CN108687658B - Workpiece machining equipment - Google Patents
Workpiece machining equipment Download PDFInfo
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- CN108687658B CN108687658B CN201810244573.7A CN201810244573A CN108687658B CN 108687658 B CN108687658 B CN 108687658B CN 201810244573 A CN201810244573 A CN 201810244573A CN 108687658 B CN108687658 B CN 108687658B
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- 238000003754 machining Methods 0.000 title abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 166
- 238000012545 processing Methods 0.000 claims abstract description 61
- 238000000227 grinding Methods 0.000 claims abstract description 29
- 230000007306 turnover Effects 0.000 claims description 11
- 239000011111 cardboard Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 9
- 239000011087 paperboard Substances 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 239000000123 paper Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000007723 transport mechanism Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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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
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/008—Machines comprising two or more tools or having several working posts
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
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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
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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)
- Specific Conveyance Elements (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
A workpiece processing apparatus comprising: the basket feeding and taking mechanism, the workpiece taking and feeding mechanism, the workpiece side grinding device, the workpiece conveying device, the station lifting device, the side face machining mechanism, the upper side face machining mechanism and the workpiece basket loading mechanism are arranged on the frame, and the side face machining mechanism, the upper side face machining mechanism and the workpiece basket loading mechanism are arranged on the frame and are located at a plurality of stations from back to front in the conveying direction of the workpiece conveying device. The workpiece processing equipment can be used for fully automatically processing workpieces, and is good in quality and high in efficiency.
Description
Technical Field
The invention relates to the technical field of workpiece machining, in particular to workpiece machining equipment.
Background
After the workpiece is cast, further processing, such as grinding, punching, tapping, deburring, chamfering and the like, is required on the side edge.
The traditional processing mode is completed manually or semi-manually, the processing quality is uneven, and the efficiency is low.
Disclosure of Invention
In view of the above, a workpiece processing apparatus is provided to solve the above technical problems.
In order to solve the technical problem, the invention adopts the following technical scheme:
a workpiece processing apparatus comprising:
The basket delivering and taking mechanism is used for grasping a workpiece basket, delivering the workpiece basket to the workpiece taking platform, grasping the workpiece basket from the workpiece taking platform, delivering the workpiece basket to the workpiece loading platform and grasping the workpiece frame from the workpiece loading platform for storage, and comprises a first mechanical arm which can horizontally rotate and vertically swing and a first gripper arranged on the first mechanical arm;
the workpiece taking and feeding mechanism is used for grabbing workpieces from a workpiece basket on the workpiece taking platform and sending the workpieces to the workpiece side grinding device, grabbing the ground workpieces from the workpiece side grinding device and sending the workpieces to the workpiece conveying device, and comprises a second mechanical arm which can horizontally rotate and vertically swing and two second grippers arranged on the second mechanical arm;
the workpiece side edge grinding device is used for grinding the side edge of the workpiece;
the workpiece conveying device is used for sequentially and horizontally conveying workpieces to each station, and a plurality of workpiece carrying disks are sequentially arranged on a conveying path of the workpiece conveying device at equal intervals;
the plurality of station lifting devices are respectively arranged at each station;
the side surface processing mechanism is used for processing the side surface of the workpiece in the workpiece carrying disc after the workpiece carrying disc ascends;
The upper side processing mechanism is used for processing the upper side of the workpiece in the workpiece carrying disc after the workpiece carrying disc ascends;
the workpiece basket loading mechanism is used for taking out the workpieces in the workpiece carrying disc after the workpiece carrying disc rises and placing the workpieces into a workpiece basket on the workpiece loading platform, and taking the paperboards from the paperboard bin and placing the paperboards into the workpiece basket;
the side surface processing mechanism, the upper side surface processing mechanism and the workpiece basket loading mechanism are respectively positioned at a plurality of stations from back to front along the conveying direction of the workpiece conveying device.
The workpiece side edge grinding device comprises:
the driving wheel can horizontally rotate and is driven by a driving wheel driving motor;
the two driven wheels can horizontally rotate and are positioned on the rear side of the driving wheel, and the two driven wheels are arranged at intervals left and right;
the idler wheel is arranged between the two driven wheels and is horizontally and rotatably fixed on the idler frame through a vertical idler wheel shaft;
the grinding abrasive belt is sleeved on the driving wheel, the two driven wheels and the idler wheel;
the horizontal tensioning mechanism can horizontally push and pull the driving wheel driving motor back and forth to tension the sanding belt, and is connected with the driving wheel driving motor;
The workpiece fixing seat can rotate horizontally and is used for placing workpieces, and the workpiece fixing seat is located on the front side of the idler wheel.
This scheme still includes the mount pad, the depended wheel frame includes pedestal and support body, be fixed in around pedestal and the horizontal straining device on the mount pad, the spout that has the fore-and-aft direction on this pedestal, the support body is C shape and is located the rear side of pedestal, its front side have with spout sliding fit's slide bar, the cover is equipped with the buffer spring who is located between pedestal and the support body on the slide bar, the support body is improved level and is equipped with and is used for adjusting the adjusting bolt of deflection angle around the depended wheel shaft.
