Automated Equipment for Milling Yoke and Its Inverting and Positioning Method

Abstract

The present invention discloses an automated equipment for milling a yoke and its flipping and positioning method, which includes a truss (2), and multiple machining centers (1) are arranged below the truss (2); the equipment further includes a rotary magazine disposed on one side of the machining center (1) and at one end of the truss (2), and an industrial robot is arranged on the track of the truss (2); a flipping angular positioning device (5) for angular positioning of hole positions on the yoke and flipping and positioning for yoke end face machining is arranged on the side of the column (19) of the truss (2) and between two adjacent machining centers (1). The present invention ensures the consistency of machining dimensions through the flipping angular positioning device, improves machining accuracy, is conducive to reducing the number of workpiece clamping times, and improves machining efficiency.

Description

Technical Field

[0001] The present invention relates to the field of machining production lines, and particularly to an automated device for milling a yoke and its flipping and positioning method. 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, enabling the magnetic field to flow along a predetermined path, thereby improving the efficiency and performance of electromagnetic devices. The main body of the yoke is a disc-shaped housing structure. For convenient production and processing, it is often processed in the form of a production line. For example, the Chinese invention patent with the publication number CN109986364A discloses an automated production line for a differential housing, which includes a feeding line, a first workbench, a second workbench, a third workbench, and a discharging 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 bins, 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 the differential housing between 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 arranged on the second workbench. When 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 disc-shaped shell workpieces during hole machining, angular positioning or flipping and positioning should be performed before each process. If this operation is not carried out, it may affect the consistency of machining dimensions and machining accuracy, increase the number of workpiece clamping times, and reduce the machining efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide an automated device for milling a yoke and its flipping and positioning method. The present invention ensures the consistency of machining dimensions, improves machining accuracy, is conducive to reducing the number of workpiece clamping times, and improves machining efficiency by flipping the angular positioning device.

[0004] The technical solution of the present invention: An automated device for milling a yoke includes a truss, and a plurality of machining centers are arranged below the truss. The machining centers are respectively used to drill the yoke and mill the end face; the device further includes:

[0005] A rotary magazine, which is arranged on one side of the machining center and at one end of the truss. The rotary magazine is used to store the yoke blank parts to be processed and the yoke finished parts that have completed processing;

[0006] An industrial manipulator is arranged on the track of a truss. The industrial manipulator is used to grasp a yoke and perform loading and unloading in different machining centers.

[0007] A flipping angular positioning device is arranged on the side of the truss column and between two adjacent machining centers. The flipping angular positioning device includes a flipping table and an angular positioning table. The flipping table is used for flipping and positioning the end face machining of the yoke, and the angular positioning table is used for angular positioning of the hole positions on the yoke.

[0008] In the above yoke milling automation equipment, the rotary magazine includes a material table. A material table motor is arranged inside the material table, and a driving sprocket is arranged at the rotating end of the material table motor; a driven sprocket is arranged on the material table, a chain is wound around the driving sprocket and the driven sprocket, and a straight shaft is arranged on the chain; a plurality of universal ball seats are arranged on the material table in an annular structure, a yoke placement rack is arranged on the universal ball seats, and the straight shaft passes through the bottom plate of the yoke placement rack; Frame positioning parts for positioning the yoke placement rack are arranged on both sides of the surface of the material table.

[0009] In the aforementioned yoke milling automation equipment, the yoke placement rack includes a chassis mounted on the universal ball seat and connected to the chain. A plurality of clamping blocks are evenly arranged on the chassis, columns are arranged on the clamping blocks, the columns are arranged around the yoke part, and a disc is sleeved on the columns and the disc abuts against the clamping blocks.

[0010] In the aforementioned yoke milling automation equipment, the frame positioning part includes a cylinder fixing part arranged on the material table. A positioning cylinder is arranged on the cylinder fixing part, a T-shaped plate is arranged at the extending end of the positioning cylinder, and a clamping shaft that fits with the hole position on the chassis is arranged at one end of the T-shaped plate.

[0011] In the aforementioned yoke milling automation equipment, the industrial manipulator includes an X-axis moving part arranged on the truss track. A Y-axis moving part is arranged on the moving end of the X-axis moving part, a Z-axis moving part is arranged on the moving end of the Y-axis moving part, and a workpiece grasping unit is arranged at the moving end of the Z-axis moving part.

