Automatic machining device for rod members and machining method

Abstract

The present application relates to a kind of automatic machining equipment of bar and its processing method, including feeding station, machining station, liquid pouring station, discharging station and truss manipulator;Feeding station includes material rack and two machine bases oppositely arranged, machine base is equipped with sling, fixed seat, two fixed pulleys and one driving wheel, two fixed pulleys are high and low, one end of sling is connected on fixed seat, the other end is wound on driving wheel after passing through two fixed pulleys, the part of sling between two fixed pulleys is equipped with a counterweight, and the winding and unwinding of sling are realized by rotating driving wheel;Material rack is located at the side of low side fixed pulley, for placing the bar falling from fixed pulley side;The advantage is that: by designing feeding station, machining station and discharging station, cooperate with truss manipulator, realize automatic feeding, feeding and discharging when bar is machined, when machining, slit sensor is used to find slit, realize the slit alignment of both ends of bar, can greatly save manpower, improve efficiency and precision.

Description

Technical Field

[0001] This invention relates to the field of rod processing equipment, and more particularly to an automatic rod processing equipment and its processing method. Background Technology

[0002] like Figure 1 The image shown is a front view schematic of the tubular rod before processing. Figure 2 The image shown is a front view of the completed tubular rod. The rod originates from... Figures 1 to 2 The ends of the rod need to be machined using a milling-turning machine. During machining, the rod is manually gripped, one end is fed into the machine, and after that end is machined, the other end is manually fed into the machine. This process has the following drawbacks:

[0003] 1. The loading, feeding, and unloading processes in the processing are all manually controlled, resulting in high labor costs and difficulty in improving production efficiency. In addition, some large-sized rods require a lot of manpower.

[0004] 2. For example Figure 2 As shown, some members require slits at both ends, and the slits at both ends need to be aligned. Currently, the method of manually aligning the slits is used, which results in a large error.

[0005] Therefore, this case is brought. Summary of the Invention

[0006] One of the objectives of this invention is to provide an automatic processing equipment for rods, which realizes automatic feeding, delivery and unloading during rod processing, saving manpower and improving efficiency and accuracy.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows:

[0008] An automatic processing equipment for rod components includes a loading station, a processing station, a liquid pouring station, a unloading station, and a transfer and gripping device;

[0009] The transfer and gripping device uses a truss-type manipulator to transfer the rods between the loading station, processing station, liquid pouring station, and unloading station.

[0010] The loading station includes a loading rack and two machine bases arranged opposite each other. The opposite surfaces of the two machine bases are called loading surfaces. Each loading surface is equipped with a sling, a fixed seat, two fixed pulleys, and a drive wheel. The two fixed pulleys are at different heights. The fixed seat and the drive wheel are respectively located below the fixed pulleys on both sides. One end of the sling is connected to the fixed seat, and the other end passes through the two fixed pulleys and is wound onto the drive wheel. A counterweight is provided on the part of the sling between the two fixed pulleys. The machine base is equipped with a drive wheel drive unit, which realizes the raising and lowering of the sling by rotating the drive wheel. The loading rack is located on one side of the lower fixed pulley and includes a loading side guide plate and a rod placement cavity. The loading side guide plate is used to guide the rods to roll from the fixed pulley side to the rod placement cavity side.

[0011] The loading station also includes a base drive unit, one of which is a fixed base and the other is a sliding base. The base drive unit is used to drive the sliding base to move closer to or away from the fixed base.

[0012] The liquid pouring station is located between the processing station and the unloading station, and includes a rotating base, a rotating base drive unit, and a waste liquid recovery tank. The rotating base is provided with several liquid pouring rod clamping mechanisms arranged along the axial direction of the rod. The rotating base drive unit is used to control the rotation of the rotating base to realize the change between a horizontal state and an inclined state of the rod. The waste liquid recovery tank is located at one end of the axial direction of the rotating base and is used to recover the waste liquid poured out from the rod.

[0013] Furthermore, the material rack is provided with a rod translation mechanism, which includes a push plate drive unit and a push plate. One end of the push plate is used to push the rod in the rod placement cavity, and the other end is connected to the push plate drive unit. The push plate drive unit is used to drive the push plate to move axially along the rod placement cavity.

[0014] Furthermore, a limiting frame and a gate mechanism are provided between the machine base and the material rack. The limiting frame includes a limiting part drive part and a limiting part. The limiting part drive part is used to drive the limiting part to move up and down. The limiting part includes a lower limiting side guide plate, an upper limiting plate, and a limiting plate adjustment part. The limiting plate adjustment part controls the distance between the limiting plate and the limiting side guide plate by raising and lowering, so that a rod can pass through the space between the limiting side guide plate and the limiting plate. The limiting side guide plate is used to guide the rod to roll into the limiting part from the fixed pulley side. The gate mechanism includes a gate and a gate drive part for controlling the raising and lowering of the gate. When the gate drive part is in the lowered position, the gate is in contact with the limiting side guide plate. When the gate drive part is in the raised position, the distance between the gate and the limiting side guide plate is enough for the rod to pass through.

