A double-axis double-sided chamfering device and its control system

Abstract

The present invention relates to the technical field of mechanical parts processing, and specifically, to a dual-axis double-sided chamfering equipment and its control system, comprising: a double-sided chamfering machine body and a clamping part installed on the double-sided chamfering machine body, a grasping robot arranged behind the double-sided chamfering machine body, a feeding part arranged on one side of the grasping robot, and a trimming mechanism installed on the double-sided chamfering machine body, which can extend the clamping force to both sides to form new clamping points, thereby ensuring that it can freely switch between relatively concentrated and relatively dispersed clamping modes, thereby ensuring that even when processing longer workpieces, the clamping force can still be distributed as evenly as possible on the workpiece, effectively preventing unexpected situations such as swinging and deformation after the workpiece is rigidly contacted with a rotating tool during processing, and ensuring the accuracy of chamfering processing.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical parts processing, and in particular to a double-axis double-sided chamfering device and a control system thereof. Background Art

[0002] In modern industrial production, chamfering is a crucial process. Chamfering refers to processing the corners or edges of a workpiece to form a chamfer, that is, changing the original sharp edge into a smooth corner shape. Chamfering can improve the safety of the workpiece, improve the durability of the workpiece, improve the aesthetics of the workpiece, and facilitate subsequent assembly operations.

[0003] The double-axis double-sided chamfering machine is a special metal processing equipment used to chamfer the edges of metal workpieces. It uses two rotating axes, each of which is equipped with a tool. During the working process, the two axes rotate simultaneously, and the tool chamfers the two opposite sides of the workpiece, thereby achieving efficient and accurate chamfering operations. The double-axis design makes it possible to chamfer both sides of the workpiece at the same time, greatly improving the processing efficiency. Compared with the traditional single-axis chamfering machine, it can save a lot of time.

[0004] However, the existing double-axis double-sided chamfering machines have some defects: first, after each workpiece is processed, the next workpiece needs to be loaded manually, and the degree of automation is insufficient, which in turn affects the production efficiency; secondly, due to tool wear, inadequate tool assembly, improper processing parameters, inadequate workpiece clamping and workpiece material characteristics, etc., burrs are easily caused to appear on the chamfered parts. These burrs not only affect the appearance quality of the product, but may also have an adverse effect on subsequent assembly and use. The existing double-axis double-sided chamfering machines do not have the function of processing burrs. If burrs appear, additional processes and manpower are required to process the burrs; furthermore, the clamping form of the device for clamping the workpiece on the existing double-axis double-sided chamfering machine is fixed. When encountering a longer bar workpiece, the clamping force is unevenly distributed, and more parts of the workpiece are exposed. Therefore, after rigid contact with the rotating tool, it is easy to cause unexpected situations such as swinging and deformation, thereby affecting the processing accuracy. Summary of the invention

[0005] The purpose of the present invention is to provide a double-axis double-sided chamfering device to solve the above problems.

[0006] In order to achieve the above-mentioned object, the present invention provides a double-axis double-sided chamfering device, comprising: a double-sided chamfering machine body and a clamping part installed on the double-sided chamfering machine body, a grabbing robot arranged behind the double-sided chamfering machine body, a feeding part arranged on one side of the grabbing robot, and a trimming mechanism installed on the double-sided chamfering machine body, wherein:

[0007] Driving the clamping part can generate a centripetal clamping force to clamp the workpiece to be chamfered, and the clamping part is suitable for bidirectional extension clamping points to disperse the clamping force;

[0008] The feeding part is suitable for storing workpieces to be chamfered in batches, and can feed the workpieces to be chamfered outward one by one, so as to place each workpiece to be chamfered to the same position in sequence;

[0009] The grasping robot is suitable for grasping the workpiece to be chamfered on the feeding part and accurately delivering it to the clamping part;

[0010] The trimming mechanism is suitable for automatically grinding two chamfered edges of a workpiece simultaneously to achieve polishing of the chamfered edges.

[0011] Further, the feeding part includes a rectangular cavity box and a placement rack, and the opening end of the rectangular cavity box faces upward, and a front through groove and a rear through groove are respectively provided on both sides of the bottom of the rectangular cavity box, and the front through groove and the rear through groove are collinear, a first horizontal platform installed on the rectangular cavity box and on the same side as the rear through groove, a first cylinder arranged on the first horizontal platform, and a pusher head installed on the output end of the first cylinder, and the placement rack is arranged in front of the front through groove, wherein:

[0012] The first cylinder is driven so that its output end extends forward, so that the push head passes forward through the rear through slot and enters the rectangular cavity box.

[0013] Further, the clamping part includes a reference recessed area provided on the main body of the double-sided chamfering machine, two second cylinders installed on the main body of the double-sided chamfering machine and respectively located on both sides of the reference recessed area, two clamping plates respectively installed on the output ends of the two second cylinders, four electric push rods respectively connected to the two clamping plates in a group of two, and four side clamping blocks respectively connected to the output ends of the four electric push rods;

[0014] The four side clamping blocks are respectively attached to the two ends of the two clamping plates;

[0015] The reference recessed area is centrally located between the two second cylinders.

