CN114800284A - High-pressure water jet deburring machine - Google Patents
High-pressure water jet deburring machine Download PDFInfo
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- CN114800284A CN114800284A CN202210386840.0A CN202210386840A CN114800284A CN 114800284 A CN114800284 A CN 114800284A CN 202210386840 A CN202210386840 A CN 202210386840A CN 114800284 A CN114800284 A CN 114800284A
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- clamping
- plate
- clamping jaw
- water jet
- pressure water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
- B24C1/083—Deburring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F3/00—Severing by means other than cutting; Apparatus therefor
- B26F3/004—Severing by means other than cutting; Apparatus therefor by means of a fluid jet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F3/00—Severing by means other than cutting; Apparatus therefor
- B26F3/004—Severing by means other than cutting; Apparatus therefor by means of a fluid jet
- B26F3/008—Energy dissipating devices therefor, e.g. catchers; Supporting beds therefor
Abstract
The invention provides a high-pressure water jet deburring machine which comprises a closed-loop conveying line, a plurality of water jet robots, a plurality of clamping tool mechanisms and a high-pressure pump, wherein the closed-loop conveying line can control the clamping tool mechanisms to carry out closed-loop conveying in the horizontal direction, each clamping tool mechanism comprises a tool plate and at least two clamping assemblies, each clamping assembly comprises a fixed seat, a clamping head, a first spring, a sliding rod, a buckling plate, a second spring and a movable plate, two ends of the closed-loop conveying line in the X-axis direction are respectively provided with at least two flick separating mechanisms, one flick separating mechanism is matched with one clamping assembly and is positioned above the clamping assembly in the Z-axis direction, and each flick separating mechanism comprises a pressing block, a lifting control mechanism, a separating pin and a moving control mechanism. The high-pressure water jet deburring machine has the advantages of simple and compact structure, stable and reliable operation, good deburring effect, high automation degree, wide processing range, simple and convenient maintenance, high production efficiency and low production cost.
Description
Technical Field
The invention relates to the technical field of workpiece burr removing equipment, in particular to a high-pressure water jet deburring machine.
Background
Burrs generated in the manufacturing and processing process of each assembly workpiece of the product not only directly affect the precision and appearance quality of the part, but also affect the service life of the whole product, so that the burrs of the workpiece need to be removed, and particularly, the burrs of each assembly workpiece of electronic products with higher requirements on precision and appearance quality, such as mobile phones, computers and other products, need to be removed.
The high-pressure water jet deburring machine sprays high-pressure water outwards through the water cutter head to clean and remove intersecting line burrs at intersecting positions of holes, inner cavities or other holes of a workpiece, and the workpiece is clamped on the tool assembly. The existing tool assembly utilizes a plurality of cylinders to respectively control a plurality of chucks to stretch out and draw back one by one to clamp and fix a workpiece, when the plurality of tool assemblies carry out closed-loop conveying on a closed-loop conveying line to convey the workpiece and recycle the tool assembly, the cylinder control gas circuit of the existing high-pressure water jet deburring machine is arranged in a mess due to the fact that the number of the cylinders is large, production cost is high, working reliability of equipment is affected, and follow-up maintenance of the equipment is not facilitated.
Disclosure of Invention
The invention mainly aims to provide the high-pressure water jet deburring machine which is simple and compact in structure, stable and reliable in operation, good in deburring effect, high in automation degree, wide in machining range, simple and convenient to maintain, high in production efficiency and low in production cost.
In order to achieve the main purpose of the invention, the invention provides a high-pressure water jet deburring machine which comprises a closed-loop conveying line, a plurality of water knife robots, a plurality of clamping tool mechanisms and a high-pressure pump, wherein the clamping tool mechanisms are distributed on the closed-loop conveying line in the conveying direction of the closed-loop conveying line, the closed-loop conveying line can control the clamping tool mechanisms to carry out closed-loop conveying in the horizontal direction, the water knife robots are distributed in the X-axis direction, the execution end of each water knife robot is provided with a water knife head, the water knife head is communicated with the high-pressure pump, the water knife head is provided with a nozzle, each clamping tool mechanism comprises a tool plate and at least two clamping assemblies, each clamping assembly comprises a fixed seat, a clamping head, a first spring, a sliding rod, a buckle plate, a second spring and a movable plate, the fixed seat is arranged on the tool plate, and the sliding rod movably penetrates through the fixed seat, the clamping head and the pinch plate are respectively arranged at two ends of the sliding rod, the first spring is sleeved on the sliding rod and is pressed between the fixed seat and the clamping head, the movable plate is positioned at one side of the pinch plate far away from the clamping head, the second spring is positioned between the movable plate and the tooling plate and forces the movable plate to move far away from the tooling plate in the Z-axis direction, the pinch plate can be pressed on the movable plate in the moving direction of the sliding rod, a clamping area for placing a workpiece is formed on the tooling plate in a surrounding manner among a plurality of clamping heads, at least two spring-open separating mechanisms are respectively arranged at two ends of the closed-loop conveying line in the X-axis direction, one spring-open separating mechanism is matched with one clamping assembly and is positioned above the clamping assembly in the Z-axis direction, each spring-open separating mechanism comprises a pressing block, a lifting control mechanism, a separating pin and a moving control mechanism, the lifting control mechanism can control the pressing block to move in the Z-axis direction so as to be pressed on the movable plate, the separation pin is arranged on the pressing block, and the movement control mechanism can control the separation pin to move in the moving direction of the sliding rod so as to force the buckle plate to move away from the fixed seat.