[0015] Furthermore, the processing station includes two rod end processing stations facing opposite directions. Each rod end processing station includes a machine tool and a transfer rack. The transfer rack includes a track seat, a track plate slidably connected to the track seat, and a track plate drive unit that drives the track plate to slide on the track seat. The track plate is provided with several rows of parallel rod sliding channels. The rod sliding channels are arranged along the rod axis and perpendicular to the sliding direction of the track plate. The machine tool is located at one end of the rod sliding channel, and the track seat is located at the other end of the rod sliding channel and is provided with a push rod part. The push rod part is directly opposite the machine tool inlet. The actuating end of the push rod part is provided with a rod end clamping mechanism for processing.

[0016] Furthermore, it includes a track seat drive unit, which is used to control the vertical lifting and lowering of the track seat.

[0017] Furthermore, a kerf finding station is provided between the two rod end processing stations. The kerf finding station includes a fixed base, on which are provided a plurality of kerf finding rod body clamping mechanisms arranged along the axial direction of the rod, a rod rotation mechanism located at the end of the fixed base, a kerf finding rod end clamping mechanism provided at the actuating end of the rod rotation mechanism, and a kerf detection sensor located at the end of the fixed base. A plurality of processing rod body clamping mechanisms are provided on the rod sliding channel of the rod end processing station.

[0018] Furthermore, the unloading station includes a guide platform, a stacking frame, a centering gate, and a centering gate drive unit. The guide platform is provided with an unloading side guide plate, which is used to guide the rod to roll down to the stacking frame. The centering gate is located above the unloading side guide plate and is controlled to rise and fall by the centering gate drive unit. When the centering gate drive unit is in the lowered position, the centering gate is in contact with the unloading side guide plate. When the centering gate drive unit is in the raised position, the distance between the centering gate and the unloading side guide plate is sufficient for the rod to pass through.

[0019] Furthermore, the centering gate is provided with a rod centering mechanism, including a gear located at the center, an upper rack and a lower rack located above and below the gear and meshing with the gear, and a gear drive unit that drives the gear to rotate. The upper rack and the lower rack are each provided with a clamping plate, and the two clamping plates are arranged opposite each other and located at both ends of the axial direction of the unloading side guide plate.

[0020] The second objective of this invention is to provide a processing method applied to the aforementioned automatic processing equipment for rod-like components, comprising the following steps:

[0021] S1. Place the rod between the two slings;

[0022] S2. Drive the drive wheel to tighten the sling and open the gate at the same time, causing the rod to roll into the limiting part;

[0023] S3. Drive the drive wheel to release the sling, close the gate, raise the limit part, and let a rod fall into the material rack. Then lower the limit part and the rod translation mechanism adjusts the rod in the material rack to the appropriate position.

[0024] S4. The gantry robot grabs the rod in the material rack and places the rod on the rod sliding channel of the first rod end processing station. The track plate drive unit slides the track plate so that the rod is aligned with the machine tool's feed port. The push rod unit pushes the rod into the machine tool. The machine tool processes one end of the rod. After processing, the push rod unit clamps the rod and exits the machine tool.

[0025] S5. The gantry robot grabs the rod that has been processed at the first rod end processing station and places it at the kerf finding station. The kerf finding station clamps the end of the rod and rotates it to find the kerf. After finding the kerf, it stops rotating and continues to clamp the rod until the rod is grabbed by the gantry robot.

[0026] S6. The gantry robot grabs the rod at the cutting kerf location station and places it on the rod sliding channel of the second rod end processing station. The rod is held by the processing rod clamping mechanism on the rod sliding channel. The track plate drive unit slides the track plate so that the rod is aligned with the machine tool's feed port. The push rod part of the second rod end processing station clamps the rod, and at the same time, the processing rod clamping mechanism on the rod sliding channel releases the rod. Then, the push rod part pushes the rod into the machine tool, and the machine tool processes the other end of the rod. After processing is completed, the push rod part clamps the rod and exits the machine tool.

[0027] S7. The gantry robot grabs the processed rods to the unloading station, and the unloading station adjusts the position of the rods before unloading.

[0028] Furthermore, in step S7 above, the gantry robot first places the processed rod into the liquid pouring station, the liquid pouring station tilts the rod so that the waste liquid inside the rod flows out, and then the gantry robot places the rod into the unloading station.

[0029] The advantages of this invention are:

[0030] 1. By designing loading, processing, and unloading stations suitable for rod-type components, and cooperating with gantry-type robots, automatic loading, feeding, and unloading of rod components can be achieved. During processing, cutting sensors are used to find the cutting seam and align the cutting seams at both ends of the rod, which can greatly save manpower and improve efficiency and accuracy.

[0031] 2. By setting up a liquid-pouring station, the waste liquid inside the processed tubular rods is poured out before the material is unloaded, making the stack of processed rods cleaner, avoiding manual liquid-pouring operations, improving efficiency and reducing labor costs. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the unprocessed state of tubular rods.

[0033] Figure 2 This is a schematic diagram showing the state of tubular rods after processing.

