Automatic processing system for end quenching sample

Abstract

The invention belongs to the field of end quenching sample machining equipment, and particularly relates to an end quenching sample automatic machining system which comprises a feeding platform, a visual detection mechanism, a joint robot, a sample machining center and a PLC. The visual detection mechanism is used for detecting the angle of the sample; the joint robot is used for clamping transportation and angle adjustment of a sample, a clamping turnover mechanism is arranged at the end of the joint robot and comprises an L-shaped plate, a clamping air cylinder and a chuck, the L-shaped plate is installed on a turnover motor at the end of the joint robot, the clamping air cylinder is arranged at the end of the L-shaped plate, the chuck is arranged on a clamping jaw of the clamping air cylinder, and the L-shaped plate is installed on the turnover motor. The clamping rotation center of the chuck and the rotation center of the L-shaped plate are concentrically arranged; the sample machining center is used for machining a sample; and the PLC is used for program control of the processing system. According to the invention, automatic processing of the end-quenched sample can be realized, the processing efficiency of the end-quenched sample is improved, and the production benefits of enterprises are improved.

Description

Technical Field

[0001] The invention belongs to the field of end-quenching sample processing equipment, and in particular relates to an end-quenching sample automatic processing system. Background Art

[0002] The end quenching test is one of the methods to determine the hardenability of steel. It is a test method in which a standard size end quenching specimen (Φ25mm×100mm) is austenitized, one end face is sprayed with water on a special device, and then the hardness-distance from the water-cooled end relationship curve is measured along the axial direction.

[0003] The end-quenched specimens need to pay attention to the accuracy of shape and size during processing to ensure the consistency and comparability of the specimens. The standard stipulates that a plane with a depth of 0.4 to 0.5 mm should be ground on both sides of the specimen parallel to the longitudinal direction, and then the Rockwell hardness should be measured.

[0004] After heat treatment, existing end-quenched specimens usually require operators to manually grind the test surface on a surface grinder. This method has basic problems such as low sample preparation efficiency, excessive labor intensity for operators, and sample preparation accuracy being greatly affected by human factors.

[0005] Therefore, how to provide an automated processing system for end-quenched specimens has become an issue that technical personnel in this field need to consider. Summary of the invention

[0006] In view of the problems existing in the above-mentioned prior art, the present invention discloses an automated processing system for end-quenched specimens. The present invention positions and corrects the specimens through the automated processing system, and automatically loads and processes the specimens, thereby saving manpower, improving the processing efficiency of the end-quenched specimens, and improving the production benefits of the enterprise.

[0007] To achieve the above object, the present invention specifically discloses the following scheme:

[0008] An automated processing system for end-quenched specimens, including a loading platform, a visual inspection mechanism, a joint robot, a specimen processing center and a PLC.

[0009] The loading platform is used for loading and positioning of the sample;

[0010] The visual detection mechanism is used for angle detection of the sample;

[0011] The articulated robot is used for gripping, transporting and angle adjustment of the specimen. A gripping and flipping mechanism is arranged at the end of the articulated robot. The gripping and flipping mechanism comprises an L-shaped plate, a gripping cylinder and a chuck. The L-shaped plate is mounted on a flipping motor at the end of the articulated robot. The gripping cylinder is arranged at the end of the L-shaped plate. The chuck is arranged on the clamping claw of the gripping cylinder. The gripping rotation center of the chuck is arranged concentrically with the rotation center of the L-shaped plate.

[0012] The sample processing center is used for processing samples;

[0013] The PLC is used for program control of the processing system, and the feeding platform, visual inspection mechanism, articulated robot and sample processing center are all electrically connected to the PLC.

[0014] Furthermore, the loading platform includes a first bracket, a positioning seat, a positioning baffle, a push plate and a pushing cylinder. The positioning seat is arranged on the first bracket. A plurality of positioning grooves are arranged at equal intervals on the positioning seat. The positioning baffle is arranged at one end of the positioning groove. The pushing cylinder is arranged at the other end of the positioning groove. The push plate is arranged at the piston end of the pushing cylinder.

[0015] Furthermore, the visual inspection mechanism includes a second bracket, a visual camera, a detection box and a lighting lamp. The detection box is arranged on the surface of the second bracket, the front end of the detection box is opened, the visual camera is arranged on the rear end inner wall of the detection box, and the lighting lamp is arranged on the upper and lower sides of the visual camera.

[0016] Furthermore, the bottom ends of the first bracket and the second bracket are both provided with leveling feet.

