Magnet yoke milling automation equipment and overturning positioning method thereof

Abstract

The invention discloses automatic magnetic yoke milling equipment and an overturning and positioning method thereof. The automatic magnetic yoke milling equipment comprises a truss (2), and a plurality of machining centers (1) are arranged below the truss (2); the equipment further comprises a rotary stock bin which is arranged on one side of the machining center (1) and located at one end of the truss (2), and an industrial mechanical arm is arranged on a track of the truss (2). And an overturning angular positioning device (5) used for angular positioning of hole site machining on the magnet yoke and overturning positioning of machining of the end face of the magnet yoke is arranged on the side portion of the stand column (19) of the truss (2) and located between the two adjacent machining centers (1). By turning over the angular positioning device, the consistency of the machining size is ensured, the machining precision is improved, the number of times of workpiece clamping is reduced, and the machining efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of machining production lines, and in particular to a yoke milling machining automation device and a flipping and positioning method thereof. Background Art

[0002] A yoke is a ferromagnetic component used to form a magnetic circuit. Its main function is to guide and concentrate magnetic field lines so that the magnetic field can flow along a predetermined path, thereby improving the efficiency and performance of electromagnetic equipment. The main body of the yoke is a disk shell structure. In order to facilitate production and processing, it is often processed in the form of a production line. For example, the Chinese invention patent with publication number CN109986364A discloses an automated production line for differential housings, which includes a loading line, a first workbench, a second workbench, a third workbench and a unloading line connected in sequence; it also includes a first processing device, a second processing device, a third processing device, a fourth processing device, a fifth processing device, a sixth processing device, and two transfer silos, which are respectively arranged between the first workbench and the second workbench, and between the second workbench and the third workbench; used to realize the transfer of differential housings between two adjacent workbenches; a first robot is arranged on the first workbench, and the first robot is used to grab and transfer the differential housing; a second robot is arranged on the second workbench, and the second robot is used to grab and transfer the differential housing; a third robot is arranged on the third workbench, and the third robot is used to grab and transfer the differential housing. In this production line, an angular positioning device is provided on the second workbench. Before the part enters the third processing device for processing, the second robot grabs the part and places it on the angular positioning device. This production line only performs angular positioning in this link. For disk and shell workpieces, angular positioning or flip positioning should be performed before each process when performing hole processing. If this operation is not performed, it may affect the consistency of the processing size and the processing accuracy, increase the number of workpiece clamping times, and reduce the processing efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide a yoke milling automation device and a flip positioning method thereof. The present invention ensures the consistency of processing dimensions and improves processing accuracy by flipping the angular positioning device, which is beneficial to reducing the number of workpiece clamping times and improving processing efficiency.

[0004] The technical solution of the present invention: yoke milling automation equipment includes a truss, and a plurality of machining centers are arranged below the truss, and the machining centers are respectively used to realize the drilling and end face milling of the yoke; the equipment also includes: A rotary silo is arranged on one side of the machining center and located at one end of the truss, and is used to store yoke blanks to be processed and yoke finished products that have been processed; An industrial manipulator is arranged on the track of the truss, and is used to grab the magnetic yoke for loading and unloading in different machining centers; The flip angular positioning device is arranged on the side of the truss column and located between two adjacent machining centers. The flip angular positioning device includes a flip table and an angular positioning table. The flip table is used for flip positioning of the yoke end face processing, and the angular positioning table is used for angular positioning of the hole processing on the yoke.

[0005] In the above-mentioned yoke milling processing automation equipment, the rotating material bin includes a material table, a material table motor is provided in the material table, and a driving sprocket is provided at the rotating end of the material table motor; a driven sprocket is provided on the material table, and chains are wound around the driving sprocket and the driven sprocket, and a straight shaft is provided on the chain; a plurality of universal roller seats are provided on the material table in an annular structure, a yoke placement frame is provided on the universal roller seat, and the straight shaft passes through the bottom plate of the yoke placement frame; frame positioning parts for positioning the yoke placement frame are provided on both sides of the surface of the material table.

[0006] In the aforementioned yoke milling automation equipment, the yoke placement frame includes a chassis mounted on a universal roller ball seat and connected to a chain, a plurality of blocks are evenly arranged on the chassis, columns are arranged on the blocks, the columns are arranged around the yoke part, a disc is sleeved on the column and the disc is in conflict with the block.

[0007] In the aforementioned yoke milling automation equipment, the frame positioning part includes a cylinder fixing part arranged on the material table, on which a positioning cylinder is provided, and a T-plate is provided at the protruding end of the positioning cylinder, and one end of the T-plate has a clamping shaft that matches the hole position on the chassis.