[0034] Figure 3 This is a three-dimensional structural diagram of the automatic processing equipment for rods in the embodiment;

[0035] Figure 4 for Figure 3 A bottom view diagram;

[0036] Figure 5 This is a three-dimensional structural diagram of the loading station in the embodiment;

[0037] Figure 6 This is a simplified diagram of the loading station in the embodiment. The sling is in the released state and the rod is placed on the sling.

[0038] Figure 7 This is a simplified diagram of the loading station in the embodiment. In the diagram, the sling is in a tightened state, the gate is closed, and the rod rolls down to the gate.

[0039] Figure 8 This is a simplified diagram of the loading station in the embodiment. In the diagram, the sling is in a tightened state, the gate is open, and the rod rolls down to the limiting part.

[0040] Figure 9 This is a simplified diagram of the loading station in the embodiment. In the diagram, the sling is in the released state, the gate is closed, the limiting part is raised, and the rod rolls from the limiting part to the material placement rack.

[0041] Figure 10 This is a simplified diagram of the loading station in the embodiment, where the rods are located in the material rack;

[0042] Figure 11 This is a three-dimensional structural schematic diagram of the loading station from another perspective in the embodiment;

[0043] Figure 12 This is a schematic diagram illustrating the state of the truss-type robot transferring links in the embodiment.

[0044] Figure 13 This is a three-dimensional structural diagram of the processing station in the embodiment;

[0045] Figure 14 This is a three-dimensional structural diagram of the processing station from another perspective in the embodiment;

[0046] Figure 15 for Figure 13 Enlarged diagram of part A in the diagram;

[0047] Figure 16 for Figure 13 Enlarged schematic diagram of part B in the diagram;

[0048] Figure 17 This is a three-dimensional structural diagram of the kerf finding station in the embodiment;

[0049] Figure 18 This is a three-dimensional structural diagram of the unloading station in the embodiment;

[0050] Figure 19 This is a three-dimensional structural diagram of the unloading station from another perspective in the embodiment;

[0051] Label Explanation

[0052] 1- Unprocessed rods;

[0053] 2-Processed rod, 201-Slit cut;

[0054] 3-Loading station, 301-Fixed base, 302-Sliding base, 303-Base drive unit, 3031-Ground track, 3032-Ground rack, 3033-Gear for base, 3034-Gear drive unit for base, 304-Helping strap, 305-Fixed seat, 306-High side fixed pulley, 307-Low side fixed pulley, 308-Drive wheel, 309-Counterweight, 310 -Drive wheel drive unit, 311-material placement side guide plate, 312-rod placement cavity, 313-push plate, 314-push plate drive unit, 315-limiting unit drive unit, 316-limiting side guide plate, 317-limiting plate, 318-limiting plate adjustment unit, 3181-limiting plate mounting plate, 3182-vertical screw, 3183-nut, 319-gate, 320-gate drive unit;

[0055] 4-1 Rod end machining station, 401-milling and turning machine tool, 402-track seat, 403-track seat drive unit, 404-track plate, 405-track plate drive unit, 406-rod sliding channel, 407-push rod unit, 408-rod end clamping mechanism for machining, 409-rod body clamping mechanism for machining;

[0056] 5-2 pole end machining station;

[0057] 6-Knife cutting location station, 601-Fixed base, 602-Knife cutting rod clamping mechanism, 603-Rod rotation mechanism, 604-Knife cutting rod end clamping mechanism, 605-Knife cutting detection sensor;

[0058] 7-Liquid pouring station, 701-Rotating base, 702-Rotating base drive unit, 703-Waste liquid recovery box, 704-Liquid pouring rod clamping mechanism;

[0059] 8-Unloading station, 801-Guide table, 802-Stacking frame, 803-Centering gate, 804-Centering gate drive unit, 805-Unloading side guide plate, 806-Gear, 807-Upper rack, 808-Lower rack, 809-Clamping plate;

[0060] 9-Transfer and gripping device. Detailed Implementation

[0061] The present invention will be further described in detail below with reference to embodiments. It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., used in this document to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the X, Y, and Z directions in the embodiments are... Figure 3 The coordinate system in the image is used as the reference.

[0062] This embodiment proposes an automated processing device for rod-like components, such as... Figure 3 and Figure 4 As shown, from the Y direction (i.e., the direction of rod conveying), there are sequentially a loading station 3, a processing station, a liquid pouring station 7, and a unloading station 8. It also includes a transfer gripping device 9. In this embodiment, the transfer gripping device 9 adopts an existing mature truss-type robot. The truss-type robot can move along the truss in the Y direction, and the gripping part can be raised and lowered in the Z direction. The truss-type robot is used to realize the transfer of the rod to be processed on the loading station 3, the processing station, the liquid pouring station 7, and the unloading station 8.