[0017] Furthermore, a column is vertically arranged in the sample processing center, a spindle box which moves up and down is arranged on the column, and a slide which moves longitudinally along the bed is also arranged in the sample processing center, a transverse movable workbench is arranged on the slide, and a positioning fixture is arranged on the transverse movable workbench.

[0018] Furthermore, the positioning fixture includes a base, a hydraulic slide and a positioning block. The base is longitudinally provided with a slide groove, the hydraulic slide is slidably arranged in the slide groove, and the positioning block is installed on the hydraulic slide for clamping the sample.

[0019] Furthermore, the width of the positioning block is smaller than the processing width of the sample.

[0020] Furthermore, a positioning reference line groove is vertically carved at the center of the outer surface of the positioning block, and the positioning reference line groove is filled with a fluorescent nano coating.

[0021] Furthermore, a mounting plate which does not rotate with the L-shaped plate is provided at the rotation center of the L-shaped plate, and two photoelectric sensors for identifying the positioning reference line are vertically provided above and below the rotation center of the mounting plate, and a narrow-band filter is provided on the surface of the photoelectric sensor.

[0022] Furthermore, a through hole is provided at the rotation center of the L-shaped plate, and the mounting plate passes through the through hole at the rotation center of the L-shaped plate and is fixed to the mounting end face of the articulated robot.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The end-quenched specimens in the present invention can be arranged on a loading platform by manual loading after heat treatment. The loading platform completes the end positioning of the specimen by pushing the cylinder, and then the articulated robot clamps the specimen for visual inspection, and based on the mark on the end of the specimen, the specimen is leveled by a clamping and flipping mechanism. The leveled specimen is clamped by the articulated robot and placed on a positioning fixture of a specimen processing center to ensure that the position angle of the processing surface does not change. The setting of the photoelectric sensor and the positioning reference line can achieve secondary positioning of the specimen in the horizontal direction when the articulated robot places the specimen on the positioning fixture. The articulated robot performs compensation adjustment to avoid inconsistent processing thickness on the left and right sides of the specimen. The present invention realizes the automated processing of end-quenched specimens and improves the processing efficiency of end-quenched specimens. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the articulated robot of the present invention;

[0027] Figure 3 for Figure 2 A partial enlarged schematic diagram in the middle;

[0028] Figure 4 This is a schematic diagram of the sample structure after heat treatment of the present invention.

[0029] Figure 5 This is a schematic diagram of the structure of the feeding platform of the present invention;

[0030] Figure 6 It is a structural schematic diagram of the visual detection mechanism of the present invention;

[0031] Figure 7 This is a schematic diagram of the positioning fixture structure of the present invention;

[0032] Figure 8 This is a schematic diagram of the clamping and flipping mechanism and the photoelectric sensor arrangement in Example 2.

[0033] In the figure, 1-articular robot; 2-specimen processing center; 3-specimen; 4-L-shaped plate; 5-clamping cylinder; 6-chuck; 7-first bracket; 8-positioning seat; 9-positioning baffle; 10-push plate; 11-pushing cylinder; 12-second bracket; 13-visual camera; 14-detection box; 15-lighting lamp; 16-leveling foot; 17-base; 18-hydraulic slide; 19-positioning block; 20-positioning reference line groove; 21-mounting plate; 22-photoelectric sensor. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Example 1

[0036] like Figure 1-7 As shown, this embodiment discloses an automated processing system for end-quenching specimens, including a loading platform, a visual inspection mechanism, an articulated robot 1, a specimen processing center 2 and a PLC, wherein the loading platform, the visual inspection mechanism and the specimen processing center 2 are arranged around the articulated robot 1 to facilitate the connection of various processing procedures of the specimen 3, wherein the loading platform is used for positioning the specimen 3, the visual inspection mechanism is used for angle detection of the specimen 3, the articulated robot 1 is used for clamping and angle adjustment of the specimen 3, the specimen processing center 2 is used for processing the specimen 3, the PLC is used for program control of the processing system, and the loading platform, the visual inspection mechanism, the articulated robot 1 and the specimen processing center 2 are all electrically connected to the PLC.

[0037] Specifically, the articulated robot 1 in this embodiment adopts Kuka KR120R2700-2, and a clamping and flipping mechanism is arranged at the end of the articulated robot 1. The clamping and flipping mechanism includes an L-shaped plate 4, a clamping cylinder 5 and a chuck 6. The L-shaped plate 4 is installed on the flipping motor at the end of the articulated robot 1, the clamping cylinder 5 is arranged at the end of the L-shaped plate, and the chuck 6 is arranged on the clamping claw of the clamping cylinder 5. The clamping rotation center of the chuck 6 is arranged concentrically with the rotation center of the L-shaped plate.

