CN106826452A - Pipe fitting cramping arrangement - Google Patents
Pipe fitting cramping arrangement Download PDFInfo
- Publication number
- CN106826452A CN106826452A CN201710019065.4A CN201710019065A CN106826452A CN 106826452 A CN106826452 A CN 106826452A CN 201710019065 A CN201710019065 A CN 201710019065A CN 106826452 A CN106826452 A CN 106826452A
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- Prior art keywords
- pipe fitting
- clamp body
- clamp
- center
- moved
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Classifications
-
- 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
- B24B41/06—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
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/02—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work
- B24B5/04—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work for grinding cylindrical surfaces externally
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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
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/35—Accessories
- B24B5/355—Feeding 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 provide it is a kind of inclinations will not be produced when being clamped to pipe fitting, simple structure is good to disposition energy, will not be blocked when pipe fitting departs from from clamping device, separation thoroughly pipe fitting cramping arrangement.The pipe fitting cramping arrangement includes fixture, and fixture includes clamping actuating unit and can extend into the clamp body of tube intracavity, and three clamp jaws are evenly equipped with the circumference of clamp body；Clamp jaw is triangular in shape, with inner corner portion, external angle and lower corner；Clamp jaw can be rotatably arranged on clamp body in radial direction relative to clamp body, and the central part of clamp body sets the center of circle disk that can be moved up and down；Center of circle disk is connected with its clamping actuating unit for moving up and down is driven；The circumferentially disposed annular groove of center of circle disk, inner corner portion is stretched into annular groove；When the center of circle, disk is moved down, and inner corner portion is moved down in the presence of annular groove, and clamp jaw is rotated, and lower corner is outwards moved up and contacted with the inwall of pipe fitting, clamps pipe fitting；When the center of circle, disk is moved up, then lower corner is moved inwardly downward, unclamps pipe fitting.
Description
Technical field
Clamping when this technology is related to carry out the outer wall of pipe fitting especially extinguishing pipe polishing operation for fixture pipe fitting is filled
Put.
Background technology
Especially casting pipe is in the fabrication process, inevitably jagged on outer wall for pipe fitting.Come for extinguishing pipe
Say, production and application amount is big, and its present situation is special, with the shorter big end of cylinder and taper small end more long, cylinder is big
End and taper small end form the shaft shoulder.In order to complete the small top and big bottom pipe fitting outer wall polishing to being similar to extinguishing pipe, need
Clamping device is wanted to be clamped pipe fitting.
Because pipe fitting outer wall needs polishing, clamping device can only be clamped to the inwall of pipe fitting.In addition, working as pipe fitting
After completing the polishing operation of outer wall, pipe fitting should be able to come off from clamping device.Meanwhile, in order to use manpower and material resources sparingly, clamp
Device is installed on a robotic arm, after clamping device grips pipe fitting, is moved to using mechanical hand-motion clamping device and pipe fitting
At burr device, by the movement and the rotation of deburrer of mechanical hand-motion pipe fitting, appearance of the deburrer to pipe fitting
Face carries out cutting deburring, after the completion of deburring operation, may be smooth not enough at pipe fitting deburring, and manipulator is then passed through again
Drive pipe fitting to move at sanding apparatus, pipe fitting is polished smooth by abrasive grinding wheel, complete whole operation.This is required
Clamping device is when pipe fitting is gripped, it is ensured that pipe fitting will not produce inclination, can be good to disposition, it is to avoid material polishing occur uneven existing
As.
The content of the invention
The purpose of this technology be to provide it is a kind of will not produce inclination when being clamped to pipe fitting, simple structure can be good to disposition, pipe
Part will not be blocked when departing from from clamping device, separate thoroughly pipe fitting cramping arrangement.
Pipe fitting cramping arrangement described in this technology, the pipe fitting has the big end of cylinder and taper small end, and pipe fitting clamps dress
Put including fixture, the fixture includes clamping actuating unit and can extend into the clamp body of tube intracavity, in the circumference of clamp body
It is evenly equipped with three clamp jaws；Clamp jaw is triangular in shape, with inner corner portion, external angle and lower corner；Clamp jaw can in radial direction
It is rotatably arranged on clamp body relative to clamp body, the central part of clamp body sets the center of circle disk that can be moved up and down；The center of circle
Disk is connected with its clamping actuating unit for moving up and down is driven；The circumferentially disposed annular groove of center of circle disk, inner corner portion is stretched into annular groove；When
Center of circle disk is moved down, and inner corner portion is moved down in the presence of annular groove, clamp jaw rotate, lower corner outwards move up and and pipe fitting
Inwall contact, so as to clamp pipe fitting；Conversely, when center of circle disk is moved up, then lower corner is moved inwardly downward, pipe fitting is unclamped.
