CN113933197B - Automatic polishing and hardness detection system for fastener - Google Patents
Automatic polishing and hardness detection system for fastener Download PDFInfo
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- CN113933197B CN113933197B CN202110995681.XA CN202110995681A CN113933197B CN 113933197 B CN113933197 B CN 113933197B CN 202110995681 A CN202110995681 A CN 202110995681A CN 113933197 B CN113933197 B CN 113933197B
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- 238000005498 polishing Methods 0.000 title claims abstract description 170
- 238000001514 detection method Methods 0.000 title claims abstract description 90
- 230000007246 mechanism Effects 0.000 claims abstract description 108
- 239000000428 dust Substances 0.000 claims abstract description 22
- 238000000034 method Methods 0.000 claims abstract description 11
- 238000007599 discharging Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 9
- 239000000463 material Substances 0.000 claims description 19
- 238000012546 transfer Methods 0.000 claims description 19
- 210000000078 claw Anatomy 0.000 claims description 17
- 238000007542 hardness measurement Methods 0.000 claims description 10
- 230000002950 deficient Effects 0.000 claims description 8
- 244000137852 Petrea volubilis Species 0.000 claims description 6
- 244000023431 Proboscidea parviflora Species 0.000 claims description 4
- 235000019096 Proboscidea parviflora Nutrition 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000007517 polishing process Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000010438 heat treatment Methods 0.000 abstract description 6
- 230000010354 integration Effects 0.000 abstract description 2
- 238000013441 quality evaluation Methods 0.000 abstract 1
- 239000000047 product Substances 0.000 description 24
- 238000013459 approach Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/40—Investigating hardness or rebound hardness
- G01N3/42—Investigating hardness or rebound hardness by performing impressions under a steady load by indentors, e.g. sphere, pyramid
- G01N3/44—Investigating hardness or rebound hardness by performing impressions under a steady load by indentors, e.g. sphere, pyramid the indentors being put under a minor load and a subsequent major load, i.e. Rockwell system
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/006—Machines or devices using grinding or polishing belts; Accessories therefor for special purposes, e.g. for television tubes, car bumpers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/02—Bench grinders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
- B24B55/08—Dust extraction equipment on grinding or polishing machines specially designed for belt grinding machines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/286—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q involving mechanical work, e.g. chopping, disintegrating, compacting, homogenising
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/286—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q involving mechanical work, e.g. chopping, disintegrating, compacting, homogenising
- G01N2001/2866—Grinding or homogeneising
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0016—Tensile or compressive
- G01N2203/0019—Compressive
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0058—Kind of property studied
- G01N2203/0076—Hardness, compressibility or resistance to crushing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0098—Tests specified by its name, e.g. Charpy, Brinnel, Mullen
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses an automatic polishing and hardness detection system for a fastener in the field of part hardness detection. Through the mechanical and electrified linkage of the mechanism, the integration of the fastener feeding, polishing, hardness detection and discharging processes can be realized only by operators, the production current situation of traditional manual transportation, polishing and hardness detection is replaced, the process flow of product hardness detection after heat treatment is optimized, the influence of human factors on the consistency of product quality evaluation is eliminated, the labor intensity and dust hazard are reduced, and the production efficiency is improved.
Description
Technical Field
The invention belongs to the field of fastener processing, and particularly relates to an automatic polishing and hardness detection system for a fastener, which can be used as automatic detection equipment for the fastener after heat treatment.
Background
At present, after heat treatment of finished parts, manufacturers of fasteners (including bolts, studs, nuts and the like) grind a part on sand paper or grind a hardness detection plane on the side surface of a grinding wheel running at high speed by adopting manual hand-held parts, and then perform hardness detection by adopting a traditional mechanical Rockwell hardness tester. The parallelism of the upper end surface and the lower end surface of the part after manual polishing and the smoothness of the polishing plane are poor in consistency, the hardness detection accuracy is affected, the manual polishing and hardness detection efficiency in mass production is low, the labor intensity is high, the consistency of the product quality is poor, and the production and manufacturing bottlenecks of the products are required to be solved through an automatic method.
Disclosure of Invention
The technical solution of the invention is as follows: the method for automatically transferring, polishing and detecting the hardness of the fastener product is provided to solve the problem that the automatic detection of the hardness of the part cannot be realized in the prior art.
