CN115109913A - Automatic heat treatment production line and production method of guide arm - Google Patents

Abstract

The invention discloses an automatic heat treatment production line of a guide arm, which relates to the field of guide arm manufacturing and comprises a quenching furnace, a positioning table, a bending forming machine, a torsion forming machine, a quenching tank and a tempering furnace, wherein a first robot is arranged between the positioning table and the bending forming machine, a second robot is arranged between the bending forming machine and the torsion forming machine, and the second robot is arranged on a moving track in a sliding manner; a feeding system is also arranged at the quenching furnace and comprises a feeding robot and a feeding vision device; a third robot and a first displacement table are arranged between the tempering furnace and the quenching tank; the first displacement table is configured to rotate the guide arm 180 degrees from the supine state so as to be convenient to grab on the tempering furnace for placing; tempering furnace department still is equipped with sign indicating number material system, including sign indicating number material robot, sign indicating number material vision device and second platform that shifts, the second platform that shifts is configured to be 180 degrees so that sign indicating number material robot sign indicating number material with the guide arm by the horizontal gyration of side stand state. Through automatic wiring, the production efficiency is improved, the labor intensity is reduced, and the device has good comprehensive economic benefits and is convenient to popularize.

Description

Automatic heat treatment production line and production method of guide arm

Technical Field

The invention relates to the field of manufacturing of automobile suspension guide arms, in particular to an automatic heat treatment production line and a production method of guide arms.

Background

The air suspension is an important part of a commercial vehicle, takes an air spring as an elastic element, and has the advantages of adjustable load capacity, rigidity changing along with the load, lower natural frequency and the like; the guide arm plays a role in bearing and guiding in the air suspension, the front end of the guide arm is connected with the vehicle frame in a rotating mode, the middle of the guide arm is fixedly connected with the vehicle axle, and the rear part of the guide arm is connected with the air spring. The heat treatment is a key process for meeting the requirements, and certain requirements on hardness, a quenched structure, a tempered structure and geometric dimensions are required to be met through forming, quenching and tempering.

The production mode and the equipment of the guide arm are similar to those of a leaf spring at present, but the structure of the guide arm is more complex, is different from a semi-elliptical structure of the leaf spring, presses a workpiece into an approximate arc shape and only forms the workpiece in a vertical plane, the guide arm is mostly pressed into a Z-shaped structure, part of the guide arm needs to form the workpiece in a lateral direction in the horizontal section of the lower half part of the Z-shaped workpiece, and the weight is larger, the forming and quenching are carried out for a plurality of times of heating and sectional hot-press forming during the production of the guide arm, the surface decarburization is serious, the size fluctuation is large, the qualification rate is low, the kinetic energy consumption is large, due to the structure, the automation of stable conveying and carrying of workpieces on equipment is not easy to realize, the workpieces are manually loaded and unloaded, the labor intensity is high, the operation safety risk is high, the existing production process and equipment cannot meet the requirements of large batch, specialization, high quality and high efficiency of the guide arm, and the economic benefit of an enterprise is reduced.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides an automatic heat treatment production line and a production method for a guide arm, so as to realize automatic heat treatment processing of the guide arm.

Specifically, the detailed scheme provided by the invention is as follows:

an automatic heat treatment production line of a guide arm comprises a quenching furnace, a positioning table, a bending forming machine, a torsion forming machine, a quenching tank and a tempering furnace which are sequentially arranged, wherein a first robot is arranged between the positioning table and the bending forming machine, a second robot is arranged between the bending forming machine and the torsion forming machine, and the second robot is slidably arranged on a moving track; a feeding system is also arranged at the quenching furnace and comprises a feeding robot and a feeding vision device;

a third robot and a first displacement table are further arranged between the tempering furnace and the quenching tank; the first displacement table is configured to rotate the guide arm 180 degrees from the supine position so that the third robot can grab and correctly place the guide arm on the tempering furnace again;

the tempering furnace is also provided with a stacking system which comprises a stacking robot, a stacking vision device and a second displacement platform, wherein the second displacement platform is configured to horizontally rotate the guide arm for 180 degrees from a side-standing state, so that the stacking robot can grab the guide arm again and correctly stack the guide arm on the stacking frame.

Further, the feeding visual device is fixedly arranged on a support above the feeding frame in front of the quenching furnace, and comprises a camera, a light source and an upper computer system;

the feeding robot is fixedly arranged on a foundation in front of the quenching furnace, and a feeding manipulator is fixed on the feeding robot; the feeding manipulator is of a magnetic type structure.

Furthermore, the magnetic part of the feeding manipulator consists of two electromagnets, and the two electromagnets can rotate around the supporting shaft at a small angle.

Furthermore, the quenching furnace consists of a furnace body, a furnace front conveying belt, a stepping conveying device and a combustion system, wherein after a guide arm on the furnace front conveying belt moves to the tail end, the stepping conveying device conveys workpieces into the furnace body, and the workpieces move to an outlet of the furnace body after passing through a preheating zone, a heating zone and a heat preservation zone of the combustion system.