The driving wheel driving motor is fixed on the mounting seat through a motor frame, the motor frame is positioned at the rear side of the driving wheel driving motor and comprises a hinge seat and a hinged plate, the hinge seat is connected with the horizontal tensioning mechanism at the front side, the hinged plate is hinged with the hinge seat, the hinged plate is fixed with the driving wheel driving motor, and the hinged plate is connected with a push-pull air cylinder used for pushing and pulling the hinged plate up and down;
the workpiece fixing seat is provided with a detachable and horizontally arranged follow-up profiling disk, the profile shape of the horizontal section of the follow-up profiling disk is the same as that of the horizontal section of the workpiece, and the ratio of the profiles of the follow-up profiling disk to the horizontal section of the workpiece is 5: 1.
The second gripper is provided with a first detection camera, the workpiece taking and feeding mechanism further comprises a second detection camera and a turnover seat for turning the workpiece 180 degrees from top to bottom, and the turnover seat comprises:
side plates arranged vertically;
the driven rotating plate is vertically arranged and is fixed on the side plate in a vertically rotating manner, and the front surface of the driven rotating plate is provided with a groove matched with the side surface of the workpiece;
the driving rotating plate is driven by a rotating cylinder and is arranged opposite to the front surface of the driven rotating plate, and the front surface of the driving rotating plate is provided with a groove matched with the side surface of the workpiece;
and the horizontal telescopic mechanism is used for driving the driving rotating plate to be close to or far away from the driven rotating plate, and the rotating cylinder is fixed on the horizontal telescopic mechanism.
The workpiece conveying device comprises a first linear conveying mechanism, a second linear conveying mechanism, a third linear conveying mechanism and a fourth linear conveying mechanism, wherein the first linear conveying mechanism, the second linear conveying mechanism, the third linear conveying mechanism and the fourth linear conveying mechanism are arranged in a rectangular mode to form an annular conveying path, and the fourth linear conveying mechanism is composed of two speed doubling chains arranged at left and right intervals.
The scheme also comprises three first corner conveying mechanisms and a second corner conveying mechanism, wherein the three first corner conveying mechanisms are used for transferring the workpiece carrying disc at the corners of the two linear conveying mechanisms, the three first corner conveying mechanisms are respectively arranged at the rear end of the second linear conveying mechanism and the two ends of the fourth linear conveying mechanism, the second corner conveying mechanism is arranged at the front end of the second linear conveying mechanism, the first corner conveying mechanism comprises a driving roller and a driven roller for transferring the workpiece carrying disc and a first jacking cylinder for jacking the driving roller and the driven roller, and the driving roller and the driven roller are positioned between the two speed doubling chains and are arranged in a left-right mode; the second corner conveying mechanism comprises a second jacking cylinder and a pushing block, the second jacking cylinder is used for jacking the workpiece carrying disc, the pushing block is used for pushing the workpiece carrying disc to the third linear conveying mechanism after the workpiece carrying disc is jacked, the second jacking cylinder is in transmission connection with a jacking column, and a guide wheel is arranged at the top of the jacking column.
The station lifting device comprises an upper plate, a lifting mechanism and a fixing plate, the lifting mechanism is used for pushing the upper plate to lift up and down, the fixing plate is located below the upper plate, a jacking column used for jacking the workpiece carrying disc is arranged on the upper surface of the upper plate, a guide column is arranged on the lower surface of the upper plate, the lifting mechanism is fixed on the reverse side of the fixing plate and penetrates upwards through the fixing plate to be connected with the upper plate, and a guide hole penetrated by the guide column is formed in the fixing plate.
The scheme also comprises a plurality of workpiece turnover mechanisms for turning the workpieces in the workpiece carrying disc up and down by 180 degrees after the workpiece carrying disc rises along with the station lifting device, the plurality of upper side processing mechanisms are divided into two groups which are respectively used for processing the front and the back of the workpieces, the two workpiece turnover mechanisms are two, one is arranged at the station between the two groups of upper side processing mechanisms, the other is arranged at the station in front of the two groups of upper side processing mechanisms, the workpiece turnover mechanism comprises a first clamping jaw which can be turned downwards to a vertical position and used for clamping the workpieces from the workpiece carrying disc and turning over to a horizontal position and a second clamping jaw which can be turned upwards to a horizontal position and used for clamping the workpieces from the first clamping jaw and turning downwards to a vertical position and placing the workpieces back to the workpiece carrying disc, and the first clamping jaw and the second clamping jaw are horizontally arranged oppositely, and is located above the conveying path of the workpiece conveying device.
The cardboard storehouse includes the storehouse body and can removes the layer board about, two limiting plates of interval distribution about the storehouse body is including, two equal vertical arrangements of limiting plate, and both ends all are connected through a connecting plate, the layer board is including being less than the first horizontal plate of storehouse body and being less than the second horizontal plate of first horizontal plate, the clearance is less than the thickness of cardboard about first horizontal plate and the storehouse body, be connected through a vertical board between first horizontal plate and the second horizontal plate.
The workpiece processing equipment can be used for fully automatically processing the workpiece, and is good in quality and high in efficiency.
