CN109367082A - A kind of flange automated production and detection device based on robot - Google Patents
A kind of flange automated production and detection device based on robot Download PDFInfo
- Publication number
- CN109367082A CN109367082A CN201811379727.XA CN201811379727A CN109367082A CN 109367082 A CN109367082 A CN 109367082A CN 201811379727 A CN201811379727 A CN 201811379727A CN 109367082 A CN109367082 A CN 109367082A
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- China
- Prior art keywords
- flange
- robot body
- tooling
- detection
- pin needle
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
- B29D23/00—Producing tubular articles
- B29D23/001—Pipes; Pipe joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
Abstract
A variety of procedure of processings are needed in order to solve flange production in the prior art, therefore it needs to spend a large amount of human resources, the present invention provides a kind of flange automated production based on robot and detection device, including robot body, injection molding machine, discharge assembly line, detection system, safety barrier, rotary tooling, welding tooling, control processor, recycling bins, terminal bending machine, mold is equipped with inside the injection molding machine, the robot body is connected with end effector, the detection system includes air tightness detection tool, resistance test tooling, weighing detecting tool, the discharging assembly line is set to one side position of welding tooling, the safety barrier is additionally provided with safety door, the discharging assembly line passes through safety door and is set to inside safety barrier.The present invention manually carries out production detection to flange by replacing using robot, can not only improve production efficiency in this way, but also can be reduced the quantity of bad products, to realize production detection automatic integratedization.
Description
Technical field
The present invention relates to automatic fields more particularly to a kind of flange automated production and detection based on robot to set
It is standby.
Background technique
Flange is called flange flange disk or flange, and flange is part interconnected between axis and axis, for pipe end it
Between connection, flanged joint is exactly that two pipelines, pipe fitting or equipment are first individually fixed on a ring flange, two flanges
Between disk, and flange gasket with bolt fastening together, to realize link, nowadays, the method for producing flange have casting,
It forges, cast processing is one-pass molding a little, but the defects of be easy to appear stomata, trachoma, and utilization efficiency is more
Lowly, the advantages of manufacturing cost is also quite high, forges processing is that rapidoprint tissue is more uniform, while can eliminate material
The defects of, but unfortunately surplus is larger, and the utilization efficiency of material is more low, higher cost.
Summary of the invention
Goal of the invention: in order to overcome the defects of background technique, so providing a kind of flange automation based on robot
Production and detection device.
Technical solution: a kind of flange automated production and detection device based on robot, including robot body, injection molding
Machine, discharging assembly line, detection system, safety barrier, rotary tooling, welding tooling, control processor, recycling bins, terminal bending
Machine, the robot body, injection molding machine, detection system, rotary tooling, welding tooling, terminal bending machine and the control are handled
Device connection, the injection molding machine inside are equipped with mold, and the safety barrier side is connected and fixed with the injection molding machine side, the machine
Device human agent is set to the center of the safety barrier, described for executing the corresponding operational order sent of control processor
Robot body is connected with end effector, and the end effector includes the first pneumatic clamper, the second pneumatic clamper, third pneumatic clamper, controls
Has plate, first pneumatic clamper, the second pneumatic clamper are respectively arranged on jig plate upper surface two sides, and the third pneumatic clamper is set to described control
Have plate bottom surface side, first pneumatic clamper for finished product discharging take out operation, second pneumatic clamper for PIN needle be embedded to
And PIN needle takes out operation, the third pneumatic clamper takes out operation for flange, and one side position of injection molding machine is set by connecting rod connection
There is detection camera, for carrying out detection of taking pictures to the PIN needle for being embedded to mold；The detection camera and the control processor connect
It connects, the detection system includes air tightness detection tool, resistance test tooling, weighing detecting tool, and the air tightness detection tool is adjacent
It is connected to the injection molding machine, compression cylinder on first is equipped at the top of institute's air tightness detection tool, bottom is equipped with airtight detector, described the
Compression cylinder is used to press to flange progress air-leakage test, the resistance test tooling at airtight detector and is adjacent on one
The air tightness detection tool, resistance test tooling top is equipped with compression cylinder on second, bottom is equipped with conduction detection mechanism,
Compression cylinder is used to pressing to flange into progress resistance to pressure detection at conduction mechanism on described second；The weighing detecting tool is set
