CN111152082A - Full-automatic rod defect grinding system based on industrial robot - Google Patents

Abstract

The invention discloses a full-automatic bar defect grinding system based on an industrial robot, which comprises a feeding device, a discharging device, a counter-rotating roller way, a robot body, a mounting flange, a force position actuator, a floating grinding head and a first servo motor, wherein the upper end of the force position actuator is connected with the movable end of the robot body through the mounting flange, the lower end of the force position actuator is connected with the first servo motor, the floating grinding head is fixed on an output shaft of the first servo motor, the counter-rotating roller way comprises a driving roller, a driven roller, a second servo motor and a transmission mechanism, the driving roller and the driven roller are longitudinally arranged at intervals and are transversely arranged in multiple groups, and the output end of the second servo motor is connected with each driving roller through the. The invention has the advantages that: the integration has realized that the automatic defect of rod location, automatic unloading, automatic coping go up, and intelligent degree is high, has promoted production efficiency.

Description

Full-automatic rod defect grinding system based on industrial robot

Technical Field

The invention relates to a rod defect grinding system, in particular to a full-automatic rod defect grinding system based on an industrial robot, and belongs to the technical field of metallurgical intelligent manufacturing.

Background

At present, in the finishing operation for special steel bars in domestic factories, on-line coping operation cannot be finished, and the special steel bars produced by factories are often subjected to flaw detection by a flaw detector and then transferred to a specific coping workshop for coping after the special steel bars with surface defects are subjected to flaw detection.

In the existing production practice, the following two common grinding methods are mainly used: 1. manually using a hand-held grinder. The grinding depth is not controllable, the surface quality is not high, the ground round bar can not meet the requirements of flaw detection and surface quality inspection, and can only be sold as a second-class product, the efficiency is low, the labor intensity is high, and the round bar has dust damage to human bodies; 2. the movable rack is matched with the fixed grinding head to carry out integral peeling. The mode is lack of a recognition means of local defects, cannot carry out local grinding, simultaneously is lack of a precise control means of grinding depth, has larger grinding amount and low grinding precision, and can only reduce the specification grade for sale of the ground round bar, thereby causing huge waste of production cost.

Disclosure of Invention

The purpose of the invention is as follows: in view of the above problems, the present invention aims to provide a full-automatic rod defect grinding system based on an industrial robot, which realizes automatic feeding and discharging, automatic defect identification and automatic grinding operation of rods, and improves grinding precision and efficiency.

The technical scheme is as follows: a full-automatic rod defect grinding system based on an industrial robot comprises a feeding device, a discharging device, a counter-rotating roller way, a robot body, a mounting flange, a force position actuator, a floating grinding head and a first servo motor, wherein the upper end of the force position actuator is connected with the movable end of the robot body through the mounting flange, the lower end of the force position actuator is connected with the first servo motor, the floating grinding head is fixed on an output shaft of the first servo motor, the counter-rotating roller way comprises a driving roller, a driven roller, a second servo motor and a transmission mechanism, the driving roller and the driven roller are longitudinally arranged at intervals and transversely arranged in multiple groups, and the output end of the second servo motor is connected with each driving roller through the transmission mechanism; the feeding device is used for feeding the bars to the counter-rotating roller way, the counter-rotating roller way is used for rotating the bars, the discharging device is used for pulling the bars away from the counter-rotating roller way, and the moving range of the robot body covers the counter-rotating roller way.

The principle of the invention is as follows: when the device is used, a bar is fed onto the counter-rotating roller table through the feeding device, the second servo motor is started, the driving roller is driven to rotate through the transmission mechanism, the bar and the driven roller are driven to rotate through the driving roller, after the defect of the bar is identified, the second servo motor is stopped, the defect position is rotated to the position, which can be polished, of the floating grinding head, then the first servo motor is started, due to the fact that the force position actuator is installed, during polishing, the floating grinding head can be polished under the constant force through the built-in pressure sensor, the surface of the bar is prevented from being polished into blue-purple, the floating grinding head can be polished along the set outline through the built-in displacement sensor, the polishing track is recorded, and the grinding precision is high. After the grinding is finished, the first servo motor stops, the robot body returns, the bar is pulled away from the counter-rotating roller way by the blanking device, and the full-automatic grinding process of the bar is finished.

Preferably, the transmission mechanism comprises a transmission shaft, a main transmission belt and an auxiliary transmission belt, the main transmission belt is wound between an output shaft of the second servo motor and the transmission shaft to form rotation, and the auxiliary transmission belt is wound on the transmission shaft and each driving roller to form rotation.

Further, still include the displacement device, the displacement device includes base, third servo motor, reduction gear, slide rail, tooth's socket, backup pad, the base is located contra-rotating roller way side, slide rail, tooth's socket are followed the length direction of base is fixed on the base, and be on a parallel with contra-rotating roller way, the backup pad upper end is fixed robot body, lower extreme pass through the slider and install on the slide rail, third servo motor, reduction gear are installed in the backup pad, just third servo motor's output shaft passes through the reduction gear with the tooth's socket meshing is connected. In this structure, realize the lateral sliding of robot body through glide machanism, enlarge robot body's home range.

