TWI614086B - Machining system for tube clamper and process thereof - Google Patents

Abstract

The utility model relates to an automatic secondary processing system for elastic collet, which is characterized in that a mechanical gripper grasps an elastic collet to a collet, and a rotating indexing disc is arranged at the bottom of the collet, and is driven by a monorail robot to be cut along a cutting Advancing and retracting in the axial direction, a cutting machine is disposed in a direction in which the chuck advances, and a visual detecting device is disposed between the collet and the cutting machine, the visual detecting device is provided with a lens and a light source positioned higher than the collet; When the invention is used for secondary processing of the elastic collet, the shape of the elastic collet is identified by the lens of the visual detecting device, and then the collet and the elastic collet are sequentially rotated according to the shape characteristic of the collet, and the elastic collet is sequentially transported. The groove formed in one processing is cut off at the cutting machine to achieve the effect of alignment, accurate and rapid automatic secondary processing of the elastic collet.

Description

Automatic tubular clamp automatic secondary processing system and method

The invention relates to a processing device and a method, in particular to an automatic secondary processing system and method for automatically processing an elastic collet.

The processing industry is indispensable in the industry. There is a certain foundation in the market. The demand for mechanical cutters and milling machine parts is increasing, and the demand for high-precision and high-quality tool accessories is on the market. In order to enable the tool industry to provide a large number of high-quality tool holders, the tool industry has developed an elastic collet structure for the tool holder. An elastic collet is placed in each of the holders, and a tool is set by the elastic collet. The efficiency of the knife, the tool is clamped by the elastic collet to make it difficult to fall off, and the problem of eccentricity of the tool insertion is reduced, and the dynamic balance characteristic of the tool is improved.

There are many types of elastic collet in the industry, and the output demand is large. There are elastic collets in each arbor. The processing of the elastic collet requires two cutting processes, from round iron to lathe and drilling. After processing with the reaming hole, it becomes a billet, and then the first cutting process and the heat treatment process are performed on the billet. As shown in FIG. 8, the elastic collet 80 is surrounded by a plurality of uncut trenches at equal intervals. Slot 81.

Since the elastic collet 80 is thermally deformed when subjected to heat treatment, the first time the blank is cut, the uncut channel 81 of about three-quarters of the depth is first cut on the billet by the saw blade. After the heat treatment is subsequently performed and the grinding is performed, the second cutting is performed, and the grinding wheel piece is cut along the uncutting groove 81 of the first cutting, and the uncutting groove 81 of the elastic collet 80 is initially cut. The cutting of the secondary processing is completed, and as shown in FIG. 9, the finished elastic collet 80 is surrounded and provided with a plurality of intersecting grooves 82 at equal intervals.

At present, there is only a device for performing the first groove cutting operation on the processing of the elastic collet blank, but in the elastic collet portion, due to the heat treatment involved, it is impossible to completely cut at one time, and the blank of the elastic collet is carried out. The alignment of the second cutting process and the work of cutting the groove formed for the first time are performed manually using the jig, but the manual method is inevitable due to inaccurate alignment or sectioning. The uneven force of the break leads to the failure of the processing. This method is time consuming and easy to produce defects due to misalignment, increasing scrapping costs and labor costs, and the production capacity is slow.

The existing elastic collet is hardened by heat treatment, and it needs to be repeatedly aligned during the last secondary processing. When the groove formed by the first cutting around is cut, it is easy to produce 瑕疵 because it still relies on manual alignment and cutting processing. Shortcomings such as slow production capacity. To this end, the case uses an automatic loading and unloading device, with a visual inspection device and a matching processing device, and uses a cutter to cut the groove of the elastic collet to achieve high-speed, high-precision secondary processing.