[0008] In the aforementioned yoke milling processing automation equipment, the industrial robot includes an X-axis moving part arranged on a truss track, a Y-axis moving part is provided on the moving end of the X-axis moving part, a Z-axis moving part is provided on the moving end of the Y-axis moving part, and a workpiece grasping unit is provided at the moving end of the Z-axis moving part.

[0009] In the aforementioned yoke milling automation equipment, the flipping angular positioning device also includes a protective box connected to the support column of the truss, the flipping table and the angular positioning table are arranged in the protective box, and the protective box is also provided with a wind knife device for removing dust and impurities on the surface of the yoke.

[0010] In the aforementioned yoke milling automation equipment, the flip table includes a flip cylinder arranged in a protective box, a horizontal plate is provided at the rotating end of the flip cylinder, a yoke supporting block is provided on the horizontal plate, and side frames for limiting the yoke are provided on the horizontal plate and on both sides of the yoke supporting block.

[0011] In the aforementioned yoke milling processing automation equipment, the angular positioning table includes an angular motor arranged at the lower part of the protective box, and the rotating end of the angular motor is connected to the yoke table arranged in the protective box; a swing cylinder is provided in the protective box, and a visual bracket is provided at the rotating end of the swing cylinder, and a visual camera is provided at the end of the visual bracket for illuminating and positioning the yoke on the yoke table.

[0012] In the aforementioned flipping and positioning method of the yoke milling automation equipment, the specific steps are as follows: Step 1, the industrial manipulator grabs the yoke blank from the rotating material bin and places it on the angular positioning table of the flip angular positioning device, angularly positions the holes on one side of the yoke blank, and the industrial manipulator sends the angularly positioned yoke blank to the machining center for material replacement; Step 2, the industrial robot sends the yoke replaced from the machining center to the turning table, and realizes the turning surface positioning of the yoke through the turning table. Then the industrial robot sends the yoke from the turning table to another machining center, replaces the finished yoke, and replaces it with a new workpiece. Finally, the industrial robot moves the finished yoke to the rotating silo.

[0013] In the aforementioned automated flipping and positioning method for yoke milling, during the material replacement process, the wind knife device in the flip angular positioning device removes dust and impurities on the surface of the yoke during angular positioning.

[0014] Compared with the prior art, the present invention has the following advantages: 1. In the present invention, the industrial robot grabs the yoke blank from the rotating material bin to the angular positioning table of the flip angular positioning device, performs angular positioning on the hole position on one side of the yoke blank, and the industrial robot sends the yoke blank that has completed angular positioning to the machining center for material replacement. The industrial robot sends the yoke replaced in the machining center to the flip table, and realizes the flipping and cross-surface positioning of the yoke through the flip table. Thereafter, the industrial robot sends the yoke from the flip table to another machining center, replaces the finished yoke with a new workpiece, and finally the industrial robot moves the finished yoke to the rotating material bin; performs angular positioning on the hole position on one side of the yoke through the angular positioning table, and performs positioning through the flip table when processing the other side of the yoke, thereby ensuring the consistency of the machining dimensions of the two sides of the yoke, improving the machining accuracy of the yoke, and using flip positioning to complete multiple machining steps in one clamping, reducing the time and number of repeated clamping, and helping to improve machining efficiency.

[0015] 2. In the angular positioning table, after the yoke is sent to the yoke table by the industrial robot, the swing cylinder rotates the visual camera to the top of the yoke for visual positioning. This form can facilitate the loading and unloading of the yoke and improve the efficiency of picking and placing the yoke.

[0016] 3. Installing a wind knife device in the protective box can remove dust and impurities on the surface of the yoke, making it easier for the visual camera to perform angular positioning of the yoke. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the rotary silo; Figure 3 is a schematic diagram of the chain; Figure 4 is a schematic diagram of a frame positioning member; Figure 5 This is a schematic diagram of a yoke placement rack; Figure 6 This is a schematic diagram of an industrial robot; Figure 7 It is a schematic diagram of the X-axis moving part; Figure 8 is a schematic diagram of a workpiece grasping unit; Fig. 9 is a schematic diagram of an angular motor; Fig.10 is a schematic diagram of an air knife device; Fig.11 is a schematic diagram of an angular positioning stage; Fig.12 Schematic diagram of the swing cylinder.

