CN203878180U - Robot control based automatic quenching machine for bearing ring and sleeve component - Google Patents
Robot control based automatic quenching machine for bearing ring and sleeve component Download PDFInfo
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- CN203878180U CN203878180U CN201420189410.0U CN201420189410U CN203878180U CN 203878180 U CN203878180 U CN 203878180U CN 201420189410 U CN201420189410 U CN 201420189410U CN 203878180 U CN203878180 U CN 203878180U
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Abstract
The utility model relates to a robot control based automatic quenching machine for bearing rings and sleeve components. The automatic quenching machine is characterized by comprising a RGV self-guided transport cart system, a robot and a quenching equipment and control subsystem, wherein a component to be machined is arranged on an RGV vehicle of the RGV self-guided transport cart system and automatic transportation of the component to be machined is achieved through the RGV self-guided transport cart system; the robot is used for grasping and putting the component to be machined on the RGV vehicle into the quenching equipment and control subsystem; heating and quenching of the component to be machined are accomplished through the quenching equipment and control subsystem; furthermore, the quenched component is taken out from the quenching equipment and control subsystem and is put onto the RGV vehicle through the robot. The utility model provides an automatic bearing inner/outer ring quenching system which can both save the cost and improve the efficiency and the quenching quality, and can be also abutted and integrated with a flexible manufacturing system of a company.
Description
Technical field
The utility model relates to a kind of race ring and cover parts automatic quenching machine of controlling based on robot, can realize the automatization of the production processes such as bearing enclose and revolution pan feeding carrying, material loading, heating, quenching and the blanking of cover parts and discharging carrying, be widely used in the flexibility processing automatic production line of bearing ring and slewing parts quenching process, and realize the docking of factory's quenching flexible manufacturing system and integrated.
Background technology
Rolling bearing is general and key part special machinery, mainly bearing outer ring, inner ring, roller, retainer etc., consists of.The precision of bearing and wear resistance directly have influence on mechanical kinematic accuracy and life-span.Guarantee that high bearing has high hardness and wear resistance, the bearing ring link that is absolutely necessary of quenching.
Domestic many enterprises are cost-saving at present, and the quenching mechanism of its bearing ring is simple and crude, and operation also mainly contains manpower and completes, and do not meet the requirement of automation of machinery manufacture development.Therefore there is following drawback:
1, quenching device is easily revealed:
The external motor of quenching press drives independently transmission shaft, transmission shaft is from passing quenching tank bottom below, transmission shaft and quench water trench bottom adopt rolling bearing and sealing-ring mechanism to drive quenching device, individual drive axle penetrates from bottom of gullet, transmission shaft is not only born multiple-station rotation task, also essential factor heating, two operations of quenching and moving up and down, so be arranged on the bearing sealed ring between bottom of gullet and transmission shaft, because bearing, rotate frequently and move, and be easy to wear and tear, often there is seal failure, hardening liquid easily leaks the gap of kinematic pair between tank and transmission shaft, cause frequent shutdown, and easy production development accident, to production scene, bring very big inconvenience.
2, manual operation labour intensity is large:
The loading and unloading operation of quenching adopts manual operation completely, and workman repeats operation, and labour intensity is high, easily causes the misoperation of the technological processs such as heating, quenching and loading and unloading, and quenching quality can not be guaranteed, and production efficiency is low, and production cost is high.
Summary of the invention
The purpose of this utility model provides a kind of bearing enclose automatization quench systems of the quality of can cost-savingly can raising the efficiency and quench again.