Further, still include dust collector, dust collector includes industrial dust collector, support, dust removal pipeline, keeps off the dust hood, industrial dust collector fixes in the backup pad, keep off the dust hood with mounting flange links firmly, and its lower extreme opening lid is established float and grind on the head, dust removal pipeline one end is connected industrial dust collector, the other end insert keep off the dust hood, the middle part of dust removal pipeline is passed through the support with the robot body is fixed. In this structure, through the dust collector of trailing type, realize becoming the structure that the coping becomes the dust removal, purify the site environment to in the discernment to the rod defect and the influence of reduction particulate matter to the coping.

Further, the floating grinding head comprises a grinding tool, a bearing pressing sleeve, an angular contact bearing and a transition flange, the grinding tool and the angular contact bearing are sleeved on the output shaft of the first servo motor in a manner that the grinding tool and the angular contact bearing are adjacent to each other, the bearing pressing sleeve is sleeved on the angular contact bearing, the transition flange is sleeved on the bearing pressing sleeve, and the end part of the transition flange is fixed with the first servo motor, so that the grinding structure is more stable.

Further, the grinding apparatus includes that adjacent cover establishes fine grinding wheel, the corase grind emery wheel on the first servo motor output shaft, the corase grind emery wheel is close to angular contact bearing, the fine grinding emery wheel is fixed on the tip of first servo motor output shaft, just the diameter of fine grinding emery wheel is greater than the diameter of corase grind emery wheel to utilize same robot front end structure to carry out corase grind and correct grinding, improve coping efficiency, optimize the grinding apparatus structure simultaneously.

Further, still include the vision recognition device, the vision recognition device includes industry camera, structural light source, reflection of light guard shield, the whole flaring structure that is narrow under the narrow of reflection of light guard shield, upper end closure, lower extreme opening, internal surface have been laid the reflector panel, its upper end pass through the connecting plate with mounting flange is fixed, the industry camera is installed upper end position in the reflection of light guard shield, and the orientation the lower extreme opening of reflection of light guard shield, the structural light source is installed lower extreme opening part in the reflection of light guard shield, and the orientation reflection of light guard shield below. In the structure, an image of the bar is shot by an industrial camera and is analyzed by using the existing algorithm based on the image, so that the defect position on the bar is identified.

Preferably, loading attachment includes the rack body and fixes the material mechanism of dialling on the rack body of expecting, the rack body is located contra-rotating roll table side, and has the orientation the slope of contra-rotating roll table, dial material mechanism including dial the material arm, dial the material pivot, dial the material cylinder, dial the material pivot and transversely fix on the rack body, dial the material arm and vertically set up, a pot head is established dial in the material pivot, the other end has the portion of colluding, collude the portion and extend to contra-rotating roll table department, dial the stiff end of material cylinder and connect rack body, drive end are connected dial the material arm, dial the material arm and be in dial under the drive of material cylinder pass through collude the portion will the rod transport to on the contra-rotating roll table.

Further, the feeding device further comprises a limit baffle which is fixed at one end, close to the counter-rotating roller way, of the rack body so as to prevent the bar from falling off from the rack body.

Further, dial the material arm upper surface and be the lightning form, the middle part has protruding point up, protruding point is located the limit baffle rear, longitudinal separation between the two is greater than singly the diameter of rod just is less than the twice of rod diameter. In this structure, when dialling material cylinder drive and dialling the material arm material loading, the many rods of accessible convex tip part rack body front end only carry out the material loading of single rod, keep linking up of follow-up automation process.

Further, loading attachment still includes stock stop, stock stop is including keeping off the material arm, keeping off the material pivot, keeping off the material cylinder, keep off the material pivot and fix on the rack body, keep off the vertical setting of material arm, stretch out on its upper end this external, middle part cover of rack is established keep off in the material pivot, keep off the material cylinder stiff end and connect rack body, drive end are connected keep off the material arm lower extreme. This structure can avoid the rack body to be close to the one end of changeing the roll table and pile up a large amount of rods, influences automatic material loading.