[0016] Furthermore, the trimming mechanism includes a positioning frame fixedly installed on the double-sided chamfering machine body, a U-shaped base frame placed in the positioning frame, an electromagnetic support plate integrally connected to the U-shaped base frame by a number of bolts, two groove blocks installed on the double-sided chamfering machine body and respectively located on both sides of the positioning frame, two vertical tables slidably installed in the two groove blocks, two first motors respectively arranged on the two vertical tables, and the two first motors are arranged facing each other, two swing plates respectively connected to the output ends of the two first motors, two protruding edges respectively installed in front of the two swing plates, back plates respectively connected to the two protruding edges, two grinding discs respectively installed in front of the two back plates, two third cylinders arranged on the double-sided chamfering machine body, and the tails of the two third cylinders are opposite and located on one side of the positioning frame, and two right-angle arms with one end respectively connected to the output ends of the two third cylinders;

[0017] The other ends of the two right-angle arms are respectively connected to the two stands;

[0018] The electromagnetic support plate is connected to an external power supply through a wire.

[0019] Furthermore, the feeding part also includes an expansion panel installed on the rectangular cavity box and on the same side as the front through slot, a circular ring installed on the expansion panel and the rectangular cavity box, and the front through slot is located inside the circular ring, a secondary ring connected to the front side of the circular ring, a plurality of third horizontal platforms circumferentially installed in front of the secondary ring, a plurality of guide pillars one end of which are respectively arranged on the plurality of third horizontal platforms, a plurality of external shaping plates respectively connected to the other ends of the plurality of guide pillars, and a plurality of cleaning sheets respectively installed on the plurality of external shaping plates;

[0020] The plurality of cleaning sheets are arranged in a circumference and are colinear with the center line of the front through groove;

[0021] The placement rack is close to a plurality of cleaning sheets.

[0022] Furthermore, the feeding part further comprises a fourth horizontal platform fixedly mounted on the side of the rectangular cavity box, a second motor arranged on the fourth horizontal platform, a gear mounted on the output end of the second motor, and a gear ring sleeved on the secondary ring;

[0023] The gear is meshed with the gear ring;

[0024] One end of the secondary ring is located inside the circular ring and is rotatably connected to the circular ring via a bearing.

[0025] Furthermore, the trimming mechanism further comprises two hand-tightening bolts respectively screwed on the two swing-back plates, and two transition plates whose one ends are respectively rotatably connected to the ends of the two hand-tightening bolts, and the other ends of the two transition plates are respectively hinged to the backs of the two back plates;

[0026] The two back plates are hinged to the two protruding edges respectively.

[0027] Further, the feeding part also includes a plurality of first springs respectively installed between the plurality of the third horizontal platforms and the plurality of the external shaping plates, and the plurality of the first springs are respectively fitted on the plurality of the guide pillars, a plurality of outward-expanding seesaw plates respectively connected to the side surfaces of the plurality of the external shaping plates, and the plurality of the outward-expanding seesaw plates face the front through slot, a plurality of second springs with one end arrayed on the inner side wall of the rectangular cavity box, and a partition plate connected to the other end of the plurality of the second springs;

[0028] The guide column is slidably inserted on the third horizontal platform, and the diameter of the portion of the guide column protruding from the third horizontal platform becomes larger, wherein:

[0029] The partition divides the inner space of the rectangular cavity box into two.

[0030] Further, the placement rack includes a fourth cylinder and two supports arranged vertically, a second support plate connected to the output end of the third cylinder, and two side support plates respectively installed on the two supports;

[0031] The two side end support plates are respectively attached to the two ends of the second support plate.

[0032] According to a second aspect of the present invention, a control system for a dual-axis double-sided chamfering device is provided, the control system comprising the following steps:

[0033] S1: The first cylinder is started to push the workpiece to be chamfered at the bottom of the rectangular cavity box outward to the placement rack, and at the same time the second motor is started to control the cleaning blades to rotate at high speed;

[0034] S2: The third cylinder starts to control the second support plate to sink, and the third cylinder stops after the second support plate is separated from the workpiece to be chamfered;

[0035] S3: The grasping robot starts, grasps the workpiece to be chamfered, places it on the reference recessed area, and then resets;

[0036] S4: The two second cylinders are started to control the two clamping plates to clamp the workpiece to be chamfered;

[0037] S5: The main body of the double-sided chamfering machine starts to chamfer the two end surfaces of the workpiece to be chamfered;

[0038] S6: Release the two second cylinders and start the grasping robot again to place the workpiece on the electromagnetic pallet;

[0039] S7: Reset the grasping robot, turn on the power to control the electromagnetic support plate to generate suction, and at the same time, start the two third cylinders to control the two grinding discs to stick to the chamfered edge of the workpiece, and then start the two first motors to control the two grinding discs to rotate and grind the chamfered edge of the workpiece;

[0040] S8: Start the grasping robot again to grasp and remove the workpiece.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] The clamping part of the dual-axis double-sided chamfering equipment can not only complete the normal clamping work of the workpiece and ensure normal chamfering processing, but also extend the clamping force to both sides to form new clamping points, thereby ensuring that it can freely switch between relatively concentrated and relatively dispersed clamping modes, thereby ensuring that even when processing longer workpieces, the clamping force can still be distributed as evenly as possible on the workpiece, effectively preventing unexpected situations such as swinging and deformation after the workpiece and the rotating tool are in rigid contact during processing, thereby ensuring the accuracy of chamfering processing.

