Full-automatic blade machining unit

Abstract

The utility model relates to the technical field of transformer butterfly valve blade machining, and particularly discloses a full-automatic blade machining unit which comprises a robot, a material frame, a numerical control lathe and a control electric cabinet, and the material frame, the numerical control lathe and the control electric cabinet are dispersedly arranged in the working range of the robot. The tail end of the robot mechanical arm is connected with a gripper, a visual recognition device is installed on the gripper, the numerical control lathe is provided with a magnetic chuck and an automatic blade measuring device, the gripper grabs blades according to recognition and positioning of the visual recognition device for automatic feeding, the magnetic chuck automatically adsorbs the blades, and after the numerical control lathe finishes machining of the blades, the blades are automatically measured through the magnetic chuck. The automatic blade measuring device automatically measures the diameters of the blades, the robot gripper automatically grabs the blades for discharging and stacking after measurement, full-automatic machining of the blades is achieved, and the blade machining efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of transformer butterfly valve blade processing, in particular to a blade full-automatic processing unit. Background Art

[0002] The blade is a closing part of the transformer butterfly valve used to open or block the transformer oil circuit. It is disc-shaped and 3-4mm thick. The outer circle of the blade and the inner hole of the valve body must have high dimensional accuracy, and the tolerance range of the outer circle of the blade is ±0.01mm.

[0003] At present, the processing of transformer butterfly valve blades generally adopts manual loading and unloading and clamping of workpieces. Although there are some manipulators on the market that can realize automatic loading and unloading, it is inconvenient for the manipulator to clamp the blades to be processed on the lathe chuck, which has a certain impact on the processing efficiency of the CNC lathe. Moreover, the diameter measurement of the processed blades is generally carried out separately after the processing is completed, which makes the entire blade processing process more complicated and the degree of automation is low.

[0004] Therefore, it is necessary to propose an improvement to overcome the defects of the prior art. Utility Model Content

[0005] The utility model aims to solve the problems in the prior art and provide a blade full-automatic processing unit.

[0006] The technical solution of the utility model is: a fully automatic blade processing unit, comprising: a material frame for placing blades to be processed; a CNC lathe for blade processing and measuring the dimensions of the processed blades, the CNC lathe being provided with a magnetic chuck and a blade automatic measuring device; a robot for reciprocating between the material frame and the CNC lathe to complete loading and unloading, a gripper for grabbing and releasing the blades being connected to the robot's mechanical arm, a visual recognition device for judging the position and dimension of the blades being installed on the gripper, the material frame, the CNC lathe and the control cabinet being dispersedly arranged within the working range of the robot.

[0007] Automatic loading and unloading is achieved through the cooperation of the robot gripper and the magnetic chuck. After the blade processing is completed, the blade diameter is automatically measured by the blade automatic measuring device, realizing fully automatic processing of the blade.

[0008] Furthermore, the blade fully automatic processing unit also includes a control cabinet for controlling the operation of the entire processing unit, the operation and stop of the material frame loading, the robot grasping and loading and unloading, and the CNC lathe processing and measurement.

[0009] Furthermore, the gripper includes a base, a visual recognition device is arranged in the base, and the visual recognition device includes an intelligent camera and a ring camera light source arranged around the intelligent camera. The position and size of the blade are judged by the visual recognition device to locate the blade for the robot gripper to grasp.

[0010] Furthermore, a first cylinder is provided on the base, a linear guide rail is connected to the first cylinder, the first cylinder and the linear guide rail are arranged parallel to each other, and a vacuum suction cup is connected to the output end of the first cylinder. The vacuum suction cup can move along the linear guide rail under the push of the first cylinder, so that the blade can avoid the tailstock and the tailstock ejector pin of the machine tool when loading and unloading on the CNC lathe.

[0011] Furthermore, the first cylinder, linear guide rail and vacuum suction cup are provided with two sets and are installed symmetrically along the center line of the base. The gripper adopts a double station, which can absorb the two blades after processing and to be processed, thereby improving work efficiency.

[0012] Furthermore, a magnetic chuck and a tailstock are arranged on the machining center line of the CNC lathe, and an ejector is arranged in the tailstock. The ejector can extend from the tailstock to hold the blade adsorbed on the magnetic chuck.

[0013] Furthermore, the magnetic chuck is provided with a magnetic block, a magnetic disk, a connecting flange, a wire tube, a connecting frame and a conductive slip ring in sequence from the side close to the blade processing to the side far from the blade processing. The magnetic block is fixed on the magnetic disk, the magnetic disk is fixed on the connecting flange of the machine tool chuck, the cable of the magnetic disk is connected to the conductive slip ring through the wire tube, and the conductive slip ring is fixed on the connecting frame.