Furthermore, the blanking device comprises a lifting roller way and a fixed roller way, the lifting roller way comprises a supporting seat, a lifting cylinder, a lifting roller rotating shaft, a connecting rod mechanism, a rocker arm, a connecting plate, a lifting roller and a fourth servo motor, the lifting roller rotating shaft is fixed on the supporting seat, one end of the rocker arm is sleeved on the lifting roller rotating shaft, the other end of the rocker arm is connected with the connecting plate, the lifting roller is fixed at the upper end of the connecting plate and driven by the fourth servo motor, and the fixed end of the lifting cylinder is connected with the supporting seat and the driving end is connected with the lifting roller rotating shaft through the connecting rod mechanism;

the fixed roller way comprises a fixed seat, a fixed roller and a fifth servo motor, wherein the fixed roller is fixed on the fixed seat and is driven by the fifth servo motor;

the lifting roller and the fixed roller are arranged in rows transversely, the axial directions of the lifting roller and the fixed roller are vertical to the axial directions of the driving roller and the driven roller, and the transverse connecting line of the lifting roller and the fixed roller corresponds to the interval between the driving roller and the driven roller. In the structure, the lifting roller swings upwards under the driving of the lifting cylinder, the bar is lifted from the counter-rotating roller way, when the lifting roller swings to the same height with the fixed roller way, the lifting cylinder stops, the fourth servo motor and the fifth servo motor are started simultaneously, the bar is conveyed away along the transverse direction, and the blanking of the bar is completed.

Further, still include left proximity sensor, right proximity sensor, left side proximity sensor is located the horizontal left end position of contra-rotating roller way, right side proximity sensor is located the horizontal right-hand member position of fixed roll table, left side proximity sensor and right side proximity sensor with the rod is in transport position on contra-rotating roller way, the fixed roll corresponds. In this structure, left side proximity sensor is used for detecting the material loading position of rod, and right side proximity sensor is used for detecting the unloading position of rod.

Furthermore, link mechanism includes guide bar group, linking arm, guide bar group comprises many horizontal articulated guide arms, every the guide arm passes through respectively the linking arm is connected the lift roller pivot, the drive end of lift cylinder articulates the tip of guide bar group.

Further, unloader still includes the mechanism that gathers materials, the mechanism that gathers materials is including the base that gathers materials, the pivot of gathering materials, gather materials and dial the spoon, the cylinder that gathers materials, the base that gathers materials is located the side of fixed roll table, the base upper surface that gathers materials has seted up the groove that gathers materials, the pivot of gathering materials is transversely fixed gather materials on the base, gather materials and dial a pot head and establish gather materials in the pivot, the spoon portion of dialling of the other end stretch into fixed roll table gathers materials and dial the spoon and swing around the pivot of gathering materials under the drive of the cylinder that gathers materials. In this structure, dial the spoon through gathering materials and dial the rod and dial to gathering in the silo standby from fixed roll table.

Further, the mechanism of gathering materials still includes the buffering strap, the buffering strap set up in the groove that gathers materials, its bottom is higher than the interior bottom surface in groove that gathers materials for the buffering rod.

Has the advantages that: compared with the prior art, the invention has the advantages that: the integration has realized that the automatic defect of rod location, automatic unloading, automatic coping go up, and intelligent degree is high, has promoted production efficiency. Meanwhile, grinding dust and particles can be automatically absorbed in the grinding process, and the production environment is purified, so that the defect identification precision and the grinding precision are improved. In addition, the grinding structure based on the force position actuator can avoid grinding the surface of the bar into blue-purple, and the rejection rate is reduced.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is an enlarged schematic view of position A of FIG. 1;

FIG. 3 is a schematic view of the mounting structure of the sliding device, the robot body and the dust removing device;

fig. 4 is a structural diagram of the mounting position of the floating grinding head position;

FIG. 5 is a schematic view of the installation position of the visual recognition device;

FIG. 6 is a schematic view of the mounting structure at the mounting flange;

FIG. 7 is a schematic view of the overall structure of the feeding device, the counter-rotating roller way and the blanking device;

FIG. 8 is an enlarged schematic view of position B of FIG. 7;

FIG. 9 is an enlarged schematic view of position C of FIG. 7;

FIG. 10 is an enlarged schematic view of position D of FIG. 7;

FIG. 11 is a perspective view of the collecting mechanism;

FIG. 12 is a schematic perspective view of a counter-rotating roller bed;

fig. 13 is a front view of the aggregate mechanism.

Detailed Description

The invention will be further elucidated with reference to the drawings and specific examples, which are intended to illustrate the invention and are not intended to limit the scope of the invention.

The utility model provides a full-automatic rod defect coping system based on industrial robot, as shown in attached figure 1, 4, includes loading attachment 1, unloader 2, to changeing roll table 3, robot body 4, mounting flange 5, power position executor 6, bistrique 7 that floats, first servo motor 8, displacement device 9, dust collector 10, vision recognition device 11, left proximity sensor 12, right proximity sensor 13.

