An automatic milling, hardness detection and straightening system for a catheter

Abstract

The present invention relates to a catheter automatic milling, hardness detection and straightening system, which includes an automatic feeding mechanism, a first robot, an automatic milling and hardness detection mechanism, a pipe transfer table, a second robot, an automatic straightening machine, a non-conforming product cart, a qualified product cart and a pipe transfer line body. Through the mechanical and electrical linkage of the above-mentioned mechanisms, only the operator needs to load and unload materials, and it can realize multi-process and fully automatic operation of feeding - transfer - milling - hardness detection - transfer - straightening - unloading for a large number of and multi-specification catheter parts, replacing the traditional backward production mode of manual transfer, milling, hardness detection and manual straightening, making the process flow of straightening and quality detection of catheter products after heat treatment flexible and intelligent, eliminating the influence of human factors on the consistency of product quality evaluation, greatly reducing the manual labor intensity and occupational health hazards, and at the same time significantly improving the production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of catheter processing, and relates to a catheter automatic milling, hardness detection and straightening system. Background Art

[0002] As the "blood vessels" of aerospace engines, the quality of catheters determines the realization of the overall functions of the engines and is related to the success or failure of major tasks. Traditional small-batch catheter (including materials such as stainless steel and alloy structural steel) parts manufacturers generally use manual hand-held high-speed rotating grinding wheels to mill a hardness detection plane at the end of the pipe after heat treatment of the pipe products, and then use traditional mechanical hardness meters for hardness detection. In the above traditional operation process, the removal amount, milling depth and surface finish consistency of manual milling are poor, and since the catheter cannot be guaranteed to be perpendicular to the test indenter during hardness inspection when manually placing the catheter, the hardness detection accuracy and repeatability are greatly affected by the limitations of the traditional detection mode. In addition, the straightening process after heat treatment of the pipe is also an important link affecting the subsequent processing quality of catheter parts. Traditional small-batch catheter straightening adopts a manual operation mode, and the pipe is straightened by moving the press head up and down. The control of the downward pressure and feed speed during the straightening process depends on the experience of the operator, and the process and quality control are difficult, the rejection rate is high, and the quality consistency is poor. In the large-scale production mode, the traditional manual execution of the milling, hardness detection and straightening processes after catheter heat treatment is inefficient, labor-intensive, and the product quality consistency is poor. An automated method is needed to solve the production and manufacturing bottleneck of catheter products. Summary of the Invention

[0003] The technical problem solved by the invention is: overcoming the deficiencies of the prior art, and proposing a catheter automatic milling, hardness detection and straightening system to realize the full-automatic integrated system integration of the processes of catheter transfer, milling, hardness detection and straightening, so as to greatly improve the product quality consistency, improve the production efficiency, and reduce the labor intensity of personnel.

[0004] The technical solution adopted by the invention is: a catheter automatic milling, hardness detection and straightening system, including an automatic loading mechanism, a first robot, an automatic milling and hardness detection mechanism, a pipe transfer table, a second robot, an automatic straightening machine, a non-conforming product trolley, a qualified product trolley, and a pipe transfer line body;

[0005] The automatic loading mechanism is used to automatically transfer the catheter into the pipe transfer line body;

[0006] The automatic milling and hardness detection mechanism is used for: obtaining the height of the part to be measured of the catheter; milling the part to be measured of the catheter to obtain a hardness detection plane that meets the requirements; automatically detecting, obtaining and storing the hardness information of the catheter to be measured through a hardness meter;

[0007] The first robot is used to grasp the catheter to be tested or the catheter for hardness detection. The first robot transfers the catheter with qualified hardness detection to the pipe transfer line body, and transfers the catheter with unqualified hardness detection to the pipe transfer table, and then the second robot cooperates to transfer it to the non-conforming product trolley;

[0008] The pipe transfer table is used for transferring the catheter for hardness detection or straightness detection between the first robot and the second robot;

[0009] The automatic straightening machine is used to measure the deformation amount of the catheter at each detection part in real time, and straighten the part with the largest deformation amount of the catheter according to the pre-stored straightening process parameters until the deformation amount of each detection part meets the process requirements;

[0010] The second robot is used to grasp the catheter to be tested or the catheter for straightness detection after the hardness detection. The second robot transfers the catheter with qualified straightening detection to the pipe transfer table, and then the first robot cooperates to transfer it to the qualified product trolley. The second robot transfers the catheter with unqualified straightening detection to the non-conforming product trolley;

[0011] The non-conforming product trolley is used to store the catheter with unqualified hardness detection result or unqualified straightening result;

[0012] The qualified product trolley is used to store the catheter with both qualified hardness detection result and straightening result.

[0013] Furthermore, the automatic feeding mechanism includes a step conveyor, a catheter lifting device, a manipulator, and a manipulator guide rail;

[0014] The catheter lifting device is arranged at the feeding station of the step conveyor. The manipulator is coaxially arranged with the catheter lifting device and can move axially with the catheter lifting device and horizontally with the manipulator guide rail. The manipulator guide rail extends to directly above the feeding station of the pipe transfer line body;

[0015] After the catheter to be tested reaches the feeding station of the step conveyor, the catheter lifting device lifts the catheter to be tested to a set height. The manipulator grabs the catheter to be tested and moves along the manipulator guide rail to the feeding station of the pipe transfer line body, and then releases the catheter to be tested, so that the catheter to be tested falls on the pipe transfer line body.

[0016] Furthermore, the first robot is a five-axis industrial robot. The end of the first robot is equipped with a V-shaped component. Two components at the opening of the V-shaped component are respectively equipped with a first gripper and a second gripper. Both the first gripper and the second gripper are equipped with N V-shaped clamping blocks driven by electric cylinders, and the catheter is grabbed or released by driving the opening and closing of the V-shaped clamping blocks. The structure of the second robot is the same as that of the first robot; N>1.

[0017] Further, when the catheter to be tested is transported by the pipe transfer line to the milling and hardness testing station, the second jaw grabs the pipe to be tested, and then the first jaw grabs and removes the previously hardness-tested catheter from the automatic milling and hardness testing mechanism. Subsequently, the second jaw places the catheter to be tested on the testing station of the automatic milling and hardness testing mechanism. If the hardness test result of the previous catheter is qualified, the first jaw grabs it and places it on the pipe transfer line and continues to flow downstream to the straightening station. If the hardness test result of the previous catheter is unqualified, the first jaw grabs it and places it on the pipe transfer table, and it is transferred to the non-conforming product trolley by the second robot.

[0018] Further, the automatic milling and hardness testing mechanism includes an automatic Brinell hardness tester, an automatic Rockwell hardness tester, a height measurement mechanism, an automatic milling mechanism, a transfer pallet, and a pallet guide rail.

[0019] The transfer pallet moves along the pallet guide rail by driving the rotation of the screw by a motor. At both ends of the transfer pallet along the catheter placement direction, a first fixed support block and a second fixed support block are provided for fixing the catheter on the transfer pallet. The automatic Brinell hardness tester, the automatic Rockwell hardness tester, the height measurement mechanism, and the automatic milling mechanism are all arranged above the pallet guide rail. Among them, the measuring head of the height measurement mechanism is equipped with a contact or non-contact displacement sensor to determine the milling reference of the catheter and the height of the hardness testing plane. The automatic milling mechanism is used to mill the part to be tested of the catheter to obtain a qualified hardness testing plane. The automatic Brinell hardness tester and the automatic Rockwell hardness tester are used to automatically detect, obtain, and store the hardness information of the catheter to be tested.

[0020] Further, the pipe transfer table is equipped with a pair of catheter first transfer stations and catheter second transfer stations driven by motors.

[0021] The catheter first transfer station and the catheter second transfer station can move along the direction parallel to the pipe transfer line. Among them, the catheter first transfer station is used for the first robot to place the catheter with unqualified hardness test, and the catheter second transfer station is used for the second robot to place the catheter with qualified straightening deformation amount.

[0022] Further, the automatic straightening machine includes a main body frame, M jacking support blocks, an operation display screen, a hydraulic press head, a lead screw, and a slewing mechanism, where M > 2.

[0023] M jacking supports are arranged at the same height and on the same horizontal line of the main frame at intervals. Each jacking support is equipped with a tappet displacement sensor and a cylinder jacking device; the slewing mechanism is arranged at both ends of the whole of the M jacking supports, and the clamping part and the bearing position of the M jacking supports are on the same horizontal line; the lead screw is arranged directly above the M jacking supports and the hydraulic press head, and the hydraulic press head is driven by the lead screw to move horizontally; the operation display screen is used to set the process parameters of the hydraulic press head and to display in real time the deformation amounts of various points of the catheter measured by the tappet displacement sensor.

[0024] Further, the pipe transfer line body includes a line body frame, a conveyor chain, and a camera;

[0025] Non-metallic V-shaped supports are installed on the conveyor chain at set intervals for supporting the catheter. After the catheter to be measured is placed on the conveyor chain, the conveyor chain is driven by a motor to run at a constant speed, and the camera is used to take pictures of the specifications of the catheter to be measured.

[0026] Further, it also includes multiple photoelectric sensors, which are arranged at the feeding station, the milling and hardness testing station, and the straightening station of the pipe transfer line body for detecting in real time whether the catheter to be measured reaches the corresponding position of the station.

[0027] The beneficial effects of the present invention compared with the prior art are as follows:

[0028] (1) Through the integrated application of the industrial robot trajectory control system, various types of sensor control systems, servo mechanism control systems, and various types of motion execution mechanisms such as electric, pneumatic, and hydraulic, the present invention designs an automatic milling, hardness testing, and straightening system that can be compatible with various specifications of catheter products. It can adapt to large-scale production in large quantities and small-batch customized production of catheters, replacing the traditional production mode that requires manual transfer, milling, hardness testing, and straightening after heat treatment of pipe parts; at the same time, it solves the risks of operators being injured by being hit and bruised when manually hoisting and handling large-sized pipe parts, and the safety hazard of parts popping out and injuring people during the process of manually straightening pipes with a press.

[0029] (2) The present invention designs 2 sets of industrial robot quick-change grippers, multiple sets of straightening supports and press heads. Through quick tool change, the system can be compatible with more than 200 specifications of catheter products, and can be expanded to adapt to catheter products of different materials and specifications, truly realizing intelligent flexible production. It provides a full-process, high-maturity solution for the rapid, automated, and intelligent shape correction and quality inspection of a large number and various types of catheters in the fields of aerospace, military weapons, and high-end equipment manufacturing in China.

[0030] (3) Since two sets of grippers are equipped at the ends of both robots in the present invention, the feeding of the catheter to be measured, the discharging and transfer of the measured catheter can be carried out simultaneously, improving the detection efficiency and saving energy consumption.

[0031] (4) The present invention optimizes the hardness detection and straightening process flow of the catheter product after heat treatment by designing the full-process automation of the feeding - milling - hardness detection - straightening - blanking process for pipe - shaped parts, and makes the process parameters that originally relied on manual operation experience parameterized and precisely controllable. First, it eliminates the risks brought to the hardness detection and heat treatment quality evaluation by various factors such as inconsistent milling depths, inconsistent surface states of the detection parts, and inconsistent hardness detection methods in the batch manual production mode. Second, it eliminates the adverse factors that manual straightening of the catheter highly depends on operation experience, with inconsistent straightening quality, uncontrollable process, and high out - of - tolerance scrap rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic structural diagram of the automatic feeding mechanism in the present invention;

[0033] Figure 2 is a schematic structural diagram of the first robot in the present invention;

[0034] Figure 3 is a schematic structural diagram of the automatic milling and hardness detection mechanism in the present invention;

[0035] Figure 4 is a schematic structural diagram of the pipe transfer table in the present invention;

[0036] Figure 5 is a schematic structural diagram of the second robot in the present invention;

[0037] Figure 6 is a schematic structural diagram of the automatic straightening machine in the present invention;

[0038] Figure 7 is a schematic structural diagram of the non - conforming product trolley in the present invention;

[0039] Figure 8 is a schematic structural diagram of the pipe transfer line in the present invention;

[0040] Figure 9 is a schematic overall structural diagram of the catheter automatic milling, hardness detection and straightening system in the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0041] The present invention will be further described below with reference to the accompanying drawings.

[0042] As Figure 9 shown, the present invention provides a catheter automatic milling, hardness detection and straightening system, including an automatic feeding mechanism 1, a first robot 2, an automatic milling and hardness detection mechanism 3, a pipe transfer table 4, a second robot 5, an automatic straightening machine 6, a non - conforming product trolley 7, a conforming product trolley 8, and a pipe transfer line 9. Each mechanism is distributed in a rectangular area of 6000mm×20000mm.

[0043] As Figure 8 shown, the pipe transfer line body 9 in the present invention is composed of a line body frame 8-1, a conveyor chain 8-2, and a camera 8-3. Non-metallic V-shaped supports are installed on the conveyor chain 8-2 of the pipe transfer line body every 30 - 50 mm for supporting the catheter to be tested. After the catheter to be tested is placed on the conveyor chain 8-2, the motor drives the conveyor chain 8-2 to run at a constant speed, and the catheter to be tested advances unidirectionally at a constant speed. Photoelectric sensors are arranged at the positions of the line body frame 8-1 corresponding to the feeding station, the milling and hardness testing station, and the straightening station. When the catheter to be tested reaches the designated positions of each station, the photoelectric sensors receive signals to control the pipe transfer line body 9 to stop running, and the camera 8-3 takes pictures to identify the catheter specifications and confirm the compliance with the system program selection.

[0044] As Figure 1 shown, the automatic feeding mechanism 1 in the present invention is mainly equipped with a step conveyor 1-1, a catheter lifting device 1-2, a manipulator (1-3, only one is shown in the structure diagram, actually there are two), a manipulator guide rail 1-4, and a width adjustment handwheel 1-5. Among them, the catheter lifting device 1-2 is arranged at the feeding station of the step conveyor 1-1, and the manipulator 1-3 is coaxially arranged with the catheter lifting device 1-2, and can realize axial movement along with the catheter lifting device 1-2 and horizontal movement along the manipulator guide rail 1-4; the manipulator guide rail 1-4 extends to directly above the feeding station of the pipe transfer line body 9; the width adjustment handwheel 1-5 is arranged on one side of the step conveyor 1-1.

[0045] In this embodiment, V-shaped blocks are arranged on the step conveyor 1-1 for supporting the catheter to be tested 1-6. During actual operation, first, the distance between the V-shaped blocks on the step conveyor 1-1 is adjusted by rotating the width adjustment handwheel 1-5 according to the length of the batch of catheters to be tested 1-6 to ensure that the step conveyor 1-1 can stably support the catheter to be tested. Subsequently, the catheters to be detected and straightened are placed on the step conveyor 1-1 in sequence, and at most 10 can be placed each time. After the operator places the catheter parts, the operating program corresponding to the catheter specifications is retrieved and the entire system is started. After the system is started, the step conveyor 1-1 starts to run, and conveys the catheter to be tested 1-6 to the feeding station of the step conveyor 1-1 directly below the feeding manipulator 1-3. In this embodiment, a photoelectric sensor and a baffle are arranged at the feeding station. After the photoelectric sensor detects the catheter to be tested 1-6, the baffle is driven by a cylinder to push the catheter to be tested 1-6 to a specific position, and then the catheter lifting device 1-2 is driven by a cylinder to lift the catheter 1-6 to a certain height. The manipulator grabs the catheter to be tested 1-6 and moves along the manipulator guide rail 1-4 to the feeding station of the pipe transfer line body 9, and then releases the catheter to be tested, so that the catheter to be tested falls on the pipe transfer line body 9.

[0046] As Figure 2As shown, the first robot 2 in the present invention is a five-axis industrial robot. The end of the first robot 2 is equipped with a V-shaped component. Two components at the opening of the V-shaped component are respectively equipped with two groups of grippers, namely the first gripper 2-1 and the second gripper 2-2. Each group of grippers is equipped with 4 V-shaped clamping blocks driven by electric cylinders to firmly grasp the catheter to be tested. The opening and closing of the V-shaped clamping blocks are driven to perform the grasping or releasing action of the catheter. During actual operation, when the catheter to be tested is transported by the pipe transfer line 9 to a specific position in front of the automatic milling and hardness testing mechanism 3, the photoelectric sensor detects the catheter to be tested, controls the line to pause, and at the same time the camera 8-3 takes a picture of the pipe to confirm that the pipe specification is consistent with the selected operation program. Subsequently, the first robot 2 starts to move. First, the second gripper 2-2 grasps the catheter to be tested, and then the first gripper 2-1 grasps and removes the previously hardness-tested pipe on the automatic milling and hardness testing mechanism 3. Subsequently, the second gripper 2-2 places the catheter to be tested on the testing station of the automatic milling and hardness testing mechanism 3. If the hardness test result of the previous catheter is qualified, the first gripper 2-1 grasps it and places it on the pipe transfer line 9 and continues to flow downstream to the straightening station; if the hardness test result of the previous catheter is unqualified, the first gripper 2-1 grasps it and places it on the pipe transfer table 4, and is transferred to the non-conforming product trolley 7 by the second robot 5.

[0047] As Figure 3 shown, the automatic milling and hardness testing mechanism 3 includes an automatic Brinell hardness tester 3-1, an automatic Rockwell hardness tester 3-2, a height measuring mechanism 3-3, an automatic milling mechanism 3-4, a transfer pallet 3-5, and a pallet guide rail. The transfer pallet 3-5 moves along the pallet guide rail by driving the rotation of the motor-driven lead screw. The two ends of the transfer pallet 3-5 are provided with a first fixed support block 3-6 and a second fixed support block 3-7 for fixing the catheter on the transfer pallet 3-5. The automatic Brinell hardness tester 3-1, the automatic Rockwell hardness tester 3-2, the height measuring mechanism 3-3, and the automatic milling mechanism 3-4 are all arranged above the pallet guide rail. The measuring head of the height measuring mechanism 3-3 is provided with a contact or non-contact displacement sensor. In this embodiment, a V-shaped upper pressing block 3-8 is also provided above the transfer pallet 3-5.

[0048] During actual operation, the first robot 2 places the catheter 1-6 to be tested on the first fixing block 3-6 and the second fixing block 3-7 on the transfer pallet 3-5. After the photoelectric sensor equipped on the transfer pallet 3-5 detects the part to be tested, the cylinder drives the V-shaped upper pressing block 3-8 to descend to fix the catheter part. Subsequently, the motor drives the lead screw to rotate to drive the transfer pallet 3-5 to move horizontally along the pallet guide rail. The transfer pallet 3-5 first supports the catheter 1-6 to be tested to reach directly below the height measuring mechanism 3-3. The measuring head of the height measuring mechanism 3-3 moves downward to detect the height of the end part of the catheter 1-6 to be tested, so as to determine the milling reference and the height of the hardness detection plane. Then the transfer pallet 3-5 continues to support the catheter 1-6 to be tested and moves it to below the automatic milling mechanism 3-4. The automatic milling mechanism 3-4 mills the part to be tested of the catheter 1-6 according to the set milling parameters (feed speed, milling depth, etc.). During the milling process, compressed air continuously blows away the iron chips and cools the grinding plane. Subsequently, the transfer pallet 3-5 supports the catheter 1-6 to be tested and moves it to below the automatic Brinell hardness tester 3-1 or the automatic Rockwell hardness tester 3-2 according to the setting. At this time, the milled plane on the catheter 1-6 to be tested is directly below the indenter of the hardness tester and its perpendicularity to the axis of the indenter of the hardness tester is ≤ 0.02 mm. After the photoelectric sensors on the automatic Brinell hardness tester 3-1 and the automatic Rockwell hardness tester 3-2 detect the pipe to be tested, the servo motor drives the indenter to automatically move downward for hardness detection. The display screen equipped on the automatic hardness tester can display the hardness detection results in real time, and can also display the displacement and load curves of the hardness test indenter during the hardness detection process. The detection results of each catheter will be displayed in tabular form on the control interface of the whole system. After the hardness measurement of one end of the catheter 1-6 to be tested is completed, the transfer pallet 3-5 moves to the initial position. According to the program setting, the first robot 2 grabs the pipe and puts it into the transfer line body 9, or the first robot 2 grabs the pipe, flips it 180°, and then places it on the transfer pallet 3-5 again for milling and hardness detection of the other end of the catheter.

[0049] As Figure 4 shown, the pipe transfer table 4 is equipped with a pair of catheter first transfer stations 4-1 and catheter second transfer stations 4-2 driven by motors; the catheter first transfer station 4-1 and the catheter second transfer station 4-2 can move along the direction parallel to the pipe transfer line body 9.

[0050] During actual operation, the catheter transfer station quickly moves to near the first robot 2 or the second robot 5 according to the setting. Among them, the first robot 2 places the catheter with unqualified hardness detection on the catheter first transfer station 4-1, and the second robot 5 places the catheter with qualified deformation amount after straightening on the catheter second transfer station 4-2.

[0051] As Figure 5As shown, the second robot 5 in the present invention is a five-axis industrial robot. The end of the second robot 5 is equipped with a V-shaped component. Two components at the opening of the V-shaped component are respectively equipped with two groups of grippers, namely the third gripper 5-1 and the fourth gripper 5-2. Each group of grippers is equipped with 4 V-shaped gripper blocks driven by electric cylinders to firmly grasp the catheter to be straightened.

[0052] During actual operation, when the catheter to be straightened is transported by the pipe transfer line 9 to a specific position in front of the automatic straightening machine 6, the photoelectric sensor detects the catheter, and the control line body pauses. Subsequently, the second robot 5 starts to act. First, the second gripper 5-2 grasps the catheter to be straightened, and then the first gripper 5-1 grasps and removes the previously straightened catheter on the automatic straightening machine 6. Subsequently, the second gripper 5-2 places the catheter to be straightened on the straightening station of the automatic straightening machine 6. If the straightening result of the previous catheter is qualified, the third gripper 5-1 places it on the pipe transfer table 4, and then the first robot 2 grasps and places it in the qualified product trolley 8; if the straightening result of the previous catheter is unqualified, the third gripper 5-1 grasps and places it in the unqualified product trolley 7.

[0053] As Figure 6 As shown, the automatic straightening machine 6 in the embodiment of the present invention mainly consists of a main body frame 6-1, 8 lifting support blocks 6-2, an operation display screen 6-3, a hydraulic press head 6-4, a lead screw 6-5, and a rotary mechanism 6-6. The 8 lifting support blocks 6-2 are arranged at the same height and on the same horizontal line of the main body frame 6-1. Each lifting support block 6-2 is equipped with a tappet displacement sensor and a cylinder lifting device; the rotary mechanism 6-6 is arranged outside the two end lifting support blocks 6-2, and the clamping part is on the same horizontal line as the bearing positions of the M lifting support blocks 6-2; the lead screw 6-5 is arranged directly above the M lifting support blocks 6-2 and the hydraulic press head 6-4, and the hydraulic press head 6-4 is driven by the lead screw 6-5 to move horizontally.

[0054] In actual operation, the operator can adjust the process parameters through the operation display screen 6-3 before the whole line starts running. The second robot 5 places the catheter to be straightened on the 8 lifting supports 6-2 on the automatic straightening machine 6, and the two ends of the catheter to be straightened need to extend out of the rotary mechanism by 20-90 mm respectively. When the automatic straightening starts, the protective net equipped outside the automatic straightening machine 6 drops to prevent the catheter from popping out accidentally, and the rollers on the rotary mechanism 6-6 drive the catheter to be straightened to rotate. When the catheter to be straightened rotates, the displacement sensors on each lifting support 6-2 can measure the deformation amount information of each point on the catheter to be straightened in real time and display it on the operation display screen 6-3. The program automatically judges the position with the largest deformation amount of the catheter to be straightened, and the lifting devices on the lifting supports on both sides of this position lift the catheter to be straightened to reserve a straightening space for the part with the largest deformation amount. The hydraulic press head 6-4 is driven by the lead screw 6-5 to move horizontally quickly to directly above the position with the largest deformation amount, and then the hydraulic press head 6-4 starts to descend, and straightens the catheter to be straightened according to the set downward pressure and feed speed. After each straightening, the catheter rotates to measure the deformation amount of each point, and the hydraulic press head 6-4 moves to the position with the largest deformation amount to continue straightening until the deformation amount of each point of the catheter to be straightened meets the process requirements.

[0055] As Figure 7 shown, the non-conforming product trolley 7 in the present invention mainly consists of a trolley main body 7-1, a V-shaped bracket 7-2 and a stopper 7-3. The first robot 2 or the second robot 5 stacks the non-conforming catheters on the V-shaped bracket 7-2 in sequence. After the V-shaped bracket 7-2 is full of catheters, the system pauses operation, and the system prompts the operator to pull out the trolley main body 7-1 from the stopper 7-3 and transfer it to the unloading area for unloading. After manual unloading is completed, the operator then pushes the empty non-conforming product trolley 7 back onto the stopper 7-3, and the system resumes operation.

[0056] The structure of the qualified product trolley 8 is the same as that of the non-conforming product trolley 7.

[0057] Example 1:

[0058] During actual operation, first install the robot, quick-change gripper, support blocks and other tooling in the system according to the specifications of the catheter to be measured, and then reset each motion mechanism in the system. The operator places the catheter to be measured on the step conveyor 1-1 in sequence, and then selects the operating program matching the catheter to be measured and starts the entire system. After the system starts running, the step conveyor 1-1 first transports the catheter to be measured directly below the manipulator 1-3. At the loading station of the step conveyor 1-1, the baffle is driven by a cylinder to push the catheter to be measured to a specific position, and the lifting device 1-2 lifts the catheter to a certain height. The manipulator 1-3 grabs the catheter to be measured and transfers the catheter to the pipe transfer line 9. The pipe transfer line 9 transports the catheter to be measured to a specific position in front of the automatic milling and hardness testing mechanism 3, and the line pauses. Then the second gripper 2-2 of the first robot grabs the catheter to be measured, and then the first gripper 2-1 grabs and removes the previously completed hardness-tested catheter. Then the second gripper places the catheter to be measured on the measurement station of the automatic milling and hardness testing mechanism 3. If the hardness test result of the previous catheter is qualified, the first gripper 2-1 grabs it and places it on the pipe transfer line 9, and the catheter continues to flow to the downstream straightening station; if the hardness test result of the previous catheter is unqualified, the first gripper 2-1 grabs it and places it on the pipe transfer table 4, and is transferred by the second robot 5 to the non-conforming product trolley 7. After the catheter with qualified hardness flows to the straightening station, first the fourth gripper 5-2 of the second robot grabs the catheter to be straightened, and then the third gripper 5-1 grabs and removes the previously completed straightened catheter on the automatic straightening machine 6. Then the fourth gripper 5-2 places the catheter to be straightened on the straightening station of the automatic straightening machine 6. If the straightening result of the previous catheter is qualified, the third gripper 5-1 places it on the pipe transfer table 4, and then it is grabbed by the first robot and placed in the qualified product trolley 8; if the hardness test result of the previous catheter is unqualified, the third gripper 5-1 grabs it and places it in the non-conforming product trolley 7. After the catheter to be straightened enters the automatic straightening machine 6, the rollers on the rotary mechanism 6-6 drive the catheter to rotate. The displacement sensors on each lifting support block 6-2 measure the deformation information of each point on the catheter in real time and display it on the operation display screen 6-3. The program automatically judges the position with the largest deformation of the catheter. The hydraulic pressure head 6-4 is driven by the lead screw 6-5 to move horizontally quickly to directly above the position with the largest deformation, and then the hydraulic pressure head 6-4 starts to descend, and straightens the catheter according to the set downward pressure and feed speed. After each straightening, the catheter rotates to measure the deformation of each point. The hydraulic pressure head 6-4 moves to the position with the largest deformation to continue straightening until the deformation of each point of the catheter meets the process requirements.

[0059] Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. An automatic milling, hardness detection and straightening system for a catheter, characterized in that, It includes an automatic feeding mechanism (1), a first robot (2), an automatic milling and hardness testing mechanism (3), a pipe transfer table (4), a second robot (5), an automatic straightening machine (6), a non-conforming product trolley (7), a qualified product trolley (8), and a pipe transfer line (9); The automatic feeding mechanism (1) is used to automatically transfer the conduit into the pipe transfer line (9); The automatic milling and hardness testing mechanism (3) is used for: obtaining the height of the part to be tested of the conduit; milling the part to be tested of the conduit to obtain a hardness testing plane that meets the requirements; automatically detecting, obtaining, and storing the hardness information of the conduit to be tested through a hardness tester; The first robot (2) is used to grasp the conduit to be tested or the conduit that has completed the hardness test. The first robot (2) transfers the conduit with qualified hardness test results to the pipe transfer line (9), and the first robot (2) transfers the conduit with unqualified hardness test results to the pipe transfer table (4), and then the second robot (5) cooperates to transfer it to the non-conforming product trolley (7); The pipe transfer table (4) is used to transfer the conduit that has completed the hardness test or the straightness test between the first robot (2) and the second robot (5); The automatic straightening machine (6) is used to measure the deformation amount of the conduit at each test part in real time, and straighten the part with the largest deformation amount of the conduit according to the pre-stored straightening process parameters until the deformation amount of each test part meets the process requirements; The second robot (5) is used to grasp the conduit to be tested or the conduit that has completed the straightness test after the hardness test. The second robot (5) transfers the conduit with qualified straightness test results to the pipe transfer table (4), and then the first robot (2) cooperates to transfer it to the qualified product trolley (8), and the second robot (5) transfers the conduit with unqualified straightness test results to the non-conforming product trolley (7); The non-conforming product trolley (7) is used to store the conduits with unqualified hardness test results or unqualified straightening results; The qualified product trolley (8) is used to store the conduits with both qualified hardness test results and straightening results; The automatic feeding mechanism (1) includes a step conveyor (1-1), a conduit lifting device (1-2), a manipulator (1-3), and a manipulator guide rail (1-4); The conduit lifting device (1-2) is arranged at the feeding station of the step conveyor (1-1). The manipulator (1-3) is coaxially arranged with the conduit lifting device (1-2) and can move axially with the conduit lifting device (1-2) and horizontally with the manipulator guide rail (1-4); the manipulator guide rail (1-4) extends to directly above the feeding station of the pipe transfer line (9); After the conduit to be tested reaches the feeding station of the step conveyor (1-1), the conduit lifting device (1-2) lifts the conduit to be tested to a set height. The manipulator (1-3) grabs the conduit to be tested and moves along the manipulator guide rail (1-4) to the feeding station of the pipe transfer line (9), and then releases the conduit to be tested, so that the conduit to be tested falls on the pipe transfer line (9).

2. The automatic milling, hardness detection and straightening system for a catheter according to claim 1, wherein, The first robot (2) is a five-axis industrial robot. The end of the first robot (2) is equipped with a V-shaped component. Two components at the opening of the V-shaped component are respectively equipped with a first gripper (2-1) and a second gripper (2-2); both the first gripper (2-1) and the second gripper (2-2) are equipped with N V-shaped clamping blocks driven by electric cylinders, and the grasping or releasing action of the catheter is performed by driving the opening and closing of the V-shaped clamping blocks; the structure of the second robot (5) is the same as that of the first robot (2); N > 1.