[0063] like Figures 5 to 7 As shown, the loading station 3 includes a material placement rack, a limit rack, a gate mechanism, and two oppositely arranged machine bases 301 and 302. (Reference) Figure 5As shown, the opposing surfaces of the two machine bases 301 and 302 are called the loading surfaces. Each loading surface is equipped with a sling 304, a fixed base 305, two fixed pulleys 306 and 307, and a drive wheel 308. The two fixed pulleys 306 and 307 are at different heights. The fixed base 305 and the drive wheel 308 are respectively located below the sides of the fixed pulleys 306 and 307, with the fixed base 305 located below the side of the higher fixed pulley 306 and the drive wheel 308 located below the side of the lower fixed pulley 307. One end of the sling 304 is connected to the fixed base 305, and the other end passes through the two fixed pulleys 306 and 307 and is wound onto the drive wheel 308. A counterweight 309 is provided on the portion of the sling 304 between the two fixed pulleys 306 and 307. The machine base is equipped with a drive wheel drive unit 310, which rotates the drive wheel 308 to raise and lower the sling 304. When the sling 304 is in a slack state, the counterweight 309 causes the sling 304 between the two fixed pulleys 306 and 307 to droop. The drooping area can be used to place rods, such as... Figure 1 As shown; when the sling 304 is in the tightened state, the sling 304 between the two fixed pulleys 306 and 307 forms a ramp that slopes from the higher fixed pulley 306 to the lower fixed pulley 307, allowing the rods on the sling 304 to roll down the ramp, such as... Figure 7 As shown. In this embodiment, the drive unit 310 can be a servo motor.

[0064] The loading station 3 also includes a base drive unit 303, one of which is a fixed base 301, and the other is a sliding base 302. The base drive unit 303 is used to drive the sliding base 302 closer to or further away from the fixed base 301. The sliding drive unit can be implemented using a servo motor + gear + rack, or it can be implemented using a hydraulic cylinder to push the base. Figure 5 As shown, this embodiment includes a ground track 3031 and a ground rack 3032 arranged along the X direction. A sliding base 302 is slidably connected to the ground track 3031. The sliding base 302 is provided with a base gear 3033 and a base gear drive unit 3034 that mesh with the ground rack 3032. The base gear drive unit 3034 can be a servo motor.

[0065] The limiting frame and gate mechanism are located on one side of the lower fixed pulley 307 and are positioned between the machine bases 301 and 302 and the material rack. The limiting frame includes a limiting drive unit 315 and a limiting unit. The limiting drive unit 315 can be a vertically lifting hydraulic cylinder used to drive the limiting unit to move up and down. The limiting unit includes a lower limiting side guide plate 316, an upper limiting plate 317, and a limiting plate adjustment unit 318. The limiting plate adjustment unit 318 controls the distance between the limiting plate 317 and the limiting side guide plate 316 by raising and lowering, so that a rod can just pass between the limiting side guide plate 316 and the limiting plate 317. The limiting side guide plate 316 is used to guide the rod to roll into the limiting unit from the lower fixed pulley 307. The limiting plate adjustment part 318 can be adjusted manually or automatically. In this embodiment, the limiting plate adjustment part 318 is adjusted manually, including a vertical screw 3182 and a limiting plate mounting plate 3181. The limiting plate mounting plate 3181 is located above the limiting plate 317. One end of the vertical screw 3182 is fixed to the limiting plate 317, and the other end passes through the limiting plate mounting plate 3181 and is fixed by two nuts 3183. During adjustment, the vertical adjustment of the limiting plate 317 is achieved by loosening the two nuts 3183. The gate mechanism includes a gate 319 and a gate drive unit 320 for controlling the raising and lowering of the gate 319. The gate drive unit 320 may be a vertically lifting cylinder. When the gate drive unit 320 is in the lowered position, the gate 319 is in contact with the limit side guide plate 316. When the gate drive unit 320 is in the raised position, the distance between the gate 319 and the limit side guide plate 316 is sufficient for the rod to pass through.

[0066] The material placement rack includes a material placement side guide plate 311 and a rod placement cavity 312. When the limiting part is raised, the material placement side guide plate 311 guides the rod to roll from the limiting side guide plate 316 to the rod placement cavity 312. Figure 11 As shown, the rod placement cavity 312 is composed of multiple semi-circular grooves arranged in the same row along the X direction. The material rack is equipped with a rod translation mechanism, which includes a push plate drive unit 314 and a push plate 313. Initially, the push plate 313 is located at one end of the rod placement cavity 312, used to push the rods inside the rod placement cavity 312, allowing the rods inside the rod placement cavity 312 to move in the X direction, thus enabling them to be grasped by the gantry-type robotic arm above (e.g., ...). Figure 1 As shown, the truss-type robot is positioned in the middle of the X-axis of the entire equipment. If the rod is long, the robot can grasp the rod in the material rack. If the rod is short, it needs to be moved horizontally below the robot so that it can be grasped. The push plate 313 is connected to the push plate drive unit 314, which is an X-axis telescopic cylinder used to drive the push plate 313 to move along the X-axis of the rod placement cavity 312.

[0067] The loading action of the loading station 3 is as follows: Figures 6 to 10 As shown, it includes the following steps:

[0068] T1. Using manual labor or a forklift, place multiple rods onto the two 304 lifting straps of the machine base. While placing them, adjust the distance between the two machine bases according to the length of the rods to be processed. Figure 6 As shown, at this time, the sling 304 is in a relaxed and drooping state, the gate 319 is closed, the limit side guide plate 316 is close to one end of the lower side fixed pulley 307 and is at the same height as the fixed pulley, and the rod is located in the placement cavity formed by the drooping sling 304.