[0014] Furthermore, a tool holder is provided on one side of the machining center line of the CNC lathe, a turning tool is provided on one side of the tool holder, and an automatic blade measuring device is provided on the tool holder.

[0015] Furthermore, the tool holder is connected to the CNC lathe for relative rotation, and the blade automatic measuring device includes a probe fixing seat, a measuring probe and a probe electrical module. The probe fixing seat is fixed on the side of the tool holder opposite to the turning tool, the measuring probe is fixed on the probe fixing seat, and the probe electrical module is connected to the data management system.

[0016] Furthermore, the blade automatic measuring device includes: a second cylinder, a measuring probe and a probe electrical module, the second cylinder is arranged on the side of the tool holder close to the blade processing surface, the measuring probe is arranged on the second cylinder, and the probe electrical module is connected to the data management system.

[0017] The beneficial effect of the utility model is that automatic loading is achieved through the cooperation of the robot gripper and the magnetic chuck. After the blade processing is completed, the blade diameter is automatically measured by the blade automatic measuring device. After the measurement, the robot gripper automatically grabs the blade for unloading and stacking, thereby realizing fully automatic processing of the blade and improving the blade processing efficiency. The blade outer circle measurement results are digitally managed and controlled, thereby improving the reliability of blade processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is the overall layout diagram of the fully automatic processing unit of the utility model;

[0019] Figure 2 This is the front view of the robot gripper of the utility model;

[0020] Figure 3 This is a bottom view of the robot gripper of the utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the CNC lathe of the utility model;

[0022] Figure 5 This is a partial enlarged view of the CNC lathe of the utility model;

[0023] Figure 6 This is a schematic diagram of the structure of the magnetic chuck of the utility model;

[0024] Figure 7 This is a schematic structural diagram of a blade automatic measuring device according to a first embodiment of the utility model;

[0025] Figure 8 This is a schematic structural diagram of a blade automatic measuring device according to a second embodiment of the utility model.

[0026] Among them, 1. material frame; 2. CNC lathe; 201. magnetic chuck; 202. automatic blade measuring device; 203. tailstock; 204. ejector; 205. tool holder; 206. turning tool; 2011. magnetic block; 2012. magnetic disk; 2013. connecting flange; 2014. wire tube; 2015. connecting frame; 2016. conductive slip ring; 2021. probe fixing seat; 2022. measuring probe; 3. robot; 4. control cabinet; 5. gripper; 501. base; 502. visual recognition device; 503. first cylinder; 504. linear guide; 505. vacuum suction cup; 506. connecting bracket; 5021. smart camera; 5022. camera light source; 6. fence; 7. six-axis connecting flange. DETAILED DESCRIPTION

[0027] In order to make the technical means, technical features, purpose and technical effects of the present invention easier to understand, the present invention is further described below in conjunction with specific diagrams. Figures 1 to 7 .

[0028] Embodiment 1:

[0029] Please refer to Figure 1 The utility model is a blade automatic processing unit, comprising a robot 3 and a material frame 1, a CNC lathe 2 and a control cabinet 4 which are dispersedly arranged within the working range of the robot 3. A safety fence 6 is arranged around the periphery of the working area.

[0030] Please refer to Figure 2 and Figure 3 , the robot 3 has a gripper 5 connected to its mechanical arm via a six-axis connection flange 7. The gripper 5 includes a base 501, in which a visual recognition device 502 is installed for identifying the size and position of the blade. The visual recognition device 502 may be a camera, a camera head, or any other device capable of collecting image data. The visual recognition device 502 disclosed in the embodiment of the utility model includes an intelligent camera 5021 and a camera light source 5022. The camera light source 5022 performs fill light on the blade, and the intelligent camera 5021 takes a picture of the blade to collect the outer size and position information of the blade. The controller is connected to the camera, recognizes and processes the collected image, and controls the gripper 5 to grab the blade.

[0031] A first cylinder 503 and a linear guide rail 504 are arranged in parallel on one side of the base 501. A vacuum suction cup 505 is fixed to the output end of the first cylinder 503 through a connecting bracket 506. The vacuum suction cup 505 can make the blade adsorb thereon under the action of negative pressure. The vacuum suction cup 505 can be extended along the linear guide rail 504 under the push of the first cylinder 503, and is used to avoid the tailstock 203 and the tailstock ejector 204 of the machine tool when the blade is loaded or unloaded on the lathe.