According to the scheme, the high-pressure water jet deburring machine controls the clamping tool mechanism to carry out closed-loop transmission in the horizontal direction through the closed-loop transmission line, so that the clamping tool mechanism can carry out reciprocating and circulating transmission between two ends of the closed-loop transmission line in the X-axis direction, a plurality of water knife robots of the high-pressure water jet deburring machine are arranged in the X-axis direction, one water knife robot corresponds to one high-pressure cleaning and deburring station, the execution end of each water knife robot is provided with a water knife head which is communicated with the high-pressure pump and is provided with a nozzle, the water knife heads receive high-pressure water provided by the high-pressure pump, the nozzles of the water knife heads spray high-pressure water outwards to effectively clean and remove burrs of a workpiece on the clamping tool mechanism, the plurality of water knife robots respectively clean and remove burrs at different positions of the workpiece, the production efficiency is high, and the water knife robots can control the water knife heads to move and turn over in a plurality of degrees of freedom, thereby can thoroughly get rid of work piece burr, the burring is effectual. Wherein, the high-pressure water jet deburring machine of the invention is respectively provided with at least two spring-open separating mechanisms at two ends of a closed-loop conveying line in the X-axis direction, one spring-open separating mechanism is matched with one clamping component in one clamping tool mechanism, namely when the clamping component in the clamping tool mechanism needs to be sprung open for loading and unloading, the closed-loop conveying line controls the clamping tool mechanism to move to one end of the closed-loop conveying line in the X-axis direction, so that one clamping component is positioned under one spring-open separating mechanism in the Z-axis direction, then a lifting control mechanism of the spring-open separating mechanism controls a pressing block to move downwards in the Z-axis direction so that the pressing block is pressed on a movable plate of the clamping component, thereby the movable plate is forced to move downwards in the Z-axis direction, at the moment, a second spring of the clamping component is in a compressed state, and the movable plate is separated from a pinch plate of the clamping component, the lifting control mechanism along with the flick release mechanism controls the pressing block to continuously move downwards in the Z-axis direction, the pressing block drives the separation pin of the flick release mechanism to move downwards in the Z-axis direction so that the separation pin is positioned on one side, close to the fixing seat of the clamping assembly, of the buckle plate, then the movement control mechanism of the flick release mechanism controls the separation pin to move in the moving direction of the sliding rod so as to force the buckle plate to move away from the fixing seat, the buckle plate drives the clamping head of the clamping assembly to move close to the fixing seat through the sliding rod of the clamping assembly, the clamping head is positioned at the flick release position, a workpiece clamped by the clamping head can be taken down from the clamping area to perform blanking operation, the workpiece can be placed in the clamping area to perform feeding operation, and the first spring of the clamping assembly is also in a compressed state at the moment. When a workpiece needs to be clamped in a clamping area of the clamping tool mechanism for burr cleaning and removing, the lifting control mechanism of the flick release mechanism controls the pressing block to move upwards in the Z-axis direction to separate the separating pin from the buckling plate, the first spring forces the clamping head to move away from the fixed seat under the elastic reset action to clamp and fix the workpiece, meanwhile, the clamping head drives the buckling plate to move close to the fixed seat through the sliding rod of the clamping assembly, the lifting control mechanism of the flick release mechanism controls the pressing block to move upwards continuously in the Z-axis direction to separate the pressing block from the movable plate, the second spring forces the movable plate to move away from the tool plate in the Z-axis direction under the elastic reset action to enable the buckling plate to be pressed on the movable plate in the moving direction of the sliding rod to form self-locking, the first spring cannot be compressed and retreat to cause loosening of the workpiece, and stable clamping of the clamping head is ensured, the clamping head is at a self-locking clamping position at the moment. Therefore, the high-pressure water jet deburring machine carries out mechanical self-locking clamping on a workpiece through the clamping tool mechanism, and the two ends of the closed-loop conveying line in the X-axis direction are respectively provided with the ejection and separation mechanisms to carry out ejection and separation operation on the clamping tool mechanism, so that the workpiece clamped by the clamping tool mechanism can be taken down from the clamping area to carry out blanking operation, and the workpiece can also be placed in the clamping area to carry out loading operation, so that the number of control gas circuits can be greatly reduced, and the gas circuit arrangement is simplified, so that the high-pressure water jet deburring machine has the advantages of simple and compact structure, simple and convenient maintenance and low production cost, and has high automation degree, stable and reliable operation, good deburring effect and high production efficiency, and the high-pressure water jet deburring machine can be suitable for cleaning and removing burrs of workpieces such as plastics, metals, alloys and the like, the processing range is wide.
According to a preferable scheme, the high-pressure water jet deburring machine further comprises a feeding robot, the feeding robot is located at the first end of the closed-loop conveying line in the X-axis direction, a feeding sucker assembly and a feeding clamping jaw assembly are arranged at an execution end of the feeding robot, the feeding sucker assembly comprises a plurality of first vacuum suckers, the feeding clamping jaw assembly comprises a first clamping jaw, a second clamping jaw and a first clamping jaw control mechanism, and the first clamping jaw control mechanism can control the first clamping jaw and the second clamping jaw to move towards or away from each other.
According to a further scheme, the high-pressure water jet deburring machine further comprises a discharging robot, the discharging robot is located at a second end of the closed-loop conveying line in the X-axis direction, a discharging sucker component and a discharging clamping jaw component are arranged at an execution end of the discharging robot, the discharging sucker component comprises a plurality of second vacuum suckers, the discharging clamping jaw component comprises a third clamping jaw, a fourth clamping jaw and a second clamping jaw control mechanism, and the second clamping jaw control mechanism can control the third clamping jaw and the fourth clamping jaw to move towards or away from each other.
The high-pressure water jet deburring machine further comprises a visual detection robot and a detection clamp mechanism, the visual detection robot and the detection clamp mechanism are positioned at one end, far away from the closed-loop conveying line, of the blanking robot in the X-axis direction, a detection camera and a material taking clamping jaw assembly are arranged at an execution end of the visual detection robot, the material taking clamping jaw assembly comprises a fifth clamping jaw, a sixth clamping jaw and a third clamping jaw control mechanism, the third clamping jaw control mechanism can control the fifth clamping jaw and the sixth clamping jaw to move towards or away from each other, the detection clamp mechanism comprises a rotation control mechanism, the rotary control mechanism can control the clamp plate to rotate around the horizontal direction, each clamp assembly comprises an air cylinder and a clamp head, the air cylinder is installed on the clamp plate and can control the clamp head to move relative to the clamp plate, and a fixing area for placing a workpiece is formed on the clamp plate in a surrounding mode among the plurality of clamp heads.
