CN111805005A - Connecting rod deburring method and device - Google Patents
Connecting rod deburring method and device Download PDFInfo
- Publication number
- CN111805005A CN111805005A CN202010799410.2A CN202010799410A CN111805005A CN 111805005 A CN111805005 A CN 111805005A CN 202010799410 A CN202010799410 A CN 202010799410A CN 111805005 A CN111805005 A CN 111805005A
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- connecting rod
- robot
- paw
- grabbing
- deburring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
- B23D79/02—Machines or devices for scraping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/08—Work-clamping means other than mechanically-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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- Mechanical Engineering (AREA)
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- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a connecting rod deburring method and a device thereof, which comprise a grabbing system, an alignment system, a photographing identification system, a scraping system and a turning system; the grabbing system is provided with a robot body, a clamping paw and a centering paw are arranged on the robot body, the aligning system is provided with an aligning platform, the photographing recognition system is provided with a visual camera, and the scraping system is provided with a floating cutter; the grabbing system is used for grabbing and placing the connecting rod, the aligning system is used for guaranteeing that the end face of the connecting rod is parallel to a preset plane of the photographing recognition system, the scraping system is used for scraping burrs of the connecting rod, and the overturning system is used for overturning so as to grab and process the other side of the connecting rod again. The fine burr after it has solved current connecting rod finish machining adopts the manual work to get rid of and occupies that the workman volume is big, intensity of labour is big, the processing cost is high, inefficiency, quality can not obtain the technical problem of guarantee. The method can be widely applied to the burr removing process of the rod-shaped part after finish machining.
Description
Technical Field
The invention relates to a connecting rod machining method and a connecting rod machining device, in particular to a connecting rod deburring method and a connecting rod deburring device.
Background
After a connecting rod workpiece in the internal combustion engine is subjected to the final finish machining process of a machine tool, two end faces of the big end and the small end of the connecting rod and the edge of a bearing bush hole can generate very fine burrs due to cutting of a cutter, and fine burrs generated by grinding are also arranged at the intersection of the two end faces and a blank face formed by forging and pressing the workpiece. If the burrs are not effectively removed, the burrs fall off in the high-speed working process of the internal combustion engine, and the generated metal particles can cause fatal damage to a lubricating oil film, so that the service life of the internal combustion engine is seriously influenced. This burr is got rid of if adopting traditional rotatory cutter chamfer to produce the secondary burr on the contrary, and the volume of secondary burr may be bigger. And because each surface of the connecting rod workpiece is finished with the final finish machining process, each finish machining end face and the inner hole are not allowed to have indentation and scab, the finish machining surface is used on a machine tool to clamp and position the workpiece, and then the chamfering process is carried out, so that the finish machining surface is extremely easy to damage.
At present, such fine burrs are basically removed manually in a connecting rod production line, workers use a high-hardness blade to manually scrape the end face and the inner hole edge after finish machining, and the fine burrs and the micro chamfer are removed in the scraping process, so that the surface after finish machining is not damaged, and secondary burrs are not generated. However, the process occupies a large number of workers, the scraping force is unstable after the workers work for a long time, the burr removing effect is fluctuated greatly, the error of the chamfer angle is inaccurate and large, or the processing is missed, the product yield is seriously influenced, the production cost is increased, meanwhile, after the workers work for a long time, occupational diseases such as wrist strain and the like easily occur, and the defects of the process are more obvious under the social environment that the current enterprises are difficult to recruit workers and the enterprises pay more attention to the health and the welfare of the workers.
Disclosure of Invention
The invention provides a connecting rod deburring method and a device thereof, which do not need a large amount of manual work, have high processing efficiency and reliable quality and have lower processing cost, aiming at the technical problems that the manual removal of fine burrs after the finish machining of the existing connecting rod occupies a large amount of workers, has high labor intensity, high processing cost, low efficiency and can not ensure the quality.