[0043] The dual-axis double-sided chamfering equipment can automatically and orderly complete the feeding and loading of workpieces with the cooperation of the grabbing robot and the feeding part, without the need to manually feed and load the workpieces one by one to prevent excessive impact on production efficiency;

[0044] The dual-axis double-sided chamfering equipment can fix the workpiece in the form of adsorption after the chamfering is completed through the trimming mechanism and with the support of the grabbing robot, and can continuously grind the two chamfered surfaces of the workpiece close to it, so that all burrs caused by chamfering are processed by grinding, and the chamfered surfaces of the workpiece are polished, thereby removing burrs and eliminating adverse effects while greatly improving the integration of mechanical structure and process, effectively reducing labor costs and the cumbersomeness of the process, and ensuring the stability of the polishing process;

[0045] The dual-axis double-sided chamfering equipment can clean the workpiece surface by rubbing the outer surface of the workpiece with a cleaning tool at high speed each time the material is fed outwards, thereby avoiding the presence of impurities such as oil stains and cutting waste on the workpiece surface that may cause deviations in the chamfering size or increase the wear of the chamfering tool. The workpiece surface is fully cleaned while feeding, further improving the integration of the process, providing a good foundation for other subsequent processes, and comprehensively improving the actual use effect of the dual-axis double-sided chamfering equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0047] Figure 1 The present invention is shown in FIG. Figure 1 ;

[0048] Figure 2 The present invention is shown in FIG. Figure 2 ;

[0049] Figure 3 The present invention is shown in FIG. Figure 3 ;

[0050] Figure 4 The present invention is shown in FIG. Figure 4 ;

[0051] Figure 5 A partial stereoscopic view of the present invention at another angle is shown;

[0052] Figure 6 A partial stereoscopic view of the present invention at another angle is shown;

[0053] Figure 7 A schematic diagram showing the internal structure of the rectangular cavity box of the present invention is shown;

[0054] Figure 8 The present invention is shown Figure 2 A magnified image of point A;

[0055] Fig. 9 The present invention is shown Figure 3 A magnified view of point B;

[0056] Fig.10 The present invention is shown Figure 4 Enlarged view of point C;

[0057] Fig.11 The present invention is shown Figure 4 Enlarged view of point D.

[0058] In the figures, the same reference numerals denote the same structural elements, wherein:

[0059] 2. Double-sided chamfering machine body; 3. Clamping part; 31. Reference depression area; 33. Second cylinder; 34. Clamping plate; 36. Electric push rod; 38. Side clamping block; 5. Grasping robot; 6. Feeding part; 62. Rectangular cavity box; 63. Front through slot; 64. Rear through slot; 65. First horizontal platform; 66. First cylinder; 67. Pushing head; 68. Placement rack; 681. Fourth cylinder; 682. Support; 683. Second support plate; 684. Side end support plate; 69. Expanding panel; 691. Circular ring; 692. Secondary ring; 693. Third horizontal platform; 694. Guide column; 695. External shaping plate; 696, cleaning piece; 697, fourth horizontal platform; 698, second motor; 699, gear; 6991, gear ring; 6992, first spring; 6993, outward expansion rocker; 6994, second spring; 6995, partition; 7, trimming mechanism; 71, positioning frame; 72, U-shaped base frame; 74, electromagnetic support plate; 75, groove block; 76, stand; 77, first motor; 78, swing plate; 79, protruding edge; 791, back plate; 792, grinding piece; 793, third cylinder; 794, right-angle arm; 795, hand-tightening bolt; 796, transition plate. DETAILED DESCRIPTION

[0060] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0061] like Figure 1-11 As shown, a double-axis double-sided chamfering device includes: a double-sided chamfering machine body 2 and a clamping part 3 installed on the double-sided chamfering machine body 2, a grasping robot 5 arranged behind the double-sided chamfering machine body 2, a feeding part 6 arranged on one side of the grasping robot 5, and a trimming mechanism 7 installed on the double-sided chamfering machine body 2. The double-sided chamfering machine body 2 includes many components such as chamfering tools, which perform normal double-sided chamfering work. The grasping robot 5 is an existing robot with grasping ability, which can simulate human operation and accurately perform object grasping, handling and placement tasks, ensuring that the grasping robot 5 can be used as the bottom support to accurately grasp, handle and place the workpiece as required, wherein:

[0062] Driving the clamping portion 3 can generate a centripetal clamping force to clamp the workpiece to be chamfered, and the clamping portion 3 is suitable for bidirectional extension clamping points to disperse the clamping force;

[0063] The feeding portion 6 is suitable for storing workpieces to be chamfered in batches, and can feed the workpieces to be chamfered outward one by one, so as to place each workpiece to be chamfered to the same position in turn;

