CN205465508U - Bent axle flexible automation line based on robot - Google Patents
Bent axle flexible automation line based on robot Download PDFInfo
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- CN205465508U CN205465508U CN201620195376.7U CN201620195376U CN205465508U CN 205465508 U CN205465508 U CN 205465508U CN 201620195376 U CN201620195376 U CN 201620195376U CN 205465508 U CN205465508 U CN 205465508U
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Abstract
The utility model provides a processing method of a bent axle flexible automation line based on robot and a bent axle, bent axle flexible automation line based on robot are provided with to erect inserts formula bent axle material stock unit, times promotion of bent axle material stock quantity number, the truss feed robot and the truss unloading machine people of the formulas of grabbing set up on two independent trusss more, guarantee not produce between the robot and interfere the collision, based on above bent axle flexible automation line, the bent axle material stock volume of several times of promotions with grab formula truss feed robot more and make the bent axle work in -process remove to expect times improvement of speed number.
Description
Technical field
This utility model relates to Crankshaft Machining field, particularly relates to a kind of bent axle flexible automation line based on robot and the processing method of a kind of bent axle.
Background technology
With the accelerated development of automatic field, bent axle flexible automation line based on robot is quoted more popular in the production and processing of bent axle.Existing bent axle flexible automation line based on robot includes multiple bent axle material stock unit, lathe unit, multiple truss feed robot, multiple truss blanking robot；Bent axle material stock unit uses V-type frame chain, and bent axle is carried out horizontal material stock and transport；Multiple truss feed robots and multiple truss blanking robot share same truss track, and truss feed robot and truss blanking machine are single gripping-type per capita, a most only clamping position.
Existing bent axle flexible automation line based on robot there is problems of, and owing to bent axle material stock unit carries out horizontal material stock to bent axle, material stock floor area requirement is big, and the area of restriction can not be fully utilized, and need to often supplement material crankshaft.The truss feed robot of single gripping-type and truss blanking robot share same truss track, not only work efficiency is low, the processing of bent axle previous step is carried out complete need to be handed off to next step processing when, abnormal collision easily occurs between truss feed robot and truss blanking robot, directly affect truss and truss feed robot, the service life of truss blanking robot, and there is potential safety hazard.
Utility model content
First utility model purpose of the present utility model is for providing a kind of efficient and that safety is good bent axle flexible automation line based on robot.
The bent axle flexible automation line based on robot that this utility model provides, including bent axle material stock unit, grinding machine group, truss feed robot, truss blanking robot and bent axle detent mechanism, bent axle is transported between bent axle material stock unit, grinding machine group and bent axle detent mechanism by truss feed robot and truss blanking robot；Bent axle material stock unit includes carrier chain and driver, the chain link loopy moving on driver drives carrier chain；Bent axle is placed on carrier chain and moves with chain link；It is characterized in that: bent axle material stock unit also includes that slot plate, slot plate are fixedly connected on chain link, slot plate is provided with at least three slot of arranged, and the depth direction of slot is vertical with the rectilinear movement direction of chain link, and bent axle vertically inserts in slot；Truss feed robot is located on two truss with truss blanking robot, and truss feed robot is provided with at least three clamping position.
From such scheme, inserting in bent axle material stock unit owing to bent axle is perpendicular, every bent axle floor space several times decline, and the bent axle several times can deposited in limiting area increase, and reduce while place puts into and improve loading efficiency；The Duo Zhuashi feed robot and the blanking robot that use independent truss are prevented effectively from interference and collision between the two, extending robot service life and avoid unexpected generation, the most clamping position robots coordinate perpendicular formula bent axle material stock unit of inserting to make bent axle handling efficiency several times improve.
Further scheme is that bent axle flexible automation line based on robot also includes the first six-DOF robot and the second six-DOF robot；Grinding machine group includes at least one centerless grinder, at least one eccentric grinding machine and at least one thrust surface grinding machine；First six-DOF robot is provided with at least two first and captures position, and the first six-DOF robot is movable at eccentric grinding machine and at bent axle detent mechanism；Second six-DOF robot is provided with at least two second and captures position, and the second six-DOF robot is movable at thrust surface grinding machine and at bent axle detent mechanism.