In the front side of the resistance test tooling, the weighing testing agency center is equipped with weighing balance, for the weight to flange
Amount is detected, and the rotary tooling is set to the front side of the weighing detecting tool, and one side position of rotary tooling is equipped with fixed
Position cylinder, the other side are provided with rotary cylinder, and the rotary cylinder is used to carry out flange rotation adjusting, and the positioning cylinder is used
It is positioned in flange, the recycling bins are set to one side position of rotary tooling, for recycling bad products, institute
The front position that terminal bending machine is set to the recycling bins is stated, terminal bending machine center is equipped with cutting mechanism, uses
In PIN needle is carried out cutting and bending, the welding tooling is adjacent to the terminal bending machine, and the welding tooling side is equipped with weldering
Pipette tips, the other side are connect equipped with mobile cylinder, the mobile cylinder driving welding gun head carries out weld job, the discharging to flange
Assembly line is set to one side position of welding tooling, and the safety barrier is additionally provided with safety door, and the discharging assembly line passes through peace
Air cock is set to inside safety barrier.
As a kind of preferred embodiment of the invention: the terminal bending machine further includes defeated PIN needle die holder, feeding machanism, PIN
Needle material strip, the defeated PIN needle die holder is for placing PIN needle, and the feeding machanism is for driving PIN needle material strip blanking.
As a kind of preferred embodiment of the invention: the end effector is additionally provided with conversion regulating system, and the conversion is adjusted
Section system is connect with first pneumatic clamper, the second pneumatic clamper, third pneumatic clamper, and the conversion regulating system is used for according to control processor
It issues control instruction and conversion is adjusted.
As a kind of preferred embodiment of the invention: the resistance test tooling, air tightness detection tool, welding tooling centre bit
It sets and is respectively equipped with the first die holder, the second die holder, third die holder, first die holder, the second die holder, third die holder are used for placement methods
It is blue.
As a kind of preferred embodiment of the invention: being equipped with first sensor, second die holder inside first die holder
Inside is equipped with second sensor, is equipped with 3rd sensor inside the third die holder, the first sensor, second sensor,
3rd sensor is connect with the control processor, and the first sensor, second sensor, 3rd sensor are for detecting mould
Whether the flange in seat is in place.
As a kind of preferred embodiment of the invention: the control processor uses PLC controller.
As a kind of preferred embodiment of the invention: the robot body bottom is additionally provided with fixed pedestal.
As a kind of preferred embodiment of the invention: the work step of the equipment includes the following:
A) robot body drives end effector to move to crawl PIN needle position and is waited for；
B) terminal bending machine is by the automatic cutting and bending of material strip；In PIN needle automatic running to defeated PIN needle die holder；Defeated PIN needle mould
Seat is had good positioning and is rotated by 90 ° after product, and sends fetching instruction to control processor；
C) it when robot body receives the fetching instruction of control processor transmission, grabs PIN needle and waits injection molding
Mold is opened in machine；
D) when mold die sinking is completed, control processor controls robot body and the PIN needle of crawl is embedded to jig mould inward turning
Turn 180 °, robot body takes out flange；
E) control processor driving robot body exits mold, and detection camera, which is taken pictures, detects PIN needle embedment position；
F) robot body, which grabs, carries out resistance to pressure detection at flange to resistance test tooling；
G) robot body, which grabs, carries out weight detecting at flange to weight detecting tooling；
The flange resistance to pressure that h) if robot body is grabbed, weight detecting are all qualified, robot body grabs flange
To rotary tooling, if flange resistance to pressure, weight detecting that robot body is grabbed have unqualified, robot body's crawl
Flange is to recycling bins；
I) it when robot body receives the fetching instruction of control processor, grabs and is carried out at flange to air tightness detection tool
Airtight detection；
If robot body grabs at flange to welding tooling i) when the flange air-tightness qualification of robot body's crawl,
If the flange air-tightness of robot body's crawl is unqualified, robot body grabs flange to recycling bins；
K) after the completion of welding, robot body grabs qualified flange to the assembly line that discharges, unqualified flange to recycling bins.This
Invention realize it is following the utility model has the advantages that
There are three pneumatic clampers for setting on the end effector of robot body's connection, can grab difference as needed in this way
Part processed, and by be arranged detection system can be measured in real time during processing, thus be avoided that
Unnecessary processing is carried out to bad products during processing, reduces unnecessary trouble, to improve production efficiency.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.