[0064] The grabbing robot 5 is suitable for grabbing the workpiece to be chamfered on the feeding part 6 and accurately delivering it to the clamping part 3;

[0065] The trimming mechanism 7 is suitable for automatically grinding the two chamfered edges of the workpiece at the same time to achieve polishing of the chamfered edges. The clamping part 3 of the dual-axis double-sided chamfering equipment can not only complete the normal clamping work of the workpiece to ensure normal chamfering processing, but also extend the clamping force to both sides to form new clamping points, thereby ensuring that it can freely switch between relatively concentrated and relatively dispersed clamping modes, thereby ensuring that even when processing longer workpieces, the clamping force can still be distributed as evenly as possible on the workpiece, effectively preventing unexpected situations such as swinging and deformation after the rigid contact between the workpiece and the rotating tool during processing, ensuring the accuracy of the chamfering processing, and with the cooperation of the grasping robot 5 and the feeding part 6, the feeding and loading of the workpiece can be automatically and orderly completed, without the need to manually feed and load the workpiece one by one to prevent the production efficiency from being affected too much. Through the trimming mechanism 7 and with the support of the grasping robot 5, the workpiece can be completed After chamfering, the workpiece is fixed in the form of adsorption, and at the same time, the two chamfered surfaces of the workpiece can be closely attached to it and continuously polished, so that all burrs caused by chamfering are processed by grinding, and the polishing of the chamfered surface of the workpiece is completed, thereby removing burrs and eliminating adverse effects while greatly improving the integration of mechanical structure and process, effectively reducing labor costs and the cumbersomeness of the process, and ensuring the stability of the polishing process. Through the feeding part 6, the outer surface of the workpiece can be rubbed at high speed with a cleaning tool during each outward feeding process to achieve cleaning of the workpiece surface, thereby avoiding the presence of impurities such as oil stains and cutting waste on the workpiece surface, which may cause deviations in the chamfering size or increase the wear of the chamfering tool, and complete the comprehensive cleaning of the workpiece surface while feeding, further improving the integration of the process, and providing a good foundation for other subsequent processes, and comprehensively improving the actual use effect of the dual-axis double-sided chamfering equipment.

[0066] Optionally, the feeding part 6 includes a rectangular cavity box 62 and a placement rack 68, and the opening end of the rectangular cavity box 62 faces upward, and a front through slot 63 and a rear through slot 64 are respectively provided on both sides of the bottom of the rectangular cavity box 62, and the front through slot 63 and the rear through slot 64 are collinear, a first horizontal platform 65 installed on the rectangular cavity box 62 and on the same side as the rear through slot 64, a first cylinder 66 arranged on the first horizontal platform 65, and a pusher head 67 installed on the output end of the first cylinder 66, and the placement rack 68 is arranged in front of the front through slot 63, wherein:

[0067] The first cylinder 66 is driven, and its output end extends forward so that the push head 67 passes forward through the rear through slot 64 and enters the rectangular cavity box 62. The space inside the rectangular cavity box 62 can be used for stacking and storing batches of workpieces to be chamfered to support continuous processing. When chamfering is performed, after the first cylinder 66 is driven, its output end begins to extend forward. With the continuous action of the first cylinder 66, the push head 67 contacts the bottom workpiece in the rectangular cavity box 62 and pushes it outward until the workpiece is pushed onto the placement rack 68 through the front through slot 63 on the other side, thereby automatically completing the feeding of the workpiece and sending the workpiece to the designated position for the grasping robot 5 to grasp; the tail of the push head 67 is semicircular to prevent the workpiece in the rectangular cavity box 62 from moving down after the current workpiece is pushed out, causing the push head 67 to collide with it when it is reset, resulting in the push head 67 not being able to reset normally.

[0068] Optionally, the clamping part 3 includes a reference recessed area 31 provided on the double-sided chamfering machine body 2, two second cylinders 33 installed on the double-sided chamfering machine body 2 and respectively located on both sides of the reference recessed area 31, two clamping plates 34 respectively installed on the output ends of the two second cylinders 33, four electric push rods 36 respectively connected to the two clamping plates 34 in a group of two, and four side clamping blocks 38 respectively connected to the output ends of the four electric push rods 36;

[0069] The four side clamping blocks 38 are respectively attached to the two ends of the two clamping plates 34;

[0070] The reference recessed area 31 is centrally located between the two second cylinders 33. After the workpiece arrives on the placement rack 68, the grabbing robot 5 is driven to start working to grab it and place it on the reference recessed area 31, thereby completing the automation of loading. The reference recessed area 31 provides a temporary and stable placement point for the workpiece to prevent the workpiece from rolling after being placed on the double-sided chamfering machine body 2, resulting in failure to clamp it smoothly. Subsequently, the two second cylinders 33 are synchronously driven to gradually close the two clamping plates 34 with the workpiece on the reference recessed area 31 as the center, until the two clamping plates 34 are completely clamped on the workpiece to complete a stable clamping, thereby ensuring the smooth progress of the subsequent chamfering process; under normal conditions, the four side clamping blocks 38 are combined with the two clamping plates 34 into one The body is centrally clamped. When processing a longer workpiece, before clamping, the four electric push rods 36 are driven to push the four side clamping blocks 38 to disengage from the two clamping plates 34, and the four side clamping blocks 38 are pushed to a suitable position according to the actual length of the workpiece to be chamfered. Then the two second cylinders 33 are driven to clamp the workpiece. At this time, the four side clamping blocks 38 clamp the workpiece at the new positions on both sides of the two clamping plates 34, thereby realizing the extension of the clamping force on both sides, thereby ensuring that even when processing a longer workpiece, the clamping force can still be distributed as evenly as possible on the workpiece, effectively preventing the workpiece from swinging, deforming, and other unexpected situations after the rigid contact between the workpiece and the rotating tool during processing, which affects the chamfering size, thereby ensuring the accuracy of the chamfering processing.