Furthermore, the positioning table is close to the outlet of the quenching furnace, a length direction centering device and a width direction aligning device are arranged in the positioning table, and the guide arm is positioned on the positioning table through the length direction centering device and the width direction aligning device, so that the first robot can place the guide arm on the press bending forming machine conveniently.

Further, the quenching tank comprises a tank body, a quenching oil circulating cooling system, an oxide skin collecting and lifting device and a workpiece conveying device;

the quenching oil circulation cooling system is configured to adjust the workpiece in the spraying direction, the spraying speed and the spraying time by using quenching oil, so that the quenching cooling speed is accurately controlled;

the oxide scale collecting and lifting device comprises a scraper component and a lifting component;

the workpiece conveying device comprises an inlet lifting device, a horizontal conveying device and an outlet lifting device.

Further, the tempering furnace is a continuous gas heating furnace and comprises a furnace body, a natural gas combustion control system and a tempering conveying belt, the guide arm is laterally erected on the tempering conveying belt, and tempering is completed after heating, heat preservation and spray water cooling.

Furthermore, the first robot, the second robot and the third robot are six-axis robots and are all provided with double-cylinder driven double-claw structural manipulators.

Further, the material stacking visual device is fixedly installed on a support on the rear side of an outlet of the tempering furnace and consists of a camera, a light source and an upper computer system;

the stacking robot is fixedly arranged on a foundation behind the tempering furnace, and a stacking manipulator is fixed on the stacking robot; the stacking manipulator is of a magnetic attraction type structure.

Meanwhile, the scheme also provides an automatic heat treatment production method of the guide arm, the production line is adopted, and the method comprises the following steps:

s1: the material rack filled with the guide arm is placed at the material loading position by a forklift, a camera of the material loading visual device scans the workpieces stacked on the material rack, the central hole of the workpiece positioned on the uppermost layer is identified, a mechanical arm of a material loading robot is guided to be aligned with the workpiece and placed on a furnace front conveying belt of the quenching furnace horizontally after being magnetically attracted, and one workpiece is magnetically attracted each time;

s2: the furnace front conveying belt moves the workpiece to the head end of a stepping device of the quenching furnace through chain transmission, the stepping conveying device conveys the workpiece into a hearth, and a furnace door is opened after the workpiece is stepped to a furnace outlet through a preheating zone, a heating zone and a heat preservation zone;

s3: a manipulator of the first robot grabs a workpiece from the furnace door and translates the workpiece into the positioning table, and the manipulator loosens; the length direction centering device and the width direction aligning device are used for respectively positioning the workpiece and keeping the posture of the workpiece horizontal;

s4: the manipulator of the first robot clamps the positioned workpiece again, the workpiece is transported to the bending forming machine and then loosened, the first robot returns to the original position at the outlet of the quenching furnace, and the bending forming machine finishes positioning and forming successively;

s5: the manipulator of the second robot enters a torsion forming machine, and the workpiece is conveyed to the torsion forming machine to be formed in a torsion mode;

s6: a manipulator of the second robot translates the workpiece to an inlet lifting device at the inlet of the quenching tank, the inlet lifting device drives the workpiece to enter oil at a certain speed and is placed on a chain of a horizontal conveying device, the horizontal conveying device supports the workpiece to move step by step and moves to an outlet lifting device, and the outlet lifting device supports the workpiece to lift out of the oil surface, so that the quenching and cooling process of the workpiece is completed;

s7: a manipulator of the third robot grabs a workpiece and moves the workpiece to the first displacement table, a clamping device in the first displacement table clamps the workpiece, a rotating device in the first displacement table drives the workpiece to rotate for 180 degrees and then the clamping device is released, the manipulator of the third robot grabs the workpiece again and puts the workpiece on a tempering conveyor belt in a side-standing posture at intervals as required, and meanwhile, the rotating device returns to the original position;

s8: conveying the workpiece on a tempering conveyor belt, heating, preserving heat, spraying water and cooling to finish tempering, and enabling the workpiece to reach a furnace outlet;

s9: camera scanning among the sign indicating number material vision device puts the book ear end of work piece on tempering conveyer belt in tempering furnace exit, after confirming the book ear position, guide sign indicating number material robot's manipulator to aim at the work piece of the side attitude of standing the gesture, the translation is to putting on the second platform that shifts after the magnetism is inhaled, clamping device in the second platform that shifts presss from both sides tight work piece and transposition 180 back loose clamp, the manipulator of sign indicating number material robot aims at work piece magnetism once more, place the work piece level on sign indicating number work or material rest, the direction of sign indicating number material is confirmed according to the book ear direction that the camera guided.

The beneficial effect that adopts this technical scheme to reach does:

1. the waste heat of the guide arm after quenching and heating is utilized to realize subsequent continuous forming processing, so that the decarburization and kinetic energy consumption of the guide arm in the processing process are reduced.

