CN116423242A - Automatic milling, hardness detection and straightening system for guide pipe - Google Patents
Automatic milling, hardness detection and straightening system for guide pipe Download PDFInfo
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- CN116423242A CN116423242A CN202310428299.XA CN202310428299A CN116423242A CN 116423242 A CN116423242 A CN 116423242A CN 202310428299 A CN202310428299 A CN 202310428299A CN 116423242 A CN116423242 A CN 116423242A
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- 238000001514 detection method Methods 0.000 title claims abstract description 102
- 238000003801 milling Methods 0.000 title claims abstract description 74
- 238000012546 transfer Methods 0.000 claims abstract description 90
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 238000000034 method Methods 0.000 claims abstract description 22
- 238000007542 hardness measurement Methods 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 5
- 230000002950 deficient Effects 0.000 claims description 4
- 229910052755 nonmetal Inorganic materials 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000010438 heat treatment Methods 0.000 abstract description 7
- 238000007599 discharging Methods 0.000 abstract description 5
- 231100000206 health hazard Toxicity 0.000 abstract 1
- 238000013441 quality evaluation Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000003825 pressing Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000000227 grinding Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 229910000746 Structural steel Inorganic materials 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/048—Multiple gripper units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/08—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of slides or chutes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to an automatic milling, hardness detection and straightening system for a guide pipe, which comprises an automatic feeding mechanism, a first robot, an automatic milling and hardness detection mechanism, a pipe middle rotary table, a second robot, an automatic straightening machine, an unqualified product skip, a qualified product skip and a pipe transfer line body. Through the mechanical and electrified linkage of the mechanism, the multi-procedure and full-automatic operation of feeding, transferring, milling, hardness detection, transferring, straightening and discharging of large-batch and multi-specification conduit parts can be realized only by loading and unloading operators, the traditional lagging production modes of manual transferring, milling, hardness detection and manual straightening are replaced, the technological processes of straightening and quality detection of conduit products after heat treatment are flexible and intelligent, the influence of human factors on the consistency of product quality evaluation is eliminated, the human labor intensity and occupational health hazard are greatly reduced, and meanwhile, the production efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of catheter processing, and relates to an automatic milling, hardness detection and straightening system for a catheter.
Background
The quality of the conduit is used as a blood vessel of an aerospace engine, the realization of the whole engine function is determined, whether a major task is successful or not is related, a traditional small-batch conduit (comprising stainless steel, alloy structural steel and other materials) part manufacturer generally adopts a manually-held high-speed running grinding wheel to mill a hardness detection plane at the end of a pipe after heat treatment of the pipe product, and then a traditional mechanical hardness tester is adopted for hardness detection. In the traditional operation process, the consistency of the manual milling removal amount, the milling depth and the finish degree of the milling plane is poor, and the detection plane and the test pressure head cannot be mutually perpendicular due to the fact that the guide pipe is manually placed during hardness inspection, so that the accuracy and the repeatability of hardness detection are greatly affected by the limitation of the traditional detection mode. In addition, the straightening process after the heat treatment of the pipe is also an important link for influencing the subsequent processing quality of the guide pipe parts, the traditional small-batch guide pipe straightening adopts a manual operation mode, the straightening pipe is moved up and down by operating a press head of a press, the control of the pressing amount and the feeding speed in the straightening process depends on the experience of operators, the control difficulty of the process and quality control is high, the rejection rate is high, and the quality consistency is poor. In a large-scale production mode, the traditional milling, hardness detection and straightening procedures performed by manually performing the heat treatment of the guide pipe have low efficiency, high labor intensity and poor consistency of product quality, and the production and manufacturing bottlenecks of guide pipe products need to be solved by an automatic method.
Disclosure of Invention
The invention solves the technical problems that: the automatic milling, hardness detection and straightening system for the guide pipe is provided for overcoming the defects of the prior art, so that the full-automatic integrated system integration of the guide pipe transportation, milling, hardness detection and straightening procedures is realized, and the purposes of greatly improving the quality consistency of products, improving the production efficiency and reducing the labor intensity of personnel are achieved.
The solution of the invention is as follows: the automatic milling, hardness detection and straightening system for the guide pipe comprises an automatic feeding mechanism, a first robot, an automatic milling and hardness detection mechanism, a pipe middle rotary table, a second robot, an automatic straightening machine, an unqualified product skip, an qualified product skip and a pipe transfer line body;
the automatic feeding mechanism is used for automatically transferring the guide pipe into the pipe transferring line body;
the automatic milling and hardness detection mechanism is used for: acquiring the height of a part to be measured of the catheter; milling a part to be measured of the catheter to obtain a hardness detection plane meeting the requirements; automatically detecting, acquiring and storing hardness information of the catheter to be detected through a hardness meter;
the first robot is used for grabbing a conduit to be detected or a conduit with hardness detection completed, the first robot transfers the conduit with qualified hardness detection to the pipe transfer line body, the first robot transfers the conduit with unqualified hardness detection to the pipe transfer table, and then the conduit with unqualified hardness detection is cooperatively transferred to the unqualified product skip car by the second robot;
the pipe middle rotary table is used for transmitting the guide pipe for completing hardness detection or alignment detection between the first robot and the second robot;
the automatic straightening machine is used for measuring the deformation of the guide pipe at each detection position in real time, and straightening the position with the maximum deformation of the guide pipe according to pre-stored straightening process parameters until the deformation of each detection position meets the process requirements;
the second robot is used for grabbing a conduit to be detected or a conduit subjected to straightening detection after the hardness detection is finished, the second robot transfers the conduit subjected to the straightening detection to the pipe middle rotary table, and then the conduit subjected to the straightening detection is transferred to the qualified product skip car by the first robot in a matched manner, and the second robot transfers the conduit subjected to the unqualified straightening detection to the unqualified product skip car;
the unqualified product skip is used for storing a conduit with unqualified hardness detection results or unqualified straightening results;
the qualified product car is used for storing the conduit with qualified hardness detection results and straightening results.