When in use, when center of circle circle moves up and down under the drive of fixture actuating unit, the triangle that promotion is attached thereto
The inner corner portion of clamp jaw swings, due to clamp jaw pivot be arranged on clamp body, when triangle clamp jaw one end
When inner corner portion is enclosed pressure or lifted by the center of circle, lower corner can be pushed out or push back along the radial direction of clamp body, so as to realize being pointed to
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 there is burr between the lower corner and pipe fitting inner wall of clamp jaw, can also make three between lower corner and pipe fitting
Clamping face is still at grade, it is ensured that pipe fitting will not produce inclination when clamping, it is to avoid material polishing non-uniform phenomenon occur.
Material from fixture depart from when, the expansion of clamp end spring, material quickly separates with fixture under spring force, it is to avoid occur
Material stuck phenomenon.
Above-mentioned pipe fitting cramping arrangement, thimble slides up and down to and is arranged on clamp body lower end, between thimble and clamp body
So that thimble is downwardly away from the flexible member of clamp body lower end when being provided with normality.
During fixture gripping material, clamp body stretches into tube intracavity, because pipe fitting is in upper coarse and lower fine pyramidal structure, certain stroke
Afterwards, pipe fitting inner wall and the thimble of fixture the bottom back center that is engaged cannot be moved, with clamp body relative to pipe fitting after
Continuous to move down, Distance Shortened between thimble and clamp body, flexible member is compressed, and stores certain elastic potential energy.Then, center of circle circle
Moved down under the drive of fixture actuating unit, the swing for moving down the triangle clamp jaw that promotion is attached thereto of center of circle circle,
When the inner corner portion end that clamp jaw is connected with center of circle circle is depressed, lower corner is ejected and is compressed with pipe fitting inner wall, realizes material
Clamp.After pipe fitting is machined, center of circle circle is moved up under the drive of fixture actuating unit, the interior angle being connected with center of circle circle
Portion is lifted at end, and clamp jaw is rotated backward, and the lower foot that material is clamped inwardly resets return downwards, and pipe fitting is relaxed, in gravity
Effect is fallen.Meanwhile, the elastic potential energy release of the flexible member storage compressed before, thimble is subject to flexible member downward
Active force promotes pipe fitting to move down, and pipe fitting is quickly separated under double Action of Gravity Field with fixture, can effectively solve pipe fitting and be taken off from fixture
From when stuck phenomenon, improve operating efficiency.
Above-mentioned pipe fitting cramping arrangement, when clamp body is extended downwardly into pipe fitting, pipe fitting inner wall is contacted with thimble, with fixture
The continuing of body is moved down, and between thimble and clamp body after Distance Shortened, flexible member is compressed, when in the center of circle, disk is not moved down also, outward
Corner is with pipe fitting upper end surface in contact condition.
In this manner it is possible to the distance stretched into clamp body in pipe fitting is defined.Specifically, when clamp body is extended downwardly into
In pipe fitting, after pipe fitting inner wall is contacted with thimble, as clamp body continues to move down, flexible member is compressed, now due to center of circle disk
Do not move down also, clamp jaw is not rotated, its external angle is located at pipe fitting upper surface top, when clamp body is moved down again, clamp jaw
External angle can be contacted with the upper surface of pipe fitting, prevent clamp body relative to pipe fitting continue move down.
This clamping device is in symmetrical circle configurations, and internal structure is simple, can be good to disposition, can be prevented effectively from the polishing of material
Non-uniform phenomenon.Realize the clamping of material and loosen by the swing of clamp jaw, clamp three clampings of circumference spaced at equal angles around
Pawl, it is ensured that the stationarity that material is clamped.After clamp jaw loosens material, material departs from fixture under gravity, meanwhile, under fixture
End flexible member acts on a downward elastic force on material, material is quickly separated with fixture under double Action of Gravity Field, it is to avoid
There is material stuck phenomenon.
