CN109014951B - Intelligent stair conveying device - Google Patents
Intelligent stair conveying device Download PDFInfo
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- CN109014951B CN109014951B CN201810977449.1A CN201810977449A CN109014951B CN 109014951 B CN109014951 B CN 109014951B CN 201810977449 A CN201810977449 A CN 201810977449A CN 109014951 B CN109014951 B CN 109014951B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
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Abstract
The invention provides an intelligent stair conveying device, which comprises: feeding conveying frames, edge milling and deburring devices, abrasive belt machines, flat files, double-sided boring machines, discharging conveying frames and mechanical arms; the intelligent stair conveying device not only comprises deburring of stairs, but also comprises processing of mounting holes and lug surfaces, the whole production takt is 60 seconds/piece, the production efficiency is improved, and the manual labor capacity is greatly reduced; the invention has reliable quality and stable operation, and continuously brings stable economic benefit for step manufacturers.
Description
Technical Field
The invention relates to the field of elevator step processing, in particular to an intelligent step conveying device.
Background
Steps are members that circulate on the escalator truss for passengers to stand. Existing steps are basically divided into two types, split type and assembled type. The integral type is formed by integral die casting of aluminum alloy, and has high precision, light dead weight and high processing speed; the assembled step is formed by assembling and combining parts such as pedals, skirting boards and supporting frames, has large weight and poor precision, and is a product with smaller die casting capacity, so the assembled step is gradually replaced by an integral step from the current development trend.
The integral step is formed by one-step die casting of a nitrogen die casting machine, and has complex integral structure and high strength. Since there is no fitting or connecting piece, elevator failure due to loosening of the connecting piece is not generated. Aluminum alloy die-cast steps have many advantages, but have their deficient sides. In the modern production process, the step is subjected to one-step die casting molding, the aluminum alloy is rapidly cooled in a die, the manufacturing die can bear great temperature change and pressure change, and various burrs are inevitably generated on the aluminum alloy product under the current die manufacturing process conditions. The step has a complex shape and a correspondingly wide burr generation range, so that deburring of the step in the production process is a very tedious work. At present, most step manufacturers still adopt a working mode of manually adding some traditional tools to remove burrs, so that the labor intensity of operators is high, dust pollution is accompanied, and even if the protective tools are worn, the health of the operators can be possibly damaged; although some domestic larger step manufacturers also introduce some foreign automation equipment to replace manual work, the whole process is insufficient in integration capacity, a large number of operators are needed, and meanwhile, the production beats are relatively long.
The patent application number 201220396493.1 discloses an elevator step deburring machine, which comprises a frame, a feeding device, a positioning device and a deburring device, wherein the feeding device, the positioning device and the deburring device are respectively arranged on the frame, the positioning device is arranged at the upper end of the feeding device, and the deburring device is arranged on the side surface of the feeding device; the deburring device is an electric milling cutter and comprises a milling cutter device, a motor, a transmission device and a screw rod adjusting device for driving the milling cutter device to move up and down, wherein the milling cutter device is connected with the motor through the transmission device, and the milling cutter device is arranged on the screw rod adjusting device. The step is required to be placed on a feeding device, and after the positioning device is positioned, the step works through a deburring device. Firstly, the edge milling work can be only carried out on the edge, and burrs in the U-shaped groove of the step tread cannot be removed well; secondly, the positioning device is only pressed by the upper end and the side air cylinders, so that the step is not firmly fixed, and improvement is urgently needed.
Disclosure of Invention
In order to solve the problems, the invention provides the intelligent stair conveying device which not only comprises deburring of stairs, but also comprises mounting holes and processing of lug surfaces, the whole production takt is 60 seconds/piece, the production efficiency is improved, and the manual labor amount is greatly reduced; the invention has reliable quality and stable operation, and continuously brings stable economic benefit for step manufacturers.
In order to achieve the technical purpose, the technical scheme of the invention is as follows: an intelligent step conveyor, comprising: feeding conveying frames, edge milling and deburring devices, abrasive belt machines, flat files, double-sided boring machines, discharging conveying frames and mechanical arms;
the edge milling and deburring device comprises a horizontal conveying frame, a vertical frame, a pushing device and a positioning and compacting device: the feeding conveying frame conveys the steps to the horizontal conveying frame, the horizontal conveying frame comprises a first horizontal conveying frame and a second horizontal conveying frame which are arranged at intervals, the pushing device is arranged below the first horizontal conveying frame, and file devices and milling cutter devices which are arranged along the long direction of the steps are arranged at intervals between the horizontal conveying frame and the second horizontal conveying frame;
the bilateral boring machine comprises a step positioning device, boring machines at two sides of the positioning device, a lifting device under the positioning device and a pushing device; the step positioning device is used for positioning the steps, boring holes on the step lug surfaces by the boring machine, lifting the steps from the positioning device by the lifting device, and pushing the steps to the discharging conveying frame by the pushing device;
the mechanical arm is used for grabbing steps on the second horizontal conveying frame and sequentially conveying the steps to step positioning devices in the abrasive belt machine, the flat file and the double-sided boring machine.
