WO2023004961A1 - 数控石墨电极与接头精密加工检测组装及包装自动线 - Google Patents

数控石墨电极与接头精密加工检测组装及包装自动线 Download PDF

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Publication number
WO2023004961A1
WO2023004961A1 PCT/CN2021/118925 CN2021118925W WO2023004961A1 WO 2023004961 A1 WO2023004961 A1 WO 2023004961A1 CN 2021118925 W CN2021118925 W CN 2021118925W WO 2023004961 A1 WO2023004961 A1 WO 2023004961A1
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Prior art keywords
joint
graphite
electrode
graphite electrode
automatic
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PCT/CN2021/118925
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English (en)
French (fr)
Inventor
陈善元
严小林
张明
殷缘
梅建文
黄建
蒋鹏
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江苏晨光数控机床有限公司
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Publication of WO2023004961A1 publication Critical patent/WO2023004961A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/003—Multipurpose machines; Equipment therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
    • B24B7/10—Single-purpose machines or devices
    • B24B7/16—Single-purpose machines or devices for grinding end-faces, e.g. of gauges, rollers, nuts, piston rings
    • B24B7/17—Single-purpose machines or devices for grinding end-faces, e.g. of gauges, rollers, nuts, piston rings for simultaneously grinding opposite and parallel end faces, e.g. double disc grinders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
    • B28D7/04—Accessories specially adapted for use with machines or devices of the preceding groups for supporting or holding work or conveying or discharging work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B13/00—Bundling articles
    • B65B13/02—Applying and securing binding material around articles or groups of articles, e.g. using strings, wires, strips, bands or tapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B13/00—Bundling articles
    • B65B13/18—Details of, or auxiliary devices used in, bundling machines or bundling tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B27/00—Bundling particular articles presenting special problems using string, wire, or narrow tape or band; Baling fibrous material, e.g. peat, not otherwise provided for
    • B65B27/10—Bundling rods, sticks, or like elongated objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/20—Feeding, e.g. conveying, single articles by reciprocating or oscillatory pushers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/50—Stacking one article, or group of articles, upon another before packaging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/28—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for discharging completed packages from machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B63/00—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass

Definitions

  • the invention relates to a numerically controlled graphite electrode and joint precision processing detection assembly and packaging automatic line, which belongs to the technical field of mechanical processing equipment, in particular to an electrode automatic processing line that connects processing machine tools together by a conveying device.
  • Graphite electrode is an important procurement part in the metal smelting industry. It is mainly composed of two parts: the electrode body and the joint.
  • the electrode body usually needs to be processed and manufactured through three main processes: boring and scraping, turning the outer circle, finishing the end face and comb-taper thread processing.
  • the joint usually needs to be processed and manufactured through four main processes: sawing, center hole drilling, outer circle turning, thread combing, and drilling and grooving of bolt holes. The above processes need to be completed on different processing machine tools with different clamping methods.
  • the conveying equipment and processing equipment configured in the existing electrode automatic processing line and electrode joint processing automatic line are not perfect enough and need to be improved to make it more suitable for automatic production needs.
  • the object of the present invention is to provide a numerically controlled graphite electrode and joint precision processing detection assembly and packaging automatic line for the above shortcomings.
  • the present invention proposes a new graphite electrode automatic processing line scheme, based on the original traditional electrode body and joint processing line Added manual screening and robot bolting and clamping spring station, robot electrode joint assembly station, graphite electrode finished product (including joint) automatic packaging line, these added stations have separated the original electrode body processing line and
  • the joint processing lines are organically connected together, truly realizing the integrated automatic processing, assembly and packaging of graphite electrodes.
  • This automatic processing line greatly reduces the configuration of personnel, and can coordinate the processing, testing, assembly and automatic packaging of finished products of graphite electrode bodies and joints conveniently and quickly.
  • the CNC graphite electrode and joint precision machining, inspection, assembly and packaging automatic line are realized by the following technologies:
  • the CNC graphite electrode and joint precision machining, inspection, assembly and packaging automatic line consists of graphite electrode automatic processing line, truss conveying graphite joint automatic processing line (graphite joint automatic processing line), graphite joint robot automatic clamp spring bolting machine, graphite electrode and joint Robot automatic assembly machine, graphite electrode finished product (including joint) automatic packaging line.
  • the graphite joint robot automatic loading spring bolting machine is set at the output front end of the finished product output of the truss-conveyed graphite joint automatic processing line, and the graphite electrode and joint robot automatic assembly machine is set between the graphite electrode automatic processing line and the truss-conveyed graphite joint automatic processing line .
  • the graphite electrode finished product packaging line is set in front of the output end of the finished product output of the graphite electrode and joint robot automatic assembly machine.
  • the graphite electrode automatic processing line includes a feeding and centering machine, a CNC electrode double-end boring and scraping machine tool, a CNC electrode multi-tool cylindrical lathe, a CNC electrode comb milling double-thread fine-flat double-end machine tool, a graphite electrode inspection machine, Graphite electrode scribing machine, graphite electrode conveyor and graphite electrode body manual screening and labeling unit.
  • Feeding and centering machine is equipped with a feeding rack, a turning mechanism, a centering mechanism and a lifting and feeding mechanism, etc., where the feeding rack is used to store workpieces, and the turning mechanism is used to turn over the workpieces in turn
  • the feeding and centering mechanism is used for pre-centering of the workpiece, and the lifting and feeding mechanism is used to send the centered workpiece upward to the manipulator for grabbing.
  • This mechanism is the first process of the electrode body processing line. Its function is to realize automatic feeding and centering of a group of electrode body blanks that have been manually placed on the loading rack and arranged in advance, and processed for the next process. Prepare.
  • the two ends of the bed guide rail of the electrode double-ended boring and scraping machine tool are equipped with spindle boxes, and the middle part is equipped with a workpiece clamping device.
  • the bottoms of the two spindle boxes are connected with the screw rods driven by the longitudinal feed motors at both ends of the bed to form a longitudinal Feed mechanism, the main motors on the two spindle boxes are connected with the spindles for boring and scraping tools through the transmission mechanism in the spindle boxes, the bed is an integral structure, and the front side of the clamping device is 60 degrees above and below There are C-shaped clamps with clamping points at 60 degrees, and horizontal clamps with horizontal clamping points on the rear side.
  • the bottoms of the two clamps are supported on the longitudinal rail fixed in the middle of the bed, and are connected by nuts and clamps respectively.
  • the forward and reverse screw thread screw rods installed under the horizontal rail are connected to form a horizontal clamping mechanism, and the line number ratio of the forward and reverse screw threads is 1:2.
  • the longitudinal feed motor of this machine tool is a servo motor.
  • the control system makes the horizontal clamping hydraulic motor work, drives the two clamping devices to move synchronously, and automatically centers and clamps the outer circle of the workpiece.
  • the main motor drives the forming boring and scraping tools fixed on the spindle to rotate
  • the longitudinal feed servo motor drives the two spindle boxes to feed the tool along the guide rail of the bed.
  • the floating positioning switch sends out a signal, and the CNC system turns Enter the program, bore out the required tapered holes at both ends of the graphite electrode workpiece, and scrape the two ends of the workpiece at the end of the boring.
  • This machine tool is the second process of the electrode body processing line. Its function is to complete the inner boring and end face scraping of the electrode body through one clamping, so as to ensure the shape and position accuracy is effectively guaranteed, and the size consistency is good.
  • the two ends of the main bed guide rail of the CNC electrode multi-tool cylindrical lathe are respectively installed with double spindle boxes that can hold the workpiece tightly, and the middle part is installed with the lower and middle slides that can move vertically and parallel to the bed guide rails, and the middle slide.
  • the double-spindle motor drives the workpiece to rotate through the double-spindle, and the lower and middle slides cooperate to complete the feed and feed actions, so that the rough and fine turning tool can complete the rough and fine turning of the outer circle of the electrode.
  • this machine tool is used to complete the turning process of the outer circular surface of the electrode body through one clamping.
  • This machine tool adopts multi-tool simultaneous cutting, and the efficiency is very high.
  • Both ends of the bed of the CNC electrode comb milling double thread and fine flat double end face machine tool are equipped with a headstock with comb milling thread and scraping end face with vertical and horizontal feed, and a precision clamping device is installed in the center of the bed guide rail. Electrode clamping mechanism and workpiece holder. The vertical and horizontal feeding of the large carriage under the headstock, the comb knife and the scraper are all controlled by the servo motor through the screw drive.
  • the electrode When the CNC electrode comb mills double threads and flattened double ends, the electrode is clamped and does not move, the comb knife and scraping knife are driven by the main shaft to rotate and translate, and the control system combs and mills the double ends on the electrode according to the preset software program. Precision machining of threads and faces. Because the comb knife is multi-knife cutting, the comb knife and the scraping knife are made of special hard alloy materials, so the machining accuracy is good, and the efficiency is greatly improved. The use of computer program control not only simplifies the operation and adjustment, but also greatly simplifies the mechanical structure.
  • This machine tool is the fourth process of the electrode body processing line. Its function is to complete the double-end internal taper thread comb milling and end face scraping processing of the electrode body through one clamping. The efficiency is high, and the shape and position accuracy is effectively guaranteed. Good coaxiality, high verticality between the double end face and the center line of the internal taper thread, and good dimensional consistency.
  • the graphite electrode detector consists of a fixed-length ratio resistance mechanism and a weighing mechanism.
  • the fixed-length ratio resistance mechanism has a left bed and a right bed; the upper part of the left bed is provided with a left guide rail, the upper part of the left guide rail is equipped with a left slide table, and the left side fixed-length ratio resistance probe is installed on the On the left sliding platform, the lower part of the left sliding platform is equipped with ball screw one, the servo motor one is installed at the end of the left bed, the servo motor one is connected with the ball screw one, and the servo motor one drives the left bracket and the left measurement
  • the long specific resistance probe moves back and forth along the left guide rail.
  • the upper part of the right bed is equipped with a right guide rail
  • the upper part of the right guide rail is equipped with a right sliding table
  • the right fixed-length ratio resistance measuring head is installed on the right sliding table through the right bracket
  • the lower part of the right sliding table is equipped with a ball screw 2 and a servo motor.
  • the second is installed on one end of the right bed, and the second servo motor is connected with the second ball screw, and the second servo motor drives the right bracket and the right measuring length measuring specific resistance probe through the second ball screw, and moves back and forth along the right guide rail.
  • a weighing mechanism is arranged between the left bed and the right bed.
  • the weighing mechanism has a base, a weighing platform is installed on the upper part of the base, workpiece brackets are arranged on both sides of the weighing platform, and a weighing sensor is arranged on the lower part of the weighing platform.
  • the material receiving lifting oil cylinder is installed on the base, and the material receiving bracket is installed on the upper part of the material receiving lifting oil cylinder, which is used to lift and accept graphite electrode workpieces.
  • One end of the unloading bracket is installed on the workpiece bracket through a rotating shaft, and the other end of the unloading bracket is equipped with an oblique push oil cylinder, which is used to obliquely push out the weighed graphite electrode.
  • the left fixed-length ratio resistance probe and the right fixed-length ratio resistance probe are connected to the ratio resistance detector through cables, and the left and right side fixed-length ratio resistance probes measure the ratio resistance signal and transmit it to the ratio resistance detector.
  • the detector detects the specific resistance of the graphite electrode through the specific resistance detector.
  • the lifting cylinder rises to accept graphite electrode workpieces, and the graphite electrode conveyor grabs and transports the processed graphite electrodes to the receiving bracket on the upper part of the lifting cylinder, and the lifting cylinder rises to hold the workpiece Lifted at a fixed horizontal center position, the feeding of the left and right slides of the fixed-length ratio resistance mechanism is directly driven by a servo motor and a ball screw pair, and brackets are fixed on the left and right slides, and fixed-length slides are installed on the brackets.
  • Probe for measuring specific resistance When the left and right fixed length and measuring probes for measuring specific resistance all touch the workpiece, the electrical system calculates the length of the electrode in real time through the collected data, and the specific resistance meter measures the specific resistance value at the same time.
  • the material receiving lifting cylinder puts the graphite electrode workpiece on the weighing platform and weighs it, and then pushes the unloading bracket by the inclined push cylinder to push the graphite electrode to the unloading rack superior.
  • Graphite electrode testing machine and scribing machine are used as one of the last procedures of graphite electrode processing line. Its function is to carry out sequential weighing, fixed length, specific resistance and other inspections on the processed graphite electrodes.
  • the graphite electrode detection machine combines machine, electricity and hydraulic organically to realize the integration of electromechanical and hydraulic.
  • the graphite electrode detector has a wide detection range and strong capability, and can adapt to the detection of graphite electrodes of different specifications.
  • the key components of the graphite electrode detector adopt reliable dust-proof measures to achieve double protection and the whole machine has a long service life.
  • the structure of the machine tool is simple, the programming operation is simple, the operator is cheap, the labor intensity of the workers is low, and the work efficiency is high.
  • this machine tool is used to perform sequential weighing, fixed length, and specific resistance measurement of the processed electrodes.
  • the graphite electrode scribing machine is a graphite electrode scribing machine at the bottom of the hole.
  • the graphite electrode scribing machine includes a base.
  • the middle part of the base has a workpiece supporting device, and the two sides of the workpiece supporting and turning device have independent scribing devices.
  • the scribing device is composed of a scribing roller and a paint box positioned under the scribing roller.
  • the processed graphite electrode workpiece When working, the processed graphite electrode workpiece is transported by the conveying device and turned over to the support device, and then the carriages on both sides drive the scribing device and the scribing roller to move to the position where the outer circle of the workpiece corresponds to the bottom of the hole of the inner taper thread section.
  • the workpiece drives the scribing wheel to rotate synchronously, and the scribing wheel continuously coats the paint dipped from the paint box on the outer circle of the graphite electrode, automatically forming a marking line at the bottom of the hole, thereby avoiding the trouble of manual scribing on site.
  • This machine tool is the sixth process of the electrode processing line, and its function is to automatically mark the warning line at the bottom of the electrode body hole.
  • This conveyor adopts a gantry-type driving structure, including a gantry-type frame, four conveying trolleys and brackets, forming an integral mobile frame.
  • the lower part of the mobile frame is equipped with a conveying cylinder, which drives the mobile frame to convey electrodes.
  • the four conveying trolleys are equipped with Lifting cylinder, the lower part of the conveying trolley is equipped with a grabbing mechanism.
  • the grabbing mechanism has 2 clamping cylinders and 2 grippers.
  • This unit is an auxiliary process added to the electrode processing line.
  • the unqualified and spare parts and qualified products are determined through manual screening, and the corresponding labels are affixed. After the warning line, it is sent off the machine table, and the qualified products are sent to the automatic assembly station of the joint robot.
  • Truss-conveyed graphite joint automatic processing line includes CNC joint cutting machine tool, CNC joint flat end machine tool, testing machine, CNC joint double outer cone lathe, CNC joint double thread comb processing machine tool, CNC joint slot milling machine tool, weighing machine , testing table and truss conveyor.
  • CNC joint cutting machine tool, CNC joint flat end face machine tool, testing machine, CNC joint double outer cone lathe, CNC joint double thread comb processing machine tool, CNC joint slot milling machine tool, weighing machine, and testing table are respectively controlled by the control system and sequenced Arranged in sequence and connected by a truss-type conveying device.
  • the truss conveying device is composed of a truss main body, a manipulator, and a servo drive mechanism.
  • the main body of the truss is welded by square tubes, and the main body of the truss is equipped with gears, racks and protective fences to form a truss-type conveyor line.
  • the truss-type conveying device (conveyor line) is equipped with 5 sets of manipulators, respectively No. 1 manipulator, No. 2 manipulator, No. 3 manipulator, No. 4 manipulator, and No. 5 manipulator;
  • Manipulator No. 1 is responsible for the transportation of graphite electrode joints among CNC joint cutting machine tools, CNC joint flat end machine tools, and inspection machines (referred to as No. 1, 2, and 3 machines); No. No. 3 and No. 4 machines) graphite joint transportation; No. 3 manipulator is responsible for graphite joint transportation between CNC joint double outer cone lathe and CNC joint double thread comb processing machine tool (referred to as No. 4 and No. 5 machines); No. 4 manipulator is responsible for Graphite joint transportation between CNC joint double-thread comb processing machine tool and CNC joint groove milling machine (referred to as No. 5 and No. 6), manipulator No. 5 is responsible for CNC joint milling machine tool, weighing machine, and inspection table (referred to as No. 6, 7, and No. 8 machine) graphite joint transmission between.
  • the servo drive mechanism is installed on the manipulator, and the servo drive mechanism is provided with a manipulator laterally moving servo drive motor, a manipulator lifting servo drive motor, and a manipulator clamping servo drive motor.
  • the manipulator laterally moves the servo drive motor through the gear and rack to drive the manipulator to move back and forth along the main body of the truss to carry out the joint transportation.
  • the manipulator clamps the servo drive motor to grab the joint processing parts through the gear and rack drive manipulator for joint conveying.
  • the truss conveying graphite joint automatic processing line is equipped with a numerical control system, which is equipped with PLC programmable controller, industrial control computer (industrial control computer), specific resistance tester and other numerical control instruments.
  • the CNC joint cutting machine tool includes a cutting machine bed, a saw blade, a saw blade mounting frame, a saw blade drive motor, a feeding rack, a blank pressing cylinder, a blank turning mechanism, a centering mechanism, a material storage mechanism, a jacking cylinder, Move the cylinder.
  • the upper part of the cutting machine bed is equipped with a saw blade mounting frame, the saw blade is installed on the saw blade mounting frame, the saw blade driving motor is installed on the side of the cutting machine bed, the saw blade driving motor drives the saw blade mounting frame through the transmission belt and the transmission wheel, and the saw blade is cut according to the set length Connector blanks.
  • the upper part of the cutting machine bed is equipped with a blank pressing frame, and the upper part of the blank pressing frame is equipped with a blank pressing oil cylinder, which is used for pressing the joint blank when cutting the joint blank.
  • the feeding frame is provided with a raceway, and the raceway has an inclination to facilitate loading of the joint blank and transporting it to the upper part of the cutting machine bed.
  • the upper part of the cutting machine bed is equipped with a blank turning mechanism, which is composed of a blank turning arm and a blank turning cylinder.
  • the blank turning cylinder is connected to the blank turning arm. After cutting the joint blank, close the blank pressing cylinder and loosen the joint. For the blank, start the blank turning oil cylinder, drive the blank turning arm to turn the cut joint blank and send it to the centering mechanism and the material receiving bracket.
  • the material storage mechanism is provided with a material receiving support, and the material receiving support is provided with a movable V-shaped support, a plurality of fixed V-shaped supports, a jacking oil cylinder, and a mobile oil cylinder.
  • the centering mechanism is provided with a centering oil cylinder, a rack and a gear.
  • the joint When the CNC joint cutting machine tool is working, the joint is cut off by the main structure and then falls onto the centering mechanism, which is pushed by the oil cylinder, and the centering function is realized under the linkage action of the rack and the gear.
  • the V-shaped bracket can be moved, lifted under the action of the jacking cylinder, and the moving cylinder is moved backward, and the joint blank is sent to the 2# waiting position, the jacking cylinder is lowered, and the joint blank material falls into the 2# position
  • Fix the V-shaped bracket move the oil cylinder forward to the position, continue to connect the joint blank material from the 1# V-shaped bracket, repeat the above process, and continuously move the joint blank material to 3#, 4#, 5#
  • the position is fixed on the V-shaped bracket to realize the storage of the material storage mechanism.
  • the CNC joint flat end machine tool includes a double-spindle milling mechanism, a clamping mechanism, a dust collection system and the like.
  • the workpieces sent by the truss conveyor line are accurately sent to the center of the two power heads.
  • the clamping mechanism clamps the workpieces under the action of the hydraulic motor BM180 and the left and right rotating T-shaped screw rods, and the manipulator is quickly released and lifted to a safe position.
  • the two shields of the machine tool are closed under the action of the cylinder.
  • the motors of the two power heads rotate, and under the action of the servo motor and the ball screw, they fast forward to the position and enter the working state.
  • the outer circle turning tool starts to turn the outer circle, and the end surface is scraped.
  • the power head stops and quickly retreats to the original position; the two shields are quickly loosened and put in place.
  • the manipulator goes down to grab the workpiece, and the clamping mechanism releases the workpiece and returns to its original position. The manipulator rises and sends the processed workpiece to the next station.
  • the detection machine includes a detection frame, a servo electric cylinder, a V-shaped bracket, a detection bracket, a cylinder for pushing the detection bracket, a sliding guide rail, a slider, an elastic modulus probe, and a specific resistance probe.
  • Two sets of sliding guide rails are installed on the upper part of the detection frame, and the two detection brackets are respectively installed on the two sets of sliding guide rails through sliders.
  • the rods are respectively connected with two detection brackets, and elastic modulus probes and specific resistance probes are installed on the two detection brackets.
  • the servo electric cylinder is installed at the lower part of the detection frame, between two detection brackets, and the upper part of the servo electric cylinder is equipped with a V-shaped bracket, which is used to carry the graphite joint.
  • the manipulator of the truss-type conveying device transports the graphite joint to the V-shaped bracket driven by the servo electric cylinder to rise, and the V-shaped bracket rises to position 1, and the detection brackets on both sides push the cylinder to act, and the elastic modulus measuring head
  • the elastic modulus probe is connected to the industrial computer through the elastic modulus sensor, measure the elastic modulus of the graphite joint, and the detection bracket pushes the cylinder back; after completion, the V-shaped bracket rises to position 2, and the detection brackets on both sides push the cylinder to function , the specific resistance probe contacts the graphite joint to measure the specific resistance of the graphite joint.
  • the specific resistance measuring head is connected with the specific resistance tester through a signal transmission line, and is displayed by an industrial computer.
  • the numerical control joint double outer cone lathe includes a main shaft part, a tailstock part, a turning mechanism and a dust suction device.
  • the workpiece sent by the truss conveyor line ensures that the center of the workpiece coincides with the center of the main shaft, and at the same time makes the center hole of the workpiece and the top of the main shaft as close as possible, the tailstock main shaft pushes the workpiece tightly under the action of the oil cylinder, and the manipulator releases the workpiece and returns to a safe position.
  • the protective door is closed under the action of the cylinder, the spindle motor starts to rotate, and drives the workpiece to rotate, and the tool holders at both ends are respectively under the action of the servo motor to perform the turning process of the outer conicity.
  • a spindle box and a chuck are installed at one end of the bed of the CNC threaded comb processing machine tool, and a workpiece bracket and a carriage for installing a tool are installed on the bed guide rail.
  • the improvement is that the tool is Comb driven by power head.
  • the comb box is directly installed on the middle carriage, and the large carriage and the middle carriage are respectively driven by longitudinal and horizontal servo motors through screw rods, and the servo motors are controlled by PLC programmable controllers.