[0071] Optionally, the trimming mechanism 7 includes a positioning frame 71 fixedly mounted on the double-sided chamfering machine body 2, a U-shaped base frame 72 placed in the positioning frame 71, an electromagnetic support plate 74 integrally connected to the U-shaped base frame 72 by a plurality of bolts, two groove blocks 75 mounted on the double-sided chamfering machine body 2 and respectively located on both sides of the positioning frame 71, two stands 76 respectively slidably mounted in the two groove blocks 75, and two first motors 77 respectively arranged on the two stands 76, and the two first motors 77 are arranged facing each other. , two swing plates 78 connected to the output ends of the two first motors 77, two protruding edges 79 installed in front of the two swing plates 78, back plates 791 connected to the two protruding edges 79, two grinding plates 792 installed in front of the two back plates 791, two third cylinders 793 arranged on the double-sided chamfering machine body 2, and the tails of the two third cylinders 793 are opposite and located on one side of the positioning frame 71, and two right-angle arms 794 with one end connected to the output ends of the two third cylinders 793;

[0072] The other ends of the two right-angle arms 794 are respectively connected to the two stands 76;

[0073] The electromagnetic support plate 74 is connected to the external power supply through a wire. The electromagnetic support plate 74 is essentially an electromagnet in an arc shape to better fit the rod-shaped workpiece and ensure the adsorption effect. After the chamfering of the workpiece is completed and the clamping is cancelled, the processed workpiece is placed on the electromagnetic support plate 74 through the grasping robot 5, and then the external power supply is turned on to energize the electromagnetic support plate 74 to generate magnetic force to firmly adsorb the workpiece on it, and then the two third cylinders 793 are driven respectively to move the two stands 76 along the two groove blocks 75 toward the workpiece on the electromagnetic support plate 74 until the two grinding discs 792 are attached to the chamfered surfaces at both ends of the workpiece, and then the two first motors 77 are started to drive the two swing plates 78 to rotate. Thereby, the two grinding discs 792 move in a circle along the chamfered surface, continuously grinding the chamfered surface, and then all the burrs on the chamfered surface are removed by grinding, completing the polishing of the chamfered surface of the workpiece, removing burrs, eliminating adverse effects, and greatly improving the integration of mechanical structure and process, effectively reducing labor costs and the complexity of the process, and ensuring the stability of the polishing process; when the size of the workpiece changes, the electromagnetic support plate 74 is removed from the U-shaped base frame 72 and the U-shaped base frame 72 is taken out of the positioning frame 71 and replaced with a U-shaped base frame 72 of the corresponding height to ensure that the grinding disc 792 can match the workpiece after the size has changed, so that it can be attached to the chamfered surface of the workpiece.

[0074] Optionally, the feeding part 6 also includes an expansion panel 69 installed on the rectangular cavity box 62 and on the same side as the front through groove 63, a circular ring 691 installed on the expansion panel 69 and the rectangular cavity box 62, and the front through groove 63 is located inside the circular ring 691, a secondary ring 692 connected to the front side of the circular ring 691, a plurality of third horizontal platforms 693 circumferentially installed in front of the secondary ring 692, a plurality of guide pillars 694 one end of which are respectively arranged on the plurality of third horizontal platforms 693, a plurality of external shaping plates 695 respectively connected to the other end of the plurality of guide pillars 694, and a plurality of cleaning sheets 696 respectively installed on the plurality of external shaping plates 695;

[0075] The plurality of cleaning sheets 696 are arranged in a circle and are colinear with the center line of the front through slot 63;

[0076] The placement rack 68 is close to the cleaning sheets 696, and a channel is formed by the cleaning sheets 696 for the workpiece to pass through. When the workpiece moves out from the rectangular cavity box 62, the workpiece will pass along the cleaning sheets 696. During this process, the cleaning sheets 696 wipe the surface of the workpiece, thereby cleaning the workpiece in the process of feeding outward, thereby avoiding the presence of impurities such as oil stains and cutting waste on the workpiece surface that cause deviations in the chamfering size or increase in the wear of the chamfering tool, and completing the comprehensive cleaning of the workpiece surface while feeding, further improving the integration of the process, and providing a good foundation for other subsequent processes, thereby comprehensively improving the actual use effect of the dual-axis double-sided chamfering equipment.