Further, the device is arranged at the interval between the first horizontal conveying rack and the second horizontal conveying rack, and is hung on the Z-direction positioning device pressed down by the upper part and the side part of the vertical rack, and the Y-direction positioning device pressed down by the side pressure; the jacking X-direction positioning device is arranged below the interval between the first horizontal conveying rack and the second horizontal conveying rack; and the limiting device is arranged at the interval between the first horizontal conveying rack and the second horizontal conveying rack.
Further, the X-direction positioning device includes:
the top plate is provided with one of a groove or a bulge, and the groove or the bulge is matched with a U-shaped groove on the tread of the step;
the first jacking device is used for moving the fixed pressing plate up and down, so that grooves or protrusions arranged on the top plate are clamped under the tread of the step.
The limiting device comprises:
one end of the material blocking limiting block is hinged on a material blocking swinging cylinder,
the material blocking swing cylinder moves up and down and is used for enabling the material blocking limiting block to rotate and further limiting or avoiding the step to push along the x direction.
The pushing device comprises:
the L-shaped push plate is provided with one of a groove or a bulge on the short side, and the groove or the bulge is matched with a U-shaped groove on the tread of the step;
the L-shaped plate swinging cylinder is rotationally connected with the long side of the L-shaped push plate and is used for rotating the L-shaped push plate so that the short side of the L-shaped push plate is clamped with the step tread;
the pushing cylinder and the pushing plate cylinder are fixedly connected with the L plate swinging cylinder and used for pushing the L plate swinging cylinder and the L pushing plate 27 to move along the x direction, step-by-step movement of the steps from the feeding frame to the file device and the milling cutter device is realized, and the x-direction limiting is realized by the material blocking limiting block.
Further, the step tread is downwards placed on the horizontal conveying frame, the file device is arranged below the step tread, and the milling cutter device is arranged at the edge position of the step tread;
the file device includes:
the file set consists of a plurality of file teeth;
the file tapping device is used for driving the file group to move back and forth along the Y direction, polishing the inside of the U-shaped groove on the step tread and removing burrs;
the file traversing device is used for driving the file group to move left and right along the x direction, polishing the U-shaped groove of the tread of the step and removing burrs along the U-shaped groove;
the file lifting device is used for driving the file group to move back and forth along the z direction, and polishing the inner wall of the U-shaped groove of the step tread along the inner wall of the U-shaped groove to remove burrs;
the milling cutter device includes:
the milling cutter knife set is formed by arranging a plurality of milling cutters at intervals, the thickness of the milling cutters is equal to the width of the U-shaped grooves on the step tread, and the intervals of the milling cutters are equal to the intervals of the U-shaped grooves on the step tread;
the milling cutter driving device is used for driving the milling cutter group to rotate and milling edges of the tread edges of the steps;
and the milling cutter lifting device is used for driving the milling cutter to mill edges along the Z-axis direction.
Further, the step positioning device comprises a long-direction positioning device, a lateral positioning device and a rotary clamping device;
the long-direction positioning device comprises at least one U-shaped groove, and teeth on the tread of the step are clamped in the U-shaped groove;
the lateral positioning device comprises at least two L-shaped positioning plates, and is fixed at the edge of the tread of the step;
the rotary clamping device comprises at least four rotating pieces which rotate into the step lug surface to fix the steps.
Further, the lifting device comprises a U-shaped lifting bottom plate and a lifting cylinder, the U-shaped lifting bottom plate is arranged under the tread of the stair, and the lifting cylinder acts on the lifting bottom plate and is used for separating the stair from the long-direction positioning device and the lateral positioning device;
the pushing device comprises a pushing plate and a pushing cylinder, the pushing plate is arranged on the side face of the step, and the pushing cylinder acts on the pushing plate and is used for hooking the step away from the double-sided boring to the discharging conveying frame.
Further, a sliding table is arranged, and the boring machine is arranged on the sliding table and used for boring holes after the steps are fixed to the step positioning device and sliding to the lug surface.
Further, the boring machine comprises a spindle motor, a multi-spindle box, a countersink and a boring cutter; the spindle motor drives the countersink and the boring cutter to feed through the multi-shaft box; the boring cutter is used for boring holes on the step lug surface, and the countersink cutter is used for countersinking counter bores on the step lug.
Further, the boring machine is provided with a pumping oil port for providing gear self-lubricating oil for the multi-shaft box and spraying oil mist to the boring cutter as lubrication.