From such scheme, the perpendicular multiple bent axles inserted are transported by bent axle material stock unit, and rear truss feeding machine device people bent axle to more than three simultaneously carries out feeding and centreless grinding is processed；After the truss blanking robot that is on different truss bent axle is taken out from centreless grinding and keep in, rear first six-DOF robot and the second six-DOF robot carry out eccentric mill and thrust surface grinder sequence the most simultaneously after capturing plural bent axle.This bent axle flexible automation line working (machining) efficiency based on robot is effectively improved, and reduces material stock area and increases feeding rate, and truss feed robot avoids interference with truss blanking robot, is effectively improved the service life of robot, improves safety simultaneously.
Further scheme is, bent axle detent mechanism includes supporting seat, driving wheel and measurement portion.Supporting seat and be provided with roller group, roller group supports the main shaft part of bent axle；Driving wheel can abut with main shaft part and make bent axle along the axis rotation of main shaft part；Measurement portion includes measuring head and measuring seat, measures head and is slidably connected with measuring seat, measures the side face that head is connected to the eccentric axial portion of bent axle, measures the sensor in seat and read the displacement data measuring head.
Therefore, when drive wheel makes crank rotation, eccentric shaft synchronous axial system makes the displacement transducer in measurement seat read the displacement measuring head, and PLC system reads sensor signal and draws the eccentric position of bent axle, and positioning precision is higher.
Further scheme is, bent axle material stock unit also includes that truss material stirring-up mechanism, truss material stirring-up mechanism include fixed part, sliding part and flip-arm, and sliding part is slidably connected with fixed part, flip-arm is rotationally connected with sliding part, and flip-arm is provided with at least three the 3rd and captures position.
Therefore, the bent axle being in upright state can be turned into accumbency by truss material stirring-up mechanism, the truss feeding machanism crawl to bent axle of being more convenient for, and optimizes the processing characteristics of bent axle flexible automation line based on robot.
Further scheme is that bent axle material stock unit also includes that bent axle slide unit, bent axle slide unit are slidably connected with fixed part, bent axle slide unit is provided with at least three first and keeps in position, and each first keeps in position puts described bent axle for sleeping；Truss feed robot moves between bent axle slide unit and centerless grinder.
Therefore, after the bent axle of setting is overturn by truss material stirring-up mechanism, first it is positioned over the first of bent axle slide unit keeps in position, in truss feed robot while bent axle slide unit feeding, bent axle material stirring-up mechanism has returned and has continued again to be taken out bent axle upset at slot plate, improves the work efficiency of bent axle flexible automation line based on robot.
Further scheme is, truss blanking robot includes blanking crawl arm and due-in district, due-in district is provided with at least three second and keeps in position, second keeps in position puts bent axle for sleeping, blanking crawl arm can move between centerless grinder and due-in district, and truss feed robot can move between due-in district and centerless grinder.
Therefore, blanking crawl arm is taken out and is temporarily stored into due-in district to bent axle machined in centerless grinder, hereafter, while due-in district inside crankshaft is taken out preparing next step processing by truss feed robot, another bent axle is taken out in being moved again to centerless grinder by blanking crawl arm, two step work synchronizations are carried out, and improve the work efficiency of bent axle flexible automation line based on robot.
Further scheme is, is provided with the first blanking transmission line, the first blanking transmission line is provided with the multiple 4th and keeps in position between centerless grinder and eccentric grinding machine, and the 4th keeps in position puts bent axle for sleeping；Truss feeding machine mechanical arm moves between due-in district and the first blanking transmission line；First six-DOF robot moves between the first blanking transmission line and bent axle detent mechanism.
Therefore, between centerless grinder and eccentric grinding machine, the first blanking transmission line is set, by truss feed robot and the first six-DOF robot, bent axle is transmitted, distance between lathe become with relative position adjustable flexibly, make between the two the transport process automation of bent axle to be improved simultaneously.
Further scheme is, is provided with the second blanking transmission line between eccentric grinding machine and thrust surface grinding machine, and the second blanking transmission line includes that portal support and multiple transport position, transport position are slidably connected with portal support, and transport position is for capturing bent axle；First six-DOF robot moves between eccentric grinding machine and the second blanking transmission line, and the second six-DOF robot moves between the second blanking transmission line and bent axle detent mechanism.
Therefore, owing to after multiple stage lathe line, production line entire length is the longest, between eccentric grinding machine and thrust surface grinding machine, it is provided with the second blanking transmission line with portal support and transmits with the first six-DOF robot and the second six-DOF robot, it is easy to staff between production line, equipment checked and monitor, improves the automaticity of bent axle flexible automation line based on robot simultaneously.