[0038] As a preferred embodiment of the present invention, the loading platform includes a first bracket 7, a positioning seat 8, a positioning baffle 9, a push plate 10 and a pushing cylinder 11. The positioning seat 8 is arranged on the first bracket 7. The size of the first bracket 7 is 500×1000×700mm. The positioning seat 8 is provided with a plurality of positioning grooves at equal intervals. The positioning baffle 9 is arranged at one end of the positioning groove. The pushing cylinder 11 is arranged at the other end of the positioning groove. The push plate 10 is arranged at the piston end of the pushing cylinder 11. The loading platform in this embodiment uses the cylinder to axially arrange the sample 3 to ensure accurate positioning of the sample, so that the articulated robot 1 maintains the clamping at the same position.

[0039] As a preferred embodiment of the present invention, the visual inspection mechanism includes a second bracket 12, a visual camera 13, a detection box 14 and a lighting lamp 15. The detection box 14 is arranged on the surface of the second bracket 12, and its size is 800×500×1200mm. The front end of the detection box 14 is opened, and the visual camera 13 is arranged on the rear end inner wall of the detection box 14. The visual camera 13 in this embodiment adopts a Keyence industrial camera to improve the recognition rate and accuracy of the detection. The lighting lamp 15 is arranged on the upper and lower sides of the visual camera 13 to provide lighting for the detection of the sample.

[0040] As a preferred embodiment of the present invention, the bottom ends of the first bracket 7 and the second bracket 12 are both provided with leveling feet 16 to facilitate leveling of the brackets.

[0041] As a preferred embodiment of the present invention, the specimen processing center 2 adopts a vertical frame layout, with a column fixed on the bed, a structure in which the spindle box moves up and down along the column (Z direction), the slide moves longitudinally along the bed (Y direction), and the worktable moves transversely along the slide (X direction). A positioning fixture is provided on the transversely movable worktable, and the positioning fixture includes a base 17, a hydraulic slide 18 and a positioning block 19. A slide groove is longitudinally provided on the base, and the hydraulic slide 18 is slidably set in the slide groove. The positioning block 19 is installed on the hydraulic slide 18. In this embodiment, the width of the positioning block 19 is smaller than the processing width of the specimen to avoid interference between the processing tool and the positioning block 19 when processing both sides of the specimen.

[0042] The process flow of end quenching specimen processing of the present invention is as follows:

[0043] The sample 3 in the present invention is a semi-finished product that has been marked and engraved with marking lines at one end of the cylinder and has been heat-treated. The purpose of marking is to mark the surface of the sample to be processed, and the purpose of engraving the marking lines is to facilitate the adjustment of the angle of the sample through visual inspection, so as to facilitate the processing of the marked surface. The heat-treated sample 3 is manually placed on the loading platform and the processing system is started. The loading platform positions and arranges multiple samples by pushing the cylinder 11. The joint robot 1 clamps the sample 3 from the loading platform through the clamping and flipping mechanism and moves it to the visual inspection area. The visual camera 13 takes a picture of the end face of the sample to identify the angle of the marking line on the end face. The PLC controls the joint robot 1 to rotate the sample 3 according to the angle of the marking line so that the surface to be processed is on the left and right sides of the sample 3. The joint robot 1 keeps the angle of the sample 3 unchanged and moves the sample to the positioning fixture position of the sample processing center 2. The oil cylinder drives the positioning fixture to clamp the sample 3. The joint robot 1 releases the sample and exits. The sample processing center 2 processes the sample 3 according to the sample requirements. After completion, the joint robot takes out the sample 3 and puts it into the finished product hopper.

[0044] Example 2

[0045] like Figure 7-8As shown, in order to ensure that when the sample 3 is placed on the positioning fixture, the positioning error of the articulated robot 1 causes the processing thickness of the left and right sides to be different, a secondary positioning mechanism is also provided in this embodiment. Specifically, the outer surface of the positioning block 19 is vertically engraved with a 0.2mm wide positioning reference line groove 20, and the positioning reference line groove 20 is filled with a fluorescent nano-coating (wavelength 520nm green light).

[0046] The rotation center of the L-shaped plate 4 is also provided with a mounting plate 21 which does not rotate with the L-shaped plate 4. Specifically, the rotation center of the L-shaped plate 4 is hollow, and the mounting plate 21 passes through the through hole of the rotation center of the L-shaped plate and is fixed to the mounting end face of the articulated robot 1. Two photoelectric sensors 22 for identifying the positioning reference line are vertically arranged above and below the rotation center of the mounting plate 21, and a narrow-band filter is arranged on the surface of the photoelectric sensor 22 for filtering stray light.

[0047] When the articulated robot 1 clamps the sample 3 to the positioning fixture, the photoelectric sensor 22 is exactly located on the outside of the positioning block 19, and the positioning reference groove 20 on the surface of the positioning block 19 is detected. After the fluorescent nano-coating in the positioning reference groove 20 is irradiated by the excitation light of the photoelectric sensor 22, fluorescence with a longer wavelength will occur. The narrow-band filter is set in front of the photoelectric sensor 22, and only the wavelength of fluorescence is allowed to pass through, blocking other light. The horizontal movement compensation of the articulated robot 1 is used to ensure that the sample 3 is in the center of the positioning block 19 in the horizontal direction. When the fluorescence intensities sensed by the upper and lower photoelectric sensors 22 reach the set requirements, that is, the middle of the positioning block 19 is at the rotation center of the L-shaped plate 4, it can be ensured that the sample 3 is exactly in the center of the positioning block 19. Through the secondary positioning method, it is ensured that the processing thickness of the processing surfaces on both sides of the end quenching sample is within the specified error range.

[0048] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. An automated processing system for end quenching specimens, characterized in that: Including loading platform, visual inspection mechanism, joint robot, sample processing center and PLC, The loading platform is used for loading and positioning of the sample; The visual detection mechanism is used for angle detection of the sample; The articulated robot is used for gripping, transporting and angle adjustment of the specimen. A gripping and flipping mechanism is arranged at the end of the articulated robot. The gripping and flipping mechanism comprises an L-shaped plate, a gripping cylinder and a chuck. The L-shaped plate is mounted on a flipping motor at the end of the articulated robot. The gripping cylinder is arranged at the end of the L-shaped plate. The chuck is arranged on the clamping claw of the gripping cylinder. The gripping rotation center of the chuck is arranged concentrically with the rotation center of the L-shaped plate. The sample processing center is used for processing samples; The PLC is used for program control of the processing system, and the feeding platform, visual inspection mechanism, articulated robot and sample processing center are all electrically connected to the PLC.

2. The end-quenching sample automated processing system according to claim 1, characterized in that: The loading platform includes a first bracket, a positioning seat, a positioning baffle, a push plate and a pushing cylinder. The positioning seat is arranged on the first bracket. A plurality of positioning grooves are arranged at equal intervals on the positioning seat. The positioning baffle is arranged at one end of the positioning groove. The pushing cylinder is arranged at the other end of the positioning groove. The push plate is arranged at the piston end of the pushing cylinder.

3. The end-quenching sample automated processing system according to claim 2, characterized in that: The visual inspection mechanism includes a second bracket, a visual camera, a detection box and a lighting lamp. The detection box is arranged on the surface of the second bracket, the front end of the detection box is opened, the visual camera is arranged on the rear end inner wall of the detection box, and the lighting lamp is arranged on the upper and lower sides of the visual camera.

4. The end-quenching sample automated processing system according to claim 3, characterized in that: The bottom ends of the first bracket and the second bracket are both provided with leveling feet.

5. The end-quenching sample automated processing system according to claim 1, characterized in that: A column is vertically arranged in the sample processing center, a spindle box which moves up and down is arranged on the column, a slide which moves longitudinally along the bed is arranged on the slide, a transverse moving workbench is arranged on the slide, and a positioning fixture is arranged on the transverse moving workbench.

6. The end-quenching sample automated processing system according to claim 5, characterized in that: The positioning fixture comprises a base, a hydraulic slide block and a positioning block. The base is longitudinally provided with a slide groove, the hydraulic slide block is slidably arranged in the slide groove, and the positioning block is installed on the hydraulic slide block for clamping the sample.

7. The end-quenching sample automated processing system according to claim 6, characterized in that: The width of the positioning block is smaller than the processing width of the sample.

8. The end-quenching sample automated processing system according to claim 6, characterized in that: A positioning reference line groove is vertically carved at the center of the outer surface of the positioning block, and the positioning reference line groove is filled with a fluorescent nano coating.

9. The end-quenching sample automated processing system according to claim 8, characterized in that: The rotation center of the L-shaped plate is also provided with a mounting plate which does not rotate with the L-shaped plate. Two photoelectric sensors for identifying the positioning reference line are vertically arranged above and below the rotation center of the mounting plate, and narrow-band filters are arranged on the surfaces of the photoelectric sensors.

10. The end-quenching sample automated processing system according to claim 9, characterized in that: The rotation center of the L-shaped plate is provided with a through hole, and the mounting plate passes through the rotation center through hole of the L-shaped plate and is fixed on the mounting end face of the articulated robot.

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