To achieve the above object, the present invention provides an automatic secondary processing system for an elastic collet, comprising:

a platform

An automatic loading and unloading device is provided with a material tray and a mechanical arm on the platform, and a plurality of elastic collet receptacles are arranged on the material tray, and a transfer jaw is arranged on the mechanical arm;

A one-position processing device is coupled with a monorail robot on the platform, and a rotary indexing disc is coupled to the monorail robot, and the monorail robot can drive the rotary indexing disk to move forward and backward in a straight line, in the rotation The indexing disc is provided with a collet in a rotatable manner, and a plurality of fixing jaws are arranged around the collet, and a rotary motor is coupled beside the rotary indexing disc, and the rotary motor can drive the rotary indexing disc The chuck is rotated, and the transfer claw is reciprocally movable between the material tray and the chuck;

A cutting device is provided with a cutting machine on the platform, the cutting machine is provided with a cutter, the cutter is located in the advancing direction of the collet;

A visual detecting device is provided with a visual detecting bracket on the platform, the lower side of the visual detecting bracket is available for the rotating indexing disc, the collet and the rotating motor to pass, and the visual detecting bracket is combined with a camera, The height position of the camera is higher than the height position of the chuck, and the camera is photographed in a downward direction.

Further, the automatic loading and unloading device of the present invention incorporates a transfer monorail robot on the platform, and the material tray is coupled to the transfer monorail robot, and the robot arm is a right angle coordinate type robot arm and Located around the transfer monorail robot.

Further, the present invention has a recess extending in the left-right direction on the front side of the platform, the monorail robot is disposed in the left-right direction and coupled to the recess, and the cutting device is on a side of the platform close to the recess In conjunction with a cutting frame, the cutting machine is coupled to the cutting frame, the tool being located above the left side of the recess.

Further, the visual inspection bracket of the present invention is located in the middle of the recess and spans the monorail robot, and the camera is coupled in the middle of the top of the visual inspection bracket, and is provided with a downward direction around the camera. The source of illumination.

Preferably, the cutting machine of the present invention is a grinder, and the cutter is a grinding wheel.

In order to achieve the above object, the present invention provides an automatic secondary processing method for an elastic collet, the method steps of which include:

The workpiece is placed on the material tray: the one-time processed elastic collet is placed on the material tray, and the plurality of un-cut trenches are respectively arranged around the elastic collet;

Grasping the workpiece to the collet: the elastic collet on the material tray is grasped by the robotic arm of the motion control system onto the collet of the high-precision rotating system, and the elastic collet is fixed by a plurality of fixed jaws on the collet The center of the collet;

Transferring the workpiece to the visual inspection area for visual inspection: the motion control system transfers the collet to the visual inspection area, and measures the geometric size of the elastic collet with a visual inspection device of the visual inspection area, and the visual inspection device detects the The distribution of the undivided grooves around the elastic collet, the position angle, and the above information is fed back to the motion control system;

According to the visual inspection result, the workpiece is divided into grooves: the motion control system detects the data of the elastic collet according to the visual detecting device, sequentially rotates the angle of the elastic collet, so that the uncut trench around the elastic collet is aligned and aligned. Cutting the cutter of the machine and moving the elastic collet to the cutting machine by the motion control system, and sequentially processing the elastic collet by the cutter of the cutter, and the uncut trench around the elastic collet which is sequentially rotated Cutting into a groove; and

The workpiece is placed back into the material tray: the elastic collet of the high-precision rotating system on the chuck of the high-precision rotating system is grasped and returned to the material tray by the mechanical arm of the motion control system.

Further, the present invention performs a step of visually detecting whether the workpiece is flawed between the step of dividing the workpiece according to the visual inspection result and the step of placing the workpiece back to the material tray, and moving the movement control system The elastic collet is clamped to the visual inspection area, and the visual inspection device detects whether the elastic collet has flaws after secondary processing.

According to the above system and method, the elastic collet can be transferred by the automatic loading and unloading device, and after the elastic collet is transferred to the collet, each uncut channel of the elastic collet is first visually recognized. Positioning the groove, then rotating each elastic collet, sequentially aligning the uncut groove of the elastic collet with the cutter, moving the elastic collet forward and backward in the direction of the insert piece, and sequentially uncut each The broken groove is cut into the groove, and the secondary processing of the elastic collet is completed, which replaces the manual process of secondary processing, achieves automatic production, reduces scrapping cost and labor cost, and the processing and production speed is fast.

In order to understand the technical features and practical effects of the present invention in detail, it can be implemented in accordance with the contents of the specification, and further described in detail with reference to the preferred embodiments shown in the drawings.