The technical scheme of the invention is as follows:
An automatic fastener grinding and hardness testing system comprising: the automatic polishing device comprises a feeding mechanism (1), an automatic polishing mechanism (2), an automatic Rockwell hardness tester (3), a part transferring mechanism (4) and a discharging mechanism (5); the feeding mechanism (1), the automatic polishing mechanism (2), the automatic Rockwell hardness tester (3) and the discharging mechanism (5) are arranged in a line-shaped sequence, and the part transferring mechanism (4) is arranged in parallel with the automatic polishing mechanism (2) and the automatic Rockwell hardness tester (3);
The feeding mechanism (1) realizes a feeding function by a manipulator capable of moving along X, Y, Z three axes, the manipulator can grasp fasteners with various specifications by changing clamping jaws, and a laser ranging sensor is arranged at the head of the manipulator to detect whether parts to be detected exist at each position of the material tray;
the automatic polishing mechanism (2) is provided with a servo-driven polishing platform capable of moving up and down, and the polishing platform is provided with a polishing fixed clamping mechanism which is driven by an air cylinder and clamps a part to be polished; the polishing platform is elastically connected with the polishing fixed clamping mechanism through a guide rail and an air cylinder, and when a part on the polishing fixed clamping mechanism is contacted with a polishing head, a pressure sensor at the bottom of the polishing fixed clamping mechanism monitors polishing force in real time;
the automatic Rockwell hardness tester (3) is provided with an automatic lifting hardness detection platform, and a hardness detection fixing device is fixed on the hardness detection platform to prevent the part to be tested from toppling over;
the part transfer mechanism (4) adopts an integrated double-claw framework and is used for transferring the polished part to the hardness detection platform and simultaneously transferring the part with the hardness detection to a receiving box of the blanking mechanism;
and the blanking mechanism (5) automatically screens out qualified products and unqualified products according to the hardness detection result, and sorts and blanking the parts through corresponding conveying belts.
Further, the feeding mechanism (1) comprises a tray moving platform (1-1), a first tray (1-2), a Y-axis servo motor (1-3), an X-axis servo motor (1-4), an X-axis guide rail (1-5), a tray platform moving guide rail (1-6), a second tray (1-7), a manipulator (1-8), a Z-axis guide rail (1-9), a Z-axis servo motor (1-10) and a Y-axis guide rail (1-11);
In actual operation, the tray moving platform (1-1) is firstly located at an initial position, at the moment, a first tray (1-2) filled with fasteners and a second tray (1-7) are placed in a positioning groove on the tray moving platform (1-1), then an operation program is started, the tray moving platform (1-1) automatically moves to a feeding position, a manipulator (1-8) is driven to move to the upper side of the first tray by an X-axis servo motor (1-4) and a Y-axis servo motor (1-3) and then is driven to move downwards by a Z-axis servo motor (1-10), parts in the material tray are sequentially grasped, the parts in the second tray (1-7) are grasped continuously after the parts in the first tray (1-2) are grasped, the tray moving platform (1-1) automatically returns to the initial position after the parts in the two trays are all grasped, and the new tray filled with the parts is replaced; the mechanical arm (1-8) grabs the part and then moves to the part polishing fixed clamping mechanism for polishing;
The X-axis guide rail (1-5), the Y-axis guide rail (1-11) and the Z-axis guide rail (1-9) are respectively used for moving the tray moving platform (1-1) along the X-axis, the Y-axis and the Z-axis; the tray platform moving guide rail (1-6) is used for moving the tray moving platform (1-1) between an initial position and a loading position.
Further, the automatic polishing mechanism (2) comprises a polishing head (2-1), a polishing and dedusting device (2-2), a photoelectric sensor (2-3), a polishing platform (2-4), a part clamping and fixing device (2-5), a pressure sensor (2-6), a guide rail and a cylinder (2-7);
The polishing head (2-1) is driven by a motor to rotate by a tensioning wheel so as to drive the abrasive paper belt to rotate, and a rigid supporting block is arranged at the contact part of the abrasive paper belt and the part for applying polishing force; the polishing dust removing device (2-2) blows polishing dust into the dust collecting box along the rotation direction of the sand paper belt through low-pressure air, and then the dust is collected by the connected dust collecting device; after a part to be tested is moved onto a part clamping and fixing device (2-5) by a manipulator (1-8), and a photoelectric sensor (2-3) detects that the part is arranged on the part clamping and fixing device (2-5), the part clamping and fixing device (2-5) clamps the part through a cylinder driving clamping jaw, so that the part is prevented from shaking in the polishing process, a polishing platform (2-4) is driven by a servo motor to move upwards and rapidly approaches a polishing head (2-1) at a speed of 80-120 mm/s, and when the distance between a plane to be polished of the part and the polishing head (2-1) is 0.5-1.0 mm, the polishing motor is started, and the upward moving speed of the polishing platform (2-4) is reduced to 0.01-0.3 mm/s until the preset position is reached; the polishing platform (2-4) is elastically connected with the polishing fixing clamping mechanism (2-5) through a guide rail and an air cylinder (2-7), the polishing platform and the air cylinder can move relatively, when a part is in contact with the polishing head (2-1), the polishing force is monitored in real time through a pressure sensor (2-6) connected to the bottom of the polishing clamping fixing device (2-5), and after the polishing head (2-1) finishes polishing according to preset polishing time, the polishing platform (2-4) moves downwards to the original position of the polishing platform.