[0018] Explanation of the marks in the attached drawings: 1-machining center, 2-truss, 3-rotating silo, 4-industrial manipulator, 5-flip angle positioning device, 6-flip table, 7-angle positioning table, 8-material table, 9-material table motor, 10-driving sprocket, 11-driven sprocket, 12-chain, 13-straight shaft, 14-universal roller seat, 15-yoke placement frame, 16-frame positioning piece, 17-chassis, 18-block, 19-column, 20-disc , 21-cylinder fixing parts, 22-positioning cylinder, 23-T-plate, 24-clamping shaft, 25-X-axis moving parts, 26-Y-axis moving parts, 27-Z-axis moving parts, 28-workpiece grabbing unit, 29-protective box, 30-wind knife device, 31-flip cylinder, 32-cross plate, 33-yoke supporting block, 34-side frame, 35-angular motor, 36-yoke table, 37-swinging cylinder, 38-visual bracket, 39-visual camera. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0020] Embodiment: Yoke milling automation equipment, truss 2, as shown in the attached Figure 1As shown, a plurality of machining centers 1 are placed under the truss 2, and the machining centers 1 are used to drill holes in the yoke and mill the end surface. The equipment also includes: The rotary silo 3 is arranged on one side of the machining center 1 and at one end of the truss 2. The rotary silo 3 is used to store the yoke blanks to be processed and the finished yoke parts after processing. The rotary silo 3 includes a material table 8. Figure 2 and 3 As shown, a material table motor 9 is installed in the material table 8, and a driving sprocket 10 is installed at the rotating end of the material table motor 9; a driven sprocket 11 is installed on the material table 8, and a chain 12 is wound around the driving sprocket 10 and the driven sprocket 11, and a straight shaft 13 is installed on the chain 12. When the material table motor is started, the driving sprocket is driven to rotate, and the chain rotates; a plurality of universal ball seats 14 are installed on the material table 8 in an annular structure, and a yoke placement frame 15 is mounted on the universal ball seat 14, and the straight shaft 13 is arranged through the bottom plate of the yoke placement frame 15, and the yoke placement frame is driven by the chain to move on the universal ball seat; frame positioning members 16 for positioning the yoke placement frame 15 are installed on both sides of the surface of the material table 8; the yoke placement frame 15 includes a chassis 17 mounted on the universal ball seat 14 and connected to the chain 12, as shown in the attached Figure 5 As shown, a plurality of blocks 18 are evenly placed on the chassis 17, and a column 19 is installed on the block 18. The column 19 is arranged around the yoke part. A disc 20 is sleeved on the column 19 and the disc 20 conflicts with the block 18. After the column is installed on the block, the disc is sleeved on the column. The disc is at the bottom of the column. The area enclosed by the column is used to place the yoke. There are three groups of columns to limit the yoke. When the industrial manipulator grabs the yoke, the yoke placement frame needs to stop moving, the material table motor stops, a protective net is set at one end of the material table, and the two yoke placement frames at one end of the material table enter the protective net, and the frame positioning member runs. The frame positioning member 16 includes a cylinder fixing member 21 arranged on the material table 8, as shown in the attached Figure 4 As shown, a positioning cylinder 22 is installed on the cylinder fixing part 21, and a T-plate 23 is installed on the protruding end of the positioning cylinder 22. One end of the T-plate 23 has a clamping shaft 24 that matches the hole position on the chassis 17. The protruding end of the positioning cylinder is extended, the T-plate moves down, and the clamping shaft is clamped into the circular groove at one end of the chassis of the yoke placement frame. The circular groove is a conical structure, and the end of the clamping shaft is also a conical structure.

[0021] The industrial robot 4 is arranged on the track of the truss 2, and the industrial robot 4 is used to grab the yoke to load and unload materials in different processing centers 1; the industrial robot 4 includes an X-axis moving part 25 arranged on the track of the truss 2, as shown in the attached Figure 6 and 7As shown, a Y-axis moving member 26 is installed on the moving end of the X-axis moving member 25, a Z-axis moving member 27 is installed on the moving end of the Y-axis moving member 26, and a workpiece grabbing unit 28 is installed on the moving end of the Z-axis moving member 27. Figure 8 As shown in the figure, the three-axis moving parts all use gear rack structure to achieve displacement, and the workpiece grabbing unit at the end is moved by three squares, which is more flexible to use. The workpiece grabbing unit mainly consists of a rotating cylinder set at an angle of 45 degrees, and the rotating ends of the rotating cylinder are equipped with 90-degree clamps. When the industrial manipulator is changing materials, it can remove the processed workpiece, rotate the rotating cylinder, and replace the new workpiece. The industrial manipulator can realize the flow of materials between the rotating silo and the machining center.