[0077] Optionally, the feeding part 6 further includes a fourth horizontal platform 697 fixedly mounted on the side of the rectangular cavity box 62, a second motor 698 disposed on the fourth horizontal platform 697, a gear 699 mounted on the output end of the second motor 698, and a gear ring 6991 sleeved on the secondary ring 692;

[0078] The gear 699 is meshed with the gear ring 6991;

[0079] One end of the secondary ring 692 is located inside the circular ring 691 and is rotatably connected to the circular ring 691 via a bearing, thereby forming a connection relationship between the secondary ring 692 and the circular ring 691, ensuring that the secondary ring 692 can rotate smoothly relative to the circular ring 691, and synchronously starting the second motor 698 when feeding outward, thereby driving the secondary ring 692 to rotate under the meshing transmission of the gear 699 and the gear ring 6991, so that the plurality of cleaning sheets 696 can rub the outer surface of the workpiece, ensuring that the surface of the workpiece is fully cleaned by the plurality of cleaning sheets 696 to remove all impurities on its surface, thereby ensuring thorough cleaning.

[0080] Optionally, the trimming mechanism 7 further includes two hand-tightening bolts 795 respectively screwed on the two swing plates 78, and two transition plates 796 one end of which is rotatably connected to the ends of the two hand-tightening bolts 795, and the other ends of the two transition plates 796 are respectively hinged to the backs of the two back plates 791;

[0081] The two back plates 791 are hinged to the two protruding edges 79 respectively. By tightening the hand-tightening bolt 795, the back plate 791 can be pressed forward or pulled backward through the transition plate 796, causing the back plate 791 to tilt forward or backward around the hinge point with the protruding edge 79, thereby adjusting the angle of the grinding plate 792 to ensure that the trimming mechanism 7 can adapt to chamfers of different sizes and improve mechanical adaptability.

[0082] Optionally, the feeding part 6 further includes a plurality of first springs 6992 respectively installed between the plurality of third horizontal platforms 693 and the plurality of external shaping plates 695, and the plurality of first springs 6992 are respectively fitted on the plurality of guide pillars 694, a plurality of outwardly expanding seesaw plates 6993 respectively connected to the side surfaces of the plurality of external shaping plates 695, and the plurality of outwardly expanding seesaw plates 6993 are facing the front through slot 63, and one end of the plurality of outwardly expanding seesaw plates 6993 is arrayed on the inner side wall of the rectangular cavity box 62, and a partition plate 6995 connected to the other end of the plurality of second springs 6994;

[0083] The guide column 694 is slidably inserted on the third horizontal platform 693, and the diameter of the portion of the guide column 694 protruding from the third horizontal platform 693 becomes larger, wherein:

[0084] The partition 6995 divides the internal space of the rectangular cavity box 62 into two parts. Under normal conditions, the first springs 6992 are in a fully popped-up state, and the tail of the guide column 694 abuts against the third horizontal platform 693 to control the external shaping plate 695 in an initial state. When the size of the workpiece to be chamfered changes, as the workpiece moves outward, the cleaning sheets 696 are squeezed by the workpiece and press the guide columns 694 backward on the third horizontal platform 693, and at the same time compress the first springs 6992 to expand the cleaning sheets 696, thereby ensuring that workpieces of different sizes can pass through and improving adaptability. The externally expanding seesaw plates 6993 make the cleaning sheets 696 face the front passage. The opening of the groove 63 is smooth and round, ensuring that the workpiece after the size changes can be smoothly squeezed into the plurality of cleaning sheets 696 to prevent the workpiece from pressing against the external shaping plate 695 and preventing it from moving out smoothly; the plurality of second springs 6994 and the partition 6995 ensure that when the size of the workpiece changes, the plurality of second springs 6994 can be compressed to move the partition 6995 backward to make room, and at the same time, under the elastic force of the plurality of second springs 6994, the partition 6995 also gives the workpiece a relative force, ensuring that the workpieces in the rectangular cavity box 62 are not hindered from falling one by one while ensuring that the batches of workpieces in the rectangular cavity box 62 are arranged neatly to prevent the workpieces from being randomly stacked and misplaced, which may affect the feeding work.

[0085] Optionally, it should be specifically stated that the elastic coefficients of the first springs 6992 used in the present invention are relatively low, that is, the pressure that can be generated by the first springs 6992 is relatively small, thereby ensuring that when the size of the workpiece increases and the first springs 6992 are compressed to cause the cleaning sheets 696 to expand, the first springs 6992 will not forcefully squeeze the workpiece in the middle through the cleaning sheets 696, thereby ensuring that the cleaning sheets 696 fit the outer surface of the workpiece to perform a cleaning function while preventing the workpiece from being driven to rotate, thereby maintaining normal linear movement of the workpiece.

[0086] Optionally, the placement rack 68 includes a fourth cylinder 681 and two supports 682 arranged vertically, a second support plate 683 connected to the output end of the fourth cylinder 681, and two side support plates 684 respectively mounted on the two supports 682;

[0087] The two side end pallets 684 are respectively attached to the two ends of the second pallet 683. After the workpiece is transferred to the placement rack 68, the fourth cylinder 681 is driven to retract its output end to pull down the second pallet 683, so that the second pallet 683 is separated from the workpiece, and the two ends of the workpiece are placed on the two side end pallets 684 with the middle part exposed, so as to facilitate the grasping robot 5 to grasp it and avoid the second pallet 683 and the two side end pallets 684 from causing obstacles to the grasping robot 5.