Further, the automatic feeding mechanism comprises a stepping conveyor belt, a catheter jacking device, a manipulator and a manipulator guide rail;
the guide pipe jacking device is arranged at a feeding station of the stepping conveyor belt, and the manipulator and the guide pipe jacking device are coaxially arranged and can axially move along with the guide pipe jacking device and horizontally move along with the guide rail of the manipulator; the manipulator guide rail extends to the position right above the pipe transfer line body feeding station;
after the conduit to be tested reaches the feeding station of the stepping conveyor belt, the conduit jacking device lifts the conduit to be tested to a set height, and the mechanical arm grabs the conduit to be tested and loosens the conduit to be tested after moving to the feeding station of the pipe transfer line body along with the mechanical arm guide rail, so that the conduit to be tested falls on the pipe transfer line body.
Further, the first robot is a five-axis industrial robot, the tail end of the first robot is provided with a V-shaped component, and two parts at the opening of the V-shaped component are respectively provided with a first clamping jaw and a second clamping jaw; n V-shaped clamping blocks driven by an electric cylinder are arranged on the first clamping jaw and the second clamping jaw, and the grabbing or loosening action of the guide pipe is performed by driving the opening and closing of the V-shaped clamping blocks; the structure of the second robot is the same as that of the first robot; n > 1.
Further, when the to-be-measured catheter is conveyed to a milling and hardness detection station by the pipe transfer line body, the second clamping jaw picks up the to-be-measured pipe, the first clamping jaw picks up and takes off the previous catheter which has completed hardness detection on the automatic milling and hardness detection mechanism, and then the second clamping jaw places the to-be-measured catheter on the detection station of the automatic milling and hardness detection mechanism; if the hardness detection result of the previous guide pipe is qualified, the first clamping jaw grabs the guide pipe and places the guide pipe on a pipe transfer line body and continues to flow to a downstream straightening station; if the hardness detection result of the previous guide pipe is unqualified, the first clamping jaw picks up the guide pipe and places the guide pipe on the pipe middle rotary table, and the guide pipe is transferred to the unqualified product skip car by the second robot.
Further, the automatic milling and hardness detection mechanism comprises an automatic Brinell hardness tester, an automatic Rockwell hardness tester, a height measurement mechanism, an automatic milling mechanism, a transfer supporting plate and a supporting plate guide rail;
the transfer supporting plate moves along the supporting plate guide rail in a mode that a motor drives a screw rod to rotate, and a first fixing supporting block and a second fixing supporting block are arranged at two ends of the transfer supporting plate along the placing direction of the guide pipe and are used for fixing the guide pipe on the transfer supporting plate; the automatic Brinell hardness tester, the automatic Rockwell hardness tester, the height measuring mechanism and the automatic milling mechanism are all arranged above the supporting plate guide rail; the measuring head of the height measuring mechanism is provided with a contact or non-contact displacement sensor for determining the milling reference of the catheter and the height of the hardness detection plane, the automatic milling mechanism is used for milling the position to be measured of the catheter to obtain the hardness detection plane meeting the requirements, and the automatic Brinell hardness tester and the automatic Rockwell hardness tester are used for automatically detecting, acquiring and storing the hardness information of the catheter to be measured.
Further, the pipe transfer table is provided with a pair of guide pipe first transfer stations and guide pipe second transfer stations which are driven by motors;
the first transfer station of the guide pipe and the second transfer station of the guide pipe can move along the direction parallel to the pipe transfer line body, wherein the first transfer station of the guide pipe is used for placing the guide pipe with unqualified hardness detection by a first robot, and the second transfer station of the guide pipe is used for placing the guide pipe with qualified deformation after straightening by a second robot.
Further, the automatic straightener comprises a main body frame, M jacking supporting blocks, an operation display screen, a hydraulic pressure head, a screw rod and a slewing mechanism, wherein M is more than 2;
m jacking supporting blocks are arranged on the same height and the same horizontal line of the main body frame at intervals, and each jacking supporting block is provided with a tappet type displacement sensor and a cylinder jacking device; the slewing mechanism is arranged at two ends of the whole M jacking supporting blocks, and the clamping parts and the bearing positions of the M jacking supporting blocks are on the same horizontal line; the screw rods are arranged right above the M jacking supporting blocks and the hydraulic pressure head, and the hydraulic pressure head is driven by the screw rods to horizontally move; the operation display screen is used for setting the technological parameters of the hydraulic pressure head and displaying the deformation of each point of the guide pipe measured by the tappet type displacement sensor in real time.