[0022] The flip angular positioning device 5 is arranged on the side of the column 19 of the truss 2 and is located between two adjacent machining centers 1. The flip angular positioning device 5 includes a flip table 6 and an angular positioning table 7. The flip table 6 is used for flipping and positioning of the end surface of the yoke, and the angular positioning table 7 is used for angular positioning of the hole processing on the yoke; the flip angular positioning device 5 also includes a protective box 29 connected to the support column of the truss 2, the flip table 6 and the angular positioning table 7 are arranged in the protective box 29, and the protective box 29 is also equipped with a wind knife device 30 for removing dust and impurities on the surface of the yoke, as shown in the attached Fig.10 As shown, a wind knife device is arranged in the protective box to remove dust and impurities on the surface of the yoke, so as to facilitate the visual camera to perform angular positioning of the yoke; the flip table 6 includes a flip cylinder 31 arranged in the protective box 29, and a horizontal plate 32 is installed at the rotating end of the flip cylinder 31, and a yoke supporting block 33 is installed on the horizontal plate 32, as shown in the attached Fig.11 As shown, side frames 34 for limiting the yoke are installed on the horizontal plate 32 and on both sides of the yoke support block 33; the industrial manipulator places the yoke in the yoke support block, and the two sides of the yoke are limited by the side frames, and the flip cylinder is started to realize the flipping of the yoke. An induction bracket is installed on the fixed end of the flip cylinder, and a sensor is installed on the upper end of the induction bracket for sensing whether a yoke is placed in the yoke support block; The angular positioning platform 7 includes an angular motor 35 disposed at the bottom of the protection box 29, as shown in the attached Fig. 9 As shown, the rotating end of the angular motor 35 is connected to a yoke platform 36 arranged in a protective box 29, and sensing brackets are also arranged on both sides of the yoke platform. A sensor is installed on the upper end of the sensing bracket. The sensor is used to sense whether the yoke has been placed on the yoke platform; a swing cylinder 37 is installed in the protective box 29, and a visual bracket 38 is installed on the rotating end of the swing cylinder 37, as shown in the attached Fig.12As shown, a visual camera 39 for illuminating and positioning the yoke on the yoke table 36 is installed at the end of the visual bracket 38. After the yoke is sent to the yoke table by the industrial manipulator, the swing cylinder rotates the visual camera to the top of the yoke for visual positioning. This form can facilitate the loading and unloading of the yoke and improve the efficiency of picking and placing the yoke. In order to balance the work rhythm, three machining centers are used to realize the drilling and end milling of the yoke. The overall processing process is divided into two sequences. The first sequence uses two machines and the second sequence uses one machine tool.

[0023] In the flip positioning method of the yoke milling automation equipment, the specific steps are as follows: Step 1, the industrial manipulator 4 grabs the yoke blank from the rotating silo 3 and places it on the angular positioning table 7 of the flip angular positioning device 5, and angularly positions the holes on one side of the yoke blank. The industrial manipulator 4 sends the angularly positioned yoke blank to the machining center 1 for material replacement; Step 2, the industrial robot 4 sends the yoke replaced from the machining center 1 to the flip table 6, and realizes the flipping and positioning of the yoke through the flip table 6. Then the industrial robot 4 sends the yoke from the flip table 6 to another machining center 1, replaces the finished yoke, and replaces it with a new workpiece. Finally, the industrial robot 4 moves the finished yoke to the rotating silo 3; during the material replacement process, the wind knife device in the flip angular positioning device removes dust and impurities on the surface of the yoke during angular positioning.

[0024] In summary, angular positioning or flip positioning is performed before processing a process, which ensures the consistency of the processing dimensions of the two sides of the yoke and improves the processing accuracy of the yoke. The flip positioning can complete multiple processing processes in one clamping, reducing the time and number of repeated clamping, which is conducive to improving processing efficiency. In addition, through flip angular positioning, the processing tool can be processed in a more reasonable path, reducing the idle stroke and unnecessary movement of the tool, thereby improving processing efficiency; secondly, through flip positioning, the relative position between the yoke and the processing equipment can be reasonably adjusted to avoid collision or interference between the processing tool and the non-processing part of the yoke, ensuring the safety of the processing process.

Claims

1. Automated yoke milling processing equipment, comprising a truss (2), wherein a plurality of machining centers (1) are arranged below the truss (2), wherein the machining centers (1) are respectively used to realize drilling and end face milling of the yoke; the characteristics are as follows: The device also includes: A rotary silo (3) is arranged on one side of the machining center (1) and located at one end of the truss (2), and the rotary silo (3) is used to store yoke blanks to be processed and yoke finished products that have been processed; An industrial robot (4) is arranged on a track of the truss (2), and the industrial robot (4) is used to grab the magnetic yoke for loading and unloading in different processing centers (1); The flip angular positioning device (5) is arranged on the side of the truss (2) and is located between two adjacent machining centers (1). The flip angular positioning device (5) comprises a flip table (6) and an angular positioning table (7). The flip table (6) is used for flipping and positioning during machining of the end face of the yoke, and the angular positioning table (7) is used for angular positioning during machining of holes on the yoke.