Fig. 1 is integral planar structural schematic diagram of the invention.
Fig. 2 is control structure schematic diagram provided by the invention.
Fig. 3 is steps flow chart schematic diagram provided by the invention.
1. control processors, 2. robot bodies, 3. injection molding machines, 4. detection systems, 5. rotary toolings, 6. Welders in figure
Dress, 7. terminal bending machines, 8. end effectors, 9. first sensors, 10. second sensors, 11. 3rd sensors, 12. conversions
Regulating system, 13. air tightness detection tools, 14. resistance test toolings, 15. weight detecting toolings, 16. recycling bins, 17. reactor effluent streams
Waterline, 18. safety barriers.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment one
With reference to Fig. 1-3, a kind of flange automated production and detection device based on robot, including robot body 2, note
Molding machine 3, discharging assembly line 17, detection system 4, safety barrier 18, rotary tooling 5, welding tooling 6, control processor 1, recycling
Case 16, terminal bending machine 7, the robot body 2, injection molding machine 3, detection system 4, rotary tooling 5, welding tooling 6, terminal folding
Bender 7 is connect with the control processor 1, and mold, 18 side of safety barrier and the note are equipped with inside the injection molding machine 3
3 side of molding machine is connected and fixed, and the robot body 2 is set to the center of the safety barrier 18, for executing at control
The corresponding operational order sent of device 1 is managed, the robot body 2 is connected with end effector 8, and the end effector 8 wraps
The first pneumatic clamper, the second pneumatic clamper, third pneumatic clamper, jig plate are included, first pneumatic clamper, the second pneumatic clamper are respectively arranged on the jig plate
Surface two sides, the third pneumatic clamper are set to jig plate bottom surface side, and first pneumatic clamper is taken out for finished product discharging
Operation, second pneumatic clamper is embedded to for PIN needle and PIN needle takes out operation, and the third pneumatic clamper takes out operation for flange,
3 one side position of injection molding machine is connected with detection camera by connecting rod, for carrying out inspection of taking pictures to the PIN needle for being embedded to mold
It surveys；The detection camera is connect with the control processor 1, and the detection system 4 includes air tightness detection tool 13, resistance test
Tooling 14, weighing detecting tool, the air tightness detection tool 13 are adjacent to the injection molding machine 3,13 top of institute's air tightness detection tool
It is equipped with airtight detector equipped with compression cylinder, bottom on first, compression cylinder is airtight for pressing to flange on described first
Air-leakage test is carried out at detector, the resistance test tooling 14 is adjacent to the air tightness detection tool 13, the pressure resistance inspection
Survey that 14 top of tooling is equipped with compression cylinder on second, bottom is equipped with conduction detection mechanism, be used for will for compression cylinder on described second
Flange presses to progress resistance to pressure detection at conduction mechanism；Before the weighing detecting tool is set to the resistance test tooling 14
Side, the weighing testing agency center are equipped with weighing balance, detect for the weight to flange, the rotary tooling
5 are set to the front side of the weighing detecting tool, and 5 one side position of rotary tooling is equipped with positioning cylinder, the other side is provided with rotation
Rotaring cylinder, the rotary cylinder are used to carry out flange rotation adjusting, and the positioning cylinder is described for positioning to flange
Recycling bins 16 are set to 5 one side position of rotary tooling, and for recycling bad products, the terminal bending machine 7 is set to
The front position of the recycling bins 16,7 center of terminal bending machine is equipped with cutting mechanism, for carrying out PIN needle
Cutting and bending, the welding tooling 6 are adjacent to the terminal bending machine 7, and 6 side of welding tooling is equipped with welding gun head, another
Side is equipped with mobile cylinder, and the mobile cylinder driving welding gun head carries out weld job, the discharging assembly line 17 to flange
Set on 6 one side position of welding tooling, the safety barrier 18 is additionally provided with safety door, and the discharging assembly line 17 passes through safety
Door is set to inside safety barrier 18.