In order to achieve the above object, the technical solution of the utility model has been to provide a kind of bearing ring and cover parts automatic quenching machine of controlling based on robot, it is characterized in that: comprise RGV automated guided vehicle system, robot and quenching apparatus and control subsystem, wherein: parts to be processed are placed on the RGV dolly of RGV automated guided vehicle system, by RGV automated guided vehicle system, realized the automatic transportation of parts to be processed; By robot, capture the parts to be processed on RGV dolly and put into quenching apparatus and control subsystem, by quenching apparatus and control subsystem, completed heating and the quenching of parts to be processed, the parts that Zai You robot takes out after quenching in quenching apparatus and control subsystem are placed on RGV dolly; Quenching apparatus and control subsystem comprise the cell body that fills cooling fluid, cell body top has at least three openings, be respectively opening for feed, heating gate and discharge port, in cell body, be provided with at least three for the material containing mechanism at its top placing component, the corresponding Yi Ge material containing of each opening mechanism, by driving mechanism, drive each material containing mechanism cycle alternation between all openings to rotate, when a certain material containing mechanism kinematic is to opening for feed position, by robot, the parts to be processed that capture from RGV dolly are placed on to this material containing mechanism top; Near heating gate, be provided with heating arrangements, on cell body, be provided with lifting mechanism, by on lifting mechanism, dial turn to discharge port below material containing mechanism to certain altitude, make the parts that are positioned at this material containing mechanism top can be heated mechanism heats, and after having heated, by lifting mechanism, set aside this material containing mechanism, the parts that make to be positioned at this material containing mechanism top immersion that can be cooled does not completely have; When a certain material containing mechanism kinematic is to discharge port position, be placed on RGV dolly after capturing by robot the quenched member be positioned at this material containing mechanism top.
Preferably, described material containing mechanism comprises support bar, and support bar top is provided with for placing the bearing platform of described parts.
Preferably, described driving mechanism comprises rotatable boss, and all described material containings mechanism is all located on boss, by main motor, drives boss to rotate.
Preferably, on the output shaft of described main motor, be provided with main friction wheel, described in each, material containing mechanism is provided with friction wheel and lower friction wheel, when described material containing mechanism stir on by described lifting mechanism put in place after main friction wheel contact with lower friction wheel, when described material containing mechanism stir under by described lifting mechanism put in place after main friction wheel contact with upper friction wheel, described driving mechanism also comprises helper motor, the output shaft of helper motor is provided with transmitting gear one, on the output shaft of described main motor, be provided with transmitting gear two, transmitting gear one is meshed with transmitting gear two, by helper motor, drive material containing mechanism rotation described in each.
Preferably, described heating arrangements adopts coil heats mechanism.
Preferably, described lifting mechanism comprises cylinder and is arranged on the shaft collar in material containing mechanism described in each, stirs shaft collar make corresponding described material containing mechanism rise or decline by cylinder.
The utlity model has following innovation:
The first, the multi-work-station transmission mechanism based on Gear Planet Transmission, by motor, with the mode of the Gear Planet Transmission bearing that makes to quench, evenly rotate, realized the even rotation of bearing in quenching process, more make the water stability of rotation in tank, guarantee the uniform hardening of bearing, improve quenching quality.
The second, adopt motor and the upper installation of hydro-cylinder, by the propulsion source on tank top, carry out the transmission of quenching mechanism, having avoided transmission shaft driven and quench station to move up and down the hardening liquid producing due to bearing sealed ring wearing and tearing in process reveals, make production scene safety clean and tidy, enhance productivity.
Three, adopt and researched and developed mechanical manipulator and Controlling System thereof, realized docking of quenching technology flow process and enterprise industry flexible automation production line, automatically the station of controlling quenching mechanism by PLC and stepper-motor moves the automatic control with heat-up time, increase substantially enterprise's process for processing quality, and reduce labor force and reduce costs, promote lean production process.
Accompanying drawing explanation
A kind of bearing ring of controlling based on robot that Fig. 1 provides for the utility model and the general illustration of cover parts automatic quenching machine;
Fig. 2 is the partial schematic diagram in Fig. 1;
Fig. 3 is quenching apparatus and control subsystem schematic diagram;
Fig. 4 is quenching apparatus and control subsystem heated condition schematic diagram;
Fig. 5 is that quenching apparatus and control subsystem are got unit status schematic diagram;
Tu6Wei robot schematic diagram.
Embodiment
For the utility model is become apparent, hereby with preferred embodiment, and coordinate accompanying drawing to be described in detail below.