Preferably, the mechanical arm adopts a kuka robot with the model KR125L90, and the edge milling and deburring device, the abrasive belt machine, the flat file and the double-sided boring machine are arranged around the mechanical arm;
the mechanical arm, the edge milling and deburring device, the abrasive belt machine, the flat file and the double-sided boring machine are arranged in the partition room, an electric control cabinet is arranged outside the partition room, and the mechanical arm, the edge milling and deburring device, the abrasive belt machine, the flat file and the double-sided boring machine are electrically connected to the electric control cabinet and used for controlling the step intelligent conveying device.
The invention has the beneficial effects that:
the mechanical arm can be fixed in the middle of a partition room, the edge milling and deburring device, the abrasive belt machine, the flat file and the double-sided boring machine are circumferentially distributed around the mechanical arm, the tail end of the mechanical arm is provided with a step gripper, a blank step is manually placed into a workpiece vacancy of a feed port of the feed conveying frame and conveyed into the edge milling and deburring device, and after 5 times of tooth milling and tooth bottom die line combination, the kuka robot sucks and grabs a workpiece to polish burrs and flashes on the fixed abrasive belt machine; turning to a flat file to grind burrs at corners of the tooth bottoms, finally placing a workpiece into a double-sided boring machine to be bored and spot-facing, and pushing the workpiece out by using a pushing cylinder; and (5) manually taking the workpiece, and putting the workpiece into a turnover frame after the workpiece is repaired and frustrated.
The intelligent stair conveying device not only comprises deburring of stairs, but also comprises processing of mounting holes and lug surfaces, the whole production takt is 60 seconds/piece, the production efficiency is improved, and the manual labor capacity is greatly reduced; the invention has reliable quality and stable operation, and continuously brings stable economic benefit for step manufacturers.
Drawings
FIG. 1 is a schematic view of a stair construction of the present invention;
FIG. 2 is a schematic view of the tread surface structure of the step of the present invention;
FIG. 3 is a schematic view of the overall structure of the intelligent step conveyor of the present invention;
FIG. 4 is a front view showing the overall construction of the edge milling deburring device according to the present invention;
FIG. 5 is a top view showing the overall construction of the edge milling deburring device of the present invention;
FIG. 6 is a cross-sectional view of the overall block diagram of the edge milling and deburring device of the present invention in the xoy plane;
FIG. 7 is a side view of the overall construction of the edge milling deburring apparatus of the present invention;
FIG. 8 is a schematic view of the mounting structure of the horizontal transfer frame, the vertical frame, and the positioning and compacting device, file device of the present invention;
FIG. 9 is a schematic view of the mounting structure of the horizontal transfer frame, vertical frame and feeder frame of the present invention;
FIG. 10 is a schematic view of the mounting structure of the horizontal transfer frame, vertical frame, positioning and compressing device, and limiting device of the present invention;
FIG. 11 is a schematic view of the mounting structure of the horizontal conveying frame, the positioning and compacting device and the pushing cylinder of the invention;
FIG. 12 is a schematic view of the installation structure of the horizontal conveying frame, the positioning and compressing device, the push plate cylinder and the material pulling device;
FIG. 13 is a schematic view of a drawing device of the present invention;
FIG. 14 is an enlarged schematic view of the portion E of FIG. 5 in accordance with the present invention;
fig. 15 is a front view of the rasp apparatus of the present invention;
FIG. 16 is a top view of the rasp apparatus of the present invention;
FIG. 17 is a side view of the rasp apparatus of the present invention;
FIG. 18 is a schematic view of the milling cutter device of the present invention;
FIG. 19 is a schematic view showing the mounting positions of the rasp device and the steps of the milling cutter device of the present invention;
FIG. 20 is a schematic diagram of a pusher of the present invention;
FIG. 21 is a schematic view of the overall structure of the dual-sided boring machine of the present invention;
FIG. 22 is a second schematic diagram of the overall structure of the dual-sided boring machine of the present invention;
FIG. 23 is a schematic view of the step positioning device of the present invention;
fig. 24 is a schematic view showing the construction of the step positioning device, the lifting device, and the pushing device of the present invention;
FIG. 25 is a schematic view of the structure of the lifting device and the pushing device of the present invention;
FIG. 26 is a schematic view of the mounting structure of the boring machine of the present invention;
FIG. 27 is a second schematic view of the mounting structure of the boring machine of the present invention.
Detailed Description
The technical scheme of the present invention will be clearly and completely described below.
It should be noted that, the "upper" and "lower" in the present invention are all with respect to the top view in fig. 3, and the x, y, and z directions in the present invention are also with respect to the coordinates in the drawings, and the terms of the directions of "upper" and "lower" and "x, y, and z directions" in the present invention are all terms for convenience in describing the structural arrangement relationship of the automated edge milling and deburring device for step processing in the present invention, and are not to be construed as limiting the present invention. It should be noted that, as shown in fig. 1, one step has a structure of holes 29, lugs 35, tread surfaces, lug surfaces, and the like, which are well known to those skilled in the art.