Further, the automatic Rockwell hardness tester (3) comprises a display screen (3-1), a hardness detection fixing device (3-2), a hardness detection platform (3-3) and a photoelectric sensor (3-4); the display screen (3-1) displays the hardness detection result in real time, and simultaneously displays the displacement and load curve of the hardness test pressure head in the hardness detection process; the part transfer mechanism (4) moves the part onto the hardness detection fixing device (3-2), and after the photoelectric sensor (3-4) detects that the part is arranged on the hardness detection fixing device (3-2), the hardness detection platform (3-3) automatically moves upwards to enable a part to-be-detected plane to be in contact with the pressure head of the hardness tester for hardness detection.
Further, the part transfer mechanism (4) comprises a first air jaw (4-1), a second air jaw (4-3), a first air jaw photoelectric sensor (4-2), a second air jaw photoelectric sensor (4-4), a linear guide rail (4-5) and an air cylinder (4-6); during actual operation, the cylinder (4-6) drives the first air claw (4-1) to move the polished part from the polishing clamping fixing device (2-5) to the hardness detection fixing device (3-2) along the linear guide rail (4-5), meanwhile, the air claw (4-2) moves the hardness detection finished part from the hardness detection fixing device (3-2) to a receiving box of the blanking mechanism, and the first air claw photoelectric sensor (4-2) and the second air claw photoelectric sensor (4-4) are used for detecting whether the part is grabbed on the corresponding air claw.
Further, the blanking mechanism (5) comprises a linear guide rail (5-1), a servo motor (5-2), a receiving box (5-3), a defective product conveying belt (5-4) and a defective product conveying belt (5-5);
when in actual operation, the part transfer mechanism (4) moves the part with the hardness detected to the position right above the material receiving box (5-3) by the hardness detection fixing device (3-2), then the air claw is loosened, and the part falls into the material receiving box (5-3); the blanking mechanism controls a servo motor (5-2) to drive a receiving box (5-3) to transversely move along a linear guide rail (5-1) according to the hardness detection result, and parts are placed on a defective product conveyor belt (5-4) or a defective product conveyor belt (5-5); the unqualified product conveyor belt (5-4) and the qualified product conveyor belt (5-5) automatically run according to the running beats of the system, and the parts are conveyed to the tail end of the conveyor belt for buffering.
Further, the part specification that fastener automatic polishing and hardness detecting system is suitable for is: bolt, stud type part: M3-M25, height 6-150 mm; nut type parts: m is 10-50, and the height is 7-30 mm; the detection range of the hardness of the material is HRC 15-70; the whole working beat of the system is less than or equal to 30 s/piece.
Compared with the prior art, the invention has the advantages that:
Firstly, the invention designs a novel fastener automatic polishing and hardness detection system compatible with various products through the integrated application of a logic control system, a motion control system and a small precise motion executing mechanism, and replaces the production status quo that the fasteners (including bolts, studs, nuts and the like) need to be manually transported, polished and hardness detected after heat treatment;
secondly, the invention realizes the integration of the feeding, polishing, hardness detection and blanking processes, optimizes the process flow of hardness detection of the product after heat treatment, and simultaneously eliminates the risks brought to hardness detection and heat treatment quality judgment by a plurality of factors such as inconsistent polishing depths, inconsistent surface states of detection parts, inconsistent hardness detection methods and the like of multiple shifts and multiple times under the condition of mass production;
Thirdly, the system can be compatible with more than 50 fastener products in specification through designing a series of quick-change clamping jaws and quick-change, and the types of compatible products can be continuously expanded; the automatic polishing mechanism realizes the accurate control of different roughness and polishing amount of a polishing plane by controlling polishing force, rotating speed, time and abrasive paper mesh number so as to meet the requirements of various fastener finished products and semi-finished products;
Fourth, the invention reduces personnel intervention degree, lightens labor intensity of operators, improves production efficiency, and simultaneously realizes storage and calling of more than 200 operation parameters, and digital statistics and storage of historical hardness detection results; the DCS interface attached to the invention can be connected with an industrial control system to realize dynamic acquisition of detection data.
