CN113210747A

CN113210747A - Inner chamfer machining robot for cylindrical parts

Info

Publication number: CN113210747A
Application number: CN202110599263.9A
Authority: CN
Inventors: 王荣娟
Original assignee: Binzhou University
Current assignee: Binzhou University
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2021-08-06
Anticipated expiration: 2041-05-31
Also published as: CN113210747B

Abstract

The invention provides an inner chamfer machining robot for a cylindrical part, which comprises: a mounting plate horizontally placed; a rotating disk rotatable along a vertical axis and located directly above the mounting plate; the feeding assembly is positioned at the feeding station and used for feeding the cylindrical part; the first chamfering assembly and the second chamfering assembly are respectively positioned at the first chamfering station and the second chamfering station and are supported on the mounting plate; the detection assembly is positioned at the detection station, supported on the mounting plate and used for detecting the cylindrical part subjected to chamfering so as to judge whether the chamfering is qualified or not; the first blanking assembly and the second blanking assembly are respectively positioned at the first blanking station and the second blanking station and are respectively used for blanking the cylindrical parts with qualified and unqualified chamfers; the feeding station, the first chamfering station, the second chamfering station, the detection station, the first blanking station and the second blanking station are arranged at equal angles relative to the rotation axis of the rotating disc. The robot can realize full-automatic inner chamfering of the cylindrical parts.

Description

Inner chamfer machining robot for cylindrical parts

Technical Field

The invention relates to the field of cylindrical part processing equipment, in particular to an inner chamfer processing robot for cylindrical parts.

Background

The red light pen is also called as a light pen, a pen type red light source, a visible light detection pen, an optical fiber fault detector, an optical fiber fault locator and the like, is mostly used for detecting optical fiber breakpoints and is divided into the following parts according to the shortest detection distance: 5Km, 10Km, 15Km, 20Km, 25Km, 30Km, 35Km, 40Km, and the like. The stable red light is emitted by the constant current source, and is connected with the optical interface to enter the optical fiber, so that the function of detecting the optical fiber fault is realized. Fig. 1 is an axial sectional view of a pen point of a light pen in the prior art, the pen point of the red light pen comprises a connecting cylinder a1 and a mounting cylinder a2, and the processing of an inner chamfer at an inlet end of the mounting cylinder a2 is the most critical factor influencing the production efficiency and price of the products. The inlet end of the mounting cylinder A2 is used as a plugging part of the ceramic ferrule, the sizes of chamfers are generally required to be consistent, and the transition part of the chamfers and an inner hole does not have any burr sharp angle.

When the pen point of the red light pen is machined at present, a small-sized desktop lathe is used for chamfering in a manual clamping mode. The efficiency is extremely low, the processing precision is poor, the reliability is poor, the surface burrs are generated, and the quality is poor.

Disclosure of Invention

In order to solve the technical problems, the invention provides an inner chamfering robot for a cylindrical part, which can realize full-automatic inner chamfering of the cylindrical part.

In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:

the utility model provides an interior chamfer processing machine people of tube-shape part, the tube-shape part includes first barrel and second barrel, first barrel and the coaxial setting of second barrel, the one end of second barrel is connected with the one end of first barrel, and the external diameter of second barrel is greater than the external diameter of first barrel, its characterized in that, the robot includes:

a mounting plate horizontally placed;

a rotating disk rotatable along a vertical axis and located directly above the mounting plate;

the feeding assembly is positioned at the feeding station and used for feeding the cylindrical part;

the first chamfering assembly and the second chamfering assembly are respectively positioned at the first chamfering station and the second chamfering station and are supported on the mounting plate;

the detection assembly is positioned at the detection station, supported on the mounting plate and used for detecting the cylindrical part subjected to chamfering so as to judge whether the chamfering is qualified or not;

the first blanking assembly and the second blanking assembly are respectively positioned at the first blanking station and the second blanking station and are respectively used for blanking the cylindrical parts with qualified and unqualified chamfers;

the feeding station, the first chamfering station, the second chamfering station, the detection station, the first blanking station and the second blanking station are arranged at equal angles relative to the rotation axis of the rotating disc.