Drawings
The invention is described in detail below with reference to the following figures and detailed description:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a basket delivering and taking mechanism of the present invention;
FIG. 3 is a schematic structural view of a workpiece feeding and taking mechanism according to the present invention;
FIG. 4 is a schematic structural view of the roll-over stand of the present invention;
FIG. 5 is a schematic structural view of a workpiece side grinding apparatus according to the present invention;
FIG. 6 is a schematic side view of the side grinding device of the present invention;
FIG. 7 is a schematic structural view of a work conveying apparatus according to the present invention;
FIG. 8 is a schematic structural diagram of a first corner conveying mechanism of the present invention;
FIG. 9 is a schematic structural view of a second corner conveying mechanism of the present invention;
FIG. 10 is a schematic structural view of the station lifting device of the present invention;
FIG. 11 is a first perspective view of the side processing mechanism of the present invention;
FIG. 12 is a second schematic perspective view of a side processing mechanism according to the present invention;
FIG. 13 is a schematic structural view of an upper side processing mechanism of the present invention;
FIG. 14 is a schematic structural view of the workpiece basket loading mechanism of the present invention;
FIG. 15 is a schematic view of the structure of the paperboard bin of the present invention;
FIG. 16 is a schematic view showing the construction of a work inverting mechanism of the present invention.
Detailed Description
As shown in fig. 1, a workpiece processing apparatus includes a basket feeding and taking mechanism 1100, a workpiece feeding and taking mechanism 1200, a workpiece side grinding device 1300, a workpiece conveying device 1400, a station lifting device 1500, a side processing mechanism 1600, an upper side processing mechanism 1700, and a workpiece basket loading mechanism 1800.
The basket feeding and taking mechanism 1100 is used for grabbing a workpiece basket 2 filled with a workpiece to be processed from a stacking position a and feeding the workpiece basket 2 to a workpiece taking platform 3, grabbing the workpiece basket 2 from the workpiece taking platform 3 and feeding the workpiece basket 2 to a workpiece filling platform 4 after the workpiece basket 2 is emptied on the workpiece taking platform 3, grabbing the workpiece basket 2 from the workpiece filling platform 4 and storing the workpiece basket 2 to a storage position B after the workpiece basket 2 is fully filled with the processed workpiece, as shown in fig. 2, the basket feeding and taking mechanism includes a first robot 1110 capable of horizontally rotating and vertically swinging and a first grab 1120 arranged on the first robot 1110.
The first mechanical arm 1110 adopts a robot joint mechanical arm to realize horizontal rotation and up-and-down swinging, belongs to a mature technology, and is not described herein any more, and the first hand grip 1120 is composed of a hand grip bottom plate 1121, and claws 1122 and hooks 1123 located on the periphery of the hand grip bottom plate.
The workpiece taking and feeding mechanism 1200 is used for grabbing the workpiece 5 from the workpiece basket 2 on the workpiece taking platform 3 and feeding the workpiece 5 to the workpiece side grinding device 1300, and grabbing the ground workpiece 5 from the workpiece side grinding device 1300 and feeding the ground workpiece 5 to the workpiece conveying device 1400, as shown in fig. 3, and includes a second mechanical arm 1210 capable of horizontally rotating and vertically swinging, and two second grippers 1220 arranged on the second mechanical arm 1210.
The second mechanical arm 1210 adopts a robot joint mechanical arm to realize horizontal rotation and up-and-down swinging, belongs to a mature technology, and is not described herein any more, one second gripper 1220 is used for grabbing a workpiece 5 from the workpiece basket 2 on the workpiece taking platform 3 and sending the workpiece 5 to the workpiece side grinding device 1300, and the other second gripper 1220 is used for grabbing the ground workpiece 5 from the workpiece side grinding device 1300 and sending the ground workpiece 5 to the workpiece conveying device 1400, so that the efficiency is high.
Preferably, the second gripper 1220 has a first detection camera thereon for detecting whether the position deviation of the workpiece 5 in the workpiece basket 2, the orientation of the workpiece (whether the workpiece is right side up or upside down), and the upward side are acceptable.
The workpiece taking and feeding mechanism is further provided with a second detection camera 1230 and a turnover seat 1240 used for turning the workpiece 5 up and down by 180 degrees, so that the workpiece 5 conveyed to the workpiece side grinding device 1300 can be kept right side up.
The second detection camera 1230 is used for detecting whether the downward surface of the workpiece is qualified or not, if any one of the two surfaces detected by the first detection camera and the detection camera 1230 is unqualified, the workpiece is directly discarded and grabbed again, and if both the two surfaces are qualified and only the reverse surface is upward, the workpiece is turned to the right side upward by the turning seat 1240.
The second inspection camera 1230 and the flipping base 1240 are arranged back and forth along the horizontal rotational path of the robotic joint manipulator 1210.
As shown in fig. 4, the tilting base 1240 includes a side plate 1241, a passive rotating plate 1242, an active rotating plate 1243 and a horizontal telescoping mechanism 1244.
The side plate 1241 is vertically arranged.
The passive rotating plate 1242 is vertically arranged and is fixed on the side plate 1241 in a way of rotating up and down, and the front surface of the passive rotating plate is provided with a groove matched with the side surface of the workpiece 5.
The driving rotating plate 1243 is used to drive the workpiece 5 to turn 180 ° up and down, and the driving rotating plate 1243 is driven by the rotating cylinder 1245 and arranged opposite to the front side of the driven rotating plate 1242, and the front side thereof has a groove adapted to the side of the workpiece 5.
The horizontal telescoping mechanism 1244 is used to drive the driving rotating plate 1243 to approach or leave the driven rotating plate 1242, and the rotating cylinder 1245 is fixed on the horizontal telescoping mechanism 1244.