In order to realize floating grinding and accurately control the grinding track, in this embodiment, the grinding integrated structure at the front end of the robot body is specifically adopted as shown in fig. 4 and 6: the upper end of the force position actuator 6 is connected with the movable end of the robot body 4 through a mounting flange 5, the lower end of the force position actuator is connected with a first servo motor 8, and the floating grinding head 7 is fixed on an output shaft of the first servo motor 8. In this embodiment, the floating grinding head 7 specifically includes a grinding tool, a bearing pressing sleeve 7a, an angular contact bearing, and a transition flange 7c, the grinding tool and the angular contact bearing are adjacently sleeved on the output shaft of the first servo motor 8, the angular contact bearing is adjacent to the first servo motor 8, the bearing pressing sleeve 7a is sleeved on the angular contact bearing, the transition flange 7c is sleeved on the bearing pressing sleeve 7a, and the end portion thereof is fixed to the first servo motor 8. The grinding tool specifically comprises a fine grinding wheel 7d and a rough grinding wheel 7e which are sleeved on an output shaft of the first servo motor 8 and are adjacent to each other, the rough grinding wheel 7e is adjacent to an angular contact bearing, the fine grinding wheel 7d is fixed on the end part of the output shaft of the first servo motor 8, and the diameter of the fine grinding wheel 7d is larger than that of the rough grinding wheel 7 e.

In order to realize the grinding of a plurality of circumferential positions of the bar, the counter-rotating roller table 3 is arranged in the embodiment, so that the bar can rotate. As shown in fig. 7 and 12, the counter-rotating roller table 3 specifically includes a driving roller 3a, a driven roller 3b, second servo motors 3c, and a transmission mechanism, wherein the driving roller 3a and the driven roller 3b are longitudinally arranged at intervals and are transversely arranged in multiple groups, and an output end of each second servo motor 3c is connected to each driving roller 3a through the transmission mechanism. The transmission mechanism specifically comprises a transmission shaft 3d, a main transmission belt 3e and an auxiliary transmission belt 3f, wherein the main transmission belt 3e rotates around the transmission shaft 3d and an output shaft of the second servo motor 3c, and the auxiliary transmission belt 3f rotates around the transmission shaft 3d and each driving roller 3 a.

In order to realize coping to the rod of different length, the gliding device has been set up in this embodiment. As shown in fig. 2 and 3, the sliding device 9 includes a base 9a, a third servo motor 9b, a speed reducer 9c, a sliding rail 9d, a tooth space 9e, and a supporting plate 9f, the base 9a is located at a side of the counter-rotating roller bed 3, the sliding rail 9d and the tooth space 9e are fixed on the base 9a along a length direction of the base 9a and are parallel to the counter-rotating roller bed 3, the robot body 4 is fixed at an upper end of the supporting plate 9f, a lower end of the supporting plate 9f is installed on the sliding rail 9d through a sliding block, the third servo motor 9b and the speed reducer 9c are installed on the supporting plate 9f, and an output shaft of the third servo motor 9b is.

For purifying production site environment, avoid the coping raise dust to influence the defect discernment on rod surface simultaneously, be provided with dust collector in this embodiment. As shown in fig. 3 and 6, the dust removing device 10 includes an industrial dust remover 10a, a bracket 10b, a dust removing pipeline 10c, and a dust hood 10d, the industrial dust remover 10a is fixed on a supporting plate 9f, the dust hood 10d is fixedly connected with the mounting flange 5, an opening cover at the lower end of the dust hood is arranged on the floating grinding head 7, one end of the dust removing pipeline 10c is connected with the industrial dust remover 10a, the other end of the dust removing pipeline is connected with the dust hood 10d, and the middle part of the dust removing pipeline 10c is fixed with the robot body 4 through the bracket 10 b.

In this embodiment, the defect position on the surface of the bar is identified and positioned by using a visual identification technology. As shown in fig. 5 and 6, the visual recognition device 11 specifically includes an industrial camera 11a, a structural light source 11b, and a reflective shield 11c, where the reflective shield 11c is integrally in a flaring structure with a narrow top and a wide bottom, the upper end is closed, the lower end is opened, and a reflective plate is laid on the inner surface, the upper end of the reflective shield is fixed to the mounting flange 5 through a connecting plate, the industrial camera 11a is installed at the upper end position in the reflective shield 11c and faces the lower end opening of the reflective shield 11c, and the structural light source 11b is installed at the lower end opening in the reflective shield 11c and faces the lower side of the reflective.