Therefore, the technical scheme of the invention is that the connecting rod deburring device is provided with a grabbing system, an alignment system, a photographing identification system, a scraping system and a turning system; the grabbing system is provided with a robot body, a clamping paw and a centering paw are arranged on the robot body, the aligning system is provided with an aligning platform, the photographing recognition system is provided with a visual camera, and the scraping system is provided with a floating cutter;
the grabbing system is used for grabbing and placing the connecting rod, the aligning system is used for guaranteeing that the end face of the connecting rod is parallel to a preset plane of the photographing recognition system, the scraping system is used for scraping burrs of the connecting rod, and the overturning system is used for overturning so as to grab and process the other side of the connecting rod again.
Preferably, the gripping paw and the centering paw are both pneumatic paws.
Preferably, the clamping paw is a two-finger paw, and the centering paw is a three-finger centering paw.
Preferably, the robot is a multi-degree-of-freedom joint robot, and brass patches are arranged on the surfaces of the fingers of the clamping paw and the centering paw, which are in contact with the connecting rod.
Preferably, be equipped with the vision camera and mend the worn-out fur on the vision camera, be equipped with integrated seat on the vision camera, vision camera and floating tool all install on integrated seat.
Preferably, the turnover system can turn the connecting rod by 180 degrees.
Preferably, the turnover system is provided with a first support, the first support is provided with an advancing platform and a lifting platform, the lifting platform is provided with a turnover cylinder, the turnover cylinder is provided with a turnover paw, the turnover system is further provided with a second support, the second support is provided with a tray, and the tray is provided with a pushing cylinder.
A connecting rod deburring method comprises the following steps:
(1) the front end of the robot is provided with a two-finger paw and a three-finger centering paw, and the two-finger paw and the three-finger centering paw are used for grabbing connecting rod incoming materials of an upstream production line;
(2) the robot places the connecting rod on a calibrated righting platform and then carries out secondary grabbing;
(3) the robot carries a connecting rod to enable the surface to be processed of the connecting rod to face a vision camera, the vision camera is used for shooting and recognizing the contour of the connecting rod to be scraped, and the recognition result is used for correcting the running track of the robot;
(4) after the photographing is finished, the robot carries the connecting rod to be close to the floating cutter, and the robot presses the edge to be scraped against the edge part of the floating cutter;
(5) the robot carries a workpiece to move relative to the cutter to a specific processing track, so that chamfering and deburring processing of the edge of the surface is completed;
(6) the robot carries the connecting rod and places the connecting rod on the turnover system, the turnover system turns over the connecting rod to enable the connecting rod to turn over for 180 degrees, and the other surface of the connecting rod, which is not chamfered and deburred, faces the outward direction captured by the robot paw;
(7) and (5) repeating the steps (3) and (4) in sequence, then putting the robot carrying the connecting rod into a downstream logistics line, and carrying out the next working cycle by the robot.
Preferably, fingers of three-finger central paw stretch into the inner hole of the big end of the connecting rod, and the two-finger paw clamps the outer surface of the blank of the small end of the connecting rod.
Preferably, the overturning system adopts a multi-station overturning platform, and the robot directly grabs the overturned connecting rod after carrying the connecting rod and placing the connecting rod on the overturning system, and then the step (3) is carried out.
The beneficial effects of the invention are that,
(1) because the robot and the pneumatic paw are adopted, and the contact part of the fingers of the pneumatic paw and the connecting rod is provided with the brass paster, the high-strength operation of manual carrying can be avoided, and the surface of the connecting rod after finish machining can be prevented from being damaged;
(2) the alignment system is arranged, so that the problems of inaccurate positioning reference and unstable posture of the connecting rod in an upstream automatic or artificial logistics line can be solved, the end face of the connecting rod is possibly not parallel to the photographing recognition system after the robot grips for the first time, the robot places the connecting rod on a calibrated alignment platform, and grips for the second time to ensure that the end face of the connecting rod is parallel to the photographing recognition system;
(3) the photographing recognition system adopts a vision camera to photograph and recognize the contour of the connecting rod needing to be scraped, and the recognition result is used for correcting the running track of the robot to obtain a chamfer with accurate angle and good consistency;
(4) the scraping system adopts a floating tool, the robot carries a connecting rod to be close to the floating tool, the robot presses the edge to be scraped against the edge part of the floating tool, the tool is inclined by a certain angle after being pressed, so that the processing of a chamfer with a specific angle is realized, and the robot carries a workpiece to move relative to the tool to a specific track, so that the chamfer deburring processing of the edge of the surface is completed;
(5) the turnover system can realize 180-degree turnover of the connecting rod, the connecting rod is turned over after one surface is processed, the robot continues to grab the connecting rod for processing the next surface, the robot can also directly grab the turned connecting rod on the multi-station turnover platform for processing the next surface, waiting is not needed, and the processing efficiency can be greatly improved;
(7) the device integrated level is high, and area is little, can adapt to the production line of different degree of automation, and the producer of being convenient for reforms transform current production line, reforms transform with low costsly, and the burr is got rid of efficiently, and the precision is good, has replaced the operation of artifical burring, reduces intensity of labour, can not shut down the processing in 24 hours, and the rejection rate reduces, has improved the overall efficiency of connecting rod processing, and the quality has obtained the guarantee, and is applicable in big batch processing.