Drawings
FIG. 1 is a schematic view of an isometric structure of a feeding mechanism according to the present invention;
FIG. 2 is a schematic view of an isometric structure of an automatic sanding and hardness testing mechanism in accordance with the present invention;
FIG. 3 is a schematic view of an isometric structure of a part transfer mechanism according to the present invention;
FIG. 4 is a schematic view of an isometric structure of a blanking mechanism according to the present invention;
FIG. 5 is a schematic view of the overall structure of the automatic fastener polishing and hardness testing system according to the present invention.
Detailed Description
As shown in fig. 5, the invention provides an automatic polishing and hardness detection system for a fastener, which comprises a feeding mechanism 1, an automatic polishing mechanism 2, an automatic rockwell hardness tester 3, a part transfer mechanism 4 and a discharging mechanism 5. The feeding mechanism 1, the automatic polishing mechanism 2, the automatic Rockwell hardness tester 3 and the discharging mechanism 5 are arranged in a line-shaped sequence, and the part transferring mechanism 4, the automatic polishing mechanism 2 and the automatic Rockwell hardness tester 3 are placed in parallel.
The feeding mechanism 1 realizes the feeding function by a manipulator capable of moving along X, Y, Z three axes, and the manipulator can grasp more than 50 types of fasteners with different specifications by replacing clamping jaws, and comprises bolts, studs and nut parts. The laser ranging sensor is arranged at the head of the manipulator and can detect whether the parts to be detected exist at each position of the material tray.
The automatic polishing mechanism 2 is provided with a polishing platform which is driven by a servo and can be precisely displaced up and down, and the polishing platform is provided with a polishing fixed clamping mechanism which is driven by an air cylinder and can clamp a part to be polished. The polishing platform is elastically connected with the polishing fixed clamping mechanism through the guide rail and the air cylinder, so that when a part on the polishing fixed clamping mechanism is contacted with the polishing head, the pressure sensor at the bottom of the polishing fixed clamping mechanism can monitor polishing force in real time.
The automatic polishing mechanism 2 has the polishing and dedusting functions, when the polishing motor is started, the low-pressure air and the dust collector are started simultaneously, polishing dust is blown into the dust collecting box, and the dust is completely collected through the dust collector.
The automatic Rockwell hardness tester 3 is provided with a hardness testing platform capable of automatically lifting, and a hardness testing fixing device is fixed on the platform and can prevent the part to be tested from toppling over. The sclerometer has the functions of real-time display, automatic calibration and the like of various Rockwell hardness scales such as HRA, HRC and the like, load and pressure head displacement.
The part transfer mechanism 4 adopts an integrated double-claw framework and is used for transferring polished parts to the hardness detection platform and simultaneously transferring the parts subjected to hardness detection to a receiving box of the blanking mechanism.
The blanking mechanism 5 can automatically screen out qualified products and unqualified products according to the hardness detection result, and the parts are sorted and blanked through the corresponding conveyor belt, so that operators only need to remove the detected parts at the system blanking port.
As shown in FIG. 1, the feeding mechanism 1 in the invention comprises a tray moving platform 1-1, a No. 1 tray 1-2, a Y-axis servo motor 1-3, an X-axis servo motor 1-4, an X-axis guide rail 1-5, a tray platform moving guide rail 1-6, a No. 2 tray 1-7, a feeding manipulator 1-8, a Z-axis guide rail 1-9, a Z-axis servo motor 1-10 and a Y-axis guide rail 1-11. In actual operation, the tray moving platform 1-1 is firstly located at the position A, at this time, an operator places the 1 st tray 1-2 and the 2 nd tray 1-7 filled with fasteners in a positioning groove on the tray moving platform 1-1, then starts an operation program, the tray moving platform 1-1 automatically moves to the position B, the feeding manipulator 1-8 is driven by the X-axis servo motor 1-4 and the Y-axis servo motor 1-3 to move to the position above the 1 st tray and then is driven by the Z-axis servo motor to move downwards, parts in the material taking tray are sequentially grabbed, the parts in the 2 nd tray 1-7 are grabbed continuously after the parts in the 1 st tray 1-2 are completely taken, and the tray moving platform 1-1 automatically returns to the position A after the parts in the two trays are completely taken so that the operator can replace the filled with new parts. The feeding manipulator 1-8 grabs the part and then moves to the part polishing clamping fixing device 2-1-5 for polishing.