  • the CNC joint slot milling and bolt hole drilling machine tool includes a main shaft part, a tailstock part, a drilling mechanism, a slot milling mechanism and a dust suction device.
  • a main shaft part For the workpiece sent by the truss conveyor line, ensure that the center of the workpiece coincides with the center of the main shaft of the power box, and at the same time make the center hole of the workpiece fit the top of the main shaft as much as possible.
  • the tailstock main shaft tightens the workpiece under the action of the oil cylinder, and the manipulator releases the workpiece and returns to a safe position. , the protective door is closed under the action of the cylinder.
  • the bolt hole drilling bit rotates under the action of the motor, and its carriage moves quickly under the action of the servo motor, and the machining starts to drill the bolt hole. After processing to the depth, it quickly rewinds to the starting position of the work advance; the spindle rotates at an index of 180 °, the two drills are processed to the depth, and the spindle stops and quickly returns to the original position.
  • the main shaft rotates at an index of 90°, and the slot milling power head rotates selectively. Under the action of the servo motor, the slot milling process is carried out. After the processing is completed, the main shaft stops and the milling cutter quickly retreats to the position.
  • the guard door opens. The manipulator descends to the position and clamps the workpiece. The main shaft of the tailstock retreats to the position under the action of the oil cylinder. After the manipulator moves 20-30mm to make the workpiece break away from the top of the main shaft, the manipulator returns to the delivery position and transports it to the next station.
  • the weighing machine is equipped with an electronic scale to weigh the weight of the graphite joint delivered to the weighing machine by the manipulator 2-9-2 of the truss type conveying device 2-9.
  • the detection platform receives the graphite joint delivered by the manipulator of the truss-type conveying device, and uses measuring tools to detect whether the processing of the threaded joint at the two ends of the graphite joint meets the design requirements.
  • the No. 1 manipulator Manually drive the material, after the CNC joint cutting machine tool is sawed, cut and centered, the No. 1 manipulator transports it to the CNC joint flat end machine tool, the joint material mills the end face, drills the center hole, and the car locates the outer circle. After the completion, the No. 1 manipulator transports and transports To the detector, for specific resistance and elastic modulus detection.
  • the No. 2 manipulator is transported to the CNC joint double outer cone lathe to process and turn the double cone surface.
  • the No. 3 manipulator is transported to the CNC joint double thread comb processing machine for thread processing.
  • the No. 4 manipulator is transported to the CNC joint milling machine tool. Drill bolt holes and mill slots.
  • the No. 5 manipulator sends the joint material to the weighing machine for weighing. After the weighing is completed, the No. 5 manipulator sends the joint material to the inspection table for inspection, and the inspection, labeling and flipping are completed manually at this station. .
  • Graphite joint robot automatic circlip loading machine includes bolt (pin) feeding plate, circlip vibrating plate, visual camera, code scanning system, graphite joint handling robot, bolt circlip robot and bolt and circlip rotation work.
  • the graphite joint handling robot is set at the front end of the graphite joint conveying track of the graphite joint automatic processing line
  • the circlip-loading rotary table is set on the side of the graphite joint handling robot
  • the bolt-fitting circlip robot is set at the front of the graphite joint handling robot
  • the bolt ( pin) feeding tray and the ring vibrating plate are respectively arranged on both sides of the front side of the bolt-loading ring robot.
  • the graphite joint handling robot is equipped with a graphite joint handling manipulator, and the front end of the graphite joint handling manipulator is equipped with a vacuum suction cup, which is used to absorb graphite joints, and transport them from the graphite joint conveying track to the bolting and clamping spring rotary table.
  • the upper part of the graphite joint handling manipulator is equipped with a code scanning system, which is used to scan the QR code on the graphite joint, identify the information of the graphite joint, and classify, transport and store the graphite joint.
  • the code scanning system uses a two-dimensional code scanner.
  • Graphite joint fixtures are installed on the rotary table for installing bolts and circlips, and the graphite joints are clamped by cylinders.
  • the lower part of the rotating workbench is equipped with a servo motor, servo The motor drives the bolt installation and circlip installation rotary table to rotate, which is convenient for graphite joint bolt installation and circlip installation.
  • the said rotary table with circlips is provided with four rotary stations.
  • the bolt-loading and circlip robot is provided with a bolt-loading and circlip manipulator, and the upper part of the bolt-loading and circlip manipulator is equipped with a visual camera 3-3, which is used to identify the position of the bolt (pin) and the circlip hole on the graphite joint, and the front end of the upper part of the bolt-loading and circlip manipulator. Equipped with pneumatic fingers for gripping and installing bolts and snap rings.
  • the visual camera adopts an industrial digital camera.
  • a plurality of bolt (pin) material holes are evenly distributed on the bolt (pin) feeding tray, and bolts (pins) are housed in the bolt (pin) material holes.
  • the lower part of the circlip vibration plate is equipped with an electromagnetic vibrator
  • the upper part of the circlip vibration plate is provided with a circlip output track
  • the lower part of the circlip vibration plate is equipped with an electromagnetic vibrator.
  • Spring output track output for the pneumatic finger gripping of the clamp spring manipulator.
  • the graphite joint robot automatically installs the circlip and the bolting machine is equipped with an electrical control box, a PLC programmable controller, and a robot control cabinet to control the graphite joint handling robot and the bolting circlip robot to work according to the set numerical control program.
  • the front end of the graphite joint handling manipulator of the graphite joint handling robot is equipped with a vacuum suction cup, which is used to absorb the graphite joint, and transport it from the graphite joint conveying track to the bolt loading circlip rotary table .
  • a vacuum suction cup which is used to absorb the graphite joint, and transport it from the graphite joint conveying track to the bolt loading circlip rotary table .
  • the bolting and circlip manipulator of the bolting and circlip loading robot loads the material tray and circlip from the bolt (pin) respectively. Grasp the bolt (pin) and circlip on the vibrating plate, locate the hole position of the pin and circlip on the graphite joint through the visual camera, and then implant the bolt (pin) and circlip, and install the bolt on the graphite joint (pin) and circlip, the graphite joint handling robot grabs the graphite joint product with the bolt (pin) and circlip installed and places it on the conveying line body, and flows into the next station.
  • Graphite electrode and joint robot automatic assembly machine includes industrial robot, joint conveying workbench, joint temporary storage platform, scanning system, torque controller, electrode conveying roller table, graphite electrode and joint assembly platform, electrode pressing mechanism, material turning mechanism And finished product unloading rack.
  • the front end of the industrial robot is provided with a manipulator, and the manipulator is equipped with electric grippers, a servo motor, a scanning system, and a torque controller.
  • the servo motor drives the electric grippers to grab graphite joints
  • the scanning system is used to scan the two-dimensional code of the graphite joints.
  • the information is fed back to the control system to control the industrial robot.
  • the industrial robot is equipped with an electric gripper on the manipulator to grab the graphite joint that meets the assembly size, and sends it to the graphite electrode and joint assembly platform, and puts it into the tapered threaded hole of the graphite electrode 6.
  • the servo motor rotates to install the graphite electrode in place, and a certain torque is controlled by the torque controller 4-5 to prevent the graphite joint from being too tight and damaged.
  • the industrial robot is equipped with electric grippers on the manipulator to grab the graphite joints 7 and send them to the joint temporary storage table for temporary storage.
  • One side of the industrial robot is provided with a joint conveying workbench for conveying graphite joints with pins and retaining springs installed.
  • the front side of the industrial robot is provided with a temporary storage platform for temporary storage of graphite joints.
  • the other side of the industrial robot is provided with an electrode conveying roller table, a graphite electrode and a joint assembly platform.
  • the electrode conveying roller table is equipped with multiple transmission rollers, equipped with transmission chains, sprockets and transmission motors, and the transmission motor drives multiple transmission rollers through sprockets and transmission chains, and transmits the processed graphite electrodes 6 to graphite electrodes and joints assembly table.
  • An electrode pressing mechanism is arranged on the upper part of the graphite electrode and joint assembly platform, and the electrode pressing mechanism has an electrode pressing frame and an electrode pressing oil cylinder.
  • the electrode pressing frame is installed on the upper part of the graphite electrode and joint assembly platform, and the electrode pressing oil cylinder is installed on the electrode pressing frame, which is used to press and fix the graphite electrode to facilitate the assembly of the graphite electrode and the joint.
  • the material turning and turning mechanism is provided with a material turning rod, a turning shaft, a push rod, and a material turning and turning oil cylinder.
  • the turning shaft is installed at the rear end of the finished product unloading rack, and two shifting rods are installed on the turning shaft.
  • One end of the shifting rod is inserted into the graphite electrode and the upper part of the joint assembly table, and the other end of the shifting rod is equipped with a push rod.
  • the push rod of the material turning over cylinder is connected with the push rod.
  • the push rod of the material turning cylinder pushes the material rod through the push rod, so that the material rod is turned over, and the graphite electrode and joint assembly table are assembled on the upper part, and the graphite electrode finished product assembled by the industrial robot is turned over and transferred to the finished product Unloading rack. Since the finished product unloading rack has a certain inclination, the rear end is higher than the front end, and the finished graphite electrode is slid and pushed to the front of the finished unloading rack, and enters the automatic packaging process of the finished graphite electrode.
  • the industrial robot adopts a six-axis robot.
  • the robot automatic assembly machine for graphite electrodes and joints is equipped with a numerical control system for control, and the numerical control system is equipped with PLC programmable controllers, industrial control computers and other control equipment.
  • the scanning system adopts a two-dimensional code scanner, and the two-dimensional code scanner is connected with the numerical control system.
  • Described torque controller adopts commercially available torque controller.
  • the other side of the industrial robot is provided with an electrode conveying roller table, and the transmission motor drives multiple conveying rollers through the sprocket and conveying chain, and conveys the processed graphite electrode to the graphite electrode. And connector assembly station.
  • the electrode pressing oil cylinder of the electrode pressing mechanism on the upper part of the graphite electrode and joint assembly table presses and fixes the graphite electrode.
  • the front end of the industrial robot is equipped with a manipulator, which is equipped with an electric gripper, a servo motor, a scanning system, and a torque controller.
  • the servo motor drives the electric gripper to grab the graphite joint.
  • the scanning system is used to scan the QR code of the graphite joint, and the scanning information is fed back to
  • the control system controls the industrial robot to grab the graphite joints that meet the assembly size, and the electric grippers on the manipulator grab the graphite joints and send them to the graphite electrode and joint assembly platform, and put them into the tapered threaded holes of the graphite electrodes.
  • the servo motor drives and rotates the graphite joints.
  • the electrode is installed in place, and a certain torque is controlled by the torque controller.
  • the industrial robot When the set torque is reached, it will automatically slip to avoid the transition of the electrode tip and prevent the graphite joint from being too tight and damaged.
  • the industrial robot is equipped with electric grippers on the manipulator to grab the graphite joints and send them to the joint temporary storage table for temporary storage.
  • the electrode pressing cylinder is closed, the electrode pressing mechanism is opened, and the material turning cylinder of the material turning mechanism is started, and the push rod of the turning material turning cylinder pushes the material rod through the push rod, so that the material rod is turned over
  • the finished graphite electrode assembled by the industrial robot is turned over and transferred to the finished product unloading rack. Since the finished product blanking rack has a certain inclination, the rear end of the finished product blanking rack is higher than the front end, and the finished graphite electrode is slid and pushed to the front of the finished product blanking rack to enter the automatic packaging process of the finished graphite electrode.
  • Graphite electrode and joint robot automatic assembly machine using robot automation to automatically grab graphite joints, graphite electrodes and joint robot automatic assembly, graphite joint screwing and tightening operations, improve operation accuracy and efficiency, reduce manual manual labor and safety management risks.
  • Robots can complete physical labor that repeats a single action, and always maintain high precision and no fatigue.
  • the automatic packaging line for graphite electrode finished products includes graphite electrode finished product conveying frame, material shifting mechanism, scanner, unmanned forklift, pre-storage silo, radial packaging equipment, axial packaging equipment, handling robot and bottom plate silo.
  • the graphite electrode finished product conveying frame is connected with the finished product unloading frame of the graphite electrode and joint robot automatic assembly machine.
  • the material shifting mechanism is installed at the front end of the graphite electrode finished product conveying frame. It is used for scanning graphite electrodes and graphite joints, and is used to identify finished graphite electrodes of different lengths and specifications.
  • the unmanned forklift is used for transporting the finished graphite electrode and radially packing the finished graphite electrode.
  • the pre-storage silo is used for pre-storing finished graphite electrodes, and radial packaging equipment is provided on one side of the pre-storage silo.
  • the bottom plate silo is arranged on one side of the radial packing equipment, and the transfer robot is installed between the radial packing equipment and the bottom plate storehouse; the axial packing equipment is installed at the front of the radial packing equipment.
  • the material shifting mechanism is provided with a material shifting rod, a turning shaft, a push rod, and a shifting and turning oil cylinder.
  • the turning shaft is installed at the lower part of the front end of the graphite electrode finished product conveyor frame, and two shifting rods are installed on the turning shaft.
  • the push rod of the material turning over cylinder is connected with the push rod.
  • the shifting and turning oil cylinder When the shifting and turning oil cylinder is working, the push rod of the turning and turning oil cylinder pushes the shifting rod through the push rod, so that the shifting rod is turned over, and the graphite electrode finished product conveying frame is transported to the upper part of the graphite electrode, and the finished graphite electrode is transferred to No. 1 unmanned forklift superior.
  • the No. 1 driverless forklift sends the finished graphite electrodes into the pre-storage bin according to the length range.
  • the pre-storage bins There are four groups of the pre-storage bins, which are respectively the first storage bin, the second storage bin, the third storage bin and the fourth storage bin.
  • the pre-storage silo 1, pre-storage silo 2, and pre-storage silo 3 are controlled within 0-30mm, 30-60mm, and 60-90mm respectively
  • the pre-storage silo 4 is the length of the pre-storage graphite electrode. Larger electrode scratch pad.
  • Described radial packing equipment comprises radial packing frame, radial packing trolley, radial packing trolley track, radial packing machine.
  • the radial packing trolley track is installed on the upper part of the radial packing frame, the radial packing car is mounted on the radial packing car track, and the radial packing machine is installed on the radial packing frame.
  • the upper part of the radial packaging trolley is provided with a workbench for placing the packaging bottom plate.
  • the packaging bottom plate is made of wooden bottom plate, which is convenient for packaging the finished graphite electrode.
  • the lower part of the radial packing trolley is provided with wheels, the radial packing trolley is mounted on the track of the radial packing trolley through the wheels, the radial packing trolley transmission motor is installed at the bottom of the radial packing trolley, and the wheels are driven by the radial packing trolley transmission motor. Move back and forth along the radial packing trolley track.
  • the radial baler is installed on a radial baler frame, and is used for radial bare steel strip beating of the finished graphite electrode together with the bottom support. If there are many bottom brackets and bare steel strips, the steel strip guides cannot be arranged on the working table of the radial packing trolley, and two radial packing machines need to be installed.
  • the bottom plate silo is provided with a silo frame on which a packaging bottom plate is inserted.
  • the handling robot is installed between the radial packing equipment and the bottom plate silo.
  • the handling robot adopts a six-axis robot.
  • the handling robot is equipped with a manipulator.
  • the distance and position of the machine are controlled by the host computer.
  • the bottom plate of the silo for the robot to take material is placed in advance manually.
  • the axial packing equipment includes an axial packing frame, an axial packing trolley, an axial packing trolley track, and an axial packing machine.
  • the upper part of the axial packing frame is equipped with an axial packing trolley track, the axial packing trolley is mounted on the axial packing trolley track, and the axial packing machine is installed on the axial packing frame.
  • There is a workbench on the upper part of the axial packing trolley which is used to place the finished graphite electrodes that have been packed axially.
  • Manually add protective caps at both ends or add protective caps at both ends
  • manually add marking plates at both ends or add two end mark plate
  • manually add the top plate and steel belt guard plate and the axial baler automatically packs the axial steel belt.
  • the lower part of the axial packing trolley is provided with wheels, the axial packing trolley is installed on the track of the axial packing trolley through the wheels, the lower part of the axial packing trolley is equipped with an axial packing trolley transmission motor, and the wheels are driven by the axial packing trolley transmission motor, Move back and forth along the axial packing trolley track.
  • the automatic packaging line for graphite electrode finished products is equipped with a numerical control system for control.
  • the numerical control system is equipped with PLC programmable controllers, industrial control host computers (abbreviated as host computers), unmanned forklift controllers and other control equipment.
  • radial baler and axial baler adopt commercially available steel belt automatic balers.
  • the unmanned forklift described above can be a commercially available unmanned forklift or laser forklift AGV, which is small in size and large in carrying capacity, and can be matched with pallets of any size to realize automatic loading and unloading.
  • Laser forklift AGV is leading in technology in the industry, with high positioning accuracy and strong practicability, autonomous positioning and autonomous navigation during driving; automatic identification of the channel and site location; automatic construction of virtual maps and route planning, and effective response. It has a unique double protection technology, which can flexibly deal with the material handling and loading and unloading of docks, warehouses, factories and other environments with large freight volumes, fundamentally replace manual operations, improve storage and handling efficiency and reduce enterprise costs.
  • the scanner adopts a two-dimensional code scanner, and the two-dimensional code scanner is connected with the numerical control system.
  • Scanners are installed on both sides of the finished graphite electrode conveying frame of the graphite electrode processing line to collect QR code scanning data for graphite electrodes and graphite joints to be packaged, focusing on collecting electrode weight, length, model specifications, joint weight, and length And model specifications, the data is uploaded to the host computer. Based on the electrode length, the upper computer directs the No. 1 unmanned forklift to deliver the finished graphite electrode materials to the pre-storage silo.
  • the pre-storage silos are divided into four groups, among which the pre-storage silo 1, the pre-storage silo 2, and the pre-storage silo 3 are controlled within 0-30mm, 30-60mm, 60-90mm respectively, and the pre-storage silo 4 is The electrode temporary storage area where the length of the pre-stored graphite electrode has a large tolerance.
  • the No. 2 unmanned forklift will send the finished graphite electrode in the pre-stored silo to the radial packing trolley of the radial packing equipment;
  • the radial packing trolley uses a handling robot to lay the bottom plate, and the handling robot automatically carries the bottom plate stored in the bottom plate silo, and the laying distance and position are controlled by the upper computer.
  • the base plates in the base plate bins picked by the handling robot are placed in advance manually.
  • the radial packing trolley moves to the position of the radial packing machine for radial bottom support and bare steel strip. If there are many bottom brackets and bare steel belts, the steel belt guides cannot be arranged on the working table of the radial packing trolley, and two radial packing machines need to be installed;
  • the No. 3 unmanned forklift will send the finished radially packaged graphite electrode to the axial packaging equipment, and the axial packaging trolley working table of the axial steel belt station. ;
  • the automatic packaging line for graphite electrode finished products is equipped with finished graphite electrode conveying racks, material shifting mechanisms, scanners, unmanned forklifts, pre-storage silos, radial packaging equipment, axial packaging equipment, handling robots, bottom plate silos, off-line Driving, can assemble graphite electrodes and graphite joints into graphite electrode finished products for automatic packaging, high efficiency, suitable for industrial automation production line needs, graphite electrode finished automatic packaging line can meet, graphite electrode finished production line automatic packaging needs.
  • the automatic packaging line for graphite electrode finished products can greatly reduce the labor intensity of workers, improve production efficiency, reduce the number of packaging workers, reduce the labor cost of enterprises, and reduce the loss of finished products due to careless manual packaging.
  • a numerically controlled graphite electrode and joint precision processing, detection, assembly and packaging automatic line has reasonable design and compact structure.
  • the present invention proposes a new graphite electrode automatic processing line scheme, which adds a manual screen to the original traditional electrode body and joint processing line. Inspection and robot bolting and clamping spring, robot electrode joint assembly station, graphite electrode finished product (including joint) automatic packaging line, these additional stations organically connect the original separately arranged electrode body processing line and joint processing line. Together, the integrated automatic processing and packaging of graphite electrodes has been truly realized.
  • This automatic processing line greatly reduces the configuration of personnel, and can coordinate the production, testing, assembly and automatic packaging of graphite electrode finished products conveniently and quickly.
  • Figure 1 is a schematic diagram of an automatic line for precision machining, testing, assembly and packaging of CNC graphite electrodes and joints.
  • Fig. 2 is a schematic diagram 1 of a graphite electrode automatic processing line of a CNC graphite electrode and joint precision processing detection assembly and packaging automatic line.
  • Fig. 3 is a schematic diagram 2 of a graphite electrode automatic processing line of a CNC graphite electrode and joint precision processing, detection, assembly and packaging automatic line.
  • Fig. 4 is a schematic diagram 1 of a truss-conveyed graphite joint automatic processing line of a numerically controlled graphite electrode and joint precision machining detection assembly and packaging automatic line.
  • Fig. 5 is a schematic diagram 2 of a truss-conveyed graphite joint automatic processing line of a numerically controlled graphite electrode and joint precision machining detection assembly and packaging automatic line.
  • Fig. 6 is a schematic diagram of a graphite joint robot automatic circlip spring bolting machine of a CNC graphite electrode and joint precision machining, detection, assembly and packaging automatic line.
  • Fig. 7 is a schematic diagram of a graphite electrode and joint robotic automatic assembly machine of a numerically controlled graphite electrode and joint precision machining, detection, assembly and packaging automatic line.
  • Fig. 8 is a schematic diagram of a graphite electrode finished product automatic packaging line of a CNC graphite electrode and joint precision machining, detection, assembly and packaging automatic line.
  • Fig. 9 is a schematic diagram of a graphite electrode inspection machine of a CNC graphite electrode and joint precision machining inspection assembly and packaging automatic line.
  • Fig. 10 is a schematic diagram of a weighing mechanism of a graphite electrode inspection machine of a CNC graphite electrode and joint precision machining inspection assembly and packaging automatic line.
  • Fig. 11 is a schematic diagram of a joint cutting machine tool of a truss-conveying graphite joint automatic processing line for a CNC graphite electrode and joint precision machining, detection, assembly and packaging automatic line.
  • Fig. 12 is a schematic diagram of an inspection machine of a truss-conveyed graphite joint automatic processing line of a numerically controlled graphite electrode and joint precision machining inspection assembly and packaging automatic line.
  • Fig. 13 is a schematic diagram of a truss-type conveying device of a truss-conveyed graphite joint automatic processing line for a CNC graphite electrode and joint precision machining, detection, assembly and packaging automatic line.