This technology also provide simultaneously a kind of operating efficiency it is high, polishing effect it is good, can automated job, use manpower and material resources sparingly
Pipe fitting polishing streamline, it is applied to the polishing operation of the pipe fitting small to the big one end in one end especially extinguishing pipe.
Pipe fitting polishing streamline described in this technology, it includes：
Pipe fitting feeding device, for pipe fitting to be delivered into certain determination position, and keeps big end small end state directed downwardly upward；
Above-mentioned pipe fitting cramping arrangement, for the gripping and release of material, its underpart can extend into pipe fitting and pipe fitting clamped；
Manipulator, for driving the pipe fitting gripped by fixture to move, fixture is fixed on arm end；
Burr remover, is included in deburring power set and drives the lower deburrer for rotating, for removing pipe fitting outer wall
Burr；
Sanding apparatus, are included in polishing power set and drive the lower abrasive grinding wheel for rotating, for being ground pipe fitting outer wall defeathering up
The position of thorn.
The beneficial effect of pipe fitting polishing streamline：Using mechanical manual task, first should by the fixture installed on a robotic arm
When to determining at position, pipe fitting is gripped by fixture, then moving to deburring by mechanical hand-motion fixture and pipe fitting again fills
Place is put, by the movement and the rotation of deburrer of mechanical hand-motion pipe fitting, deburrer is carried out to the outer surface of pipe fitting
Cutting deburring, after the completion of deburring operation, may be smooth not enough at pipe fitting deburring, then again by mechanical hand-motion pipe
Part is moved at sanding apparatus, and pipe fitting is polished smooth by abrasive grinding wheel, completes this operation.This technology can mitigate
Human input, eliminates artificial input, and operating efficiency is high.
Used as improvement, above-mentioned pipe fitting polishing streamline sets the pipe fitting for detecting the presence of pipe fitting at the determination position
Sensor is whether there is, the output of sensor connects the Manipulator Controller of control machinery hand action.
Sensor is whether there is by pipe fitting（Such as optoelectronic switch sensor）Detection determines whether there is pipe fitting at position, if there is pipe
Part, then carry out the actions such as gripping pipe fitting again by Manipulator Controller control machinery hand, further increase automaticity.
Above-mentioned pipe fitting polishing streamline, it also includes：
Camera recognition system, including camera, the working position for recognizing pipe fitting；The output of camera connects control machinery hand action
Manipulator Controller；Camera is located at top side at the determination position.
After fixture grips pipe fitting, pipe fitting is shot by camera, and delivers to Manipulator Controller and be identified, judge plus
Ministry of worker position（At matched moulds usually on pipe fitting bus）Whether in setting position, if it is not, by mechanical hand-motion pipe fitting around
The axis of pipe fitting is rotated, until needing working position to rotate setting position.Then again control machinery hand carry out it is follow-up mobile etc.
Operation.So operation advantage be, manipulator subsequent job path（Motion track）Can unify, simplify subsequent operation, can
By realizing automated job.
Above-mentioned pipe fitting polishing streamline, pipe fitting feeding device includes：
Climbing conveyer, with frame, the carrier chain moved under the drive of power delivery unit being obliquely installed in frame or
Conveyer belt, for the pipe fitting for being located at carrier chain or conveyer belt lower to be transported into eminence；
Material conveying device, including inclined gathering sill, are oriented to well width more than the path at the pipe fitting shaft shoulder, but less than the shaft shoulder at
Big footpath；The high-end bottom front positioned at carrier chain or conveyer belt eminence of gathering sill, it is high from carrier chain or conveyer belt to cause
The pipe fitting that place falls can be fallen into gathering sill, and oneself to be turned to big end small upward because deadweight is understood for the pipe fitting fallen into gathering sill
State directed downwardly is held, and because the shaft shoulder is supported on gathering sill top, pipe fitting is slided along gathering sill to gathering sill low side；In gathering sill
Low side be internally provided with for stop glide pipe fitting spacing crossbeam.