2. The press bending forming machine is used for realizing one-time positioning before forming, the positioning is overlapped with a design reference, the subsequent forming size precision is improved, and compared with the traditional repeated positioning, the process auxiliary time is shortened.

3. The robot and manipulator technology is utilized, the automation of inter-process carrying is realized, the robot and manipulator are matched through the vision technology, the automatic feeding and stacking problem of complex workpieces is solved, the production efficiency is improved through automatic connection, the labor intensity is reduced, and the robot and manipulator combined type automatic stacking machine has good comprehensive economic benefits and is convenient to popularize.

Drawings

FIG. 1 is a plan view of a left part guide arm of an automated thermal processing line used in the present invention.

Fig. 2 is a structural view of the guide arm before the press bending machine performs forming.

Fig. 3 is a structural diagram of the guide arm after the press bending forming machine forms the guide arm.

Fig. 4 is a top view structural view of the twist forming machine.

Fig. 5 is a side view structural view of the twist forming machine.

Fig. 6 is a plan view of the quenching bath and the conveying device.

Fig. 7 is a schematic diagram illustrating the posture change of the left and right guide arms by the first and second shift tables.

Fig. 8 is a schematic structural view of the manipulators of the first, second and third robots.

Fig. 9 is a schematic structural diagram of a loading and stacking manipulator.

Fig. 10 is a structural view of a molding of a semi-elliptical plate spring molding machine.

Wherein: 10 feeding systems, 11 feeding robots, 12 feeding visual devices, 20 quenching furnaces, 21 furnace bodies, 22 furnace front conveying belts, 30 positioning tables, 40 bending forming machines, 41 left upper dies, 42 upper pressing dies, 43 right upper dies, 44 left lower dies, 45 right lower dies, 46 length positioning devices, 50 twisting forming machines, 51 first clamping devices, 52 second clamping devices, 53 forming devices, 54 lifting devices, 60 quenching tanks, 61 tank bodies, 62 quenching oil circulating cooling systems, 63 inlet lifting devices, 64 horizontal conveying devices, 65 outlet lifting devices, 70 tempering furnaces, 81 stacking robots, 82 stacking visual devices, 83 second position changing tables, 90 semi-elliptical plate spring forming machines, 91 upper clamps, 92 pressing upper dies, 93 lower clamps, 94 pressing lower dies, 100 first robots, 200 second robots, 210 rails, 300 third robots and 310 first position changing tables.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

The embodiment provides an automatic heat treatment production line of guide arm, realizes the automatic contour machining to the guide arm through utilizing this production line, through automatic line, has improved production efficiency, has reduced intensity of labour, has good comprehensive economic benefits, facilitate promotion.

Specifically, referring to fig. 1, a left piece guide arm (for short, left piece) for Z-shaped press bending and with a counterclockwise twisted press bending lower portion is taken as an example for illustration, and the structural arrangement of the production line includes a feeding system 10, a quenching furnace 20, a positioning table 30, a press bending forming machine 40, a twisting forming machine 50, a quenching tank 60 and a tempering furnace 70, which are sequentially arranged in sequence.

The feeding system 10 comprises a feeding robot 11 and a feeding visual device 12, the feeding visual device 12 is fixedly mounted on a support above a feeding frame in front of the quenching furnace 20, and the feeding visual device 12 comprises a camera, a light source and an upper computer system; the feeding robot 11 is fixedly arranged on a front foundation of the quenching furnace 20, and a feeding manipulator is fixed on the feeding robot 11; this material loading manipulator is for inhaling formula structure.

Specifically, the magnetic part of the feeding manipulator is composed of two electromagnets, and the two electromagnets can rotate around the supporting shaft at a small angle. To ensure good contact of the magnet work surface with the workpiece (i.e., the guide arm).

The feeding robot 11 sucks the guide arm to a furnace front conveyor belt 22 in a quenching furnace 20, the quenching furnace 20 is similar to an existing natural gas stepping furnace, the quenching furnace 20 comprises a furnace body 21, the furnace front conveyor belt 22, a stepping conveying device and a combustion system, after the guide arm on the furnace front conveyor belt 22 moves to the tail end, the stepping conveying device conveys a workpiece into the furnace body 21, and the workpiece moves to an outlet of the furnace body through a preheating zone, a heating zone and a heat preservation zone of the combustion system.

The positioning table 30 is close to the outlet of the quenching furnace 20, a length direction centering device and a width direction aligning device are arranged in the positioning table 30 and can be driven in a pneumatic or hydraulic mode, and the guide arm is positioned on the positioning table 30 through the length direction centering device and the width direction aligning device.

In the embodiment, the length direction centering device is controlled by the air cylinder, and the width direction aligning device is driven by the hydraulic cylinder, so that the aligning precision is ensured, and the subsequent forming size precision of a product is improved.