[0012] In the aforementioned yoke milling automation equipment, the flipping angular positioning device further 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 an air knife device for removing dust and impurities on the surface of the yoke is also arranged in the protective box.

[0013] In the aforementioned yoke milling automation equipment, the flipping table includes a flipping cylinder arranged in the protective box. A cross plate is arranged at the rotating end of the flipping cylinder, a yoke supporting block is arranged on the cross plate, and side frames for limiting the yoke are arranged on both sides of the cross plate and on the yoke supporting block.

[0014] In the aforementioned automated equipment for yoke milling, the angular positioning table includes an angular motor disposed at the lower part of the protective box, and the rotating end of the angular motor is connected to a yoke table disposed within the protective box; a swing cylinder is provided within the protective box, the rotating end of the swing cylinder is provided with a vision support, and the end of the vision support is provided with a vision camera for irradiating the yoke on the positioning yoke table.

[0015] In the flipping and positioning method of the aforementioned automated equipment for yoke milling, the specific steps are as follows:

[0016] Step 1: The industrial manipulator grabs a yoke blank from the rotary magazine to the angular positioning table of the flipping and angular positioning device, performs angular positioning on the hole positions on one side of the yoke blank, and the industrial manipulator sends the yoke blank that has completed angular positioning to the machining center for material change.

[0017] Step 2: The industrial manipulator sends the yoke removed from the machining center to the flipping table, realizes the flipping and surface positioning of the yoke through the flipping table, then the industrial manipulator sends the yoke from the flipping table to another machining center, removes the yoke finished product, replaces it with a new workpiece, and finally the industrial manipulator moves the finished yoke to the rotary magazine.

[0018] In the aforementioned automated flipping and positioning method for yoke milling, during the material change process, the air knife device in the flipping and angular positioning device removes the dust and impurities on the surface of the yoke during angular positioning.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1. In the present invention, the industrial manipulator grabs a yoke blank from the rotary magazine to the angular positioning table of the flipping and angular positioning device, performs angular positioning on the hole positions on one side of the yoke blank, the industrial manipulator sends the yoke blank that has completed angular positioning to the machining center for material change, the industrial manipulator sends the yoke removed from the machining center to the flipping table, realizes the flipping and surface positioning of the yoke through the flipping table, then the industrial manipulator sends the yoke from the flipping table to another machining center, removes the yoke finished product, replaces it with a new workpiece, and finally the industrial manipulator moves the finished yoke to the rotary magazine; angular positioning is performed on the hole positions on one side of the yoke through the angular positioning table, and positioning is performed through the flipping table when machining the other side of the yoke, thereby ensuring the consistency of the machining dimensions of both sides of the yoke, improving the machining accuracy of the yoke, and using flipping and positioning can complete multiple machining processes in one clamping, reducing the time and number of repeated clampings, which is beneficial to improving the machining efficiency.

[0021] 2. In the angular positioning table, after the yoke is sent to the yoke table by the industrial manipulator, the swing cylinder rotates the vision camera above the yoke for vision positioning. This form can facilitate the loading and unloading of the yoke and improve the picking and placing efficiency of the yoke.

[0022] 3. Installing an air knife device in the protective box can remove dust and impurities on the surface of the yoke, facilitating the angular positioning of the yoke by the vision camera. Description of the Drawings

[0023] Figure 1 Structural schematic diagram of the present invention;

[0024] Figure 2 Structural schematic diagram of the rotary bin;

[0025] Figure 3 Schematic diagram of the chain;

[0026] Figure 4 Schematic diagram of the frame positioning member;

[0027] Figure 5 Schematic diagram of the yoke placement rack;

[0028] Figure 6 Schematic diagram of the industrial manipulator;

[0029] Figure 7 Schematic diagram of the X-axis moving member;

[0030] Figure 8 Schematic diagram of the workpiece gripping unit;

[0031] Figure 9 Schematic diagram of the angular motor;

[0032] Figure 10 Schematic diagram of the air knife device;

[0033] Figure 11 Schematic diagram of the angular positioning table;

[0034] Figure 12 Schematic diagram of the swing cylinder.