This pipe fitting feeding device can roughing after unordered pipe fitting be delivered to certain determination position, and keep big end
Small end state directed downwardly upward.Specifically, the unordered pipe fitting of each arbitrary arrangement is conveyed by climbing conveyer paramount
Place, then falls towards in gathering sill, due to being oriented to well width more than the path at the pipe fitting shaft shoulder, but less than the big footpath at the shaft shoulder；
Plus the light lower end weight in pipe fitting upper end, the pipe fitting in gathering sill is dropped into due to deadweight, meeting automatic turning holds small end court upward to big
Under state, the shaft shoulder is supported on gathering sill top, and such pipe fitting will be snapped down to the low side of gathering sill according to such state
At spacing crossbeam（I.e. described determination position）.
Above-mentioned pipe fitting polishing streamline, pipe fitting quantity control sensor, pipe fitting quantity are set in gathering sill inwall somewhere
The output of sensor is controlled to connect the climbing conveyer controller for controlling power delivery unit；When the pipe fitting positioned at gathering sill lower end
Quantity at least two when, pipe fitting quantity control sensor send signal, climbing conveyer control to climbing conveyer controller
Device control power delivery unit stopping action processed.
Pipe fitting quantity controls sensor（Such as photoelectric sensor）The quantity of the pipe fitting in gathering sill lower end can be controlled,
Prevent quantity too many, when quantity is too many（But no less than two）When, it is signaled to climbing conveyer controller so that its stopping
Action.
Above-mentioned pipe fitting polishing streamline, sets certain boss at equal intervals, boss and boss on carrier chain or conveyer belt
Between formed and can accommodate a groove for pipe fitting, and boss height is more than the half of pipe fitting maximum outside diameter, but less than maximum outside
Footpath.
So, each pipe fitting can be sunk in a groove, it is ensured that pipe fitting one by one by carrier chain or conveyer belt
Eminence is delivered to, is fallen into gathering sill in order.
Above-mentioned pipe fitting polishing streamline, is provided with along carrier chain or conveying above the middle part of carrier chain or conveyer belt
The limit rope that bandwidth direction extends, the two ends of limit rope are held within the fixed column of the both sides of carrier chain or conveyer belt,
Fixed column is arranged in frame；Limit rope to the distance of groove floor be 1.1-1.7 times of pipe fitting maximum outside diameter.
In order to prevent pipe fitting from not fallen within groove on boss, or in order to prevent the pipe fitting in two neighboring groove
Between top have pipe fitting, there is provided 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, it is also possible to which the pipe fitting on top is upper between pipe fitting of the prevention in two neighboring groove
Rise, this pipe fitting not fallen within groove is stirred downwards so that they can be normally fall in groove, Reliable guarantee is each
Individual pipe fitting is all in a groove and as carrier chain or conveyer belt rise.Have in the both sides of carrier chain or conveyer belt and be arranged on
Baffle plate in frame, prevents pipe fitting from falling outside baffle plate.
Above-mentioned pipe fitting polishing streamline, the high-end both sides of gathering sill set it is upwardly extending, for from carrier chain
Or the pipe fitting fallen on conveyer belt plays the pipe fitting guide plate of guide effect.Pipe fitting guide plate effectively prevents from the pipe fitting for falling from falling leading
To the outside of groove.
Above-mentioned pipe fitting polishing streamline, pose adjustment device is set on the top of gathering sill, and pose adjustment device includes fixing
In the pose adjustment device side wall on gathering sill two side top；Two pose adjustment device side walls are adjusted with the axisymmetrical of gathering sill, attitude
Maximum outside diameter of the distance between the whole device side wall slightly larger than pipe fitting.When the pipe fitting in gathering sill has crooked, by pose adjustment
After device, pipe fitting axis is in vertical state substantially, and on the axis of gathering sill.
Brief description of the drawings
Fig. 1 pipe fitting automatically grinding streamline schematic diagrames；
Fig. 2 is to remove streamline schematic diagram after a manipulator, burr remover, a sanding apparatus；
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 clamping device（Fixture）Schematic diagram before pipe fitting is gripped；
Fig. 7 is the partial enlarged drawing in Fig. 6；
Fig. 8 is clamping device（Fixture）Schematic diagram when pipe fitting is gripped；
Fig. 9 is the partial enlarged drawing in Fig. 8；
Figure 10 is fixture outline drawing；
Figure 11 is the A-A sectional views of Figure 10.
Specific embodiment
This technology is illustrated below in conjunction with the accompanying drawings.