As shown in fig. 3, an intelligent step conveying device includes: a feeding conveying frame 30, a milling edge deburring device 31, a belt sander 32, a flat file 33, a double-sided boring machine 34, a discharging conveying frame 35 and a mechanical arm 36;
the edge milling and deburring device comprises a horizontal conveying frame, a vertical frame 9, a pushing device and a positioning and compacting device; the horizontal conveying machine frame comprises a first horizontal conveying machine frame 7 and a second horizontal conveying machine frame 8 which are arranged at intervals, the pushing device is arranged below the first horizontal conveying machine frame, and file devices and milling cutter devices which are arranged along the long direction of the steps are arranged at intervals between the horizontal conveying machine frame and the second horizontal conveying machine frame; meanwhile, aluminum scraps receiving discs are arranged below the file device and the milling cutter device so as to receive the aluminum scraps falling down in the conveying process and the polishing process of the steps.
The bilateral boring machine comprises a step positioning device, boring machines at two sides of the positioning device, a lifting device under the positioning device and a pushing device; the step positioning device is used for positioning the step 6, boring the hole on the step lug surface by the boring machine, lifting the step from the positioning device by the lifting device, and pushing the step to the discharging conveying frame 35 by the pushing device;
the working cross rod of the belt sander 32 is provided with an air cylinder balancing device, so that excessive pressure between a workpiece and an abrasive belt is prevented, an inclination angle is added to an operating surface of a kuka robot, which is described below, and when the abrasive belt moves, an aluminum scrap collecting device capable of conveying aluminum scraps to the lower end is arranged, and an explosion-proof motor is also adopted as a working motor of the belt sander.
kuka robot snatchs step 6 with corresponding angle and prescribed arc track with the step in flat file 33 is special polishes, is used for driving step product closed angle position burr, and burr protruding height is less than 0.2mm after the processing. The working surface of the flat file is inclined downwards, so that filings are not accumulated on the surface of the file, and an aluminum chip collecting device is arranged under a special machine of the flat file 33.
The mechanical arm 36 is used for grabbing the steps 6 on the second horizontal conveying frame and sequentially conveying the steps to the step positioning devices in the abrasive belt machine 32, the flat file 33 and the double-sided boring machine.
The Z-direction positioning device and the side-pressure Y-direction positioning device 5 are arranged at the interval between the first horizontal conveying rack 7 and the second horizontal conveying rack 8 and hung on the upper part and the side part of the vertical rack 9; the upward X-direction positioning device is arranged below the interval between the first horizontal conveying frame 7 and the second horizontal conveying frame 8; a limiting device 12 arranged at the interval between the first horizontal conveying frame and the second horizontal conveying frame; specifically, in order to meet the following edge milling and polishing procedures of four parts of the step A, B, C, D, the Z-directional positioning device may be a first hold-down cylinder 1, a second hold-down cylinder 2, a third hold-down cylinder 3, and a fourth hold-down cylinder 4.
The invention also has a feeding frame 10 for continuously conveying steps to the first horizontal conveying frame, and pushing the steps 6 to a milling cutter 21 station and a file 11 station between the first horizontal conveying frame 7 and the second horizontal conveying frame 8 by a pushing device.
Further, the step tread 25 is prevented from being downward on the horizontal transfer frame, and the rasp device is provided with the step tread downward.
Further, the file device includes:
the file set 11 consists of a plurality of file teeth, and the file set 11, the first horizontal conveying frame 7 and the second horizontal conveying frame 8 are arranged on a horizontal plane;
the file tapping device 19 is used for driving the file group 11 to move forwards and backwards along the y direction, polishing the inside of the U-shaped groove on the tread of the step and removing burrs; if the step tread 25 is downward, the U-shaped grooves are inverted U-shaped grooves, each of the U-shaped grooves is a groove tooth, and the file tapping device 19 makes the file group 11 polish the top of the inverted U-shaped groove.
The file traversing device 20 is used for driving the file group 11 to move left and right along the x direction, polishing the U-shaped groove of the tread of the step and removing burrs along the U-shaped groove;
the file lifting device 18 is used for driving the file group 11 to move back and forth along the z direction, polishing the inner wall of the U-shaped groove of the step tread along the inner wall of the U-shaped groove, removing burrs, and the lifting distance of the file lifting device 18 is the depth of the U-shaped groove.
Further, the milling cutter device is disposed at the step tread edge 26.
Further, the milling cutter device includes:
the milling cutter knife group 21 is formed by arranging a plurality of milling cutters at intervals, wherein the thickness of the milling cutters is equal to the width of the U-shaped grooves on the step tread, and the intervals of the milling cutters are equal to the intervals of the U-shaped grooves on the step tread;
the milling cutter driving device 22 is used for driving the milling cutter set 21 to rotate and milling edges of the step tread edges 26;
the milling cutter lifting device 23 is used for driving the milling cutter group 21 to mill edges along the Z-axis direction. It should be noted that, because of the large amount of metal dust in the working environment, the milling drive or motor employs an explosion-proof motor.