  • Feeding centering machine 1-2. CNC electrode double-end boring and scraping machine, 1-3. CNC electrode multi-cutter cylindrical lathe, 1-4. CNC electrode comb milling double-thread fine grinding double-end surface Machine tools, 1-5, graphite electrode detection machine, 1-6, graphite electrode scribing machine, 1-7, graphite electrode conveyor, 1-8, graphite electrode body manual screening and labeling unit;
  • 1-5-1 fixed-length ratio resistance mechanism, 1-5-2, weighing mechanism; 1-5-1-1, left bed, 1-5-1-2, right bed; 1-5 -1-3, left guide rail, 1-5-1-4, left slide table, 1-5-1-5, ball screw one, 1-5-1-6, servo motor one, 1-5-1 -7, left bracket, 1-5-1-8, left measurement length measuring specific resistance probe, 1-5-1-9, right guide rail, 1-5-1-10, right slide table, 1-5- 1-11, right bracket, 1-5-1-12, right fixed-length specific resistance probe, 1-5-1-13, ball screw 2, 1-5-1-14, servo motor 2;
  • 2-3-1 Servo electric cylinder, 2-3-2.
  • Detection bracket push cylinder 2-3-3.
  • Elastic modulus probe 2-3-4.
  • Specific resistance probe 2-3-5.
  • Detection frame 2-3-6, V-shaped bracket, 2-3-7, detection bracket, 2-3-8, sliding guide rail, 2-3-9, slider;
  • 2-9-1 truss main body, 2-9-2, manipulator; 2-9-2-1, No. 1 manipulator, 2-9-2-2, No. 2 manipulator, 2-9-2-3, 3 Manipulator No. 2-9-2-4, Manipulator No. 4, Manipulator 2-9-2-5, Manipulator No. 5;
  • 4-1-1 manipulator; 4-6-1, transmission roller; 4-8-1, electrode pressing frame, 4-8-2, electrode pressing oil cylinder;
  • the CNC graphite electrode and joint precision machining, inspection, assembly and packaging automatic line consists of graphite electrode automatic processing line 1, truss conveying graphite joint automatic processing line 2, graphite joint robot automatic clamping spring bolting machine 3, graphite Electrode and joint robot automatic assembly machine 4, graphite electrode finished product (including joint) automatic packaging line 5.
  • Graphite joint robot automatic circlip loading machine 3 is set on the truss-conveyed graphite joint processing line (graphite joint automatic processing line) 2 finished product output front end, graphite electrode and joint robot automatic assembly machine 4 is set on graphite electrode automatic processing line 1 and Between the truss conveying type graphite joint processing line (graphite joint automatic processing line) 2.
  • the graphite electrode finished product packaging line 5 is arranged at the front part of the finished product output end of the graphite electrode and joint robot automatic assembly machine 4 .
  • the graphite electrode automatic processing line 1 includes a feeding and centering machine 1-1, a CNC electrode double-end boring and scraping machine tool 1-2, a CNC electrode multi-tool cylindrical lathe 1-3, a CNC electrode comb milling double-thread finisher Flat double-end machine tool 1-4, graphite electrode inspection machine 1-5, graphite electrode scribing machine 1-6, graphite electrode conveyor 1-7, graphite electrode body manual screening and labeling unit 1-8.
  • Feeding and centering machine 1-1 is equipped with a feeding rack, a turning mechanism, a centering mechanism, a lifting and feeding mechanism, etc., wherein the feeding rack is used to store workpieces, and the turning mechanism It is used to flip and load workpieces sequentially, the centering mechanism is used for pre-centering of workpieces, and the lifting and feeding mechanism is used to send the aligned workpieces upward to the manipulator for grabbing materials.
  • This machine tool is the first process of the electrode body processing line. Its function is to realize automatic feeding and centering of a group of electrode body blanks that have been manually placed on the loading rack and arranged in advance, and processed for the next process. Prepare.
  • the two ends of the bed guide rail of the electrode double-end boring and leveling machine 1-2 are equipped with spindle boxes, and the middle part is equipped with a workpiece clamping device.
  • the bottoms of the two spindle boxes are connected with the screw rods driven by the longitudinal feed motors at both ends of the bed , forming a longitudinal feed mechanism.
  • the main motors on the two spindle boxes are connected with the spindles for installing boring and scraping tools through the transmission mechanism in the spindle boxes.
  • a transverse clamping mechanism is formed by connecting the nut with the forward and reverse thread screw rods installed under the transverse rail, and the line number ratio of the forward and reverse screw threads is 1:2.
  • the longitudinal feed motor in this embodiment is a servo motor.
  • the control system makes the horizontal clamping hydraulic motor work, drives the two clamping devices to move synchronously, automatically centers and clamps the outer circle of the workpiece, and then the main motor drives the forming boring machine fixed on the spindle The hole and scraping tools rotate, and the longitudinal feed servo motor drives the two spindle boxes to feed the tool along the guide rail of the bed.
  • the floating positioning switch sends out a signal, and the numerical control system is transferred to the machining program, and the two ends of the graphite electrode workpiece are Bore out the required tapered hole and scrape both ends of the workpiece at the end of the boring.
  • This machine tool is the second process of the electrode body processing line. Its function is to complete the inner boring and end face scraping of the electrode body through one clamping, so as to ensure the shape and position accuracy is effectively guaranteed, and the size consistency is good.
  • the two ends of the main bed guide rail of the CNC electrode multi-tool cylindrical lathe 1-3 are respectively installed with a spindle box and a tailstock box that can top clamp workpieces, and the middle part is installed with a lower bed that can move vertically and parallel to the bed guide rail respectively.
  • middle slide plate, at least two side-by-side tool holder bases are installed on the middle slide plate, wherein a rough turning tool holder is fixedly installed on each of the tool holder bases, a rough turning tool is installed on it, and a large drag plate for a fine turning tool holder is installed at the same time
  • An upper slide plate that can be moved independently along the guide rail perpendicular to the main bed is installed on it, and a fine turning tool is fixedly installed on the upper slide plate.
  • the spindle motor drives the workpiece to rotate through the spindle.
  • the lower and middle slides cooperate to complete the feed and feed actions, so that the rough turning tool completes the rough turning of the outer circle of the electrode.
  • the turning tool touches the surface of the workpiece, and the finish turning is completed during the tool movement parallel to the guide rail of the bed.
  • this machine tool is used to complete the turning process of the outer circular surface of the electrode body through one clamping.
  • This machine tool adopts multi-mode simultaneous cutting, and the efficiency is very high.
  • the two ends of the bed of the CNC electrode comb milling double thread and fine flat double end face machine tool 1-4 are equipped with comb milling threads with vertical and horizontal feed and a spindle box for scraping the end face, and the center of the bed guide rail is equipped with Clamping mechanism and workpiece holder for precision clamping electrodes.
  • the vertical and horizontal feeding of the large carriage under the headstock, the comb knife and the scraper are all controlled by the servo motor through the screw drive.
  • the electrode When the CNC electrode comb mills double threads and flattened double ends, the electrode is clamped and does not move, the comb knife and scraping knife are driven by the main shaft to rotate and translate, and the control system combs and mills the double ends on the electrode according to the preset software program. Precision machining of threads and faces. Because the comb knife is multi-knife cutting, the comb knife and the scraping knife are made of special hard alloy materials, so the machining accuracy is good, and the efficiency is greatly improved. The use of computer program control not only simplifies the operation and adjustment, but also greatly simplifies the mechanical structure.
  • This machine tool is the fourth process of the electrode body processing line. Its function is to complete the double-end internal taper thread comb milling and end face scraping processing of the electrode body through one clamping. The efficiency is high, and the shape and position accuracy is effectively guaranteed. Good coaxiality, high verticality between the double end face and the center line of the internal taper thread, and good dimensional consistency.
  • the graphite electrode detector 1-5 is composed of a fixed-length ratio resistance measuring mechanism 1-5-1 and a weighing mechanism 1-5-2.
  • the fixed-length ratio resistance mechanism 1-5-1 has a left bed 1-5-1-1 and a right bed 1-5-1-2; the upper part of the left bed 1-5-1-1 is provided with The left guide rail 1-5-1-3, the upper part of the left guide rail 1-5-1-3 is equipped with the left slide table 1-5-1-4, and the left fixed-length ratio resistance probe 1-5-1-8 passes through
  • the left bracket 1-5-1-7 is installed on the left sliding table 1-5-1-4, and the lower part of the left sliding table 1-5-1-4 is equipped with a ball screw 1-5-1-5, a servo motor One 1-5-1-6 is installed at one end of the left bed 1-5-1-1, the servo motor one 1-5-1-6 is connected with the ball screw one 1-5-1-5, the servo motor one 1 -5-1-6 drives the left bracket 1-5-1-7, the left measurement length measuring ratio resistance probe 1-5-1-8 through the ball screw 1-5-1-5, along the left guide rail 1 - 5-1-3 forward and backward moves.
  • the upper part of the right bed 1-5-1-2 has a right guide rail 1-5-1-9, and the upper part of the right guide rail 1-5-1-9 is equipped with a right sliding table 1-5-1-10, and the right side is fixed in length
  • the ratio resistance measuring head 1-5-1-12 is installed on the right sliding platform 1-5-1-10 through the right bracket 1-5-11, and the lower part of the right sliding platform 1-5-1-10 is equipped with a ball screw Two 1-5-1-13, servo motor two 1-5-1-14 are installed on one end of the right bed 1-5-1-2, servo motor two 1-5-1-14 and ball screw two 1- 5-1-13 connected, the servo motor 1-5-1-14 drives the right bracket 1-5-1-11 through the ball screw 2 1-5-1-13, and the right measuring length measuring ratio resistance probe 1- 5-1-12, move back and forth along the right rail 1-5-1-9.
  • a weighing mechanism 1-5-2 is arranged between the left bed 1-5-1-1 and the right bed 1-5-1-2.
  • the weighing mechanism 1-5-2 has a base 1-5-2-1, the top of the base 1-5-2-1 is equipped with a weighing platform 1-5-2-2, and the weighing platform 1-
  • the two sides of the 5-2-2 are provided with a workpiece bracket 1-5-2-3, and the lower part of the weighing platform 1-5-2-2 is provided with a load cell 1-5-2-4.
  • the material receiving lifting cylinder 1-5-1-5 is installed on the base 1-5-2-1, and the material receiving bracket 1-5-2-6 is installed on the upper part of the material receiving lifting cylinder 1-5-2-5 , for lifting and receiving graphite electrode 6 workpieces.
  • One end of the blanking bracket 1-5-2-7 is installed on the workpiece bracket 1-5-2-3 through the rotating shaft 1-5-2-8, and the other end of the blanking bracket 1-5-2-7 is equipped with Inclined push oil cylinder 1-5-2-9, used to obliquely push out the weighed graphite electrode.
  • the fixed-length specific resistance measuring probe 1-5-1-8 on the left side and the 1-5-1-12 fixed-length specific resistance measuring probe on the right are connected with the specific resistance detector through cables, and the fixed-length measuring probes on the left and right sides are The specific resistance signal measured by the specific resistance probe is transmitted to the specific resistance detector, and the specific resistance of the graphite electrode is detected by the specific resistance detector.
  • the lifting cylinder 1-5-2-5 rises to accept the graphite electrode 6 workpiece, and the graphite electrode conveyor grabs and transports the processed graphite electrode 6 to the receiving lifting cylinder 1- 5-2-5
  • the lifting cylinder 1-5-2-5 rises to lift the workpiece at a fixed horizontal center position, and the fixed-length ratio resistance mechanism 1-
  • the feed of the left and right slides of 5-1 is directly driven by the servo motor and the ball screw pair.
  • the fixed length and ratio resistance probes are installed on the brackets. After the length and specific resistance probes all touch the workpiece, the electrical system calculates the length of the electrode in real time through the collected data, and the specific resistance meter measures the specific resistance value at the same time.
  • the material receiving lifting cylinder 1-5-2-1 places the workpiece of the graphite electrode on the weighing table and weighs 1-5-2-2, and then the inclined push cylinder 1-5-2-9 pushes the blanking bracket 1-5-2-7, and pushes the graphite electrode 6 onto the blanking rack.
  • Graphite electrode testing machine and scribing machine are used as one of the last procedures of graphite electrode processing line. Its function is to carry out sequential weighing, fixed length, specific resistance and other inspections on the processed graphite electrodes.
  • the graphite electrode detection machine combines machine, electricity and hydraulic organically to realize the integration of electromechanical and hydraulic.
  • the graphite electrode detector has a wide detection range and strong capability, and can adapt to the detection of graphite electrodes of different specifications.
  • the key components of the graphite electrode detector adopt reliable dust-proof measures to achieve double protection and the whole machine has a long service life.
  • the structure of the machine tool is simple, the programming operation is simple, the operator is cheap, the labor intensity of the workers is low, and the work efficiency is high.
  • this machine tool is used to perform sequential weighing, fixed length, and specific resistance measurement of the processed electrodes.
  • Graphite electrode scribing machine 1-6 is a graphite electrode hole bottom position scribing machine.
  • Graphite electrode scribing machine 1-6 includes a base, and the middle part of the base has a workpiece supporting turning device.
  • the processed graphite electrode workpiece is transported by the conveying device to the supporting and turning device, and then the lifting guide column rises to the position where the scribing roller and the outer circle of the workpiece correspond to the bottom of the hole of the inner taper thread section.
  • the roller is on the graphite
  • the paint dipped from the paint box is continuously applied to the outer circle of the graphite electrode, and the marking line at the bottom of the hole is automatically formed, thereby avoiding the trouble of manual marking on site.
  • This machine tool is the sixth process of the electrode processing line, and its function is to automatically mark the warning line at the bottom of the electrode body hole.
  • This conveyor adopts a gantry-type driving structure, including a gantry-type frame, four conveying trolleys and brackets, forming an integral mobile frame.
  • the lower part of the mobile frame is equipped with a conveying cylinder, which drives the mobile frame to convey electrodes.
  • the four conveying trolleys are equipped with Lifting cylinder, the lower part of the conveying trolley is equipped with a grabbing mechanism.
  • the grabbing mechanism has 2 clamping cylinders and 2 grippers.
  • This unit is an auxiliary process added to the electrode processing line.
  • the unqualified and spare parts and qualified products are determined through manual screening, and the corresponding labels are affixed. After the warning line, it is sent off the machine table, and the qualified products are sent to the joint and then loaded off the machine table.
  • Truss-conveyed graphite joint automatic processing line 2 includes CNC joint cutting machine tool 2-1, CNC joint flat end machine tool 2-2, inspection machine 2-3, CNC joint double outer cone lathe 2-4, and CNC joint double thread comb processing machine tool 2-5, CNC joint slot milling machine tool 2-6, weighing machine 2-7, inspection table 2-8 and truss type conveying device 2-9.
  • the hole machine tool 2-6, the weighing machine 2-7, and the testing platform 2-8 are respectively controlled by the control system and arranged in sequence, and connected by the truss type conveying device 2-9.
  • the truss conveying device 2-9 is composed of a truss main body 2-9-1, a manipulator 2-9-2, and a servo drive mechanism.
  • the truss main body 2-9-1 is welded by square pipes, and the truss main body 2-9-1 is equipped with gears, racks and protection bars to form a truss type conveying line.
  • Truss type conveying device (conveyor line) 2-9 is equipped with 5 sets of manipulators, respectively No. 1 manipulator 2-9-2-1, No. 2 manipulator 2-9-2-2, No. 3 manipulator 2-9-2- 3.
  • No. 1 manipulator 2-9-2-1 is responsible for the transportation of graphite joints between the CNC joint cutting machine tool 2-1, the CNC joint flat end machine tool 2-2, and the inspection machine 2-3 (abbreviated as No. 1, 2, and 3 machines);
  • No. 2 manipulator 2-9-2-2 is responsible for the transportation of graphite joints between inspection machine 2-3 and CNC joint double outer cone lathe 2-4 (referred to as No. 3 and No. 4 machines);
  • No. 3 manipulator 2-9-2- 3 responsible for the transportation of graphite joints between CNC joint double outer cone lathes 2-4 and CNC joint double thread comb processing machines 2-5 (referred to as No. 4 and No. 5 machines);
  • No. 1 manipulator 2-9-2-1 is responsible for the transportation of graphite joints between the CNC joint cutting machine tool 2-1, the CNC joint flat end machine tool 2-2, and the inspection machine 2-3 (abbreviated as No. 1, 2, and 3 machines);
  • No. 2 manipulator 2-9-2-2 is responsible for the transportation of graphite joints between inspection machine 2-3 and CNC joint double outer cone la
  • manipulator 2-9-2-4 is responsible for CNC joints Graphite joint transportation between double thread comb processing machine 2-5, CNC joint milling slot drilling and bolt hole machine 2-6 (abbreviated as No. 5 and No. 6 machines), No. 5 manipulator 2-9-2-5 is responsible for CNC joint milling slot Graphite joint conveying among machine tools 2-6, weighing machines 2-7, and inspection benches 2-8 (referred to as machines No. 6, 7, and 8).
  • the servo drive mechanism is installed on the manipulator 2-9-2, and the servo drive mechanism is provided with a manipulator laterally moving servo drive motor, a manipulator lifting servo drive motor, and a manipulator clamping servo drive motor.
  • the manipulator laterally moves the servo drive motor through the gear and the rack to drive the manipulator to move back and forth along the truss main body 9-1 for joint transportation, and the manipulator lifts the servo drive motor to drive the manipulator along the truss main body 2 through the gear and rack in the vertical direction.
  • the manipulator Up and down movement for splice conveying, the manipulator clamps the servo drive motor through the gear and rack drive manipulator to grab the splice processed parts for splice conveying.
  • the truss conveying type graphite joint automatic processing line is equipped with a numerical control system, which is equipped with PLC programmable controller, industrial control computer (industrial control computer), specific resistance tester and other numerical control instruments.
  • Described numerical control joint cutting machine tool 2-1 comprises cutting machine tool bed 2-1-4, saw blade 2-1-5, saw blade installation frame 2-1-6, saw blade transmission motor, feeding rack 2-1-7, Blank pressing cylinder 2-1-8, blank turning mechanism 2-1-9, centering mechanism 2-1-1, material storage mechanism, jacking cylinder 2-1-2, moving cylinder 2-1-3 .
  • Saw blade installation frame 2-1-6 is installed on the top of cutting machine bed 2-1-4
  • saw blade 2-1-5 is installed on the saw blade installation frame 2-1-6
  • saw blade drive motor is installed on cutting machine bed 2- On the 1-4 side, the saw blade drive motor drives the saw blade installation frame 2-1-6 through the transmission belt and the transmission wheel, and the saw blade 2-1-5 cuts the joint blank according to the set length.
  • Cutting machine tool bed 2-1-4 top is equipped with blank pressing frame
  • blank pressing frame top is equipped with blank pressing oil cylinder 2-1-8, compresses joint blank when being used for cutting joint blank.
  • Described feeding rack 2-1-7 is provided with raceway 2-1-10, and raceway 2-1-10 has inclination to be convenient for joint feeding, cuts off the upper part of machine bed 2-1-4 when conveying .
  • the upper part of the cutting machine bed 2-1-4 is equipped with a blank turning mechanism 2-1-9, which is composed of a blank turning arm and a blank turning oil cylinder.
  • the blank turning oil cylinder is connected with the blank turning arm. , close the blank pressing oil cylinder, loosen the joint blank, start the blank turning oil cylinder, drive the blank turning arm to turn over the cut joint blank and send it to the centering mechanism 2-1-1 bearing bracket.
  • the material storage mechanism is provided with a material support 2-1-11, and the material support 2-1-11 is provided with a movable V-shaped support 2-1-12, a plurality of fixed V-shaped supports, and a jacking oil cylinder 2-1-11. 2. Move the oil cylinder 2-1-3.
  • the centering mechanism 2-1-1 is provided with a centering oil cylinder, a rack and a gear.
  • the CNC joint cutting machine tool 2-1 is shown in Figure 11. After the joint is cut by the main structure, it falls on the centering mechanism 2-1-1, and the oil cylinder pushes it. Under the linkage action of the rack and the gear, the alignment is realized. Medium function.
  • the V-shaped bracket can be moved and lifted under the action of the jacking cylinder 2-1-2, and the moving cylinder 2-1-3 will move backward to send the joint blank to the 2# waiting position, and the jacking cylinder 2 -1-2 down, the joint blank material falls on the 2# fixed V-shaped bracket, the moving cylinder moves forward to the position, continue to connect the joint blank material from the 1# position V-shaped bracket, repeat the above process, and put the joint blank
  • the material is continuously moved to the 3# position, 4# position, and 5# position to fix the V-shaped bracket to realize the storage of the material storage mechanism.
  • the CNC joint flat end machine tool 2-2 includes a double-spindle milling mechanism, a clamping mechanism, a dust collection system and the like.
  • the workpieces sent by the truss conveyor line are accurately sent to the center of the two power heads.
  • the clamping mechanism clamps the workpieces under the action of the hydraulic motor BM180 and the left and right rotating T-shaped screw rods, and the manipulator is quickly released and lifted to a safe position.
  • the two shield cylinders of the machine tool are closed under the action of the cylinder.
  • the motors of the two power heads rotate, and under the action of the servo motor and the ball screw, they fast forward to the position and enter the working state.
  • the outer circle turning tool starts to turn the outer circle, and the end surface is scraped.
  • the power head stops and quickly retreats to the original position; the two shields are quickly loosened and put in place.
  • the manipulator goes down to grab the workpiece, and the clamping mechanism releases the workpiece and returns to its original position. The manipulator rises and sends the processed workpiece to the next station.
  • the detection machine 2-3 includes a detection frame 2-3-5, a servo electric cylinder 2-3-1, a V-shaped support 2-3-6, a detection support 2-3-7, and a detection support push cylinder 2- 3-2.
  • Two sets of sliding guide rails 2-3-8 are installed on the upper part of the detection frame 3-3-5, and two detection brackets 2-3-7 are relatively installed on the two sets of sliding guide rails 2-3-8 through sliders 2-3-9 respectively.
  • two detection brackets push the cylinder 2-3-2 to be installed on both sides of the detection frame 2-3-5 respectively, and the two detection brackets push the cylinder 2-3-2 push rod to connect with the two detection brackets 2-3 respectively.
  • -7 are connected, and the elastic modulus measuring head 2-3-3 and the specific resistance measuring head 2-3-4 are installed on the two detection brackets 2-3-7.
  • the servo electric cylinder 2-3-1 is installed on the lower part of the detection frame 2-3-5, between two detection brackets 2-3-7, and the upper part of the servo electric cylinder 2-3-1 is equipped with a V-shaped support 2-3 -6, V-shaped bracket 2-3-6 is used to carry graphite joints.
  • the detection machine 2-3 is shown in Figure 12, the manipulator 2-9-2 of the truss-type conveying device 2-9 transports the graphite joint to the V-shaped bracket 2-3- driven by the servo electric cylinder 2-3-1 6 rise, the V-shaped bracket 2-3-6 rises to position 1, the detection brackets on both sides push the cylinder 2-3-2 to act, the elastic modulus probe 2-3-3 contacts the graphite joint, and the elastic modulus probe 2- 3-3 Connect the elastic modulus sensor with the industrial computer to measure the elastic modulus of the graphite joint, and the detection bracket pushes the cylinder 2-3-2 back; The support pushes the cylinder 2-3-2 to act, and the specific resistance measuring head 2-3-4 contacts the graphite joint to measure the specific resistance of the graphite joint.