Further scheme is that bent axle flexible automation line based on robot also includes First Transition supply line and the second transition supply line；Being provided with multiple first screens on First Transition supply line, the first screens is used for placing bent axle；First six-DOF robot moves between First Transition supply line and bent axle detent mechanism；First six-DOF robot moves between eccentric grinding machine and First Transition supply line；Being provided with multiple second screens on second transition supply line, the second screens is used for placing bent axle；Second six-DOF robot moves between the second transition supply line and bent axle detent mechanism；Second six-DOF robot moves between thrust surface grinding machine and the second transition supply line.
Therefore, First Transition supply line and the second transition supply line effect are identical, as a example by First Transition supply line, after First bias grinding machine processes, bent axle is taken out and is positioned on First Transition supply line and transports by the first six-DOF robot, and bent axle is taken out from First Transition supply line by another first six-DOF robot that second eccentric grinding machine is corresponding, delivers to carry out eccentric location in detent mechanism, carry out second eccentric mill processing again, circulate like this.First Transition supply line can be avoided mutually waiting cause the first six-DOF robot cannot to be operated next workpiece owing to directly transmitting between the first six-DOF robot, reduces unnecessary time loss and improves working (machining) efficiency.
Fig. 1 is the structure chart of bent axle flexible automation line embodiment based on robot.
Fig. 2 is the structure chart at another visual angle of bent axle flexible automation line embodiment based on robot.
Fig. 3 is the enlarged drawing in Fig. 2 at A.
Fig. 4 is the enlarged drawing in Fig. 1 at B.
Fig. 5 is the enlarged drawing in Fig. 1 at C.
Fig. 6 is the enlarged drawing in Fig. 1 at D.
Fig. 7 is the enlarged drawing in Fig. 1 at E.
Fig. 8 is the enlarged drawing in Fig. 1 at F.
Fig. 9 is the enlarged drawing in Fig. 1 at G.
Figure 10 is the enlarged drawing in Fig. 1 at H.
Below in conjunction with the accompanying drawings and reference example, this utility model is described in detail.
Detailed description of the invention
Bent axle flexible automation line embodiment based on robot:
As it is shown in figure 1, the structure chart that Fig. 1 is bent axle flexible automation line based on robot.Bent axle flexible automation line based on robot is to pass through truss robot, multi-freedom robot and guide rail are at PLC programmable controller and wired, under the control of wireless network, the full-automatic flexible production line processed in bent axle is transported to grinding machine group, production line includes bent axle material stock unit 100, centerless grinder 1, eccentric grinding machine 2, thrust surface grinding machine 3 and the truss feed robot 200 of carrying bent axle, truss blanking robot 300, first blanking transmission line 400, first six-DOF robot 500, First Transition supply line 550, second blanking transmission line 600, second six-DOF robot 700 and the second transition supply line 750, also has the bent axle detent mechanism 800 for crankshaft eccentric location.
As shown in Figures 2 and 3, Fig. 2 is the structure chart at another visual angle of bent axle flexible automation line based on robot, and Fig. 3 is the enlarged drawing in Fig. 2 at A.Bent axle material stock unit 100 is the top of bent axle flexible automation line based on robot, bent axle material stock unit 100 in this utility model is vertical crankshaft material stock unit, bent axle 10 will be deposited, transport, overturn and temporary, for the crawl Job readiness of truss feed robot 200 in next procedure of processing by bent axle material stock unit 100.The basic components of bent axle material stock unit 100 are driver 110 and conveyer chain 120, and driver 110 is for driving motor, and driver 110 drive sprocket rotates, and sprocket wheel drives the chain link 121 in conveyer chain 120 to produce linear motion between two sprocket wheels.Driver 110 output shaft connects the conveyer chain 120 that two groups of structures are identical, and have certain distance in the middle of two groups of conveyer chains 120, in two groups of conveyer chains 120, two chain links 121 are connected to slot plate 130 both sides, two groups of conveyer chain 120 synchronous axial system, chain link 121 advanced in unison of both sides thus drive slot plate 130 to move along a straight line.
Nine slots 131 it are provided with on slot plate 130, multiple slots 131 are the circular hole of straight line, and axial and that chain link 121 the moves along a straight line direction of the depth direction of slot 131, i.e. each circular hole is vertical, and bent axle 10 blank material erects and inserts in slot 131, form the perpendicular side by side of bent axle 10 and insert.To the horizontal placement compared with V-type seat, perpendicular bent axle 10 retaining amount inserted at least improves to three times side by side.