As shown in FIG. 2, the automatic polishing and hardness detection mechanism is a core functional part of the invention, and is composed of an automatic polishing mechanism 2 and an automatic Rockwell hardness tester 3. Wherein, the polishing head 2-1 in the automatic polishing mechanism 2 is driven by a motor to rotate by a tensioning wheel so as to drive the sand paper belt to rotate, and a rigid supporting block is arranged at the contact part of the sand paper belt and the part for applying polishing force; the polishing dust removing device 2-2 blows polishing dust into the dust collecting box along the rotation direction of the sand paper belt through low-pressure air, and then the dust is collected by the connected dust collecting device; after the part to be tested is moved onto the part polishing clamping and fixing device 2-5 by the manipulator 1-8 and the part clamping and fixing device 2-5 is detected by the photoelectric sensor 2-3, the part is clamped by the part clamping and fixing device 2-5 through the cylinder driving clamping jaw, so that the part is prevented from shaking in the polishing process, then the polishing platform 2-4 is driven by the servo motor to move upwards, and is rapidly close to the polishing head 2-1 at a speed of 80-120 mm/s, when the distance between the plane to be polished of the part and the polishing head 2-1 is 0.5-1.0 mm, the polishing motor is started, and at the moment, the upward moving speed of the polishing platform 2-4 is reduced to 0.01-0.3 mm/s until the preset position is reached. The polishing platform 2-4 is elastically connected with the polishing fixed clamping mechanism 2-5 through a guide rail and a cylinder 2-7, the polishing platform 2-4 and the cylinder can move relatively, when a part is contacted with the polishing head 2-1, polishing force can be monitored in real time through a pressure sensor 2-6 connected to the bottom of the polishing fixed clamping mechanism 2-5, and after the polishing head 2-1 finishes polishing according to preset polishing time, the polishing platform 2-4 moves down to an initial position.
The display screen 3-1 in the automatic Rockwell hardness tester 3 can display the hardness detection result in real time, and can display the displacement and load curve of the hardness test pressure head in the hardness detection process. The part transfer mechanism 3 moves the part to the hardness detection fixing device 3-2, and after the photoelectric sensor 3-4 detects that the part is arranged on the hardness detection fixing device 3-2, the hardness detection platform 3-3 automatically moves upwards to enable a plane to be detected of the part to be contacted with the pressure head of the hardness tester for hardness detection.
As shown in FIG. 3, in the part transfer mechanism 4 of the invention, because the beats of fastener polishing and hardness detection are similar, the part transfer mechanism 4 adopts an integrated double-claw linkage structure and consists of air claws 4-1 and 4-3, photoelectric sensors 4-2 and 4-4, a linear guide rail 4-5 and an air cylinder 4-6. In actual operation, the cylinder 4-6 drives the air claw 4-1 to move the polished part from the polishing clamping fixing device 2-5 to the hardness detection fixing device 3-2 along the linear guide rail 4-5, meanwhile, the air claw 4-2 moves the hardness detection part from the hardness detection fixing device 3-2 to the material receiving box 5-3 of the blanking mechanism, and the photoelectric sensors 4-2 and 4-4 are used for detecting whether the part is grabbed on the corresponding air claw.
As shown in FIG. 4, the blanking mechanism 5 in the invention is composed of a linear guide rail 5-1, a servo motor 5-2, a receiving box 5-3, a defective product conveyor belt 5-4 and a defective product conveyor belt 5-5. In actual operation, the part transfer mechanism 4 moves the part with the hardness detected to the position right above the material receiving box 5-3 by the hardness detection fixing device 3-2, then the air claw is loosened, and the part falls into the material receiving box 5-3. The blanking mechanism controls the servo motor 5-2 to drive the material receiving box 5-3 to transversely move along the linear guide rail 5-1 according to the hardness detection result, and the parts are placed on the unqualified product conveyor belt 5-4 or the qualified product conveyor belt 5-5. The unqualified product conveyor belt 5-4 and the qualified product conveyor belt 5-5 automatically run according to the running beats of the system, parts are conveyed to the tail end of the conveyor belt for caching, an operator takes down the cached parts from the tail end of the conveyor belt, and the automatic polishing and hardness detection process of the fastener is completed.