The guide arm is moved from the quenching furnace 20 to the positioning table 30 by a first robot 100, and specifically, the first robot 100 is installed between the positioning table 30 and the press bending machine 40. The first robot 100 is configured to grasp the guide arm from the quenching furnace 20 onto the positioning table 30, and may also grasp the guide arm after the positioning on the positioning table 30 onto the press bending forming machine 40.

In the scheme, referring to fig. 2-3, the bending forming machine 40 is a gantry frame structure, a left forming cylinder, a pressing cylinder and a right forming cylinder are sequentially arranged on a gantry beam from left to right and are respectively connected with forming upper dies, namely a left upper die 41, an upper pressing die 42 and a right upper die 43, a left lower die 44 and a right lower die 45 are correspondingly arranged on a working table plate, and a length positioning device 46 is arranged in a cavity in a left side column of the gantry frame and is used for positioning a push rod for a nut screw rod driven by a servo motor.

When the robot works, a positioned workpiece is placed on the left lower die 44 by a manipulator of the first robot 100, a groove corresponding to the manipulator is machined in the left lower die 44, a positioning push rod of the length positioning device 46 extends out, the distance from the lug to a center hole of the guide arm is accurately positioned, the positioning push rod retracts, the pressing cylinder drives the upper pressing die 42 to press the middle part of the workpiece, then the left forming cylinder and the right forming cylinder drive the left upper die and the right upper die to simultaneously or sequentially move to complete forming, and the pressing cylinder and the left forming cylinder and the right forming cylinder move upwards and return to the original position after forming. In the embodiment, the middle part is firstly compressed and the left and right forming cylinders simultaneously move downwards during working.

The length positioning device 46 of the bending forming machine 40 is used for realizing one-time positioning before forming, the positioning is accurately superposed with the design standard, the subsequent forming size precision is improved, and compared with the traditional repeated positioning, the process auxiliary time is reduced.

A second robot 200 is installed between the press bending machine 40 and the torsion forming machine 50, and the second robot 200 is slidably installed on the moving rail 210. With the sliding fit of the second robot 200 with the moving rail 210, the second robot 200 may be enabled to transfer the guide arm formed in the press bending forming machine 40 into the torsion forming machine 50; it is also possible to transfer the guide arm formed in the twist forming machine 50 into the quenching tank 60; alternatively, when the guide arm does not require the twisting step, the second robot 200 transfers the guide arm formed in the press bending machine 40 directly to the quenching bath 60.

In the scheme, referring to fig. 4-5, the twisting and forming machine 50 is of a mechanical or hydraulic driving type, except for a frame, a first clamping device 51 and a second clamping device 52 are arranged on the upper portion from left to right to clamp the non-formed part and the to-be-formed part of the workpiece respectively, a forming device 53 is arranged on the lower portion of the second clamping device 52 to drive the second clamping device 52 to complete the partial forming of the workpiece, and a workpiece lifting device 54 is arranged on the lower portion of the first clamping device 51 to facilitate the manipulator of the second robot 200 to grasp the workpiece.

In this embodiment, the first clamping device 51 and the second clamping device 52 are driven by motors, and the forming device 53 is driven by a servo motor, and can rotate counterclockwise according to the requirement of the guide arm to complete the forming of the left piece. And for the right piece, conversely, the forming device rotates clockwise to complete the forming of the right piece.

The lifting device 54 is cylinder driven. The working process is as follows, the manipulator of the second robot 200 takes out the workpiece from the press bending forming machine 40 and moves the workpiece onto the workpiece lifting device 54, the second robot 200 exits after the manipulator looses the clamp, the workpiece lifting device 54 drives the workpiece to fall, the first clamping device 51 and the second clamping device 52 simultaneously clamp the workpiece, then the forming device 53 drives the second clamping device 52 to complete the partial forming of the workpiece, the second clamping device 52 and the first clamping device 51 are successively loosened after the forming, the workpiece lifting device 54 lifts the workpiece, the manipulator of the second robot 200 carries the workpiece to the quenching tank 60, and then the forming device 53 returns to the original position.

It should be noted that not all the guide arm workpieces have the requirement of twist forming, and if forming is not required, the workpiece lifting device 54 of the twist forming machine 50 is kept at the upper position, the workpiece lifting device 54 becomes the intermediate temporary storage position, and the robot hand of the second robot 200 directly conveys the workpiece to the quenching tank 60.

Referring to fig. 6, the quenching tank 60 includes a tank body 61, a quenching oil circulation cooling system 62, an oxide skin collecting and lifting device, and a workpiece conveying device; the quenching oil circulation cooling system 62 is configured to adjust the workpiece in the spraying direction, the spraying speed and the spraying time by using quenching oil, so as to realize accurate control of the quenching cooling speed; the oxide skin collecting and lifting device comprises a scraper component and a lifting component; the work conveying apparatus includes an entrance elevating device 63, a horizontal conveying device 64, and an exit elevating device 65.