[0069] T2. Tighten the sling 304, causing it to form a ramp from the higher fixed pulley 306 to the lower fixed pulley 307, so that the rod rolls to the gate 319, as... Figure 7 As shown;

[0070] T3. The gate 319 rises, and the rod rolls down the slope of the limit side guide plate 316, entering between the limit plate 317 and the limit side guide plate 316. When the planned number of rods has been entered, the hoisting strap 304 is released, the rod stops entering the limit part, and the gate 319 is closed.

[0071] T4. For example Figure 9 As shown, the limiting part is raised (at this time, the gate 319 needs to be raised synchronously). When the limiting side guide plate 316 is higher than the material placement side guide plate 311, the outermost rod rolls out of the limiting part and into the material placement side guide plate 311 (when most of the outermost rod is exposed from the limiting part, the limiting part can be slowly lowered to prevent the rods behind from rolling out at the same time). The rolled-out rod is guided by the material placement side guide plate 311 into the rod placement cavity 312, finally achieving the desired result. Figure 10 The state shown;

[0072] T5. (e.g.) Figure 11 As shown, if the link is not below the truss-type robot at this time, it needs to be translated in the X direction by the link translation mechanism (of the two bases, only one is a sliding base 302, so one end of the link is close to the fixed base 301 side, so when the link is long, the robot can grasp it; when the link is short, it needs to be translated by pressing...). Figure 11 The arrow indicates that the rod is translated, enabling the truss-type robot to grasp the rod.

[0073] refer to Figures 12 to 17 The machining station includes two rod end machining stations facing opposite directions, namely rod end machining station 4 (No. 1) and rod end machining station 5 (No. 2). The two rod end machining stations are essentially the same, and the following description is based on rod end machining station 4 (No. 1).

[0074] The No. 1 rod end processing station 4 includes a milling and turning machine 401 and a transfer rack. The transfer rack includes a track base 402, a track plate 404 slidably connected to the track base 402, and a track plate drive unit 405 that drives the track plate 404 to slide on the track base 402. The track plate drive unit 405 uses a cylinder that can extend and retract in the Y direction to realize the Y-direction translation of the track plate 404. Preferably, in this embodiment, a track base drive unit 403 is provided below the track base 402. The track base drive unit 403 is in the form of a hydraulic cylinder or a manual jack to realize the vertical lifting and lowering adjustment of the track base 402 (adjusted according to the height of the feed port of the milling and turning machine 401). The track plate 404 is provided with multiple rows of parallel (i.e., Y-direction parallel) rod sliding channels 406, and the rod sliding direction of the rod sliding channels 406 is set along the X direction. The milling and turning machine tool 401 is located at one end of the rod sliding channel 406 in the X direction, and the track seat 402 is located at the other end of the rod sliding channel 406 in the X direction and is provided with a push rod part 407. The push rod part 407 is directly opposite the feed port of the milling and turning machine tool 401, and the actuating end of the push rod part 407 is provided with a machining rod end clamping mechanism 408. In this embodiment, the push rod part 407 is a cylinder that can extend and retract in the X direction, and the machining rod end clamping mechanism 408 is a pneumatic gripper. Figure 15 As shown, the rod sliding channel 406 consists of several rollers with arc-shaped grooves arranged in the same row. The rod is placed in the arc-shaped grooves, and the rollers can reduce the resistance of the rod sliding.

[0075] The process of using the No. 1 rod end processing station 4 includes the following steps:

[0076] T1. The gantry robot places the workpiece to be processed on one of the workpiece sliding channels 406;

[0077] T2. The track plate drive unit 405 translates the track plate 404, so that the rod to be processed is translated to a position directly opposite the push rod unit 407 and the feed port of the milling machine tool 401;

[0078] T3. The rod end clamping mechanism 408 of the moving end of the push rod 407 clamps the end of the rod. The push rod 407 pushes the rod into the milling machine 401 for processing. After processing, the rod end clamping mechanism 408 of the moving end of the push rod 407 clamps the end of the rod and exits the processed rod.

[0079] T4. The gantry robot grabs the rod with one end finished and moves it to the next process (i.e., the kerf finding station 6 or the rod end processing station 5).

[0080] like Figure 2As shown, some rods require slits at both ends, and the slits at both ends need to be aligned. Therefore, after slitting the rod at rod end processing station 4 (station 1), the slits need to be positioned before the rod can proceed to rod end processing station 5 (station 2). Therefore, in this embodiment, a slit finding station 6 is provided between rod end processing stations 5 (stations 1 and 2).

[0081] like Figure 16 and 17 As shown, the seam-finding station 6 includes a fixed base 601. The fixed base 601 is equipped with several seam-finding rod clamping mechanisms 602 arranged in the X direction, a rod rotating mechanism 603 located at the end of the fixed base 601, a seam-finding rod end clamping mechanism 604 located at the actuating end of the rod rotating mechanism 603, and a seam-finding detection sensor 605 located at the end of the fixed base 601. In this embodiment, both the seam-finding rod clamping mechanism 602 and the seam-finding rod end clamping mechanism 604 are pneumatic grippers, the rod rotating mechanism 603 is a rotary cylinder, and the seam-finding detection sensor 605 is a conventional crack detection sensor.