Preferably, the device further comprises a fixing structure for fixing the cylindrical part to the rotating disc and rotating along with the rotating disc, wherein the fixing structure comprises:

the rotating disc is positioned in the limiting ring, and the rotating disc and the limiting ring are coaxially arranged;

six semicircular groove, six the semicircular groove sets up the edge of rotary disk and the equiangular setting of the axis of relative rotary disk, the axis of every semicircular groove is on a parallel with the axis of rotary disk, when observing along the axis direction of rotary disk, the opening of semicircular groove faces the spacing collar, the diameter of semicircular groove equals the external diameter of first barrel.

Preferably, the rotary disk distance the height of mounting panel is greater than the height of second barrel the position department that leans on down of the inner circle of spacing collar is provided with dodges the annular, works as the tube-shape part is pushed in during the semi-circular slot, a part of second barrel is located dodge in the annular the lower surface of rotary disk and the position department corresponding to every semi-circular slot are provided with the stopper, the stopper towards one side of spacing collar is the arcwall face, the arcwall face with the outer fringe of second barrel is identical, works as when first barrel enters into the semi-circular slot, the second barrel supports and leans on the arcwall face of stopper.

Preferably, the first chamfering assembly and the second chamfering assembly are fixed on the same sliding plate, the sliding plate is supported on the first vertical plate in a vertically movable mode, the first vertical plate is supported on the mounting plate, the first chamfering assembly is provided with a rough grinding head, and the second chamfering assembly is provided with a fine grinding head.

Preferably, the first chamfering station and the second chamfering station are respectively provided with a three-jaw chuck, the axis of the three-jaw chuck is parallel to the axis of the rotating disc, the axis of the three-jaw chuck is collinear with the axis of the cylindrical part on the corresponding chamfering station, the jaws of the three-jaw chuck are arranged upwards, the mounting plate is provided with strip-shaped holes at positions corresponding to the jaws, the jaws are inserted into the corresponding strip-shaped holes, the extending direction of the strip-shaped holes is parallel to the moving direction of the jaws inserted into the mounting plate, and the height of the upper ends of the jaws is lower than that of the rotating disc.

Preferably, the detection assembly comprises:

the second vertical plate is arranged at the detection station of the mounting plate;

the fixed cylinder is arranged on the second vertical plate in a vertically movable manner;

the distance measuring sensor is arranged at the top end of the fixed cylinder, is positioned on the axis of the fixed cylinder and detects downwards;

the detection ball is hung below the fixed cylinder, the center of the detection ball is located on the axis of the fixed cylinder, the detection ball can move up and down relative to the fixed cylinder, and the distance measurement sensor judges whether the chamfer is qualified or not by detecting the distance between the detection ball and the detection ball.

Preferably, the upper side of the detection ball is provided with a detection rod, the upper end of the detection rod penetrates through the lower end of the fixed cylinder, the upper end of the detection rod is provided with a sliding ring, the sliding ring can move up and down relative to the fixed cylinder, a spring is arranged in the fixed cylinder, the upper end of the spring is abutted against the top end of the fixed cylinder, and the lower end of the spring is abutted against the sliding ring and is always in a compressed state.

Preferably, correspond to on the mounting panel first unloading station and second unloading station department all are provided with the blanking mouth, the extending direction of blanking mouth all passes the axis of rotary disk, and a part of blanking mouth is located on the moving path of tube-shape part, work as the tube-shape part removes when blanking mouth department, the tube-shape part can be followed the blanking mouth falls down.

Preferably, the first blanking assembly and the second blanking assembly each include:

the blanking block is positioned in the corresponding blanking port and can move back and forth relative to the extending direction of the blanking port, and the upper surface of the blanking block is aligned with the upper surface of the mounting plate so as to be capable of moving to or away from the moving path of the cylindrical part;

the sliding seat is arranged on the lower surface of the mounting plate, a blanking cylinder is arranged on the sliding seat, a cylinder rod of the blanking cylinder extends along the extending direction of the blanking port correspondingly, and the free end of the cylinder rod is connected with the corresponding blanking block.

