CN219725423U - Automatic processing equipment for rod pieces - Google Patents

Abstract

The utility model relates to automatic processing equipment for rod pieces, which comprises a feeding station, a processing station, a liquid pouring station, a discharging station and a truss type manipulator, wherein the feeding station is connected with the processing station; the feeding station comprises a material placing frame and two frames which are oppositely arranged, wherein the frames are provided with hanging strips, a fixed seat, two fixed pulleys and a driving wheel, one end of each fixed pulley is higher and the other end of each fixed pulley is lower, one end of each hanging strip is connected to the fixed seat, the other end of each hanging strip passes through the two fixed pulleys and then is wound on the driving wheel, a balancing weight is arranged at the part of each hanging strip between the two fixed pulleys, and the hanging strips are wound and unwound by rotating the driving wheel; the material placing frame is positioned at one side of the fixed pulley at the low side and is used for placing a rod piece rolled off from the fixed pulley side; the advantages are that: through design material loading station, processing station, unloading station, cooperation truss-like manipulator, realize automatic feeding, pay-off and unloading when the member processing, when processing, utilize the kerf sensor to look for the kerf, realize the kerf alignment at member both ends, can use manpower sparingly by a wide margin, promote efficiency and precision.

Description

Automatic processing equipment for rod pieces

Technical Field

The utility model relates to the field of rod piece processing equipment, in particular to automatic rod piece processing equipment.

Background

As shown in fig. 1, a schematic front view of the tubular member when it is not being processed is shown in fig. 2, and a schematic front view of the tubular member after it has been processed is shown. From fig. 1 to fig. 2, the end of the rod needs to be milled by a turning and milling compound machine tool, when the rod is manually grasped during the milling, one end of the rod is sent to the machine tool, and after the end is processed, the other end of the rod is sent to the machine tool manually. The following drawbacks exist in this process:

1. the feeding, feeding and discharging processes in the processing process are all controlled manually, the labor cost is high, the production efficiency is difficult to improve, and certain large-size rods consume more labor;

2. as shown in FIG. 2, the two ends of some rod members need to be cut, and the cut at the two ends need to be aligned, and currently, a manual seam alignment mode is adopted, so that the error is large.

Based on this, the present application is hereby proposed.

Disclosure of Invention

The utility model aims to provide rod piece automatic processing equipment, which realizes automatic feeding, feeding and discharging during rod piece processing, saves labor and improves efficiency and precision.

In order to achieve the above object, the technical scheme of the present utility model is as follows:

the automatic rod piece processing equipment comprises a feeding station, a processing station, a discharging station and a transferring and grabbing device, wherein the transferring and grabbing device is used for realizing the transfer of the rod piece on the feeding station, the processing station and the discharging station; the feeding station comprises a material placing frame and two opposite bases, the opposite surfaces of the two bases are called as feeding surfaces, each feeding surface is provided with a hanging strip, a fixed seat, two fixed pulleys and a driving wheel, the two fixed pulleys are higher and lower, the fixed seat and the driving wheels are respectively arranged below two sides of the fixed pulleys, one end of each hanging strip is connected to the fixed seat, the other end of each hanging strip passes through the two fixed pulleys and then is wound on the driving wheel, a balancing weight is arranged at the part of each hanging strip between the two fixed pulleys, and the bases are provided with driving wheel driving parts for realizing winding and unwinding of the hanging strips by rotating the driving wheels; the material placing frame is positioned on one side of the low-side fixed pulley and comprises a material placing side guide plate and a rod piece placing cavity, wherein the material placing side guide plate is used for guiding the rod piece to roll from the fixed pulley side to the rod piece placing cavity side.

Further, the material placing frame is provided with a rod translation mechanism, the rod translation mechanism comprises a push plate driving part and a push plate, one end of the push plate is used for pushing the rod in the rod placing cavity side, the other end of the push plate is connected with the push plate driving part, and the push plate driving part is used for driving the push plate to move along the axial direction of the rod placing cavity.

Further, the device comprises a machine base driving part, wherein one machine base is a fixed machine base, the other machine base is a sliding machine base, and the machine base driving part is used for driving the sliding machine base to be close to or far away from the fixed machine base.

Further, a limit frame and a gate mechanism are arranged between the machine base and the material placing frame, the limit frame comprises a limit part driving part and a limit part, the limit part driving part is used for driving the limit part to do lifting movement, the limit part comprises a limit side guide plate positioned below, a limit plate positioned above and a limit plate adjusting part, the limit plate adjusting part controls the distance between the limit plate and the limit side guide plate through lifting, so that a rod piece can pass through the limit side guide plate and the limit plate just, and the limit side guide plate is used for guiding the rod piece to roll into the limit part from the fixed pulley side; the gate mechanism comprises a gate and a gate driving part for controlling the gate to lift, when the gate driving part is in a descending position, the gate is attached to the limiting side guide plate, and when the gate driving part is in a lifting position, the distance between the gate and the limiting side guide plate can be used for a rod to pass through.