[0082] The use of the cutting seam location station 6 includes the following steps:

[0083] T1. The truss-type robot places the rod with one end finished into the slit finding station 6, and the slit finding station 6 uses the rod clamping mechanism 602 to clamp the rod.

[0084] T2. The joint-finding rod end clamping mechanism 604 clamps the rod end, and the joint-finding rod body clamping mechanism 602 is slightly loosened (just enough to ensure that the rod can be rotated);

[0085] T3. The rod rotation mechanism 603 drives the rod end clamping mechanism 604 for finding the gap to rotate, thereby making the rod rotate slowly. During the rotation of the rod, the cutting gap detection sensor 605 detects the cutting gap position. After finding the cutting gap, the rotation stops. The rod body clamping mechanism 602 for finding the gap clamps the rod, and at the same time, the rod end clamping mechanism 604 for finding the gap clamps the rod.

[0086] T4. The gap-finding rod clamping mechanism 602 continuously clamps the rod until the rod is grasped by the gantry robot.

[0087] Due to the presence of the kerf, this embodiment requires several machining kerf clamping mechanisms 409 to be installed on the kerf sliding channel 406 of the kerf end machining station (especially kerf end machining station 5) to prevent the kerf from being inaccurately positioned due to kerf rotation. These machining kerf clamping mechanisms 409 also employ pneumatic grippers. When the gantry robot grabs the kerf finding station 6 and places it on the kerf sliding channel 406 of kerf end machining station 5, the machining kerf clamping mechanism 409 of kerf end machining station 5 needs to clamp the kerf to prevent rotation until it needs to be clamped by the push rod part 407 and fed into the milling machine tool of kerf end machining station 5, at which point it is released.

[0088] For tubular rods, the waste liquid generated during the milling process will flow into the cavity of the rod. If the material is unloaded directly at this time, it will pollute the environment at the material stacking point. Therefore, in this embodiment, a liquid discharge station 7 is set between the No. 2 rod end processing station 5 and the unloading station 8.

[0089] like Figure 14 As shown, the liquid pouring station 7 includes a rotating base 701, a rotating base drive unit 702, and a waste liquid recovery tank 703. The rotating base 701 is equipped with several liquid pouring rod clamping mechanisms 704 arranged along the X-axis. The rotating base drive unit 702 controls the rotation of the rotating base 701 in the XZ plane, allowing the rod to change between a horizontal and inclined state. The waste liquid recovery tank 703 is located at one end of the axial direction of the rotating base 701 and is used to recover waste liquid poured from the rod. The rotating base 701 can be designed with one end hinged to a lower column and the other end fitted with a retractable cylinder as the rotating base drive unit 702, allowing the rotating base 701 to rotate around its axis; alternatively, the rotating base 701 can be directly driven by a servo motor. In this embodiment, the liquid pouring rod clamping mechanism 704 also uses pneumatic grippers. The waste liquid recovery box 703 is used to recover the waste liquid poured out from the rod. The waste liquid recovery box 703 can be equipped with a drain outlet and a drain pipe to guide the waste liquid to a designated area to ensure the cleanliness of the factory area.

[0090] like Figure 18 and Figure 19 As shown, the unloading station includes a guide table 801, a stacking frame 802, a centering gate 803, and a centering gate drive unit 804. The top of the guide table 801 is provided with an unloading side guide plate 805, which is used to guide the rod to roll down to the stacking frame 802. The centering gate 803 is located above the unloading side guide plate 805 and is controlled to rise and fall by the centering gate drive unit 804. When the centering gate drive unit 804 is in the lowered position, the centering gate 803 is in contact with the unloading side guide plate 805. When the centering gate drive unit 804 is in the raised position, the distance between the centering gate 803 and the unloading side guide plate 805 is sufficient for the rod to pass through. To enable various rods of different lengths to fall into the stacking frame 802, the centering gate 803 of this embodiment is provided with a rod centering mechanism, including a gear 806 located at the center, an upper rack 807 and a lower rack 808 located above and below the gear 806 and meshing with the gear 806, and a gear 806 drive unit that drives the gear 806 to rotate. The upper rack 807 and the lower rack 808 are each provided with a clamping plate 809, and the two clamping plates 809 are arranged opposite each other and located at both ends of the unloading side guide plate 805 in the axial direction.

[0091] Material unloading station usage process:

[0092] T1: The gantry-type robot places the processed rods at both ends onto the unloading side guide plate 805, such as... Figure 18 As shown;

[0093] T2: The rod centering mechanism is activated, the central gear 806 rotates, and the upper and lower racks 807 and 808 translate, so that the clamping plates 809 at both ends clamp the rod. The gear 806 continues to rotate, and the rod is clamped and moved to the centering position. (After the gantry robot places the rod on the unloading side guide plate 805, the position of the rod may be offset when it rolls up and down on the plate, which may cause it to not fall accurately into the stacking frame 802. The rod centering mechanism realizes the last adjustment before the rod falls into the frame to ensure that the rod falls accurately into the frame.)

