Automatic machining system and method for needle valve body of diesel engine

Abstract

The invention relates to the technical field of industrial automatic machining, in particular to a diesel engine needle valve body automatic machining system and method.The system comprises a manipulator side hanging truss, an internal grinding machine tool, a feeding and discharging table, a manipulator control device and a master control device; the manipulator side hanging truss comprises a door-shaped side hanging truss, a sliding rail is arranged on the side face of a cross beam of the door-shaped side hanging truss, an electric control sliding table is arranged on the sliding rail, and a manipulator is arranged on the electric control sliding table; a plurality of internal grinding machine tools are arranged on the front side of the door-shaped side hanging truss, the feeding and discharging table is arranged between the adjacent internal grinding machine tools, and a double-station gripper which is detachably connected is arranged at the end of the manipulator and comprises a three-jaw blank feeder and a finished product clamping gripper which are distributed at 90 degrees; and the master control device comprises an automatic door control module, a material taking processing module and a repeated processing module. The problems of low precision grinding machining efficiency, high cost and unstable quality of the needle valve body can be effectively solved.

Description

Technical Field

[0001] The invention relates to the technical field of industrial automated processing, and in particular to an automated processing system and method for a diesel engine needle valve body. Background Art

[0002] The needle valve body is a core component in the fuel injection system. It not only requires high processing precision, but also has many varieties, small batches, and frequent production changes. At present, it is mainly processed by ordinary equipment and relies on labor-intensive workers, resulting in low production efficiency, low product processing quality precision, high product cost and production energy consumption. At the same time, due to the lack of integrated application of advanced intelligent equipment, advanced manufacturing technology, advanced manufacturing model and information technology, it is difficult to organize product production, low equipment utilization, poor manufacturing process flexibility, and insufficient production process optimization capabilities. Summary of the invention

[0003] One of the purposes of the present invention is to provide an automated machining system for a diesel engine needle valve body, which can effectively solve the problems of low efficiency, high cost and unstable quality in precision grinding of the needle valve body.

[0004] In order to achieve the above-mentioned purpose, a diesel engine needle valve body automated processing system is provided, comprising a manipulator side-mounted truss, an internal grinding machine, a loading and unloading platform, a manipulator control device and a master control device; the manipulator side-mounted truss comprises a door-type side-mounted truss, a side of the crossbeam of the door-type side-mounted truss is provided with a slide rail, an electric control slide is provided on the slide rail, and a manipulator is provided on the electric control slide; the manipulator and the electric control slide are both electrically connected to the manipulator control device;

[0005] A plurality of internal grinding machines are arranged at the front side of the door-type side hanging truss, and the loading and unloading platforms are arranged between adjacent internal grinding machines. The internal grinding machine comprises a machine and an automatic door assembly, and the automatic door assembly comprises an automatic door, an automatic door driving bracket, an automatic door driving cylinder and a solenoid valve; the solenoid valve is electrically connected to the master control device;

[0006] The loading and unloading platform comprises a structural frame, a warning light and a feeding completion confirmation button. The upper surface of the structural frame is paved with a guide rail, and a movable slide is provided on the guide rail. A turntable-type parts rack and a driving device for driving the turntable-type parts rack to rotate are provided on the movable slide. The turntable-type parts rack is provided with a plurality of circles of needle valve body mounting holes which are arranged concentrically and in a circumferential manner. A rodless cylinder and an air valve box for controlling the rodless cylinder are provided on the structural frame. The rodless cylinder is arranged on the guide rail and connected to the movable slide. The driving device, the air valve box, the warning light and the feeding completion confirmation button are electrically connected to the master control device.