A first elastic rubber head is arranged on one side of the clamping head, which is far away from the pinch plate; and/or one side of the clamp head, which is far away from the cylinder, is provided with a second elastic rubber head.
According to a further scheme, each clamping tool mechanism further comprises a plurality of first limiting columns, and the plurality of first limiting columns are arranged on the tool plate in a protruding mode and distributed around the periphery of the clamping area; and/or, the detection clamp mechanism further comprises a plurality of second limiting columns, and the plurality of second limiting columns are arranged on the clamp plate in a protruding mode and surround the periphery of the fixing area.
According to a further scheme, the high-pressure water jet deburring machine further comprises a rack, a guide rail extending in the X-axis direction is arranged on the rack, the guide rail is located above the closed-loop conveying line in the Z-axis direction, a sliding block and a quick-pulling pin are arranged at the mounting end of the water jet robot, the sliding block is matched with the guide rail in a sliding mode, and a bolt of the quick-pulling pin is connected with the rack.
A further scheme is that the tool plate is provided with a plurality of limiting holes, each clamping head is provided with a first positioning pin in a protruding mode, the two limiting holes are matched with one first positioning pin and are arranged side by side in the moving direction of the sliding rod, and the protruding end of one first positioning pin can be embedded into one limiting hole.
Further scheme is, each centre gripping frock mechanism still includes first friction pulley and supporting seat, first friction pulley can be around the horizontal direction ground support on the supporting seat of rotating, the frock board is installed in the first end of first friction pulley, high pressure water jet deburring machine still includes two upset control mechanism, two upset control mechanism set up side by side in the X axle direction and be close to the second end setting of closed loop transfer chain in the X axle direction, each upset control mechanism is including transplanting the seat, transplant control mechanism, second friction pulley and upset actuating mechanism, the steerable seat of transplanting control mechanism moves in the Y axle direction, the setting of second friction pulley is on transplanting the seat and can support in the Y axle direction and press on the second end of first friction pulley, the steerable second friction pulley of upset actuating mechanism is around the horizontal direction rotatory.
The supporting seat further comprises a first supporting plate and a second supporting plate which are arranged side by side in the Y-axis direction, a first friction wheel can rotate around the horizontal direction and can be movably supported on the first supporting plate and the second supporting plate in the Y-axis direction, the tooling plate is positioned at one end of the first supporting plate far away from the second supporting plate in the Y-axis direction, a shaft shoulder is convexly arranged on the peripheral wall of the first friction wheel between the first supporting plate and the second supporting plate, a second positioning pin is convexly arranged on the end face of the shaft shoulder close to the second supporting plate in the Y-axis direction, two positioning holes are arranged on the end face of the second supporting plate close to the shaft shoulder, the two positioning holes are symmetrically arranged relative to the first friction wheel, and a third spring is sleeved on the first friction wheel, and two ends of the third spring are respectively propped between the first supporting plate and the shaft shoulder so as to force the second positioning pin to be embedded into one positioning hole.
Drawings
Fig. 1 is a first perspective view structural view of an embodiment of a high-pressure water jet deburring machine according to the present invention.
Fig. 2 is a second perspective view structural view of an embodiment of the high-pressure water jet deburring machine of the present invention.
FIG. 3 is a partial block diagram of an embodiment of the high pressure water jet deburring machine of the present invention.
FIG. 4 is a structural diagram of a clamping tool mechanism in an embodiment of the high-pressure water jet deburring machine of the invention.
FIG. 5 is a cross-sectional view of a clamping tooling mechanism in an embodiment of the high pressure water jet deburring machine of the present invention.
FIG. 6 is a block diagram of the cooperation between the slide bar, the pinch plate, the clamping head and the first locating pin in an embodiment of the high pressure water jet deburring machine of the present invention.
Fig. 7 is a first perspective structural view and a second perspective structural view of a pop-up detachment mechanism in an embodiment of the high-pressure water jet deburring machine according to the present invention.
FIG. 8 is a block diagram of the roll-over control mechanism in an embodiment of the high pressure water jet deburring machine of the present invention.
Fig. 9 is a first perspective view structural view of a loading robot/unloading robot in an embodiment of the high-pressure water jet deburring machine according to the present invention.
Fig. 10 is a second perspective view structural view of a loading robot/unloading robot in an embodiment of the high-pressure water jet deburring machine according to the present invention.
Fig. 11 is a structural view of a water jet robot in an embodiment of the high pressure water jet deburring machine of the present invention.
FIG. 12 is a cross-sectional view of a water jet robot in an embodiment of a high pressure water jet deburring machine in accordance with the present invention in cooperation with a frame.
FIG. 13 is a block diagram of a vision inspection robot in an embodiment of the high pressure water jet deburring machine of the present invention.
FIG. 14 is a first perspective view of the inspection fixture mechanism in an embodiment of the high pressure water jet deburring machine of the present invention.
FIG. 15 is a second perspective view of the inspection fixture mechanism in an embodiment of the high pressure water jet deburring machine of the present invention.
The invention is further explained with reference to the drawings and the embodiments.