As a kind of preferred embodiment of the invention: the terminal bending machine 7 further include defeated PIN needle die holder, feeding machanism,
PIN needle material strip, the defeated PIN needle die holder is for placing PIN needle, and the feeding machanism is for driving PIN needle material strip blanking.
As a kind of preferred embodiment of the invention: the end effector 8 is additionally provided with conversion regulating system 12, the conversion
Regulating system 12 is connect with first pneumatic clamper, the second pneumatic clamper, third pneumatic clamper, and the conversion regulating system 12 is used for according to control
Processor 1 issues control instruction and conversion is adjusted.
Specifically, robot body 2 of the present invention executes accordingly according to the control instruction that control processor 1 issues
Operation, robot body 2 grab corresponding spare and accessory parts under the driving of control processor 1, and robot body 2 is connected with an end
Actuator 8, and it is connected with conversion regulating system 12 in end effector 8, the conversion regulating system 12 is by control processor 1
It is controlled, for conversion to be adjusted to the first pneumatic clamper, the second pneumatic clamper, third pneumatic clamper, promotes the crawl of end effector 8 and control
Processor 1 sends the spare and accessory parts being consistent, and end effector 8 includes a jig plate, and the upper surface two sides of jig plate are equipped with
First pneumatic clamper, the second pneumatic clamper, the first pneumatic clamper grab different spare and accessory parts, the first pneumatic clamper according to control processor 1 from the second pneumatic clamper
Discharging operation is carried out for grabbing finished product, and the second pneumatic clamper is for grabbing PIN needle and being embedded to mould inside or from terminal
Operation is taken out at bending machine 7, the bottom side of jig plate is then provided with third pneumatic clamper, is detected either for grabbing flange
Weld job, in order to detect whether the second pneumatic clamper is successfully embedded to PIN needle in mold, so in the side of injection molding machine 3
Position is provided with detection camera, the embedment position of PIN needle is detected by taking pictures, some spare and accessory parts are in process in order to prevent
Middle generation mistake and processing detection is repeated to it, so setting detection system 4, detection system 4 include air tightness detection tool 13,
Resistance test tooling 14 and weight detecting tooling 15, air tightness detection tool 13 are used to detect the air-tightness of flange, if flange
When air-tightness is unqualified, robot body 2 will drive third pneumatic clamper to be grabbed to recycling bins 16, indicate that this flange is not
Good product, at the same when resistance test tooling 14 detect flange resistance to pressure it is unqualified when, robot body 2 drive third pneumatic clamper
It is grabbed to recycling bins 16, when same weight detecting tooling 15 detects that the weight of flange is unqualified, robot master at this time
Body 2 drives third pneumatic clamper to grab the flange to recycling bins 16, if each detecting tool in said detecting system 4 detects
When flange is eligible state, robot body 2 drives third pneumatic clamper crawl flange to carry out weld job, terminal bending machine 7 at this time
In order to carry out cutting bending to PIN needle, so one end of terminal bar folder is provided with PIN needle material strip, for storing PIN needle,
And the other end of terminal bar folder is provided with feeding machanism, which is control mechanism, for PIN needle material strip institute
The PIN needle of placement carries out feed operation.