In order to realize the automatic feeding process of the bar, as shown in the attached figures 7-9, the feeding device 1 specifically comprises a rack body 1a, a material poking mechanism, a limit baffle plate 1e and a material blocking mechanism which are fixed on the rack body 1a, as shown in the attached figure 7, the rack body 1a is positioned at the side of the counter-rotating roller table 3, and has the slope towards the roll table 3, as shown in fig. 7 and 9, the material pulling mechanism comprises a material pulling arm 1b, a material pulling rotating shaft 1c and a material pulling cylinder 1d, the material pulling rotating shaft 1c is transversely fixed on the rack body 1a, the material pulling arm 1b is longitudinally arranged, one end of the material pulling arm is sleeved on the material pulling rotating shaft 1c, the other end of the material pulling arm is provided with a hook part 1b-1, the hook part 1b-1 extends to the roll table 3, the fixed end of the material pulling cylinder 1d is connected with the rack body 1a, the driving end of the material pulling cylinder 1d is connected with the material pulling arm 1b, and the material pulling arm 1b is driven by the material pulling cylinder 1d to convey the bar material to the roll table 3 through the hook part 1 b. The limit baffle 1e is fixed at one end of the rack body 1a close to the counter-rotating roller bed 3. As shown in the attached drawing 8, the material blocking mechanism comprises a material blocking arm 1f, a material blocking rotating shaft 1g and a material blocking cylinder 1h, the material blocking rotating shaft 1g is fixed on the rack body 1a, the material blocking arm 1f is vertically arranged, the upper end of the material blocking rotating shaft extends out of the rack body 1a, the middle part of the material blocking rotating shaft is sleeved on the material blocking rotating shaft 1g, and the fixed end of the material blocking cylinder 1h is connected with the rack body 1a and the lower end of the material blocking arm 1f is connected with the driving end of. In this embodiment, as shown in fig. 9, to ensure single feeding of the rods, the upper surface of the material pulling arm 1b is lightning-shaped, the middle part of the material pulling arm is provided with an upward convex tip 1b-2, the convex tip 1b-2 is located behind the limiting baffle 1e, and the longitudinal interval between the two is larger than the diameter of a single rod and smaller than twice the diameter of the rod.

In order to realize the automatic blanking of the bar, as shown in fig. 7, the blanking device 2 includes a lifting roller table 21, a fixed roller table 22, and a material collecting mechanism 23, where the lifting roller table 21 includes a supporting seat 21a, a lifting cylinder 21b, a lifting roller rotating shaft 21c, a link mechanism, a rocker arm 21d, a connecting plate 21e, a lifting roller 21f, and a fourth servo motor 21g, the lifting roller rotating shaft 21c is fixed on the supporting seat 21a, one end of the rocker arm 21d is sleeved on the lifting roller rotating shaft 21c, the other end is connected with the connecting plate 21e, the lifting roller 21f is fixed on the upper end of the connecting plate 21e, the lifting roller 21f is driven by the fourth servo motor 21g, the fixed end of the lifting cylinder 21b is connected with the supporting seat 21a, and the driving end is connected. In this embodiment, the link mechanism specifically includes a guide rod group 21h and a connecting arm 21i, the guide rod group 21h is composed of a plurality of guide rods transversely hinged to each other, each guide rod is connected to the lifting roller rotating shaft 21c through the connecting arm 21i, and the driving end of the lifting cylinder 21b is hinged to the end of the guide rod group 21 h.

The fixed roller way 22 is shown in fig. 10, and includes a fixed seat 22a, a fixed roller 22b, and a fifth servo motor 22c, wherein the fixed roller 22b is fixed on the fixed seat 22a and is driven by the fifth servo motor 22 c;

the material collecting mechanism 23 is shown in the attached figure 11 and comprises a material collecting base 23a, a material collecting rotating shaft 23b, a material collecting shifting spoon 23c, a material collecting cylinder 23d and a buffering cloth belt 23e, wherein the material collecting base 23a is located on the side of the fixed roller way 22, a material collecting groove 23a-1 is formed in the upper surface of the material collecting base 23a, the material collecting rotating shaft 23b is transversely fixed on the material collecting base 23a, one end of the material collecting shifting spoon 23c is sleeved on the material collecting rotating shaft 23b, a shifting spoon part 23c-1 at the other end extends into the fixed roller way 22, and the material collecting shifting spoon 23c swings around the material collecting rotating shaft 23b under the driving. The buffering cloth belt 23e is arranged in the material collecting groove 23a-1, and the bottom of the buffering cloth belt is higher than the inner bottom surface of the material collecting groove 23 a-1.

The lifting rollers 21f and the fixed rollers 22b are multiple, the lifting rollers 21f, the driving rollers 3a and the driven rollers 3b are sequentially arranged at intervals, the lifting rollers 21f and the fixed rollers 22b are transversely arranged in rows, the axial directions of the lifting rollers 21f and the fixed rollers 22b are vertical to the axial directions of the driving rollers 3a and the driven rollers 3b, and the transverse connecting line of the lifting rollers 21f and the fixed rollers corresponds to the interval between the driving rollers 3a and the driven rollers 3 b.

In this embodiment, as shown in fig. 1, in order to detect the material loading position of the rod material, a left proximity sensor is provided, the left proximity sensor 12 is located at the horizontal left end position of the counter-rotating roller bed 3, and the left proximity sensor 12 corresponds to the conveying position of the rod material on the counter-rotating roller bed 3 and the fixed roller bed 22.

In this embodiment, as shown in fig. 1, in order to detect the blanking position of the bar, a right proximity sensor is provided, the right proximity sensor 13 is located at the right end of the fixed roller way 22, and the right proximity sensor 13 corresponds to the conveying position of the bar on the counter-rotating roller way 3 and the fixed roller way 22.