[0094] T3: The center gate drive unit controls the center gate 803 to rise, causing the rod to fall.

[0095] The overall processing procedure of this automated rod-type processing equipment includes the following steps:

[0096] S1. Place the rod between the two slings 304;

[0097] S2. Drive the drive wheel 308 to tighten the sling 304, and at the same time open the gate 319, and the rod rolls into the limiting part;

[0098] S3. Drive the drive wheel 308 to release the sling 304, close the gate 319, raise the limit part, and let a rod fall into the material rack. Then the limit part lowers, and the rod translation mechanism adjusts the rod in the material rack to the appropriate position.

[0099] S4. The gantry robot grabs the rod in the material rack and places the rod on the rod sliding channel 406 of the rod end processing station 4. The track plate drive unit 405 slides the track plate 404 so that the rod is aligned with the feed port of the milling machine tool 401. The push rod unit 407 pushes the rod into the milling machine tool 401. The milling machine tool 401 processes one end of the rod. After processing, the push rod unit 407 clamps the rod and exits the milling machine tool 401.

[0100] S5. The gantry robot grabs the rod that has been processed at the No. 1 rod end processing station 4 and places it at the cutting seam finding station 6. The cutting seam finding station 6 clamps the end of the rod and rotates to find the cutting seam. After finding the cutting seam, it stops rotating and continues to clamp the rod until the rod is grabbed by the gantry robot.

[0101] S6. The gantry robot grabs the rod on the cutting kerf finding station 6, places it on the rod sliding channel of the rod end processing station 5, and is held by the processing rod body clamping mechanism on the rod sliding channel. The track plate drive unit slides the track plate so that the rod is aligned with the feed port of the turning and milling machine. The push rod part of the rod end processing station 5 clamps the rod. At the same time, the processing rod body clamping mechanism on the rod sliding channel releases the rod. Then the push rod part pushes the rod into the turning and milling machine. The turning and milling machine processes the other end of the rod. After processing, the push rod part 407 clamps the rod and exits the turning and milling machine 401.

[0102] S7. The gantry robot first places the processed rod into the liquid discharge station 7. The liquid discharge station 7 tilts the rod to allow the waste liquid inside the rod to flow out. Then, the gantry robot grabs the discharged rod and moves it to the unloading station 8. The unloading station 8 adjusts the position of the rod and then unloads it.

[0103] The above embodiments are only used to explain the concept of the present invention, and are not intended to limit the protection of the present invention. Any non-substantial modifications made to the present invention using this concept should fall within the protection scope of the present invention.

Claims

1. A bar-like automatic processing apparatus characterized by comprising: The device comprises a feeding station, a processing station, a liquid pouring station, a discharging station and a transfer gripping device; The transfer gripping device is a truss type manipulator, which is used to realize the transfer of the rod in the feeding station, the processing station, the liquid pouring station and the discharging station. The feeding station comprises a material placing rack and two machine bases arranged oppositely, the opposite surface of the two machine bases is called a feeding surface, a lifting belt, a fixing seat, two fixed pulleys and a driving wheel are arranged on each feeding surface, the two fixed pulleys are arranged high and low, the fixing seat and the driving wheel are arranged below the two sides of the fixed pulleys respectively, one end of the lifting belt is connected to the fixing seat, the other end of the lifting belt is wound on the driving wheel after passing through the two fixed pulleys, a counterweight is arranged on the part of the lifting belt between the two fixed pulleys, a driving wheel driving part is arranged on the machine base, and the lifting belt is retracted or extended by rotating the driving wheel; the material placing rack is arranged on the side of the low fixed pulley, and comprises a material placing side guide plate and a rod placing cavity, the material placing side guide plate is used to guide the rod to roll from the side of the fixed pulley to the side of the rod placing cavity. The feeding station further comprises a machine base driving part, one of the machine bases is a fixed machine base, and the other machine base is a sliding machine base, and the machine base driving part is used to drive the sliding machine base to move close to or away from the fixed machine base. The liquid pouring station is arranged between the processing station and the discharging station, and comprises a rotating base, a rotating base driving part and a waste liquid recovery tank, a plurality of rod body clamping mechanisms for liquid pouring are arranged on the rotating base in the axial direction of the rod, the rotating base driving part is used to control the rotation of the rotating base, so that the rod changes between the horizontal state and the inclined state, and the waste liquid recovery tank is arranged at one end of the axial direction of the rotating base and is used to recover the waste liquid poured out of the rod.

2. A bar-like workpiece automatic processing apparatus according to claim 1, wherein A rod translation mechanism is arranged on the material placing rack, the rod translation mechanism comprises a push plate driving part and a push plate, one end of the push plate is used to push the rod in the side of the rod placing cavity, and the other end of the push plate is connected to the push plate driving part, and the push plate driving part is used to drive the push plate to move in the axial direction of the rod placing cavity.