[0007] The end of the manipulator is provided with a detachably connected double-station gripper, and the double-station gripper includes a three-claw blank feeder and a finished product gripper arranged at 90 degrees;

[0008] The master control device comprises the following modules:

[0009] Automatic door control module: used to control the automatic door drive cylinder through the solenoid valve, drive the automatic door to slide on the automatic door drive bracket, and open and close the opening on the internal grinding machine for the manipulator to pass through;

[0010] Material picking and processing module: used to control the three-claw blank feeder of the manipulator and the double-station gripper at the end of the manipulator, take out the needle valve body in the needle valve body installation hole corresponding to the picking position on the specified circle layer from the turntable-type parts rack located at the gripping position of the manipulator on the loading and unloading table, and put it into the internal cylindrical grinding machine for processing, and take out the processed needle valve body through the finished product gripping gripper and put it back to the original position, and then control the turntable-type parts rack to rotate to a set angle through the drive device to turn the next needle valve body to be processed to the processing position; it is also used to bring the manipulator to the position of another internal cylindrical grinding machine through the electric control slide during the processing of the internal cylindrical grinding machine, and repeat the loading process of the needle valve body;

[0011] Repeat processing module: After all the needle valve bodies to be processed are processed, it is used to control the movement of the rodless cylinder through the air valve box, drive the moving slide to return the turntable type parts rack to the manual feeding position, and control the prompt light to send out an alarm light prompt to prompt the manual staff to come and feed the turntable type parts rack; it is also used to obtain the confirmation signal of pressing the feeding completion confirmation button after the manual feeding is completed, and control the turntable type parts rack to return to the robot gripping position according to the confirmation signal to continue repeated processing.

[0012] Further, the manipulator includes a flange, a fixed angle plate, a quick-change joint male plate, a three-claw blank feeder and a finished product gripping claw; the fixed angle plate includes an upper top plate, a front side plate and a right side plate which are respectively vertically arranged, one end of the flange is connected to the outer side surface of the front side plate of the manipulator and the other end thereof, the quick-change joint male plate is connected to the bottom surface of the upper top plate, the three-claw blank feeder is connected to the quick-change joint male plate, and the finished product gripping claw is connected to the outer side surface of the right side plate;

[0013] The three-claw blank feeder comprises a quick-change joint mother disc and a feeder support body which are vertically connected in sequence, a flexible buffer mechanism is arranged in the middle of the feeder support body, a reference positioning ring is arranged at the lower end of the feeder support body, a seat surface positioning pin rod which is arranged vertically downward is arranged at the center of the reference positioning ring, the seat surface positioning pin rod is used to insert into the needle valve body to realize positioning, and a three-claw cylinder is arranged on the reference positioning ring to clamp and fix the needle valve body which has completed positioning;

[0014] The finished product clamping claws are two-claw cylinders that can move toward each other or move away from each other.

[0015] Furthermore, it also includes a two-dimensional code scanning device and a host computer, the two-dimensional code scanning device is electrically connected to the master control device, the host computer is electrically connected to the master control device, and the master control device includes the following modules:

[0016] Processing data input module: used to scan and collect the QR code engraved on the outer side of the needle valve body, and input and store the processing data into the QR code; the processing data includes the model data of the double-station gripper, the tool data of the internal grinding machine, and the batch data of the needle valve body to be processed on the loading and unloading table;

[0017] The host computer includes the following modules:

[0018] Quality inspection data input module: used to scan and collect the QR code engraved on the outer side of the needle valve body, and input and store the quality inspection data of the corresponding needle valve body into the QR code;

[0019] Data analysis module: used to trace data based on the QR code; also used to predict and analyze the degree of tool wear and robot processing adjustment parameters based on the processing data and quality inspection data in the QR code.

[0020] One of the purposes of the present invention is to provide a diesel engine needle valve body automated processing method, which uses the structural design of a diesel engine needle valve body automated processing system, and specifically includes the following steps:

[0021] S1. Control the action of the rodless cylinder through the valve box to drive the moving slide to return the turntable type parts rack to the manual feeding position, and control the prompt light to send out an alarm light prompt to remind the manual personnel to come over and feed the turntable type parts rack;

[0022] S2, obtain the confirmation signal of pressing the feeding completion confirmation button after manual feeding is completed, and control the turntable type parts rack to return to the robot hand grabbing position according to the confirmation signal;

[0023] S3, controlling the automatic door driving cylinder through the solenoid valve, driving the automatic door to slide on the automatic door driving bracket, and opening the opening on the internal grinding machine for the manipulator to pass through;

[0024] S4, control the manipulator and the three-claw blank feeder of the double-position gripper at the end of the manipulator to take out the needle valve body in the needle valve body installation hole corresponding to the picking position on the specified circle layer from the turntable-type parts rack located at the gripping position of the manipulator on the loading and unloading table, and put it into the internal grinding machine for processing;

[0025] S5, close the automatic door;

[0026] S6. During the internal grinding machine processing, the robot is brought to the position of another internal grinding machine by the electric control slide, and the needle valve body loading processing flow in the above steps S3-S5 is repeated;

[0027] S7, taking out the processed needle valve body through the finished product gripping claw and putting it back to the original position, and then controlling the turntable type parts rack to rotate to a set angle through the driving device, and turning the next needle valve body to be processed to the processing position;

[0028] S8. After all the needle valve bodies to be processed on the turntable type parts rack are processed, the rodless cylinder is controlled by the valve box to drive the moving slide to return the turntable type parts rack to the manual feeding position, and the prompt light is controlled to emit an alarm light prompt to prompt manual feeding to the turntable type parts rack;

[0029] S9: Jump to step S2 and execute subsequent steps in a loop.

[0030] Principles and advantages:

[0031] When starting work, the master control device controls the movement of the rodless cylinder through the air valve box, drives the moving slide to return the turntable type parts rack to the manual feeding position, and controls the prompt light to emit an alarm light prompt to remind people to come and feed the turntable type parts rack; after the manual feeding is completed, press the feeding completion confirmation button, the master control device will receive the confirmation signal and control the turntable type parts rack to return to the robot gripping position according to the confirmation signal, so as to complete the preparation work before processing, and greatly reduce the intervention of personnel, which can avoid the problem of unstable processing quality of needle valve body due to human factors in traditional processing.

[0032] During the processing, the master control device controls the automatic door drive cylinder through the solenoid valve, drives the automatic door to slide on the automatic door drive bracket, and opens the opening on the internal grinding machine for the manipulator to pass through; then controls the manipulator and the three-claw blank feeder of the double-station gripper at the end of the manipulator, and takes out the needle valve body in the needle valve body installation hole corresponding to the picking position on the specified circle layer from the turntable-type parts rack located at the robot's grasping position on the loading and unloading table, and puts it into the internal grinding machine for processing; closes the automatic door to prevent the turning debris from entering the external environment. During the processing of the internal grinding machine, the manipulator is brought to the position of another internal grinding machine through the electric control slide, and the needle valve body loading processing process in the above steps is repeated, so that needle valve bodies of various specifications can be processed at the same time to improve work efficiency. Or the same needle valve body can be processed to further improve work efficiency. The processed needle valve body will be taken out by the finished product clamping claw and put back in place, and then the drive device will control the turntable type parts rack to rotate to the set angle, and the next needle valve body to be processed will be turned to the processing position; the setting method of combining the manipulator with the turntable type parts rack greatly improves the automation and intelligence of loading and unloading, thereby improving work efficiency.

[0033] After all the processing is completed, the master control device controls the rodless cylinder through the valve box to drive the moving slide to return the turntable type parts rack to the manual feeding position, and controls the prompt light to send out an alarm light prompt to remind the staff to come over to feed the turntable type parts rack, prompting the staff to re-feed materials so as to carry out the next round of automated processing. The realization of fully automated process processing can effectively solve the problems of low efficiency, high cost and unstable quality of precision grinding of needle valve bodies. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is an axonometric diagram of a manipulator side-mounted truss, an internal grinding machine, and a loading and unloading platform in an automated processing system for a diesel engine needle valve body according to an embodiment of the present invention;

[0035] Figure 2 for Figure 1 A top view of

[0036] Figure 3 This is the axonometric view of the double-station gripper;

[0037] Figure 4 This is the axonometric view of the loading and unloading platform. DETAILED DESCRIPTION

[0038] The following is further described in detail through specific implementation methods:

[0039] The figure marks in the drawings of the specification include: crossbeam 1, slide rail 2, electric control slide 3, internal cylindrical grinding machine 4, manipulator 5, loading and unloading table 6, double-station gripper 7, flange 8, fixed angle plate 9, two-claw cylinder 10, reference positioning ring 11, seat positioning pin rod 12, three-claw cylinder 13, turntable type part rack 14, hydraulic buffer 15, guide rail 16, drag chain 17, warning light 18, air valve box 19, rodless cylinder 20, movable slide 21, proximity switch 22, pneumatic dividing plate 23.