When the full-automatic rod defect grinding system of this embodiment is used, including automatic material loading process, automatic rod rotation process, automatic rod defect identification process, automatic dust absorption process, automatic grinding process, the automatic lateral shifting process of robot body, automatic unloading process.

In the automatic feeding process, rods are firstly placed on the rack body 1a and are blocked by the blocking arm 1f, during feeding, the blocking cylinder 1h drives the blocking arm 1f to rotate, a small number of rods are released to roll to the front end of the rack body 1a and are blocked by the limit baffle 1e, then the material shifting cylinder 1d drives the material shifting arm 1b to rotate, the convex points 1b-2 are upward, single rods at the foremost ends are respectively discharged to roll to the hook part 1b-1, then the material shifting arm 1b falls down, the single rods are fed to a position between the driving roller 3a and the driven roller 3b on the counter-rotating roller table, and the automatic feeding process is completed.

After feeding, an automatic bar defect identification process and an automatic bar rotation process are simultaneously carried out. In the automatic bar rotating process, the second servo motor 3c drives the driving roller 3a to rotate sequentially through the main conveyor belt 3e, the transmission shaft 3d and the auxiliary conveyor belt 3f, so that the bar and the driven roller 3b are driven to rotate, and the automatic bar rotating process is completed. In the automatic bar defect identification process, the robot body 4 drives the vision identification device 11 to be close to the bar, the industrial camera 11a shoots the surface of the bar, the structural light source 11b and the reflective shield 11c can provide good shooting conditions, and then whether defects exist in shooting positions can be obtained through the existing algorithm.

After the identification and calibration of the defect position of the bar are completed, an automatic dust collection process and an automatic grinding process are simultaneously carried out, in the automatic grinding process, according to the defect positioning of the bar obtained before, the floating grinding head 7 is driven by the robot body 4 to approach the defect, firstly, the rough grinding is completed through the rough grinding wheel 7e, and then, the fine grinding is carried out through the fine grinding wheel 7d, because the force position actuator 6 is installed between the robot body and the floating grinding head 7, during the grinding, the floating grinding head 7 can be ground by keeping constant force through the built-in pressure sensor, the surface of the bar is prevented from being ground into blue and purple, the floating grinding head 7 can be ground along the set contour through the built-in displacement sensor, the grinding track is recorded, and the grinding precision is high. In the automatic dust collection process, the industrial dust collector 10a absorbs the particle dust generated during grinding through the dust collection pipeline 10c and the dust shield 10d, so that the field environment is purified, the shooting effect of the industrial camera 11a is improved, and the accuracy of defect identification is favorably improved.

According to the length of the bar, the automatic bar defect identification process and the automatic grinding process of the whole bar are completed through the automatic transverse moving process of the robot body, and in the automatic transverse moving process of the robot body, the third servo motor 9b drives the supporting plate 9f to transversely slide on the sliding rail 9d through the meshing of the driving speed reducer 9c and the tooth groove 9e, so that the transverse sliding of the robot body is completed.

And after finishing the grinding of the whole bar, carrying out an automatic blanking process. In the process, firstly, the lifting cylinder 21b is used for driving the rocker arm 21d to rotate around the lifting roller rotating shaft 21c, so as to drive the connecting plate 21e and the lifting roller 21f arranged at the upper end of the connecting plate to swing upwards, and lift the bar material from the counter-rotating roller table 3. Afterwards, the fourth servo motor 21g and the fifth servo motor 22c are started simultaneously, the lifting roller 21f and the fixed roller 22b rotate simultaneously to finish the transverse conveying of the bars, when the right proximity sensor 13 detects that the bars move transversely in place, the fourth servo motor 21g and the fifth servo motor 22c stop, a spoon poking part 23c-1 of the aggregate poking spoon 23c is driven by the aggregate cylinder 23d to poke away the bars from the fixed roller 22b and into the aggregate groove 23a-1, and a buffer cloth belt 23e arranged in the aggregate groove 23a-1 can prevent the bars from colliding and damaging.

The rod defect grinding system of this embodiment has integrateed processes such as the automatic defect location of rod, automatic unloading, automatic coping, has realized the automatic online coping operation of rod, and intelligent degree is high, has promoted production efficiency. Meanwhile, grinding dust and particles can be automatically absorbed in the grinding process, and the production environment is purified, so that the defect identification precision and the grinding precision are improved. In addition, the grinding structure based on the force position actuator can avoid grinding the surface of the bar into blue-purple, and the rejection rate is reduced.