The tank body 61 is a sealed steel tank body surrounded by front and rear side wall plates, left and right side wall plates and a bottom plate. The quenching oil circulating cooling system 62 comprises an oil storage tank, a circulating oil pump, a filter, an oil inlet pipeline, a nozzle, a heat exchanger, a cooling water pump, a cooling water pipeline, a liquid level meter, liquid temperature control and the like, and meets the quenching requirements of workpieces of different materials and different dimensions. The cooperation of the scraper assembly and the lifting assembly serves to collect scale present in the trough body 61. The inlet lifting device 63 and the outlet lifting device 65 are respectively arranged at the front part and the rear part of the groove body 61, the horizontal conveying device 64 is arranged at the bottom of the groove body 61, the inlet lifting device 63 and the outlet lifting device 65 are similar in structure, a driving chain wheel is driven by a motor or a cylinder and is arranged at the upper part of the groove body, workpiece bracket limiting blocks on the two chain plates are driven by chain transmission, and the workpiece bracket limiting blocks are arranged at certain intervals to prevent the displacement of a workpiece in lifting and conveying.

In this embodiment, the inlet lifting device 63 and the outlet lifting device 65 are both driven by air cylinders, the horizontal conveying device 64 is driven by a motor, and the distance between two rows of conveying chains can be adjusted.

Referring to fig. 1 and 7, after passing through quenching tank 60, the guide arm is transferred to tempering furnace 70 by third robot 300, specifically, third robot 300 and first displacement table 310 are further provided between tempering furnace 70 and quenching tank 60; the first indexing table 310 is configured to rotate the guide arm 180 from the supine position to facilitate grasping onto the draw furnace for placement.

It can be understood that, in the present embodiment, the first displacement table 310 is fixedly installed on the third robot 300 side, the upper portion of the first displacement table 310 is provided with a clamping device driven by two cylinders, the clamping device is fixed on the work table, the lower portion of the work table is connected with a rotating device, the rotating device is fixed on the frame, and the rotating device is a revolving cylinder.

The operation is as follows, the third robot 300 holds the workpiece and conveys the workpiece from the outlet lifting device 65 of the quenching bath 60 to the conveyor belt of the tempering furnace 70, specifically, the workpiece is placed on the conveyor belt of the tempering furnace in a side-up posture. This is because when the workpiece is a lower part of the Z-shaped guide arm twisted counterclockwise (that is, when the guide arm is a left part), the robot hand of the third robot 300 cannot directly and correctly place the workpiece on the conveyor belt of the tempering furnace 70, and needs to be displaced on the first displacement table 310, that is, the guide arm needs to be changed from a horizontal state (supine state) to a side standing state; firstly, the manipulator of the third robot 300 moves the workpiece to the first position changing table 310, after the guide arm is clamped by the clamping device, the rotating device on the first position changing table 310 drives the workpiece to rotate 180 degrees, the clamping device is loosened, the manipulator of the third robot 300 again grabs the workpiece, and the workpiece is placed on the conveyor belt of the tempering furnace 70 in a side-standing mode as required.

When the guide arm is Z-shaped press bending and the press bending lower portion is twisted clockwise (that is, when the guide arm is right) or the press bending lower portion is not twisted, the first displacement table 310 does not operate, and at this time, the guide arm is directly transferred from the outlet lifting device 65 of the quenching bath 60 to the conveyor of the tempering furnace 70 by the manipulator of the third robot 300.

The tempering furnace 70 is a continuous gas heating furnace, and comprises a furnace body, a natural gas combustion control system and a tempering conveyor belt, wherein a guide arm is laterally erected on the tempering conveyor belt, and tempering is completed after heating, heat preservation and spray water cooling.

The guide arm after tempering needs to be collected and sized, so a sizing system is further arranged at the tempering furnace 70 and comprises a sizing robot 81, a sizing vision device 82 and a second shifting table 83, wherein the second shifting table 83 is configured to horizontally rotate the guide arm 180 degrees from a side standing state so as to facilitate the sizing of the sizing robot.

Specifically, the material stacking vision device 82 is fixedly arranged on a support at the rear side of the tempering furnace 70, the material stacking vision device 82 is composed of a camera, a light source and an upper computer system, and the material stacking robot 81 is fixedly arranged on a foundation at the rear of the tempering furnace 70; sign indicating number material robot 81 is six robots, and sign indicating number material manipulator is fixed on the sixth axle of sign indicating number material robot 81, and the formula structure is inhaled for magnetism to sign indicating number material manipulator, and its structure is similar with the material loading manipulator. Meanwhile, the second indexing table 83 here has the same structure as the first indexing table 310.