Further, the pipe transfer line body comprises a line body frame, a conveying chain and a camera;
the nonmetal V-shaped supporting blocks are arranged on the conveying chain at intervals of a set distance and used for supporting the guide pipe, after the guide pipe to be tested is placed on the conveying chain, the conveying chain is driven by the motor to run at a constant speed, and the camera is used for photographing the specification of the guide pipe to be tested.
Further, the pipe transfer line body feeding station, the milling and hardness detection station and the straightening station are arranged on the pipe transfer line body, and the pipe transfer line body feeding station, the milling and hardness detection station and the straightening station are used for detecting whether a pipe to be detected reaches the station of a corresponding position or not in real time.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention designs an automatic milling, hardness detection and straightening system compatible with various specifications of conduit products through the integrated application of various motion execution mechanisms such as an industrial robot track control system, various sensor control systems, a servo mechanism control system, electric, pneumatic, hydraulic and the like. The method is suitable for large-batch large-scale and small-batch customized catheter production, and replaces the traditional production mode that the pipe parts need manual transportation, milling, hardness detection and straightening after heat treatment; meanwhile, the risk that operators are injured by smashing and knocking when manually hoisting and carrying large-size pipe parts is solved, and the potential safety hazard that the parts are ejected out to hurt people in the process of manually operating the press to straighten the pipe is avoided.
(2) The invention designs 2 sets of quick-change clamping jaws, a plurality of sets of straightening support blocks and a pressure head of the industrial robot, enables the system to be compatible with more than 200 types of conduit products through quick-change, can be expanded and adapted to conduit products with different materials and specifications, and really realizes intelligent flexible production. The method provides a full-flow and high-maturity solution for rapid, automatic and intelligent shape correction and quality detection of large-batch and multi-variety catheters in the fields of aerospace, military weapon and high-end equipment manufacturing in China.
(3) According to the invention, as the two sets of clamping jaws are arranged at the tail ends of the two sets of robots, the feeding of the to-be-detected catheter, the discharging and transferring of the detected catheter can be simultaneously performed, the detection efficiency is improved, and the energy consumption is saved.
(4) According to the invention, through designing the full-flow automation of the pipe part feeding, milling, hardness detection, straightening and discharging processes, the process flow of hardness detection and straightening of the conduit product after heat treatment is optimized, so that the process which is realized by relying on manual operation experience originally is parameterized, accurate and controllable. Firstly, eliminating risks brought to hardness detection and heat treatment quality judgment by various factors such as inconsistent milling depths, inconsistent surface states of detection parts, inconsistent hardness detection methods and the like in a batch manual production mode; and secondly, the adverse factors that the manual straightening guide pipe is highly dependent on operation experience, inconsistent in straightening quality, uncontrollable in process and high in out-of-tolerance rejection rate are eliminated.
Drawings
FIG. 1 is a schematic diagram of an automatic feeding mechanism in the present invention;
FIG. 2 is a schematic view of a first robot structure according to the present invention;
FIG. 3 is a schematic diagram of an automatic milling and hardness testing mechanism according to the present invention;
FIG. 4 is a schematic view of a transfer table for pipes according to the present invention;
FIG. 5 is a schematic view of a second robot according to the present invention;
FIG. 6 is a schematic view of an automatic straightener in accordance with the present invention;
FIG. 7 is a schematic diagram of a rejected material vehicle structure in the present invention;
FIG. 8 is a schematic view of a pipe transfer line structure according to the present invention;
fig. 9 is a schematic diagram of the overall structure of the automatic milling, hardness testing and straightening system for the guide pipe in the invention.
Detailed Description
The invention is further elucidated below in connection with the accompanying drawings.
As shown in fig. 9, the invention provides an automatic pipe milling, hardness detecting and straightening system, which comprises an automatic feeding mechanism 1, a first robot 2, an automatic milling and hardness detecting mechanism 3, a pipe middle rotary table 4 and a second robot 5; the automatic straightening machine 6, the unqualified product skip 7, the qualified product skip 8 and the pipe transfer line body 9 are distributed in a rectangular area of 6000mm multiplied by 20000 mm.
As shown in fig. 8, the pipe transfer line 9 of the present invention is composed of a line frame 8-1, a conveyor chain 8-2, and a camera 8-3. The conveying chain 8-2 of the pipe transfer line body is provided with nonmetal V-shaped supporting blocks at intervals of 30-50 mm for supporting the to-be-tested guide pipes, and after the to-be-tested guide pipes are placed on the conveying chain 8-2, the motor drives the conveying chain 8-2 to run at a constant speed, and the to-be-tested guide pipes advance at a constant speed in a unidirectional way. The photoelectric sensor is arranged at the position of the wire frame 8-1 corresponding to the feeding station, the milling and hardness detection station and the straightening station, when the conduit to be tested reaches the designated position of each station, the photoelectric sensor receives a signal to control the pipe transfer wire 9 to stop running, and the camera 8-3 photographs and identifies the specification of the conduit to confirm the compliance with the system program selection.