Detailed Description
Referring to fig. 1 to 12, the embodiment discloses a high-pressure water jet deburring machine 1, including closed loop transfer chain 11, a plurality of water knife robots 16, a plurality of centre gripping frock mechanism 12 and high-pressure pump 111, a plurality of centre gripping frock mechanism 12 are arranged on closed loop transfer chain 11 in the direction of transfer of closed loop transfer chain 11, the steerable centre gripping frock mechanism 12 of closed loop transfer chain 11 is in the closed loop transfer of horizontal direction, a plurality of water knife robots 16 are arranged in the X axle direction, each execution end of water knife robot 16 is provided with water tool bit 161, water tool bit 161 is linked together with high-pressure pump 111, and water tool bit 161 has seted up nozzle 162. Wherein, each clamping fixture 12 of the embodiment includes a fixture plate 121 and at least two clamping assemblies, each clamping assembly includes a fixing seat 123, a clamping head 122, a first spring 127, a sliding rod 126, a buckle plate 124, a second spring (not labeled) and a movable plate 125, the fixing seat 123 is installed on the fixture plate 121, the sliding rod 126 movably penetrates through the fixing seat 123, the clamping head 122 and the buckle plate 124 are respectively disposed at two ends of the sliding rod 126, the first spring 127 is sleeved on the sliding rod 126 and pressed between the fixing seat 123 and the clamping head 122, the movable plate 125 is located at one side of the buckle plate 124 away from the clamping head 122, and the second spring is located between the movable plate 125 and the tooling plate 121 and forces the movable plate 125 to move away from the tooling plate 121 in the Z-axis direction, the buckle plate 124 can be pressed against the movable plate 125 in the moving direction of the sliding rod 126, and a clamping area (not labeled) for placing a workpiece is formed on the tooling plate 121 by the surrounding among the plurality of clamping heads 122. Furthermore, in the present embodiment, at least two pop-up disengaging mechanisms 14 are respectively disposed at two ends of the closed-loop conveying line 11 in the X-axis direction, one pop-up disengaging mechanism 14 is adapted to one clamping component and is located above the clamping component in the Z-axis direction, each pop-up disengaging mechanism 14 includes a pressing block 142, a lifting control mechanism, a separating pin 143, and a movement control mechanism, the lifting control mechanism can control the pressing block 142 to move in the Z-axis direction so that the pressing block 142 presses against the movable plate 125, the separating pin 143 is disposed on the pressing block 142, and the movement control mechanism can control the separating pin 143 to move in the movement direction of the sliding rod 126 so as to force the buckle plate 124 to move away from the fixed seat 123.
In the embodiment, the high-pressure water jet deburring machine 1 controls the clamping tool mechanism 12 to perform closed-loop conveying in the horizontal direction through the closed-loop conveying line 11, so that the clamping tool mechanism 12 can perform reciprocating and circulating conveying between two ends of the closed-loop conveying line 11 in the X-axis direction, a plurality of water knife robots 16 of the high-pressure water jet deburring machine 1 are arranged in the X-axis direction, one water knife robot 16 corresponds to one high-pressure cleaning and deburring station, a water knife head 161 is arranged at an execution end of each water knife robot 16, the water knife head 161 is communicated with the high-pressure pump 111, and a nozzle 162 is arranged on the water knife head 161, so that the water knife head 161 receives high-pressure water provided by the high-pressure pump 111, the nozzle 162 of the water knife head 161 sprays high-pressure water outwards to effectively clean and remove burrs of workpieces on the clamping tool mechanism 12, and the plurality of water knife robots 16 respectively clean and remove burrs at different positions of the workpieces, the production efficiency is high, and the water jet cutting robot 16 can control the water jet cutting head 161 to move and overturn on a plurality of degrees of freedom, so that the burrs of the workpiece can be thoroughly removed, and the deburring effect is good. Wherein, the high-pressure water jet deburring machine 1 of the embodiment is provided with at least two spring-open disengaging mechanisms 14 respectively at two ends of the closed-loop conveying line 11 in the X-axis direction, one spring-open disengaging mechanism 14 is adapted to one clamping component of one clamping tool mechanism 12, that is, when the clamping component of the clamping tool mechanism 12 needs to be sprung open for loading and unloading, the closed-loop conveying line 11 controls the clamping tool mechanism 12 to move to one end of the closed-loop conveying line 11 in the X-axis direction, so that one clamping component is located right below one spring-open disengaging mechanism 14 in the Z-axis direction, and then the lifting control mechanism of the spring-open disengaging mechanism 14 controls the pressing block 142 to move downwards in the Z-axis direction so that the pressing block 142 is pressed on the movable plate 125 of the clamping component, so that the movable plate 125 is forced to move downwards in the Z-axis direction, and at this time, the second spring of the clamping component is in a compressed state, and the movable plate 125 is separated from the pinch plate 124 of the clamping assembly, and the pressing block 142 is controlled by the lifting control mechanism of the pop-off and disengaging mechanism 14 to continue moving downwards in the Z-axis direction along with the lifting control mechanism of the pop-off and disengaging mechanism 14, and then the pressing block 142 drives the separating pin 143 of the pop-off and disengaging mechanism 14 to move downwards in the Z-axis direction so as to enable the separating pin 143 to be located at one side of the pinch plate 124 close to the fixed seat 123 of the clamping assembly, and then the moving control mechanism of the pop-off and disengaging mechanism 14 controls the separating pin 143 to move in the moving direction of the sliding rod 126 so as to force the pinch plate 124 to move away from the fixed seat 123, so that the pinch plate 124 drives the clamping head 122 of the clamping assembly to move close to the fixed seat 123 through the sliding rod 126 of the clamping assembly, and enables the clamping head 122 to be located at the pop-off position, thereby taking the workpiece clamped by the clamping head 122 from the clamping area for blanking operation, and also placing the workpiece in the clamping area for feeding operation, the first spring 127 of the clamping assembly is also in a compressed state at this time. When a workpiece needs to be clamped in the clamping area of the clamping tool mechanism 12 for deburring, the lifting control mechanism of the pop-up disengaging mechanism 14 controls the pressing block 142 to move upwards in the Z-axis direction, so that the separating pin 143 disengages from the buckling plate 124, the first spring 127 urges the clamping head 122 to move away from the fixed seat 123 under the elastic return action to clamp and fix the workpiece, meanwhile, the clamping head 122 drives the buckling plate 124 to move close to the fixed seat 123 through the sliding rod 126 of the clamping assembly, the pressing block 142 continues to move upwards in the Z-axis direction along with the lifting control mechanism of the pop-up disengaging mechanism 14, so that the pressing block 142 disengages from the movable plate 125, the second spring urges the movable plate 125 to move away from the tool plate 121 in the Z-axis direction under the elastic return action, so that the buckling plate 124 abuts against the movable plate 125 in the moving direction of the sliding rod 126 to form self-locking, and the first spring 127 cannot be compressed and retracted to loosen the workpiece, the clamping head 122 is guaranteed to be clamped stably, and the clamping head 122 is located at a self-locking clamping position. It can be seen that, in the present embodiment, the high-pressure water jet deburring machine 1 performs mechanical self-locking clamping on the workpiece through the clamping tool mechanism 12, and the two ends of the closed-loop conveying line 11 in the X-axis direction are respectively provided with the pop-off detachment mechanism 14 for pop-off detachment operation of the clamping tool mechanism 12, so that the workpiece clamped by the clamping tool mechanism 12 can be taken down from the clamping area for blanking operation, and the workpiece can be placed in the clamping area for feeding operation, which can greatly reduce the number of control air paths, thereby simplifying the air path arrangement, so that the high-pressure water jet deburring machine 1 of the present embodiment has a simple and compact structure, is simple and convenient to maintain, and has a low production cost, and the high-pressure water jet deburring machine 1 of the present embodiment has a high automation degree, is stable and reliable in operation, has a good deburring effect and a high production efficiency, and the high-pressure water jet deburring machine 1 of the present embodiment can be suitable for plastic, and the high-pressure water jet deburring machine 1 of the present embodiment can be used for both sides of a plastic material and a plastic material, The burrs of the workpieces such as metal, alloy and the like are cleaned and removed, and the processing range is wide.