Further, the X-direction positioning device includes:
a top plate, on which one of grooves or protrusions 24 is arranged, the grooves or protrusions are matched with the U-shaped grooves on the tread of the step; specifically, the top plate is provided with a groove 24 which can be matched with the groove teeth of the U-shaped groove, and the protrusion 24 can be matched with the U-shaped groove to position the step.
A first jacking device (not shown) is used for moving the fixed pressing plate up and down, so that the grooves or protrusions 24 arranged on the top plate are clamped under the tread of the step.
Further, the limiting device includes:
one end of a material blocking limiting block 12 is hinged on a material blocking swing cylinder 13,
the material blocking swing cylinder 13 moves up and down and is used for enabling the material blocking limiting block 12 to rotate and further limiting or avoiding the step 6 to push along the x direction. That is, after the steps are moved in place, the movement of the steps 6 in the x direction can be prevented by rotating the stopper 12. It should be noted that the material blocking limiting block 12 is located between the file set and the milling cutter set.
Further, the blevile of push includes:
the L-shaped push plate 27 is provided with one of a groove or a bulge on the short side of the L-shaped push plate 27, and the groove or the bulge is matched with a U-shaped groove on the step tread;
the L-shaped plate swinging cylinder 28 is rotationally connected with the long side of the L-shaped push plate 27 and is used for rotating the L-shaped push plate 27 so that the short side of the L-shaped push plate 27 is clamped with the step tread;
the pushing cylinder 14 and the pushing plate cylinder 15 are fixedly connected with the L-plate swinging cylinder 28 and are used for pushing the L-plate swinging cylinder 28 and the L-plate pushing plate 27 to move along the x direction, so that the step 6 can move step by step from the feeding frame 10 to the file device and the milling cutter device, and the x-direction limiting is realized by the material blocking limiting block 12.
As a preferred embodiment of the present invention, based on the foregoing, except that the second horizontal transfer frame is provided with a pulling device, the pulling device includes:
a pull plate 17, the pull plate 17 is similar to a top plate, one of a groove or a bulge is arranged on the pull plate, and the groove or the bulge is matched with a U-shaped groove on the tread of the step;
a pulling plate cylinder (not shown) for lifting the pulling plate so that the pulling plate is clamped with the tread of the step;
and the pulling cylinder 16 is used for pulling the pulling plate and further pulling the steps.
An automatic edge milling and deburring method for step processing comprises the following steps:
s1: the length direction of the gradient is divided into A, B, C, D parts uniformly;
s2: the pushing device pushes the step A part to the milling cutter device, performs step positioning through the Z-direction positioning device, the Y-direction positioning device, the X-direction positioning device and the limiting device, and performs edge milling on the step tread edge of the step A part; specifically, the material blocking swing cylinder 13 is lifted, and the material blocking limiting block 12 rotates 90 degrees anticlockwise, so that the material blocking limiting block 12 is parallel to the roller way conveying line plane. The pushing cylinder 14 pushes the steps to move towards the X positive direction, the steps 6 are blocked by the material blocking limiting block 12 after moving for a certain stroke, and the steps 6 stop moving in the X direction. The L-shaped plate swinging cylinder 28 drives the L-shaped push plate 27 to rotate, so that the short side of the L-shaped push plate 27 is perpendicular to the plane of the conveying line of the first horizontal conveying frame 7 and is tightly combined with the U-shaped groove of the step. Simultaneously, the first jacking device jacks up to ensure that a groove or a bulge 24 on the top plate of the X-direction positioning device is clamped with the step; in the Y direction, a Y-direction positioning device (a side pressure cylinder can be specifically adopted) pushes the step, so that the step leans against one side of the roller way conveying line in the Y-axis positive direction (vertical frame); in the Z direction, the pressing cylinder (1-4) presses down so that the steps are in close contact with the first horizontal transfer frame 7. Thus, product positioning and clamping are completed.
After the positioning and clamping of the steps 6 is completed, the milling cutter device starts to operate. The milling cutter driving device 22 drives the milling cutter knife set 21 to rotate, the edge 26 of the tread of the step is partially milled, meanwhile, the milling cutter knife set 21 is driven by the milling cutter lifting device 23 to move towards the positive direction of the Z axis, and the milling cutter device mills scraps on the U-shaped tooth flash on the edge of the tread of the product.