As shown in FIG. 1, an automatic feeding mechanism 1 in the invention is mainly provided with a stepping conveyor belt 1-1, a conduit jacking device 1-2, a manipulator (1-3, only one, two in practice) in a structure diagram, a manipulator guide rail 1-4 and a width adjusting hand wheel 1-5. The guide pipe jacking device 1-2 is arranged at a feeding station of the stepping conveyor belt 1-1, the manipulator 1-3 and the guide pipe jacking device 1-2 are coaxially arranged, and axial movement along with the guide pipe jacking device 1-2 and horizontal movement of the manipulator guide rail 1-4 can be realized; the manipulator guide rails 1-4 extend to the position right above the feeding station of the pipe transferring line body 9; the width adjusting hand wheel 1-5 is arranged at one side of the stepping conveyor belt 1-1.
In this embodiment, the step conveyor 1-1 is provided with V-shaped blocks for supporting the catheter 1-6 to be tested. In actual operation, firstly, the V-shaped block distance on the step-type conveyor belt 1-1 is adjusted by rotating the width adjusting hand wheel 1-5 according to the lengths of the pipes 1-6 to be detected, so that the step-type conveyor belt 1-1 can stably support the pipes to be detected, and then the pipes to be detected and straightened are sequentially placed on the step-type conveyor belt 1-1, and at most 10 pipes can be placed each time. After the operator places the conduit parts, the whole system is started after the operation program corresponding to the conduit specifications is fetched, the stepping conveyor belt 1-1 starts to operate after the system is started, and the conduit 1-6 to be tested is conveyed to a feeding station of the feeding conveyor belt 1-1 under the feeding mechanical arm 1-3. In this embodiment, a photoelectric sensor and a baffle are disposed at the feeding station, after the photoelectric sensor detects the conduit 1-6 to be tested, the conduit 1-6 to be tested is pushed to a specific position by driving the baffle through an air cylinder, then the conduit 1-6 is lifted to a certain height by driving the conduit lifting device 1-2 through the air cylinder, and the pipe 1-6 to be tested is grabbed by a manipulator and is released after moving to the feeding station of the pipe transfer line body 9 along with the manipulator guide rail 1-4, so that the conduit to be tested falls on the pipe transfer line body 9.
As shown in fig. 2, in the present invention, the first robot 2 is a five-axis industrial robot, the end of the first robot 2 is equipped with a V-shaped assembly, two parts at the opening of the V-shaped assembly are respectively equipped with two groups of clamping jaws, namely a first clamping jaw 2-1 and a second clamping jaw 2-2, each group of clamping jaws is equipped with 4V-shaped clamping blocks driven by an electric cylinder for firmly grabbing a catheter to be tested, and the grabbing or loosening actions of the catheter are performed by driving the opening and closing of the V-shaped clamping blocks. In actual operation, when the conduit to be detected is conveyed to a specific position in front of the automatic milling and hardness detection mechanism 3 by the pipe transfer line body 9, the photoelectric sensor detects the conduit to be detected, the control line body is suspended, and meanwhile, the camera 8-3 photographs the pipe to confirm that the specifications of the pipe are consistent with the selected operation program. Then the first robot 2 starts to act, firstly, the second clamping jaw 2-2 is used for grabbing the pipe to be measured, then the first clamping jaw 2-1 is used for grabbing and taking down the pipe which is finished with hardness detection and is arranged on the automatic milling and hardness detection mechanism 3, and then the second clamping jaw 2-2 is used for placing the pipe to be measured on a station to be measured of the automatic milling and hardness detection mechanism 3. If the hardness detection result of the previous guide pipe is qualified, the first clamping jaw 2-1 grabs the guide pipe and places the guide pipe on the pipe transfer line body 9 and continues to flow to a downstream straightening station; if the hardness detection result of the previous guide pipe is not qualified, the first clamping jaw 2-1 picks up the guide pipe and places the guide pipe on the pipe middle rotary table 4, and the guide pipe is transferred to the unqualified product skip 7 by the second robot 5.
As shown in FIG. 3, the automatic milling and hardness detection mechanism 3 comprises an automatic Brinell hardness tester 3-1, an automatic Rockwell hardness tester 3-2, a height measurement mechanism 3-3, an automatic milling mechanism 3-4, a transfer pallet 3-5 and a pallet guide rail. The transfer supporting plate 3-5 moves along the supporting plate guide rail in a mode of driving the screw rod to rotate by a motor, and a first fixed supporting block 3-6 and a second fixed supporting block 3-7 are arranged at two ends of the transfer supporting plate 3-5 and are used for fixing the guide pipe on the transfer supporting plate 3-5; the automatic Brinell hardness tester 3-1, the automatic Rockwell hardness tester 3-2, the height measuring mechanism 3-3 and the automatic milling mechanism 3-4 are all arranged above the pallet guide rail, and the measuring head of the height measuring mechanism 3-3 is provided with a contact or non-contact displacement sensor. In the embodiment, a V-shaped upper pressing block 3-8 is also arranged above the transfer supporting plate 3-5.