The horizontal telescopic mechanism 1244 may adopt an air cylinder or a linear motor.
Through the drive of horizontal telescopic machanism 1244, work piece 5 is carried with passive commentaries on classics board 1242 to initiative commentaries on classics board 1243, changes board motor 1245 and drives initiative commentaries on classics board 1243 and rotates, realizes overturning work piece 5.
As shown in fig. 5 and 6, the workpiece side grinding device 1300 is used for grinding the side of the workpiece 5, and includes a driving wheel 1310, a driving wheel driving motor 1320, two driven wheels 1330, a backup wheel 1340, a grinding belt 1350, a horizontal tensioning mechanism 1360, a workpiece fixing seat 1370, and a mounting seat 1380.
The driving wheel 1310 is driven by a driving wheel driving motor 1320 to horizontally rotate.
The driving wheel driving motor 1320 is fixed on the mounting base 1380 through a motor frame 1321, the motor frame 1321 is located at the rear side of the driving wheel driving motor 1320, the motor frame 1321 comprises a hinge base 1321a connected with the horizontal tensioning mechanism 1360 at the front side and a hinge plate 1321b hinged with the hinge base 1321a, the hinge plate 1321b is fixed with the driving wheel driving motor 1320, the hinge plate 1321b is connected with a push-pull air cylinder 1321c used for pushing and pulling the hinge plate 1321b up and down, and the hinge plate 1321b swings under the reciprocating up and down pushing and pulling of the push-pull air cylinder 1321c, so that the grinding abrasive belt 1350 can move up and down on the idler wheel 1340 during grinding, and the damage of the workpiece 5 caused by grinding the same area of the grinding surface of the abrasive belt 1350 for a long time can be avoided, and the service life is prolonged.
The two driven wheels 1330 are horizontally and rotatably fixed on the mounting base 1380 through a vertical wheel axle and are positioned at the rear side of the driving wheel 1310, and the two driven wheels 1330 are arranged at intervals left and right.
The idler wheel frame 1342 comprises a seat body 1342a and a frame body 1342b, the seat body 1342a and a horizontal tensioning mechanism 1360 are fixed on the mounting seat 1380 in a front-back direction, the seat body 1342a is provided with a sliding hole in a front-back direction, the frame body 1342b is C-shaped and located on the rear side of the seat body 1342a, the front side of the frame body 1342b is provided with a sliding rod 1342C in sliding fit with the sliding hole, the upper end and the lower end of the rear side are both provided with notches for fixing the idler wheel shaft 1341, the sliding rod 1342C is sleeved with a buffer spring 1342d located between the seat body 1342a and the frame body 1342b to play a role in buffering, and the frame body 1342b is horizontally provided with an adjusting bolt 1342e for adjusting the front-back deflection angle of the idler wheel shaft 1341, so that the polishing abrasive belt 1350 can be adapted to the side surface of a workpiece.
In this embodiment, the driving wheel 1310 and the idler wheel 1350 are both rubber wheels.
The sanding belt 1350 is disposed on the driving wheel 1310, the two driven wheels 1330, and the idler wheel 1340.
The horizontal tensioning mechanism 1360 can horizontally push and pull the driving wheel driving motor 1320 back and forth to tension the sanding belt 1350, and is connected to the driving wheel driving motor 1320, and the horizontal tensioning mechanism 1360 can be an air cylinder or a linear motor.
The workpiece fixing seat 1370 is used for placing the workpiece 5, is located the front side of the idler wheel 1350, and the workpiece fixing seat 1370 is driven by the servo motor to realize horizontal rotation, and guarantees the number of turns of rotation of the workpiece 5, and the position of stopping at every turn, so that the workpiece is convenient to load and unload.
In this embodiment, the workpiece fixing seat 1370 is provided with a detachable horizontally arranged follow-up copying disc 1371, the profile shape of the horizontal section of the follow-up copying disc 1371 is the same as that of the horizontal section of the workpiece 5, and the proportion of the profiles of the follow-up copying disc 1371 and the workpiece 5 is 5:1, that is, the profile of the follow-up copying disc 1371 is the same as that of the workpiece 5, and is enlarged by 5:1 in equal proportion. In this way, it can be ensured that the sanding belt 1350 can always sand with the same sanding force when the workpiece 5 rotates with the workpiece fixing seat 1370.
If workpieces in different shapes need to be polished, only the follow-up profiling disc 1610 in the corresponding shape needs to be replaced, so that the adaptability is strong.
The mount 1380 includes mounting panel 1381, first slide 1382, second slide 1383 and bottom plate 1384, pedestal 1342a and horizontal tensioning mechanism 1360 all are fixed in mounting panel 1381, driven wheel 1330 passes through the shaft rotation and is fixed in on mounting panel 1381, mounting panel 1381 passes through axis of rotation 1385 horizontal rotation and is fixed in on first slide 1382, first slide 1382 lower surface has the slider, the upper surface of second slide 1383 has the slide rail, first slide 1382 slides and locates on second slide 1383, the lower surface of second slide 1383 has the slider, the upper surface of bottom plate 1384 has the slide rail, second slide 1383 slides and locates on bottom plate 1384, can adjust the position of depended wheel 1340 through mount 1380.