As Fig. 1 and as shown in, a kind of bearing ring and cover parts automatic quenching machine of controlling based on robot that the utility model provides, it comprises three subsystems altogether, is respectively RGV automated guided vehicle system 1, robot 4 and quenching apparatus and control subsystem 19, wherein:
Parts 16 to be processed (parts 16 are bearing in the present embodiment) are placed on the RGV dolly 20 of RGV automated guided vehicle system 1, are realized the automatic transportation of parts 16 to be processed by RGV automated guided vehicle system 1;
By robot 4, capture the bearing to be processed on RGV dolly 20 and put into quenching apparatus and control subsystem 19, by quenching apparatus and control subsystem 19, completed heating and the quenching of bearing, the bearing that Zai You robot 4 takes out after quenching in quenching apparatus and control subsystem 19 is placed on RGV dolly 20.
Robot 4 mainly consists of mechanical manipulator.Mechanical manipulator main task is put into bearing and take out bearing, wherein takes out bearing schematic diagram as shown in Figure 4.Robot base is a rotating disk, and it is motion parts important in this manipulator control system.When carrying out different operations, robot base and other joint driver cooperatings, make it according to predetermined characteristics of motion motion.Robot arm as shown in Figure 6.Visual angle robot body subsystem is comprised of robot base, robot driving mechanism, robot actuating mechanism.This robot arm has formed 6 degree of freedom by A, B, C, D, an E5 cradle head, can realize rotation and the translation motion of X, Y, Z direction.Robot driving mechanism is realized by driven by servomotor.Robot actuating mechanism comprises that a set of topworks has been used for the action of taking out bearing, putting into bearing.The end effector of robot is comprised of 3 " fingers ", by the mode of the pneumatic pinch bearing of taking.
RGV automated guided vehicle system 1 is a kind of unmanned carrier, can according to onboard sensor, confirm position signal according to the program of design in advance, along travel route and the stop position automatic running stipulated.Production scene adopts automatically guiding trolley to control the withdrawal of half-finished granting and finished product.
In conjunction with Fig. 2 to Fig. 5, quenching apparatus and control subsystem 19 comprise the cell body 6 that fills cooling fluid 5 (in the present embodiment, cooling fluid 5 is selected water).Cell body 6 tops have three openings, be respectively opening for feed 6-1, heating gate 6-2 and discharge port 6-3, in cell body 6, be provided with three support bars 15, the top of every support bar 15 is provided with for placing the bearing platform of bearing, all support bars 15 are all supported on rotatable boss 11, roller bearing 10 is arranged at boss 11 bottoms, by main motor 2, drive boss 11 rotations, after boss 11 is rotated in place, three support bars 15 are corresponding with an opening of cell body 6 respectively, boss 11 is rotated further after 120 degree, three support bars 15 move to respectively the next opening part being adjacent, so, three support bars 15 cycle alternation between three openings rotates, thereby realize bearing in the movement of heating and quench station.Every support bar 15 can move up and down, also can be around self axis rotation, on every support bar 15, be provided with successively from the bottom to top lower friction wheel 12, on friction wheel 13 and shaft collar 14.On the output shaft of main motor 2, be provided with successively from the bottom to top main friction wheel 9 and transmitting gear 28, main friction wheel 9 contacts with lower friction wheel 12 or upper friction wheel 13, transmitting gear 28 is meshed with transmitting gear 1, transmitting gear 1 is located on the output shaft of helper motor 3, after helper motor 3 rotates, by transmitting gear 1, transmitting gear 28, main friction wheel 9 and lower friction wheel 12 or upper friction wheel 13, drive to support bar 15, realize support bar 15 around the rotation of self axis, the rotation of bearing after realization is quenched in cell body 6, guarantees that Bearing Quenching is even.Moving up and down of support bar 15 controlled by cylinder 1, by cylinder 1 by shaft collar 14, dial turn to discharge port 6-3 below support bar 15 to certain altitude, the bearing that makes to be positioned at these support bar 15 tops can be by near coil heats mechanism 17 heating discharge port 6-3.To be heated after certain hour, then by cylinder 1, by shaft collar 14, set aside support bar 15 and drive friction wheels 12 and friction wheel 13 to make bearing to be quenched be immersed in the water quenching completely.In quenching process, by the rotation of support bar 15, the rotation of the bearing after realization is quenched in cell body 6, guarantees that Bearing Quenching is even.The heating of holding by said structure controllable shaft, quenching, this three state that dallies, reach the process of automatic control bearing heating quenching technique.The coil heats mechanism 17 using in the utility model for ultrasonic frequency induction heating equipment be most important equipment in quenching process, mainly by it, controlled heat-up time, the cooling time of heating tube, its time length plays a part crucial to the surface hardness variation of bearing.