[0040] Example

[0041] A diesel engine needle valve body automatic processing system, basically as Figure 1 , Figure 2 As shown, it includes a side-mounted truss for a manipulator 5, an internal cylindrical grinding machine 4, a loading and unloading platform 6, a safety fence, a safety door, a top protective window, a manipulator control device and a general control device; the side-mounted truss for the manipulator 5 includes a door-type side-mounted truss, a slide rail 2 is provided on the side of the crossbeam 1 of the door-type side-mounted truss, an electric-controlled slide 3 is provided on the slide rail 2, the electric-controlled slide 3 can slide freely on the slide rail 2, a manipulator 5 is installed on the electric-controlled slide 3, and the manipulator 5 is a Jerry 30Kg robot; the manipulator 5 and the electric-controlled slide 3 are both electrically connected to the manipulator control device.

[0042] The front side of the door-type side hanging truss is provided with a plurality of internal grinding machines 4. In this embodiment, two internal grinding machines 4 are provided. The loading and unloading platforms 6 are provided between adjacent internal grinding machines 4. One loading and unloading platform 6 can be provided, or two loading and unloading platforms 6 can be provided. In this embodiment, in order to improve the working efficiency, Figure 1 , Figure 2 As shown, there are two loading and unloading platforms 6, which can hold the same type of needle valve bodies or different needle valve bodies. The internal grinding machine 4 includes a machine tool and an automatic door assembly, and the automatic door assembly includes an automatic door, an automatic door drive bracket, an automatic door drive cylinder and a solenoid valve; the solenoid valve is electrically connected to the master control device. In this embodiment, the layout adopts a face-to-face arrangement of two internal grinding machines, and a truss side hanging structure is adopted. A robot loads and unloads two machine tools on the same side of the operating surface, constructing a "two to four" architecture mode of the needle valve body precision grinding automation unit.

[0043] like Figure 4 As shown, the loading and unloading platform 6 includes a structural frame, a warning light 18 and a feeding completion confirmation button. The upper surface of the structural frame is paved with a guide rail 16, and a moving slide 21 is provided on the guide rail 16. The moving slide 21 is provided with a turntable type part rack 14 and a driving device for driving the turntable type part rack 14 to rotate. The front and rear ends of the structural frame are provided with a hydraulic buffer 15 to provide a buffer for the forward and backward movement of the moving slide 21. The turntable type part rack 14 is provided with a plurality of circles of needle valve body mounting holes arranged concentrically and arranged in a circle, and the turntable type part rack 14 is provided with a proximity switch 22. The proximity switch is mainly used to detect the presence or absence of the part rack, and specifically selects an eddy current proximity switch. The eddy current proximity switch uses the metal object approaching the electromagnetic oscillation induction head to generate eddy currents induced by the metal object inside, and the eddy currents generated by the magnetic field react in the electromagnetic field, thereby causing a change in the equivalent impedance of the proximity switch coil. Therefore, it is identified whether there is a metal object approaching in order to control the switch or close. The structural frame is provided with a rodless cylinder 20 and an air valve box 19 for controlling the rodless cylinder 20. The rodless cylinder 20 is arranged on the guide rail 16 and connected to the moving slide 21. The driving device, the air valve box 19, the warning light 18 and the confirmation button for completion of feeding are electrically connected to the master control device. In this embodiment, the driving device adopts a pneumatic indexing plate 23, the cables are arranged in the drag chain 17, and 4 infrared sensor detection tables are arranged at the center of the upper surface of the turntable-type parts rack 14 to detect abnormal clamping of the needle valve body. This scheme designs a rotary single-point pick-and-place material buffer table, and adopts a variety of customized structural methods such as a moving slide 21, a pneumatic indexing plate 23, and a parts rack to realize the automatic loading and unloading of needle valve body parts by robots, which solves the problems of many types and quantities of machined parts of needle valve bodies and easy confusion between rough and finished products in a simple and efficient manner.

[0044] like Figure 3As shown, the end of the manipulator 5 is provided with a detachably connected double-station gripper 7, and the double-station gripper 7 includes a three-claw blank feeder and a finished product clamping gripper arranged at 90 degrees; in this embodiment, the manipulator 5 specifically includes a flange 8, a fixed angle plate 9, a quick-change joint male plate, a three-claw blank feeder and a finished product clamping gripper; the fixed angle plate 9 includes an upper top plate, a front side plate and a right side plate respectively arranged vertically, one end of the flange 8 is connected to the outer side surface of the front side plate of the manipulator 5 and the other end of the quick-change joint male plate is connected to the bottom surface of the upper top plate, the three-claw blank feeder is connected to the quick-change joint male plate, and the finished product clamping gripper is connected to the outer side surface of the right side plate;

[0045] The three-claw blank feeder comprises a quick-change joint female disc and a feeder support body which are vertically connected in sequence, a flexible buffer mechanism (locating pins and springs which are circumferentially distributed and spaced between two discs) is arranged in the middle of the feeder support body, a reference positioning ring 11 is arranged at the lower end of the feeder support body, a seat surface positioning pin rod 12 which is arranged vertically downward is arranged at the center of the reference positioning ring 11, the seat surface positioning pin rod 12 is used to insert into the needle valve body to achieve positioning, and a three-claw cylinder 13 is arranged on the reference positioning ring 11 to clamp and fix the positioned needle valve body;

[0046] The finished product gripping claw is a two-claw cylinder 10 that can move toward or away from each other. The claw fingers adopt a translational V-shaped block design, which can not only increase the force-bearing area of ​​the claw fingers, thereby reducing the pressure on the needle valve body and the possibility of damaging the needle valve body surface. It can also fix the needle valve body together with the cylindrical positioning pin on the base of the gripper to prevent it from being damaged by loosening and falling.

[0047] In this embodiment, the pneumatic devices are all automatically controlled by setting up solenoid valves. Based on the structural characteristics of the needle valve body and the workpiece feeding method, a flexible manipulator with 5 claws is designed using a flexible mechanism and positioning method; the positioning reference surface of the blank feeder is closely fitted with the large surface of the machine tool claw to ensure the workpiece feeding accuracy. In addition, the manipulator adopts a high-precision position servo controller to establish a control model of the robot and the manipulator 5 claws. Through multi-degree-of-freedom solution and precision control technology, the controllable accuracy of the robot arm's operating space is established to achieve high-precision positioning control of the manipulator 5 claws.

[0048] The master control device comprises the following modules:

[0049] Automatic door control module: used to control the automatic door driving cylinder through the solenoid valve, drive the automatic door to slide on the automatic door driving bracket, and open and close the opening on the internal grinding machine 4 for the manipulator 5 to pass through;

[0050] Material taking and processing module: used to control the three-claw blank feeder of the manipulator 5 and the double-station gripper 7 at the end of the manipulator 5, take out the needle valve body in the needle valve body installation hole corresponding to the picking position on the specified circle layer from the turntable type parts rack 14 located at the gripping position of the manipulator on the loading and unloading table 6, and put it into the internal cylindrical grinding machine 4 for processing, and take out the processed needle valve body through the finished product clamping gripper and put it back to the original position, and then control the turntable type parts rack 14 to rotate the set angle through the driving device to turn the next needle valve body to be processed to the processing position; it is also used to bring the manipulator 5 to the position of another internal cylindrical grinding machine 4 through the electric control slide 3 during the processing of the internal cylindrical grinding machine 4, and repeat the feeding process of the needle valve body;

[0051] Repeat processing module: After all the needle valve bodies to be processed are processed, it is used to control the movement of the rodless cylinder 20 through the air valve box 19, drive the moving slide 21 to return the turntable type parts rack 14 to the manual feeding position, and control the prompt light 18 to send out an alarm light prompt to prompt the manual staff to come and feed the turntable type parts rack 14; it is also used to obtain the confirmation signal of pressing the feeding confirmation button after the manual feeding is completed, and control the turntable type parts rack 14 to return to the robot gripping position according to the confirmation signal to continue repeated processing.

[0052] It also includes a two-dimensional code scanning device and a host computer. The two-dimensional code scanning device is electrically connected to the master control device, is a column structure and is arranged on the necessary path of the manipulator 5. When the manipulator 5 takes the needle valve body, the two-dimensional code on the side of the needle valve body is scanned. The host computer is electrically connected to the master control device. The master control device includes the following modules:

[0053] Processing data input module: used to scan and collect the QR code engraved on the outer side of the needle valve body, and input and store the processing data into the QR code; the processing data includes the model data of the double-station gripper 7, the tool data of the internal cylindrical grinding machine 4 and the batch data of the needle valve body to be processed on the loading and unloading table 6; to achieve the traceability of the product quality of the needle valve body workpiece.

[0054] The host computer includes the following modules:

[0055] Quality inspection data input module: used to scan and collect the QR code engraved on the outer side of the needle valve body, input and store the quality inspection data of the corresponding needle valve body into the QR code, and realize the traceability of the product quality of the needle valve body workpiece.

[0056] Data analysis module: used to trace data based on the QR code; also used to predict and analyze tool wear and robot processing adjustment parameters based on the processing data and quality inspection data in the QR code. Specifically, according to the quality inspection data, the machine tool tool compensation and other parameters are corrected to improve the machine tool processing parameters.

[0057] This solution can effectively solve the problems of low efficiency, high cost and unstable quality in the precision grinding of needle valve bodies, change the current production mode of single and few types of parts automation or manual operation, and form an operation mode that mainly relies on robot automation loading and unloading, and manually assists in correcting tool compensation parameters, thereby reducing the number of operators, alleviating manual labor intensity and improving production efficiency; at the same time, the constructed digital workshop will have a significant demonstration and leading effect, providing effective experience for the digital construction of large-scale and wide-ranging mechanical manufacturing workshops, and providing a broad application platform and environment for the development and industrialization of intelligent equipment in smart industrial parks, and building a demonstration base for intelligent manufacturing in discrete manufacturing industries.

[0058] In order to further improve work efficiency, a dynamic scheduling model for workshop operations can be established and solved. By identifying the sensitivity of production operation indicators to different changes in equipment capacity, the bottleneck index matrix of the equipment can be obtained. Then, the TOPSIS (Topology Distance Between Superiority and Inferiority) decision method is used to obtain the comprehensive bottleneck index of the equipment. Based on the genetic algorithm, the actual production site data such as the current equipment status, capacity, load, production tool status, work-in-progress status, etc. are used as constraints. The global optimal solution search is performed through the iterative evolution of the population, and the production schedule with the smallest total delay is output.

[0059] A diesel engine needle valve body automated processing method, using the structural design of a diesel engine needle valve body automated processing system, specifically includes the following steps:

[0060] S1, control the rodless cylinder 20 to move through the valve box 19, drive the moving slide 21 to return the turntable type parts rack 14 to the manual feeding position, and control the prompt light 18 to send out an alarm light prompt to prompt manual feeding to the turntable type parts rack 14;

[0061] S2, obtaining a confirmation signal of pressing a button for confirming the completion of feeding after manual feeding, and controlling the turntable type parts rack 14 to return to the robot hand grabbing position according to the confirmation signal;

[0062] S3, controlling the automatic door driving cylinder through the solenoid valve, driving the automatic door to slide on the automatic door driving bracket, and opening the opening on the internal grinding machine 4 for the manipulator 5 to pass through;

[0063] S4, control the manipulator 5 and the three-claw blank feeder of the double-station gripper 7 at the end of the manipulator 5 to take out the needle valve body in the needle valve body installation hole corresponding to the picking position on the specified circle layer from the turntable type parts rack 14 located at the gripping position of the manipulator on the loading and unloading table 6, and put it into the internal grinding machine 4 for processing;

[0064] S5, closing the automatic door through the automatic door control module;

[0065] S6. During the processing of the internal grinding machine 4, the manipulator 5 is brought to the position of another internal grinding machine 4 by the electric control slide 3, and the loading processing flow of the needle valve body in the above steps S3-S5 is repeated;

[0066] S7, taking out the processed needle valve body through the finished product gripping claw and putting it back to the original position, and then controlling the turntable type parts rack 14 to rotate to a set angle through the driving device, and turning the next needle valve body to be processed to the processing position;

[0067] S8, after all the needle valve bodies to be processed on the turntable type parts rack 14 are processed, the rodless cylinder 20 is controlled by the valve box 19 to drive the moving slide 21 to return the turntable type parts rack 14 to the manual feeding position, and the prompt light 18 is controlled to emit an alarm light prompt to prompt manual feeding to the turntable type parts rack 14;

[0068] S9: Jump to step S2 and execute subsequent steps in a loop.

[0069] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is described too much here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can know all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A diesel engine needle valve body automated processing system, characterized in that: It includes a manipulator side-mounted truss, an internal grinding machine, a loading and unloading platform, a manipulator control device and a master control device; the manipulator side-mounted truss includes a door-type side-mounted truss, a slide rail is provided on the side of the crossbeam of the door-type side-mounted truss, an electric control slide is provided on the slide rail, and a manipulator is provided on the electric control slide; the manipulator and the electric control slide are both electrically connected to the manipulator control device; A plurality of internal grinding machines are arranged at the front side of the door-type side hanging truss, and the loading and unloading platforms are arranged between adjacent internal grinding machines. The internal grinding machine comprises a machine and an automatic door assembly, and the automatic door assembly comprises an automatic door, an automatic door driving bracket, an automatic door driving cylinder and a solenoid valve; the solenoid valve is electrically connected to the master control device; The loading and unloading platform comprises a structural frame, a warning light and a feeding completion confirmation button. The upper surface of the structural frame is paved with a guide rail, and a movable slide is provided on the guide rail. A turntable-type parts rack and a driving device for driving the turntable-type parts rack to rotate are provided on the movable slide. The turntable-type parts rack is provided with a plurality of circles of needle valve body mounting holes which are arranged concentrically and in a circumferential manner. A rodless cylinder and an air valve box for controlling the rodless cylinder are provided on the structural frame. The rodless cylinder is arranged on the guide rail and connected to the movable slide. The driving device, the air valve box, the warning light and the feeding completion confirmation button are electrically connected to the master control device. The end of the manipulator is provided with a detachably connected double-station gripper, and the double-station gripper includes a three-claw blank feeder and a finished product gripper arranged at 90 degrees; The master control device comprises the following modules: Automatic door control module: used to control the automatic door drive cylinder through the solenoid valve, drive the automatic door to slide on the automatic door drive bracket, and open and close the opening on the internal grinding machine for the manipulator to pass through; Material picking and processing module: used to control the three-claw blank feeder of the manipulator and the double-station gripper at the end of the manipulator, take out the needle valve body in the needle valve body installation hole corresponding to the picking position on the specified circle layer from the turntable-type parts rack located at the gripping position of the manipulator on the loading and unloading table, and put it into the internal cylindrical grinding machine for processing, and take out the processed needle valve body through the finished product gripping gripper and put it back to the original position, and then control the turntable-type parts rack to rotate to a set angle through the drive device to turn the next needle valve body to be processed to the processing position; it is also used to bring the manipulator to the position of another internal cylindrical grinding machine through the electric control slide during the processing of the internal cylindrical grinding machine, and repeat the loading process of the needle valve body; Repeat processing module: After all the needle valve bodies to be processed are processed, it is used to control the movement of the rodless cylinder through the air valve box, drive the moving slide to return the turntable type parts rack to the manual feeding position, and control the prompt light to send out an alarm light prompt to prompt the manual staff to come and feed the turntable type parts rack; it is also used to obtain the confirmation signal of pressing the feeding completion confirmation button after the manual feeding is completed, and control the turntable type parts rack to return to the robot gripping position according to the confirmation signal to continue repeated processing.