  • the specific resistance measuring head 2-3-4 is connected with the specific resistance tester through a signal transmission line, and is displayed by an industrial control computer.
  • the numerical control joint double-cone lathe 2-4 includes a main shaft component, a tailstock component, a turning mechanism and a dust suction device.
  • the workpiece sent by the truss conveyor line ensures that the center of the workpiece coincides with the center of the main shaft, and at the same time makes the center hole of the workpiece and the top of the main shaft as close as possible, the tailstock main shaft pushes the workpiece tightly under the action of the oil cylinder, and the manipulator releases the workpiece and returns to a safe position.
  • the protective door is closed under the action of the cylinder, the spindle motor starts to rotate, and drives the workpiece to rotate, and the tool holders at both ends are respectively under the action of the servo motor to perform the turning process of the outer conicity.
  • the CNC joint double-threaded comb processing machine tool 2-5 one end of the bed of the CNC electrode thread comb cutter processing machine tool is equipped with a spindle box and a chuck, and a workpiece bracket and a carriage for installing a tool are installed on the bed guide rail.
  • the improved The place is that the cutter is a comb driven by a power head.
  • the comb box is directly installed on the middle carriage, and the large carriage and the middle carriage are respectively driven by longitudinal and horizontal servo motors through screw rods, and the servo motors are controlled by PLC programmable controllers.
  • the CNC joint slot milling and bolt hole drilling machine tool 2-6 includes a main shaft part, a tailstock part, a drilling mechanism, a slot milling mechanism and a dust suction device.
  • a main shaft part For the workpiece sent by the truss conveyor line, ensure that the center of the workpiece coincides with the center of the main shaft of the power box, and at the same time make the center hole of the workpiece fit the top of the main shaft as much as possible.
  • the tailstock main shaft tightens the workpiece under the action of the oil cylinder, and the manipulator releases the workpiece and returns to a safe position. , the protective door is closed under the action of the cylinder.
  • the bolt hole drilling bit rotates under the action of the motor, and its carriage moves quickly under the action of the servo motor, and the machining starts to drill the bolt hole. After processing to the depth, it quickly rewinds to the starting position of the work advance; the spindle rotates at an index of 180 °, the two drills are processed to the depth, and the spindle stops and quickly returns to the original position.
  • the main shaft rotates at an index of 90°, and the slot milling power head rotates selectively. Under the action of the servo motor, the slot milling process is carried out. After the processing is completed, the main shaft stops and the milling cutter quickly retreats to the position.
  • the guard door opens. The manipulator descends to the position and clamps the workpiece. The main shaft of the tailstock retreats to the position under the action of the oil cylinder. After the manipulator moves 20-30mm to make the workpiece break away from the top of the main shaft, the manipulator returns to the delivery position and transports it to the next station.
  • Described weighing machine 2-7 is equipped with electronic balance, weighs the graphite joint weight on the weighing machine 2-7 when the manipulator 2-9-2 of truss type conveying device 2-9 conveys.
  • the detection station 2-8 receives the graphite joint delivered by the manipulator 9-2 of the truss-type conveying device 2-9, and uses measuring tools to detect whether the processing of the threaded joint at the two ends of the graphite joint meets the design requirements.
  • the No. 1 manipulator 2-9-2-1 transports it to the CNC joint flat end machine 2-2, and the joint material mills the end face and drills the center hole,
  • the car locates the outer circle, and after the completion, the No. 1 manipulator 2-9-2-1 transports it to the detection machine 2-3 for specific resistance and elastic modulus detection.
  • the No. 2 manipulator 2-9-2-2 transports and transports to the CNC joint double-cone lathe 2-4 to process and turn the double-cone surface.
  • the No. 3 manipulator 2-9-2-3 transports and transports to the CNC joint double-threaded comb
  • the processing machine tool 2-5 processes the thread, and after the completion, the No.
  • manipulator 2-9-2-4 transports it to the CNC joint milling groove drilling bolt hole machine tool 2-6 for drilling bolt holes and milling grooves.
  • CNC joint milling groove drilling bolt hole machine tool 2-6 After processing, No. 5 manipulator 2-9-2-5 sends the joint material to weighing machine 2-7 for weighing, and No. 5 manipulator 2-9-2 after weighing -5 Send the joint material to the inspection station 2-8 for inspection, and manually complete the inspection, labeling and flipping at this station.
  • Graphite joint robot automatic circlip loading machine 3 includes bolt (pin) feeding plate 3-1, circlip vibrating plate 3-2, visual camera 3-3, code scanning system 3-4, graphite joint handling robot 3- 5.
  • Robot 3-6 for mounting bolts and circlips, and rotary table 3-7 for mounting bolts and circlips.
  • the graphite joint handling robot 3-5 is arranged at the front end of the graphite joint conveying track 3-8 of the graphite joint automatic processing line, and the rotating table 3-7 is arranged on the side of the graphite joint handling robot 3-5, and the locking spring is installed
  • Robot 3-6 is arranged on graphite joint carrying robot 3-5 front, and bolt (pin) feeding tray 3-1, jump ring vibrating disk 3-2 are respectively arranged on the both sides of front side of robot 3-6 of loading bolt jump ring.
  • the graphite joint handling robot 3-5 is equipped with a graphite joint handling manipulator, and the front end of the graphite joint handling manipulator is equipped with a vacuum suction cup, which is used to absorb graphite joints and transport them from the graphite joint conveying track 3-8 to the bolting and clamping spring rotary table 3-7 superior.
  • the upper part of the graphite joint handling manipulator is equipped with a code scanning system 3-4, which is used to scan the QR code on the graphite joint, identify the information of the graphite joint, and classify, transport and store the graphite joint.
  • the code scanning system 3-4 uses a two-dimensional code scanner.
  • Bolt and circlip robot 3-6 is provided with a bolt and circlip manipulator, and the upper part of the bolt and circlip manipulator is equipped with a visual camera 3-3, which is used to identify the position of the bolt (pin) and circlip hole on the graphite joint, and the position of the bolt and circlip
  • the front end of the upper part of the manipulator is equipped with pneumatic fingers, which are used for gripping and installing bolts and snap rings.
  • Described visual camera 3-3 adopts industrial digital camera.
  • a plurality of bolt (pin) material holes are evenly distributed on the bolt (pin) feeding tray 3-1, and bolt (pin) is housed in the bolt (pin) material hole.
  • An electromagnetic vibrator 3-2-1 is installed on the lower part of the circlip vibrating plate 3-2, a circlip output track 3-2-2 is arranged on the upper part of the circlip vibrating plate 3-2, and an electromagnetic vibrator 3 is installed on the lower part of the circlip vibrating plate -2-1, the circlip in the circlip vibrating plate 3-2 vibrates through the electromagnetic vibrator 3-2-1, and outputs through the circlip output track 3-2-2, which is used for the pneumatic operation of the bolted circlip manipulator 3-6. Finger gripping.
  • the graphite joint robot automatically installs the circlip and the bolting machine is equipped with an electrical control box, a PLC programmable controller, and a robot control cabinet to control the graphite joint handling robot and the bolting circlip robot to work according to the set numerical control program.
  • the front end of the graphite joint handling robot 3-5 of the graphite joint handling robot is equipped with a vacuum suction cup, which is used to absorb the graphite joint, and transport it from the graphite joint conveying track 3-8 to the bolting On the circlip rotary table 3-7.
  • a vacuum suction cup which is used to absorb the graphite joint, and transport it from the graphite joint conveying track 3-8 to the bolting On the circlip rotary table 3-7.
  • the graphite joint handling robot 3-5 grabs the graphite joint product with the bolt (pin) and circlip installed and places it on the conveyor line Body, into the next station.
  • Graphite electrode and joint robot automatic assembly machine 4 includes industrial robot 4-1, joint conveying table 4-2, joint temporary storage table 4-3, scanning system 4-4, torque controller 4-5, electrode conveying roller table 4 -6.
  • the front end of the industrial robot 4-1 is provided with a manipulator 4-1-1, and the manipulator 4-1-1 is equipped with an electric gripper, a servo motor, a scanning system 4-4, a torque controller 4-5, and the servo motor drives an electric
  • the gripper grabs the graphite joint 7, the scanning system 4-4 is used to scan the two-dimensional code of the graphite joint, and the scanning information is fed back to the control system to control the industrial robot 4-1, and the industrial robot 4-1 pairs the graphite joint 7 that meets the assembly size
  • the manipulator 4-1-1 is equipped with electric grippers to grab the graphite joint 7 and send it to the graphite electrode and joint assembly table 4-7, and put it into the tapered threaded hole of the graphite electrode 6, and the servo motor drives and rotates to install the graphite electrode 7 in place, and a certain torque is controlled by the torque controller 4-5 to prevent damage to the graphite joint 7 from being too tight.
  • Industrial robot does not meet the graphite joint 7
  • One side of the industrial robot 4-1 is provided with a joint conveying workbench 4-2, which is used for conveying the graphite joint 7 with pins and retaining springs installed.
  • the front side of the industrial robot 4-1 is provided with a temporary storage table 4-3 for temporary storage of graphite joints 7.
  • the other side of the industrial robot 4-1 is provided with an electrode conveying roller table 4-6, a graphite electrode and joint assembly platform 4-7.
  • the electrode conveying roller table 4-6 is provided with a plurality of conveying rollers 4-6-1, equipped with conveying chains, sprockets and transmission motors, and the transmission motor drives multiple conveying rollers through the sprockets and conveying chains to convey processed Graphite electrode 6 to graphite electrode and joint assembly station 4-7.
  • the upper part of the graphite electrode and joint assembly platform is provided with an electrode pressing mechanism 4-8, and the electrode pressing mechanism 4-8 has an electrode pressing frame 4-8-1 and an electrode pressing oil cylinder 4-8-2.
  • the electrode pressing frame 4-8-1 is installed on the upper part of the graphite electrode and joint assembly table 4-7, and the electrode pressing oil cylinder 4-8-2 is installed on the electrode pressing frame 4-8 for pressing and fixing the graphite electrode 6 , to facilitate the assembly of the graphite electrode 6 and the joint 7.
  • One side of the graphite electrode and joint assembly table 4-7 is provided with a finished product unloading rack 4-10.
  • Finished product unloading rack 4-10 rear end is equipped with dialing and flipping mechanism 4-9.
  • the material turning mechanism 4-9 is provided with a material turning lever 4-9-1, a turning shaft 4-9-2, a push rod 4-9-3, and a turning cylinder 4-9-4.
  • the overturning shaft 4-9-2 is installed on the rear end of the finished product unloading rack 4-10, and two shift rods 4-9-1 are installed on the flip shaft 4-9-2, and one end of the shift rod 4-9-1 Insert the graphite electrode and the upper part of the joint assembly table 4-7, the other end of the material shifting rod 4-9-1 is equipped with a push rod 4-9-3, and the material shifting and turning cylinder 4-9-4 is installed on the finished product unloading rack 4-10 On, the push rod of the material turning over cylinder is connected with the push rod 4-9-3.
  • the push rod of the material turning cylinder pushes the material rod 4-9-1 through the push rod 4-9-3, so that the material rod 4-9-1 is turned over, and the graphite electrode And the joint assembly table 4-7 top, the graphite electrode finished product that industrial robot 4-1 has assembled, turns over and transfers to the finished product unloading rack 4-10.
  • the finished product blanking rack 4-10 has a certain inclination, the rear end is higher than the front end, and the graphite electrode finished product is slid and pushed to the finished product blanking rack 4-10 front, and enters the graphite electrode finished product automatic packaging process.
  • the industrial robot 4-1 adopts a six-axis robot.
  • Graphite electrode and joint robot automatic assembly machine 4 is equipped with a numerical control system for control, and the numerical control system is equipped with PLC programmable controllers, industrial control computers and other control equipment.
  • the scanning system 4-4 adopts a two-dimensional code scanner, and the two-dimensional code scanner is connected with the numerical control system.
  • Described torque controller 4-5 adopts commercially available torque controller.
  • the other side of the industrial robot 4-1 is provided with an electrode conveying roller table 4-6, and the transmission motor drives a plurality of conveying rollers 4-6 through sprockets and conveying chains. 1. Transfer the processed graphite electrode 6 to the graphite electrode and joint assembly station 4-7.
  • the front end of the industrial robot 4-1 is equipped with a manipulator 4-1-1, and the manipulator 4-1-1 is equipped with an electric gripper, a servo motor, a scanning system 4-4, a torque controller 4-5, and the servo motor drives the electric gripper to grasp
  • the scanning system 4-4 is used to scan the two-dimensional code of the graphite joint, and the scanning information is fed back to the control system to control the industrial robot 4-1 to pair the graphite joint 7 that meets the assembly size, and the electric gripper is installed on the manipulator to grab it
  • the graphite joint 7 is sent to the graphite electrode and joint assembly station 4-7, and is loaded into the tapered threaded hole of the graphite electrode 6.
  • the servo motor drives and rotates to install the graphite joint in place, and a certain torque is controlled by the torque controller 4-5. After the torque is set, it will automatically slip to avoid the transitional screwing in of the butt joint and prevent the graphite joint 7 from being too tight and damaged.
  • the industrial robot 4-1 is equipped with electric grippers on the manipulator 4-1-1 to grab the graphite joint 7 that does not meet the assembly size, and sends it to the joint temporary storage table 4-3 for temporary storage.
  • the electrode pressing oil cylinder 4-9-4 is closed, the electrode pressing mechanism 4-9 is opened, and the material turning turning oil cylinder 4-9-4 of the turning material turning mechanism 4-9 is started, and The push rod of the material turning cylinder pushes the material rod 4-9-1 through the push rod 4-9-3, so that the material rod 4-9-1 is turned over, and the graphite electrode and joint assembly table 4-7 are assembled, and the industrial robot 4- 1.
  • the finished graphite electrode 6 that has been assembled is turned over and transferred to the finished product unloading rack 4-10.
  • the rear end of the finished product blanking rack 4-10 is higher than the front end, and the finished graphite electrode rolls to the front of the finished product blanking rack 4-10, and enters the automatic packaging process of the finished graphite electrode product .
  • Graphite electrode and joint robot automatic assembly machine using robot automation to automatically grab graphite joints, graphite electrodes and joint robot automatic assembly, graphite joint screwing and tightening operations, improve operation accuracy and efficiency, reduce manual manual labor and safety management risks.
  • Robots can complete physical labor that repeats a single action, and always maintain high precision and no fatigue.
  • Graphite electrode finished automatic packaging line 5 includes graphite electrode finished product conveying frame 5-1, material shifting mechanism 5-2, scanner 5-3, unmanned forklift 5-4, pre-storage bin 5-5, radial packaging equipment 5 -6. Axial packaging equipment 5-7, handling robot 5-8 and floor silo 5-9.
  • Graphite electrode finished product conveying frame 5-1 is connected with the finished product unloading frame of graphite electrode and joint robot automatic assembly machine, material shifting mechanism 5-2 is installed on the front end of graphite electrode finished product conveying frame 5-1, graphite electrode finished product conveying frame 5- 1.
  • Scanners 5-3 are respectively arranged on both sides of the front end, which are respectively used to scan graphite electrodes 6 and graphite joints 7, and are used to identify finished graphite electrodes of different lengths and specifications.
  • the unmanned forklift 5-4 is used for transporting the finished graphite electrode and radially packing the finished graphite electrode.
  • the pre-storage bin 5-5 is used for pre-storing finished graphite electrodes, and a radial packing device 5-6 is provided on one side of the pre-storage bin 5-5.
  • the bottom plate bin 5-9 is arranged on one side of the radial packing device 5-6, and the handling robot 5-8 is installed between the radial packing device 5-6 and the bottom plate stock bin 5-9; Axial packing equipment 5-7 is installed in radial packing equipment 5-6 front.
  • the material shifting mechanism 5-2 is provided with a material shifting rod, a turning shaft, a push rod, and a shifting and turning oil cylinder.
  • the turning shaft is installed at the lower part of the front end of the graphite electrode finished product conveyor frame, and two shifting rods are installed on the turning shaft.
  • the push rod of the material turning over cylinder is connected with the push rod.
  • the shifting and turning oil cylinder When the shifting and turning oil cylinder is working, the push rod of the turning and turning oil cylinder pushes the shifting rod through the push rod, so that the shifting rod is turned over, and the graphite electrode finished product conveying frame is transported to the upper part of the graphite electrode, and the finished graphite electrode is transferred to No. 1 unmanned forklift 5-4-1 on.
  • the No. 1 unmanned forklift 5-4-1 sends the finished graphite electrodes to the pre-storage bin 5-5 according to the length range.
  • pre-storage bin 5-5 is provided with four groups, is respectively pre-storage bin one 5-5-1, pre-storage bin two 5-5-2, pre-storage bin three 5-5-3, pre-storage bin four 5-5-4.
  • the pre-storage bin 1 5-5-1, the pre-storage bin 2 5-5-2, the pre-storage bin 3 5-5-3, and the length ranges of the finished graphite electrodes are controlled at 0-30mm, 30-60mm, and 60-90mm respectively.
  • the pre-storage silo 4 5-5-4 is the electrode temporary storage area where the length of the pre-storage graphite electrode has a large tolerance.
  • radial packing equipment 5-6 comprises radial packing frame 5-6-1, radial packing trolley 5-6-2, radial packing trolley track 5-6-3, radial packing machine 5-6 -4.
  • the radial packing dolly track 5-6-3 is equipped with on the radial packing frame 5-6-1 top, and the radial packing car 5-6-2 is contained on the radial packing car track 5-6-3, and the radial packing Machine 5-6-4 is installed on the radial packing frame 5-6-1.
  • the upper part of the radial packing trolley 5-6-2 is provided with a workbench for placing the packing bottom plate.
  • the packing bottom plate is made of wooden bottom plate, which is convenient for packing the finished graphite electrode.
  • the radial packing trolley 5-6-2 bottom is provided with wheels, and the radial packing trolley 5-6-2 is mounted on the radial packing trolley track 5-6-3 through the wheels, and the radial packing trolley 5-6-2
  • the lower part is equipped with a radial packing trolley transmission motor, the wheels are driven by the radial packing trolley transmission motor, and move back and forth along the radial packing trolley track 5-6-3.
  • the radial baler 5-6-4 is installed on the radial baler frame 5-6-1, and is used for radial bare steel strip beating of the finished graphite electrode together with the bottom support. If there are many bottom brackets and bare steel strips, the steel strip guides cannot be arranged on the working table of the radial packing trolley, and two radial packing machines need to be installed.
  • the bottom plate silos 5-9 are provided with a silo frame on which a packaging bottom plate is inserted.
  • the handling robot 5-8 is installed between the radial packing equipment 5-6 and the bottom plate silo 5-9, the handling robot 5-8 adopts a six-axis robot, the handling robot 5-8 is equipped with a manipulator, and the front part of the manipulator is equipped with a manipulator. There are electric clamps or vacuum suction cups, and a handling robot is used to lay the bottom plate, and the laying distance and position are controlled by the host computer. The bottom plate of the silo for the robot to take material is placed in advance manually.
  • the axial packing equipment 5-7 includes an axial packing frame 5-7-1, an axial packing trolley 5-7-2, an axial packing trolley track 5-7-3, and an axial packing machine 5-7 -4.
  • the axial packing trolley track 5-7-3 is equipped with on the axial packing frame 5-7-1 top, and the axial packing cart 5-7-2 is contained on the axial packing cart track 5-7-3, and the axial packing Machine 5-7-4 is installed on the axial packing frame 5-7-1.
  • the upper part of the axial packing trolley 5-7-2 is provided with a workbench, which is used to place the finished graphite electrodes that have been packed axially. Manually add protective caps at both ends (or robots add protective caps at both ends), and manually add marking plates at both ends.
  • the lower part of the axial packing trolley 5-7-2 is provided with wheels, the axial packing trolley 5-7-4 is installed on the track of the axial packing trolley through the wheels, and the lower part of the axial packing trolley 5-7-2 is equipped with an axial The packing trolley transmission motor, the wheels are driven by the axial packing trolley transmission motor, and move back and forth along the axial packing trolley track 5-7-3.
  • the automatic packaging line for graphite electrode finished products is equipped with a numerical control system for control.
  • the numerical control system is equipped with PLC programmable controllers, industrial control host computers (abbreviated as host computers), unmanned forklift controllers and other control equipment.
  • radial baler 5-6-4 and axial baler 5-7-4 adopt commercially available steel strip automatic balers.
  • the driverless forklift 5-5 described above can be a commercially available driverless forklift or laser forklift AGV, which is small in size and large in carrying capacity, and can be matched with pallets of any size to realize automatic loading and unloading.
  • Laser forklift AGV is leading in technology in the industry, with high positioning accuracy and strong practicability. It can position and navigate autonomously during driving; automatically identify the channel and site location; automatically build virtual maps and plan paths, and make effective responses. It has a unique double protection technology, which can flexibly deal with the material handling and loading and unloading of docks, warehouses, factories and other environments with large freight volumes, fundamentally replace manual operations, improve storage and handling efficiency and reduce enterprise costs.
  • the scanner 5-3 adopts a two-dimensional code scanner, and the two-dimensional code scanner is connected with the numerical control system.
  • Scanners 5-3 are installed on both sides of the graphite electrode finished product conveying frame 5-1 of the graphite electrode processing line to collect the QR code scanning data of the graphite electrodes 6 and graphite joints 7 to be packaged, focusing on the weight and length of the electrodes , model specifications, joint weight, length and model specifications, the data are uploaded to the host computer. According to the length of the electrode, the upper computer directs the No. 1 unmanned forklift 5-4-1 to deliver the finished graphite electrode material to the pre-storage bin 5-5.
  • the pre-storage bins 5-5 are divided into four groups, among which the pre-storage bin one 5-5-1, the pre-storage bin two 5-5-2, the pre-storage bin three 5-5-3, and the length ranges of the pre-storage graphite electrode finished products are respectively controlled at 0 Within -30mm, 30-60mm, and 60-90mm, the pre-storage silo 4 5-5-4 is the electrode temporary storage area with a large difference in the length of the pre-storage graphite electrode finished product.
  • the radial packing trolley 5-6-2 adopts the transfer robot 5-8 to lay the base plate, and the transfer robot 5-8 automatically transports the base plate stored in the base plate bin 5-9, and the laying distance and position are controlled by the upper computer.
  • the base plate in the base plate feed bin 5-9 that the handling robot 5-8 takes materials is placed in advance manually.
  • the radial packing trolley 5-6-2 moves to the position of the radial packing machine 5-6-4 for radial bottom support and bare steel strip. If there are many bottom brackets and bare steel strips, the steel strip guides cannot be arranged on the working table of the radial packing trolley, and two radial packing machines need to be installed.
  • No. 3 unmanned forklift 5-4-3 sends the finished radially packaged graphite electrode to the axial packaging equipment 5-7, and the axial steel belt worker Bit axial packing trolley 5-7-2 work surface.