The invention also provides an inner chamfer processing method of the cylindrical part, and the robot is adopted, and the method specifically comprises the following steps:

the method comprises the following steps: the feeding assembly feeds the cylindrical part, and the fed cylindrical part enters the semicircular groove;

step two: the cylindrical part entering the semicircular groove rotates to a first chamfering station along with the rotating disc;

step three: the first chamfering component moves downwards to perform rough chamfering on the cylindrical part positioned at the first chamfering station;

step four: the cylindrical part which completes the coarse chamfering rotates to a second chamfering station along with the rotating disc;

step five: the second chamfering assembly moves downwards to perform fine chamfering on the cylindrical part located at the second chamfering station;

step six: the cylindrical part which finishes the fine chamfering rotates to a detection station along with the rotating disc;

step seven: the detection ball moves downwards for a preset distance, the distance between the detection ball and the sliding ring is obtained by the distance measuring sensor, and whether the chamfer is qualified or not is judged according to the distance;

step eight: the detected cylindrical part is rotated to a first blanking station or a second blanking station along with the rotating disc to carry out blanking;

wherein, the first step, the third step, the fifth step, the seventh step and the eighth step can be carried out simultaneously, and the second step, the fourth step, the sixth step and the eighth step can be carried out simultaneously.

Compared with the prior art, the invention has the following beneficial effects:

1) the full-automatic chamfering machine can realize full-automatic chamfering of the cylindrical part without manual participation;

2) according to the invention, the chamfer can be detected after chamfering, and blanking is carried out according to the detection result so as to realize classification.

Drawings

FIG. 1 is an axial cross-sectional view of a stainless steel part;

FIG. 2 is a perspective view of the present invention;

FIG. 3 is a side view of the present invention;

FIG. 4 is a top view of the present invention;

FIG. 5 is a cross-sectional view at section B-B of FIG. 4;

FIG. 6 is a view of the rotary disk of FIG. 2 with the rotary disk removed;

FIG. 7 is a block diagram of a rotary disk;

FIG. 8 is a perspective view of a first triaxial positioner of the present invention;

fig. 9 is a perspective view of a first shutter of the present invention;

FIG. 10 is a perspective view of a duplex down-comer machine of the present invention;

fig. 11 is a partial enlarged view of fig. 5 at D.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.

As shown in fig. 1, the cylindrical part includes a first cylinder 101 and a second cylinder 102, the first cylinder 101 and the second cylinder 102 are coaxially disposed, one end of the second cylinder 102 is connected to one end of the first cylinder 101, and the outer diameter of the second cylinder 102 is larger than that of the first cylinder 101.

Referring to fig. 2-11, an inner chamfering processing robot for cylindrical parts comprises a horizontally arranged mounting plate 1, a rotating disk 1b which is rotatable along a vertical axis and is positioned directly above the mounting plate 1, a feeding assembly 2 which is positioned at a feeding station and is used for feeding the cylindrical parts, a first chamfering assembly 31 which is positioned at a first chamfering station and is supported on the mounting plate 1, a second chamfering assembly 32 which is positioned at a second chamfering station and is supported on the mounting plate 1, a detection assembly 4 which is positioned at a detection station and is supported on the mounting plate 1, and a discharging assembly which is positioned at a discharging station. First chamfer subassembly 31 is used for carrying out thick chamfer to the upper end of tube-shape part, and second chamfer subassembly 41 is used for carrying out the smart chamfer to the upper end of the tube-shape part through thick chamfer, and detection component 4 is used for detecting the precision of the chamfer of the tube-shape part through the smart chamfer. The blanking station comprises a first blanking station and a second blanking station, the blanking assembly comprises a first blanking assembly 5 located at the first blanking station and a second blanking assembly 6 located at the second blanking station, the feeding station, the first chamfering station, the second chamfering station, the detection station, the first blanking station and the second blanking station are arranged at equal angles relative to the rotation axis of the rotary disk 1b, the rotary disk 1b rotates for a set angle every time, after the cylindrical part is fed from the feeding station, the rotary disk 1b drives the cylindrical part to sequentially pass through the first chamfering station, the second chamfering station and the detection station, and the cylindrical part is blanked at the first blanking station or the second blanking station according to the result detected by the detection assembly 4.

The feeding assembly 2 adopts a vibration disk 21 and a vibration guide rail 22 in the prior art.

The robot further comprises a fixing structure for fixing the cylindrical part to the rotating disk 1b and rotating together with the rotating disk 1 b.