Owing to conveyer chain 120 is mobile, static bent axle 10 need to be captured by truss feed robot 200, therefore bent axle material stock unit 100 also includes truss material stirring-up mechanism 140 and bent axle slide unit 190.Truss material stirring-up mechanism includes fixed part 170, sliding part 160 and flip-arm 150, the fixed part 170 of door case type is fixed relative to ground, sliding part 160 is slidably connected by slide rail and the realization such as cylinder or servomotor and fixed part 170, and flip-arm 150 is rotationally connected with sliding part 160 lower end, flip-arm 150 is provided with three the 3rd and captures position 151, and the 3rd captures position 151 can capture bent axle 10 in folding.Bent axle slide unit 190 is slidably connected to slide unit fixed part 180, and slide unit fixed part 180 is relatively fixed with fixed part 170, bent axle slide unit 190 is provided with three first and keeps in position 191.After bent axle 10 is captured by the 3rd crawl position 151 of flip-arm 150, carrying out 90 degree of upsets and carrying, last let-down is kept in position 191 in first, treats that truss feed robot 200 removes material.
As shown in Figure 2, Figure 3 and Figure 4, Fig. 4 is the enlarged drawing in Fig. 1 at B, and truss feed robot 200 includes main couple 201 and feed arm 210, and horizontal extending portion whole installation tooth bar on main couple 201, feed arm 210 moves horizontally on main couple 201.Feed arm 210 is vertical elongated arm, is provided with linear slide rail, and three the 4th crawl positions 211 making feed arm 210 lower end can vertically sliding；4th captures position 211 can capture bent axle 10 under driving motor to drive in folding.Owing to there are multiple centerless grinder 1 side by side and extremely on bent axle flexible automation line, many centerless grinders 1 crossed over by main couple 201 simultaneously, and according to the working alone property between centerless grinder 1, main couple 201 is equipped with multiple truss feed robot 200 and respectively each centerless grinder 1 is carried out independent Charge motion.
As shown in Figure 1 and Figure 5, Fig. 5 is the enlarged drawing in Fig. 1 at C, and Fig. 5 is the structure chart of truss blanking robot 300.Every centerless grinder 1 is equipped with independent truss blanking robot 300, and truss blanking robot 300 includes blanking truss 310, blanking crawl arm 320 and due-in district 330.Blanking crawl arm 320 is slidably connected on blanking truss 310, passes through driven by servomotor；Blanking crawl arm 320 end is provided with blanking and captures position 321, and under air cylinder driven, blanking captures position 321 and vertically can slide on blanking crawl arm 320.Horizontally slidable due-in district 330 it is provided with below blanking crawl arm 320, and the glide direction in due-in district 330 is vertical with the glide direction of blanking crawl arm 330, being provided with three second in due-in district 330 and keep in position 331, second keeps in position 331 for V-type seat horizontal crankshaft storage unit.When bent axle 10 is in centerless grinder 1 after completion of processing, blanking crawl arm 320 level on blanking truss 310 is moved and captures bent axle 10, after on blanking truss 310, move horizontally return again, vertically move to reach at due-in district 330 temporary by the blanking crawl position 321 realized with cylinder that moves horizontally of blanking truss, treat second step centreless grinding operation or next eccentric grinder sequence.
As shown in figures 1 to 6, Fig. 6 is the enlarged drawing in Fig. 1 at D, and Fig. 6 is the structure chart of the first blanking supply line 400.First blanking supply line 400 is arranged between centerless grinder 1 and eccentric grinding machine 2 and shows bent axle 10(Fig. 5 between two procedures) carrying；First blanking supply line 400 is the second conveyer chain 410 being provided with V-type seat 411, and the second conveyer chain 410 moves along a straight line under the driving of motor 420, makes sleeping bent axle 10(Fig. 5 being put on V-type seat 411 show) straight line is transported near eccentric grinding machine 2 one end.
As shown in Figure 1 and Figure 7, Fig. 7 is the enlarged drawing in Fig. 1 at E, and Fig. 7 is the local structural graph of the second six-DOF robot 700.Every eccentric grinding machine 2 is equipped with a first independent six-DOF robot 500, every thrust surface grinding machine 3 is equipped with a second independent six-DOF robot 700, first six-DOF robot 500 is identical with the second six-DOF robot 700 structure, as a example by the second six-DOF robot 700, second six-DOF robot 700 is multi-axis robot, the end crawl section 710 of robot be provided with two can independent folding second crawl position 711, bent axle 10 can be captured and mobile by the second six-DOF robot 700, rotate, carrying bent axle 10 to bent axle detent mechanism 800 carries out eccentric location, after be transported at thrust surface grinding machine 2 be processed.In like manner, two first of the first six-DOF robot 500 crawl section end crawl positions bent axle 10 can be captured and mobile, rotate, carrying bent axle 10 to bent axle detent mechanism 800 carries out eccentric location, after be transported at eccentric grinding machine 3 be processed.
