Automatic chamfering and hole correcting device and chamfering and hole correcting method for anchorage device

Abstract

The invention discloses an automatic chamfering and hole-correcting device and a chamfering and hole-correcting method for an anchorage device, belongs to the technical field of automatic process machining of anchorage devices, and can ensure that the center of the anchorage device is always collinear with the machining center of a machining tool in the anchorage device transferring process. When the anchorage device arrives at the machining station, it is guaranteed that the center of the anchorage device coincides with the machining center of the machining tool all the time, then it is guaranteed that the positions of the anchorage device and the anchor hole do not need to be detected and positioned frequently and repeatedly in the whole machining process of the anchorage device, and the machining efficiency of the anchorage device is remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of anchor processing, and in particular relates to an automatic chamfering and hole correction device and a chamfering and hole correction method for an anchor. Background Art

[0002] The anchor processing mainly involves several steps such as outer chamfering, inner chamfering of anchor holes, oiling of anchor holes, and stamping and shaping of anchor holes. In the prior art, a corresponding processing device is separately set up for each process step for processing, and then the anchor is transferred to the processing device corresponding to the next process. In the frequent transportation process, in order to ensure the processing accuracy and consistency, the anchor needs to be positioned repeatedly, which undoubtedly greatly reduces the efficiency of anchor processing. Especially for the processing of many anchor holes, if the existing method of repeating the positioning for each processing is used, it is necessary to continuously adjust the relative position of the anchor and the processing head when the inner hole is chamfered, the anchor hole is oiled, and the anchor hole is stamped and shaped, which seriously reduces the processing efficiency and also increases the difficulty of the corresponding control program.

[0003] Therefore, in order to solve the problem in the prior art that frequent repeated positioning is required during the anchor processing process, which affects the processing efficiency, the present invention discloses an automatic chamfering and hole calibration device and a chamfering and hole calibration method for the anchor. Summary of the invention

[0004] The present invention discloses an automatic chamfering and hole-calibrating device and a chamfering and hole-calibrating method for an anchor, which can ensure that during the transportation of the anchor, the center of the anchor is always in line with the machining center of a machining tool, and when the anchor arrives at the machining station, the center of the anchor is always coincident with the machining center of the machining tool, thereby ensuring that during the entire machining process of the anchor, there is no need for frequent and repeated detection and positioning of the positions of the anchor and the anchor hole, thereby significantly improving the machining efficiency of the anchor.

[0005] The present invention is achieved through the following technical solutions: An automatic chamfering and hole-calibrating device for an anchor comprises: Automatic centering feeding conveyor line, used to convey anchors and center them; External chamfering device, used for synchronous processing of external chamfers on the upper and lower sides of the anchor; A visual inspection device, used to inspect the position of the anchor hole on the anchor; Internal chamfering device, used for internal chamfering of anchor holes; Oiling and hole-calibrating device, used for internal oiling and shape-calibrating of the processed anchor hole; It also includes a translation stage, a first pushing device, and a second pushing device; The translation stage can be linearly translated between the unloading end of the automatic centering material feeding conveyor line, the processing position of the external chamfering device, and the detection position of the visual detection device; the first pushing device is used to push the anchor from the unloading end of the automatic centering material feeding conveyor line to the translation stage, and the second pushing device is used to push the anchor from the translation stage to the processing position of the internal chamfering device; The discharge end of the automatic centering feeding conveyor line is provided with at least one set of positioning members for center positioning the anchor; The outer circle chamfering device comprises a synchronous clamp capable of synchronously clamping the anchor from both sides of the anchor, and an outer circle chamfering tool capable of synchronously chamfering the outer circles of the upper and lower sides of the anchor from the upper and lower sides of the translation stage; The inner chamfering device comprises an inner circle machining tool and a rotating fixture coaxially arranged at the bottom of the inner circle machining tool, wherein the rotating fixture can rotate the anchor according to the detection result of the visual detection device; The oiling and hole calibration device comprises a positioning device, an oiling device, a hole calibration device, and a multi-station movable fixture which are arranged in sequence. The multi-station movable fixture can synchronously move the anchor between the processing position of the inner chamfering device, the positioning device, the oiling device, and the hole calibration device.

[0006] In order to better realize the present invention, further, the automatic chamfering and hole calibration device of the anchor also includes a typing device and a feeding device, the typing device is arranged between the inner circle chamfering device and the oiling and hole calibration device, and the feeding device is arranged at the discharge end of the oiling and hole calibration device.

[0007] In order to better realize the present invention, further, the outer circle chamfering device includes a synchronous driving device, and the synchronous driving device includes a first slide, a second slide, a first connecting rod, a second connecting rod, and a driving cylinder. The first end of the first connecting rod and the first end of the second connecting rod are both hinged to the push rod of the driving cylinder, the second end of the first connecting rod is hinged to one side of the first slide, and the second end of the second connecting rod is hinged to one side of the second slide. Synchronous clamps are correspondingly arranged on the facing sides of the first slide and the second slide, and the translation stage is located between the first slide and the second slide.

[0008] In order to better realize the present invention, further, the external circle chamfering tool includes a lifting part, a rotating part, and a telescopic tool. The lifting end of the lifting part is provided with a rotating part, and the rotating part is provided with a telescopic tool. The telescopic tool can adjust the radial chamfer radius relative to the center of the anchor.