In actual operation, the first robot 2 places the to-be-tested guide pipe 1-6 on the first fixed supporting block 3-6 and the second fixed supporting block 3-7 on the transfer supporting plate 3-5, after the photoelectric sensor arranged on the transfer supporting plate 3-5 detects that the to-be-tested part is detected, the cylinder drives the V-shaped upper pressing block 3-8 to descend so as to fix the guide pipe part, and then the motor drives the screw rod to rotate so as to drive the transfer supporting plate 3-5 to transversely move along the supporting plate guide rail. The transfer supporting plate 3-5 firstly supports the to-be-measured catheter 1-6 to the position right below the height measuring mechanism 3-3, and the measuring head of the height measuring mechanism 3-3 moves downwards to detect the height of the end part of the to-be-measured catheter 1-6, so that the milling reference and the hardness detection plane height are determined. And then the transfer supporting plate 3-5 continuously supports the to-be-detected guide pipe 1-6 to move below the automatic milling mechanism 3-4, the automatic milling mechanism 3-4 mills the to-be-detected side part of the to-be-detected guide pipe 1-6 according to set milling parameters (feeding speed, milling depth and the like), and compressed air continuously blows scrap iron and cools a grinding plane in the milling process. And then the transfer supporting plate 3-5 supports the to-be-measured guide pipe 1-6 to move to the position below the automatic Brinell hardness tester 3-1 or the automatic Rockwell hardness tester 3-2 according to the setting, and the milled plane on the to-be-measured guide pipe 1-6 is positioned right below the pressure head of the hardness tester and the perpendicularity of the milled plane and the axis of the pressure head of the hardness tester is less than 0.02mm. After the photoelectric sensors on the automatic Brinell hardness tester 3-1 and the automatic Rockwell hardness tester 3-2 detect the pipe to be tested, the servo motor drives the pressure head to automatically move downwards for hardness detection, the display screen of the automatic hardness tester can display the hardness detection result in real time, and meanwhile, the displacement and load curve of the hardness test pressure head in the hardness detection process can be displayed, and the detection result of each guide pipe can be displayed on the control interface of the whole system in a form of a table. After the hardness of one end of the to-be-tested catheter 1-6 is measured, the transfer supporting plate 3-5 is moved to an initial position, according to program setting, the first robot 2 grabs the pipe and puts the pipe into the transfer line body 9, or the first robot 2 grabs the pipe, overturns the pipe by 180 degrees and then is placed on the transfer supporting plate 3-5 again to perform milling and hardness detection of the other end of the catheter.
As shown in fig. 4, the pipe transfer table 4 is provided with a pair of a first transfer station 4-1 of a pipe and a second transfer station 4-2 of a pipe driven by a motor; the first transfer station 4-1 of the conduit and the second transfer station 4-2 of the conduit can move along the direction parallel to the pipe transfer line body 9.
In actual operation, the conduit transfer station is quickly moved to the vicinity of the first robot 2 or the second robot 5 according to the setting, wherein the first robot 2 places a conduit with unqualified hardness detection on the conduit first transfer station 4-1, and the second robot 5 places a conduit with qualified deformation after straightening on the conduit second transfer station 4-2.
As shown in fig. 5, in the present invention, the second robot 5 is a five-axis industrial robot, the end of the second robot 5 is provided with a V-shaped assembly, two parts at the opening of the V-shaped assembly are respectively provided with two groups of clamping jaws, namely a third clamping jaw 5-1 and a fourth clamping jaw 5-2, and each group of clamping jaws is provided with 4V-shaped clamping blocks driven by an electric cylinder for firmly grabbing a catheter to be straightened.
In actual operation, when the pipe to be straightened is conveyed to a specific position in front of the automatic straightening machine 6 by the pipe transferring line body 9, the photoelectric sensor detects the pipe, the control line body is suspended, then the second robot 5 starts to act, firstly, the pipe to be straightened is grabbed by the second clamping jaw 5-2, then, the pipe which is finished to be straightened and arranged on the automatic straightening machine 6 in front is grabbed and taken down by the first clamping jaw 5-1, and then, the pipe to be straightened is placed on the straightening station of the automatic straightening machine 6 by the second clamping jaw 5-2. If the straightening result of the previous guide pipe is qualified, the third clamping jaw 5-1 is placed on the pipe middle rotary table 4, and then the pipe middle rotary table is picked up by the first robot 2 and placed in the qualified product skip 8; if the straightening result of the previous guide pipe is not qualified, the third clamping jaw 5-1 picks up the guide pipe and places the guide pipe in the unqualified product skip 7.
As shown in FIG. 6, the automatic straightener 6 in the embodiment of the invention mainly comprises a main body frame 6-1, 8 jacking supporting blocks 6-2, an operation display screen 6-3, a hydraulic pressure head 6-4, a lead screw 6-5 and a slewing mechanism 6-6. 8 jacking supporting blocks 6-2 are arranged on the same height and the same horizontal line of the main body frame 6-1 at intervals, and each jacking supporting block 6-2 is provided with a tappet type displacement sensor and a cylinder jacking device; the slewing mechanism 6-6 is arranged at the outer sides of the jacking supporting blocks 6-2 at the two ends, and the clamping positions and the bearing positions of the M jacking supporting blocks 6-2 are on the same horizontal line; the screw rod 6-5 is arranged right above the M jacking supporting blocks 6-2 and the hydraulic pressure head 6-4, and the hydraulic pressure head 6-4 is driven by the screw rod 6-5 to horizontally move.