[0035] Explanation of the marks in the drawings: 1 - machining center, 2 - truss, 3 - rotary bin, 4 - industrial manipulator, 5 - flipping angular positioning device, 6 - flipping table, 7 - angular positioning table, 8 - material table, 9 - material table motor, 10 - driving sprocket, 11 - driven sprocket, 12 - chain, 13 - straight shaft, 14 - universal ball seat, 15 - yoke placement rack, 16 - frame positioning member, 17 - chassis, 18 - clamping block, 19 - column, 20 - disc, 21 - cylinder fixing member, 22 - positioning cylinder, 23 - T-shaped plate, 24 - clamping shaft, 25 - X-axis moving member, 26 - Y-axis moving member, 27 - Z-axis moving member, 28 - workpiece gripping unit, 29 - protective box, 30 - air knife device, 31 - flipping cylinder, 32 - cross plate, 33 - yoke supporting block, 34 - side frame, 35 - angular motor, 36 - yoke table, 37 - swing cylinder, 38 - vision bracket, 39 - vision camera. Detailed implementation mode

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but it shall not be used as a basis for limiting the present invention.

[0037] Embodiment: An automated equipment for milling a yoke, a truss 2, as shown in the attached Figure 1 figure. Below the truss 2, a plurality of machining centers 1 are placed. The machining centers 1 are respectively used to drill holes in the yoke and mill the end face; the equipment further includes:

[0038] A rotary magazine 3 is arranged on one side of the machining center 1 and at one end of the truss 2. The rotary magazine 3 is used to store yoke blank parts to be processed and yoke finished parts that have been processed; the rotary magazine 3 includes a material table 8, as shown in the attached Figure 2 and 3 figure. A material table motor 9 is installed inside 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, 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, it drives the driving sprocket to rotate and the chain rotates; a plurality of universal ball seats 14 are installed on the material table 8 in an annular structure, a yoke placement rack 15 is placed on the universal ball seats 14, and the straight shaft 13 passes through the bottom plate of the yoke placement rack 15. The yoke placement rack moves on the universal ball seats driven by the chain; on both sides of the surface of the material table 8, there are frame positioning parts 16 for positioning the yoke placement rack 15; the yoke placement rack 15 includes a chassis 17 placed on the universal ball seats 14 and connected to the chain 12, as shown in the attached Figure 5 figure. A plurality of clamping blocks 18 are evenly placed on the chassis 17, upright columns 19 are installed on the clamping blocks 18, the upright columns 19 are arranged around the yoke part, a disc 20 is sleeved on the upright columns 19 and the disc 20 abuts against the clamping blocks 18. After the upright columns are installed on the clamping blocks, the disc is sleeved on the upright columns. The disc is at the bottom end of the upright columns, and the area enclosed by the upright columns is used to place the yoke. There are three groups of upright columns to realize the limitation of the yoke; when the industrial manipulator grabs the yoke, the yoke placement rack needs to stop moving, the material table motor stops, a protective net is arranged at one end of the material table, and two yoke placement racks at one end of the material table enter into the protective net, and the frame positioning parts operate. The frame positioning part 16 includes a cylinder fixing part 21 arranged on the material table 8, as shown in the attached Figure 4 figure. A positioning cylinder 22 is installed on the cylinder fixing part 21, a T-shaped plate 23 is installed at the extending end of the positioning cylinder 22, and one end of the T-shaped plate 23 has a clamping shaft 24 that fits with the hole position on the chassis 17. When the extending end of the positioning cylinder extends, the T-shaped plate moves downwards, and the clamping shaft is clamped into the circular groove at one end of the chassis of the yoke placement rack. The circular groove is a conical structure, and the end of the clamping shaft is also a conical structure.

[0039] The industrial manipulator 4 is arranged on the track of the truss 2. The industrial manipulator 4 is used to grasp the yoke and load and unload materials in different machining centers 1; the industrial manipulator 4 includes an X-axis moving member 25 arranged on the track of the truss 2. As shown in the attached Figure 6 and 7 figure, 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 gripping unit 28 is installed at the moving end of the Z-axis moving member 27. As shown in the attached Figure 8 figure, the three-axis moving members all adopt a rack and pinion structure to achieve displacement. The workpiece gripping unit at the moving end is moved by three squares, which is more flexible to use. The workpiece gripping unit mainly consists of a rotary cylinder arranged at an angle of 45 degrees obliquely. Claws are installed at both ends of the rotating end of the rotary cylinder at an angle of 90 degrees. When the industrial manipulator changes materials, after removing the workpiece that has completed processing, the rotary cylinder rotates to replace the new workpiece. The industrial manipulator can realize the transfer of materials between the rotary magazine and the machining center.