Embodiment two
With reference to Fig. 1-3,
In the embodiment of the present invention two, implementation content and first implementation content are essentially identical, the difference is that:
As a kind of preferred embodiment of the invention: the resistance test tooling 14, air tightness detection tool 13,6 center of welding tooling
It is respectively equipped with the first die holder, the second die holder, third die holder, first die holder, the second die holder, third die holder are used for placement methods
It is blue.
As a kind of preferred embodiment of the invention: being equipped with first sensor 9, second die holder inside first die holder
Inside is equipped with second sensor 10, third die holder inside is equipped with 3rd sensor 11, and the first sensor 9, second passes
Sensor 10,3rd sensor 11 are connect with the control processor 1, and the first sensor 9, second sensor 10, third pass
Whether the flange that sensor 11 is used to detect in die holder is in place.Specifically, considering resistance test tooling 14, airtight detection work
It fills in 13, welding tooling 6 and all needs to fix flange, so being provided with the first mould in resistance test tooling 14
Seat, the second die holder is provided in air tightness detection tool 13, third die holder is provided in welding tooling 6, pass through in this way more than
Set the first die holder, the second die holder, third die holder can accurately place flange, thus to the resistance to pressure of flange, airtight
Performance is enough accurately to be detected, and carries out accurately weld job to flange, so that the probability of production bad products is reduced, and
And first sensor 9 is set in the first die holder, second sensor 10 is set in the second die holder, the is arranged in third die holder
Three sensors 11, are respectively used to whether detection flange is placed into the first die holder, the second die holder, the predeterminated position in third die holder.
Embodiment three
With reference to Fig. 1-3, in the embodiment of the present invention three, implementation content and the embodiment one and two content base of embodiment
This is identical, the difference is that:
As a kind of preferred embodiment of the invention: the control processor 1 uses PLC controller.
As a kind of preferred embodiment of the invention: 2 bottom of robot body is additionally provided with fixed pedestal.
As a kind of preferred embodiment of the invention: the work step of the equipment includes the following:
A) robot body 2 drives end effector 8 to move to crawl PIN needle position and is waited for；
B) terminal bending machine 7 is by the automatic cutting and bending of material strip；In PIN needle automatic running to defeated PIN needle die holder；Defeated PIN needle
Die holder is had good positioning and is rotated by 90 ° after product, and sends fetching instruction to control processor 1；
C) it when robot body 2 receives the fetching instruction of the transmission of control processor 1, grabs PIN needle and waits note
Mold is opened in molding machine 3；
D) when mold die sinking is completed, control processor 1 controls robot body 2 will be in the PIN needle embedment jig mould of crawl
180 ° of rotation, robot body 2 take out flange；
E) control processor 1 drives robot body 2 to exit mold, and detection camera, which is taken pictures, detects PIN needle embedment position；
F) robot body 2, which grabs, carries out resistance to pressure detection at flange to resistance test tooling 14；
G) robot body 2, which grabs, carries out weight detecting at flange to weight detecting tooling 15；
The flange resistance to pressure that h) if robot body 2 is grabbed, weight detecting are all qualified, robot body 2 grabs method
At orchid to rotary tooling 5, if flange resistance to pressure, weight detecting that robot body 2 is grabbed have unqualified, robot body
2 grab flanges to recycling bins 16；
I) it when robot body 2 receives the fetching instruction of control processor 1, grabs at flange to air tightness detection tool 13
Carry out airtight detection；
If when the flange air-tightness qualification that i) robot body 2 grabs, robot body 2 grabs flange to welding tooling 6
Place, if the flange air-tightness of the crawl of robot body 2 is unqualified, robot body 2 grabs flange to recycling bins 16；
K) after the completion of welding, robot body 2 grabs qualified flange to discharging assembly line 17, unqualified flange to recycling bins
16.Specifically, using PLC controller in control processor 1 of the present invention, can be realized to 2 detection system of robot body
System 4 and other equipment are accurately controlled, thus realize production automation, for the ease of the placement of robot body 2, so
2 bottom position of robot body is provided with fixed pedestal, robot body 2 carries out rotation process in the fixed pedestal, and
The workflow of the complete equipment as mentioned above arrived is more specific processing flow provided by the invention, so more can be square
Just those skilled in the art uses.The above embodiments merely illustrate the technical concept and features of the present invention, familiar the purpose is to allow
The those skilled in the art can understand the content of the present invention and implement it accordingly, and can not limit guarantor of the invention with this
Protect range.Equivalent changes or modifications made by all Spirit Essences according to the present invention, should all cover in protection scope of the present invention
Within.