Drawings
FIG. 1 is a schematic layout of a link deburring apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an attitude righting operation of a connecting rod workpiece according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the action of the link photographing identification system according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of link floating tool scraping according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a link flipping system according to an embodiment of the present invention.
The symbols in the drawings illustrate that:
1. a robot main body; 2. two-finger paw; 3. three fingers are used for centering the paw; 4. a righting platform; 5. turning over the air cylinder; 6. a forward platform; 7. lifting the platform; 8. turning over the paw; 9. a push cylinder; 10. a tray; 11. a first bracket; 12. a second bracket; 13. a floating cutter; 14. a vision camera light compensation plate; 15. a vision camera; 16. an integrated seat.
Detailed Description
The present invention will be further described with reference to the following examples.
As shown in fig. 1, a connecting rod deburring device comprises a grabbing system, an alignment system, a photographing and recognizing system, a scraping system and a turning system; the system can be integrated in the existing automatic production line, the grabbing system can be arranged at the central position during installation layout, the photographing identification system and the scraping system are installed together, the aligning system, the photographing identification system (scraping system) and the overturning system are sequentially installed around the grabbing system, transmission operation among all processes is facilitated, machining efficiency can be improved, the installation position of all systems can be determined according to actual space layout, and the effects of saving space and reducing transformation cost are achieved.
The grabbing system is provided with a robot body 1, a clamping paw and a centering paw are arranged on the robot body 1, and the robot body 1 is a multi-freedom-degree six-axis joint robot. In order to protect the finish machining surface of the connecting rod and meet the positioning requirement, the finish machining surface of the inner hole of the big end is more difficult to damage because the inner hole of the big end of the connecting rod is not provided with a brass shaft sleeve relative to the inner hole of the small end, and therefore the cylindrical surface of the inner hole of the big end is used as a positioning surface.
The clamping paw at the front end of the robot body 1 is a two-finger paw 2, the centering paw is a three-finger centering paw 3, the surfaces of fingers contacting with the connecting rod are respectively provided with a brass patch, the fingers of the three-finger centering paw 3 stretch into the inner cylindrical surface of the supporting hole in the large-head end inner hole, the two-finger paw 2 clamps the outer cylindrical surface of the blank of the small-head end of the connecting rod, the clamping paw and the centering paw are pneumatic paws, the robot paw is adopted to grab the connecting rod, high-strength operation of manual carrying can be avoided, and the surface of the connecting rod after finish machining can be prevented from being damaged.
As shown in fig. 2, the alignment system is provided with an alignment platform 4 for setting the attitude and height of a workpiece, and can solve the problems of inaccurate positioning reference and unstable attitude of a connecting rod in an upstream automatic or artificial logistics line, after the robot grabs for the first time, the end face of the connecting rod may not be parallel to the photographing recognition system, the robot places the connecting rod on the calibrated alignment platform 4, and then grabs for the second time, so that the end face of the connecting rod is ensured to be parallel to a preset plane of the photographing recognition system.
As shown in fig. 3, the photo identification system is provided with a vision camera 15, a vision camera light supplement board 14 is arranged on the vision camera 15, and the vision camera 15 is installed on the integration seat 16. The photographing recognition system adopts the vision camera 15 to photograph and recognize the contour of the connecting rod needing to be scraped, and the recognition result is used for correcting the running track of the robot body 1 so as to obtain a chamfer with accurate angle and good consistency.
As shown in fig. 4, the scraping system adopts a floating tool 13, the floating tool 13 is mounted on an integrated base 16, a robot carries a connecting rod to be close to the floating tool 13, the robot presses an edge to be scraped against the edge part of the floating tool 13, the tool is inclined by a certain angle after being pressed, so that the processing of a chamfer with a specific angle is realized, the pressing force of the tool is adjusted by a radial constant-force floating mechanism of a main shaft of the floating tool, and the robot carries a workpiece to move relative to the tool with a specific track, so that the chamfer deburring processing of the edge of the surface is completed.
As shown in fig. 5, the turnover system is provided with a first support 11, the first support 11 is provided with an advancing platform 6 and a lifting platform 7, the lifting platform 7 is provided with a turnover cylinder 5, the turnover cylinder 5 is provided with a turnover paw 8, the turnover system is further provided with a second support 12, the second support 12 is provided with a tray 10, the tray 10 is provided with a push cylinder 9, the turnover system can turn the connecting rod 180 degrees, the connecting rod is turned over after the connecting rod is processed, the robot continues to grab the connecting rod for processing the next surface, the robot can also directly grab the turned connecting rod on the multi-station turnover platform for processing the next surface, waiting is not needed, and the processing efficiency can be greatly improved.
A connecting rod deburring method comprises the following steps:
(1) the front end of the robot body 1 is provided with a two-finger paw 2 and a three-finger centering paw 3 for grabbing connecting rod incoming materials of an upstream production line;
(2) the robot places the connecting rod on the calibrated righting platform 4 and then carries out secondary grabbing;
(3) the robot carries a connecting rod to enable the surface to be processed of the connecting rod to face a vision camera 15, the vision camera 15 is used for shooting and recognizing the contour of the connecting rod to be scraped, and the recognition result is used for correcting the running track of the robot;
(4) after the photographing is finished, the robot carries a connecting rod to be close to the floating cutter 13, and the robot presses the edge to be scraped against the edge part of the floating cutter 13;
(5) the robot carries the workpiece to move a specific processing track relative to the floating tool 13, so that the chamfering and deburring processing of the edge of the surface is completed;
(6) the robot carries the connecting rod and places the connecting rod on the turnover system, the turnover system turns over the connecting rod to enable the connecting rod to turn over for 180 degrees, and the other surface of the connecting rod, which is not chamfered and deburred, faces the outward direction captured by the robot paw;
(7) and (4) repeating the steps (3) and (4) in sequence, after the two surfaces of the connecting rod are processed, putting the robot carrying the connecting rod into a downstream logistics line or a material stacking tray, and carrying out the next working cycle by the robot.
The device can realize and replace the precision and the efficiency of multi-axis linkage lathe and automatic frock in traditional automation to improve the precision of cutter orbit, played good protection to the finish machined surface of work piece simultaneously. The device integrated level is high, and area is little, can adapt to the production line of different degree of automation, and the producer of being convenient for reforms transform current production line, reforms transform with low costsly, and the burr is got rid of efficiently, and the precision is good, has replaced the operation of artifical burring, reduces intensity of labour, can not shut down the processing in 24 hours, and the rejection rate reduces, has improved the overall efficiency of connecting rod processing, and the quality has obtained the guarantee, and is applicable in big batch processing.
However, the above description is only exemplary of the present invention, and the scope of the present invention should not be limited thereby, and the replacement of the equivalent components or the equivalent changes and modifications made according to the protection scope of the present invention should be covered by the claims of the present invention.
Claims (10)
1. A connecting rod deburring device is characterized by comprising a grabbing system, an alignment system, a photographing and recognizing system, a scraping system and a turning system; the grabbing system is provided with a robot body, the robot body is provided with a clamping paw and a centering paw, the aligning system is provided with an aligning platform, the photographing recognition system is provided with a visual camera, and the scraping system is provided with a floating cutter;
the grabbing system is used for grabbing and placing the connecting rod, the aligning system is used for guaranteeing that the end face of the connecting rod is parallel to the preset plane of the photographing identification system, the scraping system is used for scraping burrs of the connecting rod, and the overturning system is used for overturning the connecting rod so as to grab the other side of the connecting rod again for processing.
