Inner hole spraying workshop assembly line conveying and inspecting device

Abstract

The invention discloses an assembly line conveying and inspecting device for an inner hole spraying workshop, and belongs to the technical field of conveyors. Comprising a spraying machining center, a manual sampling inspection device, a defective product turnover vehicle, a robot, a control cabinet, a finished product turnover vehicle and a surface finishing machining center which are arranged according to the machining procedure sequence, the robot is located in the center, other parts are annularly arranged, and an end effector of the robot is controlled by the control cabinet to convey parts to all procedure stations; the spraying machining center is used for completing the spraying procedure of the inner hole of the cylinder piece. The manual sampling inspection device is used for completing manual sampling inspection on the sprayed barrel piece; the inferior-quality product turnover vehicle is used for transferring inferior-quality products subjected to spot check; the finished product turnover vehicle is used for transferring qualified pieces subjected to spot check; the surface finishing machining center is used for conducting surface finishing treatment on qualified parts. The problem of low labor efficiency is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of conveyors, and in particular relates to an assembly line transmission and inspection device for an inner hole spraying workshop. Background Art

[0002] Aircraft actuators are important components of flight control systems. They are subjected to hydraulic pressure, frequent movements, and high-intensity forces. Therefore, the strength and durability of the inner hole surface are directly related to the service life of the actuator and the flight safety of the aircraft. By spraying technology, cemented carbide such as WC-Co alloy is sprayed onto the inner hole surface of the actuator to improve wear resistance and corrosion resistance. At present, most production lines in my country, the disassembly of spraying equipment, the disassembly of machine tools, and the loading and unloading of actuator workpieces are still done manually. This method has low production efficiency, high labor intensity, and is accompanied by certain dangers for workers. In addition, manual loading and unloading will increase the defective rate, and manual loading and unloading can no longer meet the current needs of production automation. Therefore, in order to improve efficiency and reduce costs, it is necessary to use robot technology to design an automatic loading and unloading mechanism to replace human work.

[0003] Therefore, the design of the conveying and inspection device of the inner hole spraying workshop assembly line is more of a non-standard design. It must have good adaptability to the target object, adapt to actuators of different sizes, and adapt to spraying equipment and surface finishing equipment, so as to greatly improve labor productivity and reduce labor costs and product damage rate. Summary of the invention

[0004] Technical issues to be solved:

[0005] In order to avoid the shortcomings of the prior art, the present invention provides an assembly line transmission and inspection device for an inner hole spraying workshop, which adopts a modular design to facilitate installation and maintenance. The layout of each module adopts an assembly line design, which can realize automated operation of the inner hole sprayed cylinder to solve the problem of low labor efficiency; the module adopts a radial clamping method for clamping the inner hole sprayed cylinder to avoid stress concentration causing damage to the cylinder.

[0006] The technical solution of the present invention is: an inner hole spraying workshop assembly line transmission and inspection device, including a spraying processing center, a manual sampling device, a defective product turnover vehicle, a robot, a control cabinet, a finished product turnover vehicle, and a surface finishing processing center arranged in the order of processing procedures, wherein the robot is located in the center and the other parts are arranged in a ring shape, and the end effector of the robot is controlled by the control cabinet to transmit the parts to each process station;

[0007] The spraying processing center is used to complete the spraying process of the inner hole of the cylinder;

[0008] The manual sampling device is used to perform manual sampling on the sprayed cylinders;

[0009] The defective product turnover vehicle is used to transfer the defective products sampled;

[0010] The finished product turnover vehicle is used to transfer the qualified parts sampled and inspected;

[0011] The surface finishing processing center is used to perform surface finishing treatment on qualified parts.

[0012] A further technical solution of the present invention is: the robot comprises a base and a driving unit and a mechanical structure unit installed thereon, the position and rotation angle of the mechanical structure unit are controlled by the driving unit; an end effector is installed at the top free end of the mechanical structure unit, the driving unit drives the mechanical structure unit to move and thus completes the six-degree-of-freedom activity control of the end effector;

[0013] The driving unit is connected to the control cabinet, and the human-machine interaction of the robot is realized through the control cabinet. The operator's control instructions are sent to the driving unit to execute the action instructions.

[0014] A further technical solution of the present invention is that the end effector uniformly clamps the outer circumference of the cylinder by applying symmetrical radial forces to the cylinder.

[0015] A further technical solution of the present invention is: the end effector comprises a chassis and a manipulator mounted thereon, one side of the chassis is rotatably connected to the top free end of the robot via a flange, and the other side is equipped with a manipulator;

[0016] The manipulator includes a cylinder, fingers and a transmission assembly; the fixed end of the cylinder is installed on the chassis through a cylinder flange seat, and its free end is connected to the cylinder piston rod connecting piece through a floating joint; two symmetrically arranged fingers are respectively connected to the chassis through slides for reverse sliding, wherein the first slide is connected to the cylinder piston rod connecting piece; the transmission component includes a gear and two racks respectively installed on the two slides, the two racks are relatively arranged on both sides of the gear, both are meshed with the gear, and the gear is rotatably connected to the center of the chassis through bearings; the cylinder piston rod connecting piece is driven by the free end of the cylinder to reciprocate linearly, thereby driving the first slide and the first rack to move linearly, and the linear motion of the first rack is transmitted to the second rack through the gear, while driving the second slide to move in reverse, thereby completing the reverse motion control of the two fingers installed on the two slides, that is, the clamping action can be completed along the radial reverse motion of the cylinder.

[0017] A further technical solution of the present invention is: the finger is installed on the slide through a finger connector, a photoelectric switch and a cushion block are arranged on the inner side of the finger, the clamping movement distance is tested by the photoelectric switch, and the clamped cylinder is protected by the cushion block.

[0018] A further technical solution of the present invention is: two symmetrical guide rails are installed at opposite ends of one side of the chassis on which the manipulator is installed, and two slides are slidably connected to the guide rails through sliders respectively; the length direction of the guide rails is parallel to the length direction of the rack.

[0019] A further technical solution of the present invention is that the manual sampling device comprises a bottom slide and a fixture slidably mounted thereon, the fixture adjusts its position by sliding on the bottom slide, and the fixture clamps the cylinder to be inspected by radial clamping force.

[0020] A further technical solution of the present invention is: the bottom slide is a rectangular frame structure, with a slide rail arranged along the length direction, and mechanical limit blocks and limit baffles arranged at both ends of the slide rail; the slide table is slidably connected to the slide rail through a slider, and the sliding position of the slide table is limited by the mechanical limit blocks and limit baffles at both ends; the slide table is driven by a rodless cylinder installed on the bottom slide to complete the linear displacement along the slide rail; a leveling tripod is arranged under the bottom slide to adjust the working height of the bottom slide.

[0021] A further technical solution of the present invention is: the clamp includes a frame fixedly mounted on the sliding table and a manipulator mounted on the frame, the structure and working principle of the manipulator are consistent with the manipulator on the end effector; the cylinder air pipe of the manipulator passes through the drag chain and reaches the bottom slide to prevent the air pipe from being damaged when the frame moves back and forth.

[0022] A further technical solution of the present invention is: the inner hole spraying workshop assembly line transmission and inspection device also includes a safety fence arranged on the periphery for protection during work.

[0023] Beneficial Effects

[0024] The beneficial effects of the present invention are as follows: each part of the present invention is designed independently, which is convenient for transportation, disassembly and maintenance, and each process module is arranged around the robot in a circumferential direction, which can efficiently realize the assembly line transmission and inspection of the inner hole spray cylinder; the modules that need to clamp the cylinder are clamped by applying uniform radial force, avoiding damage to the cylinder during the clamping process. The specific advantages are as follows:

[0025] 1. The end effector and manual sampling device adopt a gear rack reciprocating structure design with a simple structure.

[0026] 2. The V-shaped design of the clamp can adapt to the clamping of actuators of various sizes, reducing the replacement cost of the end effector and the clamp.

[0027] 3. The robot is placed in the middle, and the processing equipment, sampling equipment and turnover vehicles are placed around it, which can meet the multi-collaboration and function maximization of each equipment, make full use of the space, and realize the maximum value of equipment and space. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a general schematic diagram of an inner hole spraying workshop assembly line transmission and inspection device of the present invention;

[0029] Figure 2 Schematic diagram of the end effector structure

[0030] Figure 3 for Figure 2 The bottom image of

[0031] Figure 4 It is a structural schematic diagram of a manual sampling device;

[0032] Figure 5 for Figure 4 Schematic diagram of the fixture structure;

[0033] Figure 6 for Figure 4 Schematic diagram of the structure of the bottom slide portion;

[0034] Explanation of the accompanying reference numerals: 1. Actuator inner hole spraying machining center; 2. End effector; 3. Manual sampling device; 4. Defective product turnover vehicle; 5. ABB robot; 6. Control cabinet; 7. Finished product turnover vehicle; 8. Surface finishing machining center; 9. Safety fence. 10. Speed ​​regulating valve; 11. Cylinder; 12. Flange; 13. Finger connector; 14. Photoelectric switch; 15. Cylinder flange seat; 16. Floating joint 17. Cylinder piston rod connector; 18. Chassis; 19. Finger; 20. Pad; 21. First slide; 22. Bearing seat; 23. First guide rail; 24. Second slide; 25. Gear; 26. Rack; 27. Clamp; 28. Bottom slide; 29. ​​Second guide rail; 30. Frame; 31. Speed ​​regulating valve; 32. Angle aluminum; 33. Clamp; 34. Slide plate; 35. Connector; 36. Gear rack structure; 37. Cylinder connector; 38. Oil tray; 39. Rodless cylinder; 40. Drag chain; 41. Leveling tripod; 42. Sliding table; 43. Mechanical limit block; 44. Limit baffle. DETAILED DESCRIPTION

[0035] The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0037] Based on the problem that there is too much manual participation in the processing, transportation, and inspection processes of existing inner hole sprayed cylinders, resulting in high costs and low efficiency, the present invention provides an inner hole spraying workshop assembly line transmission and inspection device, comprising a spraying processing center, a manual sampling device, a defective product turnover vehicle, a robot, a control cabinet, a finished product turnover vehicle, and a surface finishing processing center arranged in the order of processing processes, wherein the robot is located in the center and the other parts are arranged in a ring shape, and the control cabinet controls the end effector of the robot to transfer the parts to each process station; the spraying processing center is used to complete the spraying process of the inner hole of the cylinder; the manual sampling device is used to complete the manual sampling of the sprayed cylinder; the defective product turnover vehicle is used to transport the defective products sampled out; the finished product turnover vehicle is used to transport the qualified parts sampled out; and the surface finishing processing center is used to perform surface finishing treatment on the qualified parts.

[0038] Among them, the spray processing center, defective product turnover vehicle, robot, control cabinet, finished product turnover vehicle, and surface finishing processing center are all existing mature technologies. The key to the present invention lies in optimizing the layout of each module, the clamping method of the robot and the manual sampling device for the cylinder, and being able to perform fully automatic operation while ensuring that the cylinder is not damaged.

[0039] The above technical solution is further described below in conjunction with the accompanying drawings:

[0040] In one embodiment, referring to Figure 1 As shown, an inner hole spraying workshop assembly line transmission and inspection device of this embodiment adapted to narrow space and multi-size actuators includes an inner hole spraying processing center 1, an end effector 2, a manual sampling transposition 3, a defective turnover vehicle 4, a robot 5, a control cabinet 6, a finished product turnover vehicle 7, a surface finishing processing center 8, and a safety fence 9. The robot 5 is located in the middle of a circular workstation surrounded by the inner hole spraying processing center 1, the manual sampling transposition 3, the defective turnover vehicle 4, the robot 5, the control cabinet 6, the finished product turnover vehicle 7, and the surface finishing processing center 8, and the safety fence 9 is located on the periphery of all the equipment.

[0041] The robot 5 clamps the actuator to be processed through the end effector 2 and puts it into the actuator inner hole spray processing center 1. After the processing is completed, the robot 5 takes out the actuator and puts it into the surface processing center 8 for subsequent processing, and then puts it into the manual sampling device 3, and uses it to transport the processed actuator to the safe room for manual inspection, and judge whether it is a finished product or a defective product, and give instructions to the robot 5 to put it into the corresponding finished product turnover cart 7 and defective turnover cart 4.

[0042] Reference Figure 2 and Figure 3 As shown, the end effector 2 includes: a speed regulating valve 10, a cylinder 11, a flange 12, a finger connector 13, a photoelectric switch 14, a cylinder flange seat 15, a floating joint 16, a cylinder piston rod connector 17, a chassis 18, a finger 19, a cushion block 20, a first slide 21, a bearing seat 22, a guide rail 23, a second slide 24, a gear 25, and a rack 26. The cylinder 11 is connected to the chassis 18 through the cylinder flange seat 15.

[0043] Furthermore, since the other end of the cylinder piston rod is coaxially connected, there will definitely be installation errors. In order to eliminate the errors, a floating joint 16 is connected to the end of the piston rod. The cylinder piston rod connector 17 is connected to the first slide 20, so that the first slide 20 can move horizontally along the extension direction of the piston rod. The first slide 21 and the second slide 24 are respectively connected to the slider of the guide rail 23 fixed on the chassis 18, so that the cylinder piston rod can extend and retract to drive the slide to move on the slide rail with the slider. The transmission part mainly adopts a gear rack structure. The gear 25 is connected and installed at the center of the chassis 18 through the bearing seat 22. Racks 26 are added on both sides of the gear 25, and the racks 26 are fixedly connected to the two slides. The first slide 21 is connected to the pneumatic cylinder piston rod, so that the piston rod can push one side of the slide to move, and the other side of the slide moves toward each other through the gear rack structure. The finger 19 is connected to the two slides through the finger connector 13, so that the parallel opening and closing of the finger 19 can be realized. Because the actuator is a processed part, a cushion block 20 is added to protect the actuator, and the material is copper which is relatively soft.

[0044] During the operation of the end effector 2, the photoelectric switch 14 identifies the actuator, thereby giving a command to the cylinder 11 to retract its piston, thereby driving the fingers 19 to clamp the actuator. A pad is installed on the fingers 19, and the material is selected to be copper with a relatively soft hardness, so as to protect the integrity of the actuator surface.

[0045] Reference Figure 4 , Figure 5 and Figure 6 As described above, the labor sampling device 3 is mainly composed of a clamp 27 and a bottom slide 28 .

[0046] Furthermore, the fixture 27 mainly consists of a guide rail 229, a frame 30, a speed regulating valve 31, an aluminum angle 32, a clamping jaw 33, a slide plate 34, a connecting piece 35, a gear rack structure 36, a cylinder connecting piece 37, and an oil receiving pan 38. The frame 30 is designed to be constructed with aluminum profiles, and the aluminum angle 32 is used as a fastener to connect the frame. The design of the fixture part is similar to that of the end effector part, and a gear rack structure is used to realize the reciprocating motion of the clamping jaw.

[0047] Furthermore, the bottom slide 28 is mainly composed of a rodless cylinder 39, a drag chain 40, a leveling tripod 41, a slide 42, a mechanical limit block 43, and a limit baffle 44. After the bottom of the slide 42 is connected to the rodless cylinder 39, the rodless cylinder can drive the slide 42 to move. The slide is connected to the slider on the guide rail through the positioning block, so that it can move on the guide rail with the slider. The aluminum profile frame 30 is connected to the slide. The installation of the drag chain 40 is to protect the trachea, which will move repeatedly with the slide during the processing, and the trachea is easily damaged during this process.

[0048] Furthermore, the manual sampling device 3 uses a clamp part similar to the end effector 2. The second slide 8 drives the clamp 27 that clamps the actuator through the rodless cylinder 39 to transport it to the safe room. The drag chain 40 is installed to protect the air pipe, which will move repeatedly with the slide table during the processing, and the air pipe is easily damaged in this process. The leveling tripod 41 is to adapt to the uneven ground at the work site. By adjusting the height of the machine bed iron, the entire sliding surface is adjusted to remain level. The entire automated workshop is centered on the robot, making full use of the space in the spray room and maximizing the synergy of each equipment.

[0049] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

Claims

1. An inner hole spraying workshop assembly line transmission and inspection device, characterized in that: It includes a spray processing center, a manual sampling device, a defective product turnover vehicle, a robot, a control cabinet, a finished product turnover vehicle, and a surface finishing processing center arranged in the order of processing procedures. The robot is located in the center, and the other parts are arranged in a ring. The control cabinet controls the robot's end effector to transfer the parts to each process station. The spraying processing center is used to complete the spraying process of the inner hole of the cylinder; The manual sampling device is used to perform manual sampling on the sprayed cylinders; The defective product turnover vehicle is used to transfer the defective products sampled; The finished product turnover vehicle is used to transfer the qualified parts sampled and inspected; The surface finishing processing center is used to perform surface finishing treatment on qualified parts.