In order to further improve the degree of automation of the high-pressure water jet deburring machine 1, the high-pressure water jet deburring machine 1 further includes a feeding robot 15 in this embodiment, the feeding robot 15 is located at the first end of the closed-loop conveying line 11 in the X-axis direction, the execution end of the feeding robot 15 is provided with a feeding chuck assembly and a feeding clamping jaw assembly, the feeding chuck assembly includes a plurality of first vacuum chucks 151, the feeding clamping jaw assembly includes a first clamping jaw 153, a second clamping jaw 154 and a first clamping jaw control mechanism, and the first clamping jaw control mechanism can control the first clamping jaw 153 and the second clamping jaw 154 to move towards or away from each other. The execution end of the feeding robot 15 in this embodiment is through setting up the feeding gripper assembly, a plurality of first vacuum chuck 151 that utilize the feeding gripper assembly carry the work piece charging tray, the execution end of the feeding robot 15 is through setting up first clamping jaw control mechanism, first clamping jaw 153 and second clamping jaw 154 of first clamping jaw control mechanism control move towards or keep away from each other and carry out the centre gripping to the work piece and carry to the first overhead centre gripping frock mechanism 12 of closed loop transfer chain 11, thereby can automize and carry out the work piece material loading operation.
In order to further improve the degree of automation of the high-pressure water jet deburring machine 1, the high-pressure water jet deburring machine 1 further includes a blanking robot 17, the blanking robot 17 is located at the second end of the closed-loop conveying line 11 in the X-axis direction, an execution end of the blanking robot 17 is provided with a blanking chuck assembly and a blanking jaw assembly, the blanking chuck assembly includes a plurality of second vacuum chucks 171, the blanking jaw assembly includes a third jaw 173, a fourth jaw 174 and a second jaw control mechanism, and the second jaw control mechanism can control the third jaw 173 and the fourth jaw 174 to move towards or away from each other. The execution end of the blanking robot 17 is provided with a blanking sucker component, a plurality of second vacuum suckers 171 of the blanking sucker component are used for carrying a workpiece tray, the execution end of the blanking robot 17 is provided with a second clamping jaw control mechanism, the second clamping jaw control mechanism of the second clamping jaw control mechanism is used for controlling a third clamping jaw 173 and a fourth clamping jaw 174 to move towards or away from each other so as to clamp, carry and carry out blanking on workpieces on the clamping tool mechanism 12 located at the second end of the closed-loop conveying line 11, and therefore workpiece blanking operation can be carried out automatically.
Specifically, the elevation control mechanism of the present embodiment is an elevation cylinder 141, a piston rod of the elevation cylinder 141 extends in the Z-axis direction and is connected to the pressing block 142, and the movement control mechanism of the present embodiment is a moving cylinder 144, a piston rod of the moving cylinder 144 extends in the moving direction of the slide rod 126 and is connected to the separation pin 143. Also, in this embodiment, the first jaw control mechanism is a first jaw cylinder 152, and the second jaw control mechanism is a second jaw cylinder 172. The high-pressure water jet deburring machine 1 further comprises a machine frame (not shown), a guide rail 110 extending in the X-axis direction is arranged on the machine frame, the guide rail 110 is located above the closed-loop conveying line 11 in the Z-axis direction, a sliding block 112 and a quick-pull pin 113 are arranged at the mounting end of the water jet robot 16, the sliding block 112 is slidably matched with the guide rail 110, a bolt 114 of the quick-pull pin 113 is connected with the machine frame, the mounting end of the water jet robot 16 is slidably matched with the guide rail 110 of the machine frame through the sliding block 112, so that the water jet robot 16 can be conveniently and manually moved in the X-axis direction, the position of the water jet robot 16 in the X-axis direction can be rapidly adjusted according to different procedures, and only the bolt 114 of the quick-pull pin 113 is connected with the machine frame when the position is fixed. In addition, a plurality of limiting holes 1210 are formed in the tooling plate 121, each clamping head 122 is provided with a first limiting pin 129 in a protruding mode, two limiting holes 1210 are matched with one first limiting pin 129 and are arranged side by side in the moving direction of the sliding rod 126, the protruding end of one first limiting pin 129 can be embedded into one limiting hole 1210, when the clamping head 122 is located at a self-locking clamping position, the protruding end of the first limiting pin 129 is embedded into the limiting hole 1210 far away from the fixing seat 123, and when the clamping head 122 is located at an ejecting separation position, the protruding end of the first limiting pin 129 is embedded into the limiting hole 1210 close to the fixing seat 123, so that the working stability and reliability of the clamping head 122 are improved.