  • the automatic packaging line for graphite electrode finished products is equipped with finished graphite electrode conveying racks, material shifting mechanisms, scanners, unmanned forklifts, pre-storage silos, radial packaging equipment, axial packaging equipment, handling robots, bottom plate silos, off-line Driving, can assemble graphite electrodes and graphite joints into graphite electrode finished products for automatic packaging, high efficiency, suitable for industrial automation production line needs, graphite electrode finished automatic packaging line can meet, graphite electrode finished production line automatic packaging needs.
  • the automatic packaging line for graphite electrode finished products can greatly reduce the labor intensity of workers, improve production efficiency, reduce the number of packaging workers, reduce the labor cost of enterprises, and reduce the loss of finished products due to careless manual packaging.

Abstract

一种数控石墨电极与接头精密加工检测组装及包装自动线，由石墨电极自动加工线（1）、桁架输送式石墨接头自动加工线（2）、石墨接头机器人自动装卡簧装栓机（3）、石墨电极及接头机器人自动组装机（4）、石墨电极成品自动包装线（5）组成。石墨接头机器人自动装卡簧装栓机（3）设置在桁架输送式石墨接头自动加工线（2）成品输出前端，石墨电极及接头机器人自动组装机（4）设置在石墨电极自动加工线（1）与桁架输送式石墨接头自动加工线（2）之间。石墨电极成品自动包装线（5）设置在石墨电极及接头机器人自动组装机（4）成品输出端前部。

Description

数控石墨电极与接头精密加工检测组装及包装自动线 技术领域
本发明涉及的是一种数控石墨电极与接头精密加工检测组装及包装自动线,属于机械加工设备技术领域，尤其是一种由输送装置将加工机床联系在一起的电极自动加工线。
背景技术
石墨电极是金属冶炼行业的重要采购件，主要由电极本体及接头两部分组成，电极本体通常需要通过镗孔刮平、车外圆、精平端面及梳锥螺纹加工三道主要工序完成加工制造，接头通常要通过锯切、打中心孔、车外圆、梳螺纹、钻栓孔开槽四道主要工序完成加工制造。以上工序需要在装夹方式各异的不同加工机床上完成。
本专利申请设计人(发明人)先后成功设计、申请以下专利：“电极自动加工线”专利号：ZL03222308.0、“七工位电极接头加工生产线”专利号：ZL200520070093.1，“电极自动加工线”与“七工位电极接头加工生产线”均为独立线。
目前，石墨电极与石墨接头组装成石墨电极成品、包装均依靠人工完成。由于石墨电极与石墨接头成品体积大、重量重，最重达几千公斤，依靠人工完成进行人工搬运、组装劳动强度比较大，费工费时，费力、效率低，不能适应工业自动化加工需要，急需要配套一条石墨电极接头检测、自动组装、石墨电极成品自动包装线来满足石墨电极成品生产线自动包装需要。
另外现有的电极自动加工线和电极接头加工自动线中配置的输送设备、加工设备还不够完善需要进行改进，使其更适合自动化生产需要。
发明内容
本发明目的是针对上述不足之处提供一种数控石墨电极与接头精密加工检测组装及包装自动线，本发明提出一种新的石墨电极自动加工线方案，在原来传统电极本体及接头加工线的基础上增加了人工筛检及机器人装栓装卡簧工位、机器人电极接头组装工位、石墨电极成品(包括接头)自动包装线，增加的这些工位把原有分开布置的电极本体加工线及接头加工线有机的连接在了一起，真正实现了石墨电极一体式的自动化加工、组装及包装。此自动化加工线，大大减少了人员的配置，可以方便快捷地统筹协调石墨电极本体及接头的加工、检测、组装和成品自动化包装。
数控石墨电极与接头精密加工检测组装及包装自动线是采取以下技术实现的：
数控石墨电极与接头精密加工检测组装及包装自动线由石墨电极自动加工线、桁架输送式 石墨接头自动加工线(石墨接头自动加工线)、石墨接头机器人自动装卡簧装栓机、石墨电极及接头机器人自动组装机、石墨电极成品(包括接头)自动包装线。
石墨接头机器人自动装卡簧装栓机设置在桁架输送式石墨接头自动加工线成品输出前端，石墨电极及接头机器人自动组装机设置在石墨电极自动加工线与桁架输送式石墨接头自动加工线之间。石墨电极成品包装线设置在石墨电极及接头机器人自动组装机成品输出端前部。
所述的石墨电极自动加工线包括上料对中机、数控电极双端镗孔刮平机床、数控电极多刀外圆车床、数控电极梳铣双螺纹精平双端面机床、石墨电极检测机、石墨电极划线机、石墨电极输送机和石墨电极本体人工筛检贴标签机组。
石墨电极自动加工线的组成具体说明：
(1)上料对中机：上料对中机设置有上料架、翻转机构、对中机构和举升送料机构等，其中上料架用于存放工件，翻转机构用于工件的依次翻转上料，对中机构用于工件的预对中，举升送料机构用于把已对中的工件向上送给机械手抓料。
本机构作为电极本体加工线的第一道工序，其作用是对人工预先吊放在上料架上并排放好的一组电极本体毛坯，实现自动依次上料对中，为下一道工序做加工准备。
(2)数控电极双端镗孔半精平端面机床：
所述的电极双端镗孔刮平机床的床身导轨两端安装主轴箱，中部安装工件夹持装置，两主轴箱的底部与床身两端的纵向进给电机驱动的丝杆衔接，构成纵向进给机构，两主轴箱上的主电机通过主轴箱内的传动机构与安装镗孔、刮平刀具的主轴衔接，床身为整体结构，夹持装置的前侧为斜上方60度和斜下方60度分别设有夹持点的C形夹卡，后侧为设有水平夹持点的水平夹卡，两夹卡的底部支撑在固定于床身中部的纵向轨道上，并分别通过螺母与安装在横向轨道下的正、反旋螺纹丝杆衔接，构成横向夹紧机构，正、反旋螺纹的线数比为1∶2。
为了实现数控，本机床的纵向进给电机为伺服电机。工作时，当工件移动到工件支架上之后，控制系统使横向夹紧液压马达工作，驱动两夹持装置同步运动，自动定心夹紧工件外圆。接着主电机带动固定在主轴上的成型镗孔、刮平刀具旋转，纵向进给伺服电机带动两主轴箱沿床身导轨进刀，当两主轴靠近工件后，浮动定位开关发出信号，数控系统转入工进程序，将石墨电极工件两端镗出所需的锥形孔来，并在镗孔结束时将工件两端面刮平。
此机床作为电极本体加工线的第二道工序，其作用是通过一次装夹完成电极本体内镗孔与端面刮平加工，确保形状位置精度得到有效保证，尺寸一致性好。
(3)数控电极多刀外圆车床：
所述的数控电极多刀外圆车床的主床身导轨两端分别安装可以顶紧工件的双主轴箱，中部安装可分别沿垂直、平行于床身导轨方向移动的下、中滑板，中滑板上安装至少3～6个并列的刀架底座，并在每个刀架底座上固定安装粗精车刀架，其上安装粗精车刀各一支。
加工时，双主轴电机通过双主轴带动工件旋转，由下、中滑板配合完成进刀与走刀动作，使粗精车刀完成电极外圆的粗精车加工。
此机床作为电极本体加工线的第三道工序，其作用是通过一次装夹完成电极本体外圆面的车削加工，此机床采用多刀式同时切削，效率很高。
(4)数控电极梳铣双螺纹、精平双端面机床：
所述的数控电极梳铣双螺纹、精平双端面机床的床身双端均装有带纵横向进给的梳铣螺纹和刮平端面的主轴箱，床身导轨中央则装有精密夹紧电极的夹紧机构和工件托架。主轴箱下面的大拖板和梳刀、刮刀纵横向进给均由伺服电机通过丝杠传动控制。
数控电极梳铣双螺纹、精平双端面工作时，电极夹紧不动，梳刀和刮平刀由主轴带动转动和平动，控制系统按照预先设置的软件程序，分别在电极上梳铣双端螺纹和端面的精密加工。由于梳刀为多刀切削，梳刀和刮平刀均由特殊的硬质合金材料制成，因而加工精度好，且大大提高了功效。而采用电脑程序控制，既简化了操作和调整，又使机械结构大大简化。
此机床作为电极本体加工线的第四道工序，其作用是通过一次装夹完成电极本体双端内锥螺纹梳铣及端面刮削加工，效率高，形状位置精度得到有效保证，两端内铣螺纹同轴度好，双端面与内锥螺纹中心线垂直度高，且尺寸一致性好。
(5)石墨电极检测机：
石墨电极检测机由定长测比电阻机构、称重机构组成。
所述的定长测比电阻机构具有左床身、右床身；左床身上部设置有左导轨，左导轨上部装有左滑台，左侧定长测比电阻测头通过左支架安装在左滑台上，左滑台下部装有滚珠丝杆一，伺服电机一安装在左床身一端，伺服电机一与滚珠丝杆一相连，伺服电机一通过滚珠丝杆一带动左支架、左测定长测比电阻测头，沿着左导轨前后移动。
右床身上部装置有右导轨，右导轨上部装有右滑台，右侧定长测比电阻测头通过右支架安装在右滑台上，右滑台下部装有滚珠丝杆二，伺服电机二安装在右床身一端，伺服电机二与滚珠丝杆二相连，伺服电机二通过滚珠丝杆二带动右支架、右测定长测比电阻测头，沿着右导轨前后移动。
在左床身与右床身之间设置有称重机构。所述的称重机构具有底座，底座上部装有称重称台，称重称台二侧设置有工件托架，称重称台下部设置有称重传感器。
接料举升油缸安装在底座上，接料托架安装在接料举升油缸上部，用于举升承接石墨电极工件。
下料托架一端通过转轴安装在工件托架上，下料托架另一端装有斜推油缸，用于将称重检测好的石墨电极斜推移出去。
左侧定长测比电阻测头与右侧定长测比电阻测头通过电缆线与比电阻检测仪相连，左、右侧定长测比电阻测头测量到比电阻信号，传输到比电阻检测仪，通过比电阻检测仪检测出石墨电极比电阻。
石墨电极检测机工作时，升降油缸上升用于承接石墨电极工件，石墨电极输送机将已加工好石墨电极抓取输送到接料举升油缸上部的接料托架上，升降油缸上升把工件托举在固定的水平中心位置上，定长测比电阻机构的左、右滑板进给均由伺服电机及滚珠丝杠副直联驱动，左、右滑台上固定有支架，支架上装有定长、测比电阻测头，当左、右定长、测比电阻测头全部接触工件后，电气系统通过采集的数据实时计算出电极的长度，比电阻仪同时测出比电阻值。
石墨电极定长、测比电阻检测完成后，接料举升油缸把石墨电极工件放置到称重台称上称重后，由斜推油缸推动下料托架，将石墨电极推送到下料架上。
石墨电极检测机与划线机一道作为石墨电极加工线的最后几道工序之一，其作用是对已加工的石墨电极进行依次称重、定长、测比电阻等方面的检测。石墨电极检测机专机将机、电、液有机结合，实现了机电液一体化。石墨电极检测机检测范围宽，能力强，可适应不同规格石墨电极的检测。石墨电极检测机关键部件采用了可靠的防尘措施，实现双重防护，整机使用寿命长。机床结构简单，编程操作简单，操作方便宜人，工人劳动强度低，工作效率高。
此机床作为电极加工线的第五道工序，其作用是对已加工的电极进行依次称重、定长、测比电阻等方面的检测。
(6)石墨电极划线机：
石墨电极划线机为一种石墨电极孔底位置划线机，石墨电极划线机包括底座，所述底座的中部具有工件支撑装置，所述工件支撑翻转装置两旁分别具有独立的的划线装置，所述划线装置由划线滚轮和位于划线滚轮下的油漆盒构成。
工作时，加工好的石墨电极工件由输送装置输送并翻转到支撑装置上，接着两侧拖板带动划线装置及划线滚轮位移到工件外圆对应内锥螺纹段孔底的位置，当工件旋转时，工件带动划线轮同步旋转，划线轮源源不断将从油漆盒中蘸起的油漆涂覆在石墨电极外圆上，自 动形成孔底标记线，从而避免现场手工划线的麻烦。
此机床作为电极加工线的第六道工序，其作用是对电极本体孔底警戒线进行自动划线。
(7)石墨电极输送机：
此输送机采用龙门式行车结构，包括龙门式框架、四个输送小车和支架，组成一个整体移动框架，移动框架下部装有输送油缸，通过输送油缸推动移动框架输送电极，四个输送小车上装有升降油缸，输送小车下部装有抓取机构，抓取机构具有2个夹紧油缸、二个夹爪，通过油缸推拉提送，可以对本体加工线中一至五道工序进行物料的自动传送，以实现各工序协同生产加工，来回往复输送电极。
(8)石墨电极本体人工筛检贴标机组：
此机组作为电极加工线增设的辅助工序，通过人工筛检确定不合格及备用品和合格品，并贴上对应标签，不合格品通过输送滚道直接送下机台，备用品划好孔底警戒线后送下机台，合格品送至接头机器人自动组装工位。
桁架输送式石墨接头自动加工线包括数控接头切断机床、数控接头平端面机床、检测机、数控接头双外锥车床、数控接头双螺纹梳加工机床、数控接头铣槽钻栓孔机床、称重机、检测台和桁架式输送装置。数控接头切断机床、数控接头平端面机床、检测机、数控接头双外锥车床、数控接头双螺纹梳加工机床、数控接头铣槽机床、称重机、检测台分别受控于控制系统并按序依次排布，并通过桁架式输送装置衔接。
所述的桁架式输送装置由桁架主体、机械手、伺服驱动机构组成。桁架主体由方管焊接而成，桁架主体上装有齿轮、齿条和保护栏，构成桁架式输送线。桁架式输送装置(输送线)配有5组机械手，分别为1号机械手、2号机械手、3号机械手、4号机械手、5号机械手；
1号机械手负责数控接头切断机床、数控接头平端面机床、检测机(简称1、2、3号机)之间的石墨电极接头输送；2号机械手负责检测机、数控接头双外锥车床(简称3、4号机)之间的石墨接头输送；3号机械手负责数控接头双外锥车床、数控接头双螺纹梳加工机床(简称4、5号机)之间的石墨接头输送；4号机械手负责数控接头双螺纹梳加工机床、数控接头铣槽机床(简称5、6号机)之间的石墨接头输送，5号机械手负责数控接头铣槽机床、称重机、检测台(简称6、7、8号机)之间的石墨接头输送。
伺服驱动机构安装在机械手上，伺服驱动机构设置有机械手横向移动伺服驱动电机、机械手升降伺服驱动电机、机械手夹紧伺服驱动电机。在数控系统控制下，机械手横向移动 伺服驱动电机通过齿轮、齿条横向传动机械手沿桁架主体来回运动进行接头输送，机械手升降伺服驱动电机通过齿轮、齿条垂直方向传动机械手沿桁架主体上下升降运动进行接头输送，机械手夹紧伺服驱动电机通过齿轮、齿条传动机械手抓取接头加工件进行接头输送。
桁架输送式石墨接头自动加工线配套有数控系统，数控系统装有PLC可编程控制器、工业控制计算机(工控计算机)、比电阻测试仪等数控仪器。
所述的数控接头切断机床包括切断机床床身、锯条、锯条安装架、锯条传动电机、上料架、坯件压紧油缸、坯件翻转机构、对中机构、储料机构、顶升油缸、移动油缸。切断机床床身上部装有锯条安装架，锯条安装在锯条安装架上，锯条传动电机安装在切断机床床身一侧，锯条传动电机通过传动带、传动轮传动锯条安装架、锯条按设定长度切割接头坯件。切断机床床身上部装有坯件压紧架，坯件压紧架上部装有坯件压紧油缸，用于切割接头坯件时压紧接头坯件。
所述的上料架设置有滾道，滾道带有倾斜度便于接头毛坯上料，输送到切断机床床身上部。
切断机床床身上部装有坯件翻转机构由坯件翻转臂、坯件翻转油缸构成，坯件翻转油缸与坯件翻转臂相连，切割接头坯件完成后，关闭坯件压紧油缸，放松接头坯件，启动坯件翻转油缸，带动坯件翻转臂将切割好的接头毛坯件翻转送到对中机构，承料支架上。
储料机构设置有承料支架，承料支架上设置有可移动V型支架、多个固定V型支架、顶升油缸、移动油缸。
对中机构设置有对中油缸、齿条及齿轮。
所述的数控接头切断机床工作时，接头经主体结构切断后，落至对中机构上，油缸推动，在齿条及齿轮的联动作用下，实现对中功能。对中完成后，可移动V型支架，在顶升油缸作用下提升，移动油缸后移，将接头坯件送至2#待料位，顶升油缸下降，接头坯件料落入2#位固定V型支架上，移动油缸前移到位，继续从1#位V型支架上接接头坯件料，重复上述过程，将接头坯件料不断的移至3#位，4#位，5#位固定V型支架上，实现储料机构储料。
所述的数控接头平端面机床包括双主轴铣削机构、夹紧机构、吸尘系统等组成。桁架输送线送来的工件准确送至两动力头的中心位置，夹紧机构在液压马达BM180及左右旋T型丝杆的作用下夹紧工件，机械手迅速松开并提升至安全位置。机床的两护罩在气缸的作用下关闭。两动力头电机旋转，在伺服电机及滚珠丝杠作用下快进到位，进入工进状态，外圆车刀开始车削外圆，端面刮平。加工结束后，动力头停转，并快退至原位；两护罩迅速松开到位。机械手下行抓取工件，夹紧机构松开工件并退回到原位。机械手上升并将加工好的工 件送至下一工位。
所述的检测机包括检测机架、伺服电动缸、V型支架、检测支架、检测支架推动气缸、滑动导轨、滑块、弹性模量测头、比电阻测头。检测机架上部安装有两组滑动导轨，两个检测支架分别通过滑块相对安装在两组滑动导轨上，两个检测支架推动气缸分别安装在检测机架两侧，两个检测支架推动气缸推动杆分别与两个检测支架相连，两个检测支架上装有弹性模量测头、比电阻测头。
伺服电动缸安装在检测机架下部，位于两个检测支架之间，伺服电动缸上部装有V型支架，V型支架用于承载石墨接头。
所述的检测机工作时，桁架式输送装置的机械手将石墨接头输送至伺服电动缸带动的V型支架上升，V型支架上升至位置一，两侧检测支架推动气缸作用，弹性模量测头接触石墨接头，弹性模量测头通过弹性模量传感器与工控计算机相连，测量石墨接头弹性模量，检测支架推动气缸后退；完成后，V型支架上升至位置二，两侧检测支架推动气缸作用，比电阻测头接触石墨接头，测量石墨接头比电阻。比电阻测头通过信号传输线与比电阻测试仪相连，通过工控计算机显示。
所述的数控接头双外锥车床包括主轴部件、尾架部件、车削机构和吸尘装置。桁架输送线送来的工件，确保工件中心与主轴中心重合，同时使工件中心孔与主轴顶尖尽量贴合后，尾架主轴在油缸的作用下顶紧工件，机械手松开工件并返回安全位置。防护门在气缸的作用下关闭，主轴电机开始旋转，带动工件旋转，两端刀架分别在伺服电机的作用下，进行外圆锥度的车削加工。加工完成后，主轴停转，防护门打开，机械手下降到位、夹紧工件，尾架主轴在油缸作用下后退到位，机械手平移20-30mm使工件脱开主轴顶尖后，机械手返回至输送位置并快速输送至下一工位。
所述的数控接头双螺纹梳加工机床，数控螺纹梳加工机床的床身一端装有主轴箱和卡盘，床身导轨上装有工件托架和安装刀具的拖板，改进之处是刀具为由动力头驱动的梳刀。此外，梳刀箱直接安装在中拖板上，大拖板和中拖板分别由纵向和横向伺服电机通过丝杆传动，伺服电机由PLC可编程控制器控制。
所述的数控接头铣槽钻栓孔机床包括主轴部件、尾架部件、钻孔机构、铣槽机构和吸尘装置。桁架输送线送来的工件，确保工件中心与动力箱主轴中心重合，同时使工件中心孔与主轴顶尖尽量贴合后，尾架主轴在油缸作用下顶紧工件，机械手松开工件并返回安全位置，防护门在气缸的作用下关闭。钻栓孔钻头在电机的作用下旋转，其拖板在伺服电机的作用下快速移动，工进开始进行钻栓孔加工，加工至深度后，快退至工进开始位；主轴旋转分度180°， 两钻头工进加工至深度，主轴停转快退回原位。主轴旋转分度90°，铣槽动力头选转，在伺服电机的作用下，进行铣槽加工，加工完成后，主轴停止，铣刀快退到位。防护门打开。机械手下降到位、夹紧工件，尾架主轴在油缸作用下后退到位，机械手平移20-30mm使工件脱开主轴顶尖后，机械手返回至输送位置并输送至下一工位。
所述的称重机装有电子秤，称量桁架式输送装置2-9的机械手2-9-2输送到称重机上的石墨接头重量。
所述的检测台，接收桁架式输送装置的机械手输送到的石墨接头，通过量具检测石墨接头二端螺纹接头加工是否符合设计要求。
桁架输送式石墨接头自动加工线工作过程：