2. According to claim 1, a conveying and inspection device for inner hole spraying workshop assembly line, characterized in that: The robot comprises a base and a driving unit and a mechanical structure unit mounted thereon, wherein the position and rotation angle of the mechanical structure unit are controlled by the driving unit; an end effector is mounted on the top free end of the mechanical structure unit, and the driving unit drives the mechanical structure unit to move so as to complete the six-degree-of-freedom activity control of the end effector; The drive unit is connected to the control cabinet, and the human-machine interaction of the robot is realized through the control cabinet. The operator's control instructions are sent to the drive unit to execute the action instructions.

3. According to claim 2, a conveying and inspection device for inner hole spraying workshop assembly line, characterized in that: The end effector uniformly clamps the outer circumference of the cylinder by applying symmetrical radial forces to the cylinder.

4. According to claim 3, a conveying and inspection device for inner hole spraying workshop assembly line, characterized in that: The end effector comprises a chassis and a manipulator mounted thereon, one side of the chassis is rotatably connected to the free end of the top of the robot via a flange, and the other side is equipped with a manipulator; The manipulator includes a cylinder, fingers and a transmission assembly; the fixed end of the cylinder is installed on the chassis through a cylinder flange seat, and its free end is connected to the cylinder piston rod connecting piece through a floating joint; two symmetrically arranged fingers are respectively connected to the chassis through slides for reverse sliding, wherein the first slide is connected to the cylinder piston rod connecting piece; the transmission component includes a gear and two racks respectively installed on the two slides, the two racks are relatively arranged on both sides of the gear, both are meshed with the gear, and the gear is rotatably connected to the center of the chassis through bearings; the cylinder piston rod connecting piece is driven by the free end of the cylinder to reciprocate linearly, thereby driving the first slide and the first rack to move linearly, and the linear motion of the first rack is transmitted to the second rack through the gear, while driving the second slide to move in reverse, thereby completing the reverse motion control of the two fingers installed on the two slides, that is, the clamping action can be completed along the radial reverse motion of the cylinder.

5. According to claim 4, a conveying and inspection device for inner hole spraying workshop assembly line, characterized in that: The finger is installed on the slide through a finger connector. A photoelectric switch and a cushion block are arranged inside the finger. The clamping moving distance is tested by the photoelectric switch, and the clamped cylinder is protected by the cushion block.

6. According to claim 5, a conveying and inspection device for inner hole spraying workshop assembly line, characterized in that: Two symmetrical guide rails are installed at opposite ends of one side of the chassis on which the manipulator is installed, and two slides are slidably connected to the guide rails through sliders respectively; the length direction of the guide rail is parallel to the length direction of the rack.

7. According to claim 6, a conveying and inspection device for inner hole spraying workshop assembly line, characterized in that: The manual sampling inspection device comprises a bottom slide and a clamp slidably mounted thereon, wherein the clamp adjusts its position by sliding on the bottom slide, and the clamp clamps the cylinder to be inspected by a radial clamping force.

8. According to claim 7, a conveying and inspection device for inner hole spraying workshop assembly line, characterized in that: The bottom slide is a rectangular frame structure, with a slide rail arranged along the length direction, and mechanical limit blocks and limit baffles arranged at both ends of the slide rail; the slide table is slidably connected to the slide rail through a slider, and the sliding position of the slide table is limited by the mechanical limit blocks and limit baffles at both ends; the slide table is driven by a rodless cylinder installed on the bottom slide to complete the linear displacement along the slide rail; a leveling tripod is arranged under the bottom slide for adjusting the working height of the bottom slide.

9. The inner hole spraying workshop assembly line transmission and inspection device according to claim 8, characterized in that: The fixture includes a frame fixedly mounted on the sliding table and a manipulator mounted on the frame. The structure and working principle of the manipulator are consistent with those of the manipulator on the end effector. The cylinder air pipe of the manipulator passes through the drag chain and reaches the bottom sliding table to prevent the air pipe from being damaged when the frame moves back and forth.

10. The inner hole spraying workshop assembly line transmission and inspection device according to claim 9, characterized in that: The inner hole spraying workshop assembly line transmission and inspection device also includes a safety fence arranged on the periphery for protection during work.

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