The pipe fitting up big and down small to extinguishing pipe etc. shown in Figure 1 carries out the streamline of automatically grinding, including by climbing
The pipe fitting feeding device of conveyer 1 and the composition of material conveying device 2, fixture 3, two manipulators 4, two burr removers 5, two
Individual sanding apparatus 6, two cases 7, camera recognition system 8, pipe fitting whether there is sensor 9, pipe fitting quantity control sensor 10 etc..
Needing the extinguishing pipe 100 of polishing includes the shorter big end of cylinder 101 and taper small end 102 more long, cylinder
Big end and taper small end form the shaft shoulder 103.Big footpath at the shaft shoulder is the diameter at cylindrical big end 101, be also extinguishing pipe most
Big external diameter.
Pipe fitting feeding device, for the determination position being delivered to pipe fitting on gathering sill low side, and keeps big end small upward
Hold state directed downwardly；Including by climbing conveyer 1 and material conveying device 2.
Climbing conveyer 1, with frame 11, be obliquely installed in frame 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 into eminence.Certain boss 13 at equal intervals is set on carrier chain, it is convex
Being formed between platform and boss can accommodate a groove for pipe fitting 14, the maximum gauge of the width slightly larger than pipe fitting of groove, and convex
Platform is highly about 0.8 times of pipe fitting maximum outside diameter.
There is the baffle plate 15 being arranged in frame in the both sides of carrier chain.It is provided with along defeated above the middle part of carrier chain
The limit rope 16 for sending chain width to extend, the two ends of limit rope are held within the fixed column 17 of the both sides of carrier chain, Gu
Fixed column is arranged in frame；Limit rope to the distance of groove floor be 1.5 times of pipe fitting maximum outside diameter.
Material conveying device 2, including inclined gathering sill 21, gathering sill 21 is by being fixed on two relative guide groove plates
22nd, the guide plate 24,25 on 23 tops is constituted, and formation is oriented to well width more than the path at the pipe fitting shaft shoulder, but less than the shaft shoulder at
Big footpath.Guide plate high-end sidepiece set upwardly extend, for the pipe fitting to being fallen from carrier chain play guiding make
Pipe fitting guide plate 26,27.Pipe fitting guide plate 26,27 is located at the bottom front of carrier chain eminence, pipe fitting guide plate 26 and carrier chain
Carrier bar top cambered surface is in tangent state, to enable that the pipe fitting fallen from carrier chain eminence is fallen into gathering sill.
Pose adjustment device 28 includes being fixed on the pose adjustment device side wall 282,283 on guide plate 24,25 tops, is connected to two
Roof 281 between the wall of pose adjustment device side；Two pose adjustment device side walls are with the axisymmetrical of gathering sill, pose adjustment device side wall
The distance between slightly larger than pipe fitting maximum outside diameter.
The pipe fitting fallen into gathering sill is understood due to deadweight and oneself is turned to big end small end state directed downwardly upward, and due to axle
Shoulder is supported on guide plate, and pipe fitting is slided along gathering sill to gathering sill low side.In sliding process, by pose adjustment device 28
Two side is oriented to pipe fitting, and pipe fitting axis is substantially vertical, and it is coplanar with axis of guiding groove.Pipe fitting is until slipping down to and spacing crossbeam
Untill 29 contacts.Stop that the spacing crossbeam 29 of the pipe fitting for gliding is arranged on inside the low side of gathering sill.
Pipe fitting feeding device realizes automatically feeding for pipe fitting material, and the device allows pipe fitting material to fall in irregular status
Enter climbing conveyer, and ensure that material is moved during supply by definitive orbit, it is to avoid pipe fitting material occurs in feeding process
Arbitrarily roll, throw away tracks, phenomenon.
40 ° or so of carrier chain and horizontal plane angle, surrounding install baffle plate, set a number of convex at equal intervals on carrier bar
Platform, and boss height is more 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 carrier bar and the angle of horizontal plane, in frictional force effect
Under, moved up with carrier bar in the material of irregular status.After moving certain stroke, in the presence of limit rope, not recessed
Material in groove is rolled downwards due to the barrier effect by limit rope along carrier bar, material below rolled and under thing
The effect of material, and irregular status material during exercise simultaneously acted on by boss, certain pipe fitting material is fallen into groove,
By limit rope, continue up, complete 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 tune
Whole material angle function, it is ensured that irregular status material is finally regularly fallen into groove, and then complete further work.