人工行车上料，经数控接头切断机床锯切下料对中后，1号机械手搬运输送至数控接头平端面机床，接头料铣端面钻中心孔、车定位外圆，完成后1号机械手搬运输送至检测机，进行比电阻及弹性模量检测。2号机械手搬运输送至数控接头双外锥车床加工车削双锥面，加工完成后，3号机械手搬运输送至数控接头双螺纹梳加工机床加工螺纹，完成后4号机械手输送至数控接头铣槽机床进行钻栓孔，铣槽。数控接头铣槽机床加工完成后5号机械手将接头料送至称重机称重，称重完成后5号机械手将接头料送至检测台检验，在此工位人工完成检验、贴标和翻转。
石墨接头机器人自动装卡簧装栓机包括栓(销)上料盘、卡簧振动盘、视觉相机、扫码系统、石墨接头搬运机器人、装栓卡簧机器人和装栓和装卡簧旋转工作。
石墨接头搬运机器人设置在石墨接头自动加工线的石墨接头输送轨道前端部，装卡簧旋转工作台设置在石墨接头搬运机器人一侧，装栓卡簧机器人设置在石墨接头搬运机器人前部，栓(销)上料盘、卡簧振动盘分别设置在装栓卡簧机器人前侧两边。
石墨接头搬运机器人设置有石墨接头搬运机械手，石墨接头搬运机械手前端装有真空吸盘，用于吸取石墨接头，从石墨接头输送轨道搬运到装栓卡簧旋转工作台上。石墨接头搬运机械手上部装有扫码系统，用于扫码石墨接头上二维码，识别石墨接头信息，对石墨接头进行分类搬运、存放。所述的扫码系统采用二维码扫码器。
装栓、装卡簧旋转工作台上装有石墨接头夹具，通过气缸夹紧石墨接头。装栓卡簧旋转工作台下部装有伺
Figure PCTCN2021118925-appb-000001
电机，伺
Figure PCTCN2021118925-appb-000002
电机传动装栓、装卡簧旋转工作台工位转动，便于石墨接头装栓、装卡簧。所述的装卡簧旋转工作台设有四个旋转工位。
装栓卡簧机器人设置有装栓卡簧机械手，装栓卡簧机械手上部装有视觉相机3-3，用于识别石墨接头上栓(销)、卡簧孔位置，装栓卡簧机械手上部前端装有气动手指，用于夹取 和安装栓、卡簧。所述的视觉相机采用工业数码相机。
栓(销)上料盘上均布有多个栓(销)料孔，栓(销)料孔中装有栓(销)。
卡簧振动盘下部装有电磁振动器，卡簧振动盘上部设置有卡簧输出轨道，卡簧振动盘下部装有电磁振动器，卡簧振动盘中的卡簧经过电磁振动器振动，通过卡簧输出轨道输出，供装栓卡簧机械手的气动手指夹取。
石墨接头机器人自动装卡簧、装栓机配套有电器控制箱，装有PLC可编程控制器，并装有机器人控制柜，控制石墨接头搬运机器人、装栓卡簧机器人按设定数控程序工作。
石墨接头机器人自动装卡簧、装栓机工作时，石墨接头搬运机器人的石墨接头搬运机械手前端装有真空吸盘，用于吸取石墨接头，从石墨接头输送轨道搬运到装栓卡簧旋转工作台上。在进行栓(销)、卡簧植入时，需在扫码系统对石墨接头进行读码以后，应用装栓、装卡簧旋转工作台(四工位旋转系统)，送入石墨接头搬运机器人抓取位，由石墨接头搬运机器人抓取石墨接头工件放入旋转工位。石墨接头上面圆型均布四个销、卡簧孔位，当石墨接头搬运机器人放置好产品以后，装栓卡簧机器人的装栓卡簧机械手再分别从栓(销)上料盘、卡簧振动盘上抓取栓(销)和卡簧，通过视觉相机找准石墨接头上销、卡簧孔位孔位，然后对其进行栓(销)、卡簧的植入，石墨接头装好栓(销)、卡簧后，由石墨接头搬运机器人抓取装好栓(销)、卡簧的石墨接头产品放置到输送线体，流入下一个工站。
石墨电极及接头机器人自动组装机包括工业机器人、接头输送工作台、接头暂存台、扫描系统、扭力控制器、电极输送辊道、石墨电极及接头组装台、电极压紧机构、拨料翻转机构和成品下料架。
所述的工业机器人前端设置有机械手，机械手上装有电动夹爪、伺服电机、扫描系统、扭力控制器，伺服电机传动电动夹爪抓取石墨接头，扫描系统用于扫描石墨接头二维码，扫描信息反馈给控制系统，控制工业机器人，工业机器人对符合装配尺寸的石墨接头，由机械手上装有电动夹爪抓取石墨接头送到石墨电极及接头组装台，装入石墨电极6的锥形螺纹孔中，伺服电机传动旋转将石墨电极安装到位，并由扭力控制器4-5控制一定扭力，防止石墨接头上得过紧受损。工业机器人对不符合装配尺寸的石墨接头，由机械手上装有电动夹爪抓取石墨接头7送到接头暂存台，暂存。
所述的工业机器人一侧设置有接头输送工作台，用于输送已装销、卡簧的石墨接头。
所述的工业机器人前侧设置有暂存台，用于暂存石墨接头。
所述的工业机器人另一侧设置有电极输送辊道、石墨电极及接头组装台。电极输送辊道设有多个传送辊轮，装有传送链条、链轮和传动电机，传动电机通过链轮、传送链条传动 多个传送辊轮，传送加工好的石墨电极6到石墨电极及接头组装台。
石墨电极及接头组装台上部设置有电极压紧机构，电极压紧机构具有电极压紧架、电极压紧油缸。电极压紧架安装在石墨电极及接头组装台上部，电极压紧油缸安装在电极压紧架上，用于压紧固定石墨电极，便于石墨电极与接头组装。
石墨电极及接头组装台一侧设置有成品下料架。成品下料架后端部装有拨料翻转机构。
拨料翻转机构设有拨料杆、翻转轴、推动杆、拨料翻转油缸。翻转轴安装在成品下料架后端部，两根拨料杆安装在翻转轴上，拨料杆一端插入石墨电极及接头组装台上部，拨料杆另一端装有推动杆，拨料翻转油缸安装在成品下料架上，拨料翻转油缸推杆与推动杆相连。拨料翻转油缸工作时，拨料翻转油缸推杆通过推动杆推动拨料杆，使拨料杆翻转，将石墨电极及接头组装台上部，工业机器人已组装完成的石墨电极成品，翻转移送到成品下料架。由于成品下料架具有一定倾斜度后端部高于前端部，石墨电极成品被滑动推送到成品下料架前部，进入石墨电极成品自动包装工序。
所述的工业机器人采用六轴机器人。
石墨电极及接头机器人自动组装机配套有数控系统进行控制，数控系统装有PLC可编程控制器、工业控制计算机等控制设备。
所述的扫描系统采用二维码扫描器，二维码扫描器与数控系统相连。
所述的扭力控制器采用市售扭力控制器。
石墨电极及接头机器人自动组装机工作时，所述的工业机器人另一侧设置有电极输送辊道，传动电机通过链轮、传送链条传动多个传送辊轮，传送加工好的石墨电极到石墨电极及接头组装台。
石墨电极及接头组装台上部的电极压紧机构的电极压紧油缸压紧固定石墨电极。
工业机器人前端设置有机械手，机械手上装有电动夹爪、伺服电机、扫描系统、扭力控制器，伺服电机传动电动夹爪抓取石墨接头，扫描系统用于扫描石墨接头二维码，扫描信息反馈给控制系统，控制工业机器人对符合装配尺寸的石墨接头，由机械手上装有电动夹爪抓取石墨接头送到石墨电极及接头组装台，装入石墨电极锥形螺纹孔中，伺服电机传动旋转将石墨电极安装到位，并由扭力控制器控制一定扭力，当到达设定扭矩以后，自动打滑，避免对电极头的过渡拧入，防止石墨接头上得过紧受损。工业机器人对不符合装配尺寸的石墨接头，由机械手上装有电动夹爪抓取石墨接头送到接头暂存台，暂存。
石墨电极及接头组装好后，电极压紧油缸关闭，打开电极压紧机构，启动拨料翻转机 构的拨料翻转油缸，拨料翻转油缸推杆通过推动杆推动拨料杆，使拨料杆翻转，将石墨电极及接头组装台上部，工业机器人已组装完成的石墨电极成品，翻转移送到成品下料架。由于成品下料架具有一定倾斜度，成品下料架后端部高于前端部，石墨电极成品被滑动推送到成品下料架前部，进入石墨电极成品自动包装工序。
石墨电极及接头机器人自动组装机，采用机器人自动化自动抓取石墨接头、石墨电极及接头机器人自动组装，石墨接头旋入拧紧作业，提高作业精度与效率，降低人工体力劳动量及安全管理风险。机器人可完成重复单一动作的体力劳动，并且始终保持高精度、无疲劳状态。
石墨电极成品自动包装线包括石墨电极成品输送架、拨料机构、扫描仪、无人驾驶叉车、预存料仓、径向打包设备、轴向打包设备、搬运机器人和底板料仓。
石墨电极成品输送架与石墨电极及接头机器人自动组装机的成品下料架相连接，拨料机构安装在石墨电极成品输送架前端，石墨电极成品输送架前端两侧分别设置有扫描仪，分别用于扫描石墨电极和石墨接头，用于识别不同长度规格石墨电极成品。
所述的无人驾驶叉车用于运送石墨电极成品和径向打包石墨电极成品。
所述的预存料仓用于预存石墨电极成品，预存料仓一侧设有径向打包设备。
所述的底板料仓设置在径向打包设备一侧，所述的搬运机器人安装在径向打包设备与底板料仓之间；所述的轴向打包设备安装在径向打包设备前部。
所述的无人驾驶叉车设有三台，分别为一号无人驾驶叉车、二号无人驾驶叉车、三号无人驾驶叉车。
所述的拨料机构设置有拨料杆、翻转轴、推动杆、拨料翻转油缸。翻转轴安装在石墨电极成品输送架前端下部，两根拨料杆安装在翻转轴上，拨料杆一端插入石墨电极成品输送架上部，拨料杆另一端装有推动杆，拨料翻转油缸安装在石墨电极成品输送架上，拨料翻转油缸推杆与推动杆相连。拨料翻转油缸工作时，拨料翻转油缸推杆通过推动杆推动拨料杆，使拨料杆翻转，将石墨电极成品输送架上部，输送过来石墨电极成品，翻转移送到一号无人驾驶叉车上。一号无人驾驶叉车将石墨电极成品按长度范围分别送入预存料仓。
所述的预存料仓设有四组，分别为预存料仓一、预存料仓二、预存料仓三、预存料仓四。其中预存料仓一、预存料仓二、预存料仓三预存石墨电极成品长度范围分别控制在0-30mm、30-60mm、60-90mm之内，预存料仓四为预存石墨电极成品长度超差较大的电极暂存区。
所述的径向打包设备包括径向打包机架、径向打包小车、径向打包小车轨道、径向打 包机。
径向打包机架上部装有径向打包小车轨道，径向打包小车装在径向打包小车轨道上，径向打包机安装在径向打包机架上。径向打包小车上部设置有工作台，用于放置包装底板，包装底板采用木质底板，便于包装石墨电极成品。
所述的径向打包小车下部设置车轮，径向打包小车通过车轮装在径向打包小车轨道上，径向打包小车下部装有径向打包小车传动电机，车轮由径向打包小车传动电机传动，沿径向打包小车轨道来回运动。
所述的径向打包机安装在径向打包机架上，用于石墨电极成品连同底托进行径向裸打钢带。如果底托及裸打钢带较多，造成钢带导向装置无法在径向打包小车工作台面上排布，就需要设置两台径向打包机。
所述的底板料仓设置有料仓架，料仓架上装插有包装底板。
所述的搬运机器人安装在径向打包设备与底板料仓之间，搬运机器人采用六轴机器人，搬运机器人装有机械手，机械手前部装有电动夹或真空吸盘，采用搬运机器人铺设底板，其铺设的间距及位置由上位机控制。机器人取料的料仓底板由人工预先摆放。
所述的轴向打包设备包括轴向打包机架、轴向打包小车、轴向打包小车轨道、轴向打包机。
轴向打包机架上部装有轴向打包小车轨道，轴向打包小车装在轴向打包小车轨道上，轴向打包机安装在轴向打包机架上。轴向打包小车上部设置有工作台，用于放置已轴向打包好的石墨电极成品，人工加两端护帽(或机器人加两端护帽)，人工加两端唛头板(或机器人加两端唛头板)，人工加顶板及钢带护板，轴向打包机自动打轴向钢带，石墨电极成品轴向打包完成后，下线行车将径向、轴向打包的石墨电极成品吊离打包区。
所述的轴向打包小车下部设置车轮，轴向打包小车通过车轮安装在轴向打包小车轨道上，轴向打包小车下部装有轴向打包小车传动电机，车轮由轴向打包小车传动电机传动，沿轴向打包小车轨道来回运动。
石墨电极成品自动包装线配套有数控系统进行控制，数控系统装有PLC可编程控制器、工业控制上位计算机(简称上位机)、无人驾驶叉车控制器等控制设备。
所述的径向打包机、轴向打包机采用市售钢带自动打包机。
所述的无人驾驶叉车可采用市售无人驾驶叉车、激光叉车AGV，身形小巧、承载量大，可匹配任意尺寸栈板，实现自动装卸。激光叉车AGV在行业内技术领先，定位精度高、实用性强，在行驶过程中自主定位、自主导航；自动识别所在通道和站点位置；自动构建虚拟 地图和规划路径，并作出有效应变。它拥有独特的双重防护技术，可灵活应对货运量大的码头、仓库、工厂等环境的物料搬运及装卸，从根本上代替人工作业，提高仓储搬运效率降低企业成本。
所述的扫描仪采用采用二维码扫描器，二维码扫描器与数控系统相连。
石墨电极成品自动包装线工作方法，步骤如下：
1、石墨电极加工线的石墨电极成品输送架两侧安装有扫描仪，对需包装的石墨电极及石墨接头进行二维码扫描数据采集，重点采集电极重量、长度、型号规格，接头重量、长度及型号规格，其数据上传至上位计算机。上位计算机依据电极长度，指挥一号无人驾驶叉车将石墨电极成品料送达预存料仓。预存料仓分四组，其中预存料仓一、预存料仓二、预存料仓三预存石墨电极成品长度范围分别控制在0-30mm、30-60mm、60-90mm之内，预存料仓四为预存石墨电极成品长度超差较大的电极暂存区。
2、当预存料仓内的石墨电极成品料达到本次包装规定的根数时，二号无人驾驶叉车将预存料仓的石墨电极成品送至径向打包设备的径向打包小车上；
3、径向打包小车采用搬运机器人铺设底板，搬运机器人自动搬运存放在底板料仓中的底板，其铺设的间距及位置由上位计算机控制。搬运机器人取料的底板料仓中的底板由人工预先摆放。
4、当底板安装满待打包的石墨电极成品后，径向打包小车移动至径向打包机位置处，进行径向底托及裸打钢带。如果底托及裸打钢带较多，造成钢带导向装置无法在径向打包小车工作台面上排布，就需要设置两台径向打包机；
5、底托及裸打径向钢带完成后，三号无人驾驶叉车将已完成径向打包石墨电极成品送至轴向打包设备，打轴向钢带工位的轴向打包小车工作台面；
6、人工加两端护帽或机器人加两端护帽，人工加两端唛头板或机器人加两端唛头板，人工加顶板及钢带护板，轴向打包机自动打轴向钢带，石墨电极成品轴向打包完成后，下线行车将已径向、轴向打包的石墨电极成品电极吊离打包区。
石墨电极成品自动包装线由于设置有石墨电极成品输送架、拨料机构、扫描仪、无人驾驶叉车、预存料仓、径向打包设备、轴向打包设备、搬运机器人、底板料仓、下线行车，能将石墨电极与石墨接头组装成石墨电极成品进行自动包装，效率高，适用于工业自动化生产线需要，石墨电极成品自动包装线能满足，石墨电极成品生产线自动包装需要。
石墨电极成品自动包装线能够大大降低工人的劳动强度，提高生产效率，减少包装工数量，降低企业人工成本，减少因人工包装不小心而产生的成品损耗。
一种数控石墨电极与接头精密加工检测组装及包装自动线设计合理，结构紧凑，本发明提出一种新的石墨电极自动加工线方案，在原来传统电极本体及接头加工线的基础上增加了人工筛检及机器人装栓装卡簧、机器人电极接头组装工位、石墨电极成品(包括接头)自动包装线，增加的这些工位把原有分开布置的电极本体加工线及接头加工线有机的连接在了一起，真正实现了石墨电极一体式的自动化加工、包装。此自动化加工线，大大减少了人员的配置，可以方便快捷的统筹协调电极本体及接头的生产、检测、组装和石墨电极成品自动化包装。
附图说明
以下将结合附图对本发明作进一步说明：
图1是一种数控石墨电极与接头精密加工检测组装及包装自动线示意图。
图2是一种数控石墨电极与接头精密加工检测组装及包装自动线的石墨电极自动加工线示意图1。
图3是一种数控石墨电极与接头精密加工检测组装及包装自动线的石墨电极自动加工线示意图2。
图4是一种数控石墨电极与接头精密加工检测组装及包装自动线的桁架输送式石墨接头自动加工线示意图1。
图5是一种数控石墨电极与接头精密加工检测组装及包装自动线的桁架输送式石墨接头自动加工线示意图2。
图6是一种数控石墨电极与接头精密加工检测组装及包装自动线的石墨接头机器人自动装卡簧装栓机示意图。
图7是一种数控石墨电极与接头精密加工检测组装及包装自动线的石墨电极及接头机器人自动组装机示意图。
图8是一种数控石墨电极与接头精密加工检测组装及包装自动线的石墨电极成品自动包装线示意图。
图9是一种数控石墨电极与接头精密加工检测组装及包装自动线的石墨电极检测机示意图。
图10是一种数控石墨电极与接头精密加工检测组装及包装自动线的石墨电极检测机的称重机构示意图。
图11是一种数控石墨电极与接头精密加工检测组装及包装自动线的桁架输送式石墨接头自动加工线的接头切断机床示意图。
图12是一种数控石墨电极与接头精密加工检测组装及包装自动线的桁架输送式石墨接头自动加工线的检测机示意图。
图13是一种数控石墨电极与接头精密加工检测组装及包装自动线的桁架输送式石墨接头自动加工线的桁架式输送装置示意图。
图中：1、石墨电极自动加工线，2、桁架输送式石墨接头自动加工线，3、石墨接头机器人自动装卡簧装栓机，4、石墨电极及接头机器人自动组装机，5、石墨电极成品(包括接头)自动包装线，6、石墨电极，7、石墨接头；
1-1、上料对中机，1-2、数控电极双端镗孔刮平机，1-3、数控电极多刀外圆车床，1-4、数控电极梳铣双螺纹精磨双端面机床，1-5、石墨电极检测机，1-6、石墨电极划线机，1-7、石墨电极输送机，1-8、石墨电极本体人工筛检贴标机组；
1-5-1、定长测比电阻机构，1-5-2、称重机构；1-5-1-1、左床身，1-5-1-2、右床身；1-5-1-3、左导轨，1-5-1-4、左滑台，1-5-1-5、滚珠丝杆一，1-5-1-6、伺服电机一，1-5-1-7、左支架，1-5-1-8、左测定长测比电阻测头，1-5-1-9、右导轨，1-5-1-10、右滑台，1-5-1-11、右支架，1-5-1-12、右侧定长测比电阻测头，1-5-1-13、滚珠丝杆二，1-5-1-14、伺服电机二；
1-5-2-1、底座，1-5-2-2、称重称台，1-5-2-3、工件托架，1-5-2-4、称重传感器，1-5-2-5、接料举升油缸，1-5-2-6、接料托架，1-5-2-7、下料托架，1-5-2-8、转轴，1-5-2-9、斜推油缸。
2-1、数控接头切断机床，2-2、数控接头平端面机床，2-3、检测机，2-4、数控接头双外锥车床，2-5、数控接头双螺纹梳加工机床，2-6、数控接头铣槽钻栓孔机，2-7、称重机，2-8、检测台，2-9、桁架式输送装置；
2-1-1、对中机构，2-1-2、顶升油缸，2-1-3、移动油缸，2-1-4、切断机床床身，2-1-5、锯条，2-1-6、锯条安装架，2-1-7、上料架，2-1-8、坯件压紧油缸，2-1-9、坯件翻转机构，2-1-10、滾道，2-1-11、承料支架，2-1-12、可移动V型支架；
2-3-1、伺服电动缸，2-3-2、检测支架推动气缸，2-3-3、弹性模量测头，2-3-4、比电阻测头，2-3-5、检测机架，2-3-6、V型支架，2-3-7、检测支架，2-3-8、滑动导轨，2-3-9、滑块；
2-9-1、桁架主体，2-9-2、机械手；2-9-2-1、1号机械手，2-9-2-2、2号机械手，2-9-2-3、3号机械手，2-9-2-4、4号机械手，2-9-2-5、5号机械手；
3-1、栓(销)上料盘，3-2、卡簧振动盘，3-3、视觉相机，3-4、扫码系统，3-5、石墨接头搬运机器人，3-6、装栓卡簧机器人，3-7、装栓、装卡簧旋转工作台；
3-7-1、石墨接头夹具；3-2-1、电磁振动器，3-2-2、卡簧输出轨道；
4-1、工业机器人，4-2、接头输送工作台，4-3、接头暂存台，4-4、扫描系统，4-5、扭力控 制器，4-6、电极输送辊道，4-7、石墨电极及接头组装台，4-8、电极压紧机构，4-9、拨料翻转机构，4-10、成品下料架；
4-1-1、机械手；4-6-1、传送辊轮；4-8-1、电极压紧架，4-8-2、电极压紧油缸；
4-9-1、拨料杆，4-9-2、翻转轴，4-9-3、推动杆，4-9-4、拨料翻转油缸；
5-1、石墨电极成品输送架，5-2、拨料机构，5-3、扫描仪，5-4、无人驾驶叉车，5-5、预存料仓，5-6、径向打包设备，5-7、轴向打包设备，5-8、搬运机器人，5-9、底板料仓；
5-4-1、一号无人驾驶叉车，5-4-2、二号无人驾驶叉车，5-4-3、三号无人驾驶叉车；
5-5-1、预存料仓一，5-5-2、预存料仓二，5-5-3、预存料仓三，5-5-4、预存料仓四；
5-6-1、径向打包机架，5-6-2、径向打包小车，5-6-3、径向打包小车轨道，5-6-4、径向打包机；
5-7-1、轴向打包机架，5-7-2、轴向打包小车，5-7-3、轴向打包小车轨道，5-7-4、轴向打包机。
具体实施方式
参照附图1-13，数控石墨电极与接头精密加工检测组装及包装自动线由石墨电极自动加工线1、桁架输送式石墨接头自动加工线2、石墨接头机器人自动装卡簧装栓机3、石墨电极及接头机器人自动组装机4、石墨电极成品(包括接头)自动包装线5。
石墨接头机器人自动装卡簧装栓机3设置在桁架输送式石墨接头加工线(石墨接头自动加工线)2成品输出前端，石墨电极及接头机器人自动组装机4设置在石墨电极自动加工线1与桁架输送式石墨接头加工线(石墨接头自动加工线)2之间。石墨电极成品包装线5设置在石墨电极及接头机器人自动组装机4成品输出端前部。
所述的石墨电极自动加工线1包括上料对中机1-1、数控电极双端镗孔刮平机床1-2、数控电极多刀外圆车床1-3、数控电极梳铣双螺纹精平双端面机床1-4、石墨电极检测机1-5、石墨电极划线机1-6、石墨电极输送机1-7、石墨电极本体人工筛检贴标机组1-8。