S3: the Z-direction positioning device, the Y-direction positioning device, the X-direction positioning device and the limiting device are used for releasing step positioning, the pushing device pushes the part A of the step to the file device, the part B of the step is pushed to the milling cutter device, step positioning is carried out by the Z-direction positioning device, the Y-direction positioning device, the X-direction positioning device and the limiting device, the part A of the tread of the step is ground and deburred, and the edge of the part B of the tread of the step is milled; specifically, after finishing chip milling, the lower pressing cylinder and the Y-direction positioning device (cylinder) return; . At the same time the X-direction positioning means is moved downwards so that the grooves or protrusions 24 on the top plate are disengaged from the steps. The L-shaped plate swinging cylinder 28 drives the L-shaped push plate 27 to rotate and rise so as to be clamped in the U-shaped clamping groove of the step 6, the pushing device 15 drives the L-shaped plate swinging cylinder 28 and the L-shaped push plate 27 to drive the step to move towards the positive direction of the X axis, and the stroke is the length of the part A of the step. Then, the x-direction positioning device is lifted upwards, so that the grooves or the protrusions on the top plate are clamped with the steps; in the Y direction, a Y-direction positioning device (a side pressure cylinder can be specifically adopted) pushes the step, so that the step leans against one side of the roller way conveying line in the Y-axis positive direction (vertical frame); in the Z direction, the pressing cylinder (1-4) presses down so that the steps are in close contact with the first horizontal transfer frame 7. Thus, product positioning and clamping are completed.
After the product is positioned and clamped, the milling cutter device starts to act, the milling cutter driving device 22 drives the milling cutter group 21 to rotate, the edge 26 of the tread of the step is partially milled, meanwhile, the milling cutter group 21 is driven by the milling cutter lifting device 23 to move towards the positive direction of the Z axis, and the milling cutter device performs chip milling on the U-shaped tooth flash on the edge of the tread of the part of the step B. The file device works simultaneously, the file attack device 19 drives the attack, the file lifting device 18 drives the file lifting device to move up and down in the Z-axis direction, the file traversing device 20 drives the file traversing device to move transversely and reciprocally in the Y-axis direction, and the file traversing device circulates for at least 5 times, so that the burr cleaning of the part A of the product is completed.
S4: the Z-direction positioning device, the Y-direction positioning device, the X-direction positioning device and the limiting device are used for releasing step positioning, the pushing device pushes the step B part to the file device, the C part is pushed to the milling cutter device, step positioning is carried out by the Z-direction positioning device, the Y-direction positioning device, the X-direction positioning device and the limiting device, the tread of the step B part is ground and deburred, and edge milling is carried out on the tread edge of the step C part;
s5: the Z-direction positioning device, the Y-direction positioning device, the X-direction positioning device and the limiting device are used for releasing step positioning, the pushing device pushes the step C part to the file device, the D part is pushed to the milling cutter device, step positioning is carried out by the Z-direction positioning device, the Y-direction positioning device, the X-direction positioning device and the limiting device, the tread of the step C part is ground and deburred, and edge milling is carried out on the tread edge of the step D part;
s6: the Z-direction positioning device, the Y-direction positioning device, the X-direction positioning device and the limiting device are used for releasing step positioning, the pushing device pushes the step D part to the file device, after pushing the A part of the second step to the milling cutter device, the Z-direction positioning device, the Y-direction positioning device, the X-direction positioning device and the limiting device are used for step positioning, grinding and deburring the tread of the step D part, and milling the edge of the tread of the step A part of the second step;
s7: the Z-direction positioning device, the Y-direction positioning device, the X-direction positioning device and the limiting device are used for releasing step positioning, the pushing device pushes the part A of the second step to the file device, the part B of the second step is pushed to the milling cutter device, step positioning is carried out by the Z-direction positioning device, the Y-direction positioning device, the X-direction positioning device and the limiting device, burrs are removed by grinding the part A of the tread of the second step, the edge of the part B of the tread of the second step is milled, and the step with well polished and milled edges is pulled to the tail end of the second horizontal conveying frame by the pulling device for robot grasping;
s8: repeating steps S4-S7.
Further, the step positioning device comprises a long-direction positioning device, a lateral positioning device and a rotary clamping device;
the long-direction positioning device comprises at least one U-shaped groove 39, and teeth on the tread of the step are clamped in the U-shaped groove;
the lateral positioning device comprises at least two L-shaped positioning plates 40 which are fixed on the edge of the tread of the step;
the swivel clamp arrangement comprises at least four swivel members 41 which swivel into the step lug face to secure the steps 6.
Further, the lifting device comprises a U-shaped lifting bottom plate 42 and a lifting cylinder, wherein the U-shaped lifting bottom plate is arranged under the tread of the step, and the lifting cylinder acts on the lifting bottom plate and is used for separating the step from the long-direction positioning device and the lateral positioning device;
the pushing device comprises a pushing plate 43 and a pushing cylinder 44, the pushing plate 43 is arranged on the side face of the step 6, and the pushing cylinder 44 acts on the pushing plate 43 and is used for hooking the step 6 off the double-sided boring to the discharging conveying frame 45.