As shown in fig. 7, the workpiece conveying apparatus 1400 is used for horizontally conveying the workpieces 5 to each station in sequence, and includes a first linear conveying mechanism 1410, a second linear conveying mechanism 1420, a third linear conveying mechanism 1430, and a fourth linear conveying mechanism 1440, wherein the first linear conveying mechanism 1410, the second linear conveying mechanism 1420, the third linear conveying mechanism 1430, and the fourth linear conveying mechanism 1440 are arranged in a rectangular shape to form an annular conveying path, and each of the four mechanisms is composed of two double-speed chains arranged at left and right intervals.
A plurality of workpiece carrying discs 1450 are sequentially arranged on the conveying path of the workpiece conveying device 1400 at equal intervals, positioning pins for fixing workpieces are arranged on the workpiece carrying discs 1450, and the structure of the workpiece carrying discs 1450 is shown in fig. 11 and 12.
In this embodiment, in order to transfer the workpiece stage 1450 at the corners of the two linear conveyors, the present invention further provides three first corner conveyors 1460 and one second corner conveyor 1470, wherein the three first corner conveyors 1460 are respectively disposed at the rear end of the second linear conveyor 1420 and at the ends of the fourth linear conveyor 1440, and the second corner conveyor 1470 is disposed at the front end of the second linear conveyor 1420.
As shown in fig. 8, the first corner conveying mechanism 1460 includes a driving roller 1461 and a driven roller 1462 which can rotate up and down and are used for transferring the workpiece carrier 1450, and a first jacking cylinder 1463 for jacking the driving roller 1461 and the driven roller 1462, the driving roller 1461 and the driven roller 1462 are located between two double-speed chains and are arranged left and right, the driving roller 1461 and the driven roller 1462 are fixed on a transmission frame 1464 in a rotating manner up and down, the lower surface of the transmission frame 1464 is provided with guide rods located at four corners, the first jacking cylinder 1463 is fixed on the lower surface of the lower plate 1465 and penetrates through the lower plate 1465 upwards, and the lower plate 1465 is located below the transmission frame 1464 and is penetrated by the guide rods.
Preferably, belts are provided on the driving roller 1461 and the driven roller 1462.
As shown in fig. 9, the second corner conveying mechanism 1470 includes a second jacking cylinder 1471 for jacking up the workpiece carrier disc 1450, and a pushing block 1472 for pushing the workpiece carrier disc 1450 to the third linear conveying mechanism 1430 after the workpiece carrier disc 1450 is jacked up, the second jacking cylinder 1471 is in transmission connection with a jacking column 1473, and the top of the jacking column 1473 is provided with a guide wheel 1474.
Specifically, the second jacking cylinder 1471 is fixed to the lower surface of the cylinder fixing plate 1475, a piston rod of the second jacking cylinder 1471 upwardly penetrates through the cylinder fixing plate 1475, four jacking columns 1473 are respectively fixed to four corners of the upper surface of the jacking plate 1476, the jacking plate 1476 is located above the cylinder fixing plate 1475 and connected with the piston rod, the lower surface of the jacking plate 1476 is provided with a guide rod penetrating through the cylinder fixing plate 1475, the pushing block 1472 is driven by a cylinder or a linear motor and is slidably arranged on a sliding rod 1477, the sliding rod 1477 is horizontally arranged and is in the same direction as the conveying direction of the third linear conveying mechanism 1430, and the sliding rod 1477 is located above the jacking column 1473.
The lower surface of the push block 1472 has a push beam 1478, and both ends of the push beam 1478 have push tabs 1479.
As shown in fig. 10, the station lifting device 1500 is used for lifting the workpiece carrier 1450 at the stations, and includes a plurality of lifting mechanisms 1520 for pushing the upper plate 1510 to move up and down, and a fixing plate 1530 located below the upper plate 1510, wherein the upper plate 1510 has four top posts 1511 for lifting up the workpiece carrier, four guide posts 1512 are respectively located at four corners of the lower surface of the upper plate 1510, the lifting mechanisms are fixed at the center of the opposite side of the fixing plate 1530, penetrate the fixing plate 1530 upward, and are connected to the upper plate 1510, two sides of the fixing plate 1530 are fixed to the workpiece conveying device 1400, and guide holes are formed therein through which the guide posts 1512 penetrate.
The side processing mechanism 1600, the upper processing mechanism 1700, and the workpiece basket loading mechanism 1800 are respectively located at a plurality of stations from back to front along the conveying direction of the workpiece conveying device 1400.
As shown in fig. 11 and 12, the side surface processing mechanism 1600 is used for processing the side surface of the workpiece inside the workpiece tray 1450 after the workpiece tray is lifted, and is composed of a top plate 1610 which can be lifted and moved back and forth, wherein the top plate 1610 is provided with a top plate 1611, and the top plate 1611 is inserted into the side surface hole of the workpiece 5 to remove burrs therein.
In this embodiment, the top plate 1610 is in an inverted T-shape, and has top plates 1611 at left and right ends thereof, respectively, and the top plate 1610 is driven by front and rear telescopic cylinders connected to a lifting cylinder fixed above the workpiece transfer device 1400 via a bracket 1620.