In order to clean and remove burrs from the back surface of the workpiece, each clamping fixture 12 of this embodiment further includes a first friction wheel 1213 and a support base, the first friction wheel 1213 is supported on the support base in a manner that the first friction wheel 1213 can rotate around the horizontal direction, the tooling plate 121 is mounted on a first end of the first friction wheel 1213, and this embodiment high pressure water jet deburring machine 1 still includes two upset control mechanism 13, two upset control mechanism 13 set up side by side in the X axle direction and are close to the second end setting of closed loop transfer chain 11 in the X axle direction, each upset control mechanism 13 includes transplants seat 131, transplants control mechanism, second friction wheel 133 and upset actuating mechanism, transplantation control mechanism steerable transplants seat 131 and moves in the Y axle direction, second friction wheel 133 sets up on transplanting seat 131 and can support in the Y axle direction and press on the second end of first friction wheel 1213, upset actuating mechanism steerable second friction wheel 133 is rotatory around the horizontal direction.
After the front of the workpiece has been cleaned and removed, the high-pressure water jet deburring machine 1 of this embodiment controls the transplanting seat 131 to move close to the clamping fixture 12 in the Y-axis direction by using the transplanting control mechanism of the turning control mechanism 13, synchronously drives the second friction wheel 133 to move close to the clamping fixture 12 in the Y-axis direction, so that the second friction wheel 133 abuts against the second end of the first friction wheel 1213 in the Y-axis direction, then the turning drive mechanism of the turning control mechanism 13 controls the second friction wheel 133 to rotate around the horizontal direction, so that the second friction wheel 133 synchronously drives the first friction wheel 1213 to drive the tooling plate 121 to rotate 180 ° around the horizontal direction, then the workpiece on the tooling plate 121 is rotated 180 ° to the back of the workpiece, then the water cutter head 161 arranged at the execution end of the water cutter robot 16 jets high-pressure water outwards through the nozzle 162 to clean and remove the burrs on the back of the workpiece, then, the workpiece with the burrs removed from the back surface is rotated by 180 degrees to the front surface of the workpiece through another turnover control mechanism 13, and then the workpiece is subjected to blanking operation, so that the burrs can be cleaned and removed from the front surface and the back surface of the workpiece, and the deburring effect of the workpiece is further improved.
In order to improve the working stability and reliability of the first friction wheel 1213, the support seat of this embodiment includes a first support plate 1218 and a second support plate 1217 which are arranged side by side in the Y-axis direction, the first friction wheel 1213 is supported on the first support plate 1218 and the second support plate 1217 in a manner rotatable around the horizontal direction and movable in the Y-axis direction, the tooling plate 121 is located at one end of the first support plate 1218 far from the second support plate 1217 in the Y-axis direction, a shoulder 1214 is convexly provided on the peripheral wall of the first friction wheel 1213 between the first support plate 1218 and the second support plate 1217, a second positioning pin 1215 is convexly provided on the end face of the shoulder 1214 close to the second support plate 1217 in the Y-axis direction, two positioning holes 1216 are provided on the end face of the second support plate 1217 close to the shoulder 1214, the two positioning holes 1216 are symmetrically arranged with respect to the first friction wheel 1213, a third spring 1212 is sleeved on the first friction wheel 1213, and both ends of the third spring 1212 are respectively pressed between the first support plate 1214 and the shoulder 1215 to force the second support plate 1215 Fitting into a locating hole 1216. When the second friction wheel 133 presses against the second end of the first friction wheel 1213 in the Y-axis direction, the first friction wheel 1213 is forced to move in the Y-axis direction so that the second positioning pin 1215 on the shoulder 1214 is disengaged from the positioning hole 1216, and the third spring 1212 is in a compressed state, and then after the second friction wheel 133 drives the first friction wheel 1213 to rotate 180 ° around the horizontal direction and the second friction wheel 133 is disengaged from the second end of the first friction wheel 1213, the return elastic force of the third spring 1212 forces the second positioning pin 1215 on the shoulder 1214 to be inserted into another positioning hole 1216, so as to limit the position of the second friction wheel 133, and improve the working stability and reliability of the first friction wheel 1213. Wherein, the transplanting control mechanism of this embodiment is a transplanting cylinder 132, a piston rod of the transplanting cylinder 132 extends in the Y-axis direction and is connected with the transplanting seat 131, and the overturning driving mechanism of this embodiment is an overturning motor 134, and a driving shaft of the overturning motor 134 is connected with the second friction wheel 133.
Referring to fig. 13 to 15, the high-pressure water jet deburring machine 1 of the present embodiment further includes a visual inspection robot 18 and an inspection jig mechanism 19, and the visual inspection robot 18 and the inspection jig mechanism 19 are located at an end of the blanking robot 17 away from the closed-loop conveyor line 11 in the X-axis direction. Wherein, the execution end of the vision inspection robot 18 of this embodiment is provided with the inspection camera 181 and the material taking jaw assembly, the material taking jaw assembly comprises a fifth jaw 183, a sixth jaw 184 and a third jaw control mechanism, and the third jaw control mechanism can control the fifth jaw 183 and the sixth jaw 184 to move towards or away from each other. Further, the inspection jig mechanism 19 of the present embodiment includes a rotation control mechanism which controls the rotation of the jig plate 191 in the horizontal direction, a jig plate 191, and at least two jig components each including a cylinder 192 and a jig head 193, the cylinder 192 being mounted on the jig plate 191 and controlling the jig head 193 to move relative to the jig plate 191, and a fixing region (not shown) for placing the workpiece being formed on the jig plate 191 between the plurality of jig heads 193.