Further, processing station includes two rod end processing stations opposite in orientation, and the rod end processing station includes the lathe and moves the work or material rest, move the work or material rest and include track seat, sliding connection's track board and drive track board on the track seat and slide the track board drive division on the track seat, be equipped with a plurality of bars that arrange side by side on the track board and slide the passageway, the member slides the passageway along member axial setting and perpendicular to the slip direction of track board, the lathe setting is in the one end of member slide the passageway, and the other end that the track seat is located member slide the passageway is equipped with push rod portion, and push rod portion is just right with the lathe pan feeding mouth, the action end of push rod portion is equipped with processing and uses rod end fixture.

Further, the lifting device comprises a track seat driving part, wherein the track seat driving part is used for controlling the track seat to vertically lift.

Further, a kerf searching station is arranged between the two bar end processing stations, the kerf searching station comprises a fixed base, a plurality of bar body clamping mechanisms for locating the kerf, bar rotating mechanisms located at the end parts of the fixed base, bar end clamping mechanisms for locating the kerf and bar body clamping mechanisms for processing are arranged on the fixed base, the bar end clamping mechanisms are arranged at the action ends of the bar rotating mechanisms, kerf detection sensors are located at the end parts of the fixed base, and a bar sliding channel of the bar end processing station is provided with a plurality of bar body clamping mechanisms for processing.

Further, including being located the liquid station of falling between processing station and the unloading station, liquid station of falling includes rotating base and rotating base drive division, be equipped with a plurality of pole body fixture for liquid of falling of following member axial arrangement on the rotating base, the rotating base drive division is used for controlling rotating base rotation, realizes that the member changes between horizontality and tilt state.

Further, the blanking mechanism comprises a guide table, a stacking frame, a centering flashboard and a centering flashboard driving part, wherein a blanking side guide plate is arranged on the guide table and used for guiding a rod piece to roll down to the stacking frame, the centering flashboard is positioned above the blanking side guide plate and is controlled to lift by the centering flashboard driving part, when the centering flashboard driving part is positioned at a descending position, the centering flashboard is attached to the blanking side guide plate, and when the centering flashboard driving part is positioned at a lifting position, the distance between the centering flashboard and the blanking side guide plate can be used for the rod piece to pass through;

the centering flashboard is provided with a rod centering mechanism, and the centering flashboard comprises a gear positioned at the center, an upper rack, a lower rack and a gear driving part, wherein the upper rack and the lower rack are respectively positioned above and below the gear and are meshed with the gear, the gear driving part is used for driving the gear to rotate, clamping plates are respectively arranged on the upper rack and the lower rack, and the two clamping plates are oppositely arranged and positioned at two ends of the blanking side guide plate in the axial direction.

Further, the transferring and grabbing device adopts a truss type manipulator.

The utility model has the advantages that:

1. by designing a feeding station, a processing station and a discharging station which are suitable for rod pieces and matching with a truss type mechanical arm, automatic feeding, feeding and discharging are realized when the rod pieces are processed, and during processing, a lancing sensor is used for searching lancing, so that lancing alignment of two ends of the rod pieces is realized, labor can be greatly saved, and efficiency and precision are improved;

2. through setting up the station of pouring liquid, pour the waste liquid in the tubular member after the processing is accomplished and carry out the unloading again for the member windrow of processing completion is cleaner, has avoided the manual work to pour liquid operation, has promoted efficiency, has reduced the cost of labor.

Drawings

FIG. 1 is a schematic view of a tubular rod-like member in an unprocessed state;

FIG. 2 is a schematic view of a tubular rod-like member after being processed;

FIG. 3 is a schematic view showing a three-dimensional structure of an automatic rod-like machining apparatus according to an embodiment;

FIG. 4 is a schematic diagram of the lower view of FIG. 3;

FIG. 5 is a schematic view of a three-dimensional configuration of a loading station in an embodiment;

FIG. 6 is a simplified loading diagram of a loading station in an embodiment, with a harness in a released state, with a rod placed on the harness;

FIG. 7 is a simplified loading diagram of a loading station in an embodiment, wherein the slings are in a tightened state, the gate is closed, and the rod rolls down to the gate;

FIG. 8 is a simplified loading diagram of a loading station in an embodiment, wherein the sling is in a tightened state, the gate is opened, and the rod rolls down to the limit part;

FIG. 9 is a simplified loading diagram of a loading station in an embodiment, wherein the sling is in a released state, the gate is closed, the limit part is lifted, and the rod is rolled to the material placing frame by the limit part;

FIG. 10 is a simplified loading diagram of a loading station in an embodiment, with a rod positioned in a cradle;

FIG. 11 is a schematic view of a three-dimensional structure of a loading station according to another view angle of the embodiment;

FIG. 12 is a schematic view showing a state in which the truss type robot performs the transfer of the rod members in the embodiment;

FIG. 13 is a schematic view of a three-dimensional configuration of a processing station of an embodiment;

FIG. 14 is a schematic view of a three-dimensional configuration of another view of a processing station in an embodiment;

FIG. 15 is an enlarged schematic view of portion A of FIG. 13;

FIG. 16 is an enlarged schematic view of portion B of FIG. 13;

FIG. 17 is a schematic view of a three-dimensional configuration of a kerf finding station in an embodiment;

FIG. 18 is a schematic view of a three-dimensional configuration of a blanking station in an embodiment;

FIG. 19 is a schematic view of a three-dimensional configuration of a blanking station from another perspective in an embodiment;

description of the reference numerals

1-raw bars;

2-a machined rod piece, 201-cutting;

the feeding device comprises a 3-feeding station, 301-fixed base, 302-sliding base, 303-base driving part, 3031-ground track, 3032-ground rack, 3033-base gear, 3034-base gear driving part, 304-hanging strip, 305-fixed base, 306-high side fixed pulley, 307-low side fixed pulley, 308-driving wheel, 309-balancing weight, 310-driving wheel driving part, 311-material-placing side guide plate, 312-rod piece placing cavity, 313-pushing plate, 314-pushing plate driving part, 315-limit part driving part, 316-limit side guide plate, 317-limit plate, 318-limit plate adjusting part, 3181-limit plate mounting plate, 3182-vertical screw, 3183-nut, 319-gate and 320-gate driving part;

4-No. 1 rod end machining station, 401-a turning machine tool, 402-a track seat, 403-a track seat driving part, 404-a track plate, 405-a track plate driving part, 406-a rod sliding channel, 407-a push rod part, 408-a rod end clamping mechanism for machining, 409-a rod body clamping mechanism for machining;

a rod end machining station 5-2;

6-a seam searching station, 601-a fixed base, 602-a seam searching rod body clamping mechanism, 603-a rod piece rotating mechanism, 604-a seam searching rod end clamping mechanism, 605-a seam detecting sensor;

7-pouring stations, 701-rotating bases, 702-rotating base driving parts, 703-waste liquid recovery boxes and 704-a rod body clamping mechanism for pouring;

8-blanking stations, 801-guide tables, 802-stacking frames, 803-centering flashboards, 804-centering flashboard driving parts, 805-blanking side guide plates, 806-gears, 807-upper racks, 808-lower racks and 809-clamping plates;

9-transfer gripping means.

Detailed Description

The present utility model will be described in further detail with reference to the following embodiments, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like herein indicate an orientation or a positional relationship based on the orientation or the positional relationship shown in the drawings, and are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. In addition, the X-direction, Y-direction, and Z-direction in the embodiment are based on the coordinate system in fig. 3.

The embodiment provides a member automatic processing equipment, as shown in fig. 3 and fig. 4, from the perspective of the Y direction (i.e. member conveying direction), including material loading station 3, processing station, liquid pouring station 7 and unloading station 8 in proper order, still including transferring grabbing device 9 simultaneously, transfer grabbing device 9 in this embodiment adopts current mature truss manipulator, but this truss manipulator along the truss removal of Y direction, but the while grabbing portion Z is to going up and down, truss manipulator is used for realizing waiting to process the transfer on material loading station 3, processing station, liquid pouring station 7, the unloading station 8 of member.

As shown in fig. 5 to 7, the loading station 3 includes a material placing frame, a limiting frame, a gate mechanism, and two bases 301 and 302 disposed opposite to each other. Referring to fig. 5, the opposite surfaces of the two bases 301 and 302 are called feeding surfaces, each feeding surface is provided with a hanging strip 304, a fixing base 305, two fixed pulleys 306 and 307 and a driving wheel 308, the two fixed pulleys 306 and 307 are higher and lower, the fixing base 305 and the driving wheel 308 are respectively arranged below two sides of the fixed pulleys 306 and 307, wherein the fixing base 305 is positioned below the side of the high-side fixed pulley 306, and the driving wheel 308 is positioned below the side of the low-side fixed pulley 307. One end of the hanging strip 304 is connected to the fixing seat 305, the other end is rolled on the driving wheel 308 after passing through the two fixed pulleys 306 and 307, a balancing weight 309 is arranged at the part of the hanging strip 304 between the two fixed pulleys 306 and 307, a driving wheel driving part 310 is arranged on the stand, and the hanging strip 304 is retracted and extended by rotating the driving wheel 308. When the sling 304 is in a relaxed state, the weight 309 allows the sling 304 between the two fixed pulleys 306, 307 to sag, the sagging area being available for placement of a rod, as shown in fig. 1; when the sling 304 is in a tightened state, the sling 304 between the two fixed pulleys 306, 307 forms a slope inclined from the high side fixed pulley 306 to the low side fixed pulley 307, so that the rod on the sling 304 can roll down the slope, as shown in fig. 7. In this embodiment, the driving wheel driving part 310 may use a servo motor.

The feeding station 3 further comprises a base driving part 303, wherein one base is a fixed base 301, the other base is a sliding base 302, and the base driving part 303 is used for driving the sliding base 302 to be close to or far from the fixed base 301. The sliding driving part adopts a form of a servo motor, a gear and a rack, and can also be realized by adopting a form of pushing the stand by a hydraulic cylinder. As shown in fig. 5, the present embodiment includes a floor rail 3031 and a floor rack 3032 disposed along the X-direction, the slide base 302 is slidably connected to the floor rail 3031, and the slide base 302 is provided with a base gear 3033 and a base gear driving part 3034 engaged with the floor rack 3032, and the base gear driving part 3034 can employ a servo motor.

The stop and gate mechanism is located on one side of the low side fixed sheave 307 and is disposed between the frames 301, 302 and the placement frame. The limiting frame comprises a limiting part driving part 315 and a limiting part, wherein the limiting part driving part 315 can adopt a vertical lifting hydraulic cylinder for driving the limiting part to do lifting motion. The spacing portion includes spacing side deflector 316 that is located the below, is located spacing board 317 and spacing board adjustment portion 318 of top, spacing board adjustment portion 318 controls the distance between spacing board 317 and the spacing side deflector 316 through going up and down, makes between spacing side deflector 316 and the spacing board 317 just can supply a member to pass through. The limit side guide plate 316 is used for guiding the rod to roll into the limit part from the side of the low side fixed pulley 307. Limiting plate adjusting part 318 can adopt manual regulation control or automatic regulation control mode, and limiting plate adjusting part 318 in this embodiment adopts manual regulation control's form, including vertical screw 3182 and limiting plate mounting panel 3181, limiting plate mounting panel 3181 is located the top of limiting plate 317, vertical screw 3182's one end is fixed with limiting plate 317, and the other end passes limiting plate mounting panel 3181 and is fixed by two nuts 3183 from top to bottom, and during the regulation, through unscrewing two nuts 3183 from top to bottom, realizes the vertical regulation of limiting plate 317. The gate mechanism comprises a gate 319 and a gate driving part 320 for controlling the gate 319 to lift, the gate driving part 320 can adopt a vertically lifting cylinder, when the gate driving part 320 is in a descending position, the gate 319 is attached to the limit side guide plate 316, and when the gate driving part 320 is in a lifting position, the distance between the gate 319 and the limit side guide plate 316 can be used for a rod to pass through.

The material placing frame comprises a material placing side guide plate 311 and a rod placing cavity 312, and when the limiting part is lifted, the material placing side guide plate 311 guides the rod to roll from the limiting side guide plate 316 to the rod placing cavity 312. As shown in FIG. 11, the rod placement chamber 312 is formed by a plurality of semicircular grooves arranged in the same row in the X direction. The rod translation mechanism is arranged on the material placing frame and comprises a push plate driving part 314 and a push plate 313, in an initial state, the push plate 313 is positioned at one end of the rod placing cavity 312 and is used for pushing the rod in the rod placing cavity 312 side, so that the rod in the rod placing cavity 312 can move in the X direction and can be grabbed by the truss type manipulator above (as shown in fig. 1, the truss type manipulator is arranged in the middle of the X direction of the whole equipment, if the rod is long, the manipulator can grab the rod in the material placing frame, and if the rod is short, the rod needs to be translated to the lower part of the manipulator, so that the rod can be grabbed by the manipulator). The push plate 313 is connected to a push plate driving part 314, and the push plate driving part 314 adopts an air cylinder which can extend and retract in the X direction and is used for driving the push plate 313 to move along the X direction of the rod placing cavity 312.

The loading operation of the loading station 3 is shown in fig. 6 to 10, and comprises the following steps:

t1, a plurality of rod pieces are placed on two hanging strips 304 of a machine base in a manual or forklift mode, the distance between the two machine bases is required to be adjusted according to the length of the rod pieces to be processed while placing, as shown in fig. 6, the hanging strips 304 are in a loose sagging state, a gate 319 is closed, a limit side guide plate 316 is close to one end of a fixed pulley 307 on the lower side and is equal to the fixed pulley in height, and the rod pieces are positioned in a placing cavity formed by sagging of the hanging strips 304;

t2. Tightening the sling 304 so that the sling 304 forms a ramp inclined from the high side fixed pulley 306 to the low side fixed pulley 307, the rod rolling to the gate 319 as shown in fig. 7;

t3, the gate 319 rises, the rod rolls down along the slope of the limit side guide plate 316, enters between the limit plate 317 and the limit side guide plate 316, and releases the hanging strip 304 when the number of the rod enters the planned number, the rod stops entering the limit part, and the gate 319 is closed;

t4. As shown in FIG. 9, lifting the limit part (the gate 319 needs to be lifted synchronously at this time), when the limit side guide plate 316 is higher than the material placing side guide plate 311, the outermost rod rolls out of the limit part and enters the material placing side guide plate 311 (when most of the outermost rod exposes the limit part, the limit part can be slowly lowered to avoid that the rod behind rolls out at the same time), and the rolled rod is guided into the rod placing cavity 312 by the material placing side guide plate 311, and finally reaches the state shown in FIG. 10;

t5. As shown in FIG. 11, if the rod is not under the truss type manipulator at this time, the rod needs to be translated in the X direction by the rod translation mechanism (only one of the two bases is the sliding base 302, so that one end of the rod is close to the fixed base 301 side, so that the manipulator can grasp the rod when the rod is long, and the rod needs to be translated in the arrow direction shown in FIG. 11 when the rod is short), so that the truss type manipulator can grasp the rod.

Referring to fig. 12-17, the processing stations include two oppositely facing rod end processing stations, namely rod end processing station No. 4 and rod end processing station No. 2, 5, which are substantially identical and are described below with reference to rod end processing station No. 4.

The rod end machining station No. 14 comprises a turning and milling machine 401 and a material moving frame, wherein the material moving frame comprises a track seat 402, a track plate 404 slidingly connected to the track seat 402 and a track plate driving part 405 for driving the track plate 404 to slide on the track seat 402, and the track plate driving part 405 adopts a cylinder capable of stretching in the Y direction to realize the Y-direction translation of the track plate 404. Preferably, in this embodiment, a rail seat driving portion 403 is disposed below the rail seat 402, and the rail seat driving portion 403 is in the form of a hydraulic cylinder or a manual jack, so as to implement vertical lifting adjustment of the rail seat 402 (adjustment according to the height of the feed inlet of the turning and milling machine 401). The track plate 404 is provided with a plurality of rows of rod sliding channels 406 arranged side by side (i.e., Y-direction side by side), and the rod sliding direction of the rod sliding channels 406 is along the X-direction. The turning and milling machine 401 is arranged at one end of the rod sliding channel 406X direction, the other end of the track seat 402, which is positioned at the rod sliding channel 406X direction, is provided with a push rod part 407, the push rod part 407 is opposite to the feeding port of the turning and milling machine 401, and the action end of the push rod part 407 is provided with a rod end clamping mechanism 408 for processing. In this embodiment, the push rod portion 407 uses an air cylinder that can expand and contract in the X direction, and the rod end clamping mechanism 408 for machining uses a pneumatic clamping jaw. As shown in fig. 15, the rod sliding channel 406 includes a plurality of rollers with arc grooves and arranged in the same row, wherein the rod is placed in the arc grooves, and the rollers can reduce the sliding resistance of the rod.

The using process of the rod end machining station 4 comprises the following steps:

t1, placing a rod piece to be processed on one rod piece sliding channel 406 by a truss type manipulator;

t2, the track plate driving part 405 translates the track plate 404, so that the rod piece to be processed translates to a position opposite to the push rod part 407 and the feed inlet of the turning and milling machine 401;

t3, the rod end clamping mechanism 408 for processing the action end of the push rod portion 407 clamps the rod end, the push rod portion 407 pushes the rod into the turning and milling machine 401 for processing, and after the processing is completed, the rod end clamping mechanism 408 for processing the action end of the push rod portion 407 clamps the rod end of the rod after the processing is completed;

and T4, grabbing a rod piece with one end being processed by the truss type mechanical arm until the next working procedure (namely a kerf searching working position 6 or a rod end processing working position 5 No. 2) is carried out.

As shown in fig. 2, the two ends of some rod members need to be cut and the cut at the two ends need to be aligned, so after the rod member is cut by the rod end processing station No. 14, the cut needs to be positioned to enter the rod end processing station No. 2 5. The present embodiment provides a kerf seeking station 6 between rod end processing stations No. 1 and No. 2 5.

As shown in fig. 16 and 17, the slit finding station 6 includes a fixed base 601, a plurality of slit finding shaft holding mechanisms 602 arranged in the X-direction are provided on the fixed base 601, a rod rotating mechanism 603 provided at an end of the fixed base 601, a slit finding rod end holding mechanism 604 provided at an operation end of the rod rotating mechanism 603, and a slit detecting sensor 605 provided at an end of the fixed base 601. In this embodiment, the shaft clamping mechanism 602 for locating the seam and the rod end clamping mechanism 604 for locating the seam are both pneumatic clamping jaws, the rod rotating mechanism 603 is a rotary cylinder, and the seam detecting sensor 605 is a conventional seam detecting sensor.

The use of the slit finding station 6 comprises the steps of:

t1, placing a rod piece with one end being processed into a joint-cutting searching station 6 by a truss type mechanical arm, and clamping the rod piece by a rod body clamping mechanism 602 for joint-cutting of the joint-cutting searching station 6;

t2, clamping the rod end by a rod end clamping mechanism 604 for seam finding, and slightly releasing the rod body clamping mechanism 602 for seam finding (ensuring that the rod piece can be rotated);

t3, the rod rotating mechanism 603 drives the rod end clamping mechanism 604 for locating the seam to rotate, so that the rod slowly rotates, in the rotating process of the rod, the joint cutting detection sensor 605 detects the joint cutting position, the rod body clamping mechanism 602 for locating the seam clamps the rod, and meanwhile the rod end clamping mechanism 604 for locating the seam is released;

t4, the seam finding rod body clamping mechanism 602 continuously clamps the rod piece until the rod piece is grabbed by the truss type mechanical arm;

because of the presence of the slits, the present embodiment needs to provide a plurality of processing shaft clamping mechanisms 409 on the rod sliding channel 406 of the rod end processing station (particularly, the rod end processing station No. 2, 5), so as to avoid inaccurate positioning of the slits caused by rotation of the rod. The shaft clamping mechanism 409 for machining also uses pneumatic clamping jaws. When the truss type manipulator grabs the rod piece on the kerf searching station 6 and places the rod piece on the rod piece sliding channel 406 of the rod end machining station 2, the rod piece is required to be clamped by the rod body clamping mechanism 409 for machining of the rod end machining station 2, the rod piece is prevented from rotating, and the rod piece is not loosened until the rod piece is required to be clamped by the push rod portion 407 and sent to the turning and milling machine tool of the rod end machining station 2.

For tubular rod pieces, waste liquid generated in the turning and milling process flows into the cavity of the rod piece, and if the rod piece is directly discharged at the moment, the environment of a stacking position can be polluted, so that a liquid pouring station 7 is arranged between a rod end machining station 5 and a discharging station 8 in the embodiment.

As shown in fig. 14, the pouring station 7 includes a rotating base 701, a rotating base driving part 702, and a waste liquid recovery tank 703, the rotating base 701 is provided with a plurality of liquid pouring shaft clamping mechanisms 704 arranged along the X direction, the rotating base driving part 702 is used for controlling the rotating base 701 to rotate on the X-Z plane, so as to realize the change of the rod between the horizontal state and the inclined state, and the waste liquid recovery tank 703 is located at one axial end of the rotating base 701 and is used for recovering waste liquid poured from the rod. The rotary base 701 can adopt a form that one end is hinged with a lower upright post, and a telescopic cylinder is arranged below the other end to serve as a rotary base driving part 702, so that the rotary base 701 can rotate around a shaft; of course, the rotary base 701 can also adopt a form that the servo motor directly drives rotation. In this embodiment, the pouring shaft holding mechanism 704 is a pneumatic gripper as well. The waste liquid recovery tank 703 is used for recovering waste liquid poured from the rod member, the waste liquid recovery tank 703 can be provided with a sewage outlet and a sewage pipeline, and the waste liquid is guided to a specified area, so that the environment in the factory area is clean.

As shown in fig. 18 and 19, the blanking mechanism includes a guide table 801, a stacker frame 802, a centering gate 803, and a centering gate driving portion 804, a blanking side guide plate 805 is disposed on top of the guide table 801, the blanking side guide plate 805 is used for guiding a rod to roll down to the stacker frame 802, the centering gate 803 is located above the blanking side guide plate 805 and is controlled to lift by the centering gate driving portion 804, when the centering gate driving portion 804 is in a lowered position, the centering gate 803 is attached to the blanking side guide plate 805, and when the centering gate driving portion 804 is in a raised position, a distance between the centering gate 803 and the blanking side guide plate 805 can allow the rod to pass through. In order to realize that various rods with different lengths can fall into the stacking frame 802, the centering flashboard 803 of the embodiment is provided with a rod centering mechanism, which comprises a gear 806 positioned at the center, an upper rack 807 and a lower rack 808 which are respectively positioned above and below the gear 806 and meshed with the gear 806, and a gear 806 driving part for driving the gear 806 to rotate, wherein clamping plates 809 are respectively arranged on the upper rack 807 and the lower rack 808, and the two clamping plates 809 are oppositely arranged and positioned at two ends of the blanking side guide plate 805 in the axial direction.