In actual operation, an operator can adjust process parameters before the whole line starts to operate by operating the display screen 6-3, the second robot 5 places the guide pipe to be straightened on 8 jacking supporting blocks 6-2 on the automatic straightening machine 6, and two ends of the guide pipe to be straightened need to extend out of the slewing mechanism 20-90 mm respectively. When automatic straightening starts, a protective net arranged on the outer side of the automatic straightening machine 6 descends to prevent the guide pipe from being accidentally ejected, and a roller on the rotary mechanism 6-6 drives the guide pipe to be straightened to rotate. When the guide pipe to be straightened rotates, the displacement sensor on each jacking supporting block 6-2 can measure the deformation information of each point on the guide pipe to be straightened in real time and display the deformation information on the operation display screen 6-3, the program automatically judges the position with the maximum deformation of the guide pipe to be straightened, and the jacking devices on the jacking supporting blocks on the two sides of the position jack the guide pipe to be straightened to the position with the maximum deformation so as to reserve the shape correcting space. The hydraulic pressure head 6-4 is driven by the lead screw 6-5 to transversely and quickly move to a position right above the maximum deformation amount, then the hydraulic pressure head 6-4 starts to descend, the guide pipe to be straightened is straightened according to the set pressing amount and the set feeding speed, the guide pipe rotates after each straightening to measure the deformation amount of each point, and the hydraulic pressure head 6-4 moves to the position with the maximum deformation amount to continue straightening until the deformation amount of each point of the guide pipe to be straightened reaches the technological requirement.
As shown in fig. 7, the defective skip 7 in the present invention is mainly composed of a skip main body 7-1, a V-shaped bracket 7-2 and a limiter 7-3, the first robot 2 or the second robot 5 stacks the defective duct on the V-shaped bracket 7-2 in sequence, after the V-shaped bracket 7-2 is full of the duct, the system pauses operation, and the system prompts the operator to pull the skip main body 7-1 out of the limiter 7-3 and transfer it to a discharging area for discharging. After the manual unloading is completed, the operator pushes the empty reject car 7 back to the limiter 7-3, and the system resumes operation again.
The structure of the acceptable skip 8 is the same as that of the unacceptable skip 7.
Example 1:
during actual operation, the robot in the system, the quick-change clamping jaw, the support block and other tools are installed according to the specification of the catheter to be tested, and then all the movement mechanisms in the system are reset. The operator places the catheter to be tested in sequence on the step conveyor 1-1, then selects the running program matching the catheter to be tested and starts the whole system. After the system starts to operate, the stepping conveyor belt 1-1 firstly conveys the to-be-detected guide pipe to the position right below the mechanical arm 1-3, the to-be-detected guide pipe is pushed to a specific position at a feeding station of the stepping conveyor belt 1-1 through a cylinder driving baffle, the lifting device 1-2 lifts the guide pipe to a certain height, and the mechanical arm 1-3 picks up the to-be-detected guide pipe and transfers the guide pipe to the pipe transfer line body 9. The pipe transfer line 9 conveys the pipe to be measured to a specific position in front of the automatic milling and hardness detecting mechanism 3, and the line pauses. Then the second clamping jaw 2-2 of the first robot picks up the pipe to be measured, the first clamping jaw 2-1 picks up and takes down the pipe with the hardness detection finished last, and then the second clamping jaw places the pipe to be measured on the station to be measured of the automatic milling and hardness detection mechanism 3. If the hardness detection result of the previous guide pipe is qualified, the first clamping jaw 2-1 grabs the guide pipe and places the guide pipe on the pipe transfer line body 9, and the guide pipe continues to flow to a downstream straightening station; if the hardness detection result of the previous guide pipe is not qualified, the first clamping jaw 2-1 picks up the guide pipe and places the guide pipe on the pipe middle rotary table 4, and the guide pipe is transferred to the unqualified product skip 7 by the second robot 5. After the flow with qualified hardness is transferred to the straightening station, the guide pipe to be straightened is firstly grasped by the fourth clamping jaw 5-2 of the second robot, then the guide pipe which is already straightened and arranged on the automatic straightening machine 6 is grasped and taken down by the third clamping jaw 5-1, and then the guide pipe to be straightened is put on the straightening station of the automatic straightening machine 6 by the fourth clamping jaw 5-2. If the straightening result of the previous guide pipe is qualified, the third clamping jaw 5-1 is placed on the pipe middle rotary table 4, and then the pipe middle rotary table is picked up by the first robot and placed in the qualified product skip 8; if the previous pipe hardness detection result is not qualified, the third clamping jaw 5-1 picks up the pipe hardness detection result and places the pipe hardness detection result in the unqualified product skip 7. After the guide pipe to be straightened enters the automatic straightener 6, the roller on the slewing mechanism 6-6 drives the guide pipe to rotate, the displacement sensor on each jacking supporting block 6-2 measures the deformation information of each point on the guide pipe in real time and displays the deformation information on the operation display screen 6-3, and the program automatically judges the position of the maximum deformation of the guide pipe. The hydraulic pressure head 6-4 is driven by the lead screw 6-5 to transversely and quickly move to a position right above the maximum deformation amount, then the hydraulic pressure head 6-4 starts to descend, the guide pipe is straightened according to the set pressing amount and the set feeding speed, the guide pipe rotates after each straightening, the deformation amount of each point is measured, the hydraulic pressure head 6-4 moves to the position with the maximum deformation amount to continue straightening until the deformation amount of each point of the guide pipe reaches the technological requirement.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (9)