The fixed knot constructs including installing spacing collar 1c on the upper surface of mounting panel 1, rotary disk 1b is located spacing collar 1c is interior and both coaxial settings. The fixing structure further comprises six semicircular grooves 1b1, six semicircular grooves 1b1 are arranged at the edge of the rotating disk 1b, the axis of the rotating disk 1b is arranged at equal angles, the axis of each semicircular groove 1b1 is parallel to the axis of the rotating disk 1b, the opening of each semicircular groove 1b1 faces a direction departing from the axis of the rotating disk 1b1 when viewed along the axis direction of the rotating disk 1b, and the diameter of each semicircular groove 1b1 is equal to the outer diameter of the first cylinder 101 so that the first cylinder 101 can enter the semicircular grooves 1b 1.

Further, the distance between the edge of the rotating disc 1b and the inner ring of the stop collar 1c is equal to half of the outer diameter of the first through body 101, so that after the first cylinder 101 enters the semicircular groove 1b1, the first cylinder 101 can rotate along with the rotating disc 1b and one side of the first cylinder 101 abuts against the groove wall of the semicircular groove 1b1, the other side of the first cylinder 101 abuts against the inner side wall of the stop collar 10, and a part of the first cylinder 101 is stopped in the semicircular groove 1b 1.

The height of the rotating disk 1b from the mounting plate 1 is slightly greater than the height of the second cylinder 102, so that the interference of the second cylinder 102 with the rotating disk 1b can be avoided. Further, in order to avoid interference of the second cylinder 102 with the retainer ring 1c during rotation following the rotating disk 1b, an escape ring groove 1c2 is provided at a position below the inner ring of the retainer ring 1c, and when the cylindrical member is pushed into the semicircular groove 1b1, a part of the second cylinder 102 is located in the escape ring groove 1c 2.

A limit block 1b2 is arranged on the lower surface of the rotating disc 1b and at a position corresponding to each semi-circular groove 1b1, one side of the limit block 1b2 facing the limit ring 10 is an arc-shaped surface, the arc-shaped surface is matched with the outer edge of the second cylinder 102, and when the first cylinder 101 enters the semi-circular groove 1b1, the second cylinder 102 abuts against the arc-shaped surface of the limit block 1b 2.

Further, stoppers 1b3 are disposed on both sides of the opening of each semicircular groove 1b1, the stoppers 1b3 are disposed on the rotating disc 1b and extend between the rotating disc 1b and the stop collar 10, and the distance between the stoppers 1b3 on both sides of the same semicircular groove 1b1 is equal to or slightly greater than the outer diameter of the first cylinder 101.

Further, a feeding hole 1c1 is formed in the position, corresponding to the vibration guide rail 22, of the limiting ring 10, the semicircular groove 1b1 is aligned with the feeding hole 1c1 in sequence, and when the semi-circular groove 1b1 is aligned, cylindrical parts enter the semicircular groove 1b1 to achieve feeding.

First chamfer subassembly 31 and second chamfer group 31 all can support with reciprocating on the mounting panel 1, first chamfer subassembly 31 includes rough grinding head 3a, second chamfer subassembly 32 includes smart bistrique 3b, works as the tube-shape part moves during first chamfer station and second chamfer station, and first chamfer subassembly 31 and second chamfer subassembly 32 move down, carry out rough chamfer and smart chamfer respectively to the inner wall of the upper end of first barrel 101. The working principle of the first chamfering assembly 31 and the working principle of the second chamfering assembly 32 are the same, and the prior art is adopted.

Further, the first chamfering unit 31 and the second chamfering unit 32 are fixed to the same sliding plate 3d, the sliding plate 3d is supported on the first vertical plate 3c so as to be movable up and down, and the first vertical plate 3c is supported on the mounting plate 1. Specifically, a guide rail 3e extending up and down is arranged on one side of the first vertical plate 3c facing the sliding plate 3d, a sliding block 3g is arranged on one side of the sliding plate 3d facing the first vertical plate 3c, the sliding block 3g is in sliding fit with the guide rail 3e, a telescopic cylinder 3f is arranged on one side of the first vertical plate 3c facing the sliding plate 3d, a cylinder rod of the telescopic cylinder 3f stretches up and down and is connected with the sliding plate 3d, and then the first chamfering component 31 and the second chamfering component 32 can be driven to move up and down through the stretching of the telescopic cylinder 3f, so that the rough grinding head 3a and the fine grinding head 3b can be driven to move up and down.