As illustrated in figures 1 and 8, Fig. 8 is the enlarged drawing in Fig. 1 at F, Fig. 8 is the structure chart of bent axle detent mechanism 800, bent axle detent mechanism 800 includes supporting seat 810, drive wheel assemblies 820, measurement portion 830 and localization handspike 840, supporting seat 810 is two groups of roller groups 811, having certain distance between two groups of roller groups 811, two groups of roller group 811 four rollings altogether provide the strong point of four linear contact lay pairs, make the rotational freedom that bent axle 10 is supported on and bent axle 10 is axial not have restrained restriction；Drive wheel assemblies 820 includes driving wheel 821, driving wheel cylinder 822 and driving wheel motor 823, driving wheel 821 and driving wheel motor 823 are on intermediate plate 824, intermediate plate 824 is articulated with and supports on the relatively-stationary base of seat 810 850, driving wheel cylinder 822 is articulated with on base 850, and the piston-rod end of driving wheel cylinder 822 is hinged with intermediate plate 824, when driving wheel cylinder 822 runs, piston rod promotes and makes driving wheel 821 abut with the side face of bent axle 10 main shaft part, and driving wheel motor 823 startup makes driving wheel 821 rotate, under frictional force effect, bent axle 10 is along the axis rotation of its main shaft part.
It is provided with measurement portion 830 supporting seat 810 side, measurement portion 830 includes measurement 831 and measures seat 832, measurement 831 coordinates with measuring seat 832 Elastic Sliding, is provided with displacement transducer, and displacement transducer is connected with PLC programmable controller end in measuring seat 832.Measurement 831 abuts with bent axle 10 eccentric axial portion side face, make when bent axle 10 rotates under driving wheel 821 acts on, the rotation in bent axle 10 eccentric portion makes measurement 831 slide relative to measuring seat 832, displacement transducer is made to produce displacement signal, then transmit and draw eccentric location to PLC process, prepare for next step processing.
Owing to putting bent axle 10 horizontal level supporting seat 810 not by correctly, so arranging localization handspike 840 to promote bent axle 10 end face, it is ensured that bent axle 10 eccentric shaft side face contacts with measurement 831.
As shown in Fig. 1 and Fig. 9, Fig. 9 is the enlarged drawing in Fig. 1 at G, it is the structure chart of First Transition supply line 550, due to grinding machine 2 eccentric in bent axle flexible automation line and thrust surface grinding machine 3 be one or more than, it is provided with First Transition supply line 550 between eccentric grinding machine 2 and eccentric grinding machine 2, between pushing surface grinding machine 3 and thrust surface grinding machine 3, is then provided with the second transition supply line 750.First Transition supply line 550 is identical with the second transition supply line 750 structure, the most then explanation as a example by First Transition supply line 550.First Transition supply line 550 still uses conveyer chain structure, and motor drives First Transition conveyer chain 551 to make transition chain chain link thereon produce rectilinear movement.Being connected to four on motor output shaft and carry sprocket wheel at regular intervals to each other, and transition connects and is provided with lobe on chain link, make to be positioned in First Transition conveyer chain 551 fixing does not shifts.After the bent axle 10 of first step bias mill completion of processing is taken out by the first six-DOF robot 500, it is placed on First Transition supply line 550, after First Transition supply line 550 is transported to suitable position to bent axle 10, bent axle 10 is taken out from First Transition supply line 550 by full-time second the first six-DOF robot 500 in the mill processing of second step bias, deliver to after bent axle detent mechanism 800 carries out eccentric location, being sent in second eccentric grinding machine 2 again and be processed, so many step is carried out.