石墨电极自动加工线1的组成具体说明：
(1)上料对中机1-1，上料对中机1-1设置有上料架、翻转机构、对中机构和举升送料机构等，其中上料架用于存放工件，翻转机构用于工件的依次翻转上料，对中机构用于工件的预对中，举升送料机构用于把对好中的工件向上送给机械手抓料。
此机床作为电极本体加工线的第一道工序，其作用是对人工预先吊放在上料架上并排放好的一组电极本体毛坯，实现自动依次上料对中，为下一道工序做加工准备。
(2)数控电极双端镗孔半精平面机床1-2：
所述的电极双端镗孔刮平机1-2的床身导轨两端安装主轴箱，中部安装工件夹持装置，两主轴箱的底部与床身两端的纵向进给电机驱动的丝杆衔接，构成纵向进给机构，两主轴箱上的主电机通过主轴箱内的传动机构与安装镗孔、刮平刀具的主轴衔接，床身为整体结构，夹持装置的前侧为斜上方60度和斜下方60度分别设有夹持点的C形夹卡，后侧为设有水平夹持点的水平夹卡，两夹卡的底部支撑在固定于床身中部的纵向轨道上，并分别通过螺母与安装在横向轨道下的正、反旋螺纹丝杆衔接，构成横向夹紧机构，正、反旋螺纹的线数比为1∶2。
为了实现数控，本实施例中的纵向进给电机为伺服电机。工作时，当工件移到工件支撑上之后，控制系统使横向夹紧液压马达工作，驱动两夹持装置同步运动，自动定心夹紧工件外圆，接着主电机带动固定在主轴上的成型镗孔、刮平刀具旋转，纵向进给伺服电机带动两主轴箱沿床身导轨进刀，当两主轴靠近工件后，浮动定位开关发出信号，数控系统转入工进程序，将石墨电极工件两端镗出所需的锥形孔来，并在镗孔结束时将工件两端面刮平。
此机床作为电极本体加工线的第二道工序，其作用是通过一次装夹完成电极本体内镗孔削与端面刮削加工，确保形状位置精度得到有效保证，尺寸一致性好。
(3)数控电极多刀外圆车床1-3：
所述的数控电极多刀外圆车床1-3的主床身导轨两端分别安装可以顶夹工件的主轴箱和尾架箱，中部安装可分别沿垂直、平行于床身导轨方向移动的下、中滑板，中滑板上安装至少二个并列的刀架底座，其中所述每个刀架底座上固定安装粗车刀架，其上安装粗车刀，同时安装精车刀架大拖板，其上安装可单独沿垂直于主床身导轨移动的上滑板，并在上滑板上固定安装精车刀。
加工时，主轴电机通过主轴带动工件旋转，首先由下、中滑板配合完成进刀与走刀动作，使粗车刀完成电极外圆的粗车加工，接着上滑板作精车进刀动作，精车刀触及工件表面，在平行于床身导轨的走刀过程中，完成精车。
此机床作为电极本体加工线的第三道工序，其作用是通过一次装夹完成电极本体外圆面的车削加工，此机床采用多方式同时切削，效率很高。
(4)数控电极梳铣双螺纹、精平双端面机床1-4：
所述的数控电极梳铣双螺纹、精平双端面机床1-4的床身双端均装有带纵横向进给的梳铣螺纹和刮平端面的主轴箱，床身导轨中央则装有精密夹紧电极的夹紧机构和工件托架。主轴箱下面的大拖板和梳刀、刮刀纵横向进给均由伺服电机通过丝杠传动控制。
数控电极梳铣双螺纹、精平双端面工作时，电极夹紧不动，梳刀和刮平刀由主轴带动 转动和平动，控制系统按照预先设置的软件程序，分别在电极上梳铣双端螺纹和端面的精密加工。由于梳刀为多刀切削，梳刀和刮平刀均由特殊的硬质合金材料制成，因而加工精度好，且大大提高了功效。而采用电脑程序控制，既简化了操作和调整，又使机械结构大大简化。
此机床作为电极本体加工线的第四道工序，其作用是通过一次装夹完成电极本体双端内锥螺纹梳铣及端面刮削加工，效率高，形状位置精度得到有效保证，两端内铣螺纹同轴度好，双端面与内锥螺纹中心线垂直度高，且尺寸一致性好。
(5)石墨电极检测机1-5：
石墨电极检测机1-5由定长测比电阻机构1-5-1、称重机构1-5-2组成。
所述的定长测比电阻机构1-5-1具有左床身1-5-1-1、右床身1-5-1-2；左床身1-5-1-1上部设置有左导轨1-5-1-3，左导轨1-5-1-3上部装有左滑台1-5-1-4，左侧定长测比电阻测头1-5-1-8通过左支架1-5-1-7安装在左滑台1-5-1-4上，左滑台1-5-1-4下部装有滚珠丝杆一1-5-1-5，伺服电机一1-5-1-6安装在左床身1-5-1-1一端，伺服电机一1-5-1-6与滚珠丝杆一1-5-1-5相连，伺服电机一1-5-1-6通过滚珠丝杆一1-5-1-5带动左支架1-5-1-7、左测定长测比电阻测头1-5-1-8，沿着左导轨1-5-1-3前后移动。
右床身1-5-1-2上部装置有右导轨1-5-1-9，右导轨1-5-1-9上部装有右滑台1-5-1-10，右侧定长测比电阻测头1-5-1-12通过右支架1-5-11安装在右滑台1-5-1-10上，右滑台1-5-1-10下部装有滚珠丝杆二1-5-1-13，伺服电机二1-5-1-14安装在右床身1-5-1-2一端，伺服电机二1-5-1-14与滚珠丝杆二1-5-1-13相连，伺服电机二1-5-1-14通过滚珠丝杆二1-5-1-13带动右支架1-5-1-11、右测定长测比电阻测头1-5-1-12，沿着右导轨1-5-1-9前后移动。
在左床身1-5-1-1与右床身1-5-1-2之间设置有称重机构1-5-2。所述的称重机构1-5-2具有底座1-5-2-1，底座1-5-2-1上部装有称重称台1-5-2-2，称重称台1-5-2-2二侧设置有工件托架1-5-2-3，称重称台1-5-2-2下部设置有称重传感器1-5-2-4。
接料举升油缸1-5-1-5安装在底座1-5-2-1上，接料托架1-5-2-6安装在接料举升油缸1-5-2-5上部，用于举升承接石墨电极6工件。
下料托架1-5-2-7一端通过转轴1-5-2-8安装在工件托架1-5-2-3上，下料托架1-5-2-7另一端装有斜推油缸1-5-2-9，用于将称重检测好的石墨电极斜推移出去。
左侧定长测比电阻测头1-5-1-8与右侧定长测比电阻测头1-5-1-12通过电缆线与比电阻检测仪相连，左、右侧定长测比电阻测头测量到比电阻信号，传输到比电阻检测仪，通过比电阻检测仪检测出石墨电极比电阻。
石墨电极检测机1-5工作时，升降油缸1-5-2-5上升用于承接石墨电极6工件，石墨电 极输送机将已加工好石墨电极6抓取输送到接料举升油缸1-5-2-5上部的接料托架1-5-2-6上，升降油缸1-5-2-5上升把工件托举在固定的水平中心位置上，定长测比电阻机构1-5-1的左、右滑板进给均由伺服电机及滚珠丝杠副直联驱动，左、右滑台上固定有支架，支架上装有定长、测比电阻测头，当左、右定长、测比电阻测头全部接触工件后，电气系统通过采集的数据实时计算出电极的长度，比电阻仪同时测出比电阻值。
石墨电极定长、测比电阻检测完成后，接料举升油缸1-5-2-1把石墨电极工件放置到称重台称1-5-2-2上称重后，由斜推油缸1-5-2-9推动下料托架1-5-2-7，将石墨电极6推送到下料架上。
石墨电极检测机与划线机一道作为石墨电极加工线的最后几道工序之一，其作用是对已加工的石墨电极进行依次称重、定长、测比电阻等方面的检测。石墨电极检测机专机将机、电、液有机结合，实现了机电液一体化。石墨电极检测机检测范围宽，能力强，可适应不同规格石墨电极的检测。石墨电极检测机关键部件采用了可靠的防尘措施，实现双重防护，整机使用寿命长。机床结构简单，编程操作简单，操作方便宜人，工人劳动强度低，工作效率高。
此机床作为电极加工线的第五道工序，其作用是对已加工的电极进行依次称重、定长、测比电阻等方面的检测。
(6)石墨电极划线机1-6：
石墨电极划线机1-6为一种石墨电极孔底位置划线机，石墨电极划线机1-6包括底座，所述底座的中部具有工件支撑翻转装置，所述工件支撑翻转装置两旁分别具有支撑在升降导柱上的划线装置，所述划线装置由划线滚轮和位于划线滚轮下的油漆盒构成。
工作时，加工好的石墨电极工件由输送装置输送到支撑翻转装置上，接着升降导柱上升至划线滚轮与工件外圆对应内锥螺纹段孔底的位置，当工件翻转时，滚轮在于石墨电极外圆纯滚动的过程中，源源不断将从油漆盒中蘸起的油漆涂覆在石墨电极外圆上，自动形成孔底标记线，从而避免现场手工划线的麻烦。
此机床作为电极加工线的第六道工序，其作用是对电极本体孔底警戒线进行自动划线。
(7)石墨电极输送机1-7：
此输送机采用龙门式行车结构，包括龙门式框架、四个输送小车和支架，组成一个整体移动框架，移动框架下部装有输送油缸，通过输送油缸推动移动框架输送电极，四个输送小车上装有升降油缸，输送小车下部装有抓取机构，抓取机构具有2个夹紧油缸、二个夹爪，通过 油缸推拉提送，可以对本体加工线中一至五道工序进行物料的自动传送，以实现各工序协同生产加工，来回往复输送电极。
(8)石墨电极本体人工筛检贴标机组1-8：
此机组作为电极加工线增设的辅助工序，通过人工筛检确定不合格及备用品和合格品，并贴上对应标签，不合格品通过输送滚道直接送下机台，备用品划好孔底警戒线后送下机台，合格品送至接头后载送下机台。
桁架输送式石墨接头自动加工线2包括数控接头切断机床2-l、数控接头平端面机床2-2、检测机2-3、数控接头双外锥车床2-4、数控接头双螺纹梳加工机床2-5、数控接头铣槽机床2-6、称重机2-7、检测台2-8和桁架式输送装置2-9。数控接头切断机床2-l、数控接头平端面机床2-2、检测机2-3、数控接头双外锥车床2-4、数控接头双螺纹梳加工机床2-5、数控接头铣槽钻栓孔机床2-6、称重机2-7、检测台2-8分别受控于控制系统并按序依次排布，并通过桁架式输送装置2-9衔接。
所述的桁架式输送装置2-9由桁架主体2-9-1、机械手2-9-2、伺服驱动机构组成。桁架主体2-9-1由方管焊接而成，桁架主体2-9-1上装有齿轮、齿条和保护栏，构成桁架式输送线。桁架式输送装置(输送线)2-9配有5组机械手，分别为1号机械手2-9-2-1、2号机械手2-9-2-2、3号机械手2-9-2-3、4号机械手2-9-2-4、5号机械手2-9-2-5。
1号机械手2-9-2-1负责数控接头切断机床2-l、数控接头平端面机床2-2、检测机2-3(简称1、2、3号机)之间的石墨接头输送；2号机械手2-9-2-2负责检测机2-3、数控接头双外锥车床2-4(简称3、4号机)之间的石墨接头输送；3号机械手2-9-2-3负责数控接头双外锥车床2-4、数控接头双螺纹梳加工机床2-5(简称4、5号机)之间的石墨接头输送；4号机械手2-9-2-4负责数控接头双螺纹梳加工机床2-5、数控接头铣槽钻栓孔机床2-6(简称5、6号机)之间的石墨接头输送，5号机械手2-9-2-5负责数控接头铣槽机床2-6、称重机2-7、检测台2-8(简称6、7、8号机)之间的石墨接头输送。
伺服驱动机构安装在机械手2-9-2上，伺服驱动机构设置有机械手横向移动伺服驱动电机、机械手升降伺服驱动电机、机械手夹紧伺服驱动电机。在数控系统控制下，机械手横向移动伺服驱动电机通过齿轮、齿条横向传动机械手沿桁架主体9-1来回运动进行接头输送，机械手升降伺服驱动电机通过齿轮、齿条垂直方向传动机械手沿桁架主体2-9-1上下升降运动进行接头输送，机械手夹紧伺服驱动电机通过齿轮、齿条传动机械手抓取接头加工件进行接头输送。
桁架输送式石墨接头自动加工线配套有数控系统，数控系统装有PLC可编程控制器、 工业控制计算机(工控计算机)、比电阻测试仪等数控仪器。
所述的数控接头切断机床2-l包括切断机床床身2-1-4、锯条2-1-5、锯条安装架2-1-6、锯条传动电机、上料架2-1-7、坯件压紧油缸2-1-8、坯件翻转机构2-1-9、对中机构2-1-1、储料机构、顶升油缸2-1-2、移动油缸2-1-3。切断机床床身2-1-4上部装有锯条安装架2-1-6，锯条2-1-5安装在锯条安装架2-1-6上，锯条传动电机安装在切断机床床身2-1-4一侧，锯条传动电机通过传动带、传动轮传动锯条安装架2-1-6、锯条2-1-5按设定长度切割接头坯件。切断机床床身2-1-4上部装有坯件压紧架，坯件压紧架上部装有坯件压紧油缸2-1-8，用于切割接头坯件时压紧接头坯件。
所述的上料架2-1-7设置有滾道2-1-10，滾道2-1-10带有倾斜度便于接头上料，输送到时切断机床床身2-1-4上部。
切断机床床身2-1-4上部装有坯件翻转机构2-1-9由坯件翻转臂、坯件翻转油缸构成，坯件翻转油缸与坯件翻转臂相连，切割接头坯件完成后，关闭坯件压紧油缸，放松接头坯件，启动坯件翻转油缸，带动坯件翻转臂将切割好的接头坯件翻转送到对中机构2-1-1承料支架上。
储料机构设置有承料支架2-1-11，承料支架2-1-11上设置有可移动V型支架2-1-12、多个固定V型支架、顶升油缸2-1-2、移动油缸2-1-3。
对中机构2-1-1设置有对中油缸、齿条及齿轮。
所述的数控接头切断机床2-l如图11所示，接头经主体结构切断后，落至对中机构2-1-1上，油缸推动，在齿条及齿轮的联动作用下，实现对中功能。对中完成后，可移动V型支架，在顶升油缸2-1-2作用下提升，移动油缸2-1-3后移，将接头坯件送至2#待料位，顶升油缸2-1-2下降，接头坯件料落入2#位固定V型支架上，移动油缸前移到位，继续从1#位V型支架上接接头坯件料，重复上述过程，将接头坯件料不断的移至3#位，4#位，5#位固定V型支架上，实现储料机构储料。
所述的数控接头平端面机床2-2包括双主轴铣销机构、夹紧机构、吸尘系统等组成。桁架输送线送来的工件准确送至两动力头的中心位置，夹紧机构在液压马达BM180及左右旋T型丝杆的作用下夹紧工件，机械手迅速松开并提升至安全位置。机床的两护罩气缸的作用下关闭。两动力头电机旋转，在伺服电机及滚珠丝杠作用下快进到位，进入工进状态，外圆车刀开始车削外圆，端面刮平。加工结束后，动力头停转，并快退至原位；两护罩迅速松开到位。机械手下行抓取工件，夹紧机构松开工件并退回到原位。机械手上升并将加工好的工件送至下一工位。
所述的检测机2-3包括检测机架2-3-5、伺服电动缸2-3-1、V型支架2-3-6、检测支架2-3-7、检测支架推动气缸2-3-2、滑动道轨2-3-8、滑块2-3-9、弹性模量测头2-3-3、比电阻测头2-3-4。检测机架3-3-5上部安装有两组滑动导轨2-3-8，两个检测支架2-3-7分别通过滑块2-3-9相对安装在两组滑动导轨2-3-8上，两个检测支架推动气缸2-3-2分别安装在检测机架2-3-5两侧，两个检测支架推动气缸2-3-2推动杆分别与两个检测支架2-3-7相连，两个检测支架2-3-7上装有弹性模量测头2-3-3、比电阻测头2-3-4。
伺服电动缸2-3-1安装在检测机架2-3-5下部，位于两个检测支架2-3-7之间，伺服电动缸2-3-1上部装有V型支架2-3-6，V型支架2-3-6用于承载石墨接头。
所述的检测机2-3如图12所示，桁架式输送装置2-9的机械手2-9-2将石墨接头输送至伺服电动缸2-3-1带动的V型支架2-3-6上升，V型支架2-3-6上升至位置一，两侧检测支架推动气缸2-3-2作用，弹性模量测头2-3-3接触石墨接头，弹性模量测头2-3-3通过弹性模量传感器与工控计算机相连，测量石墨接头弹性模量，检测支架推动气缸2-3-2后退；完成后，V型支架2-3-6上升至位置二，两侧检测支架推动气缸2-3-2作用，比电阻测头2-3-4接触石墨接头，测量石墨接头比电阻。比电阻测头2-3-4通过信号传输线与比电阻测试仪相连，通过工控计算机显示。
所述的数控接头双外锥车床2-4包括主轴部件、尾架部件、车削机构和吸尘装置。桁架输送线送来的工件，确保工件中心与主轴中心重合，同时使工件中心孔与主轴顶尖尽量贴合后，尾架主轴在油缸的作用下顶紧工件，机械手松开工件并返回安全位置。防护门在气缸的作用下关闭，主轴电机开始旋转，带动工件旋转，两端刀架分别在伺服电机的作用下，进行外圆锥度的车削加工。加工完成后，主轴停转，防护门打开，机械手下降到位、夹紧工件，尾架主轴在油缸作用下后退到位，机械手平移20-30mm使工件脱开主轴顶尖后，机械手返回至输送位置并快速输送至下一工位。
所述的数控接头双螺纹梳加工机床2-5，数控电极螺纹梳刀加工机床的床身一端装有主轴箱和卡盘，床身导轨上装有工件托架和安装刀具的拖板，改进之处是刀具为由动力头驱动的梳刀。此外，梳刀箱直接安装在中拖板上，大拖板和中拖板分别由纵向和横向伺服电机通过丝杆传动，伺服电机由PLC可编程控制器控制。
所述的数控接头铣槽钻栓孔机床2-6包括主轴部件、尾架部件、钻孔机构、铣槽机构和吸尘装置。桁架输送线送来的工件，确保工件中心与动力箱主轴中心重合，同时使工件中心孔与主轴顶尖尽量贴合后，尾架主轴在油缸作用下顶紧工件，机械手松开工件并返回安全位置，防护门在气缸的作用下关闭。钻栓孔钻头在电机的作用下旋转，其拖板在伺服电机的 作用下快速移动，工进开始进行钻栓孔加工，加工至深度后，快退至工进开始位；主轴旋转分度180°，两钻头工进加工至深度，主轴停转快退回原位。主轴旋转分度90°，铣槽动力头选转，在伺服电机的作用下，进行铣槽加工，加工完成后，主轴停止，铣刀快退到位。防护门打开。机械手下降到位、夹紧工件，尾架主轴在油缸作用下后退到位，机械手平移20-30mm使工件脱开主轴顶尖后，机械手返回至输送位置并输送至下一工位。
所述的称重机2-7装有电子秤，称量桁架式输送装置2-9的机械手2-9-2输送到时称重机2-7上的石墨接头重量。
所述的检测台2-8，接收桁架式输送装置2-9的机械手9-2输送到的石墨接头，通过量具检测石墨接头二端螺纹接头加工是否符合设计要求。
桁架输送式石墨接头加工线工作过程：
人工行车上料，经接头切断机床2-l锯切下料对中后，1号机械手2-9-2-1搬运输送至数控接头平端面机床2-2，接头料铣端面钻中心孔、车定位外圆，完成后1号机械手2-9-2-1搬运输送至检测机2-3，进行比电阻及弹性模量检测。2号机械手2-9-2-2搬运输送至数控接头双外锥车床2-4加工车削双锥面，加工完成后，3号机械手2-9-2-3搬运输送至数控接头双螺纹梳加工机床2-5加工螺纹，完成后4号机械手2-9-2-4输送至数控接头铣槽钻栓孔机床2-6进行钻栓孔，铣槽。数控接头铣槽钻栓孔机床2-6加工完成后5号机械手2-9-2-5将接头料送至称重机2-7称重，称重完成后5号机械手2-9-2-5将接头料送至检测台2-8检验，在此工位人工完成检验、贴标和翻转。
石墨接头机器人自动装卡簧装栓机3包括栓(销)上料盘3-1、卡簧振动盘3-2、视觉相机3-3、扫码系统3-4、石墨接头搬运机器人3-5、装栓卡簧机器人3-6和装栓、装卡簧旋转工作台3-7。
石墨接头搬运机器人3-5设置在石墨接头自动加工线的石墨接头输送轨道3-8前端部，装卡簧旋转工作台3-7设置在石墨接头搬运机器人3-5一侧，装栓卡簧机器人3-6设置在石墨接头搬运机器人3-5前部，栓(销)上料盘3-1、卡簧振动盘3-2分别设置在装栓卡簧机器人3-6前侧两边。
石墨接头搬运机器人3-5设置有石墨接头搬运机械手，石墨接头搬运机械手前端装有真空吸盘，用于吸取石墨接头，从石墨接头输送轨道3-8搬运到装栓卡簧旋转工作台3-7上。石墨接头搬运机械手上部装有扫码系统3-4，用于扫码石墨接头上二维码，识别石墨接头信息，对石墨接头进行分类搬运、存放。所述的扫码系统3-4采用二维码扫码器。
装栓、装卡簧旋转工作台3-7上装有石墨接头夹具3-7-1，通过气缸夹紧石墨接头。装 栓卡簧旋转工作3-7台下部装有伺服电机，伺服电机传动装栓、装卡簧旋转工作台工位转动，便于石墨接头装栓、装卡簧。所述的装卡簧旋转工作台3-7设有四个旋转工位。
装栓卡簧机器人3-6设置有装栓卡簧机械手，装栓卡簧机械手上部装有视觉相机3-3，用于识别石墨接头上栓(销)、卡簧孔位置，装栓卡簧机械手上部前端装有气动手指，用于夹取和安装栓、卡簧。所述的视觉相机3-3采用工业数码相机。
栓(销)上料盘3-1上均布有多个栓(销)料孔，栓(销)料孔中装有栓(销)。
卡簧振动盘3-2下部装有电磁振动器3-2-1，卡簧振动盘3-2上部设置有卡簧输出轨道3-2-2，卡簧振动盘下部装有电磁振动器3-2-1，卡簧振动盘3-2中的卡簧经过电磁振动器3-2-1振动，通过卡簧输出轨道3-2-2输出，供装栓卡簧机械手3-6的气动手指夹取。
石墨接头机器人自动装卡簧、装栓机配套有电器控制箱，装有PLC可编程控制器，并装有机器人控制柜，控制石墨接头搬运机器人、装栓卡簧机器人按设定数控程序工作。