45 ° of the guide surface of guide groove structure and horizontal plane angle, make pipe fitting material slide downward under gravity.Lead
Pipe fitting guide plate 26,27 is installed to groove top, pipe fitting guide plate 26 is in tangent state, pipe fitting guide plate with the carrier bar top cambered surface of carrier chain
27 is highly sufficiently large.After material movement to carrier chain carrier bar top, because pipe fitting guide plate 26 is tangent with carrier bar top cambered surface,
Simultaneously under the barrier effect of pipe fitting guide plate 27, it is ensured that material is smoothly fallen into gathering sill, rather than throwing away tracks.Lead
To pose adjustment device is set on groove, material falls into gathering sill not necessarily completely in vertically downward state, and now material is by attitude
After adjuster effect, its whereabouts angle is adjusted, be in vertical laying state in gathering sill.The roof of pose adjustment device is highly slightly higher
In material, both ensured that material passed through pose adjustment device, and avoided material run-off the straight in gathering sill to rock again, it is ensured that material
It is in straightened condition slide downward in gathering sill.Spacing crossbeam is installed in gathering sill end, and position-limiting action is played to material, makes material water
Placing flat is in assigned position, it is ensured that fixture accurately steadily picks up material.A rubber ring is covered on spacing crossbeam, to buffer material impact
Power, it is ensured that material positional precision.
Material conveying device 2 ensure that tubular materials steady slide downward in gathering sill, it is to avoid throwing away occurs in material
Tracks produce tilt slide phenomenon in gathering sill.Ensure the final positional precision of material, it is ensured that fixture exactly
Pick up material.
Fixture 3 be used for material gripping and release, including top cylinder（Clamp actuating unit）31 and can extend into pipe
The clamp body 32 of part inner chamber,
The lower housing portion of cylinder is fixedly linked with clamp body upper end.Circumference on clamp body top is evenly equipped with three clamp jaws 33；
Clamp jaw is triangular in shape, with inner corner portion 331, external angle 333 and lower corner 332；The central part of clamp jaw is vertical through one
In the bearing pin 34 of radial direction, clamp jaw can swing in radial direction around bearing pin relative to clamp body.The central part of clamp body
The center of circle disk 35 that setting can be moved up and down；Center of circle disk upper end is connected with the piston rod 311 of its cylinder for moving up and down is driven；Circle
The circumferentially disposed annular groove 351 of cartridge, inner corner portion is stretched into annular groove；It is interior when center of circle disk is moved down under cylinder piston rod drive
Corner is moved down in the presence of annular groove, and clamp jaw swings, and lower corner 332 is outwards moved up and connect with the inwall at the big end of pipe fitting
Touch, so as to clamp pipe fitting；Conversely, when center of circle disk is moved up, then lower corner is moved inwardly downward, pipe fitting is unclamped.
Thimble 36 slides up and down to and is arranged on the guide rod 37 for being fixed on clamp body lower end, thimble and clamp body or guide rod it
Between when being provided with normality so that thimble is downwardly away from the spring 38 of clamp body lower end.
When clamp body is extended 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 shorten 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）.
During fixture gripping material, clamp body is stretched into inside pipe fitting material, because material is in upper coarse and lower fine pyramidal structure, necessarily
After stroke, material inwall is contacted with clamp body bottom thimble, as clamp body continues to move down under the drive of manipulator, spring
Compressed, stored certain elastic potential energy.Now cylinder intake pipe air inlet, cylinder piston rod is extended downwardly from, and promotion is attached thereto
The center of circle circle move down, now cylinder enters state in work.What the center of circle was enclosed moves down the triangle clamp jaw that promotion is attached thereto
Swing, clamp jaw centre bore is connected with a bearing pin, when clamp jaw and center of circle circle connected end are that inner corner portion is depressed, lower corner quilt
Ejection is compressed with material inwall, and now cylinder is in locking state, realizes the clamping of material.Three identicals of clamp body circle distribution
Clamp jaw, is distributed between clamp jaw in hexagonal angle, even if occurring burr between a clamp jaw and material clamping face, can also make three folders
Tight face is still at grade, it is ensured that the clamping of material will not produce inclination, it is to avoid material polishing non-uniform phenomenon occur；Material
After machining, cylinder exhaust pipe exhaust, piston rod is return, and is moved on the circle of the center of circle, and now cylinder is in fast-rewinding state.Center of circle circle
Upper shifting makes clamp jaw be attached thereto the i.e. inner corner portion in end to lift, so that clamp jaw and the pinching end of material are lower corner reset return,
Material is relaxed, and falls under gravity.Meanwhile, the elastic potential energy release of spring store, material is subject to downward spring
Power is acted on, and material is quickly separated under double Action of Gravity Field with fixture, improves operating efficiency.