2. The diesel engine needle valve body automated processing system according to claim 1, characterized in that: The manipulator comprises a flange, a fixed angle plate, a quick-change joint male plate, a three-claw blank feeder and a finished product gripping claw; the fixed angle plate comprises an upper top plate, a front side plate and a right side plate which are respectively arranged vertically, one end of the flange is connected to the outer side surface of the manipulator and the other end is connected to the front side plate, the quick-change joint male plate is connected to the bottom surface of the upper top plate, the three-claw blank feeder is connected to the quick-change joint male plate, and the finished product gripping claw is connected to the outer side surface of the right side plate; The three-claw blank feeder comprises a quick-change joint mother disc and a feeder support body which are vertically connected in sequence, a flexible buffer mechanism is arranged in the middle of the feeder support body, a reference positioning ring is arranged at the lower end of the feeder support body, a seat surface positioning pin rod which is arranged vertically downward is arranged at the center of the reference positioning ring, the seat surface positioning pin rod is used to insert into the needle valve body to realize positioning, and a three-claw cylinder is arranged on the reference positioning ring to clamp and fix the needle valve body which has completed positioning; The finished product clamping claws are two-claw cylinders that can move toward each other or move away from each other.

3. The diesel engine needle valve body automated processing system according to claim 2, characterized in that: It also includes a two-dimensional code scanning device and a host computer, wherein the two-dimensional code scanning device is electrically connected to the master control device, the host computer is electrically connected to the master control device, and the master control device includes the following modules: Processing data input module: used to scan and collect the QR code engraved on the outer side of the needle valve body, and input and store the processing data into the QR code; the processing data includes the model data of the double-station gripper, the tool data of the internal grinding machine, and the batch data of the needle valve body to be processed on the loading and unloading table; The host computer includes the following modules: Quality inspection data input module: used to scan and collect the QR code engraved on the outer side of the needle valve body, and input and store the quality inspection data of the corresponding needle valve body into the QR code; Data analysis module: used to trace data based on the QR code; also used to predict and analyze the degree of tool wear and robot processing adjustment parameters based on the processing data and quality inspection data in the QR code.

4. A diesel engine needle valve body automated processing method, characterized in that: The diesel engine needle valve body automatic processing system according to any one of claims 1 to 3 is used, and specifically comprises the following steps: S1. Control the action of the rodless cylinder through the valve box to drive the moving slide to return the turntable type parts rack to the manual feeding position, and control the prompt light to send out an alarm light prompt to remind the manual personnel to come over and feed the turntable type parts rack; S2, obtain the confirmation signal of pressing the feeding completion confirmation button after manual feeding is completed, and control the turntable type parts rack to return to the robot hand grabbing position according to the confirmation signal; S3, controlling the automatic door driving cylinder through the solenoid valve, driving the automatic door to slide on the automatic door driving bracket, and opening the opening on the internal grinding machine for the manipulator to pass through; S4, control the manipulator and the three-claw blank feeder of the double-position gripper at the end of the manipulator to take out the needle valve body in the needle valve body installation hole corresponding to the picking position on the specified circle layer from the turntable-type parts rack located at the gripping position of the manipulator on the loading and unloading table, and put it into the internal grinding machine for processing; S5, close the automatic door; S6. During the internal grinding machine processing, the robot is brought to the position of another internal grinding machine by the electric control slide, and the needle valve body loading processing flow in the above steps S3-S5 is repeated; S7, taking out the processed needle valve body through the finished product gripping claw and putting it back to the original position, and then controlling the turntable type parts rack to rotate to a set angle through the driving device, and turning the next needle valve body to be processed to the processing position; S8. After all the needle valve bodies to be processed on the turntable type parts rack are processed, the rodless cylinder is controlled by the valve box to drive the moving slide to return the turntable type parts rack to the manual feeding position, and the prompt light is controlled to emit an alarm light prompt to prompt manual feeding to the turntable type parts rack; S9: Jump to step S2 and execute subsequent steps in a loop.

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