3. The automatic milling, hardness detection and straightening system for a catheter according to claim 2, wherein When the catheter to be measured is transported by the pipe transfer line body (9) to the milling and hardness detection station, the second gripper (2-2) grabs the catheter to be measured, and then the first gripper (2-1) grabs and removes the catheter that has completed the hardness detection on the previous automatic milling and hardness detection mechanism (3). Subsequently, the second gripper (2-2) places the catheter to be measured on the detection station of the automatic milling and hardness detection mechanism (3); if the hardness detection result of the previous catheter is qualified, the first gripper (2-1) grabs it and places it on the pipe transfer line body (9) and continues to flow downstream to the straightening station; if the hardness detection result of the previous catheter is unqualified, the first gripper (2-1) grabs it and places it on the pipe transfer table (4), and it is transferred to the non-conforming product trolley (7) by the second robot (5).

4. The automatic milling, hardness detection and straightening system for a catheter according to claim 1, wherein The automatic milling and hardness detection mechanism (3) includes an automatic Brinell hardness tester (3-1), an automatic Rockwell hardness tester (3-2), a height measurement mechanism (3-3), an automatic milling mechanism (3-4), a transfer pallet (3-5), and a pallet guide rail; The transfer pallet (3-5) moves along the pallet guide rail by driving the rotation of the motor-driven lead screw. The first fixed support block (3-6) and the second fixed support block (3-7) are arranged at both ends of the transfer pallet (3-5) along the catheter placement direction for fixing the catheter on the transfer pallet (3-5); the automatic Brinell hardness tester (3-1), the automatic Rockwell hardness tester (3-2), the height measurement mechanism (3-3), and the automatic milling mechanism (3-4) are all arranged above the pallet guide rail; among them, the measuring head of the height measurement mechanism (3-3) is equipped with a contact or non-contact displacement sensor to determine the milling reference of the catheter and the height of the hardness detection plane. The automatic milling mechanism (3-4) is used to mill the part to be measured of the catheter to obtain a hardness detection plane that meets the requirements. The automatic Brinell hardness tester (3-1) and the automatic Rockwell hardness tester (3-2) are used to automatically detect, obtain, and store the hardness information of the catheter to be measured.

5. The automatic milling, hardness detection and straightening system for a catheter according to claim 1, wherein, The pipe transfer table (4) is equipped with a pair of catheter first transfer stations (4-1) and catheter second transfer stations (4-2) driven by motors; The catheter first transfer station (4-1) and the catheter second transfer station (4-2) can move along the direction parallel to the pipe transfer line body (9). Among them, the catheter first transfer station (4-1) is used for the first robot (2) to place the catheter with unqualified hardness detection, and the catheter second transfer station (4-2) is used for the second robot (5) to place the catheter with qualified straightening deformation.

6. The automatic milling, hardness detection and straightening system for a catheter according to claim 1, wherein, The automatic straightening machine (6) includes a main body frame (6-1), M jacking supports (6-2), an operation display screen (6-3), a hydraulic press head (6-4), a lead screw (6-5), and a slewing mechanism (6-6), where M > 2; The M jacking supports (6-2) are arranged at the same height and on the same horizontal line of the main body frame (6-1) at intervals. Each jacking support (6-2) is equipped with a tappet displacement sensor and a cylinder jacking device; the slewing mechanism (6-6) is arranged at both ends of the whole of the M jacking supports (6-2), and the clamping part is on the same horizontal line as the bearing position of the M jacking supports (6-2); the lead screw (6-5) is arranged directly above the M jacking supports (6-2) and the hydraulic press head (6-4), and the hydraulic press head (6-4) is driven by the lead screw (6-5) to move horizontally; the operation display screen (6-3) is used to set the process parameters of the hydraulic press head (6-4) and to display in real time the deformation amounts of various points of the catheter measured by the tappet displacement sensor.

7. A catheter automatic milling, hardness detection and straightening system according to claim 1, characterized in that The pipe transfer line body (9) includes a line body frame (8-1), a conveyor chain (8-2), and a camera (8-3); Non-metallic V-shaped supports are installed on the conveyor chain (8-2) at set intervals for supporting the catheter. After the catheter to be tested is placed on the conveyor chain (8-2), the conveyor chain (8-2) is driven by a motor to run at a constant speed, and the camera (8-3) is used to take pictures of the specifications of the catheter to be tested.

8. A catheter automatic milling, hardness detection and straightening system according to claim 1, characterized in that, It also includes multiple photoelectric sensors, which are arranged at the feeding station, the milling and hardness testing station, and the straightening station of the pipe transfer line body (9) for detecting in real time whether the catheter to be tested reaches the corresponding position of the station.

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