As shown in Fig. 1 and Figure 10, Figure 10 is the enlarged drawing in Fig. 1 at H, i.e. second blanking supply line 600 local structural graph, it is provided with the second blanking supply line 600 between eccentric grinding machine 2 and thrust surface grinding machine 3, first blanking supply line 600 is planer-type transportation frame, being provided with vertical slide rail 620 and horizontal slide rail 640 on portal support, twice vertical slide rail 620 is positioned at described horizontal slide rail two ends.Connecting on second blanking supply line 600 and have transport position, transport position includes vertical transport position 610 and horizontal transport position 630, and vertical transport position 610 runs in vertical slide rail 620, and horizontal transport position 630 runs on horizontal slide rail 640.nullIt is provided with two on vertical transport position 610 and horizontal transport position 630 and the bent axle of folding can lay position，In eccentric grinding machine 2, the bent axle 10 of completion of processing is delivered on the first vertical transport position, side 610 after being taken out by the first six-DOF robot 500，Bent axle 10 is transported to after horizontal slide rail 640 by vertical transport position 610 vertical sliding motion，Vertical transport position 610 and horizontal transport position 630 carry out bent axle 10 and lay handing-over，Bent axle 10 is captured by horizontal transport position 630 and carries out horizontal transport，Until horizontal transport position 630 arrives horizontal slide rail 640 second end，Join with the vertical transport position 610 being positioned at the second end again，Rear vertical transport position 610 is after the vertical slide rail 620 of the second side，Bent axle 10 thereon is taken out by the second six-DOF robot 700 and is transported，Carry out eccentric location and thrust surface mill processing.
In bent axle flexible automation line based on robot, either material efficiency all several times of removing of bent axle 10 are promoted by bent axle material stock unit 100, truss feed robot the 200, first six-DOF robot 500 or the second six-DOF robot 700, and bent axle material stock unit 100 several times under same area increase retaining amount, highlight and optimize material stock unit.
The processing method embodiment of bent axle
The processing method of bent axle is based on the bent axle flexible automation line based on robot in upper embodiment, the structure of bent axle flexible automation line based on robot describes in detail in upper embodiment, therefore do not repeat, below the process steps of bent axle is explained orally:
As shown in Figures 1 to 10, when Crankshaft Machining starts, first bent axle 10 is vertically plugged on the slot 131 on the slot plate 130 of bent axle material stock unit 100, after multiple slots 131 are populated, conveyer chain 120 starts the cycle over motion under the driving of driver 110, drive chain link 121 thereon and drive the straight line between two sprocket wheels of the slot plate 130 on chain link 121 to transport, until there being a slot plate 130 to arrive systemic presupposition position.
After slot plate 130 arrives systemic presupposition position, the flip-arm 150 on truss material stirring-up mechanism 140 starts three bent axles 10 on slot plate 130 are extracted and turned over to turn 90 degrees, and makes the bent axle 10 originally erect be converted into level.Thereafter, flip-arm 150 is vertical and level slip on sliding part 160, three first that three bent axles 10 thereon transport to bent axle slide unit 190 is kept on position 191.Bent axle 10 arrive three first keep in position 191 after, bent axle slide unit 190 level is slided, and transports bent axle 10 and arrives district undetermined, waits that truss feed robot 200 receives.
Truss feed robot 200 upper three bent axles 10 on bent axle slide unit 190 are captured and carry out on truss vertically, level transport, arrive and carry out first centreless grinding processing at centerless grinder 1.
After first centreless grinding operation completes, the blanking crawl arm of truss blanking robot 300 moves to First centerless grinder 1, is taken out and slides into second by bent axle 10 and keep on position 331, makes three bent axles 10 be temporarily stored in due-in district 330.Certainly, according to the process requirements that bent axle 10 is different, centreless grinding operation may need to carry out one to three times, if second time or the centreless grinding operation of third time need to be carried out, specializing in and in second truss feed robot 200 of second centerless grinder 1 and second truss blanking robot 300, bent axle 10 circulates the carrying step of first centreless grinding and carry out second time centreless grinding processing, the method that the method for centreless grinding processing for the third time is processed with third time centreless grinding is identical.
After last one centreless grinding operation completes, bent axle 10 is temporarily stored in due-in district 330 by truss blanking robot 300, now needs the bent axle 10 between meticulous centerless grinder 1 and eccentric grinding machine 2 to carry.It is provided with the first blanking supply line 400 between centerless grinder 1 and eccentric grinding machine 2, being responsible for the truss feed robot 100 of centerless grinder 1 without sole duty for one and capture and be carried in the second conveyer chain 410 of the first blanking supply line 400 by three bent axles 10, in the second conveyer chain 410, V-type seat makes bent axle 10 fix and stablizes transport.