Three-jaw chucks 1d are further arranged at the first chamfering station and the second chamfering station respectively, the axes of the three-jaw chucks 1d are parallel to the axis of the rotating disk 1b, and the axes of the three-jaw chucks 1d are collinear with the axis of the cylindrical part on the corresponding station. The jack catch of three-jaw chuck 1d sets up the position department that corresponds the jack catch on the mounting panel 1 is provided with bar hole 1e, the jack catch inserts in the bar hole that corresponds, the extending direction in bar hole is parallel with the moving direction who inserts the jack catch wherein, the height of the upper end of jack catch is less than the height of rotary disk 1 b. When the cylindrical part moves to the first chamfering station and the second chamfering station, the corresponding three-jaw chuck 1d works to clamp the cylindrical part at the corresponding station and then starts chamfering.

The detection assembly 4 comprises a second vertical plate 4b arranged at a detection station of the mounting plate 1, a fixed cylinder 4d arranged on the second vertical plate 4b and a distance measuring sensor 4h arranged on the fixed cylinder 4d, and a detection ball 4a suspended below the fixed cylinder 4d, wherein the fixed cylinder 4d, the distance measuring sensor 4h and the detection ball 4a are vertically arranged, the center of the detection ball 4a is located on the axis of a cylindrical part at the detection station, and the detection end of the distance measuring sensor 4h is downwards detected and is located right above the detection ball 4 a. The detection value of the distance measuring sensor 4h when the accuracy is reached after the fixed cylinder 4d moves downwards for a certain distance is calibrated in advance before detection, the detection value is used as a standard detection value, the detection result of each time is compared during detection, if the difference value is within a preset range, the accuracy is satisfied, but if the difference value is not within the preset range, the accuracy is not satisfied.

Specifically, range sensor 4h sets up the upper end of solid fixed cylinder 4d the upside of detecting ball 4a is provided with detection pole 4e, the upper end of detection pole 4e is passed the lower extreme of solid fixed cylinder 4d the upper end of detection pole 4e is provided with sliding ring 4f, sliding ring 4f can reciprocate relative solid fixed cylinder 4d be provided with spring 4g in the solid fixed cylinder 4d, spring 4 g's upper end supports and leans on the top of solid fixed cylinder 4d, spring 4 g's lower extreme supports and leans on sliding ring 4f just spring 4g is in the state that is compressed all the time, can guarantee the stability of sliding ring 4f like this, and random emergence is rocked can not. Further, a plurality of limiting strips 4f1 extending up and down are arranged on the edge of the sliding ring 4f, a plurality of limiting grooves 4d1 extending up and down are arranged on the inner side wall of the fixed cylinder 4d, and the limiting strips 4f1 are matched with the limiting grooves 4d1 to ensure the stability of the sliding ring 4f during up and down movement.

Further, the three-jaw chuck 1d is also arranged at the detection station and used for fixing the cylindrical part positioned at the detection station during detection. The arrangement form of the three-jaw chuck 1d is completely the same as that of the three-jaw chuck 1d at the first chamfering station and the second chamfering station.

The first blanking assembly 5 and the second blanking assembly 6 are used for blanking qualified products and unqualified products respectively, specifically, which one of the first blanking assembly 5 and the second blanking assembly 6 is used for blanking qualified products and which one of the second blanking assembly 6 is used for blanking unqualified products can be determined according to actual conditions, and the first blanking assembly 5 and the second blanking assembly 6 are identical in structure.

Correspond on the mounting panel 1 first unloading station and second unloading station department all are provided with blanking mouth 1a1, the extending direction of blanking mouth 1a1 all passes the axis of rotary disk 1b, and a part of blanking mouth 1a1 is located on the removal route of tube-shape part, work as the tube-shape part moves to when blanking mouth 1a1 department, the tube-shape part can be followed blanking mouth 1a1 falls, and then realizes the unloading.

First unloading subassembly 5 and second unloading subassembly 6 all include blanking piece 1g2, the upper surface of blanking piece 1g2 with the upper surface of mounting panel 1 aligns, blanking piece 1g2 be located the correspondence in blanking mouth 1a1 and can be relative the extending direction round trip movement of blanking mouth 1a1, and then can move to on the moving path of tube-shape part or from the moving path of tube-shape part in order to realize the unloading.