[0088] In another embodiment of the present invention, a control system for a dual-axis double-sided chamfering device is provided, the control system comprising the following steps:

[0089] S1: The first cylinder 66 is started to push the workpiece to be chamfered at the bottom of the rectangular cavity box 62 outward to the placement rack 68, and at the same time the second motor 698 is started to control the cleaning blades 696 to rotate at high speed;

[0090] S2: The fourth cylinder 681 is started to control the second support plate 683 to sink, and the fourth cylinder 681 stops after the second support plate 683 is separated from the workpiece to be chamfered;

[0091] S3: The grasping robot 5 is started, grasps the workpiece to be chamfered, places it on the reference recessed area 31 and then resets it;

[0092] S4: The two second cylinders 33 are started to control the two clamping plates 34 to clamp the workpiece to be chamfered;

[0093] S5: The double-sided chamfering machine body 2 is started to chamfer the two end surfaces of the workpiece to be chamfered;

[0094] S6: Release the two second cylinders 33 and start the grasping robot 5 again to place the workpiece on the electromagnetic support plate 74;

[0095] S7: Reset the grasping robot 5, turn on the power to control the electromagnetic support plate 74 to generate suction, and at the same time, the two third cylinders 793 are started to control the two grinding discs 792 to stick to the chamfered edge of the workpiece, and then the two first motors 77 are started to control the two grinding discs 792 to rotate and grind the chamfered edge of the workpiece;

[0096] S8: Start the grasping robot 5 again to grasp and remove the workpiece.

[0097] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dual-axis double-sided chamfering device, characterized in that: include: A double-sided chamfering machine body (2) and a clamping portion (3) mounted on the double-sided chamfering machine body (2), a grabbing robot (5) arranged behind the double-sided chamfering machine body (2), a feeding portion (6) arranged on one side of the grabbing robot (5), and a trimming mechanism (7) mounted on the double-sided chamfering machine body (2), wherein: Driving the clamping portion (3) can generate a centripetal clamping force to clamp the workpiece to be chamfered, and the clamping portion (3) is suitable for bidirectionally extending clamping points to disperse the clamping force; The feeding portion (6) is suitable for storing workpieces to be chamfered in batches, and can feed the workpieces to be chamfered outward one by one, so as to place each workpiece to be chamfered in the same position in sequence; The grasping robot (5) is suitable for grasping the workpiece to be chamfered on the feeding part (6) and accurately delivering it to the clamping part (3); The trimming mechanism (7) is suitable for automatically grinding two chamfered edges of a workpiece simultaneously to achieve polishing of the chamfered edges; The feeding portion (6) comprises a rectangular cavity box (62) and a placement rack (68), wherein the opening end of the rectangular cavity box (62) faces upward, and a front through slot (63) and a rear through slot (64) are respectively provided on both sides of the bottom of the rectangular cavity box (62), and the front through slot (63) and the rear through slot (64) are collinear, a first horizontal platform (65) is installed on the rectangular cavity box (62) and on the same side as the rear through slot (64), a first cylinder (66) is arranged on the first horizontal platform (65), and a pusher head (67) is installed on the output end of the first cylinder (66), and the placement rack (68) is arranged in front of the front through slot (63), wherein: Driving the first cylinder (66) so that its output end extends forward, so that the push head (67) passes forward through the rear through slot (64) and enters the rectangular cavity box (62); The trimming mechanism (7) comprises a positioning frame (71) fixedly mounted on the double-sided chamfering machine body (2), a U-shaped base frame (72) placed in close contact with the positioning frame (71), an electromagnetic support plate (74) integrally connected to the U-shaped base frame (72) by a plurality of bolts, two groove blocks (75) mounted on the double-sided chamfering machine body (2) and respectively located on both sides of the positioning frame (71), two vertical tables (76) respectively slidably mounted in the two groove blocks (75), and two first motors (77) respectively arranged on the two vertical tables (76), and the two first motors (77) are arranged facing each other. Two swing plates (78) respectively connected to the output ends of the two first motors (77), two protruding edges (79) respectively installed in front of the two swing plates (78), back plates (791) respectively connected to the two protruding edges (79), two grinding plates (792) respectively installed in front of the two back plates (791), two third cylinders (793) arranged on the double-sided chamfering machine body (2), and the tails of the two third cylinders (793) are opposite and located on one side of the positioning frame (71), and two right-angle arms (794) one end of which is respectively connected to the output ends of the two third cylinders (793); The other ends of the two right-angle arms (794) are respectively connected to the two stands (76); The electromagnetic support plate (74) is connected to an external power source via a wire.