Further, a slide 50 is provided on which the boring machine is placed for sliding to the lug face to bore the hole 29 after the step is fixed to the step positioning means.
Further, the boring machine comprises a spindle motor 46, a multi-shaft box 47, a countersink 49 and a boring cutter 48; the spindle motor 46 drives a countersink 49 and a boring cutter 48 to feed through a multi-shaft box 47; the boring cutter is used for boring holes on the step lug surface, and the countersink cutter is used for countersinking counter holes on the step lug 30.
Further, the boring machine is provided with a pumping port 51 for providing the multi-axis box with gear self-lubricating oil and spraying oil mist to the boring cutter 48 as lubrication, while ensuring the finish of the machining plane and the service life of the cutting tool.
Preferably, the mechanical arm 36 adopts a kuka robot with the model KR125L90, and the edge milling and deburring device, the abrasive belt machine, the flat file and the double-sided boring machine are arranged around the mechanical arm; by adopting the preferable technical scheme, a mechanical arm 36 can be fixed in the middle of a partition room, a milling edge deburring device, an abrasive belt machine, a flat file and a double-sided boring machine are circumferentially distributed around the mechanical arm, a step gripper is arranged at the tail end of the mechanical arm, a blank step is manually placed in a workpiece vacancy of a feeding port of a feeding conveying frame 30 and conveyed into the milling edge deburring device 31, and after 5 times of milling teeth and a comb tooth bottom die line are combined, a kuka robot sucks and grabs a workpiece to polish burrs and flashes on the fixed abrasive belt machine; turning to a flat file to grind burrs at corners of the tooth bottoms, finally placing a workpiece into a double-sided boring machine to be bored and spot-facing, and pushing the workpiece out by using a pushing cylinder 44; and (5) manually taking the workpiece, and putting the workpiece into a turnover frame after the workpiece is repaired and frustrated. The whole automatic production process not only comprises deburring of the step 6, but also comprises machining of the mounting hole 29 and the lug surface, the whole production takt is 60 seconds/piece, the production efficiency is improved by 1.8 times, and the manual labor amount is greatly reduced; the invention has reliable quality and stable operation, and continuously brings stable economic benefit for step manufacturers.
The mechanical arm, the edge milling and deburring device, the abrasive belt machine, the flat file and the double-sided boring machine are arranged in the partition room, an electric control cabinet is arranged outside the partition room 37, and the mechanical arm, the edge milling and deburring device, the abrasive belt machine, the flat file and the double-sided boring machine are electrically connected to the electric control cabinet and used for controlling the step intelligent conveying device. Preferably, a viewing window 38 is provided in the partition room.
It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.
Claims (7)
1. Intelligent step conveying device, its characterized in that includes: feeding conveying frames, edge milling and deburring devices, abrasive belt machines, flat files, double-sided boring machines, discharging conveying frames and mechanical arms;
the edge milling and deburring device comprises a horizontal conveying frame, a vertical frame, a pushing device and a positioning and compacting device: the feeding conveying frame conveys the steps to the horizontal conveying frame, the horizontal conveying frame comprises a first horizontal conveying frame and a second horizontal conveying frame which are arranged at intervals, the pushing device is arranged below the first horizontal conveying frame, and file devices and milling cutter devices which are arranged along the long direction of the steps are arranged at intervals between the horizontal conveying frame and the second horizontal conveying frame;
the bilateral boring machine comprises a step positioning device, boring machines at two sides of the positioning device, a lifting device under the positioning device and a pushing device; the step positioning device is used for positioning the steps, boring holes on the step lug surfaces by the boring machine, lifting the steps from the positioning device by the lifting device, and pushing the steps to the discharging conveying frame by the pushing device;
the mechanical arm is used for grabbing steps on the second horizontal conveying frame and sequentially conveying the steps to step positioning devices in the abrasive belt machine, the flat file and the double-sided boring machine;
the step positioning device comprises a long-direction positioning device, a lateral positioning device and a rotary clamping device;
the long-direction positioning device comprises at least one U-shaped groove, and teeth on the tread of the step are clamped in the U-shaped groove;
the lateral positioning device comprises at least two L-shaped positioning plates, and is fixed at the edge of the tread of the step;
the rotary clamping device comprises at least four rotating pieces which rotate into the surface of the step lug to fix the step;
the boring machine is arranged on the sliding table and used for boring holes after the steps are fixed to the step positioning device;
the boring machine comprises a spindle motor, a multi-spindle box, a countersink and a boring cutter; the spindle motor drives the countersink and the boring cutter to feed through the multi-shaft box; the boring cutter is used for boring holes on the step lug surface, and the countersink cutter is used for countersinking counter bores on the step lug.