The upper side processing mechanism 1700 is configured to process the upper side of the workpiece inside the workpiece carrying disk 1450 after the workpiece carrying disk rises, and as shown in fig. 13, the upper side processing mechanism includes a rotating head 1710 and a drill, a tap and a steel brush which are arranged below the rotating head 1710, and is configured to punch, tap and remove burrs inside the hole on the upper side of the workpiece, and the workpiece carrying disk needs to be chamfered by the drill after tapping.
As shown in fig. 14, the workpiece basket mechanism 1800, which is used to take out the inner workpiece 5 from the workpiece tray 1450 and place it into the workpiece basket 2 on the mounting platform 4 after the workpiece tray is raised, and to take out the cardboard from the cardboard box 1850 and place it into the workpiece basket 2, includes a machine head 1810 which can move up and down, right and left, and forward and backward, and the machine head 1810 is provided with a third gripper 1820 and a cardboard suction cup 1830.
In this embodiment, the head 1810 is driven by an up-down moving mechanism, a left-right moving mechanism, and a front-back moving mechanism, and the up-down moving mechanism, the left-right moving mechanism, and the front-back moving mechanism may be servo linear motors or air cylinders.
The up-down moving mechanism, the left-right moving mechanism and the front-back moving mechanism are arranged on a mounting frame 1840, the mounting frame 1840 transversely crosses above the workpiece conveying device 1400, and a mounting platform 1841 positioned below the machine head 1810 is arranged on the mounting frame 1840.
The mounting platform 4 is fixed on the mounting bracket 1840 and is distributed with the mounting platform 1841 left and right.
As shown in fig. 15, the cardboard silo 1850 includes a silo body 1851 and a supporting plate 1852 capable of moving left and right, the silo body 1851 includes two limiting plates 1851a spaced apart from each other left and right, the two limiting plates 1851a are both vertically arranged and both ends are connected by a connecting plate 1851b, the connecting plate 1851b is fixed on the mounting platform 1841, the supporting plate 1852 includes a first horizontal plate 1852a lower than the silo body 1851 and a second horizontal plate 1852b lower than the first horizontal plate 1852a, the upper and lower gap between the first horizontal plate 1852a and the silo body 1851 is smaller than the thickness of the cardboard, and the first horizontal plate 1852a is connected with the second horizontal plate 1852b by a vertical plate 1852 c.
In this embodiment, the two supporting plates 1852 can be moved left and right by an air cylinder or a servo linear motor.
The lower surface of the second horizontal plate 1852b has a slide 1852d, the mounting platform 1841 has a slide rail in the left-right direction, and the second horizontal plate 1852b is slidably disposed on the slide rail through the slide 1852 d.
When the second horizontal plate 1852b passes through the bin body 1851 from below, the jammed paper falls on the second horizontal plate 1852b, and after leaving the position below the bin body 1851, the first horizontal plate 1852a moves to just below the bin body 1851, and at this time, the material can be fed into the bin body 1851, meanwhile, because of the height difference between the second horizontal plate 1852b and the first horizontal plate 1852a, a part of jammed paper can be sucked by the paper feeding plate sucking disc 1830, thereby realizing feeding and taking the material to the paper board bin 1850 at the same time, and having high efficiency.
The invention also designs a workpiece turnover mechanism 1900 which is used for turning the workpiece 5 in the workpiece carrying disc 1450 by 180 degrees up and down after the workpiece carrying disc 1450 ascends along with the station lifting device 1500, so that the front side of the workpiece is firstly processed by the upper side processing mechanism 1700, then the workpiece is turned by 180 degrees by the workpiece turnover mechanism 1900, and then the back side of the workpiece is processed by the upper side processing mechanism 1700.
In this embodiment, there are a plurality of upper side processing mechanisms 1700, and the plurality of upper side processing mechanisms 1700 are divided into two groups, one group is disposed at the second linear transport mechanism 1420 for processing the front side of the workpiece 5, and the other group is disposed at the third linear transport mechanism 1430 for processing the back side of the workpiece 5; the side surface processing means 1600 is provided at the first linear transporter 1410, and the work basket loading means 1800 is provided at the fourth linear transporter 1440.
Correspondingly, the number of the workpiece overturning mechanisms 1900 is two, one is arranged at a station between the two sets of upper side surface processing mechanisms and is located at the rear end of the third linear conveying mechanism 1430, the other is arranged at a station in front of the two sets of upper side surface processing mechanisms and is located at the front end of the third linear conveying mechanism 1430.
As shown in fig. 16, the workpiece turnover mechanism 1900 includes a first clamping jaw 1910 that can be turned down to a vertical position to pick up a workpiece from the workpiece tray 1450 and turned to a horizontal position, and a second clamping jaw 1920 that can be turned up to a horizontal position to pick up a workpiece from the first clamping jaw 1910 and turned down to a vertical position to put the workpiece back to the workpiece tray 1450, wherein the first clamping jaw 1910 is horizontally arranged opposite to the second clamping jaw 1920 and is located above the conveying path of the workpiece conveying device 1400.
Specifically, first clamping jaw 1910 and second clamping jaw 1920 arrange along the direction of transport backward in the front, and both are fixed in on an returning face plate 1930 respectively, and two returning face plates 1930 rotate to be fixed on two backup pads 1940 that are located the left and right sides, and two returning face plates 1930 realize rotating under revolving cylinder's drive to drive the upset from top to bottom of first clamping jaw 1910 and second clamping jaw 1920.