Examples:
The automatic polishing and hardness detection system for the fastener comprises a feeding mechanism, an automatic polishing and hardness detection mechanism, a part transfer mechanism and a discharging mechanism; the feeding mechanism consists of a feeding manipulator driven by a servo motor and capable of moving along X, Y, Z three axes, a linear guide rail and two trays; the automatic polishing and hardness detection mechanism consists of a polishing head driven by a motor, a polishing platform driven by a servo motor and capable of moving up and down, a polishing fixed clamping device, a pressure sensor and a Rockwell hardness meter with a platform capable of moving up and down automatically; the part transfer mechanism consists of two mechanical arms which are driven by an air cylinder and can move left and right transversely; the blanking mechanism consists of a receiving box driven by an air cylinder and two conveying belts (qualified and unqualified conveying belts) driven by motors. The system is applicable to the following parts: bolt, stud type part: M3-M25, height 6-150 mm; nut type parts: m is 10-50, and the height is 7-30 mm; the detection range of the hardness of the material is HRC 15-70.
In actual operation, an operator firstly installs corresponding quick-change clamping jaws at the end heads of each manipulator in the system according to the size of the machined part. Subsequently 2 trays filled with fasteners are placed in a fixed position under the loading robot. And an operator invokes a program corresponding to the specification and the size of the fastener at the PLC control end and then starts the program. After the program is started, the feeding manipulator sequentially grabs the parts in the material taking disc according to the coordinate instructions set in the program, moves the parts to a polishing platform of the automatic polishing and hardness detection mechanism, after the polishing fixing clamping device on the polishing platform clamps the parts to be polished, the polishing platform is driven by a servo motor to upwards approach a polishing head along a guide rail at a speed of 80-120 mm/s, when the distance between the plane to be polished of the parts and the polishing head is 0.5-1.0 mm, the polishing motor is started, the abrasive belt on the polishing head is driven to rotate at a constant speed according to a set rotating speed, the upward moving speed of the polishing platform is reduced to 0.01-0.3 mm/s, and the polishing force can be adjusted through a force sensor connected to the bottom of the polishing fixing clamping structure. The polishing platform descends after polishing for a certain time, the part transfer mechanism transfers the polished part to the hardness detection platform, meanwhile, the part with the hardness detected is transferred to the receiving box of the blanking mechanism, the hardness detection platform automatically moves up and down to finish hardness detection actions such as loading, holding and unloading and transmits hardness value information to the control computer, and the blanking mechanism judges whether the part is qualified or not according to the hardness value information and moves the receiving box to place the detected part on a corresponding conveying belt. The process is repeated to realize continuous automatic feeding and discharging, polishing and hardness detection.
Claims (6)
1. An automatic fastener grinding and hardness detection system, comprising: the automatic polishing device comprises a feeding mechanism (1), an automatic polishing mechanism (2), an automatic Rockwell hardness tester (3), a part transferring mechanism (4) and a discharging mechanism (5); the feeding mechanism (1), the automatic polishing mechanism (2), the automatic Rockwell hardness tester (3) and the discharging mechanism (5) are arranged in a line-shaped sequence, and the part transferring mechanism (4) is arranged in parallel with the automatic polishing mechanism (2) and the automatic Rockwell hardness tester (3);
The feeding mechanism (1) realizes a feeding function by a manipulator capable of moving along X, Y, Z three axes, the manipulator can grasp fasteners with various specifications by changing clamping jaws, and a laser ranging sensor is arranged at the head of the manipulator to detect whether parts to be detected exist at each position of the material tray;
the automatic polishing mechanism (2) is provided with a servo-driven polishing platform capable of moving up and down, and the polishing platform is provided with a polishing fixed clamping mechanism which is driven by an air cylinder and clamps a part to be polished; the polishing platform is elastically connected with the polishing fixed clamping mechanism through a guide rail and an air cylinder, and when a part on the polishing fixed clamping mechanism is contacted with a polishing head, a pressure sensor at the bottom of the polishing fixed clamping mechanism monitors polishing force in real time;
The automatic Rockwell hardness tester (3) is provided with an automatic lifting hardness detection platform, and a hardness detection fixing device is fixed on the hardness detection platform to prevent the part to be tested from toppling over;
