveyer controller of control power delivery unit；It is led when being located at To the pipe fitting of slot lower end quantity at least two when, pipe fitting quantity control sensor to climbing conveyer controller issue believe Number, climbing conveyer controller controls power delivery unit stopping movement.
- The assembly line 6. pipe fitting as claimed in claim 4 is polished, it is characterized in that: being arranged on carrier chain or conveyer belt certain equidistant Boss forms the groove that can accommodate a pipe fitting between boss and boss, and boss height is greater than the one of pipe fitting maximum outside diameter Half, but it is less than maximum outside diameter.
- The assembly line 7. pipe fitting as claimed in claim 4 is polished, it is characterized in that: being provided with above the middle part of carrier chain or conveyer belt Along the limit rope that carrier chain or conveyer belt width direction extend, the both ends of limit rope are fixed on positioned at carrier chain or conveyer belt In the fixed column of two sides, fixed column is arranged on the rack；The distance of limit rope to groove floor is the 1.1- of pipe fitting maximum outside diameter 1.7 again.
- The assembly line 8. pipe fitting as claimed in claim 4 is polished, it is characterized in that: pose adjustment device, appearance is arranged on the top of guide groove State adjuster includes the pose adjustment device side wall for being fixed on guide groove two sidewalls top；Two pose adjustment device side walls are with guide groove Axisymmetrical, the distance between pose adjustment device side wall are slightly larger than the maximum outside diameter of pipe fitting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019064.XA CN106826451B (en) | 2017-01-11 | 2017-01-11 | Pipe fitting polishing assembly line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019064.XA CN106826451B (en) | 2017-01-11 | 2017-01-11 | Pipe fitting polishing assembly line |
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| CN106826451A CN106826451A (en) | 2017-06-13 |
| CN106826451B true CN106826451B (en) | 2019-07-26 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208391672U (en) * | 2017-12-28 | 2019-01-18 | 佛山市艾乐博机器人科技有限公司 | A kind of sanding production line |
| CN109202592A (en) * | 2018-11-27 | 2019-01-15 | 北京奇步自动化控制设备有限公司 | Connecting rod deburring equipment |
| CN110953896B (en) * | 2019-06-19 | 2020-09-25 | 宁波格劳博机器人有限公司 | Full-automatic cleaning workstation for lithium battery anode material sintering pot |
| CN113510542A (en) * | 2021-07-14 | 2021-10-19 | 孟轩霆 | Synchronous cleaning and polishing device for inner wall and outer wall of copper pipe |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008074174A1 (en) * | 2006-12-19 | 2008-06-26 | Robotic Consulting S.A.R.L. | Device for automatically supplying a machining work station of a machine tool with mechanical parts |
| CN101021022B (en) * | 2007-03-07 | 2010-05-26 | 经纬纺织机械股份有限公司 | Automatic bobbin orienting device of spinning frame |
| CN101633127B (en) * | 2008-07-22 | 2012-04-11 | 浙江日发数码精密机械股份有限公司 | Mechanism of principle axis clamping fixture capable of separating fixture |
| CN204913613U (en) * | 2015-08-07 | 2015-12-30 | 重庆国华模具制造有限公司 | Be used for grinding machine rand to add clamping apparatus |
| CN105598819B (en) * | 2016-01-07 | 2017-08-22 | 温州大学激光与光电智能制造研究院 | Polishing system in a kind of stainless steel elbow pipe based on industry mechanical arm |
| CN206405855U (en) * | 2017-01-11 | 2017-08-15 | 苏州阿福机器人有限公司 | Pipe fitting polishing streamline |
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Address after: 211219 Honglan Town Industrial Park, Lishui District, Nanjing City, Jiangsu Province Applicant after: Suzhou Fu robot Co Ltd Address before: Unit 103, Building 5, Xinghan Street, Suzhou Industrial Park, Jiangsu Province, 215000 Applicant before: Suzhou Fu robot Co Ltd |
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