The material stacking working process comprises the following steps: firstly, a camera in a stacking vision device 82 scans a workpiece of a tempering conveyor belt, the position of a lug hole of the workpiece is identified, an upper computer system transmits the workpiece to a stacking robot 81, a manipulator of the stacking robot 81 is aligned with a workpiece central hole part and moves to a second displacement table 83 after being magnetically attracted, the workpiece stands on the side in a clamping device of the second displacement table 83, the workpiece rotates 180 degrees to be loosely clamped after being clamped, the manipulator of the stacking robot 81 magnetically attracts the workpiece central hole part again, the manipulator is driven by the stacking robot 81 to stack the workpiece in a material rack, and the stacking direction is determined by the camera.

In the scheme, referring to fig. 8-9, the first robot 100, the second robot 200, and the third robot 300 are all six-axis robots, and are all provided with double-cylinder driven double-claw structural manipulators. The feeding robot 11 and the stacking robot are also fixed with mechanical arms; the manipulator is of a magnetic attraction type structure.

Meanwhile, the scheme also provides an automatic heat treatment production method of the guide arm, the production line is adopted, and the method comprises the following steps:

s1: the rack filled with the guide arms is placed at the loading position by a forklift, the camera of the loading vision device 12 scans the workpieces stacked on the rack, the center hole of the workpiece positioned on the uppermost layer is identified, the mechanical arm of the loading robot 11 is guided to be aligned with the workpiece and placed on the furnace front conveying belt 22 of the quenching furnace 20 horizontally after being magnetically attracted, and one workpiece is magnetically attracted each time.

The feeding robot 11 returns to the upper part of the material rack to complete a feeding process; and repeating the last cycle until the material rack becomes an empty material rack and replacing with a new full material rack.

Preferably, can set up two work or material rest positions, can realize not shutting down and replace full, empty work or material rest.

S2: the furnace front conveyer belt 22 moves the workpiece to the head end of the stepping device of the quenching furnace 20 through chain transmission, the stepping conveyer device sends the workpiece into the hearth, and the furnace door is opened after the workpiece is stepped to the furnace outlet through the preheating zone, the heating zone and the heat preservation zone.

S3: the manipulator of the first robot 100 grabs the workpiece from the oven door and translates the workpiece into the positioning table 30, and the manipulator loosens; the longitudinal centering device and the width aligning device in the positioning table 30 position the workpiece, respectively, and keep the attitude of the workpiece horizontal.

S4: the manipulator of the first robot 100 clamps the positioned workpiece again, the clamping is released after the workpiece is conveyed to the press bending forming machine 40, the first robot 100 returns to the original position at the outlet of the quenching furnace 20, and the press bending forming machine 40 finishes positioning and forming successively.

S5: the hand of the second robot 200 carries the guide arm into the twist forming machine 50, and carries the workpiece to the twist forming machine 50 to complete the twist forming.

S6: the manipulator of the second robot 200 translates the twisted and formed workpiece to an inlet lifting device 63 at the inlet of the quenching tank 60, the inlet lifting device 63 drives the workpiece to enter oil at a certain speed and is placed on a chain of a horizontal conveying device 64, the horizontal conveying device 64 supports the workpiece to move step by step and moves to an outlet lifting device 65, and the outlet lifting device 65 supports the workpiece to lift out of the oil surface, so that the quenching and cooling process of the workpiece is completed.

S7: the manipulator of the third robot 300 grabs the workpiece and moves the workpiece to the first displacement table 310, the clamping device in the first displacement table 310 clamps the workpiece, the rotating device in the first displacement table 310 drives the workpiece to rotate 180 degrees and then the clamping device is released, the manipulator of the third robot 300 grabs the workpiece again and puts the workpiece on the tempering conveyor belt in a side-standing posture at intervals as required, and meanwhile, the rotating device returns to the original position.

S8: the workpiece is transported on a tempering conveyor belt to enter a tempering furnace 70, and is tempered after being heated, heat preserved and sprayed with water to reach a furnace outlet.

S9: a camera in the material stacking vision device 82 scans and places the end of a tab of a workpiece on a tempering conveying belt at the outlet of a tempering furnace, after the position of the tab is determined, a manipulator of a material stacking robot 81 is guided to be aligned to the workpiece in a side-standing posture, the workpiece is magnetically attracted and then translated to be placed on a second displacement table 83, a clamping device in the second displacement table 83 clamps the workpiece tightly and releases the workpiece after rotating for 180 degrees, the manipulator of the material stacking robot 81 is aligned to the workpiece again and magnetically attracted, the workpiece is horizontally placed on a material stacking frame, and the direction of material stacking is determined according to the direction of the tab guided by the camera.

The automatic heat treatment production method is also suitable for processing the plate spring, but has a little difference; referring to fig. 1 and 10, the difference is that the press bending machine 40 and the torsion forming machine 50 can be replaced by a semi-elliptical plate spring forming machine 90 without the assistance of the first and second indexing tables.