Opening for feed 6-1 and discharge port 6-3 are respectively used to put into bearing and take out bearing, when support bar 15 moves to opening for feed 6-1 position, by robot 4, the bearing to be processed capturing from RGV dolly 20 are placed on to support bar 15 tops; When support bar 15 moves to discharge port 6-3 position, be placed on RGV dolly 20 after capturing by robot 4 bearing of quenching that is positioned at these support bar 15 tops.
The quenching press of the bearing cover parts of controlling based on robot that the utility model provides mainly comprises pan feeding carrying, material loading, heating, quenching, blanking, six operations of discharging transfer:
1, pan feeding carrying
The artificial bearing to be quenched that a upper procedure is completed takes out puts into RGV dolly 20, and RGV dolly 20 is sent bearing to be quenched into specified location along planned orbit.
2, material loading
When RGV dolly 20 arrives specified location, by robot 4, by image recognition technology, identify the bearing to be quenched in dolly, and by manipulator finger, stretch into bearing inner race tensioning and capture bearing, bearing to be quenched is put into opening for feed 6-1.
3, heating
The support bar 15 of the boss 11 of quenching device bottom on it and on bearing to be quenched clockwise rotate, when bearing arrives quenching position, by cylinder 1, drive moving up and down of fork controls support bar 15, support bar 15 first rises near the heat treated (appropriate change supporting bar structure can be realized the heating of bearing outer ring) before bearing inner race being quenched coil heats mechanism 17 with dynamic bearing, as shown in Figure 3.
4, quench
After certain hour, by cylinder 1, drive shift fork to move down and make support bar 15 together with dropping to 6 li of cell bodies, bottom boss 11 continues to be clockwise to discharge port 6-3 and carries out quench treatment.
5, blanking
The bearing of again identifying bearing by robot 4 and just quenched after having quenched captures, and takes out.
6, discharging carrying
The bearing quenching of taking-up being completed by robot 4 is put near the RGV dolly 20 discharge port 6-3, and by RGV dolly, is transported to next workshop and processes.
Claims (6)
1. bearing ring and a cover parts automatic quenching machine of controlling based on robot, it is characterized in that: comprise RGV automated guided vehicle system (1), robot (4) and quenching apparatus and control subsystem (19), wherein: parts to be processed (16) are placed on the RGV dolly (20) of RGV automated guided vehicle system (1), by RGV automated guided vehicle system (1), realize the automatic transportation of parts to be processed (16), by robot (4), capture the parts to be processed (16) on RGV dolly (20) and put into quenching apparatus and control subsystem (19), by quenching apparatus and control subsystem (19), completed heating and the quenching of parts to be processed (16), the parts (16) that Zai You robot (4) takes out after quenching in quenching apparatus and control subsystem (19) are placed on RGV dolly (20), quenching apparatus and control subsystem (19) comprise the cell body (6) that fills cooling fluid (5), cell body (6) top has at least three openings, be respectively opening for feed (6-1), heating gate (6-2) and discharge port (6-3), in cell body (6), be provided with at least three for the material containing mechanism at its top placing component (16), the corresponding Yi Ge material containing of each opening mechanism, by driving mechanism, drive each material containing mechanism cycle alternation between all openings to rotate, when a certain material containing mechanism kinematic is to opening for feed (6-1) position, by robot (4), the parts to be processed that capture from RGV dolly (20) are placed on to this material containing mechanism top, near heating gate (6-2), be provided with heating arrangements, on cell body (6), be provided with lifting mechanism, by on lifting mechanism, dial turn to discharge port (6-3) below material containing mechanism to certain altitude, make the parts (16) that are positioned at this material containing mechanism top can be heated mechanism heats, and after having heated, by lifting mechanism, set aside this material containing mechanism, the parts (16) that make to be positioned at this material containing mechanism top liquid (5) submergence that can be cooled completely, when a certain material containing mechanism kinematic is to discharge port (6-3) position, be placed on RGV dolly (20) after capturing by robot (4) quenched member (16) be positioned at this material containing mechanism top.