[0009] In order to better realize the present invention, further, the rotating fixture includes a rotating table, a rotating drive unit, and an electromagnetic clamp. The rotating table is rotatably installed below the internal cylindrical machining tool. A rotating drive unit that drives the rotating table to rotate a specified angle is provided on one side of the rotating table. The electromagnetic clamp is coaxially arranged at the bottom of the rotating table. The rotating table and the electromagnetic clamp are coaxially arranged with a machining hole for the tool head of the internal cylindrical machining tool to pass through.

[0010] In order to better realize the present invention, further, the inner circle machining tool includes a three-axis moving device and a self-rotating tool. The three-axis moving end of the three-axis moving device is provided with a self-rotating tool, and a rotating table is rotatably provided below the self-rotating tool.

[0011] In order to better realize the present invention, further, the oiling device includes a lifting cylinder, a plurality of inwardly extending oil nozzles are arranged at the top of the lifting cylinder corresponding to the anchor hole positions on the anchor, an oil inlet is arranged at the bottom of the lifting cylinder, and the interior of the lifting cylinder is connected to the inwardly extending oil nozzles through a plurality of oil outlets; and a plurality of groups of anchor support positioning parts are arranged around the inwardly extending oil nozzles.

[0012] In order to better realize the present invention, further, the multi-station mobile fixture includes a mobile frame, a linear slide rail, a linear drive device, and a picking part. The linear slide rail is arranged above the positioning device, the oiling device, and the hole calibration device. A mobile frame is slidably arranged on the linear slide rail. The bottom of the mobile frame is respectively provided with a picking part corresponding to the positioning device, the oiling device, and the hole calibration device. A linear drive device is arranged on one side of the mobile frame. The driving end of the linear drive device is connected to one side of the mobile frame and drives the mobile frame to move linearly.

[0013] In order to better realize the present invention, further, the hole calibration device includes a jack and a reaction table, a shaping platform is linearly movable between the jack and the reaction table, a linear driving cylinder for driving the shaping platform to move linearly is arranged on one side of the shaping platform, an anchor hole shaping device is arranged on the top of the shaping platform, and a plurality of shaping cones are arranged on the anchor hole shaping device corresponding to the anchor hole positions on the anchor.

[0014] An automatic chamfering and hole correction method for an anchor comprises the following steps: Step 1, placing the anchor on the automatic centering feeding conveyor line, centering and positioning the anchor through the positioning piece at the discharge end of the automatic centering feeding conveyor line, ensuring that the center of the anchor and the machining center of the outer chamfering device are collinear with the first straight line; Step 2, push the anchors onto the translation stage along the first straight line by the first pushing device, translate the translation stage along the first straight line to the processing position of the outer chamfering device, and make the center of the anchors vertically coaxial with the processing center of the outer chamfering device; Step 3, the anchor at the first position is synchronously clamped on both sides by a synchronous clamp, the translation stage is translated toward the visual inspection device to expose the bottom of the anchor, and then the outer circles on the upper and lower sides of the anchor are synchronously chamfered by the outer circle chamfering tools on the upper and lower sides; Step 4, the translation stage moves toward the outer chamfering device to re-accept the anchor, the synchronous clamp releases the anchor, and then the translation stage drives the anchor to translate along the first straight line to the detection position of the visual inspection device, and makes the center of the anchor and the machining center of the inner chamfering device collinear with the second straight line; Step 5: Detect the actual position of the anchor hole on the anchor by a visual detection device, and transmit the detection data to a computer, and calculate the position difference between the actual position of the anchor hole and the calibrated position by the computer; Step 6: Push the anchor along the second straight line to the processing position of the inner circle chamfering device by the second pushing device, and make the center of the anchor vertically coaxial with the processing center of the inner circle processing tool; Step 7, clamp the anchor by a rotating fixture, and drive the anchor to rotate according to the position difference, so that the anchor hole on the anchor rotates to the calibration position, and then use the inner circle machining tool to perform inner circle chamfering on the anchor hole according to the calibration position of the anchor hole; Step 8: Pick up the anchor by a multi-station mobile fixture, and move the anchor to the positioning device for positioning so that the position of the anchor hole corresponds to the oil port position of the oiling device; Step 9, pick up the anchor and move it to the oiling device through the multi-station mobile fixture, and use the oiling device to synchronously extend the anchor hole and oil it; Step 10: Pick up the anchor and move it to the processing position of the hole calibration device by a multi-station mobile fixture, and use the hole calibration device to punch and calibrate the anchor hole; Step 11: The anchor that has been calibrated by the multi-station mobile fixture is picked up and moved to the unloading area.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects: The present invention can continuously and efficiently perform one-time process processing of the outer circle chamfering, the inner circle chamfering of the anchor hole, the inner oiling of the anchor hole, and the stamping and shaping of the anchor hole on the anchor, thereby avoiding the frequent disassembly, transportation, and installation of the anchor between different processing devices in the prior art, thereby avoiding frequent and repeated positioning and clamping of the anchor, thereby improving the processing efficiency of the anchor; at the same time, during the process of transporting the anchor, the plate invention ensures that the center of the anchor is always in line with the processing center of the processing tool. When the anchor is transported to the processing position, it is ensured that the center of the anchor is always coincident with the processing center of the processing tool, thereby greatly simplifying the difficulty of adjusting the relative position between the processing tool and the anchor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a schematic diagram of the three-dimensional structure of the automatic chamfering and hole-calibrating device for anchorage; Figure 2 It is a top view of the automatic chamfering and hole-calibrating device for anchorage; Figure 3 It is a structural schematic diagram of an outer chamfering device; Figure 4 It is a schematic diagram of the three-dimensional structure of the synchronous drive device; Figure 5 It is a front view of the synchronous drive device; Figure 6 is a schematic diagram of the structure of a telescopic tool; Figure 7 It is a three-dimensional structural schematic diagram of the inner chamfering device; Figure 8 It is a front view of the inner chamfering device; Fig. 9 is a schematic diagram of the structure of the rotating fixture; Fig.10 It is a schematic diagram of the three-dimensional structure of the oiling hole calibration device; Fig.11 is a front view of the oiling device; Fig.12 It is a schematic diagram of the three-dimensional structure of the oil coating device; Fig.13 It is a schematic diagram of the three-dimensional structure of the multi-station mobile fixture; Fig.14 It is a schematic diagram of the three-dimensional structure of the hole calibration device; Fig.15 It is a structural schematic diagram of the visual inspection device.

[0017] Among them: 1-automatic centering feeding conveyor line; 2-external chamfering device; 3-visual inspection device; 4-internal chamfering device; 5-oiling and hole calibration device; 6-translation stage; 7-first push device; 8-second push device; 9-typing device; 10-unloading device; 21-synchronous clamp; 22-external chamfering tool; 23-synchronous drive device; 231-first slide; 221-telescopic tool; 232-second slide; 233-first connecting rod; 234-second connecting rod; 235-driving cylinder; 31- detection camera; 32- annular fill light; 41-internal machining tool; 42-rotating fixture; 411-three-axis moving device; 412-rotating tool; 421-rotating table; 422-rotating drive unit; 423-electromagnetic fixture; 4221-driving motor; 4222-driving gear; 4223-gear ring; 51-positioning device; 52-oiling device; 53-hole calibration device; 54-multi-station mobile fixture; 531-jack; 532-reaction table; 533-shaping stage; 534-linear drive cylinder; 535-anchor hole shaping device; 541-moving frame; 542-linear slide rail; 543-linear drive device. DETAILED DESCRIPTION

[0018] Embodiment 1: This embodiment provides an automatic chamfering and hole calibration device for an anchor. Figure 1 and Figure 2 As shown, it includes an automatic centering feeding conveyor line 1, an outer chamfering device 2, a visual inspection device 3, an inner chamfering device 4, an oiling hole calibration device 5, a translation stage 6, a first pushing device 7, and a second pushing device 8; Automatic centering feeding conveyor line 1, used for conveying anchors and centering and positioning the anchors; The outer chamfering device 2 is used for synchronously processing the outer chamfers of the upper and lower sides of the anchor; A visual inspection device 3, used to inspect the position of the anchor hole on the anchor; An inner chamfering device 4 is used for performing inner chamfering processing on the anchor hole; The oiling and hole-calibrating device 5 is used to oil the inside of the processed anchor hole and calibrate the shape; The translation stage 6 can be linearly translated between the unloading end of the automatic centering material feeding conveyor line 1, the processing position of the outer chamfering device 2, and the detection position of the visual inspection device 3; the first pushing device 7 is used to push the anchor from the unloading end of the automatic centering material feeding conveyor line 1 to the translation stage 6, and the second pushing device 8 is used to push the anchor from the translation stage 6 to the processing position of the inner chamfering device 4; The discharge end of the automatic centering feeding conveyor line 1 is provided with at least one set of positioning members for center positioning the anchor; The outer chamfering device 2 includes a synchronous clamp 21 capable of synchronously clamping the anchor from both sides of the anchor, and an outer chamfering tool 22 capable of synchronously chamfering the outer circles of the upper and lower sides of the anchor from the upper and lower sides of the translation stage 6; The inner chamfering device 4 includes an inner circle machining tool 41 and a rotating fixture 42 coaxially arranged at the bottom of the inner circle machining tool 41, and the rotating fixture 42 can rotate the anchor according to the detection result of the visual detection device 3; The oiling and hole-calibrating device 5 includes a positioning device 51, an oiling device 52, a hole-calibrating device 53, and a multi-station movable fixture 54 which are arranged in sequence. The multi-station movable fixture 54 can synchronously move the anchor between the processing position of the inner chamfering device 4, the positioning device 51, the oiling device 52, and the hole-calibrating device 53.

[0019] The automatic chamfering and hole-calibrating device for anchors also includes a typing device 9 and a feeding device 10 . The typing device 9 is arranged between the inner chamfering device 4 and the oiling and hole-calibrating device 5 , and the feeding device 10 is arranged at the discharge end of the oiling and hole-calibrating device 5 .

[0020] The automatic centering feeding conveyor line 1 includes a conveyor belt, and baffles that can move toward each other are arranged on both sides of the conveyor belt. The spacing between the baffles is moved to adapt to the anchors of different diameters to be transported through the conveyor belt in sequence. A positioning member is arranged on one side of the discharge end of the conveyor belt. The positioning member includes an abutment portion with at least one guiding slope. The abutment portion contacts the outer cylindrical surface of the anchor, so that the outer cylindrical surface of the anchor moves along the guiding slope, thereby forcing the anchor to move to the specified centering position. When the anchor is at the centering position, the center of the anchor is collinear with the machining center of the outer chamfering device 2 on the first straight line. Then, the anchor is pushed along the first straight line onto the translation stage 6 by the first pushing device 7 arranged along the direction of the first straight line. Then, the anchor is driven to move to the processing position of the outer chamfering device 2 along the first straight line by the translation stage 6. At this time, the center of the anchor is vertically coaxial with the processing center of the outer chamfering device 2. Then, the two sides of the anchor can be synchronously clamped and fixed by the synchronous clamp 21 in the outer chamfering device 2. The translation stage 6 continues to translate to expose the bottom of the anchor. Then, the outer circles on the upper and lower sides of the anchor can be synchronously chamfered by the outer chamfering tool 22. After the outer chamfering is completed, the translation stage 6 carries the anchor again and moves the anchor to the detection position of the visual inspection device 3. At this time, the center of the anchor is colinear with the processing center of the inner chamfering device 4 on the second straight line. Then, the actual position of the anchor hole on the anchor is detected by the visual inspection device 3. The anchor is pushed to the processing position of the inner chamfering device 4 along the second straight line by the second pushing device 8. At this time, the center of the anchor is vertically coaxial with the processing center of the inner chamfering device 4. Then, the anchor is pre-clamped by the rotating clamp 42 in the inner chamfering device 4, and the anchor is rotated according to the position difference between the actual position of the anchor hole and the calibrated position, so that after the anchor hole is rotated to the calibrated position, the inner chamfering of the anchor hole is performed by the inner circle processing tool 41.

[0021] After the inner chamfering is completed, the anchor is clamped to the processing position of the typing device 9 by the multi-station mobile fixture 54, and the anchor is laser marked by the typing device 9. Then, the anchor is clamped and moved to the positioning device 51 by the multi-station mobile fixture 54. The positioning cone in the positioning device 51 cooperates with the anchor hole to realize the positioning of the anchor hole, ensuring that the anchor hole corresponds to the oil outlet in the oiling device 52. The anchor is picked up to the oiling device 52 by the multi-station mobile fixture 54, and several anchor holes are extended and oiled by the oiling device 52. The anchor is picked up to the hole correction device 53 by the multi-station mobile fixture 54, and the anchor hole is squeezed and corrected by the correction cone in the hole correction device 53. The anchor is picked up to the unloading area by the multi-station mobile fixture 54, and then the unloading device 10 picks up the anchor in the unloading area.

[0022] Furthermore, the unloading device 10 adopts any one of a three-axis mobile picking fixture and a multi-degree-of-freedom manipulator.

[0023] Embodiment 2: This embodiment is further optimized on the basis of embodiment 1. Figure 3-Figure 6 As shown, the outer circle chamfering device 2 includes a synchronous driving device 23, and the synchronous driving device 23 includes a first slide 231, a second slide 232, a first connecting rod 233, a second connecting rod 234, and a driving cylinder 235. The first end of the first connecting rod 233 and the first end of the second connecting rod 234 are both hinged to the push rod of the driving cylinder 235, the second end of the first connecting rod 233 is hinged to one side of the first slide 231, and the second end of the second connecting rod 234 is hinged to one side of the second slide 232. Synchronous clamps 21 are correspondingly arranged on the opposite sides of the first slide 231 and the second slide 232, and the translation stage 6 is located between the first slide 231 and the second slide 232.

[0024] When the anchor is located at the processing position of the external chamfering device 2, the center of the anchor is vertically coaxial with the processing center of the external chamfering tool 22, and the synchronous clamps 21 on the left and right sides are driven by the synchronous drive device 23 to move toward each other so as to clamp the left and right sides of the anchor at the same time. Since the synchronous clamps 21 on the left and right sides are fed at the same rate under the drive of the synchronous drive device 23, it is ensured that the synchronous clamps 21 on the left and right sides can contact the left and right sides of the anchor at the same time, thereby ensuring that the center of the anchor will not be offset while clamping the anchor, so that the center of the anchor is always vertically coaxial with the processing center of the external chamfering device 2, so that repeated positioning during the processing of the external chamfering device 2 can be avoided, thereby improving the processing efficiency.

[0025] After the anchor is fixed, the translation stage 6 is translated to expose the bottom of the anchor. At this time, the chamfers at the upper and lower ends of the outer cylindrical surface of the anchor can be cut by the outer cylindrical chamfering tools 22 on the upper and lower sides. It should be noted that the outer cylindrical chamfering tool 22 itself can be raised and lowered in the vertical direction and rotated in the circumferential direction. The outer cylindrical chamfering tool 22 adopts an existing commercially available product and is not an improvement point of the present application. Its specific structure and use principle will not be repeated here.

[0026] When the push rod of the driving cylinder 235 extends upward, the first connecting rod 233 drives the first slide 231 to move rightward, and the second connecting rod 234 drives the second slide 232 to move leftward, so that the first slide 231 and the synchronous clamps 21 on the second slide 232 move toward each other synchronously, and the left and right sides of the anchor are clamped synchronously. When the push rod of the driving cylinder 235 retracts downward, the first connecting rod 233 drives the first slide 231 to move leftward, and the second connecting rod 234 drives the second slide 232 to move rightward, so that the first slide 231 and the synchronous clamps 21 on the second slide 232 move away from each other synchronously, and the left and right sides of the anchor are released.

[0027] Furthermore, the distance between the tool head of the external cylindrical chamfering tool 22 located on the upper side of the anchor and the upper end surface of the anchor is the same as the distance between the tool head of the external cylindrical chamfering tool 22 located on the lower side of the anchor and the lower end surface of the anchor, and the axial feed rate and circumferential rotation rate of the external cylindrical chamfering tools 22 on the upper and lower sides are the same, ensuring that the external cylindrical chamfering tools 22 on the upper and lower sides can synchronously and evenly perform chamfering on the upper and lower ends of the external cylindrical surface of the anchor.

[0028] Further, the outer chamfering tool 22 includes a lifting part, a rotating part, and a telescopic tool 221. The lifting end of the lifting part is provided with a rotating part, and the rotating part is provided with a telescopic tool 221. The telescopic tool 221 can adjust the radial chamfer radius relative to the center of the anchor. The telescopic tool 221 includes a connecting sleeve, a tool rod, and a tool. The connecting sleeve is provided on the rotating end of the rotating part, and the tool rod is slidably provided inside the connecting sleeve, and the end of the tool rod is provided with a tool; the connecting sleeve is provided with at least one locking member for tightening and locking the tool rod. A locking threaded hole is provided on the side wall of the connecting sleeve, and a locking screw is installed in the threaded hole. A sliding groove is provided inside the connecting sleeve, and the tool rod is slidably installed in the sliding groove. When the locking screw is loosened, the tool rod can slide along the sliding groove, thereby adjusting the radial extension length of the tool rod along the anchor, that is, adjusting the final tool chamfer cutting radial radius. After the tool rod adjustment is completed, tighten the locking screw, and the side of the tool rod is tightened and fixed by the locking screw, thereby realizing the fixation of the tool chamfer cutting radial radius.

[0029] The other parts of this embodiment are the same as those of Embodiment 1, and thus will not be described in detail.

[0030] Embodiment 3: This embodiment is further optimized on the basis of the above embodiment 1 or 2. Figure 7-Figure 9 As shown, the rotating fixture 42 includes a rotating table 421, a rotating driving unit 422, and an electromagnetic clamp 423. The rotating table 421 is rotatably installed below the inner circle machining tool 41. A rotating driving unit 422 for driving the rotating table 421 to rotate a specified angle is provided on one side of the rotating table 421. The electromagnetic clamp 423 is coaxially arranged at the bottom of the rotating table 421. A machining hole for the tool head of the inner circle machining tool 41 to pass through is coaxially arranged on the rotating table 421 and the electromagnetic clamp 423.

[0031] When the anchor is located at the processing position of the inner chamfering device 4, the center of the anchor, the processing center of the inner circle processing tool 41, and the rotation center of the rotating fixture 42 are vertically coaxial. The visual detection device 3 detects the angle that needs to be rotated between the actual position of the anchor hole and the calibrated position, and then the rotating table 421 is driven to rotate the corresponding angle by the rotating drive unit 422, and then the anchor is adsorbed by the electromagnetic fixture 423 to rotate the corresponding angle to ensure that the anchor hole on the anchor is finally in the calibrated position. Then the inner circle processing tool 41 can be translated in the horizontal plane and lifted vertically according to the feed path set according to the calibrated position of the anchor hole, and the inner circle chamfering of the anchor hole can be performed without repeated positioning.

[0032] Furthermore, the rotation driving part 422 includes a driving motor 4221, a driving gear 4222, and a ring gear 4223. The ring gear 4223 is sleeved on the outside of the rotating platform 421, the ring gear 4223 is meshed with the driving gear 4222, and the driving gear 4222 is connected to the output shaft of the driving motor 4221. The ring gear 4223 is sleeved on the top of the outer side of the rotating platform 421, the driving motor 4221 is installed on the adapter, the driving gear 4222 is sleeved on the output shaft of the driving motor 4221, and the driving gear 4222 is meshed with the ring gear 4223. The driving motor 4221 drives the driving gear 4222 to rotate, thereby driving the ring gear 4223 and the rotating platform 421 to rotate in the circumferential direction.

[0033] Furthermore, the inner circle machining tool 41 includes a three-axis moving device 411 and a self-rotating tool 412. The self-rotating tool 412 is arranged on the three-axis moving end of the three-axis moving device 411, and a rotating table 421 is arranged below the self-rotating tool 412. The three-axis moving device 411 can perform horizontal plane perpendicular X-direction and Y-direction translation and vertical Z-direction lifting, and the self-rotating tool 412 can perform circumferential rotation.

[0034] The other parts of this embodiment are the same as those of the above-mentioned embodiment 1 or 2, and thus will not be described in detail.

[0035] Embodiment 4: This embodiment is further optimized based on any one of the above embodiments 1-3. Figure 10-12 As shown, the oiling device 52 includes a lifting cylinder 521, a plurality of inwardly extending oil nozzles 522 are arranged at the top of the lifting cylinder 521 corresponding to the anchor hole position on the anchor, an oil inlet is arranged at the bottom of the lifting cylinder 521, and the interior of the lifting cylinder 521 is connected to the inwardly extending oil nozzles 522 via a plurality of oil outlets; a plurality of groups of anchor support positioning members 523 are arranged around the inwardly extending oil nozzles 522.

[0036] The oiling and hole-calibrating device 5 comprises a workbench, on which a first station, a second station and a third station are linearly arranged in sequence, a positioning device 51 is arranged at the first station, an oiling device 52 is arranged at the second station, the oiling device 52 comprises an inwardly extending oil nozzle arranged corresponding to the anchor hole on the anchor, and a hole-calibrating device 53 is arranged at the third station; a multi-station mobile fixture 54 is arranged above the workbench, the multi-station mobile fixture 54 comprises anchor picking parts arranged corresponding to the first station, the second station and the third station respectively, and a linear driving device 543 for driving the picking part to move linearly between the processing position of the inner chamfering device 4, the first station, the second station, the third station and the picking station of the unloading device 10.

[0037] The anchor is placed on the positioning device 51 at the first station, and the cone at the top of the positioning device 51 is matched with the anchor hole on the anchor to achieve positioning of the anchor, so as to ensure that the anchor is placed in a predetermined posture. Then, the linear drive device 543 drives the picking part to pick up the anchor and translate the anchor to the second station, so as to place the anchor on the oiling device 52 at the second station, so that the inner extending nozzle 522 in the oiling device 52 can extend into the anchor hole, and lubricating oil is evenly injected into the anchor hole through the inner extending nozzle 522. After the oiling is completed, the anchor is moved from the second station to the third station by the linear drive device 543, and the anchor hole on the anchor is positioned and calibrated by the hole calibration device 53 at the third station, so as to perform subsequent press-fit hole calibration operations on the anchor.

[0038] Further, such as Fig.13 As shown, the multi-station mobile fixture 54 includes a mobile frame 541, a linear slide rail 542, a linear drive device 543, and a picking portion. The linear slide rail 542 is arranged above the positioning device 51, the oiling device 52, and the hole calibration device 53. The mobile frame 541 is slidably arranged on the linear slide rail 542. The bottom of the mobile frame 541 is respectively provided with a picking portion corresponding to the positioning device 51, the oiling device 52, and the hole calibration device 53. A linear drive device 543 is arranged on one side of the mobile frame 541. The driving end of the linear drive device 543 is connected to one side of the mobile frame 541 and drives the mobile frame 541 to move linearly.

[0039] Further, such as Fig.14 As shown, the hole calibration device 53 includes a jack 531 and a reaction platform 532, a shaping platform 533 is linearly movable between the jack 531 and the reaction platform 532, a linear driving cylinder 534 is disposed on one side of the shaping platform 533 for driving the shaping platform 533 to move linearly, an anchor hole shaping device 535 is disposed on the top of the shaping platform 533, and a plurality of shaping cones are disposed on the anchor hole shaping device 535 corresponding to the anchor hole positions on the anchor.

[0040] The bottom of the shaping stage 533 is slidably connected to the workbench, so that the shaping stage 533 can move linearly relative to the workbench, and the anchor hole shaping device 535 on the shaping stage 533 is driven to move linearly between the third station and the shaping station through the linear drive cylinder 534. When the shaping stage 533 is located at the third station, the anchor is placed on the anchor hole shaping device 535, so that the anchor hole on the anchor is initially aligned with the shaping vertebra on the anchor hole shaping device 535, so as to realize the positioning of the anchor and prevent the anchor from moving during the subsequent movement and pressure shaping process.

[0041] The anchor is then driven to move to the shaping station through the stage, so that the anchor is located between the jack 531 and the reaction platform 532. Since the reshaped vertebra is always positioned in coordination with the anchor hole during the movement, there is no need to reposition the anchor. Pressure is directly applied to the anchor through the jack 531, and the reaction force applied by the reaction platform 532 is cooperated to drive the reshaped vertebra into the anchor hole and apply pressure to the anchor hole, thereby realizing the shaping of the anchor hole.

[0042] The other parts of this embodiment are the same as any one of the above embodiments 1-3, so they are not repeated here.

[0043] Embodiment 5: This embodiment is further optimized based on any one of the above embodiments 1-4. Fig.15 As shown, the visual inspection device 3 includes an inspection camera 31 and an annular fill light 32. The inspection camera 31 is arranged above the translation stage 6. The lens of the inspection camera 31 is provided with an annular fill light 32. The annular fill light 32 is provided with a through hole for light to pass through and enter the inspection camera 31. The annular fill light 32 provides sufficient and uniform light source for the inspection camera 31, ensuring that the inspection camera 31 can more clearly shoot the anchor hole on the anchor. The inspection camera 31 is connected to an external computer through a transmission cable to realize data interaction with the external computer.

[0044] The other parts of this embodiment are the same as any one of the above embodiments 1-4, so they are not repeated here.

[0045] Embodiment 6: This embodiment provides an anchor automatic chamfering and hole calibration method, which is implemented based on an anchor automatic chamfering and hole calibration device, and includes the following steps: Step 1, placing the anchor on the automatic centering feeding conveyor line 1, centering and positioning the anchor by the positioning piece at the discharge end of the automatic centering feeding conveyor line 1, ensuring that the center of the anchor and the machining center of the outer chamfering device 2 are collinear with the first straight line; Step 2: Push the anchors onto the translation stage 6 along the first straight line by the first pushing device 7, and translate the translation stage 6 along the first straight line to the processing position of the outer chamfering device 2, so that the center of the anchor is vertically coaxial with the processing center of the outer chamfering device 2; Step 3, the anchor at the first position is synchronously clamped on both sides by the synchronous clamp 21, the translation stage 6 is translated toward the visual inspection device 3 to expose the bottom of the anchor, and then the outer circle chamfering tools 22 on the upper and lower sides of the anchor are synchronously chamfered; Step 4, the translation stage 6 moves toward the outer chamfering device 2 to re-accept the anchor, the synchronous clamp 21 releases the anchor, and then the translation stage 6 drives the anchor to translate along the first straight line to the detection position of the visual inspection device 3, and makes the center of the anchor and the machining center of the inner chamfering device 4 collinear with the second straight line; Step 5: Detect the actual position of the anchor hole on the anchor by the visual detection device 3, and transmit the detection data to the computer, and calculate the position difference between the actual position of the anchor hole and the calibrated position by the computer; Step 6: Push the anchor along the second straight line to the processing position of the inner chamfering device 4 by the second pushing device 8, and make the center of the anchor vertically coaxial with the processing center of the inner circle processing tool 41; Step 7, clamp the anchor by the rotating fixture 42, and drive the anchor to rotate according to the position difference, so that the anchor hole on the anchor rotates to the calibration position, and then the inner circle processing tool 41 performs inner circle chamfering processing on the anchor hole according to the calibration position of the anchor hole; Step 8: Pick up the anchor by the multi-station mobile fixture 54, and move the anchor to the positioning device 51 for positioning, so that the position of the anchor hole corresponds to the oil port position of the oil coating device 52; Step 9, pick up the anchor and move it to the oiling device 52 through the multi-station mobile fixture 54, and use the oiling device 52 to synchronously extend the anchor hole and apply oil; Step 10: The anchor is picked up and moved to the processing position of the hole calibration device 53 by the multi-station mobile fixture 54, and the anchor hole is punched and calibrated by the hole calibration device 53; Step 11: The multi-station mobile fixture 54 picks up the anchor after the hole calibration is completed and moves it to the unloading area.

[0046] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. An automatic chamfering and hole-calibrating device for anchorage, comprising: An automatic centering feeding conveyor line (1) is used to convey the anchor and center the anchor; An outer chamfering device (2) is used to synchronously process the outer chamfers of the upper and lower sides of the anchor; A visual detection device (3) for detecting the position of the anchor hole on the anchor; An inner chamfering device (4) is used to perform inner chamfering on the anchor hole; An oiling and hole-calibrating device (5) is used to oil the inside of the processed anchor hole and calibrate the shape; It is characterized in that it also includes a translation stage (6), a first pushing device (7), and a second pushing device (8); the translation stage (6) can be linearly translated between the unloading end of the automatic centering material feeding conveyor line (1), the processing position of the outer chamfering device (2), and the detection position of the visual detection device (3); the first pushing device (7) is used to push the anchor from the unloading end of the automatic centering material feeding conveyor line (1) to the translation stage (6), and the second pushing device (8) is used to push the anchor from the translation stage (6) to the processing position of the inner chamfering device (4); The discharge end of the automatic centering feeding conveyor line (1) is provided with at least one set of positioning members for center positioning the anchor; The outer circle chamfering device (2) comprises a synchronous clamp (21) capable of synchronously clamping the anchor from both sides of the anchor, and an outer circle chamfering tool (22) capable of synchronously chamfering the outer circles of the upper and lower sides of the anchor from the upper and lower sides of the translation stage (6); The inner circle chamfering device (4) comprises an inner circle machining tool (41) and a rotating fixture (42) coaxially arranged at the bottom of the inner circle machining tool (41), wherein the rotating fixture (42) is capable of rotating the anchor according to the detection result of the visual detection device (3); The oiling and hole-calibrating device (5) comprises a positioning device (51), an oiling device (52), a hole-calibrating device (53), and a multi-station movable fixture (54) which are arranged in sequence. The multi-station movable fixture (54) is capable of synchronously moving an anchor between the processing position of the inner chamfering device (4), the positioning device (51), the oiling device (52), and the hole-calibrating device (53).

2. The automatic chamfering and hole-calibrating device for anchorage according to claim 1, characterized in that: The anchor automatic chamfering and hole calibration device further comprises a typing device (9) and a feeding device (10), wherein the typing device (9) is arranged between the inner chamfering device (4) and the oiling and hole calibration device (5), and the feeding device (10) is arranged at the discharge end of the oiling and hole calibration device (5).

3. The automatic chamfering and hole-calibrating device for anchorage according to claim 1, characterized in that: The outer round chamfering device (2) comprises a synchronous drive device (23), the synchronous drive device (23) comprises a first slide (231), a second slide (232), a first connecting rod (233), a second connecting rod (234), and a driving cylinder (235), the first end of the first connecting rod (233) and the first end of the second connecting rod (234) are both hinged to the push rod of the driving cylinder (235), the second end of the first connecting rod (233) is hinged to one side of the first slide (231), the second end of the second connecting rod (234) is hinged to one side of the second slide (232), and synchronous clamps (21) are correspondingly arranged on the opposite sides of the first slide (231) and the second slide (232), and the translation stage (6) is located between the first slide (231) and the second slide (232).

4. The automatic chamfering and hole-calibrating device for anchorage according to claim 1, characterized in that: The outer circle chamfering tool (22) comprises a lifting part, a rotating part, and a telescopic tool (221); the lifting end of the lifting part is provided with a rotating part, the rotating part is provided with a telescopic tool (221), and the telescopic tool (221) can adjust the radial chamfer radius relative to the center of the anchor.

5. The automatic chamfering and hole-calibrating device for anchorage according to claim 1, characterized in that: The rotating fixture (42) comprises a rotating table (421), a rotating driving unit (422), and an electromagnetic fixture (423); the rotating table (421) is rotatably mounted below the inner circle machining tool (41); a rotating driving unit (422) for driving the rotating table (421) to rotate a specified angle is arranged on one side of the rotating table (421); the electromagnetic fixture (423) is coaxially arranged at the bottom of the rotating table (421); and a machining hole for the tool head of the inner circle machining tool (41) to pass through is coaxially arranged on the rotating table (421) and the electromagnetic fixture (423).

6. The automatic chamfering and hole-calibrating device for anchorage according to claim 1, characterized in that: The inner circle machining tool (41) comprises a three-axis moving device (411) and a self-rotating tool (412); the self-rotating tool (412) is arranged on the three-axis moving end of the three-axis moving device (411); and a rotating table (421) is rotatably arranged below the self-rotating tool (412).

7. The automatic chamfering and hole-calibrating device for anchorage according to claim 1, characterized in that: The oiling device (52) comprises a lifting cylinder (521); a plurality of inner extending oil nozzles (522) are arranged at the top of the lifting cylinder (521) at positions corresponding to anchor holes on the anchor; an oil inlet is arranged at the bottom of the lifting cylinder (521); the interior of the lifting cylinder (521) is connected to the inner extending oil nozzles (522) via a plurality of oil outlets; and a plurality of groups of anchor support positioning members (523) are arranged around the inner extending oil nozzles (522).

8. The automatic chamfering and hole-calibrating device for anchorage according to claim 1, characterized in that: The multi-station mobile fixture (54) comprises a mobile frame (541), a linear slide rail (542), a linear drive device (543), and a picking portion. The linear slide rail (542) is arranged above the positioning device (51), the oiling device (52), and the hole calibration device (53). The mobile frame (541) is slidably arranged on the linear slide rail (542). The bottom of the mobile frame (541) is respectively provided with a picking portion corresponding to the positioning device (51), the oiling device (52), and the hole calibration device (53). A linear drive device (543) is arranged on one side of the mobile frame (541). The driving end of the linear drive device (543) is connected to one side of the mobile frame (541) and drives the mobile frame (541) to move linearly.

9. The automatic chamfering and hole-calibrating device for anchorage according to claim 1, characterized in that: The hole calibration device (53) comprises a jack (531) and a reaction platform (532); a shaping platform (533) is provided between the jack (531) and the reaction platform (532) for linear movement; a linear driving cylinder (534) for driving the shaping platform (533) to move linearly is provided on one side of the shaping platform (533); an anchor hole shaping device (535) is provided on the top of the shaping platform (533); and a plurality of shaping cones are provided on the anchor hole shaping device (535) at positions corresponding to anchor holes on the anchor.

10. An automatic chamfering and hole calibration method for anchors, implemented based on the automatic chamfering and hole calibration device for anchors according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1, placing the anchor on the automatic centering material feeding conveyor line (1), centering and positioning the anchor by means of a positioning piece at the discharge end of the automatic centering material feeding conveyor line (1), and ensuring that the center of the anchor and the processing center of the outer chamfering device (2) are colinear with a first straight line; Step 2: Pushing the anchors onto the translation stage (6) along the first straight line by means of the first pushing device (7), and translating the translation stage (6) along the first straight line to the processing position of the outer chamfering device (2), so that the center of the anchor is vertically coaxial with the processing center of the outer chamfering device (2); Step 3, the anchor at the first position is synchronously clamped on both sides by a synchronous clamp (21), the translation stage (6) is translated toward the visual inspection device (3) to expose the bottom of the anchor, and then the outer circles of the upper and lower sides of the anchor are synchronously chamfered by the outer circle chamfering tools (22) on the upper and lower sides; Step 4, the translation stage (6) moves toward the outer chamfering device (2) to re-accept the anchor, the synchronous clamp (21) releases the anchor, and then the translation stage (6) drives the anchor to translate along the first straight line to the detection position of the visual detection device (3), and makes the center of the anchor and the processing center of the inner chamfering device (4) collinear with the second straight line; Step 5: Detect the actual position of the anchor hole on the anchor by using the visual detection device (3), and transmit the detection data to the computer, and calculate the position difference between the actual position of the anchor hole and the calibrated position by the computer; Step 6: Push the anchor along the second straight line to the processing position of the inner circle chamfering device (4) by means of a second pushing device (8), and make the center of the anchor vertically coaxial with the processing center of the inner circle processing tool (41); Step 7, clamping the anchor by a rotating fixture (42), and driving the anchor to rotate according to the position difference, so that the anchor hole on the anchor rotates to the calibration position, and then using the inner circle processing tool (41) to perform inner circle chamfering processing on the anchor hole according to the calibration position of the anchor hole; Step 8: Pick up the anchor by means of a multi-station mobile fixture (54), and move the anchor to the positioning device (51) for positioning, so that the position of the anchor hole corresponds to the oil port position of the oil coating device (52); Step 9: Pick up the anchor and move it to the oiling device (52) through the multi-station mobile fixture (54), and use the oiling device (52) to synchronously extend the anchor hole and apply oil; Step 10: picking up the anchor and moving it to the processing position of the hole calibration device (53) by the multi-station mobile fixture (54), and performing punching and calibration on the anchor hole by the hole calibration device (53); Step 11: The multi-station mobile fixture (54) picks up the anchor after hole calibration and moves it to the unloading area.

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