石墨接头机器人自动装卡簧、装栓机工作时，石墨接头搬运机器人3-5的石墨接头搬运机械手前端装有真空吸盘，用于吸取石墨接头，从石墨接头输送轨道3-8搬运到装栓卡簧旋转工作台3-7上。在进行栓(销)、卡簧植入时，需在扫码系统3-4对石墨接头进行读码以后，应用装栓、装卡簧旋转工作台3-7(四工位旋转系统)，送入石墨接头搬运机器人3-5抓取位，由石墨接头搬运机器人3-5抓取石墨接头工件放入旋转工位。石墨接头上面圆型均布四个销、卡簧孔位，当石墨接头搬运机器人3-5放置好产品以后，装栓卡簧机器人3-6的装栓卡簧机械手再分别从栓(销)上料盘3-1、卡簧振动盘3-2上抓取栓(销)和卡簧，通过视觉相机3-3找准石墨接头上销、卡簧孔位孔位，然后对其进行栓(销)、卡簧的植入，石墨接头装好栓(销)、卡簧后，由石墨接头搬运机器人3-5抓取装好栓(销)、卡簧的石墨接头产品放置到输送线体，流入下一个工站。
石墨电极及接头机器人自动组装机4包括工业机器人4-1、接头输送工作台4-2、接头暂存台4-3、扫描系统4-4、扭力控制器4-5、电极输送辊道4-6、石墨电极及接头组装台4-7、电极压紧机构4-8、拨料翻转机构4-9和成品下料架4-10。
所述的工业机器人4-1前端设置有机械手4-1-1，机械手4-1-1上装有电动夹爪、伺服电机、扫描系统4-4、扭力控制器4-5，伺服电机传动电动夹爪抓取石墨接头7，扫描系统4-4用于扫描石墨接头二维码，扫描信息反馈给控制系统，控制工业机器人4-1，工业机器人4-1对符合装配尺寸的石墨接头7，由机械手4-1-1上装有电动夹爪抓取石墨接头7送到石墨电极及接头组装台4-7，装入石墨电极6的锥形螺纹孔中，伺服电机传动旋转将石墨电极7安装到位，并由扭力控制器4-5控制一定扭力，防止石墨接头7上得过紧受损。工业机器人对不符 合装配尺寸的石墨接头7，由机械手4-1-1上装有电动夹爪抓取石墨接头7送到接头暂存台4-3，暂存。
所述的工业机器人4-1一侧设置有接头输送工作台4-2，用于输送已装销、卡簧的石墨接头7。
所述的工业机器人4-1前侧设置有暂存台4-3，用于暂存石墨接头7。
所述的工业机器人4-1另一侧设置有电极输送辊道4-6、石墨电极及接头组装台4-7。电极输送辊道4-6设有多个传送辊轮4-6-1，装有传送链条、链轮和传动电机，传动电机通过链轮、传送链条传动多个传送辊轮，传送加工好的石墨电极6到石墨电极及接头组装台4-7。
石墨电极及接头组装台上部设置有电极压紧机构4-8，电极压紧机构4-8具有电极压紧架4-8-1、电极压紧油缸4-8-2。电极压紧架4-8-1安装在石墨电极及接头组装台4-7上部，电极压紧油缸4-8-2安装在电极压紧架4-8上，用于压紧固定石墨电极6，便于石墨电极6与接头7组装。
石墨电极及接头组装台4-7一侧设置有成品下料架4-10。成品下料架4-10后端部装有拨料翻转机构4-9。
拨料翻转机构4-9设有拨料杆4-9-1、翻转轴4-9-2、推动杆4-9-3、拨料翻转油缸4-9-4。翻转轴4-9-2安装在成品下料架4-10后端部，两根拨料杆4-9-1安装在翻转轴4-9-2上，拨料杆4-9-1一端插入石墨电极及接头组装台4-7上部，拨料杆4-9-1另一端装有推动杆4-9-3，拨料翻转油缸4-9-4安装在成品下料架4-10上，拨料翻转油缸推杆与推动杆4-9-3相连。拨料翻转油缸4-9-4工作时，拨料翻转油缸推杆通过推动杆4-9-3推动拨料杆4-9-1，使拨料杆4-9-1翻转，将石墨电极及接头组装台4-7上部，工业机器人4-1已组装完成的石墨电极成品，翻转移送到成品下料架4-10。由于成品下料架4-10具有一定倾斜度后端部高于前端部，石墨电极成品被滑动推送到成品下料架4-10前部，进入石墨电极成品自动包装工序。
所述的工业机器人4-1采用六轴机器人。
石墨电极及接头机器人自动组装机4配套有数控系统进行控制，数控系统装有PLC可编程控制器、工业控制计算机等控制设备。
所述的扫描系统4-4采用二维码扫描器，二维码扫描器与数控系统相连。
所述的扭力控制器4-5采用市售扭力控制器。
石墨电极及接头机器人自动组装机工作时，所述的工业机器人4-1另一侧设置有电极输送辊道4-6，传动电机通过链轮、传送链条传动多个传送辊轮4-6-1，传送加工好的石墨电极6到石墨电极及接头组装台4-7。
石墨电极及接头组装台4-7上部的电极压紧机构4-8的电极压紧油缸4-8-2压紧固定石墨电极6。
工业机器人4-1前端设置有机械手4-1-1，机械手4-1-1上装有电动夹爪、伺服电机、扫描系统4-4、扭力控制器4-5，伺服电机传动电动夹爪抓取石墨接头7，扫描系统4-4用于扫描石墨接头二维码，扫描信息反馈给控制系统，控制工业机器人4-1对符合装配尺寸的石墨接头7，由机械手上装有电动夹爪抓取石墨接头7送到石墨电极及接头组装台4-7，装入石墨电极6锥形螺纹孔中，伺服电机传动旋转将石墨接头安装到位，并由扭力控制器4-5控制一定扭力，当到达设定扭矩以后，自动打滑，避免对接头的过渡拧入，防止石墨接头7上得过紧受损。工业机器人4-1对不符合装配尺寸的石墨接头7，由机械手4-1-1上装有电动夹爪抓取石墨接头7送到接头暂存台4-3，暂存。
石墨电极6及接头7组装好后，电极压紧油缸4-9-4关闭，打开电极压紧机构4-9，启动拨料翻转机构4-9的拨料翻转油缸4-9-4，拨料翻转油缸推杆通过推动杆4-9-3推动拨料杆4-9-1，使拨料杆4-9-1翻转，将石墨电极及接头组装台4-7上部，工业机器人4-1已组装完成的石墨电极6成品，翻转移送到成品下料架4-10。由于成品下料架4-10具有一定倾斜度，成品下料架4-10后端部高于前端部，石墨电极成品滚至成品下料架4-10前部，进入石墨电极成品自动包装工序。
石墨电极及接头机器人自动组装机，采用机器人自动化自动抓取石墨接头、石墨电极及接头机器人自动组装，石墨接头旋入拧紧作业，提高作业精度与效率，降低人工体力劳动量及安全管理风险。机器人可完成重复单一动作的体力劳动，并且始终保持高精度、无疲劳状态。
石墨电极成品自动包装线5包括石墨电极成品输送架5-1、拨料机构5-2、扫描仪5-3、无人驾驶叉车5-4、预存料仓5-5、径向打包设备5-6、轴向打包设备5-7、搬运机器人5-8和底板料仓5-9。
石墨电极成品输送架5-1与石墨电极及接头机器人自动组装机的成品下料架相连接，拨料机构5-2安装在石墨电极成品输送架5-1前端，石墨电极成品输送架5-1前端两侧分别设置有扫描仪5-3，分别用于扫描石墨电极6和石墨接头7，用于识别不同长度规格石墨电极成品。
所述的无人驾驶叉车5-4用于运送石墨电极成品和径向打包石墨电极成品。
所述的预存料仓5-5用于预存石墨电极成品，预存料仓5-5一侧设有径向打包设备5-6。
所述的底板料仓5-9设置在径向打包设备5-6一侧，所述的搬运机器人5-8安装在径 向打包设备5-6与底板料仓5-9之间；所述的轴向打包设备5-7安装在径向打包设备5-6前部。
所述的无人驾驶叉车5-4设有三台，分别为一号无人驾驶叉车5-4-1、二号无人驾驶叉车5-4-2、三号无人驾驶叉车5-4-3。
所述的拨料机构5-2设置有拨料杆、翻转轴、推动杆、拨料翻转油缸。翻转轴安装在石墨电极成品输送架前端下部，两根拨料杆安装在翻转轴上，拨料杆一端插入石墨电极成品输送架上部，拨料杆另一端装有推动杆，拨料翻转油缸安装在石墨电极成品输送架上，拨料翻转油缸推杆与推动杆相连。拨料翻转油缸工作时，拨料翻转油缸推杆通过推动杆推动拨料杆，使拨料杆翻转，将石墨电极成品输送架上部，输送过来石墨电极成品，翻转移送到一号无人驾驶叉车5-4-1上。一号无人驾驶叉车5-4-1将石墨电极成品按长度范围分别送入预存料仓5-5。
所述的预存料仓5-5设有四组，分别为预存料仓一5-5-1、预存料仓二5-5-2、预存料仓三5-5-3、预存料仓四5-5-4。其中预存料仓一5-5-1、预存料仓二5-5-2、预存料仓三5-5-3预存石墨电极成品长度范围分别控制在0-30mm、30-60mm、60-90mm之内，预存料仓四5-5-4为预存石墨电极成品长度超差较大的电极暂存区。
所述的径向打包设备5-6包括径向打包机架5-6-1、径向打包小车5-6-2、径向打包小车轨道5-6-3、径向打包机5-6-4。
径向打包机架5-6-1上部装有径向打包小车轨道5-6-3，径向打包小车5-6-2装在径向打包小车轨道5-6-3上，径向打包机5-6-4安装在径向打包机架5-6-1上。径向打包小车5-6-2上部设置有工作台，用于放置包装底板，包装底板采用木质底板，便于包装石墨电极成品。
所述的径向打包小车5-6-2下部设置车轮，径向打包小车5-6-2通过车轮装在径向打包小车轨道5-6-3上，径向打包小车5-6-2下部装有径向打包小车传动电机，车轮由径向打包小车传动电机传动，沿径向打包小车轨道5-6-3来回运动。
所述的径向打包机5-6-4安装在径向打包机架5-6-1上，用于石墨电极成品连同底托进行径向裸打钢带。如果底托及裸打钢带较多，造成钢带导向装置无法在径向打包小车工作台面上排布，就需要设置两台径向打包机。
所述的底板料仓5-9设置有料仓架，料仓架上装插有包装底板。
所述的搬运机器人5-8安装在径向打包设备5-6与底板料仓5-9之间，搬运机器人5-8采用六轴机器人，搬运机器人5-8装有机械手，机械手前部装有电动夹或真空吸盘，采用搬运机器人铺设底板，其铺设的间距及位置由上位机控制。机器人取料的料仓底板由人工预先摆放。
所述的轴向打包设备5-7包括轴向打包机架5-7-1、轴向打包小车5-7-2、轴向打包小车轨道5-7-3、轴向打包机5-7-4。
轴向打包机架5-7-1上部装有轴向打包小车轨道5-7-3，轴向打包小车5-7-2装在轴向打包小车轨道5-7-3上，轴向打包机5-7-4安装在轴向打包机架5-7-1上。轴向打包小车5-7-2上部设置有工作台，用于放置已轴向打包好的石墨电极成品，人工加两端护帽(或机器人加两端护帽)，人工加两端唛头板(或机器人加两端唛头板)，人工加顶板及钢带护板，轴向打包机5-7-4自动打轴向钢带，石墨电极成品轴向打包完成后，下线行车将径向、轴向打包的石墨电极成品吊离打包区。
所述的轴向打包小车5-7-2下部设置车轮，轴向打包小车5-7-4通过车轮安装在轴向打包小车轨道上，轴向打包小车5-7-2下部装有轴向打包小车传动电机，车轮由轴向打包小车传动电机传动，沿轴向打包小车轨道5-7-3来回运动。
石墨电极成品自动包装线配套有数控系统进行控制，数控系统装有PLC可编程控制器、工业控制上位计算机(简称上位机)、无人驾驶叉车控制器等控制设备。
所述的径向打包机5-6-4、轴向打包机5-7-4采用市售钢带自动打包机。
所述的无人驾驶叉车5-5可采用市售无人驾驶叉车、激光叉车AGV，身形小巧、承载量大，可匹配任意尺寸栈板，实现自动装卸。激光叉车AGV在行业内技术领先，定位精度高、实用性强，在行驶过程中自主定位、自主导航；自动识别所在通道和站点位置；自动构建虚拟地图和规划路径，并作出有效应变。它拥有独特的双重防护技术，可灵活应对货运量大的码头、仓库、工厂等环境的物料搬运及装卸，从根本上代替人工作业，提高仓储搬运效率降低企业成本。
所述的扫描仪5-3采用采用二维码扫描器，二维码扫描器与数控系统相连。
石墨电极成品自动包装线工作方法，步骤如下：
1、石墨电极加工线的石墨电极成品输送架5-1两侧安装有扫描仪5-3，对需包装的石墨电极6及石墨接头7进行二维码扫描数据采集，重点采集电极重量、长度、型号规格，接头重量、长度及型号规格，其数据上传至上位计算机。上位计算机依据电极长度，指挥一号无人驾驶叉车5-4-1将石墨电极成品料送达预存料仓5-5。预存料仓5-5分四组，其中预存料仓一5-5-1、预存料仓二5-5-2、预存料仓三5-5-3预存石墨电极成品长度范围分别控制在0-30mm、30-60mm、60-90mm之内，预存料仓四5-5-4为预存石墨电极成品长度超差较大的电极暂存区。
2、当预存料仓5-5内的石墨电极成品料达到本次包装规定的根数时，二号无人驾驶叉 车5-4-2将预存料仓的石墨电极成品送至径向打包设备的径向打包小车5-6-2上。
3、径向打包小车5-6-2采用搬运机器人5-8铺设底板，搬运机器人5-8自动搬运存放在底板料仓5-9中的底板，其铺设的间距及位置由上位计算机控制。搬运机器人5-8取料的底板料仓5-9中的底板由人工预先摆放。
4、当底板安装满待打包的石墨电极成品后，径向打包小车5-6-2移动至径向打包机5-6-4位置处，进行径向底托及裸打钢带。如果底托及裸打钢带较多，造成钢带导向装置无法在径向打包小车工作台面上排布，就需要设置两台径向打包机。
5、底托及裸打径向钢带完成后，三号无人驾驶叉车5-4-3将已完成径向打包石墨电极成品送至轴向打包设备5-7，打轴向钢带工位的轴向打包小车5-7-2工作台面。
6、人工加两端护帽或机器人加两端护帽，人工加两端唛头板或机器人加两端唛头板，人工加顶板及钢带护板，轴向打包机5-7-4自动打轴向钢带，石墨电极成品轴向打包完成后，下线行车将已径向、轴向打包的石墨电极成品电极吊离打包区。
石墨电极成品自动包装线由于设置有石墨电极成品输送架、拨料机构、扫描仪、无人驾驶叉车、预存料仓、径向打包设备、轴向打包设备、搬运机器人、底板料仓、下线行车，能将石墨电极与石墨接头组装成石墨电极成品进行自动包装，效率高，适用于工业自动化生产线需要，石墨电极成品自动包装线能满足，石墨电极成品生产线自动包装需要。
石墨电极成品自动包装线能够大大降低工人的劳动强度，提高生产效率，减少包装工数量，降低企业人工成本，减少因人工包装不小心而产生的成品损耗。

Claims (10)

  1. 一种数控石墨电极与接头精密加工检测组装及包装自动线，其特征在于，由石墨电极自动加工线、桁架输送式石墨接头自动加工线、石墨接头机器人自动装卡簧装栓机、石墨电极及接头机器人自动组装机、石墨电极成品自动包装线；
    石墨接头机器人自动装卡簧装栓机设置在桁架输送式石墨接头自动加工线成品输出前端，石墨电极及接头机器人自动组装机设置在石墨电极自动加工线与桁架输送式石墨接头自动加工线之间，石墨电极成品包装线设置在石墨电极及接头机器人自动组装机成品输出端前部。
  2. 根据权利要求1所述的数控石墨电极与接头精密加工检测组装及包装自动线，其特征在于，所述的石墨电极自动加工线包括上料对中机、数控电极双端镗孔刮平机床、数控电极多刀外圆车床、数控电极梳铣双螺纹精平双端面机床、石墨电极检测机、石墨电极划线机、石墨电极输送机和石墨电极本体人工筛检贴标机组。
  3. 根据权利要求2所述的数控石墨电极与接头精密加工检测组装及包装自动线，其特征在于，石墨电极检测机由定长测比电阻机构、称重机构组成；
    所述的定长测比电阻机构具有左床身、右床身；左床身上部设置有左导轨，左导轨上部装有左滑台，左侧定长测比电阻测头通过左支架安装在左滑台上，左滑台下部装有滚珠丝杆一，伺服电机一安装在左床身一端，伺服电机一与滚珠丝杆一相连，伺服电机一通过滚珠丝杆一带动左支架、左测定长测比电阻测头，沿着左导轨前后移动；
    右床身上部装置有右导轨，右导轨上部装有右滑台，右侧定长测比电阻测头通过右支架安装在右滑台上，右滑台下部装有滚珠丝杆二，伺服电机二安装在右床身一端，伺服电机二与滚珠丝杆二相连，伺服电机二通过滚珠丝杆二带动右支架、右测定长测比电阻测头，沿着右导轨前后移动；
    在左床身与右床身之间设置有称重机构，所述的称重机构具有底座，底座上部装有称重称台，称重称台二侧设置有工件托架，称重称台下部设置有称重传感器；
    接料举升油缸安装在底座上，接料托架安装在接料举升油缸上部，用于举升承接石墨电极工件；
    下料托架一端通过转轴安装在工件托架上，下料托架另一端装有斜推油缸，用于将称重检测好的石墨电极斜推移出去。
  4. 根据权利要求1所述的数控石墨电极与接头精密加工检测组装及包装自动线，其特征在于，桁架输送式石墨接头自动加工线包括数控接头切断机床、数控接头平端面机床、检测机、数 控接头双外锥车床、数控接头双螺纹梳加工机床、数控接头铣槽机床、称重机、检测台和桁架式输送装置；数控接头切断机床、数控接头平端面机床、检测机、数控接头双外锥车床、数控接头双螺纹梳加工机床、数控接头铣槽机床、称重机、检测台分别受控于控制系统并按序依次排布，并通过桁架式输送装置衔接。
  5. 根据权利要求1所述的数控石墨电极与接头精密加工检测组装及包装自动线，其特征在于，石墨接头机器人自动装卡簧装栓机包括栓上料盘、卡簧振动盘、视觉相机、扫码系统、石墨接头搬运机器人、装栓卡簧机器人和装栓和装卡簧旋转工作；
    石墨接头搬运机器人设置在石墨接头自动加工线的石墨接头输送轨道前端部，装卡簧旋转工作台设置在石墨接头搬运机器人一侧，装栓卡簧机器人设置在石墨接头搬运机器人前部，栓上料盘、卡簧振动盘分别设置在装栓卡簧机器人前侧两边。
  6. 根据权利要求1所述的数控石墨电极与接头精密加工检测组装及包装自动线，其特征在于，石墨电极及接头机器人自动组装机包括工业机器人、接头输送工作台、接头暂存台、扫描系统、扭力控制器、电极输送辊道、石墨电极及接头组装台、电极压紧机构、拨料翻转机构和成品下料架；
    所述的工业机器人前端设置有机械手，机械手上装有电动夹爪、伺服电机、扫描系统、扭力控制器，伺服电机传动电动夹爪抓取石墨接头，扫描系统用于扫描石墨接头二维码，扫描信息反馈给控制系统，控制工业机器人，工业机器人对符合装配尺寸的石墨接头，由机械手上装有电动夹爪抓取石墨接头送到石墨电极及接头组装台，装入石墨电极6的锥形螺纹孔中，伺服电机传动旋转将石墨接头安装到位，并由扭力控制器控制一定扭力，防止石墨接头上得过紧受损，工业机器人对不符合装配尺寸的石墨接头，由机械手上装有电动夹爪抓取石墨接头送到接头暂存台，暂存。
  7. 根据权利要求6所述的数控石墨电极与接头精密加工检测组装及包装自动线，其特征在于，石墨电极及接头组装台上部设置有电极压紧机构，电极压紧机构具有电极压紧架和电极压紧油缸；电极压紧架安装在石墨电极及接头组装台上部，电极压紧油缸安装在电极压紧架上，用于压紧固定石墨电极，便于石墨电极与接头组装；
    石墨电极及接头组装台一侧设置有成品下料架，成品下料架后端部装有拨料翻转机构。
  8. 根据权利要求1所述的数控石墨电极与接头精密加工检测组装及包装自动线，其特征在于，拨料翻转机构设有拨料杆、翻转轴、推动杆、拨料翻转油缸；翻转轴安装在成品下料架后端部，两根拨料杆安装在翻转轴上，拨料杆一端插入石墨电极及接头组装台上部，拨料杆另一端装有推动杆，拨料翻转油缸安装在成品下料架上，拨料翻转油缸推杆与推动杆相连；拨料 翻转油缸工作时，拨料翻转油缸推杆通过推动杆推动拨料杆，使拨料杆翻转，将石墨电极及接头组装台上部，工业机器人已组装完成的石墨电极成品，翻转移送到成品下料架。
  9. 根据权利要求1所述的数控石墨电极与接头精密加工检测组装及包装自动线，其特征在于，石墨电极成品自动包装线包括石墨电极成品输送架、拨料机构、扫描仪、无人驾驶叉车、预存料仓、径向打包设备、轴向打包设备、搬运机器人和底板料仓；
    石墨电极成品输送架与石墨电极及接头机器人自动组装机的成品下料架相连接，拨料机构安装在石墨电极成品输送架前端，石墨电极成品输送架前端两侧分别设置有扫描仪，分别用于扫描石墨电极和石墨接头，用于识别不同长度规格石墨电极成品；
    所述的无人驾驶叉车用于运送石墨电极成品和径向打包石墨电极成品；
    所述的预存料仓用于预存石墨电极成品，预存料仓一侧设有径向打包设备；
    所述的底板料仓设置在径向打包设备一侧，所述的搬运机器人安装在径向打包设备与底板料仓之间；所述的轴向打包设备安装在径向打包设备前部；
    所述的搬运机器人安装在径向打包设备与底板料仓之间。
  10. 根据权利要求9所述的数控石墨电极与接头精密加工检测组装及包装自动线，其特征在于，所述的径向打包设备包括径向打包机架、径向打包小车、径向打包小车轨道和径向打包机；
    径向打包机架上部装有径向打包小车轨道，径向打包小车装在径向打包小车轨道上，径向打包机安装在径向打包机架上，径向打包小车上部设置有工作台，用于放置包装底板；
    所述的轴向打包设备包括轴向打包机架、轴向打包小车、轴向打包小车轨道和轴向打包机；
    轴向打包机架上部装有轴向打包小车轨道，轴向打包小车装在轴向打包小车轨道上，轴向打包机安装在轴向打包机架上，轴向打包小车上部设置有工作台，用于放置已轴向打包好的石墨电极成品。
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