The part transfer mechanism (4) adopts an integrated double-claw framework and is used for transferring the polished part to the hardness detection platform and simultaneously transferring the part with the hardness detection to a receiving box of the blanking mechanism;
the blanking mechanism (5) automatically screens out qualified products and unqualified products according to the hardness detection result, and sorts and blanking the parts through corresponding conveyor belts;
The feeding mechanism (1) comprises a tray moving platform (1-1), a first tray (1-2), a Y-axis servo motor (1-3), an X-axis servo motor (1-4), an X-axis guide rail (1-5), a tray platform moving guide rail (1-6), a second tray (1-7), a manipulator (1-8), a Z-axis guide rail (1-9), a Z-axis servo motor (1-10) and a Y-axis guide rail (1-11);
In actual operation, the tray moving platform (1-1) is firstly located at an initial position, at the moment, a first tray (1-2) filled with fasteners and a second tray (1-7) are placed in a positioning groove on the tray moving platform (1-1), then an operation program is started, the tray moving platform (1-1) automatically moves to a feeding position, a manipulator (1-8) is driven to move to the upper side of the first tray by an X-axis servo motor (1-4) and a Y-axis servo motor (1-3) and then is driven to move downwards by a Z-axis servo motor (1-10), parts in the material tray are sequentially grasped, the parts in the second tray (1-7) are grasped continuously after the parts in the first tray (1-2) are grasped, the tray moving platform (1-1) automatically returns to the initial position after the parts in the two trays are all grasped, and the new tray filled with the parts is replaced; the mechanical arm (1-8) grabs the part and then moves to the part polishing fixed clamping mechanism for polishing;
The X-axis guide rail (1-5), the Y-axis guide rail (1-11) and the Z-axis guide rail (1-9) are respectively used for moving the tray moving platform (1-1) along the X-axis, the Y-axis and the Z-axis; the tray platform moving guide rail (1-6) is used for moving the tray moving platform (1-1) between an automatic operation initial position and a loading position.
2. The automatic fastener grinding and hardness testing system according to claim 1, wherein: the automatic polishing mechanism (2) comprises a polishing head (2-1), a polishing dust removal device (2-2), a first photoelectric sensor (2-3), a polishing platform (2-4), a part clamping and fixing device (2-5), a pressure sensor (2-6), a guide rail and a first air cylinder (2-7);
the polishing head (2-1) is driven by a motor to rotate by a tensioning wheel so as to drive the abrasive paper belt to rotate, and a rigid supporting block is arranged at the contact part of the abrasive paper belt and the part for applying polishing force; the polishing dust removing device (2-2) blows polishing dust into the dust collecting box along the rotation direction of the sand paper belt through low-pressure air, and then the dust is collected by the connected dust collecting device; after a part to be tested is moved onto a part clamping and fixing device (2-5) by a manipulator (1-8), and the part clamping and fixing device (2-5) is clamped by the part clamping and fixing device (2-5) through a cylinder driving clamping jaw after detecting the part on the part clamping and fixing device (2-3), so that the part is prevented from shaking in the polishing process, a polishing platform (2-4) is moved upwards under the driving of a servo motor, the polishing platform is quickly close to a polishing head (2-1) at a speed of 80-120 mm/s, a polishing motor is started when the distance between a plane to be polished of the part and the polishing head (2-1) is 0.5-1.0 mm, and the upward moving speed of the polishing platform (2-4) is reduced to 0.01-0.3 mm/s until the preset position is reached; the polishing platform (2-4) is elastically connected with the polishing fixed clamping mechanism through a guide rail and a first cylinder (2-7), the polishing platform and the first cylinder can move relatively, when a part is in contact with the polishing head (2-1), polishing force is monitored in real time through a pressure sensor (2-6) connected to the bottom of the polishing fixed clamping mechanism, and after the polishing head (2-1) finishes polishing according to preset polishing time, the polishing platform (2-4) moves downwards to the original position of the polishing platform.
3. The automatic fastener grinding and hardness testing system according to claim 2, wherein: the automatic Rockwell hardness tester (3) comprises a display screen (3-1), a hardness detection fixing device (3-2), a hardness detection platform (3-3) and a second photoelectric sensor (3-4); the display screen (3-1) displays the hardness detection result in real time, and simultaneously displays the displacement and load curve of the hardness test pressure head in the hardness detection process; the part transfer mechanism (4) moves the part onto the hardness detection fixing device (3-2), and after the second photoelectric sensor (3-4) detects that the part is arranged on the hardness detection fixing device (3-2), the hardness detection platform (3-3) automatically moves upwards to enable a part to-be-detected plane to be in contact with the pressure head of the hardness tester for hardness detection.