2. The intelligent step conveyor of claim 1, wherein the positioning and compacting device comprises: the Z-direction positioning device and the side-pressure Y-direction positioning device are arranged at the interval between the first horizontal conveying rack and the second horizontal conveying rack and hung on the upper part and the side part of the vertical rack; the jacking X-direction positioning device is arranged below the interval between the first horizontal conveying rack and the second horizontal conveying rack; and the limiting device is arranged at the interval between the first horizontal conveying rack and the second horizontal conveying rack.
3. The intelligent stair conveying device according to claim 2, wherein,
the X-direction positioning device comprises:
the top plate is provided with one of a groove or a bulge, and the groove or the bulge is matched with a U-shaped groove on the tread of the step;
the first jacking device is used for moving the fixed pressing plate up and down, so that a groove or a bulge arranged on the top plate is clamped under the tread of the step;
the limiting device comprises:
one end of the material blocking limiting block is hinged on a material blocking swinging cylinder,
the material blocking swing cylinder moves up and down and is used for enabling the material blocking limiting block to rotate and further limiting or avoiding the step to push along the x direction;
the pushing device comprises:
the L-shaped push plate is provided with one of a groove or a bulge on the short side, and the groove or the bulge is matched with a U-shaped groove on the tread of the step;
the L-shaped plate swinging cylinder is rotationally connected with the long side of the L-shaped push plate and is used for rotating the L-shaped push plate so that the short side of the L-shaped push plate is clamped with the step tread;
the pushing cylinder is fixedly connected with the L plate swinging cylinder and used for pushing the L plate swinging cylinder and the L plate to move along the x direction, step-by-step movement of the steps from the feeding frame to the file device and the milling cutter device is realized, and the x direction limiting is realized by the material blocking limiting block.
4. The intelligent stair conveying device according to claim 3, wherein a stair tread is downwards placed on the horizontal conveying frame, the file device is arranged below the stair tread, and the milling cutter device is arranged at the edge position of the stair tread;
the file device includes:
the file set consists of a plurality of file teeth;
the file tapping device is used for driving the file group to move back and forth along the Y direction, polishing the inside of the U-shaped groove on the step tread and removing burrs;
the file traversing device is used for driving the file group to move left and right along the x direction, polishing the U-shaped groove of the tread of the step and removing burrs along the U-shaped groove;
the file lifting device is used for driving the file group to move back and forth along the z direction, and polishing the inner wall of the U-shaped groove of the step tread along the inner wall of the U-shaped groove to remove burrs;
the milling cutter device includes:
the milling cutter knife set is formed by arranging a plurality of milling cutters at intervals, the thickness of the milling cutters is equal to the width of the U-shaped grooves on the step tread, and the intervals of the milling cutters are equal to the intervals of the U-shaped grooves on the step tread;
the milling cutter driving device is used for driving the milling cutter group to rotate and milling edges of the tread edges of the steps;
and the milling cutter lifting device is used for driving the milling cutter to mill edges along the Z-axis direction.
5. The intelligent stair conveying device according to claim 4, wherein,
the lifting device comprises a U-shaped lifting bottom plate and a lifting cylinder, the U-shaped lifting bottom plate is arranged under the tread of the stair, and the lifting cylinder acts on the lifting bottom plate and is used for separating the stair from the long-direction positioning device and the lateral positioning device;
the pushing device comprises a pushing plate and a pushing cylinder, the pushing plate is arranged on the side face of the step, and the pushing cylinder acts on the pushing plate and is used for hooking the step away from the double-sided boring to the discharging conveying frame.
6. The intelligent stair conveying device according to claim 5, wherein the boring machine is provided with a pumping oil port for providing gear self-lubricating oil to the multi-shaft box and spraying oil mist to the boring cutter as lubrication.
7. The intelligent stair conveying device according to claim 1, wherein,
the mechanical arm adopts a kuka robot with the model KR125L90, and the edge milling and deburring device, the abrasive belt machine, the flat file and the double-sided boring machine are distributed around the mechanical arm;
the mechanical arm, the edge milling and deburring device, the abrasive belt machine, the flat file and the double-sided boring machine are arranged in the partition room, an electric control cabinet is arranged outside the partition room, and the mechanical arm, the edge milling and deburring device, the abrasive belt machine, the flat file and the double-sided boring machine are electrically connected to the electric control cabinet and used for controlling the step intelligent conveying device.
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| CN201810977449.1A CN109014951B (en) | 2018-08-24 | 2018-08-24 | Intelligent stair conveying device |
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| CN201810977449.1A CN109014951B (en) | 2018-08-24 | 2018-08-24 | Intelligent stair conveying device |
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| CN109014951B true CN109014951B (en) | 2024-03-19 |
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| CN110625444A (en) * | 2019-07-06 | 2019-12-31 | 广东鸿泰南通精机科技有限公司 | A deburring production line and working method of die-casting complex heterogeneous parts |
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