When the first blanking supply line 400 transports close to the first six-DOF robot 500, two bent axles 10 are carried out capturing and be transported to sole duty and carry out eccentric location work at the bent axle detent mechanism 800 that first step bias grinder is made by full-time the first six-DOF robot 500 made in first step bias grinder, then are transported in First bias grinding machine 2 carry out eccentric grinder work.Owing to eccentric grinder sequence needs one or more eccentric grinding machine 2 to realize according to the processing situation that bent axle 10 is different, therefore it is provided with First Transition supply line 550 between adjacent eccentric grinding machine 2, full-time the first six-DOF robot 500 in First bias grinding machine 2 is to being placed on First Transition supply line 550 temporary after being taken out from eccentric grinding machine 2 by bent axle 10 and transporting, it is transported at second eccentric grinding machine 2, the bent axle carrying operation that circulation is as consistent in the most eccentric mill.
After the most eccentric last grinder sequence, two bent axles 10 are transported to the second blanking supply line 600 between eccentric grinding machine 2 and thrust grinding machine 3 by the first six-DOF robot 500 of last eccentric grinding machine 2 full-time simultaneously, bent axle is transported bed 2 side of turning a millstone to end by the second blanking supply line 600, the second six-DOF robot 700 of full-time first step thrust surface grinder sequence capture.
Two bent axles 10 are transported in bent axle detent mechanism 800 carry out eccentric location one by one by the second six-DOF robot 700 simultaneously, after bent axle 10 is transported in thrust surface grinding machine 3 carry out thrust surface processing again, after first step thrust surface completion of processing, second six-DOF robot 700 is placed in the second transition supply line 750 temporary and transports, rear continuation second step thrust surface grinds processing, and its carrying step carries operation with reference to first step thrust surface.
After final step thrust surface grinder sequence, two bent axles 10 are taken out from thrust surface grinding machine 3 by the second six-DOF robot 700 of last thrust surface grinding machine 3 full-time, and are placed on discharging haul road, carry out bent axle 10 discharging.
Finally it is emphasized that; the foregoing is only preferred embodiment of the present utility model; it is not limited to this utility model; for a person skilled in the art; this utility model can have various change and change, such as the increase of bent axle material stock unit upper position quantity, the change etc. of grinding machine group Internal abrasive machine value volume and range of product, all within spirit of the present utility model and principle; the any modification, equivalent substitution and improvement etc. done, within should be included in protection domain of the present utility model.
Claims (9)
1. a bent axle flexible automation line based on robot, including:
Bent axle is transported between described bent axle material stock unit, described grinding machine group and described bent axle detent mechanism by bent axle material stock unit, grinding machine group, truss feed robot, truss blanking robot and bent axle detent mechanism, described truss feed robot and described truss blanking robot；
Described bent axle material stock unit includes carrier chain and driver, the chain link loopy moving on carrier chain described in described driver drives；Described bent axle is placed on described carrier chain and moves with described chain link；
It is characterized in that:
Described bent axle material stock unit also includes slot plate, described slot plate is connected on described chain link, described slot plate is provided with at least three slot of arranged, and the depth direction of described slot is vertical with the rectilinear movement direction of described chain link, and described bent axle vertically inserts in described slot；
Described truss feed robot is located on two truss with described truss blanking robot, and described truss feed robot is provided with at least three clamping position.
Bent axle flexible automation line based on robot the most according to claim 1, it is characterised in that:
Described bent axle flexible automation line based on robot also includes the first six-DOF robot and the second six-DOF robot；
Described grinding machine group includes at least one centerless grinder, at least one eccentric grinding machine and at least one thrust surface grinding machine；
Described first six-DOF robot is provided with at least two first and captures position, and described first six-DOF robot is movable at described eccentric grinding machine and at described bent axle detent mechanism；
Described second six-DOF robot is provided with at least two second and captures position, and described second six-DOF robot is movable at described thrust surface grinding machine and at described bent axle detent mechanism.
Bent axle flexible automation line based on robot the most according to claim 2, it is characterised in that:
Described bent axle detent mechanism includes:
Supporting seat, described support seat is provided with roller group, and described roller group supports the main shaft part of described bent axle；
Driving wheel, described driving wheel can abut and make described bent axle along the axis rotation of described main shaft part with described main shaft part；
Measurement portion, described measurement portion includes measuring head and measuring seat, and described measurement head is slidably connected with described measurement seat, and described measurement head is connected to the side face of the eccentric axial portion of described bent axle, and the sensor in described measurement seat reads the displacement data of described measurement head.
Bent axle flexible automation line based on robot the most according to claim 3, it is characterised in that:
Described bent axle material stock unit also includes that truss material stirring-up mechanism, described truss material stirring-up mechanism include:
Fixed part, sliding part and flip-arm, described sliding part is slidably connected with described fixed part, and described flip-arm is rotationally connected with described sliding part, and described flip-arm is provided with at least three the 3rd and captures position.