2. The link deburring apparatus of claim 1 wherein said gripping and centering jaws are pneumatic jaws.
3. The link deburring apparatus of claim 2 wherein said gripping paw is a two finger paw and said centering paw is a three finger centering paw.
4. The connecting rod deburring apparatus as claimed in claim 1, wherein said robot is a multi-degree-of-freedom articulated robot, and surfaces of said gripping claw and said centering claw, which are in contact with the connecting rod, are provided with brass patches.
5. The connecting rod deburring device of claim 1 wherein the vision camera is provided with a vision camera light compensating plate, the vision camera is provided with an integrated base, and the vision camera and the floating cutter are both mounted on the integrated base.
6. The link deburring apparatus of claim 1 wherein said flipping system flips the link 180 degrees.
7. The connecting rod deburring device as claimed in claim 1, wherein the turning system is provided with a first support, the first support is provided with a forward platform and a lifting platform, the lifting platform is provided with a turning cylinder, the turning cylinder is provided with a turning paw, the turning system is further provided with a second support, the second support is provided with a tray, and the tray is provided with a pushing cylinder.
8. A connecting rod deburring method using the apparatus of any one of claims 1 to 6 characterized by the steps of:
(1) the front end of the robot is provided with a two-finger paw and a three-finger centering paw, and the two-finger paw and the three-finger centering paw are used for grabbing connecting rod incoming materials of an upstream production line;
(2) the robot places the connecting rod on a calibrated righting platform and then carries out secondary grabbing;
(3) the robot carries a connecting rod to enable the surface to be processed of the connecting rod to face a vision camera, the vision camera is used for shooting and recognizing the contour of the connecting rod to be scraped, and the recognition result is used for correcting the running track of the robot;
(4) after the photographing is finished, the robot carries a connecting rod to be close to the floating cutter, and the robot presses the edge to be scraped against the edge part of the floating cutter;
(5) the robot carries a workpiece to move a specific processing track relative to the floating cutter, so that chamfering and deburring processing of the edge of the surface is completed;
(6) the robot carries a connecting rod and places the connecting rod on a turnover system, the turnover system turns over the connecting rod to enable the connecting rod to turn over for 180 degrees, and the other surface of the connecting rod, which is not chamfered and deburred, faces the outward direction captured by the robot paw;
(7) and (5) repeating the steps (3) and (4) in sequence, then putting the robot carrying the connecting rod into a downstream logistics line, and carrying out the next working cycle by the robot.
9. The connecting rod deburring method of claim 7 wherein said three finger centering fingers are inserted into the connecting rod big end bore and said two finger fingers grip the connecting rod small end blank outer surface.
10. The connecting rod deburring method as claimed in claim 7, wherein the turning system adopts a multi-station turning platform, and the robot directly grabs the turned connecting rod after placing the connecting rod on the turning system and enters the step (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010799410.2A CN111805005A (en) | 2020-08-11 | 2020-08-11 | Connecting rod deburring method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010799410.2A CN111805005A (en) | 2020-08-11 | 2020-08-11 | Connecting rod deburring method and device |
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| Publication Number | Publication Date |
|---|---|
| CN111805005A true CN111805005A (en) | 2020-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010799410.2A Pending CN111805005A (en) | 2020-08-11 | 2020-08-11 | Connecting rod deburring method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828892A (en) * | 2021-01-22 | 2021-05-25 | 熵智科技(深圳)有限公司 | Workpiece grabbing method and device, computer equipment and storage medium |
-
2020
- 2020-08-11 CN CN202010799410.2A patent/CN111805005A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828892A (en) * | 2021-01-22 | 2021-05-25 | 熵智科技(深圳)有限公司 | Workpiece grabbing method and device, computer equipment and storage medium |
| CN112828892B (en) * | 2021-01-22 | 2022-04-26 | 熵智科技(深圳)有限公司 | Workpiece grabbing method and device, computer equipment and storage medium |
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