Claims (16)

1. The utility model provides a full-automatic rod defect coping system based on industrial robot which characterized in that: comprises a feeding device (1), a discharging device (2), a counter-rotating roller way (3), a robot body (4), a mounting flange (5), a force position actuator (6), a floating grinding head (7) and a first servo motor (8), the upper end of the force position actuator (6) is connected with the movable end of the robot body (4) through the mounting flange (5), the lower end is connected with the first servo motor (8), the floating grinding head (7) is fixed on an output shaft of the first servo motor (8), the counter-rotating roller way (3) comprises a driving roller (3a), a driven roller (3b), a second servo motor (3c) and a transmission mechanism, wherein the driving roller (3a) and the driven roller (3b) are longitudinally arranged at intervals, a plurality of groups of the servo motors are arranged transversely, and the output end of the second servo motor (3c) is connected with each driving roller (3a) through the transmission mechanism; the feeding device (1) is used for feeding the bars to the counter-rotating roller way (3), the counter-rotating roller way (3) is used for rotating the bars, the blanking device (2) is used for pulling the bars away from the counter-rotating roller way (3), and the moving range of the robot body (4) covers the counter-rotating roller way (3).

2. The system of claim 1, wherein: the transmission mechanism comprises a transmission shaft (3d), a main transmission belt (3e) and an auxiliary transmission belt (3f), the main transmission belt (3e) is arranged between an output shaft of the second servo motor (3c) and the transmission shaft (3d) in a winding mode to form rotation, and the auxiliary transmission belt (3f) is arranged on the transmission shaft (3d) and each driving roller (3a) in a winding mode to form rotation.

3. The system of claim 1, wherein: the device also comprises a sliding device (9), wherein the sliding device (9) comprises a base (9a), a third servo motor (9b), a speed reducer (9c), a sliding rail (9d), tooth grooves (9e) and a supporting plate (9f), the base (9a) is positioned at the side of the counter-rotating roller way (3), the slide rail (9d) and the tooth groove (9e) are fixed on the base (9a) along the length direction of the base (9a), and is parallel to the counter-rotating roller way (3), the upper end of the supporting plate (9f) is fixed with the robot body (4), the lower end is arranged on the sliding rail (9d) through a sliding block, the third servo motor (9b) and the speed reducer (9c) are arranged on the supporting plate (9f), and the output shaft of the third servo motor (9b) is meshed and connected with the tooth groove (9e) through the speed reducer (9 c).

4. The system of claim 3, wherein: still include dust collector (10), dust collector (10) include industrial dust collector (10a), support (10b), dust removal pipeline (10c), keep off dust hood (10d), industrial dust collector (10a) are fixed in backup pad (9f), keep off dust hood (10d) with mounting flange (5) link firmly, and its lower extreme opening lid is established on unsteady bistrique (7), dust removal pipeline (10c) one end is connected industrial dust collector (10a), the other end inserts keep off dust hood (10d), the middle part of dust removal pipeline (10c) is passed through support (10b) with robot body (4) are fixed.

5. The system of claim 1, wherein: the floating grinding head (7) comprises a grinding tool, a bearing pressing sleeve (7a), an angular contact bearing and a transition flange (7c), wherein the grinding tool and the angular contact bearing are sleeved on an output shaft of the first servo motor (8) in an adjacent mode, the angular contact bearing is adjacent to the first servo motor (8), the bearing pressing sleeve (7a) is sleeved on the angular contact bearing, the transition flange (7c) is sleeved on the bearing pressing sleeve (7a), and the end portion of the transition flange is fixed with the first servo motor (8).

6. The system of claim 5, wherein: the grinding tool comprises an accurate grinding wheel (7d) and a rough grinding wheel (7e) which are arranged on an output shaft of the first servo motor (8) in an adjacent sleeving mode, the rough grinding wheel (7e) is adjacent to the angular contact bearing, the accurate grinding wheel (7d) is fixed on the end portion of the output shaft of the first servo motor (8), and the diameter of the accurate grinding wheel (7d) is larger than that of the rough grinding wheel (7 e).

7. The system of claim 1, wherein: still include visual identification device (11), visual identification device (11) include industry camera (11a), structural light source (11b), reflection of light guard shield (11c) wholly is under the narrow wide flaring structure, and the reflector panel has been laid to upper end closure, lower extreme opening, internal surface, its upper end through the connecting plate with mounting flange (5) are fixed, industry camera (11a) are installed upper end position in reflection of light guard shield (11c), and the orientation the lower extreme opening of reflection of light guard shield (11c), structural light source (11b) are installed lower extreme opening part in reflection of light guard shield (11c), and the orientation reflection of light guard shield (11c) below.