The specific processing mode of the leaf spring is as follows: after the plate spring passes through the quenching furnace 20 and the positioning table 30, the plate spring is grabbed to the semi-elliptical plate spring forming machine 90 through the first robot 100, is directly transferred to the quenching tank 60 through the second robot 200 after forming, is grabbed to be transferred to the tempering furnace 70 through the third robot 300, and finally, the plate spring can be grabbed to the stacking rack directly through the stacking robot 81. The steel plate spring is simple in structure, and only the workpiece needs to be pressed into an approximate arc shape in a vertical plane, so that posture conversion realized by the first displacement table and the second displacement table can be directly omitted.

Specifically, the semi-elliptical plate spring forming machine 90 is a gantry type frame structure, wherein a forming cylinder, a pressing cylinder and a forming cylinder are sequentially fixed on a gantry beam from left to right, piston rods of the two forming cylinders are connected with an upper clamp 91, the pressing cylinder is connected with an upper pressing die 92, the upper pressing die 92 is arranged in the middle of the upper clamp 91, a workbench is fixed on a frame base, and a lower forming clamp 93 and a lower pressing die 94 are correspondingly and respectively connected on the workbench.

The upper and lower clamps 91 and 93 are formed by combining a plurality of sets of chucks, which are adjustable therebetween, so that the upper and lower clamps 91 and 93 can be adjusted to have corresponding arc-shaped structures. During operation, the manipulator of the first robot 100 places the positioned plate spring on the lower clamp 93 and the lower compression mold 94, a groove corresponding to the manipulator is formed in the lower clamp 93, the upper compression mold 92 is pressed tightly by the compression cylinder precursor to compress the middle part of the plate spring, then the first robot 100 returns, the forming cylinder drives the upper clamp 91 to complete forming and pressure maintaining, the manipulator of the second robot 200 enters and clamps the plate spring while maintaining the pressure, and after the compression cylinder and the forming cylinder move upwards and return to the original position, the manipulator of the second robot 200 carries the plate spring to the quenching groove 60.

According to the technical scheme, the robot and manipulator technology is utilized, automation of inter-process carrying is achieved, the robot and the manipulator are matched through the vision technology, the automatic feeding and stacking problem of complex workpieces is solved, production efficiency is improved through automatic connection, labor intensity is reduced, and the robot and the manipulator integrated machine has good comprehensive economic benefits and is convenient to popularize.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. An automatic heat treatment production line of a guide arm comprises a quenching furnace (20), a positioning table (30), a bending forming machine (40), a torsion forming machine (50), a quenching tank (60) and a tempering furnace (70) which are sequentially arranged, wherein a first robot (100) is arranged between the positioning table (30) and the bending forming machine (40), a second robot (200) is arranged between the bending forming machine (40) and the torsion forming machine (50), and the second robot (200) is slidably arranged on a moving track (210); it is characterized in that the preparation method is characterized in that,

a feeding system (10) is further arranged at the quenching furnace (20) and comprises a feeding robot (11) and a feeding visual device (12);

a third robot (300) and a first displacement table (310) are further arranged between the tempering furnace (70) and the quenching tank (60); the first shifting table (310) is configured to rotate the guide arm by 180 degrees from the supine state so as to be convenient to grab on the tempering furnace for placing;

the tempering furnace (70) is also provided with a material stacking system which comprises a material stacking robot (81), a material stacking visual device (82) and a second displacement table (83), wherein the second displacement table (83) is configured to horizontally rotate the guide arm for 180 degrees from a side standing state so as to facilitate material stacking of the material stacking robot.

2. The automated heat treatment production line of guide arms according to claim 1, wherein the feeding vision device (12) is fixedly installed on a bracket above a front feeding rack of the quenching furnace (20), and the feeding vision device (12) comprises a camera, a light source and an upper computer system;

the feeding robot (11) is fixedly arranged on a front foundation of the quenching furnace (20), and a feeding manipulator is fixed on the feeding robot (11); the feeding manipulator is of a magnetic type structure.

3. The automated thermal processing production line of guide arms according to claim 2, wherein the magnetic attraction part of the feeding manipulator is composed of two electromagnets which can rotate around the support shaft at a small angle.

4. The automated heat treatment production line of the guide arm according to claim 3, wherein the quenching furnace (20) is composed of a furnace body (21), a furnace front conveyor belt (22), a stepping conveyor and a combustion system, after the guide arm on the furnace front conveyor belt (22) moves to the tail end, the stepping conveyor conveys the workpiece into the furnace body (21), and the workpiece moves to the outlet of the furnace body (21) through a preheating zone, a heating zone and a heat preservation zone of the combustion system.

5. The automated heat treatment line of a guide arm according to claim 4, wherein the positioning table (30) is located close to the outlet of the quenching furnace (20), a length direction centering device and a width direction aligning device are provided in the positioning table (30), and the guide arm is positioned on the positioning table (30) by the length direction centering device and the width direction aligning device.