Bent axle flexible automation line based on robot the most according to claim 4, it is characterised in that:
Described bent axle material stock unit also includes that bent axle slide unit, described bent axle slide unit are slidably connected with described fixed part, described bent axle slide unit is provided with at least three first and keeps in position, and each described first keeps in position puts described bent axle for sleeping；
Described truss feed robot moves between described bent axle slide unit and described centerless grinder.
Bent axle flexible automation line based on robot the most according to claim 5, it is characterised in that:
Described truss blanking robot includes blanking crawl arm and due-in district, described due-in district is provided with at least three second and keeps in position, described second keeps in position puts described bent axle for sleeping, described blanking crawl arm can move between described centerless grinder and described due-in district, and described truss feed robot can move between described due-in district and described centerless grinder.
Bent axle flexible automation line based on robot the most according to claim 6, it is characterised in that:
Being provided with the first blanking transmission line between described centerless grinder and described eccentric grinding machine, described first blanking transmission line is provided with the multiple 4th and keeps in position, the described 4th keeps in position puts described bent axle for sleeping；
Described truss feeding machine mechanical arm moves between described due-in district and described first blanking transmission line；Described first six-DOF robot can move between described first blanking transmission line and described bent axle detent mechanism.
Bent axle flexible automation line based on robot the most according to claim 7, it is characterised in that:
Being provided with the second blanking transmission line between described eccentric grinding machine and described thrust surface grinding machine, described second blanking transmission line includes portal support and multiple transport position, and described transport position is slidably connected with described portal support, and described transport position is for capturing described bent axle；
Described first six-DOF robot can move between described eccentric grinding machine and described second blanking transmission line, and described second six-DOF robot can move between described second blanking transmission line and described bent axle detent mechanism.
Bent axle flexible automation line based on robot the most according to claim 8, it is characterised in that:
Described bent axle flexible automation line based on robot also includes First Transition supply line and the second transition supply line；
Being provided with multiple first screens on described First Transition supply line, described first screens is used for placing described bent axle；Described first six-DOF robot can move between described First Transition supply line and described bent axle detent mechanism；Described first six-DOF robot can move between described eccentric grinding machine and described First Transition supply line；
Being provided with multiple second screens on described second transition supply line, described second screens is used for placing described bent axle；Described second six-DOF robot can move between described second transition supply line and described bent axle detent mechanism；Described second six-DOF robot can move between described thrust surface grinding machine and described second transition supply line.
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| CN201620195376.7U CN205465508U (en) | 2016-03-14 | 2016-03-14 | Bent axle flexible automation line based on robot |
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| CN201620195376.7U CN205465508U (en) | 2016-03-14 | 2016-03-14 | Bent axle flexible automation line based on robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598758A (en) * | 2016-03-14 | 2016-05-25 | 广东和氏自动化技术股份有限公司 | Automatic flexible crankshaft connecting line based on robots and machining method of crankshafts |
| CN114434216A (en) * | 2022-04-07 | 2022-05-06 | 宁波佳比佳智能科技有限公司 | Automatic feeding and discharging system of combined machine tool |
-
2016
- 2016-03-14 CN CN201620195376.7U patent/CN205465508U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598758A (en) * | 2016-03-14 | 2016-05-25 | 广东和氏自动化技术股份有限公司 | Automatic flexible crankshaft connecting line based on robots and machining method of crankshafts |
| CN105598758B (en) * | 2016-03-14 | 2018-08-07 | 广东和氏自动化技术股份有限公司 | A kind of processing method of bent axle flexible automation line and bent axle based on robot |
| CN114434216A (en) * | 2022-04-07 | 2022-05-06 | 宁波佳比佳智能科技有限公司 | Automatic feeding and discharging system of combined machine tool |
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Address after: The 519000 Bay area Guangdong city of Zhuhai Province Hong Kong Industrial Zone five Hong Fai Road No. twelve Patentee after: Guangdong's industrial technology group Limited by Share Ltd Address before: The 519000 Bay area Guangdong city of Zhuhai Province Hong Kong Industrial Zone five Hong Fai Road No. twelve Patentee before: Guangdong He Shi automatic technology incorporated company |
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Denomination of utility model: Automatic flexible crankshaft connecting line based on robots and machining method of crankshafts Effective date of registration: 20170510 Granted publication date: 20160817 Pledgee: Zhuhai Huarun bank Limited by Share Ltd Pledgor: Guangdong's industrial technology group Limited by Share Ltd Registration number: 2017980000205 |
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