As shown in the preferred embodiment of the present invention, the present invention provides an automatic secondary processing system for an elastic collet, comprising a platform 10 and an automatic loading and unloading device 20 and a pair of processing devices 30 respectively disposed on the platform 10. A cutting device 40 and a visual detecting device 50, the automatic loading and unloading device 20, the alignment processing device 30, the cutting device 40 and the visual detecting device 50 are respectively electrically connected to a control computer 60, wherein:

A mounting surface 11 is formed on the top surface of the platform 10, and a recess 12 extending in the left-right direction (Y-axis direction) is recessed on the front side of the mounting surface 11, and the surface height of the recess 12 is lower than the mounting surface. 11 location.

The automatic loading and unloading device 20 is coupled to a transfer monorail robot 21 on the rear side of the mounting surface 11, and the transfer monorail robot 21 is disposed along the Y-axis direction, and a material is bonded to the transfer monorail robot 21 The tray 22 is provided with a plurality of elastic collet receptacles 221 on the material tray 22, and the transfer monorail robot 21 can drive the material tray 22 to move forward and backward along the Y axis, corresponding to the right side of the monorail robot 21. A mechanical arm 23 is coupled to the mounting surface 11. The robot arm 23 is a right angle coordinate type mechanical arm. The loading surface 11 is provided with a transfer bracket 231. The top of the bracket 231 is coupled to an X-axis monorail robot 232 which is disposed in the front-rear direction (X-axis direction), and the front end of the X-axis monorail robot 232 extends above the right side of the recess 12, The height position of the X-axis monorail robot 232 is higher than the height position of the material tray 22, and a Z-axis monorail robot 233 is coupled to the side of the X-axis monorail robot 232 near the material tray 22, and the Z-axis monorail robot 233 Is set in the up and down direction (Z axis direction), where A side of the Z-axis monorail robot 233 adjacent to the material tray 22 is coupled to a jaw holder 234, and a transfer jaw 235 is coupled to the bottom of the jaw holder 234. The transfer jaw 235 can be a pneumatic jaw or an electric motor. Jaws.

The alignment processing device 30 incorporates a monorail robot 31 in the recess 12 of the platform 10, the monorail robot 31 is disposed along the Y-axis direction, and a rotary indexing plate 32 is coupled to the monorail robot 31. The monorail mechanism The hand 31 can drive the rotary indexing plate 32 to move forward and backward along the Y-axis. On the rotary indexing plate 32, a collet 33 is provided in a rotatable manner, and a plurality of fixing jaws 331 are disposed around the collet 33. A rotary motor 34 is coupled to the rotary indexing plate 32. The rotary motor 34 can be a stepper motor or a servo motor that can drive the chuck 33 on the rotary indexing disk 32 to rotate. The dial 32, the chuck 33, and the rotary motor 34 are collectively referred to as a high-precision rotation system.

The cutting device 40 is coupled to a cutting frame 41 at a side of the left end of the mounting surface 11 near the recess 12, and a cutting machine 42 is coupled to the cutting frame 41. The cutting machine 42 is a grinder as in the preferred embodiment. The cutter 42 is provided with a cutter 421. In the preferred embodiment, the cutter 421 is a grinding wheel. The cutter 421 is located above the left side of the recess 12, and the cutter 421 is set as a cutting zone.

The visual detecting device 50 is disposed in the middle of the recess 12 and is provided with a visual detecting bracket 51 across the monorail robot 31. The rotating detecting index 51 is provided below the rotary indexing plate 32, the collet 33 and the rotating motor. 34, through a camera 52 in the middle of the top of the visual inspection bracket 51, the camera 52 is directed downward, and a light source 53 is disposed around the camera 52. The light source 53 can be an LED light source or a halogen bulb source and face down. Under illumination, the lower side of the camera 52 is a visual detection zone.

The control computer 60 can be a PC, a PLC, a microprocessor or an embedded system. The control computer 60 has a control software built therein to control the automatic loading and unloading device 20, the alignment processing device 30 and the cutting device 40, and accept the alignment. The control device 30 feeds back the data, the control computer 60, the automatic loading and unloading device 20, the alignment processing device 30, and the cutting device 40 are collectively referred to as a motion control system. The control computer 60 has an image analysis software built therein, which can receive and The visual inspection device 50 analyzes the returned data via the camera 52, and thereby controls the alignment processing device 30 and the cutting device 40. The control computer 60 and the visual inspection device 50 are collectively referred to as an optical detection system.

The apparatus of the above-mentioned preferred embodiment of the present invention, wherein the cutting machine 42 and the cutter 421 can be used as a cutting machine 42 and a cutter 421 in addition to a grinder and a grinding wheel, and can also provide a cutting metal. The function.

When the apparatus of the foregoing preferred embodiment of the present invention is used, the flowchart shown in FIG. 2 is an automatic secondary processing method for performing an elastic collet, and the method steps include:

The material tray is placed on the workpiece: a processed elastic collet is placed on the material tray, and a plurality of uncut grooves are respectively arranged around the elastic collet. As shown in FIG. 1 , a plurality of processed elastic collets 80 as shown in FIG. 8 are placed in the elastic collet receptacles 221 of the material tray 22, and each elastic cylinder is disposed. A plurality of uncut grooves 81 are provided around the clip 80 at equal intervals.

Grasping the workpiece to the collet: the elastic collet on the material tray is grasped by the robotic arm of the motion control system onto the collet of the high-precision rotating system, and the elastic collet is fixed by a plurality of fixed jaws on the collet The center of the chuck. As shown in FIG. 3 and FIG. 4, the transfer jaw 235 of the robot arm 23 grasps an elastic collet 80 on the material tray 22 to the chuck 33 of the high-precision rotation system. The elastic collet 80 is clamped by the fixing jaws 331 on the collet 33, and the elastic collet 80 is fixed at the center above the collet 33.

Transferring the workpiece to the visual inspection area for visual inspection: the motion control system transfers the collet to the visual inspection area, and measures the geometric size of the elastic collet with a visual inspection device of the visual inspection area, and the visual inspection device detects the The distribution of the undivided grooves around the elastic collet, the position angle, and the above information are fed back to the motion control system. As shown in the preferred embodiment of the present invention, as shown in FIG. 5 and FIG. 6, the monorail robot 31 moves the rotary indexing plate 32, the collet 33, and the rotary motor 34 to the visual detection area under the camera 52 to make the elastic collet. 80 is located directly below the light source 53 of the camera 52 of the vision detecting device 50, and visually detects the elastic collet 80 by the camera 52, and measures the geometric size of the elastic collet 80, such as the circumference and the centroid. Maximizing the radius and shape of the small circle, and detecting the distribution, position and angle of the uncut channel 81 around the elastic collet 80, and feeding back the above information to the control computer 60; the aforementioned visual inspection process The use of the light source 53 to illuminate the elastic collet 80 enables the appearance of the elastic collet 80 to be better displayed, thereby making the visual inspection more precise.

According to the visual inspection result, the workpiece is divided into grooves: the motion control system detects the data of the elastic collet according to the visual detecting device, sequentially rotates the angle of the elastic collet, so that the uncut trench around the elastic collet is aligned and aligned. Cutting the cutter of the machine and moving the elastic collet to the cutting machine by the motion control system, and sequentially processing the elastic collet by the cutter of the cutter, and the uncut trench around the elastic collet which is sequentially rotated The cut becomes a cut groove. As shown in FIG. 6 and FIG. 7 , the control computer 60 drives the rotary motor 34 to sequentially rotate the angle of the chuck 33 according to the received information of the visual inspection device 50 to make the elastic collet 80 The surrounding uncutting groove 81 is aligned to the cutter 421 of the cutting machine 42 in a row. After the different uncut grooves 81 are rotated and aligned with the cutter 421, the monorail robot 31 drives the collet 33 and The elastic collet 80 moves forward and backward once toward the cutter 421, and the elastic collet 80 is secondarily processed by the cutter 421 in sequence, and the uncut groove 81 around the elastic collet 80 that is sequentially rotated is cut into a shape as shown in FIG. The sectioning groove 82 is shown.

In the step of the above-mentioned visual inspection result, when the monorail robot 31 drives the elastic collet 80 to be cut by the cutter 421, the monorail robot 31 can return the state of the motor current to the control computer 60, which can be borrowed. It is known that the cutter 421 cuts the force of the uncut channel 81 around the elastic collet 80, and controls the force of the feeding of the monorail robot 31, reducing the loss of the cutter 421, and achieving the effect of high-precision high-speed stable cutting.

Visually detecting whether the workpiece has flaws: after the cutter cuts the uncut groove around the elastic collet into a groove, the motion control system moves the elastic collet to the visual inspection area, and the elastic detecting device detects the elastic tube Whether there is flaw after the secondary processing. As shown in the preferred embodiment of the present invention, after the secondary processing of the elastic collet 80 is completed, the monorail robot 31 drives the collet 33 and the elastic collet 80 to the visual inspection area, and the camera 52 detects the elastic collet. 80 After the secondary processing, whether there is flaw, the size of the cut of each of the cutting grooves 82 and whether or not the cut is observed, it is known whether the cutter 421 needs to be replaced.

The workpiece is placed back into the material tray: the elastic collet of the high-precision rotating system on the chuck of the high-precision rotating system is grasped and returned to the material tray by the mechanical arm of the motion control system. As shown in the preferred embodiment of the present invention, the transfer jaw 235 of the robot arm 23 grabs the elastic collet 80 on the chuck 33 and returns it to the material tray 22 for completion of the entire automatic secondary processing. .

The above description is only the preferred embodiment of the present invention, and is not intended to limit the scope of the claims of the present invention, and other equivalent changes or modifications which are not departing from the spirit of the present invention should be included in the present invention. Within the scope of the patent application.

10‧‧‧ platform

11‧‧‧Installation

12‧‧‧ recess

20‧‧‧Automatic loading and unloading device

21‧‧‧Transporting monorail robot

22‧‧‧Material tray

221‧‧‧Flexible collet jack

23‧‧‧ Robotic arm

231‧‧‧Transfer bracket

232‧‧‧X-axis monorail robot

233‧‧‧Z-axis monorail robot

234‧‧‧Claw seat

235‧‧‧Transporting jaws

30‧‧‧ alignment processing device

31‧‧‧ Monorail manipulator

32‧‧‧Rotary indexing plate

33‧‧‧ chuck

331‧‧‧Fixed jaws

34‧‧‧Rotary motor

40‧‧‧ cutting device

41‧‧‧Cutting rack

42‧‧‧Cutting machine

421‧‧‧Tools

50‧‧‧ visual inspection device

51‧‧‧Visual inspection bracket

52‧‧‧ camera

53‧‧‧Light source

60‧‧‧Control computer

80‧‧‧Flexible collet

81‧‧‧Uncut trench

82‧‧‧"

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a perspective view of a system in accordance with a preferred embodiment of the present invention. 2 is a flow chart showing the steps of a method in accordance with a preferred embodiment of the present invention. Figure 3 is a schematic illustration of the implementation of the preferred embodiment of the present invention. Figure 4 is a schematic view of the implementation of the preferred embodiment of the present invention. Figure 5 is a schematic view of the implementation of the preferred embodiment of the present invention. Fig. 6 is a schematic view showing the action of rotating the elastic collet to align the positive tool according to the preferred embodiment of the present invention. Figure 7 is a schematic illustration of the implementation of the preferred embodiment of the present invention. Fig. 8 is a perspective view of the elastic collet for one cutting process. Figure 9 is a perspective view of the secondary cutting process elastic collet.