[0032] Preferably, the gripper 5 adopts a double-station, with two sets of first cylinders 503, linear guides 504, and vacuum suction cups 505 symmetrically arranged on the opposite side surfaces of the base 501, which can simultaneously suck two blades after processing and two blades to be processed, realize the clamping cooperation of two vacuum suction cups 505, and improve production efficiency.

[0033] Please refer to Figure 4 and Figure 5 A magnetic chuck 201 and a tailstock 203 are arranged on the machining center line of the CNC lathe 2. The tailstock 203 is arranged at a certain distance from the machining surface of the magnetic chuck 201. An ejector pin 204 is arranged in the tailstock 203. After the robot gripper 5 releases the blade, the ejector pin 204 extends out to hold the blade to fix the blade, so as to facilitate the lathe to turn the blade and make the turning more accurate.

[0034] Please refer to Figure 6, the magnetic chuck 201 is provided with a magnetic block 2011, a magnetic disk 2012, a connecting flange 2013, a wire tube 2014, a connecting frame 2015 and a conductive slip ring 2016 in sequence from the side close to the blade processing to the side far from the blade processing. The magnetic chuck 201 removes the claws of the machine tool chuck, fixes the magnetic disk 2012 on the connecting flange 2013 of the machine tool chuck, and fixes the magnetic block 2011 on the magnetic disk 2012. The magnetic block 2011 has magnetism, and the blade is firmly attracted by the magnetic block 2011, ensuring that the placement position of the blade remains unchanged. The cable of the magnetic disk 2012 is connected to the conductive slip ring 2016 through the wire tube 2014. The rotor of the conductive slip ring 2016 rotates with the chuck, and transmits power and signals at the same time. The conductive slip ring 2016 is fixed on the connecting frame 2015, and the cable of the magnetic disk 2012 is connected to the controller through the stator end cable of the conductive slip ring 2016.

[0035] A rotatable tool rest 205 is provided on one side of the machining center line of the numerically controlled lathe 2 , a turning tool 206 is provided on one side of the tool rest 205 , and a blade automatic measuring device 202 is provided on the side of the tool rest 205 opposite to the turning tool 206 .

[0036] Please refer to Figure 7 The automatic blade measuring device 202 includes a probe fixing seat 2021, a measuring probe 2022 and a probe electrical module. The automatic blade measuring device 202 is used to automatically measure the outer diameter of the blade after the blade cutting is completed, and transmit the measurement data to the data management system. The probe fixing seat 2021 is fixed on the tool holder 205, and a measuring probe 2022 is arranged on the probe fixing seat 2021. The probe electrical module is connected to the data management system. After the blade turning is completed, the measuring probe 2022 can rotate with the tool holder 205 and touch the outer diameter of the blade under the feeding action of the tool holder 205 to measure the outer diameter size of the blade. The probe electrical module 2023 can transmit the measurement data to the data management system for processing, and implement digital control of the measurement results.

[0037] The blades are stacked in the material frame 1 and placed at the designated position. The robot 3 drives the gripper 5 to move to the top of the material frame 1. At this time, the camera light source 5022 lights up to fill in the light. The smart camera 5021 takes pictures of the blades and collects the blade's external dimensions and position information. The controller is connected to the smart camera 5021, recognizes and processes the collected images, and controls the vacuum suction cup 505 of the gripper 5 to suck the blades. The gripper 5 moves from the top of the material frame 1 to the vicinity of the magnetic chuck 201. If there is a workpiece that has been processed and measured on the magnetic chuck 201, the vacuum suction cup 505 on the other side sucks the blades so that the magnetic chuck 201 is The suction chuck 201 is empty, and then the magnetic chuck 201 absorbs the blade, and the gripper 5 releases the blade. At this time, the ejector pin 204 extends from the tailstock 203 to hold the blade, the magnetic chuck 201 rotates, and the turning tool 206 turns the blade. After the blade processing is completed, the tool holder 205 rotates and feeds, and the measuring probe 2022 touches the outer diameter of the blade to measure the outer diameter size of the blade. After the measurement is completed, the vacuum suction cup 505 of the gripper 5 sucks the blade for unloading and stacking, and the other vacuum suction cup 505 of the gripper 5 grabs the blade to be processed and loads it. This cycle is repeated to achieve fully automatic processing of the blade.

[0038] Embodiment 2:

[0039] Please refer to Figure 8 The second embodiment of the utility model is different from the first embodiment in the location and composition of the automatic blade measuring device 202. The automatic blade measuring device 202 of this embodiment includes: a second cylinder 2023, a measuring probe 2022 and a probe electrical module. The second cylinder 2023 is arranged on the side of the tool holder 205 close to the blade processing surface. The measuring probe 2022 is arranged on the second cylinder 2023 and can be extended forward to touch the outer diameter of the blade under the push of the second cylinder 2023 to measure the outer diameter of the blade. The probe electrical module is connected to the data management system, and the probe electrical module can transmit the measurement data to the data management system for processing.