The first jaw 1910 and the second jaw 1920 are both composed of two blocks which can move close to or away from each other from left to right, the two blocks of the first jaw 1910 move away from each other on the inner side of the workpiece to clamp the workpiece, and the two blocks of the second jaw 1920 move close to each other on the outer side of the workpiece to clamp the workpiece.
In this embodiment, the first clamping jaw 1910 and the second clamping jaw 1920 are both left and right, so that two workpieces can be turned over simultaneously, and the efficiency is high.
However, those skilled in the art should realize that the above embodiments are illustrative only and not limiting to the present invention, and that changes and modifications to the above described embodiments are intended to fall within the scope of the appended claims, provided they fall within the true spirit of the present invention.
Claims (8)
1. A workpiece processing apparatus, comprising:
the basket delivering and taking mechanism is used for grasping a workpiece basket, delivering the workpiece basket to the workpiece taking platform, grasping the workpiece basket from the workpiece taking platform, delivering the workpiece basket to the workpiece loading platform and grasping the workpiece frame from the workpiece loading platform for storage, and comprises a first mechanical arm which can horizontally rotate and vertically swing and a first gripper arranged on the first mechanical arm;
The workpiece taking and feeding mechanism is used for grabbing workpieces from a workpiece basket on the workpiece taking platform and sending the workpieces to the workpiece side grinding device, grabbing the ground workpieces from the workpiece side grinding device and sending the workpieces to the workpiece conveying device, and comprises a second mechanical arm which can horizontally rotate and vertically swing and two second grippers arranged on the second mechanical arm;
the workpiece side edge grinding device is used for grinding the side edge of the workpiece;
the workpiece conveying device is used for sequentially and horizontally conveying workpieces to each station, a plurality of workpiece carrying discs are sequentially arranged on a conveying path of the workpiece conveying device at equal intervals, the workpiece conveying device comprises a first linear conveying mechanism, a second linear conveying mechanism, a third linear conveying mechanism and a fourth linear conveying mechanism, the first linear conveying mechanism, the second linear conveying mechanism, the third linear conveying mechanism and the fourth linear conveying mechanism are arranged in a rectangular mode to form an annular conveying path, and the fourth linear conveying mechanism is composed of two speed doubling chains arranged at left and right intervals;
the plurality of station lifting devices are respectively arranged at each station;
The side surface processing mechanism is used for processing the side surface of the workpiece in the workpiece carrying disc after the workpiece carrying disc ascends;
the upper side processing mechanism is used for processing the upper side of the workpiece in the workpiece carrying disc after the workpiece carrying disc ascends;
the workpiece basket loading mechanism is used for taking out the workpieces in the workpiece carrying disc after the workpiece carrying disc rises and placing the workpieces into a workpiece basket on the workpiece loading platform, and taking the paperboards from the paperboard bin and placing the paperboards into the workpiece basket;
the side surface processing mechanism, the upper side surface processing mechanism and the workpiece basket loading mechanism are respectively positioned at a plurality of stations from back to front along the conveying direction of the workpiece conveying device;
the cardboard storehouse includes the storehouse body and can control the layer board that removes, the storehouse body is including controlling two limiting plates of interval distribution, two equal vertical arrangements of limiting plate, and both ends all are connected through a connecting plate, the layer board is including being less than the first horizontal plate of storehouse body and being less than the second horizontal plate of first horizontal plate, first horizontal plate is less than the thickness of cardboard with the clearance from top to bottom of storehouse body, be connected through a vertical board between first horizontal plate and the second horizontal plate.
2. The workpiece processing apparatus of claim 1, wherein the workpiece side grinding device comprises:
the driving wheel can horizontally rotate and is driven by a driving wheel driving motor;
the two driven wheels can horizontally rotate and are positioned on the rear side of the driving wheel, and the two driven wheels are arranged at intervals left and right;
the idler wheel is arranged between the two driven wheels and is horizontally and rotatably fixed on the idler frame through a vertical idler wheel axle;
the grinding abrasive belt is sleeved on the driving wheel, the two driven wheels and the idler wheel;
the horizontal tensioning mechanism can horizontally push and pull the driving wheel driving motor back and forth to tension the sanding belt, and is connected with the driving wheel driving motor;
the workpiece fixing seat can rotate horizontally and is used for placing a workpiece, and the workpiece fixing seat is positioned on the front side of the idler wheel.
3. The workpiece processing device according to claim 2, further comprising a mounting base, wherein the idler wheel frame comprises a base body and a frame body, the base body and the horizontal tensioning mechanism are fixed on the mounting base in a front-back mode, the base body is provided with a sliding hole in a front-back direction, the frame body is C-shaped and located on the rear side of the base body, a sliding rod in sliding fit with the sliding hole is arranged on the front side of the frame body, the sliding rod is sleeved with a buffer spring located between the base body and the frame body, and the frame body is horizontally provided with an adjusting bolt used for adjusting the front-back deflection angle of the idler wheel shaft.
4. The workpiece processing device according to claim 3, wherein the driving wheel driving motor is fixed on the mounting base through a motor frame, the motor frame is positioned at the rear side of the driving wheel driving motor and comprises a hinge base connected with the horizontal tensioning mechanism at the front side and a hinge plate hinged with the hinge base, the hinge plate is fixed with the driving wheel driving motor, and the hinge plate is connected with a push-pull air cylinder for pushing and pulling the hinge plate up and down;
the workpiece fixing seat is provided with a detachable horizontally-arranged follow-up profiling disc, the profile shape of the horizontal section of the follow-up profiling disc is the same as that of the horizontal section of the workpiece, and the ratio of the profiles of the follow-up profiling disc to the horizontal section of the workpiece is 5: 1.