2. The dual-axis double-sided chamfering device according to claim 1, characterized in that: The clamping portion (3) comprises a reference recessed area (31) provided on the double-sided chamfering machine body (2), two second cylinders (33) mounted on the double-sided chamfering machine body (2) and respectively located on both sides of the reference recessed area (31), two clamping plates (34) respectively mounted on the output ends of the two second cylinders (33), four electric push rods (36) respectively connected to the two clamping plates (34) in pairs, and four side clamping blocks (38) respectively connected to the output ends of the four electric push rods (36); The four side clamping blocks (38) are respectively attached to two ends of the two clamping plates (34); The reference recessed area (31) is centrally located between the two second cylinders (33).

3. The dual-axis double-sided chamfering device according to claim 2, characterized in that: The feeding portion (6) further comprises an expansion panel (69) mounted on the rectangular cavity box (62) and on the same side as the front through groove (63), a circular ring (691) mounted on the expansion panel (69) and the rectangular cavity box (62), the front through groove (63) being located inside the circular ring (691), a secondary ring (692) connected to the front side of the circular ring (691), a plurality of third horizontal platforms (693) circumferentially mounted in front of the secondary ring (692), a plurality of guide pillars (694) one end of which are respectively arranged on the plurality of third horizontal platforms (693), a plurality of external shaping plates (695) respectively connected to the other ends of the plurality of guide pillars (694), and a plurality of cleaning sheets (696) respectively mounted on the plurality of external shaping plates (695); A plurality of cleaning sheets (696) are arranged in a circumferential manner and are colinear with a center line of the front through groove (63); The placement rack (68) is close to a plurality of cleaning sheets (696).

4. The dual-axis double-sided chamfering device according to claim 3, characterized in that: The feeding portion (6) further comprises a fourth horizontal platform (697) fixedly mounted on the side of the rectangular cavity box (62), a second motor (698) arranged on the fourth horizontal platform (697), a gear (699) mounted on the output end of the second motor (698), and a gear ring (6991) sleeved on the secondary ring (692); The gear (699) meshes with the gear ring (6991); One end of the secondary ring (692) is located inside the circular ring (691) and is rotatably connected to the circular ring (691) via a bearing.

5. The dual-axis double-sided chamfering device according to claim 4, characterized in that: The trimming mechanism (7) further comprises two hand-tightened bolts (795) respectively screwed on the two swing plates (78), and two transition plates (796) one end of which is rotatably connected to the ends of the two hand-tightened bolts (795), and the other ends of the two transition plates (796) are respectively hinged to the back surfaces of the two back plates (791); The two back plates (791) are respectively hinged to the two protruding edges (79).

6. The dual-axis double-sided chamfering device according to claim 5, characterized in that: The feeding portion (6) further comprises a plurality of first springs (6992) respectively mounted between the plurality of third horizontal platforms (693) and the plurality of external shaping plates (695), and the plurality of first springs (6992) are respectively fitted on the plurality of guide pillars (694), a plurality of outwardly expanding seesaw plates (6993) respectively connected to the side surfaces of the plurality of external shaping plates (695), and the plurality of outwardly expanding seesaw plates (6993) are respectively mounted in an array on the inner side wall of the rectangular cavity box (62) with one end thereof facing the front through slot (63), and a partition plate (6995) connected to the other end of the plurality of second springs (6994); The guide column (694) is slidably inserted on the third horizontal platform (693), and the diameter of the portion of the guide column (694) protruding from the third horizontal platform (693) becomes larger, wherein: The partition (6995) divides the internal space of the rectangular cavity box (62) into two.

7. The dual-axis double-sided chamfering device according to claim 6, characterized in that: The placement rack (68) comprises a fourth cylinder (681) and two supports (682) arranged vertically, a second support plate (683) connected to the output end of the fourth cylinder (681), and two side end support plates (684) respectively mounted on the two supports (682); The two side end support plates (684) are respectively attached to two ends of the second support plate (683).

8. A control system for a dual-axis double-sided chamfering device, suitable for the dual-axis double-sided chamfering device according to claim 7, characterized in that: The control system includes the following steps: S1: The first cylinder (66) is started to push the workpiece to be chamfered at the bottom of the rectangular cavity box (62) outward onto the placement rack (68), and at the same time the second motor (698) is started to control the plurality of cleaning blades (696) to rotate at high speed; S2: the fourth cylinder (681) is started to control the second support plate (683) to sink, and the fourth cylinder (681) is stopped after the second support plate (683) is separated from the workpiece to be chamfered; S3: The grasping robot (5) is started, grasps the workpiece to be chamfered, places it on the reference recessed area (31), and then resets it; S4: The two second cylinders (33) are started to control the two clamping plates (34) to clamp the workpiece to be chamfered; S5: The double-sided chamfering machine body (2) starts to chamfer the two end surfaces of the workpiece to be chamfered; S6: Release the two second cylinders (33) and start the grasping robot (5) again to place the workpiece on the electromagnetic support plate (74); S7: Reset the grasping robot (5), turn on the power to control the electromagnetic support plate (74) to generate suction, and at the same time start the two third cylinders (793) to control the two grinding discs (792) to stick to the chamfered edge of the workpiece, and then start the two first motors (77) to control the two grinding discs (792) to rotate and grind the chamfered edge of the workpiece; S8: Start the grasping robot (5) again to grasp and remove the workpiece.

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