Manipulator 4, for driving the pipe fitting gripped by fixture to move, the housing upper end of cylinder is fixed on arm end.
Belong to the burr remover 5 of prior art, be included in deburring power set and drive the lower deburrer for rotating
51, for removing the burr on pipe fitting outer wall；
Belong to the sanding apparatus 6 of prior art, be included in polishing power set and drive the lower abrasive grinding wheel 61 for rotating, for being ground
Pipe fitting outer wall gets on the position of flash removed.
Case 7 prevents burr remover 5 and sanding apparatus 6 from carrying out unhairing around burr remover 5 and sanding apparatus 6
During thorn operation and polishing operation, tiny chip is splashed to surrounding.
Camera recognition system 8, including camera, the working position for recognizing pipe fitting；The output of camera connects control machinery hand
The Manipulator Controller of action；Camera is located at top side at spacing crossbeam 29.
The pipe fitting for detecting the presence of pipe fitting in the setting at the guide groove plate inwall of spacing crossbeam whether there is sensor 9, senses
The output of device connects the Manipulator Controller of control machinery hand action.
Pipe fitting quantity control sensor 10 is set in guide groove plate inwall somewhere, the output of pipe fitting quantity control sensor connects
Control the climbing conveyer controller of power delivery unit；When the quantity of the pipe fitting positioned at gathering sill lower end is two, pipe
Number of packages amount controls sensor to send 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 the gathering sill of material conveying device 2
It is regularly arranged in gathering sill end in the presence of the spacing crossbeam in end.Gathering sill end inner surface installs two sensors, pipe fitting
Quantity control sensor 10 is used to control the start and stop of climbing conveyer, and pipe fitting whether there is sensor 9 for the motion of control machinery hand.
In the presence of pipe fitting quantity control sensor 10 detects gathering sill end more than two pipe fittings, climbing conveyer controller is received
The stop motion signal that pipe fitting quantity control sensor 10 sends；When pipe fitting quantity control sensor 10 detects gathering sill end
In the presence of two materials, climbing conveyer controller receives enabling signal.When ensureing robot movement to guiding groove location
Always having material can grip, but gathering sill in again will not storing excess material.Gathering sill is detected when pipe fitting whether there is sensor 9
End has in the presence of material, and robot movement when manipulator is to ad-hoc location, is ready to pass through fixture gripping to groove location is oriented to
Pipe fitting.Detected in the presence of gathering sill end do not have material when pipe fitting whether there is sensor 9, manipulator attonity.
When mechanical hand-motion fixture stretches into the pipe fitting at spacing crossbeam 29, then fixture grips pipe fitting, and manipulator is
Pipe fitting vertical ascent is driven to depart from gathering sill.Then camera is taken pictures to pipe fitting, judges that pipe fitting needs the position of processing, if processing department
Position does not drive fixture, pipe fitting to be rotated around the axis of pipe fitting in the end joint of setting position, i.e. control machinery hand, then takes pictures again
Whether working position is judged in setting position, until working position is untill setting position.
Then manipulator can drive fixture and pipe fitting by the motion of setting track, and specifically, pipe fitting first moves to unhairing
At bayonet tool, by driving pipe fitting relative to the motion of deburrer, complete to remove task to the burr on pipe fitting outer wall；Connect
Mechanical hand-motion pipe fitting to move at abrasive grinding wheel, by driving pipe fitting relative to the motion of abrasive grinding wheel, be processed further
Deburring surface, to improve crudy；Blanking frame of the mechanical hand-motion pipe fitting to collection pipe fitting afterwards（It is not shown）Top is entered
Row discharging；During discharging, cylinder action is driven and moved on piston rod, and clamp jaw backswing, lower corner is moved inward downwards, is unclamped
Pipe fitting；Spring promotes pipe fitting to fall by thimble simultaneously, and pipe fitting quickly falls into blanking frame under the elastic force effect of deadweight and spring,
Complete the polishing operation of pipe fitting.Two manipulators are acted simultaneously, crawl, processing, release alternately to material, are provided significantly
Operating efficiency.