1. The automatic milling, hardness detection and straightening system for the guide pipe is characterized by comprising an automatic feeding mechanism (1), a first robot (2), an automatic milling and hardness detection mechanism (3), a pipe middle rotary table (4), a second robot (5), an automatic straightening machine (6), a defective material car (7), a defective material car (8) and a pipe transfer line body (9);
the automatic feeding mechanism (1) is used for automatically transferring the guide pipe into the pipe transferring line body (9);
the automatic milling and hardness detection mechanism (3) is used for: acquiring the height of a part to be measured of the catheter; milling a part to be measured of the catheter to obtain a hardness detection plane meeting the requirements; automatically detecting, acquiring and storing hardness information of the catheter to be detected through a hardness meter;
the first robot (2) is used for grabbing a conduit to be detected or a conduit with hardness detection, the first robot (2) transfers the conduit with qualified hardness detection to the pipe transfer line body (9), the first robot (2) transfers the conduit with unqualified hardness detection to the pipe transfer table (4), and then the second robot (5) is matched and transferred to the unqualified product skip car (7);
the pipe transferring table (4) is used for transferring the guide pipe for hardness detection or alignment detection between the first robot (2) and the second robot (5);
the automatic straightening machine (6) is used for measuring the deformation of the guide pipe at each detection position in real time, and straightening the position with the maximum deformation of the guide pipe according to pre-stored straightening process parameters until the deformation of each detection position meets the process requirement;
the second robot (5) is used for grabbing a conduit to be detected or a conduit subjected to straightening detection after the hardness detection is finished, the second robot (5) transfers the conduit subjected to the straightening detection to the pipe middle rotary table (4), and then the conduit subjected to the straightening detection is transferred to the qualified product skip car (8) in a matched manner by the first robot (2), and the second robot (5) transfers the conduit subjected to the unqualified straightening detection to the unqualified product skip car (7);
the unqualified product trolley (7) is used for storing a conduit with unqualified hardness detection results or unqualified straightening results;
the qualified product vehicle (8) is used for storing the conduit with qualified hardness detection results and straightening results.
2. The automatic milling, hardness detecting and straightening system for the guide pipe according to claim 1 is characterized in that the automatic feeding mechanism (1) comprises a stepping conveyor belt (1-1), a guide pipe jacking device (1-2), a manipulator (1-3) and a manipulator guide rail (1-4);
the guide pipe jacking device (1-2) is arranged at a feeding station of the stepping conveyor belt (1-1), and the manipulator (1-3) and the guide pipe jacking device (1-2) are coaxially arranged and can axially move along with the guide pipe jacking device (1-2) and horizontally move along with the manipulator guide rail (1-4); the manipulator guide rail (1-4) extends to the position right above the feeding station of the pipe transferring line body (9);
after the catheter to be tested reaches the feeding station of the stepping conveyor belt (1-1), the catheter jacking device (1-2) lifts the catheter to be tested to a set height, and the manipulator (1-3) grabs the catheter to be tested and moves to the feeding station of the pipe transfer line body (9) along with the manipulator guide rail (1-4), and then loosens the catheter to be tested, so that the catheter to be tested falls on the pipe transfer line body (9).
3. The automatic milling, hardness detecting and straightening system for the guide pipe according to claim 1, characterized in that the first robot (2) is a five-axis industrial robot, the tail end of the first robot (2) is provided with a V-shaped component, and two parts at the opening of the V-shaped component are respectively provided with a first clamping jaw (2-1) and a second clamping jaw (2-2); the first clamping jaw (2-1) and the second clamping jaw (2-2) are respectively provided with N V-shaped clamping blocks driven by an electric cylinder, and the grabbing or loosening action of the guide pipe is performed by driving the opening and closing of the V-shaped clamping blocks; the structure of the second robot (5) is the same as that of the first robot (2); n > 1.
4. A system for automatic milling, hardness testing and straightening of a pipe according to claim 3, characterized in that when the pipe to be tested is transported to the milling and hardness testing station by the pipe transporting line body (9), the second clamping jaw (2-2) picks up the pipe to be tested, the first clamping jaw (2-1) picks up and removes the pipe on the automatic milling and hardness testing mechanism (3) from which the hardness testing has been completed before, and then the second clamping jaw (2-2) places the pipe to be tested on the testing station of the automatic milling and hardness testing mechanism (3); if the hardness detection result of the previous guide pipe is qualified, the first clamping jaw (2-1) grabs the guide pipe and places the guide pipe on the pipe transfer line body (9) and continues to flow to a downstream straightening station; if the hardness detection result of the previous guide pipe is unqualified, the first clamping jaw (2-1) grabs the guide pipe and places the guide pipe on the pipe middle rotary table (4), and the guide pipe is transferred to the unqualified product skip (7) by the second robot (5).