5. The workpiece processing device according to claim 4, wherein the second gripper is provided with a first detection camera, the workpiece taking and feeding mechanism further comprises a second detection camera and a turnover seat for turning the workpiece up and down by 180 degrees, and the turnover seat comprises:
a side plate arranged vertically;
the driven rotating plate is vertically arranged and is fixed on the side plate in a vertically rotating mode, and the front surface of the driven rotating plate is provided with a groove matched with the side surface of the workpiece;
The driving rotating plate is driven by a rotating cylinder and is arranged opposite to the front surface of the driven rotating plate, and the front surface of the driving rotating plate is provided with a groove matched with the side surface of the workpiece;
the horizontal telescopic mechanism is used for driving the driving rotating plate to be close to or far away from the driven rotating plate, and the rotary cylinder is fixed on the horizontal telescopic mechanism.
6. The workpiece processing equipment according to claim 1, further comprising three first corner conveying mechanisms and a second corner conveying mechanism for transferring the workpiece carrying tray at corners of two linear conveying mechanisms, wherein the three first corner conveying mechanisms are respectively arranged at the rear end of the second linear conveying mechanism and at two ends of a fourth linear conveying mechanism, the second corner conveying mechanism is arranged at the front end of the second linear conveying mechanism, the first corner conveying mechanism comprises a driving roller and a driven roller for transferring the workpiece carrying tray and a first jacking cylinder for jacking the driving roller and the driven roller, and the driving roller and the driven roller are positioned between the two speed doubling chains and are arranged in a left-right manner; the second corner conveying mechanism comprises a second jacking cylinder and a pushing block, the second jacking cylinder is used for jacking the workpiece carrying disc, the pushing block is used for pushing the workpiece carrying disc to the third linear conveying mechanism after the workpiece carrying disc is jacked, the second jacking cylinder is in transmission connection with the jacking column, and a guide wheel is arranged at the top of the jacking column.
7. The workpiece processing equipment as claimed in claim 6, wherein the station lifting device comprises an upper plate, a lifting mechanism for pushing the upper plate to lift up and down, and a fixing plate positioned below the upper plate, the upper plate is provided with a jack post for jacking up the workpiece carrying disc on the upper surface, the lower surface is provided with a guide post, the lifting mechanism is fixed on the reverse surface of the fixing plate and penetrates the fixing plate upwards to be connected with the upper plate, and the fixing plate is provided with a guide hole through which the guide post penetrates.
8. The workpiece processing apparatus of claim 7, further comprising a plurality of workpiece turning mechanisms for turning the workpiece in the workpiece carrier tray up and down by 180 ° after the workpiece carrier tray is lifted up by the station lifting device, wherein the plurality of upper side processing mechanisms are divided into two groups, and the two groups of upper side processing mechanisms are respectively used for processing the front and back surfaces of the workpiece, one group of the two workpiece turning mechanisms is arranged at the station between the two groups of the upper side processing mechanisms, and the other group of the two groups of the upper side processing mechanisms is arranged at the station in front of the two groups of the upper side processing mechanisms, and the workpiece turning mechanism comprises a first clamping jaw which can be turned down to a vertical position, and clamps the workpiece from the workpiece carrier tray and turns over to a horizontal position, and a second clamping jaw which can be turned up to a horizontal position, and clamps the workpiece from the first clamping jaw and turns down to a vertical position, and puts the workpiece back to the workpiece on the workpiece carrier tray, the first clamping jaw and the second clamping jaw are horizontally arranged oppositely and are positioned above the conveying path of the workpiece conveying device.
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| CN201810244573.7A CN108687658B (en) | 2018-03-23 | 2018-03-23 | Workpiece machining equipment |
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| CN109531322B (en) * | 2018-12-21 | 2024-04-05 | 昆山大拇指自动化设备科技有限公司 | Automatic deburring equipment |
| CN110706579A (en) * | 2019-10-22 | 2020-01-17 | 苏州富纳艾尔科技有限公司 | A robot automatic detection training teaching platform |
| CN112008560A (en) * | 2020-09-27 | 2020-12-01 | 广东猎人谷精铸科技有限公司 | Pot handle polishing system |
| CN112318348A (en) * | 2020-11-05 | 2021-02-05 | 苏州芙路得智能科技有限公司 | Burnishing device suitable for stainless steel ice-cube |
| CN113585768B (en) * | 2021-08-25 | 2022-08-23 | 广东博智林机器人有限公司 | Workpiece mounting device and workpiece mounting method |
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Effective date of registration: 20210909 Address after: 314000 room 627, building 2, Xinghui Plaza, No. 998, Tanghui Road, Jiaxing Economic and Technological Development Zone, Zhejiang Province Applicant after: Xiande Intelligent Equipment Co.,Ltd. Address before: 201700 room 1, floor 2, building 4, No. 599, Heguo Road, Baihe Town, Qingpu District, Shanghai Applicant before: SHANGHAI XIANDE MACHINERY ENGINEERING Co.,Ltd. |
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