8. The system of claim 1, wherein: the feeding device (1) comprises a rack body (1a) and a material stirring mechanism fixed on the rack body (1a), wherein the rack body (1a) is positioned on the side of the counter-rotating roller way (3) and has a slope facing the counter-rotating roller way (3), the material stirring mechanism comprises a material stirring arm (1b), a material stirring rotating shaft (1c) and a material stirring cylinder (1d), the material stirring rotating shaft (1c) is transversely fixed on the rack body (1a), the material stirring arm (1b) is longitudinally arranged, one end of the material stirring rotating shaft (1c) is sleeved with one end of the material stirring rotating shaft (1b-1), the other end of the material stirring rotating shaft is provided with a hook part (1b-1), the hook part (1b-1) extends to the counter-rotating roller way (3), the fixed end of the material stirring cylinder (1d) is connected with the rack body (1a), the driving end of the material stirring arm (1b) is connected with the, the material stirring arm (1b) is driven by the material stirring cylinder (1d) to convey the bar material to the counter-rotating roller way (3) through the hook part (1 b-1).

9. The system of claim 8, wherein: the feeding device (1) further comprises a limiting baffle (1e), and the limiting baffle (1e) is fixed at one end, close to the counter-rotating roller way (3), of the rack body (1 a).

10. The system of claim 8, wherein: dial material arm (1b) upper surface and be the lightning form, the middle part has protruding point (1b-2) up, protruding point (1b-2) are located limit baffle (1e) rear, and longitudinal separation between the two is greater than singly the diameter of rod just is less than the twice of rod diameter.

11. The system of claim 8, wherein: loading attachment (1) still includes stock stop, stock stop is including keeping off material arm (1f), keeping off material pivot (1g), keeping off material cylinder (1h), keep off material pivot (1g) and fix on rack body (1a), keep off the vertical setting of material arm (1f), stretch out on its upper end rack body (1a) is outer, the middle part cover is established keep off on the material pivot (1g), keep off material cylinder (1h) stiff end and connect rack body (1a), drive end are connected keep off material arm (1f) lower extreme.

12. The system of claim 1, wherein: the blanking device (2) comprises a lifting roller way (21) and a fixed roller way (22), the lifting roller way (21) comprises a supporting seat (21a), a lifting cylinder (21b), a lifting roller rotating shaft (21c), a connecting rod mechanism, a rocker arm (21d), a connecting plate (21e), a lifting roller (21f) and a fourth servo motor (21g), the lifting roller rotating shaft (21c) is fixed on the supporting seat (21a), one end of the rocker arm (21d) is sleeved on the lifting roller rotating shaft (21c), the other end is connected with the connecting plate (21e), the upper end of the connecting plate (21e) is fixed with the lifting roller (21f), the lifting roller (21f) is driven by the fourth servo motor (21g), the fixed end of the lifting cylinder (21b) is connected with the supporting seat (21a), and the driving end is connected with the lifting roller rotating shaft (21c) through the connecting rod mechanism;

the fixed roller way (22) comprises a fixed seat (22a), a fixed roller (22b) and a fifth servo motor (22c), and the fixed roller (22b) is fixed on the fixed seat (22a) and driven by the fifth servo motor (22 c);

lift roller (21f), fixed roll (22b) all have a plurality ofly, and are a plurality of lift roller (21f) and multiunit drive roll (3a), driven voller (3b) interval sets gradually, lift roller (21f), fixed roll (22b) transversely set up in rows, axial between them with the axial of drive roll (3a), driven voller (3b) is perpendicular, the horizontal line between them with the interval department of drive roll (3a), driven voller (3b) corresponds.

13. The system of claim 12, wherein: still include left proximity sensor (12), right proximity sensor (13), left side proximity sensor (12) are located the horizontal left end position of contrarotating roller way (3), right side proximity sensor (13) are located the horizontal right-hand member position of fixed roller way (22), left side proximity sensor (12) and right side proximity sensor (13) with the rod is in transport position on contrarotating roller way (3), the fixed roller way (22) corresponds.

14. The system of claim 12, wherein: link mechanism includes guide bar group (21h), linking arm (21i), guide bar group (21h) comprises many horizontal articulated guide arms, every the guide arm passes through respectively linking arm (21i) is connected lift roller pivot (21c), the drive end of lift cylinder (21b) articulates the tip of guide bar group (21 h).

15. The system of claim 12, wherein: unloader (2) still include mechanism (23) that gathers materials, gather materials mechanism (23) including base (23a) that gathers materials, pivot (23b) that gathers materials, gather materials and dial spoon (23c), cylinder (23d) that gathers materials, base (23a) that gathers materials is located the side of roller table (22), base (23a) upper surface that gathers materials has seted up collection groove (23a-1), pivot (23b) that gathers materials transversely fixes on base (23a) that gathers materials, gather materials and dial spoon (23c) pot head and establish gather materials on pivot (23b), the spoon portion (23c-1) of dialling of the other end stretch into roller table (22), group spoon (23c) are gathered materials and are swung around pivot (23b) that gathers materials under the drive of cylinder (23 d).

16. The system of claim 15, wherein: the material collecting mechanism (23) further comprises a buffering cloth belt (23e), the buffering cloth belt (23e) is arranged in the material collecting groove (23a-1), and the bottom of the buffering cloth belt (23e) is higher than the inner bottom surface of the material collecting groove (23 a-1).

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