10‧‧‧ platform

11‧‧‧Installation

12‧‧‧ recess

20‧‧‧Automatic loading and unloading device

21‧‧‧Transporting monorail robot

22‧‧‧Material tray

221‧‧‧Flexible collet jack

23‧‧‧ Robotic arm

231‧‧‧Transfer bracket

232‧‧‧X-axis monorail robot

233‧‧‧Z-axis monorail robot

234‧‧‧Claw seat

235‧‧‧Transporting jaws

30‧‧‧ alignment processing device

31‧‧‧ Monorail manipulator

32‧‧‧Rotary indexing plate

33‧‧‧ chuck

331‧‧‧Fixed jaws

34‧‧‧Rotary motor

40‧‧‧ cutting device

41‧‧‧Cutting rack

42‧‧‧Cutting machine

421‧‧‧Tools

50‧‧‧ visual inspection device

51‧‧‧Visual inspection bracket

52‧‧‧ camera

53‧‧‧Light source

60‧‧‧Control computer

Claims (5)

An automatic secondary processing system for an elastic collet comprises: a platform, a concave portion extending in a left-right direction is recessed on a front side of the platform; and an automatic loading and unloading device is provided with a material plate and a mechanical arm on the platform A plurality of elastic collet jacks are disposed on the material tray, and a transfer jaw is disposed on the mechanical arm, and a transfer monorail robot is coupled to the platform, and the material tray is coupled to the transfer monorail robot The robot arm is a right angle coordinate type robot arm and is located around the transfer monorail robot; a pair of position processing device is combined with a monorail robot on the platform, and the monorail robot is arranged and coupled in the left and right direction The concave portion is coupled to a rotary indexing plate on the monorail robot, and the monorail robot can drive the rotary indexing disk to move forward and backward in a straight line direction, and a collet is provided on the rotary indexing plate in a rotatable manner. a plurality of fixed jaws are arranged around the chuck, and a rotary motor is coupled beside the rotary indexing plate, and the rotary motor can drive the chuck rotation on the rotary indexing plate, and the aforementioned transfer a claw is reciprocable between the material tray and the chuck; a cutting device, the cutting device is coupled to a cutting frame on a side of the platform adjacent to the recess, and the cutting frame is combined with a cutting machine, The cutting machine is provided with a cutter located in the advancing direction of the collet and located above the left side of the recess; and a visual detecting device is provided with a visual detecting bracket on the platform, the bottom of the visual detecting bracket is available The rotary indexing disk, the chuck, and the rotating motor pass through a camera in which the height of the camera is higher than the height of the chuck, and the camera is photographed in a downward direction. An elastic collet automatic secondary processing system according to claim 1, wherein said visual detecting bracket is located in the middle of said recess and spans said monorail robot, said camera being coupled in the middle of said top of said visual detecting bracket A light source that is directed downward is provided around the camera. The elastic collet automatic secondary processing system of claim 1, wherein the cutting machine is a grinder, and the cutter is a grinding wheel. An automatic secondary processing method for elastic collet, the method step comprising: placing a workpiece on a material tray: placing a processed elastic collet on a material tray, and each of the elastic collets is provided with a plurality of uncut trenches respectively Slot; grab the workpiece to the collet: fix the elastic collet on the material tray to the collet of the high-precision rotating system with the robot of the motion control system, and clamp the elastic collet with several fixed jaws on the collet Fixing on the center of the chuck; transferring the workpiece to the visual inspection area for visual inspection: the motion control system transfers the chuck to the visual inspection area, and measuring the geometric size of the elastic collet with the visual inspection device of the visual inspection area The visual inspection device detects the distribution and position angle of the uncut groove around the elastic collet, and feeds the data back to the motion control system; the workpiece is divided according to the visual inspection result: the motion control system according to the vision The detecting device detects the data of the elastic collet, sequentially rotates the angle of the elastic collet, so that the uncut channel around the elastic collet is divided into the cutter of the positive cutting machine. And moving the elastic collet to the cutting machine by the motion control system, and sequentially processing the elastic collet by the cutter of the cutting machine, and cutting the uncut groove around the elastic collet which is sequentially rotated into a groove And placing the workpiece back to the material tray: the robotic arm of the motion control system grasps the second-machined elastic collet on the chuck of the high-precision rotating system and returns it to the material tray for storage. The elastic collet automatic secondary processing method of claim 4, wherein between the step of dividing the workpiece according to the visual inspection result and the step of placing the workpiece back to the material tray, visually detecting whether the workpiece is defective The step of moving the elastic collet to the visual inspection area by the motion control system, and detecting whether the elastic collet has flaws after the secondary processing by the visual detecting device.