The using process of the blanking mechanism comprises the following steps:

t1: the truss type robot places the rod pieces with the both ends finished being processed on the discharging side guide plate 805 as shown in fig. 18;

t2: the rod centering mechanism is started, the gear 806 in the center rotates, the upper and lower racks 807 and 808 translate, the rod is clamped by the clamping plates 809 at the two ends, the gear 806 continuously rotates, the rod is clamped and moved to a centering position (after the rod is placed by the truss type manipulator on the blanking side guide plate 805, the position of the rod can shift when the plate rolls up and down, so that the rod cannot accurately fall into the stacker frame 802, the rod centering mechanism realizes the last adjustment before the rod falls into the frame, and the rod is ensured to accurately fall into the frame);

t3: the middle shutter driving portion controls the middle shutter 803 to be lifted up so that the rod falls.

The whole processing process of the rod piece type automatic processing equipment comprises the following steps:

s1, placing a rod piece between two hanging strips 304;

s2, driving the driving wheel 308 to tighten the suspender 304, simultaneously opening the gate 319, and rolling the rod into the limiting part;

s3, driving a driving wheel 308 to release a hanging belt 304, closing a gate 319, and lifting a limit part, so that after one rod falls into a material placing frame, the limit part descends, and a rod translation mechanism adjusts the rod in the material placing frame to a proper position;

s4, a truss type manipulator grabs a rod in a material placing frame, the rod is placed on a rod sliding channel 406 of a rod end machining station No. 14, a rail plate driving part 405 slides a rail plate 404 to enable the rod to be aligned with a material inlet of a turning and milling machine 401, a push rod part 407 pushes the rod into the turning and milling machine 401, the turning and milling machine 401 machines one end of the rod, and after machining is completed, the push rod part 407 clamps the rod to withdraw from the turning and milling machine 401;

s5, the truss type mechanical arm grabs the rod piece processed on the rod end processing station 4 of the No. 1 rod, and the rod piece is placed in the kerf searching station 6, the kerf searching station 6 clamps the end of the rod piece to rotate for kerf searching, rotation is stopped after kerf searching, and the rod piece is continuously clamped until the rod piece is grabbed by the truss type mechanical arm;

s6, a truss type manipulator grabs a rod piece on a kerf searching station 6, the rod piece is placed on a rod piece sliding channel of a rod piece processing station No. 2 5 and is clamped by a rod body clamping mechanism for processing on the rod piece sliding channel, a track plate driving part slides a track plate to enable the rod piece to be aligned with a feed port of a turning machine tool, a rod piece is clamped by a push rod part of the rod piece processing station No. 2, meanwhile, the rod piece is released by the rod body clamping mechanism for processing on the rod piece sliding channel, then the rod piece is pushed into the turning machine tool by the push rod part, the other end of the rod piece is processed by the turning machine tool, and after the processing is finished, the rod piece is clamped by the push rod part 407 to leave the turning machine tool 401;

s7, the truss type manipulator firstly places the processed rod piece to a liquid pouring station 7, the liquid pouring station 7 tilts the rod piece to enable waste liquid in the rod piece to flow out, and then the truss type manipulator grabs the rod piece after liquid pouring to a blanking station 8, and blanking is carried out after the blanking station 8 adjusts the position of the rod piece.

The above embodiments are only for illustrating the concept of the present utility model and not for limiting the protection of the claims of the present utility model, and all the insubstantial modifications of the present utility model using the concept shall fall within the protection scope of the present utility model.

Claims (10)

1. The automatic rod piece processing equipment is characterized by comprising a feeding station, a processing station, a discharging station and a transferring and grabbing device, wherein the transferring and grabbing device is used for realizing the transfer of the rod piece on the feeding station, the processing station and the discharging station;

the feeding station comprises a material placing frame and two opposite bases, the opposite surfaces of the two bases are called as feeding surfaces, each feeding surface is provided with a hanging strip, a fixed seat, two fixed pulleys and a driving wheel, the two fixed pulleys are higher and lower, the fixed seat and the driving wheels are respectively arranged below two sides of the fixed pulleys, one end of each hanging strip is connected to the fixed seat, the other end of each hanging strip passes through the two fixed pulleys and then is wound on the driving wheel, a balancing weight is arranged at the part of each hanging strip between the two fixed pulleys, and the bases are provided with driving wheel driving parts for realizing winding and unwinding of the hanging strips by rotating the driving wheels; the material placing frame is positioned on one side of the low-side fixed pulley and comprises a material placing side guide plate and a rod piece placing cavity, wherein the material placing side guide plate is used for guiding the rod piece to roll from the fixed pulley side to the rod piece placing cavity side.