The high-pressure water jet deburring machine 1 of the embodiment is provided with a material taking clamping jaw assembly at the executing end of the visual inspection robot 18, the third clamping jaw control mechanism of the material taking clamping jaw assembly is used for controlling the fifth clamping jaw 183 and the sixth clamping jaw 184 to move towards or away from each other so as to clamp and feed a workpiece which is subjected to burr cleaning and removal to the fixing area of the inspection clamp mechanism 19, the air cylinder 192 of the clamp assembly in the inspection clamp mechanism 19 is used for controlling the clamp head 193 to move relative to the clamp plate 191, so that the clamp head 193 clamps and fixes the workpiece which is subjected to burr cleaning and removal on the fixing area, and then the front face of the workpiece which is subjected to burr cleaning and removal is photographed and detected by the inspection camera 181 arranged at the executing end of the visual inspection robot 18. After the front side of the workpiece with the burr cleaned and removed is photographed and detected, the rotation control mechanism of the detection clamp mechanism 19 controls the clamp plate 191 to rotate 180 degrees around the horizontal direction, then the workpiece with the burr cleaned and removed on the clamp plate 191 is rotated 180 degrees to the back side of the workpiece, and then the photographing detection is performed on each position of the back side of the workpiece with the burr cleaned and removed through the detection camera 181 arranged at the execution end of the visual detection robot 18. It can be seen that the high-pressure water jet deburring machine 1 of the embodiment detects and controls the deburring effect of the workpiece by arranging the vision detection robot 18 and the detection clamp mechanism 19, thereby ensuring the production quality of deburring by cleaning. In this embodiment, the rotation control mechanism is a rotation cylinder 196, and the third jaw control mechanism is a third jaw cylinder 182.
In order to avoid damage to the workpiece, in the present embodiment, a first elastic glue head 128 is disposed on a side of the clamping head 122 away from the pinch plate 124, and a second elastic glue head 194 is disposed on a side of the clamp head 193 away from the cylinder 192. In order to improve the accuracy of feeding the workpiece to the tooling plate 121 and the clamp plate 191, each clamping tooling mechanism 12 of the embodiment further includes a plurality of first limiting posts 1211, the plurality of first limiting posts 1211 are disposed on the tooling plate 121 in a manner protruding out of the tooling plate 121 and are arranged around the periphery of the clamping area, and the detection clamp mechanism 19 of the embodiment further includes a plurality of second limiting posts 195, the plurality of second limiting posts 195 are disposed on the clamp plate 191 in a manner protruding out of the clamp plate 191 and are arranged around the periphery of the fixing area.
The above embodiments are merely preferred examples of the present invention, and not intended to limit the scope of the invention, so that equivalent changes or modifications made based on the structure, characteristics and principles of the invention as claimed should be included in the claims of the present invention.
Claims (10)
1. High-pressure water jet deburring machine, including closed loop transfer chain, a plurality of water sword robot, a plurality of centre gripping frock mechanism and high-pressure pump, it is a plurality of centre gripping frock mechanism is in arrange on the direction of delivery of closed loop transfer chain on the closed loop transfer chain, closed loop transfer chain is steerable centre gripping frock mechanism is closed loop conveying on the horizontal direction, and is a plurality of the water sword robot is arranged on X axle direction, each the execution end of water sword robot is provided with the water tool bit, the water tool bit with the high-pressure pump communicates mutually, just the nozzle has been seted up to the water tool bit, its characterized in that:
each clamping tool mechanism comprises a tool plate and at least two clamping components, each clamping component comprises a fixed seat, a clamping head, a first spring, a sliding rod, a pinch plate, a second spring and a movable plate, the fixed seat is arranged on the tooling plate, the sliding rod can movably penetrate through the fixed seat, the clamping head and the pinch plate are respectively arranged at two ends of the sliding rod, the first spring is sleeved on the sliding rod and is pressed between the fixed seat and the clamping head in a propping manner, the movable plate is positioned at one side of the pinch plate far away from the clamping head, and the second spring is located between the movable plate and the tooling plate and urges the movable plate to move away from the tooling plate in the Z-axis direction, the pinch plate can be pressed on the movable plate in the moving direction of the sliding rod, and a clamping area for placing a workpiece is formed on the tool plate in a surrounding mode among the clamping heads;
the closed loop transfer chain is provided with two at least bullet separating mechanism respectively at X axle ascending both ends, one bullet separating mechanism adaptation one the centre gripping subassembly is located in Z axle direction the top of centre gripping subassembly, each bullet separating mechanism includes briquetting, lifting control mechanism, separation round pin and movement control mechanism, lifting control mechanism is steerable the briquetting moves in Z axle direction so that the briquetting supports and presses on the fly leaf, the separation round pin sets up on the briquetting, just movement control mechanism is steerable the separation round pin is in the removal direction of slide bar removes in order to force the buckle is kept away from the fixing base removes.
2. The high pressure water jet deburring machine of claim 1 wherein:
the high-pressure water jet deburring machine further comprises a feeding robot, the feeding robot is located at the first end of the closed-loop conveying line in the X-axis direction, and a feeding sucker assembly and a feeding clamping jaw assembly are arranged at an execution end of the feeding robot;
the material loading sucking disc subassembly includes a plurality of first vacuum chuck, material loading clamping jaw subassembly includes first clamping jaw, second clamping jaw and first clamping jaw control mechanism, first clamping jaw control mechanism is steerable first clamping jaw with the second clamping jaw moves towards or keeps away from each other.
3. The high pressure water jet deburring machine of claim 1 wherein:
the high-pressure water jet deburring machine further comprises a blanking robot, the blanking robot is located at the second end of the closed-loop conveying line in the X-axis direction, and a blanking sucker assembly and a blanking clamping jaw assembly are arranged at an execution end of the blanking robot;
unloading sucking disc subassembly includes a plurality of second vacuum chuck, unloading clamping jaw subassembly includes third clamping jaw, fourth clamping jaw and second clamping jaw control mechanism, second clamping jaw control mechanism is steerable the third clamping jaw with the fourth clamping jaw is towards or is kept away from each other and removes.