[0040] The above description is only a preferred embodiment of the utility model, and is not intended to limit the scope of implementation of the utility model. That is, all equivalent changes and modifications made according to the content of the patent application scope of the utility model should belong to the technical scope of the utility model.

Claims

1. A blade fully automatic processing unit, characterized in that: include: A material frame (1) for placing blades to be processed; A numerically controlled lathe (2) is used for processing blades and measuring the dimensions of the processed blades. The numerically controlled lathe (2) is provided with a magnetic chuck (201) and an automatic blade measuring device (202); A robot (3) is used to reciprocate between a material frame (1) and a CNC lathe (2) to complete loading and unloading of materials, a gripper (5) for grasping and releasing blades being connected to a mechanical arm of the robot (3), and a visual recognition device (502) for judging the position and size of the blades being installed on the gripper (5); The material frame (1) and the CNC lathe (2) are dispersedly arranged within the working range of the robot (3).

2. A blade fully automatic processing unit according to claim 1, characterized in that: The blade fully automatic processing unit also includes a control cabinet (4) for controlling the operation of the entire processing unit, the loading operation and stop of the material frame (1), the grabbing and loading and unloading of the robot (3), and the processing and measurement of the CNC lathe (2).

3. The blade fully automatic processing unit according to claim 1, characterized in that: The gripper (5) comprises a base (501), a visual recognition device (502) is arranged in the base (501), and the visual recognition device (502) comprises a smart camera (5021) and a ring-shaped camera light source (5022) arranged around the smart camera (5021).

4. A blade fully automatic processing unit according to claim 3, characterized in that: The base (501) is provided with a first cylinder (503), the first cylinder (503) is connected to a linear guide rail (504), the first cylinder (503) and the linear guide rail (504) are arranged parallel to each other, the output end of the first cylinder (503) is connected to a vacuum suction cup (505), and the vacuum suction cup (505) can move along the linear guide rail (504) under the push of the first cylinder (503).

5. A blade fully automatic processing unit according to claim 4, characterized in that: The first cylinder (503), the linear guide rail (504) and the vacuum suction cup (505) are each provided in two sets and are installed symmetrically along the center line of the base (501).

6. The fully automatic blade processing unit according to claim 1, characterized in that: A magnetic chuck (201) and a tailstock (203) are arranged on the machining center line of the CNC lathe (2); an ejector pin (204) is arranged in the tailstock (203); the ejector pin (204) can extend from the tailstock (203) to hold a blade adsorbed on the magnetic chuck (201).

7. A blade fully automatic processing unit according to any one of claims 1 to 6, characterized in that: The magnetic chuck (201) is provided with a magnetic block (2011), a magnetic disk (2012), a connecting flange (2013), a wire tube (2014), a connecting frame (2015) and a conductive slip ring (2016) in sequence from a side close to blade processing to a side far from blade processing; the magnetic block (2011) is fixed on the magnetic disk (2012); the magnetic disk (2012) is fixed on the connecting flange (2013) of the machine tool chuck; the cable of the magnetic disk (2012) is connected to the conductive slip ring (2016) via the wire tube (2014); and the conductive slip ring (2016) is fixed on the connecting frame (2015).

8. The blade fully automatic processing unit according to claim 1, characterized in that: A tool holder (205) is provided on one side of the machining center line of the numerically controlled lathe (2), a turning tool (206) is provided on one side of the tool holder (205), and the blade automatic measuring device (202) is provided on the tool holder (205).

9. A blade fully automatic processing unit according to claim 8, characterized in that: The tool holder (205) is connected to the numerically controlled lathe (2) for relative rotation. The blade automatic measuring device (202) comprises a probe fixing seat (2021), a measuring probe (2022) and a probe electrical module. The probe fixing seat (2021) is fixed on the side of the tool holder (205) opposite to the lathe tool (206), the measuring probe (2022) is fixed on the probe fixing seat (2021), and the probe electrical module is connected to a data management system.

10. The blade fully automatic processing unit according to claim 8, characterized in that: The blade automatic measuring device (202) comprises: a second cylinder (2023), a measuring probe (2022) and a probe electrical module; the second cylinder (2023) is arranged on a side of the tool holder (205) close to a blade processing surface; the measuring probe (2022) is arranged on the second cylinder (2023); and the probe electrical module is connected to a data management system.

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