Claims (3)
1. pipe fitting cramping arrangement, the pipe fitting has the big end of cylinder and taper small end, and pipe fitting cramping arrangement includes fixture, and it is special
Levying is：The fixture includes clamping actuating unit and can extend into the clamp body of tube intracavity, is evenly equipped with the circumference of clamp body
Three clamp jaws；Clamp jaw is triangular in shape, with inner corner portion, external angle and lower corner；Clamp jaw can be relative in radial direction
Clamp body is rotatably arranged on clamp body, and the central part of clamp body sets the center of circle disk that can be moved up and down；Center of circle disk and band
Its clamping actuating unit for moving up and down is moved to be connected；The circumferentially disposed annular groove of center of circle disk, inner corner portion is stretched into annular groove；When center of circle disk
Move down, inner corner portion is moved down in the presence of annular groove, clamp jaw rotate, lower corner outwards move up and with the inwall of pipe fitting
Contact, so as to clamp pipe fitting；Conversely, when center of circle disk is moved up, then lower corner is moved inwardly downward, pipe fitting is unclamped.
2. pipe fitting cramping arrangement as claimed in claim 1, it is characterized in that：Thimble slides up and down to and is arranged on clamp body lower end,
So that thimble is downwardly away from the flexible member of clamp body lower end when being provided with normality between thimble and clamp body.
3. pipe fitting cramping arrangement as claimed in claim 2, it is characterized in that：When clamp body is extended downwardly into pipe fitting, pipe fitting inner wall with
Thimble is contacted, with clamp body continue move down, flexible member is compressed, when in the center of circle, disk is not moved down also, external angle and pipe fitting
Upper end surface is in contact condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019065.4A CN106826452B (en) | 2017-01-11 | 2017-01-11 | Pipe fitting cramping arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019065.4A CN106826452B (en) | 2017-01-11 | 2017-01-11 | Pipe fitting cramping arrangement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106826452A true CN106826452A (en) | 2017-06-13 |
| CN106826452B CN106826452B (en) | 2019-07-26 |
Family
ID=59118250
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710019065.4A Active CN106826452B (en) | 2017-01-11 | 2017-01-11 | Pipe fitting cramping arrangement |
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| Country | Link |
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| CN (1) | CN106826452B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108747818A (en) * | 2018-06-20 | 2018-11-06 | 嘉善优耐特滑动轴承厂 | A kind of bearing outer ring polishing processing fixing device |
| CN109600004A (en) * | 2019-01-17 | 2019-04-09 | 吴江市金澜机械制造有限公司 | A kind of fixture of clamping stator |
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| CN101633127A (en) * | 2008-07-22 | 2010-01-27 | 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 |
| KR101221414B1 (en) * | 2012-09-06 | 2013-01-11 | 서명석 | Work driver for grinding machine |
| 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 |
| CN206405856U (en) * | 2017-01-11 | 2017-08-15 | 苏州阿福机器人有限公司 | Pipe fitting cramping arrangement |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2595603A1 (en) * | 1986-03-13 | 1987-09-18 | Snecma | TOOLS FOR AUTOMATIC DEBURRING-SPOKING OF TURBOMACHINE BLADES |
| CN101633127A (en) * | 2008-07-22 | 2010-01-27 | 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 |
| KR101221414B1 (en) * | 2012-09-06 | 2013-01-11 | 서명석 | Work driver for grinding machine |
| 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 |
| CN206405856U (en) * | 2017-01-11 | 2017-08-15 | 苏州阿福机器人有限公司 | Pipe fitting cramping arrangement |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108747818A (en) * | 2018-06-20 | 2018-11-06 | 嘉善优耐特滑动轴承厂 | A kind of bearing outer ring polishing processing fixing device |
| CN108747818B (en) * | 2018-06-20 | 2020-06-30 | 嘉善优耐特滑动轴承厂 | Fixing device for polishing of bearing outer ring |
| CN109600004A (en) * | 2019-01-17 | 2019-04-09 | 吴江市金澜机械制造有限公司 | A kind of fixture of clamping stator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106826452B (en) | 2019-07-26 |
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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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