Specifically, the first blanking assembly 5 and the second blanking assembly 6 each further include a sliding seat 1g4 disposed on the lower surface of the mounting plate 1, a blanking cylinder 1g1 is disposed on the sliding seat 1g4, a cylinder rod of the blanking cylinder 1g1 extends along the extending direction of the corresponding blanking port 1a1, a free end of the cylinder rod is connected with the corresponding blanking block 1g2, and the control of the blanking block 1g2 can be realized by controlling the extension and retraction of the blanking cylinder 1g 1. Furthermore, guide rods 1g3 can be arranged on two sides of the blanking cylinder 1g1, one end of each guide rod 1g3 is fixedly connected with the blanking block 1g2, and the other end of each guide rod is connected with the sliding seat 1g4 in a sliding mode. Further, be provided with blanking slide 5a under every blanking mouth 1a1, blanking slide 5a slope sets up, is close to the one end of blanking mouth 1a1 is higher, and the other end is lower, is provided with blanking box 5b under lower one end, and the tube-shape part that drops falls on blanking slide 5a to enter into blanking box 5b along blanking slide 5 a.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides an interior chamfer processing machine people of tube-shape part, the tube-shape part includes first barrel and second barrel, first barrel and the coaxial setting of second barrel, the one end of second barrel is connected with the one end of first barrel, and the external diameter of second barrel is greater than the external diameter of first barrel, its characterized in that, the robot includes:

a mounting plate horizontally placed;

2. The inside chamfering robot for a cylindrical part according to claim 1, further comprising a fixing structure for fixing a cylindrical part to the rotating disk and rotating along with the rotating disk, the fixing structure comprising:

3. The inner chamfer machining robot for the cylindrical part according to claim 2, wherein the rotating disc is located at a position higher than the height of the second cylinder from the mounting plate, an avoiding ring groove is provided at a position below the inner ring of the limiting ring, when the cylindrical part is pushed into the semicircular groove, a part of the second cylinder is located in the avoiding ring groove, a limiting block is provided at a position corresponding to each semicircular groove on the lower surface of the rotating disc, one side of the limiting block facing the limiting ring is an arc-shaped surface, the arc-shaped surface is matched with the outer edge of the second cylinder, and when the first cylinder enters the semicircular groove, the second cylinder abuts against the arc-shaped surface of the limiting block.

4. The robot for chamfering an inside of a cylindrical part according to claim 1, wherein the first chamfering unit and the second chamfering unit are fixed to a same sliding plate supported on the first vertical plate movably up and down, the first vertical plate is supported on the mounting plate, the first chamfering unit has a rough grinding head, and the second chamfering unit has a fine grinding head.

5. The robot for chamfering inner corner of a cylindrical part according to claim 4, wherein three-jaw chucks are further provided at the first chamfering station and the second chamfering station, respectively, the axes of the three-jaw chucks are parallel to the axis of the rotating disk and collinear with the axis of the cylindrical part at the corresponding chamfering station, the jaws of the three-jaw chucks are arranged upward, strip-shaped holes are provided at the positions corresponding to the jaws on the mounting plate, the jaws are inserted into the corresponding strip-shaped holes, the extension direction of the strip-shaped holes is parallel to the moving direction of the jaws inserted therein, and the height of the upper ends of the jaws is lower than the height of the rotating disk.

6. The inside chamfering robot according to claim 1, wherein the detecting unit includes:

7. The robot for chamfering cylindrical parts according to claim 6, wherein a detecting rod is provided on an upper side of the detecting ball, an upper end of the detecting rod passes through a lower end of the fixed cylinder, a sliding ring is provided on an upper end of the detecting rod, the sliding ring can move up and down relative to the fixed cylinder, a spring is provided in the fixed cylinder, an upper end of the spring abuts against a top end of the fixed cylinder, a lower end of the spring abuts against the sliding ring, and the spring is always in a compressed state.

8. The robot for chamfering cylindrical parts according to claim 1, wherein a blanking opening is provided on the mounting plate corresponding to each of the first and second blanking stations, the blanking opening extends in a direction passing through an axis of the rotating disk, and a part of the blanking opening is located on a moving path of the cylindrical part, so that the cylindrical part can be dropped from the blanking opening when the cylindrical part moves to the blanking opening.

9. The inside chamfering robot according to claim 8, wherein each of the first and second blanking assemblies includes:

10. A method for chamfering a cylindrical part, which uses the robot for chamfering a cylindrical part according to claim 8, comprising the steps of: