Anchor automatic chamfering and hole calibration device and chamfering and hole calibration method

Abstract

The present invention discloses an automatic chamfering and hole-calibrating device and a chamfering and hole-calibrating method for anchors, which belong to the technical field of automatic process-based processing of anchors. The present invention can ensure that during the transportation of the anchor, the center of the anchor is always collinear with the processing center of the processing tool, and when the anchor arrives at the processing station, it is ensured that the center of the anchor is always coincident with the processing center of the processing tool, thereby ensuring that during the entire processing 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 processing efficiency of the anchor.

Description

Technical Field

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

[0002] The anchor processing process mainly involves several steps such as outer chamfering, inner chamfering of anchor holes, oiling of anchor holes, and punching and shaping of anchor holes. In the existing technology, a corresponding processing device is set up separately for each process step to perform processing, and then the anchor is transferred to the processing device corresponding to the next process. During the frequent transportation process, in order to ensure 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 positioning for each processing is used, it is necessary to continuously adjust the relative position of the anchor and the processing head when chamfering the inner hole, oiling the anchor hole, and punching and shaping the anchor hole, 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 correction device and a chamfering and hole correction method for the anchor. Summary of the Invention

[0004] The present invention discloses an automatic chamfering and hole correction device and a chamfering and hole correction method for an anchor, which can ensure that the center of the anchor is always collinear with the machining center of the machining tool during the transportation of the anchor, and ensure that the center of the anchor is always coincident with the machining center of the machining tool when the anchor arrives at the machining station, thereby ensuring that the position of the anchor and the anchor hole does not need to be frequently and repeatedly detected and positioned during the entire machining process of the anchor, thereby significantly improving the machining efficiency of the anchor.

[0005] The present invention is achieved through the following technical solutions:

[0006] An automatic chamfering and hole-calibrating device for an anchor comprises:

[0007] Automatic centering loading conveyor line, used to convey and center the anchor;

[0008] External chamfering device, used for synchronous processing of external chamfers on the upper and lower sides of the anchor;

[0009] A visual inspection device for inspecting the position of the anchor holes on the anchor;

[0010] Internal chamfering device, used for internal chamfering of anchor holes;

[0011] Oiling and hole-calibrating device, used for oiling and calibrating the inside of the processed anchor hole;

[0012] It also includes a translation stage, a first pushing device, and a second pushing device;

[0013] The translation stage can be linearly translated between the unloading end of the automatic centering loading conveyor line, the processing position of the outer 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 loading 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 inner chamfering device;

[0014] The discharge end of the automatic centering feeding conveyor line is provided with at least one set of positioning members for centering the anchor;

[0015] The outer circle chamfering device includes 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;

[0016] The inner chamfering device includes an inner circle machining tool and a rotating fixture coaxially arranged at the bottom of the inner circle machining tool, and the rotating fixture can rotate the anchor according to the detection result of the visual detection device;

[0017] The oiling and hole calibration device includes 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, positioning device, oiling device, and hole calibration device of the inner chamfering device.

[0018] In order to better realize the present invention, the automatic chamfering and hole-calibrating device for anchors further includes a typing device and a blanking device. The typing device is arranged between the inner chamfering device and the oiling and hole-calibrating device, and the blanking device is arranged at the discharge end of the oiling and hole-calibrating device.

[0019] In order to better realize the present invention, further, the external 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 provided on the opposite sides of the first slide and the second slide, and the translation stage is located between the first slide and the second slide.

[0020] 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.

[0021] 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 circle 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 provided at the bottom of the rotating table. The rotating table and the electromagnetic clamp are coaxially provided with a machining hole for the tool head of the internal circle machining tool to pass through.

[0022] In order to better realize the present invention, further, the internal circle machining tool includes a three-axis moving device and a rotating tool. The three-axis moving end of the three-axis moving device is provided with a rotating tool, and a rotating table is provided below the rotating tool.

[0023] In order to better realize the present invention, further, the oiling device includes a lifting cylinder, and the top of the lifting cylinder is provided with several inward oil nozzles corresponding to the anchor hole position on the anchor, the bottom of the lifting cylinder is provided with an oil inlet, and the interior of the lifting cylinder is connected to the inward oil nozzle through several oil outlets; several groups of anchor support positioning parts are provided around the inward oil nozzle.

[0024] 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. The 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 provided 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.

[0025] In order to better realize the present invention, further, the hole calibration device includes a jack and a reaction platform, a shaping platform is provided for linear movement between the jack and the reaction platform, a linear drive cylinder is provided on one side of the shaping platform for driving the shaping platform to move linearly, an anchor hole shaping device is provided on the top of the shaping platform, and a number of shaping cones are provided on the anchor hole shaping device corresponding to the anchor hole positions on the anchor.

[0026] A method for automatically chamfering and calibrating an anchor hole comprises the following steps:

[0027] Step 1: Place the anchor on the automatic centering material feeding conveyor line, and center the anchor by the positioning piece at the discharge end of the automatic centering material feeding conveyor line to ensure that the center of the anchor and the machining center of the outer chamfering device are collinear with the first straight line;

[0028] Step 2: Push the anchors onto the translation stage along the first straight line by a first pushing device, and translate the translation stage along the first straight line to the processing position of the outer chamfering device, so that the center of the anchor is vertically coaxial with the processing center of the outer chamfering device;

[0029] Step 3: Clamp the anchor in the first position on both sides synchronously with a synchronous fixture, translate the stage toward the visual inspection device to expose the bottom of the anchor, and then synchronously chamfer the outer circles of the upper and lower sides of the anchor using the outer circle chamfering tools on the upper and lower sides;

[0030] Step 4: The stage is moved horizontally toward the outer chamfering device to re-accept the anchor, the synchronous clamp releases the anchor, and then the stage is moved horizontally to drive the anchor along the first straight line to the detection position of the visual inspection device, and the center of the anchor and the machining center of the inner chamfering device are collinear with the second straight line;

[0031] Step 5: Detect the actual position of the anchor hole on the anchor by using 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;

[0032] Step 6: Push the anchor along the second straight line to the processing position of the inner 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;

[0033] Step 7: Clamp the anchor with 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 internal circle machining tool to perform inner circle chamfering on the anchor hole according to the calibration position of the anchor hole;

[0034] Step 8: Pick up the anchor with 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;

[0035] 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 inward and oil it;

[0036] Step 10: Pick up the anchor and move it to the processing position of the hole calibration device through the multi-station mobile fixture, and use the hole calibration device to punch and calibrate the anchor hole;

[0037] Step 11: The anchors that have been calibrated by the multi-station mobile fixture are picked up and moved to the unloading area.

[0038] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0039] The present invention can continuously and efficiently perform one-time process processing of the anchor including outer chamfering, inner chamfering of the anchor hole, oiling of the inside of the anchor hole, and punching and shaping of the anchor hole, 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, and improving the processing efficiency of the anchor; at the same time, the plate invention ensures that the center of the anchor is always collinear with the processing center of the processing tool during the process of transporting the anchor, and when the anchor is transported to the processing position, it ensures 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

[0040] Figure 1 This is a schematic diagram of the three-dimensional structure of the automatic chamfering and hole-calibrating device for anchors;

[0041] Figure 2 This is a top view of the automatic chamfering and hole-calibrating device for anchorage;

[0042] Figure 3 It is a structural schematic diagram of the outer circle chamfering device;

[0043] Figure 4 It is a schematic diagram of the three-dimensional structure of the synchronous drive device;

[0044] Figure 5 It is a front view of the synchronous drive device;

[0045] Figure 6 It is a structural diagram of the telescopic tool;

[0046] Figure 7 It is a schematic diagram of the three-dimensional structure of the inner chamfering device;

[0047] Figure 8 It is a front view of the inner chamfering device;

[0048] Figure 9 is a structural diagram of the rotary fixture;

[0049] Figure 10 It is a schematic diagram of the three-dimensional structure of the oiling hole calibration device;

[0050] Figure 11 It is a front view of the oiling device;

[0051] Figure 12 It is a schematic diagram of the three-dimensional structure of the oiling device;

[0052] Figure 13 It is a schematic diagram of the three-dimensional structure of the multi-station mobile fixture;

[0053] Figure 14 It is a schematic diagram of the three-dimensional structure of the hole calibration device;

[0054] Figure 15 Schematic diagram of the structure of the visual inspection device.

[0055] 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;

[0056] 21-synchronous fixture; 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;

[0057] 31-Detection camera; 32-Annular fill light;

[0058] 41 - internal machining tool; 42 - rotary fixture; 411 - three-axis moving device; 412 - rotating tool; 421 - rotary table; 422 - rotary drive unit; 423 - electromagnetic fixture; 4221 - drive motor; 4222 - drive gear; 4223 - ring gear;

[0059] 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

[0060] Example 1:

[0061] This embodiment provides an automatic chamfering and hole-calibrating device for anchors, such as 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 and hole calibration device 5, a translation stage 6, a first pushing device 7, and a second pushing device 8;

[0062] Automatic centering feeding conveyor line 1, used to convey the anchor and center the anchor;

[0063] The outer chamfering device 2 is used to synchronously process the outer chamfers on the upper and lower sides of the anchor;

[0064] Visual detection device 3, used to detect the position of the anchor hole on the anchor;

[0065] Inner chamfering device 4, used for performing inner chamfering on the anchor hole;

[0066] The oiling and hole-calibrating device 5 is used to oil the inside of the processed anchor hole and calibrate the shape;

[0067] The translation stage 6 can be linearly translated between the unloading end of the automatic centering loading 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 loading 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;

[0068] The discharge end of the automatic centering feeding conveyor line 1 is provided with at least one set of positioning members for centering the anchor;

[0069] The outer chamfering device 2 includes a synchronous clamp 21 that can synchronously clamp the anchor from both sides of the anchor, and an outer chamfering tool 22 that can synchronously chamfer the outer circles of the upper and lower sides of the anchor from the upper and lower sides of the translation stage 6;

[0070] 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. The rotating fixture 42 can rotate the anchor according to the detection result of the visual detection device 3;

[0071] The oiling and hole calibration device 5 includes a positioning device 51, an oiling device 52, a hole calibration device 53, and a multi-station movable fixture 54 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 calibration device 53.

[0072] The automatic chamfering and hole-calibrating device for anchors further includes a typing device 9 and a blanking device 10 . The typing device 9 is arranged between the inner chamfering device 4 and the oiling and hole-calibrating device 5 , and the blanking device 10 is arranged at the discharge end of the oiling and hole-calibrating device 5 .

[0073] The automatic centering loading conveyor line 1 includes a conveyor belt, and baffles that can move toward each other are provided on both sides of the conveyor belt. The spacing between the baffles is moved to accommodate anchors of different diameters that are transported sequentially through the conveyor belt. A positioning member is provided on one side of the discharge end of the conveyor belt. The positioning member includes a resistance portion with at least one guide slope. The resistance portion contacts the outer cylindrical surface of the anchor, so that the outer cylindrical surface of the anchor moves along the guide slope, thereby forcing the anchor to move to the specified centering position. When the anchor is in 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 by the translation stage 6 along the first straight line. 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 synchronization 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 of 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 and the processing center of the inner chamfering device 4 are colinear with the second straight line. Then, the actual position of the anchor hole on the anchor is detected by the visual inspection device 3. The second pushing device 8 pushes the anchor to the processing position of the inner chamfering device 4 along the second straight line. At this time, the center of the anchor is vertically coaxial with the processing center of the inner chamfering device 4. The anchor is then pre-clamped by the rotating fixture 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 anchor hole is inner chamfered by the inner circle machining tool 41.

[0074] 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 achieve 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 by the multi-station mobile fixture 54 and brought to the oiling device 52. Several anchor holes are extended and oiled by the oiling device 52. The anchor is picked up by the multi-station mobile fixture 54 and brought to the hole calibration device 53. The anchor hole is squeezed and calibrated by the calibrating cone in the hole calibration device 53. The anchor is picked up by the multi-station mobile fixture 54 and brought to the unloading area. Then, the unloading device 10 picks up the anchor in the unloading area.

[0075] Furthermore, the unloading device 10 adopts any one of a three-axis mobile picking fixture and a multi-degree-of-freedom manipulator.

[0076] Example 2:

[0077] This embodiment is further optimized based on embodiment 1. Figure 3-Figure 6 As shown, the outer chamfering device 2 includes a synchronous drive device 23, and the synchronous drive 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 provided 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.

[0078] 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 is not 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. In this way, repeated positioning during the processing of the external chamfering device 2 can be avoided, thereby improving processing efficiency.

[0079] After the anchor is fixed, the translation stage 6 is translated to expose the bottom of the anchor. At this time, the chamfers on 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 tools 22 themselves can be raised and lowered in the vertical direction and rotated in the circumferential direction. The outer cylindrical chamfering tools 22 are existing commercial products and are not the improvement point of this application. Its specific structure and operating principle will not be repeated here.

[0080] 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, thereby synchronously clamping the left and right sides of the anchor. 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, thereby synchronously moving the first slide 231 and the synchronous clamps 21 on the second slide 232 away from each other synchronously, thereby releasing the left and right sides of the anchor.

[0081] Furthermore, the distance between the cutting head of the external 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 cutting head of the external 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 chamfering tools 22 on the upper and lower sides are the same, ensuring that the external chamfering tools 22 on the upper and lower sides can synchronously and evenly process the chamfers on the upper and lower ends of the external cylindrical surface of the anchor.

[0082] Furthermore, the external chamfering tool 22 includes a lifting portion, a rotating portion, and a telescopic tool 221. The lifting end of the lifting portion is provided with a rotating portion, and the telescopic tool 221 is provided on the rotating portion. The telescopic tool 221 is capable of adjusting the radial chamfer radius relative to the center of the anchor. The telescopic tool 221 comprises a connecting sleeve, a tool bar, and a tool. The connecting sleeve is provided at the rotating end of the rotating portion. The tool bar slides within the connecting sleeve, and the tool bar is provided at the end of the tool bar. The connecting sleeve is provided with at least one locking member for tightening and locking the tool bar. A locking threaded hole is provided on the side wall of the connecting sleeve, and a locking screw is installed in the threaded hole. The connecting sleeve is provided with a slot within which the tool bar slides and fits. When the locking screw is loosened, the tool bar slides along the slot, thereby adjusting the radial extension of the tool bar along the anchor, that is, adjusting the radial radius of the final chamfer cut. After the tool bar is adjusted, the locking screw is tightened to tighten the side of the tool bar, thereby fixing the radial radius of the tool chamfer cut.

[0083] The rest of this embodiment is the same as that of embodiment 1, so it will not be described again.

[0084] Example 3:

[0085] This embodiment is further optimized based on the above embodiment 1 or 2. Figure 7-Figure 9 As shown, the rotating fixture 42 includes a rotating table 421, a rotating drive unit 422, and an electromagnetic clamp 423. The rotating table 421 is rotatably installed below the internal circle machining tool 41. A rotating drive unit 422 is provided on one side of the rotating table 421 to drive the rotating table 421 to rotate a specified angle. The electromagnetic clamp 423 is coaxially provided on the bottom of the rotating table 421. The rotating table 421 and the electromagnetic clamp 423 are coaxially provided with a machining hole for the tool head of the internal circle machining tool 41 to pass through.

[0086] 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 machining tool 41, and the rotation center of the rotary 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 rotary drive unit 422 drives the rotary table 421 to rotate the corresponding angle, and then the electromagnetic fixture 423 adsorbs the anchor and rotates the corresponding angle to ensure that the anchor hole on the anchor is finally in the calibrated position. Then, the inner circle machining tool 41 can be translated in the horizontal plane and lifted and lowered vertically according to the feed path set according to the calibrated position of the anchor hole, and the anchor hole can be inner chamfered without repeated positioning.

[0087] Furthermore, the rotation drive unit 422 includes a drive motor 4221, a drive gear 4222, and a ring gear 4223. The ring gear 4223 is mounted on the outside of the rotating platform 421 and meshes with the drive gear 4222. The drive gear 4222 is in driving connection with the output shaft of the drive motor 4221. The ring gear 4223 is mounted on the top of the outer side of the rotating platform 421. The drive motor 4221 is mounted on the adapter. The drive gear 4222 is mounted on the output shaft of the drive motor 4221 and meshes with the ring gear 4223. The drive motor 4221 drives the drive gear 4222 to rotate, thereby driving the ring gear 4223 and the rotating platform 421 to rotate circumferentially.

[0088] Furthermore, the internal machining tool 41 includes a three-axis motion device 411 and a rotating tool 412. The rotating tool 412 is disposed on the three-axis motion end of the three-axis motion device 411, and a rotating table 421 is disposed below the rotating tool 412. The three-axis motion device 411 can perform horizontal translation in the X and Y directions perpendicular to each other and vertical elevation in the Z direction. The rotating tool 412 can also rotate circumferentially.

[0089] The rest of this embodiment is the same as that of the above-mentioned embodiment 1 or 2, and thus will not be described in detail.

[0090] Example 4:

[0091] 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, and a plurality of inward oil nozzles 522 are provided at the top of the lifting cylinder 521 corresponding to the anchor hole position on the anchor, and an oil inlet is provided at the bottom of the lifting cylinder 521. The interior of the lifting cylinder 521 is connected to the inward oil nozzles 522 through a plurality of oil outlets; a plurality of groups of anchor support positioning members 523 are provided around the inward oil nozzles 522.

[0092] The oiling and hole-calibrating device 5 includes a workbench, on which a first workstation, a second workstation, and a third workstation are linearly arranged in sequence. A positioning device 51 is provided at the first workstation, and an oiling device 52 is provided at the second workstation. The oiling device 52 includes an inwardly extending oil nozzle arranged corresponding to the anchor hole on the anchor, and a hole-calibrating device 53 is provided at the third workstation; a multi-station moving fixture 54 is provided above the workbench, and the multi-station moving fixture 54 includes an anchor picking part arranged corresponding to the first workstation, the second workstation, and the third workstation, respectively, and a linear drive device 543 that drives the picking part to move linearly between the processing position of the inner chamfering device 4, the first workstation, the second workstation, the third workstation, and the picking station of the blanking device 10.

[0093] The anchor is placed on the positioning device 51 at the first station, and the cone on 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. The linear drive device 543 is then used to drive the picking part to pick up the anchor and move the anchor horizontally to the second station, so that the anchor is placed on the oiling device 52 at the second station, so that the inner oil 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 oil 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 that the anchor can be pressed and calibrated.

[0094] Further, such as Figure 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 part. 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 part corresponding to the positioning device 51, the oiling device 52, and the hole calibration device 53. A linear drive device 543 is provided 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.

[0095] Further, such as Figure 14 As shown, the hole calibration device 53 includes a jack 531 and a reaction platform 532, and a shaping platform 533 is provided between the jack 531 and the reaction platform 532 for linear movement. A linear drive cylinder 534 is provided on one side of the shaping platform 533 for driving the shaping platform 533 to move linearly, and an anchor hole shaping device 535 is provided on the top of the shaping platform 533. A plurality of shaping cones are provided on the anchor hole shaping device 535 corresponding to the anchor hole positions on the anchor.

[0096] The bottom of the shaping platform 533 is slidably connected to the workbench, allowing it to move linearly relative to the workbench. The linear drive cylinder 534 drives the anchor hole shaping device 535 on the shaping platform 533 to move linearly between the third station and the shaping station. When the shaping platform 533 is in the third station, the anchor is placed on the anchor hole shaping device 535, ensuring that the anchor hole on the anchor is initially aligned with the vertebral body being shaped on the anchor hole shaping device 535. This ensures the anchor is positioned correctly and prevents it from moving during subsequent movement and pressure shaping.

[0097] The anchor is then driven to move to the shaping station through the loading platform so that the anchor is located between the jack 531 and the reaction platform 532. Since the reshaped vertebra is always positioned in conjunction 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 combined to drive the reshaped vertebra into the anchor hole and apply pressure to the anchor hole to achieve the shaping of the anchor hole.

[0098] The rest of this embodiment is the same as any of the above embodiments 1-3, so it will not be repeated here.

[0099] Example 5:

[0100] This embodiment is further optimized based on any one of the above embodiments 1-4. Figure 15 As shown, the visual inspection device 3 includes a detection camera 31 and an annular fill light 32. The detection camera 31 is arranged above the translation stage 6. The annular fill light 32 is provided at the lens of the detection camera 31. The annular fill light 32 is provided with a through hole for light to pass through and enter the detection camera 31. The annular fill light 32 provides sufficient and uniform light source for the detection camera 31, ensuring that the detection camera 31 can more clearly capture the anchor hole on the anchor. The detection camera 31 is connected to an external computer via a transmission cable to realize data exchange with the external computer.

[0101] The rest of this embodiment is the same as any of the above embodiments 1-4, so it will not be repeated here.

[0102] Example 6:

[0103] 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:

[0104] Step 1: Place the anchor on the automatic centering material feeding conveyor line 1, and center the anchor by the positioning piece at the discharge end of the automatic centering material feeding conveyor line 1 to ensure that the center of the anchor and the machining center of the outer chamfering device 2 are collinear with the first straight line;

[0105] Step 2: Push the anchors onto the translation stage 6 along the first straight line by the first pushing device 7. The translation stage 6 is translated along the first straight line to the processing position of the outer chamfering device 2, and the center of the anchor is vertically coaxial with the processing center of the outer chamfering device 2.

[0106] Step 3: Clamp the anchor in the first position on both sides synchronously by the synchronous clamp 21, translate the stage 6 toward the visual inspection device 3 to expose the bottom of the anchor, and then chamfer the outer circles of the upper and lower sides of the anchor synchronously by the outer circle chamfering tools 22 on the upper and lower sides;

[0107] Step 4: The stage 6 is moved horizontally toward the outer chamfering device 2 to re-accept the anchor. The synchronous clamp 21 releases the anchor. The stage 6 then moves horizontally along the first straight line to the detection position of the visual inspection device 3, and the center of the anchor is collinear with the machining center of the inner chamfering device 4 on the second straight line.

[0108] Step 5: The actual position of the anchor hole on the anchor is detected by the visual detection device 3, and the detection data is transmitted to the computer, and the position difference between the actual position of the anchor hole and the calibrated position is calculated by the computer;

[0109] 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;

[0110] Step 7: Clamp the anchor with 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 use the internal circle machining tool 41 to perform inner chamfering on the anchor hole according to the calibration position of the anchor hole;

[0111] 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 oiling device 52;

[0112] Step 9: The anchor is picked up and moved to the oiling device 52 by the multi-station mobile fixture 54, and the anchor hole is synchronously extended and oiled by the oiling device 52;

[0113] Step 10: The anchor is picked up and moved to the processing position of the hole-calibrating device 53 by the multi-station mobile fixture 54, and the anchor hole is punched and calibrated by the hole-calibrating device 53;

[0114] 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.

[0115] 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 scope of protection of the present invention.

Claims

1. An automatic chamfering and hole-calibrating device for anchorage, comprising: An automatic centering loading conveyor line (1) is used to convey the anchor and center the anchor; An outer chamfering device (2) is used for synchronously processing the outer chamfers of the upper and lower sides of the anchor; A visual detection device (3) is used to detect 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; An oiling and hole-calibrating device (5) is used to oil the inside of the processed anchor hole and to calibrate the shape; It is characterized in that it also includes a translation platform (6), a first pushing device (7), and a second pushing device (8), wherein the translation platform (6) can be linearly translated between the unloading end of the automatic centering loading 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 loading conveyor line (1) to the translation platform (6), and the second pushing device (8) is used to push the anchor from the translation platform (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 centering 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 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); The rotating fixture (42) includes a rotating table (421), a rotating driving unit (422), and an electromagnetic fixture (423). The rotating table (421) is rotatably installed below the inner circle machining tool (41). A rotating driving unit (422) is provided on one side of the rotating table (421) for driving the rotating table (421) to rotate a specified angle. The electromagnetic fixture (423) is coaxially provided on 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 provided on the rotating table (421) and the electromagnetic fixture (423).

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

3. The automatic chamfering and hole-calibrating device for anchorage according to claim 1, characterized in that: The outer chamfering device (2) includes a synchronous drive device (23), and the synchronous drive 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 provided 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, 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.

5. 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 provided on the three-axis moving end of the three-axis moving device (411); and a rotating table (421) is rotatably provided below the self-rotating tool (412).

6. The automatic chamfering and hole-calibrating device for anchorage according to claim 1, characterized in that: The oiling device (52) comprises a lifting oil cylinder (521), wherein a plurality of inner extending oil nozzles (522) are provided at the top of the lifting oil cylinder (521) corresponding to the anchor hole positions on the anchor, an oil inlet is provided at the bottom of the lifting oil cylinder (521), and the interior of the lifting oil 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 provided around the inner extending oil nozzles (522).

7. The automatic chamfering and hole-calibrating device for anchorage according to claim 1, characterized in that: 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 provided 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.

8. The automatic chamfering and hole-calibrating device for anchorage according to claim 1, characterized in that: The hole calibration device (53) includes 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) is provided on one side of the shaping platform (533) for driving the shaping platform (533) to move linearly, 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 the positions corresponding to the anchor holes on the anchor.

9. An automatic chamfering and hole-calibrating method for anchoring, implemented based on the automatic chamfering and hole-calibrating device for anchoring according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: Place the anchor on the automatic centering material feeding conveyor line (1), and center and position the anchor by the positioning piece at the discharge end of the automatic centering material feeding conveyor line (1), ensuring that the center of the anchor and the processing 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 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 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 use the internal circle processing tool (41) to perform internal 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 oiling device (52); Step 9: Pick up the anchor and move it to the oiling device (52) through the multi-station mobile fixture (54), and oil the anchor hole synchronously through the oiling device (52); Step 10: picking up the anchor and moving it to the processing position of the hole-calibrating device (53) by the multi-station mobile fixture (54), and punching and calibrating the anchor hole by the hole-calibrating 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 blanking area.

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