Claims (8)
1. a kind of flange automated production and detection device based on robot, including robot body, injection molding machine, discharging flowing water
Line, detection system, safety barrier, rotary tooling, welding tooling, control processor, recycling bins, terminal bending machine, the machine
Human agent, injection molding machine, detection system, rotary tooling, welding tooling, terminal bending machine are connect with the control processor, special
Sign is: mold is equipped with inside the injection molding machine, the safety barrier side is connected and fixed with the injection molding machine side, the machine
Device human agent is set to the center of the safety barrier, described for executing the corresponding operational order sent of control processor
Robot body is connected with end effector, and the end effector includes the first pneumatic clamper, the second pneumatic clamper, third pneumatic clamper, controls
Has plate, first pneumatic clamper, the second pneumatic clamper are respectively arranged on jig plate upper surface two sides, and the third pneumatic clamper is set to described control
Have plate bottom surface side, first pneumatic clamper for finished product discharging take out operation, second pneumatic clamper for PIN needle be embedded to
And PIN needle takes out operation, the third pneumatic clamper takes out operation for flange, and one side position of injection molding machine is set by connecting rod connection
There is detection camera, for carrying out detection of taking pictures to the PIN needle for being embedded to mold；The detection camera and the control processor connect
It connects, the detection system includes air tightness detection tool, resistance test tooling, weighing detecting tool, and the air tightness detection tool is adjacent
It is connected to the injection molding machine, compression cylinder on first is equipped at the top of institute's air tightness detection tool, bottom is equipped with airtight detector, described the
Compression cylinder is used to press to flange progress air-leakage test, the resistance test tooling at airtight detector and is adjacent on one
The air tightness detection tool, resistance test tooling top is equipped with compression cylinder on second, bottom is equipped with conduction detection mechanism,
Compression cylinder is used to pressing to flange into progress resistance to pressure detection at conduction mechanism on described second；The weighing detecting tool is set
In the front side of the resistance test tooling, the weighing testing agency center is equipped with weighing balance, for the weight to flange
Amount is detected, and the rotary tooling is set to the front side of the weighing detecting tool, and one side position of rotary tooling is equipped with fixed
Position cylinder, the other side are provided with rotary cylinder, and the rotary cylinder is used to carry out flange rotation adjusting, and the positioning cylinder is used
It is positioned in flange, the recycling bins are set to one side position of rotary tooling, for recycling bad products, institute
The front position that terminal bending machine is set to the recycling bins is stated, terminal bending machine center is equipped with cutting mechanism, uses
In PIN needle is carried out cutting and bending, the welding tooling is adjacent to the terminal bending machine, and the welding tooling side is equipped with weldering
Pipette tips, the other side are connect equipped with mobile cylinder, the mobile cylinder driving welding gun head carries out weld job, the discharging to flange
Assembly line is set to one side position of welding tooling, and the safety barrier is additionally provided with safety door, and the discharging assembly line passes through peace
Air cock is set to inside safety barrier.