2. The yoke milling automation equipment according to claim 1, characterized in that: The rotary material bin (3) comprises a material table (8), a material table motor (9) is arranged inside the material table (8), and a driving sprocket (10) is arranged at the rotating end of the material table motor (9); a driven sprocket (11) is arranged on the material table (8), a chain (12) is wound around the driving sprocket (10) and the driven sprocket (11), and a straight shaft (13) is arranged on the chain (12); a plurality of universal ball seats (14) are arranged on the material table (8) in an annular structure, a yoke placement frame (15) is arranged on the universal ball seat (14), and the straight shaft (13) passes through the bottom plate of the yoke placement frame (15); frame positioning members (16) for positioning the yoke placement frame (15) are arranged on both sides of the surface of the material table (8).

3. The yoke milling automation equipment according to claim 2, characterized in that: The yoke placement frame (15) comprises a chassis (17) mounted on a universal ball seat (14) and connected to a chain (12); a plurality of clamping blocks (18) are evenly arranged on the chassis (17); a column (19) is arranged on the clamping blocks (18); the column (19) is arranged around the yoke member; a disc (20) is sleeved on the column (19), and the disc (20) is in contact with the clamping blocks (18).

4. The yoke milling automation equipment according to claim 3, characterized in that: The frame positioning member (16) comprises a cylinder fixing member (21) arranged on the material platform (8), a positioning cylinder (22) being provided on the cylinder fixing member (21), a T-plate (23) being provided at the protruding end of the positioning cylinder (22), and a clamping shaft (24) being matched with a hole on the chassis (17) at one end of the T-plate (23).

5. The yoke milling automation equipment according to claim 1, characterized in that: The industrial robot (4) comprises an X-axis moving member (25) arranged on a truss (2) track, a Y-axis moving member (26) being arranged on a moving end of the X-axis moving member (25), a Z-axis moving member (27) being arranged on a moving end of the Y-axis moving member (26), and a workpiece grabbing unit (28) being arranged on a moving end of the Z-axis moving member (27).

6. The yoke milling automation equipment according to claim 1, characterized in that: The flip angle positioning device (5) further comprises a protection box (29) connected to the support column of the truss (2); the flip table (6) and the angle positioning table (7) are arranged in the protection box (29); and the protection box (29) is also provided with a wind knife device (30) for removing dust and impurities on the surface of the yoke.

7. The yoke milling automation equipment according to claim 6, characterized in that: The turning table (6) comprises a turning cylinder (31) arranged in a protection box (29), a horizontal plate (32) being provided at a rotating end of the turning cylinder (31), a yoke supporting block (33) being provided on the horizontal plate (32), and side frames (34) for limiting the yoke being provided on the horizontal plate (32) and located on both sides of the yoke supporting block (33).

8. The yoke milling automation equipment according to claim 6, characterized in that: The angular positioning platform (7) comprises an angular motor (35) arranged at the bottom of a protection box (29), the rotating end of the angular motor (35) being connected to a yoke platform (36) arranged in the protection box (29); a swing cylinder (37) is arranged in the protection box (29), a visual bracket (38) is arranged at the rotating end of the swing cylinder (37), and a visual camera (39) for illuminating and positioning a yoke on the yoke platform (36) is arranged at the end of the visual bracket (38).

9. The flipping and positioning method of the yoke milling automation equipment according to any one of claims 1 to 8, characterized in that: The specific steps are as follows: Step 1, the industrial manipulator grabs the yoke blank from the rotating material bin and places it on the angular positioning table of the flip angular positioning device, angularly positions the holes on one side of the yoke blank, and the industrial manipulator sends the angularly positioned yoke blank to the machining center for material replacement; Step 2, the industrial robot sends the yoke replaced from the machining center to the turning table, and realizes the turning surface positioning of the yoke through the turning table. Then the industrial robot sends the yoke from the turning table to another machining center, replaces the finished yoke, and replaces it with a new workpiece. Finally, the industrial robot moves the finished yoke to the rotating silo.

10. The method for automated flipping and positioning of yoke milling according to claim 9, characterized in that: During the material replacement process, the wind knife device in the flip angular positioning device removes dust and impurities on the surface of the yoke during angular positioning.

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