4. The high pressure water jet deburring machine of claim 3 wherein:
the high-pressure water jet deburring machine further comprises a visual detection robot and a detection clamp mechanism, wherein the visual detection robot and the detection clamp mechanism are located at one end, far away from the closed-loop conveying line, of the blanking robot in the X-axis direction;
the vision detection robot comprises a vision detection robot body, a material taking clamping jaw assembly and a control system, wherein the execution end of the vision detection robot body is provided with a detection camera and the material taking clamping jaw assembly, the material taking clamping jaw assembly comprises a fifth clamping jaw, a sixth clamping jaw and a third clamping jaw control mechanism, and the third clamping jaw control mechanism can control the fifth clamping jaw and the sixth clamping jaw to move towards or away from each other;
detect anchor clamps mechanism includes rotation control mechanism, anchor clamps board and two at least anchor clamps subassemblies, rotation control mechanism is steerable the anchor clamps board is rotatory around the horizontal direction, each anchor clamps subassembly includes cylinder and anchor clamps head, the cylinder is installed on the anchor clamps board and steerable the anchor clamps head is relative the anchor clamps board removes, and is a plurality of between the anchor clamps head on the anchor clamps board around forming the fixed area that is used for placing the work piece.
5. The high pressure water jet deburring machine of claim 4 wherein:
a first elastic rubber head is arranged on one side of the clamping head, which is far away from the pinch plate;
and/or one side of the clamp head, which is far away from the cylinder, is provided with a second elastic rubber head.
6. The high pressure water jet deburring machine of claim 4 wherein:
each clamping tool mechanism further comprises a plurality of first limiting columns, and the plurality of first limiting columns are arranged on the tool plate in a manner of protruding out of the tool plate and distributed around the periphery of the clamping area;
and/or, the detection clamp mechanism further comprises a plurality of second limiting columns, and the second limiting columns are arranged on the clamp plate in a protruding mode and surround the periphery of the fixing area.
7. The high pressure water jet deburring machine of claim 1 wherein:
the high-pressure water jet deburring machine further comprises a rack, wherein a guide rail extending in the X-axis direction is arranged on the rack, and the guide rail is positioned above the closed-loop conveying line in the Z-axis direction;
the installation end of water sword robot is provided with slider and fast pull-out pin, slider slidable ground with the guide rail cooperation, the bolt of fast pull-out pin with the frame is connected.
8. The high pressure water jet deburring machine of claim 1 wherein:
the tool plate is provided with a plurality of limiting holes, each clamping head is convexly provided with a first locating pin, the two limiting holes are matched with one first locating pin and are arranged side by side in the moving direction of the sliding rod, and one protruding end of the first locating pin can be embedded into one limiting hole.
9. The high-pressure water jet deburring machine of any one of claims 1 to 8 wherein:
each clamping tool mechanism further comprises a first friction wheel and a supporting seat, the first friction wheel can be rotatably supported on the supporting seat around the horizontal direction, and the tool plate is mounted at the first end of the first friction wheel;
the high-pressure water jet deburring machine also comprises two turnover control mechanisms, wherein the two turnover control mechanisms are arranged side by side in the X-axis direction and are arranged close to the second end of the closed-loop conveying line in the X-axis direction;
each overturning control mechanism comprises a transplanting seat, a transplanting control mechanism, a second friction wheel and an overturning driving mechanism, the transplanting control mechanism can control the transplanting seat to move in the Y-axis direction, the second friction wheel is arranged on the transplanting seat and can be abutted against and pressed on the second end of the first friction wheel in the Y-axis direction, and the overturning driving mechanism can control the second friction wheel to rotate around the horizontal direction.
10. The high pressure water jet deburring machine of claim 9 wherein:
the supporting seat comprises a first supporting plate and a second supporting plate which are arranged side by side in the Y-axis direction, the first friction wheel can rotate around the horizontal direction and can be supported on the first supporting plate and the second supporting plate in a movable mode in the Y-axis direction, and the tool plate is located at one end, far away from the second supporting plate, of the first supporting plate in the Y-axis direction;
a shaft shoulder is convexly arranged on the outer peripheral wall of the first friction wheel between the first support plate and the second support plate, a second positioning pin is convexly arranged on the end face, close to the second support plate, of the shaft shoulder in the Y-axis direction, two positioning holes are formed in the end face, close to the shaft shoulder, of the second support plate, and the two positioning holes are symmetrically arranged relative to the first friction wheel;
and a third spring is sleeved on the first friction wheel, and two ends of the third spring are respectively pressed between the first supporting plate and the shaft shoulder so as to force the second positioning pin to be embedded into one positioning hole.
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| CN202210386840.0A CN114800284B (en) | 2022-04-13 | 2022-04-13 | High-pressure water jet deburring machine |
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| CN202210386840.0A CN114800284B (en) | 2022-04-13 | 2022-04-13 | High-pressure water jet deburring machine |
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| CN211823228U (en) * | 2020-03-25 | 2020-10-30 | 东莞市万威自动化设备有限公司 | Workpiece deburring equipment based on water jet cutter |
| CN211805594U (en) * | 2020-03-25 | 2020-10-30 | 东莞市万威自动化设备有限公司 | Water jet cutting machining device of workpiece deburring equipment |
| CN111906074A (en) * | 2020-08-13 | 2020-11-10 | 上海柯灵实业发展有限公司 | Engine balancer housing cleaning system |
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| US5028003A (en) * | 1985-04-03 | 1991-07-02 | Nitto Boseki Co., Ltd. | High pressure fluid processing device |
| JP2006224292A (en) * | 2005-01-19 | 2006-08-31 | Grandex Co Ltd | Deburring method and device |
| JP2008117917A (en) * | 2006-11-02 | 2008-05-22 | Sugino Mach Ltd | Deburring equipment, and deburring method |
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| CN114800284B (en) | 2023-02-21 |
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