2. a kind of bearing ring and cover parts automatic quenching machine of controlling based on robot as claimed in claim 1, it is characterized in that: described material containing mechanism comprises support bar (15), and support bar (15) top is provided with for placing the bearing platform of described parts (16).
3. a kind of bearing ring and cover parts automatic quenching machine of controlling based on robot as claimed in claim 1, it is characterized in that: described driving mechanism comprises rotatable boss (11), it is upper that all described material containings mechanism is all located at boss (11), by main motor (2), drives boss (11) rotation.
4. a kind of bearing ring and cover parts automatic quenching machine of controlling based on robot as claimed in claim 3, it is characterized in that: on the output shaft of described main motor (2), be provided with main friction wheel (9), described in each, material containing mechanism is provided with friction wheel (13) and lower friction wheel (12), when described material containing mechanism stir on by described lifting mechanism put in place after main friction wheel (9) contact with lower friction wheel (12), when described material containing mechanism stir under by described lifting mechanism put in place after main friction wheel (9) contact with upper friction wheel (13), described driving mechanism also comprises helper motor (3), the output shaft of helper motor (3) is provided with transmitting gear one (7), on the output shaft of described main motor (2), be provided with transmitting gear two (8), transmitting gear one (7) is meshed with transmitting gear two (8), by helper motor (3), drive material containing mechanism rotation described in each.
5. a kind of bearing ring and cover parts automatic quenching machine of controlling based on robot as claimed in claim 1, is characterized in that: described heating arrangements adopts coil heats mechanism (17).
6. a kind of bearing ring and cover parts automatic quenching machine of controlling based on robot as claimed in claim 1, it is characterized in that: described lifting mechanism comprises cylinder (1) and be arranged on the shaft collar (14) in material containing mechanism described in each, by cylinder (1), stir shaft collar (14) and make corresponding described material containing mechanism rise or decline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420189410.0U CN203878180U (en) | 2014-04-18 | 2014-04-18 | Robot control based automatic quenching machine for bearing ring and sleeve component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420189410.0U CN203878180U (en) | 2014-04-18 | 2014-04-18 | Robot control based automatic quenching machine for bearing ring and sleeve component |
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| Publication Number | Publication Date |
|---|---|
| CN203878180U true CN203878180U (en) | 2014-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420189410.0U Expired - Fee Related CN203878180U (en) | 2014-04-18 | 2014-04-18 | Robot control based automatic quenching machine for bearing ring and sleeve component |
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| CN (1) | CN203878180U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103937954A (en) * | 2014-04-18 | 2014-07-23 | 东华大学 | Bearing ring and sleeve part automatic quenching machine based on robot control |
| CN105256111A (en) * | 2015-11-11 | 2016-01-20 | 长沙长泰机器人有限公司 | Feeding and blanking processing system and processing method based on robots and used for tools |
-
2014
- 2014-04-18 CN CN201420189410.0U patent/CN203878180U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103937954A (en) * | 2014-04-18 | 2014-07-23 | 东华大学 | Bearing ring and sleeve part automatic quenching machine based on robot control |
| CN103937954B (en) * | 2014-04-18 | 2016-08-17 | 东华大学 | A kind of bearing ring controlled based on robot and cover parts automatic quenching machine |
| CN105256111A (en) * | 2015-11-11 | 2016-01-20 | 长沙长泰机器人有限公司 | Feeding and blanking processing system and processing method based on robots and used for tools |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141015 Termination date: 20170418 |
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| CF01 | Termination of patent right due to non-payment of annual fee |