2. a kind of flange automated production and detection device based on robot according to claim 1, it is characterised in that:
The terminal bending machine further includes defeated PIN needle die holder, feeding machanism, PIN needle material strip, and the defeated PIN needle die holder is for placing PIN
Needle, the feeding machanism is for driving PIN needle material strip blanking.
3. a kind of flange automated production and detection device based on robot according to claim 1, it is characterised in that:
The end effector is additionally provided with conversion regulating system, the conversion regulating system and first pneumatic clamper, the second pneumatic clamper, third
Pneumatic clamper connection, the conversion regulating system, which is used to issue control instruction according to control processor, is adjusted conversion.
4. a kind of flange automated production and detection device based on robot according to claim 1, it is characterised in that:
The resistance test tooling, air tightness detection tool, welding tooling center are respectively equipped with the first die holder, the second die holder, third
Die holder, first die holder, the second die holder, third die holder are for placing flange.
5. a kind of flange automated production and detection device based on robot according to claim 4, it is characterised in that:
First sensor is equipped with inside first die holder, the second die holder inside is equipped in second sensor, the third die holder
Portion is equipped with 3rd sensor, and the first sensor, second sensor, 3rd sensor are connect with the control processor, institute
State whether the flange that first sensor, second sensor, 3rd sensor are used to detect in die holder is in place.
6. a kind of flange automated production and detection device based on robot according to claim 1, it is characterised in that:
The control processor uses PLC controller.
7. a kind of flange automated production and detection device based on robot according to claim 1, it is characterised in that:
The robot body bottom is additionally provided with fixed pedestal.
8. a kind of flange automated production and detection device, feature based on robot described in -7 exists according to claim 1
In: the work step of the equipment includes the following:
A) robot body drives end effector to move to crawl PIN needle position and is waited for；
B) terminal bending machine is by the automatic cutting and bending of material strip；In PIN needle automatic running to defeated PIN needle die holder；Defeated PIN needle die holder is fixed
It is rotated by 90 ° after the good product in position, and sends fetching instruction to control processor；
C) it when robot body receives the fetching instruction of control processor transmission, grabs PIN needle and waits in injection molding machine
Mold die sinking；
D) when mold die sinking is completed, control processor, which controls robot body, to be rotated in the PIN needle embedment jig mould of crawl
180 °, robot body takes out flange；
E) control processor driving robot body exits mold, and detection camera, which is taken pictures, detects PIN needle embedment position；
F) robot body, which grabs, carries out resistance to pressure detection at flange to resistance test tooling；
G) robot body, which grabs, carries out weight detecting at flange to weight detecting tooling；
The flange resistance to pressure that h) if robot body is grabbed, weight detecting are all qualified, robot body grabs flange to rotation
At rotating tooling, if flange resistance to pressure, weight detecting that robot body is grabbed have unqualified, robot body grabs flange
To recycling bins；
I) when robot body receives the fetching instruction of control processor, it is airtight to grab progress at flange to air tightness detection tool
Detection；
If robot body grabs at flange to welding tooling, if machine i) when the flange air-tightness qualification of robot body's crawl
When the flange air-tightness of device human agent crawl is unqualified, robot body grabs flange to recycling bins；
K) after the completion of welding, robot body grabs qualified flange to the assembly line that discharges, unqualified flange to recycling bins.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811379727.XA CN109367082A (en) | 2018-11-19 | 2018-11-19 | A kind of flange automated production and detection device based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811379727.XA CN109367082A (en) | 2018-11-19 | 2018-11-19 | A kind of flange automated production and detection device based on robot |
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| Publication Number | Publication Date |
|---|---|
| CN109367082A true CN109367082A (en) | 2019-02-22 |
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| CN201811379727.XA Pending CN109367082A (en) | 2018-11-19 | 2018-11-19 | A kind of flange automated production and detection device based on robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113155628A (en) * | 2021-04-15 | 2021-07-23 | 新疆金砂诚泰工业科技有限公司 | Dry-mixed plastering mortar performance testing equipment and testing method |
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Application publication date: 20190222 |