6. The automated heat treatment production line of the guide arm as claimed in claim 5, wherein the quenching tank (60) comprises a tank body (61), a quenching oil circulation cooling system (62), an oxide skin collection lifting device and a workpiece conveying device;

the quenching oil circulation cooling system (62) is configured to adjust the workpiece in the spraying direction, the spraying speed and the spraying time by using quenching oil, so that the quenching cooling speed can be accurately controlled;

the oxide scale collecting and lifting device comprises a scraper assembly and a lifting assembly;

the workpiece conveying device comprises an inlet lifting device (63), a horizontal conveying device (64) and an outlet lifting device (65).

7. The automated heat treatment production line of the guide arm according to claim 6, wherein the tempering furnace (70) is a continuous gas heating furnace, and comprises a furnace body (21), a natural gas combustion control system and a tempering conveyor belt, the guide arm is laterally erected on the tempering conveyor belt, and tempering is completed after heating, heat preservation and spray water cooling.

8. The automated heat treatment production line of guide arms according to claim 7, wherein the first robot (100), the second robot (200) and the third robot (300) are all six-axis robots and are all provided with double-cylinder driven double-claw structure manipulators.

9. The automated heat treatment production line of guide arms according to claim 8, characterized in that the stacking vision device (82) is fixedly arranged on a bracket at the rear side of the outlet of the tempering furnace (70), and the stacking vision device (82) consists of a camera, a light source and an upper computer system;

the stacking robot (81) is fixedly arranged on a foundation behind the tempering furnace (70), and a stacking manipulator is fixed on the stacking robot (81); the stacking manipulator is of a magnetic attraction type structure.

10. An automated heat treatment production method of a guide arm, characterized by using the production line of claim 9, characterized by comprising the steps of:

s1: the material rack filled with the guide arm is placed at the material loading position by a forklift, a camera of the material loading visual device (12) scans the workpieces stacked on the material rack, the central hole of the workpiece positioned at the uppermost layer is identified, a mechanical arm of the material loading robot (11) is guided to be aligned with the workpiece and placed on a furnace front conveying belt (22) of the quenching furnace (20) horizontally after being magnetically attracted, and one workpiece is magnetically attracted each time;

s2: the workpiece is moved to the head end of a stepping device of the quenching furnace (20) by a furnace front conveyor belt (22) through chain transmission, the workpiece is conveyed into a hearth by the stepping conveyor device, and a furnace door is opened after the workpiece is stepped to a furnace outlet through a preheating zone, a heating zone and a heat preservation zone;

s3: a manipulator of the first robot (100) grabs the workpiece from the furnace door and translates the workpiece into the positioning table (30), and the manipulator loosens; the length direction centering device and the width direction aligning device are used for respectively positioning the workpiece and keeping the posture of the workpiece horizontal;

s4: the manipulator of the first robot (100) clamps the positioned workpiece again, the workpiece is transported to the bending forming machine (40) and then is loosened, the first robot (100) returns to the original position of the outlet of the quenching furnace (20), and the bending forming machine (40) completes positioning and forming successively;

s5: the manipulator of the second robot (200) enters the torsion forming machine (50) and conveys the workpiece to the torsion forming machine (50) to finish the torsion forming;

s6: a manipulator of a second robot (200) translates the workpiece to an inlet lifting device (63) at an inlet of the quenching tank (60), the inlet lifting device (63) drives the workpiece to enter oil at a certain speed and is placed on a chain of a horizontal conveying device (64), the horizontal conveying device (64) supports the workpiece to move in a stepping mode and moves to an outlet lifting device (65), and the outlet lifting device (65) supports the workpiece to lift out of an oil surface, so that the quenching and cooling process of the workpiece is completed;

s7: a manipulator of the third robot (300) grabs a workpiece and moves the workpiece to the first displacement table (310), a clamping device in the first displacement table (310) clamps the workpiece, a rotating device in the first displacement table (310) drives the workpiece to rotate 180 degrees and then the clamping device is loosened, the manipulator of the third robot (300) grabs the workpiece again, the workpiece is placed on a tempering conveyor belt in a side-standing posture and at intervals according to requirements, and meanwhile, the rotating device returns to the original position;

s8: conveying the workpiece on a tempering conveyor belt, heating, preserving heat, spraying and cooling water to finish tempering, and then conveying the workpiece to a furnace outlet;

s9: a camera in the stacking vision device (82) scans and places the end of a tab of a workpiece on a tempering conveyor belt at the outlet of a tempering furnace (70), after the position of the tab is determined, a manipulator of a stacking robot (81) is guided to align to the workpiece in a side-standing posture, the workpiece is magnetically attracted and then translated to be placed on a second displacement table (83), a clamping device in the second displacement table (83) clamps the workpiece tightly and is clamped loosely after being rotated by 180 degrees, the manipulator of the stacking robot is aligned to the workpiece again for magnetic attraction, the workpiece is horizontally placed on a stacking rack, and the direction of the stacking is determined according to the direction of the tab guided by the camera.

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