5. The automatic milling, hardness testing and straightening system for a catheter according to claim 1, characterized in that the automatic milling and hardness testing mechanism (3) comprises an automatic brinell hardness tester (3-1), an automatic rockwell hardness tester (3-2), a height measuring mechanism (3-3), an automatic milling mechanism (3-4), a transfer pallet (3-5), a pallet guide rail;
the transfer supporting plate (3-5) moves along the supporting plate guide rail in a mode that a motor drives a screw rod to rotate, and a first fixed supporting block (3-6) and a second fixed supporting block (3-7) are arranged at two ends of the transfer supporting plate (3-5) along the placing direction of the guide pipe and are used for fixing the guide pipe on the transfer supporting plate (3-5); the automatic Brinell hardness tester (3-1), the automatic Rockwell hardness tester (3-2), the height measuring mechanism (3-3) and the automatic milling mechanism (3-4) are all arranged above the pallet guide rail; the measuring head of the height measuring mechanism (3-3) is provided with a contact or non-contact displacement sensor for determining the milling reference of the catheter and the height of the hardness detection plane, the automatic milling mechanism (3-4) is used for milling the position to be measured of the catheter to obtain the hardness detection plane meeting the requirements, and the automatic Brinell hardness tester (3-1) and the automatic Rockwell hardness tester (3-2) are used for automatically detecting, acquiring and storing the hardness information of the catheter to be measured.
6. The automatic pipe milling, hardness testing and straightening system according to claim 1, characterized in that the pipe transfer table (4) is equipped with a pair of first transfer stations (4-1) and second transfer stations (4-2) driven by motors;
the first transfer station (4-1) of the guide pipe and the second transfer station (4-2) of the guide pipe can move along the direction parallel to the pipe transfer line body (9), wherein the first transfer station (4-1) of the guide pipe is used for placing the guide pipe with unqualified hardness detection by the first robot (2), and the second transfer station (4-2) of the guide pipe is used for placing the guide pipe with qualified deformation after straightening by the second robot (5).
7. The automatic milling, hardness testing and straightening system for a guide pipe according to claim 1, characterized in that the automatic straightener (6) comprises a main body frame (6-1), M jacking supporting blocks (6-2), an operation display screen (6-3), a hydraulic pressure head (6-4), a screw rod (6-5) and a rotary mechanism (6-6), wherein M is more than 2;
m jacking supporting blocks (6-2) are arranged on the same height and the same horizontal line of the main body frame (6-1) at intervals, and each jacking supporting block (6-2) is provided with a tappet type displacement sensor and a cylinder jacking device; the slewing mechanism (6-6) is arranged at two ends of the whole of the M jacking supporting blocks (6-2), and the clamping positions and the bearing positions of the M jacking supporting blocks (6-2) are on the same horizontal line; the screw rods (6-5) are arranged right above the M jacking supporting blocks (6-2) and the hydraulic pressure head (6-4), and the hydraulic pressure head (6-4) is driven by the screw rods (6-5) to horizontally move; the operation display screen (6-3) is used for setting the technological parameters of the hydraulic pressure head (6-4) and displaying the deformation of each point of the guide pipe measured by the tappet type displacement sensor in real time.
8. The automatic pipe milling, hardness testing and straightening system according to claim 1, characterized in that the pipe transfer line (9) comprises a line frame (8-1), a conveyor chain (8-2), a camera (8-3);
nonmetal V-shaped supporting blocks are arranged on the conveying chain (8-2) at intervals of a set distance and used for supporting the guide pipes, after the guide pipes to be tested are placed on the conveying chain (8-2), the conveying chain (8-2) is driven by a motor to run at a constant speed, and the camera (8-3) is used for photographing the specifications of the guide pipes to be tested.
9. The automatic pipe milling, hardness detecting and straightening system according to claim 1, further comprising a plurality of photoelectric sensors, wherein the photoelectric sensors are arranged at a feeding station, a milling and hardness detecting station and a straightening station of the pipe transferring line body (9) and are used for detecting whether a pipe to be detected reaches the station of a corresponding position in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310428299.XA CN116423242A (en) | 2023-04-20 | 2023-04-20 | Automatic milling, hardness detection and straightening system for guide pipe |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310428299.XA CN116423242A (en) | 2023-04-20 | 2023-04-20 | Automatic milling, hardness detection and straightening system for guide pipe |
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| CN116423242A true CN116423242A (en) | 2023-07-14 |
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| CN202310428299.XA Pending CN116423242A (en) | 2023-04-20 | 2023-04-20 | Automatic milling, hardness detection and straightening system for guide pipe |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116748416A (en) * | 2023-07-25 | 2023-09-15 | 大连石岛工业有限公司 | Novel intelligent straightening system for turnbuckle of ship binding piece |
| CN117705620A (en) * | 2024-02-01 | 2024-03-15 | 深圳市旭源精密热控科技有限公司 | CNC bistrique hardness test tool |
| CN117990538A (en) * | 2024-03-19 | 2024-05-07 | 天津威尔德新材料科技有限公司 | Hardness detection system and hardness detection method |
-
2023
- 2023-04-20 CN CN202310428299.XA patent/CN116423242A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116748416A (en) * | 2023-07-25 | 2023-09-15 | 大连石岛工业有限公司 | Novel intelligent straightening system for turnbuckle of ship binding piece |
| CN117705620A (en) * | 2024-02-01 | 2024-03-15 | 深圳市旭源精密热控科技有限公司 | CNC bistrique hardness test tool |
| CN117705620B (en) * | 2024-02-01 | 2024-04-16 | 深圳市旭源精密热控科技有限公司 | CNC bistrique hardness test tool |
| CN117990538A (en) * | 2024-03-19 | 2024-05-07 | 天津威尔德新材料科技有限公司 | Hardness detection system and hardness detection method |
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