3. The bar-type automatic processing apparatus according to claim 1, wherein A limiting frame and a gate mechanism are arranged between the machine base and the material placing rack, the limiting frame comprises a limiting part driving part and a limiting part, the limiting part driving part is used to drive the limiting part to move up and down, the limiting part comprises a limiting side guide plate arranged below, a limiting plate arranged above and a limiting plate adjusting part, the limiting plate adjusting part controls the distance between the limiting plate and the limiting side guide plate by lifting, so that the limiting side guide plate and the limiting plate are just suitable for one rod to pass through, and the limiting side guide plate is used to guide the rod to roll into the limiting part from the side of the fixed pulley; the gate mechanism comprises a gate and a gate driving part used to control the lifting of the gate, when the gate driving part is in the lowered position, the gate is attached to the limiting side guide plate, and when the gate driving part is in the raised position, the distance between the gate and the limiting side guide plate is suitable for the rod to pass through.

4. The bar-type automatic processing apparatus according to claim 1, wherein The processing station comprises two opposite rod end processing stations, each of which comprises a machine tool and a material moving frame, the material moving frame comprises a track base, a track plate slidingly connected to the track base, and a track plate driving part for driving the track plate to slide on the track base, a plurality of rod sliding channels are arranged on the track plate in parallel, the rod sliding channels are arranged along the axial direction of the rod and are perpendicular to the sliding direction of the track plate, the machine tool is arranged at one end of the rod sliding channel, the track base is arranged at the other end of the rod sliding channel and is provided with a push rod part, the push rod part is opposite to the material inlet of the machine tool, and the action end of the push rod part is provided with a rod end clamping mechanism for processing.

5. A bar-like workpiece automatic processing apparatus according to claim 4, wherein The track base driving part is arranged to control the vertical lifting of the track base.

6. A bar-like workpiece automatic processing apparatus according to claim 4, wherein A slit finding station is arranged between the two rod end processing stations, the slit finding station comprises a fixed base, a plurality of slit finding rod body clamping mechanisms arranged along the axial direction of the rod are arranged on the fixed base, a rod rotating mechanism is arranged at the end of the fixed base, a slit finding rod end clamping mechanism is arranged at the action end of the rod rotating mechanism, and a slit detection sensor is arranged at the end of the fixed base.

7. The bar-type automatic processing apparatus according to claim 1, wherein The unloading station comprises a guide table, a stacking frame, a centering gate, and a centering gate driving part, the guide table is provided with an unloading side guide plate for guiding the rod to roll onto the stacking frame, the centering gate is arranged above the unloading side guide plate and is controlled to lift and descend by the centering gate driving part, when the centering gate driving part is in the lowered position, the centering gate is in contact with the unloading side guide plate, and when the centering gate driving part is in the raised position, the distance between the centering gate and the unloading side guide plate is sufficient for the rod to pass through.

8. A bar-like workpiece automatic processing apparatus according to claim 7, wherein The centering gate is provided with a rod centering mechanism comprising a gear at the center, an upper rack and a lower rack arranged above and below the gear respectively and engaged with the gear, a gear driving part for driving the gear to rotate, clamping plates are arranged on the upper rack and the lower rack, and the two clamping plates are arranged opposite to each other and at the two ends of the axial direction of the unloading side guide plate.

9. A processing method based on the bar-like automatic processing apparatus according to any one of claims 1 to 8, characterized by, The method comprises the following steps: S1. placing a rod between the two lifting belts; S2. driving the driving wheel to tighten the lifting belts, and opening the gate at the same time, the rod rolls into the limiting part; S3. driving the driving wheel to release the lifting belts, closing the gate, and lifting the limiting part, so that a rod falls into the material placing frame, then lowering the limiting part, and adjusting the rod in the material placing frame to a suitable position by the rod translation mechanism; S4. the gantry robot grabs the rod in the material placing frame and places it on the rod sliding channel of the first rod end processing station, the track plate driving part slides the track plate to align the rod with the material inlet of the machine tool, the push rod part pushes the rod into the machine tool, the machine tool processes one end of the rod, after the processing is completed, the push rod part clamps the rod and exits the machine tool; S5. the gantry robot grabs the rod processed in the first rod end processing station and places it on the slit finding station, the slit finding station clamps the end of the rod and rotates to find the slit, after the slit is found, the rotation is stopped and the rod is continuously clamped until the rod is grabbed by the gantry robot. S6. The gantry robot picks up the rod from the cutting seam searching station, places it on the rod sliding channel of the second rod end machining station, and clamps it with the rod body clamping mechanism on the rod sliding channel. The track plate driving part slides the track plate to align the rod with the material inlet of the machine tool. The push rod part of the second rod end machining station clamps the rod, while the rod body clamping mechanism on the rod sliding channel releases the rod. Then the push rod part pushes the rod into the machine tool, and the machine tool processes the other end of the rod. After processing, the push rod part clamps the rod and exits the machine tool; S7. The gantry robot picks up the processed rod to the unloading station. The unloading station adjusts the position of the rod and then unloads it.

10. The method of claim 9, wherein the method is characterized by: In step S7, the gantry robot first places the processed rod on the liquid pouring station, which tilts the rod to allow the waste liquid inside to flow out. Then the gantry robot places the rod on the unloading station.

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