4. A fastener automatic sanding and hardness testing system as defined in claim 3, wherein: the part transfer mechanism (4) comprises a first air jaw (4-1), a second air jaw (4-3), a first air jaw photoelectric sensor (4-2), a second air jaw photoelectric sensor (4-4), a first linear guide rail (4-5) and a second air cylinder (4-6); during actual operation, the second air cylinder (4-6) drives the first air claw (4-1) to move the polished part from the polishing fixed clamping mechanism to the hardness detection fixing device (3-2) along the first linear guide rail (4-5), meanwhile, the first air claw photoelectric sensor (4-2) moves the hardness detection finished part from the hardness detection fixing device (3-2) to the receiving box of the blanking mechanism, and the first air claw photoelectric sensor (4-2) and the second air claw photoelectric sensor (4-4) are used for detecting whether the part is grabbed on the corresponding air claw.
5. The automatic fastener grinding and hardness testing system according to claim 4, wherein: the blanking mechanism (5) comprises a second linear guide rail (5-1), a servo motor (5-2), a receiving box (5-3), a defective product conveying belt (5-4) and a defective product conveying belt (5-5);
When in actual operation, the part transfer mechanism (4) moves the part with the hardness detected to the position right above the material receiving box (5-3) by the hardness detection fixing device (3-2), then the air claw is loosened, and the part falls into the material receiving box (5-3); the industrial personal computer controls the servo motor (5-2) to drive the material receiving box (5-3) to transversely move along the second linear guide rail (5-1) according to the hardness detection result, and the parts are placed on the unqualified product conveying belt (5-4) or the qualified product conveying belt (5-5); the unqualified product conveyor belt (5-4) and the qualified product conveyor belt (5-5) automatically run according to the running beats of the system, and the parts are conveyed to a blanking area at the tail end of the conveyor belt for buffering.
6. The automatic fastener grinding and hardness testing system according to claim 1, wherein: the part specification that fastener automatic polishing and hardness detecting system is suitable for is: bolt, stud type part: M3-M25, and the height is 6-150 mm; nut type parts: m10-50, and the height is 7-30 mm; the material hardness detection range is HRC 15-70; the whole working beat of the system is less than or equal to 30 s/piece.
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| CN115338704B (en) * | 2022-06-07 | 2024-05-31 | 武汉东方骏驰精密制造有限公司 | Automatic feeding machine |
| CN116175369B (en) * | 2023-04-23 | 2023-07-18 | 云南柔控科技有限公司 | Flexible automatic polishing robot system |
| CN117705620B (en) * | 2024-02-01 | 2024-04-16 | 深圳市旭源精密热控科技有限公司 | CNC bistrique hardness test tool |
| CN118583683A (en) * | 2024-07-15 | 2024-09-03 | 徐州举力新材料科技有限公司 | Multi-functional plastic products intensity detection device |
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| CN207309644U (en) * | 2017-06-12 | 2018-05-04 | 巨轮（广州）机器人与智能制造有限公司 | A kind of hardware knob robot automation's sanding and polishing unit |
| CN110487657A (en) * | 2019-09-24 | 2019-11-22 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of automatic sampling, calibration system and the method for Rockwell hardness block calibrating installation |
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| CN210147696U (en) * | 2019-07-08 | 2020-03-17 | 泉州鲤城福辉汽车配件有限公司 | Axis bolt grinding device |
| CN211103232U (en) * | 2019-11-19 | 2020-07-28 | 中国石油集团渤海石油装备制造有限公司 | Automatic grinding and hardness detection equipment for drill rod welding seam excircle |
| CN212527061U (en) * | 2020-06-13 | 2021-02-12 | 常州聚仁精密工具有限公司 | Automatic grinding device for ultrahigh-hardness drill bit water gap |
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| CN207309644U (en) * | 2017-06-12 | 2018-05-04 | 巨轮（广州）机器人与智能制造有限公司 | A kind of hardware knob robot automation's sanding and polishing unit |
| CN110487657A (en) * | 2019-09-24 | 2019-11-22 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of automatic sampling, calibration system and the method for Rockwell hardness block calibrating installation |
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