2. The automatic rod processing device according to claim 1, wherein the rod translation mechanism is arranged on the material placing frame and comprises a push plate driving part and a push plate, one end of the push plate is used for pushing the rod in the rod placing cavity, the other end of the push plate is connected with the push plate driving part, and the push plate driving part is used for driving the push plate to move along the axial direction of the rod placing cavity.

3. An automatic rod-like processing apparatus according to claim 1, comprising a housing driving section, wherein one of said housings is a fixed housing and the other of said housings is a sliding housing, and wherein the housing driving section is adapted to drive the sliding housing toward or away from the fixed housing.

4. The automatic rod processing equipment according to claim 1, wherein a limit frame and a gate mechanism are arranged between the machine base and the material placing frame, the limit frame comprises a limit part driving part and a limit part, the limit part driving part is used for driving the limit part to do lifting motion, the limit part comprises a limit side guide plate positioned below, a limit plate positioned above and a limit plate adjusting part, the limit plate adjusting part controls the distance between the limit plate and the limit side guide plate through lifting, so that a rod can pass through the limit side guide plate and the limit plate, and the limit side guide plate is used for guiding the rod to roll into the limit part from a fixed pulley side; the gate mechanism comprises a gate and a gate driving part for controlling the gate to lift, when the gate driving part is in a descending position, the gate is attached to the limiting side guide plate, and when the gate driving part is in a lifting position, the distance between the gate and the limiting side guide plate can be used for a rod to pass through.

5. The automatic rod processing equipment according to claim 1, wherein the processing stations comprise two rod end processing stations facing opposite directions, the rod end processing stations comprise a machine tool and a material moving frame, the material moving frame comprises a track seat, a track plate slidingly connected to the track seat and a track plate driving part for driving the track plate to slide on the track seat, the track plate is provided with a plurality of rod sliding channels arranged side by side, the rod sliding channels are arranged along the axial direction of the rod and perpendicular to the sliding direction of the track plate, the machine tool is arranged at one end of the rod sliding channels, the other end of the track seat, which is positioned at the rod sliding channels, is provided with a push rod part, the push rod part is opposite to a feeding hole of the machine tool, and the action end of the push rod part is provided with a rod end clamping mechanism for processing.

6. The automatic rod-like processing apparatus according to claim 5, comprising a rail seat driving part for controlling the rail seat to vertically lift.

7. The automatic rod processing equipment according to claim 5, wherein a joint-cutting searching station is arranged between two rod end processing stations, the joint-cutting searching station comprises a fixed base, a plurality of rod body clamping mechanisms for joint-cutting, which are axially arranged along a rod, a rod rotating mechanism positioned at the end of the fixed base, a rod end clamping mechanism for joint-cutting, which is arranged at the action end of the rod rotating mechanism, and a joint-cutting detection sensor positioned at the end of the fixed base are arranged on the fixed base, and a rod sliding channel of the rod end processing station is provided with a plurality of rod body clamping mechanisms for processing.

8. The automatic rod piece processing device according to claim 1, comprising a liquid pouring station between the processing station and the blanking station, wherein the liquid pouring station comprises a rotating base and a rotating base driving part, the rotating base is provided with a plurality of liquid pouring rod body clamping mechanisms axially arranged along the rod piece, and the rotating base driving part is used for controlling the rotating base to rotate so as to change the rod piece between a horizontal state and an inclined state.

9. The automatic rod processing equipment according to claim 1, wherein the blanking mechanism comprises a guide table, a stacker frame, a centering gate plate and a centering gate plate driving part, a blanking side guide plate is arranged on the guide table and used for guiding a rod to roll down to the stacker frame, the centering gate plate is positioned above the blanking side guide plate and is controlled to lift by the centering gate plate driving part, when the centering gate plate driving part is in a descending position, the centering gate plate is attached to the blanking side guide plate, and when the centering gate plate driving part is in a lifting position, a distance between the centering gate plate and the blanking side guide plate can be used for the rod to pass through;

the centering flashboard is provided with a rod centering mechanism, and the centering flashboard comprises a gear positioned at the center, an upper rack, a lower rack and a gear driving part, wherein the upper rack and the lower rack are respectively positioned above and below the gear and are meshed with the gear, the gear driving part is used for driving the gear to rotate, clamping plates are respectively arranged on the upper rack and the lower rack, and the two clamping plates are oppositely arranged and positioned at two ends of the blanking side guide plate in the axial direction.

10. An automated rod handling machine according to claim 1, wherein the transfer gripping means is a truss type robot.