[0040] The flipping angular positioning device 5 is arranged on the side of the column 19 of the truss 2 and between two adjacent machining centers 1. The flipping angular positioning device 5 includes a flipping table 6 and an angular positioning table 7. The flipping table 6 is used for the flipping positioning of the yoke end face machining, and the angular positioning table 7 is used for the angular positioning of the hole positions on the yoke; the flipping angular positioning device 5 also includes a protective box 29 connected to the support column of the truss 2. The flipping table 6 and the angular positioning table 7 are arranged in the protective box 29. A air knife device 30 for removing dust and impurities on the surface of the yoke is also installed in the protective box 29. As shown in the attached Figure 10 figure, arranging the air knife device in the protective box can remove dust and impurities on the surface of the yoke, which is convenient for the vision camera to perform angular positioning on the yoke; the flipping table 6 includes a flipping cylinder 31 arranged in the protective box 29. A cross plate 32 is installed at the rotating end of the flipping cylinder 31, and a yoke supporting block 33 is installed on the cross plate 32. As shown in the attached Figure 11 figure, side frames 34 for yoke limiting are installed on both sides of the cross plate 32 and located on both sides of the yoke supporting block 33; the industrial manipulator places the yoke in the yoke supporting block, and the two sides of the yoke are limited by the side frames. The flipping cylinder is started to realize the flipping of the yoke. An induction bracket is installed at the fixed end of the flipping cylinder, and a sensor is installed at the upper end of the induction bracket to sense whether a yoke is placed in the yoke supporting block;

[0041] The angular positioning table 7 includes an angular motor 35 arranged at the lower part of the protective box 29. As shown in the attached Figure 9As shown in the figure, the rotating end of the angular motor 35 is connected to a yoke table 36 disposed within the protective box 29. Inductive brackets are also provided on both sides of the yoke table. Sensors are installed at the upper ends of the inductive brackets for sensing whether the yoke has been placed on the yoke table. A swing cylinder 37 is installed within the protective box 29. The rotating end of the swing cylinder 37 is installed with a vision bracket 38. As shown in the appendix Figure 12 As shown, a vision camera 39 for irradiating and positioning the yoke on the yoke table 36 is installed at the end of the vision bracket 38. After the yoke is sent to the yoke table by the industrial robot, the swing cylinder rotates the vision camera above the yoke for vision positioning. In this way, the loading and unloading of the yoke can be facilitated and the efficiency of yoke picking and placing can be improved. To balance the working rhythm, three machining centers are used to drill the yoke and mill the end face. The overall machining process is divided into two sequences. Two machining centers are used for the first sequence machining, and one machine tool is used for the second sequence machining.

[0042] In the flipping and positioning method of the yoke milling automation equipment, the specific steps are as follows:

[0043] Step 1: The industrial robot 4 grabs the yoke blank from the rotary magazine 3 and places it into the angular positioning table 7 of the flipping angular positioning device 5 to perform angular positioning on the hole positions on one side of the yoke blank. The industrial robot 4 sends the yoke blank that has completed angular positioning to the machining center 1 for material change.

[0044] Step 2: The industrial robot 4 sends the yoke removed from the machining center 1 into the flipping table 6, and realizes the flipping and surface positioning of the yoke through the flipping table 6. Then, the industrial robot 4 sends the yoke from the flipping table 6 into another machining center 1, removes the yoke finished product, and replaces it with a new workpiece. Finally, the industrial robot 4 moves the finished yoke into the rotary magazine 3. During the material change process, the air knife device in the flipping angular positioning device removes the dust and impurities on the surface of the yoke during angular positioning.

[0045] In summary, angular positioning or flipping positioning is performed before the machining of each process, ensuring the consistency of the machining dimensions of both sides of the yoke and improving the machining accuracy of the yoke. Using flipping positioning can complete multiple machining processes in one clamping, reducing the time and number of repeated clamps, which is beneficial to improving the machining efficiency. In addition, through flipping angular positioning, the machining tool can process along a more reasonable path, reducing the idle stroke and unnecessary movement of the tool, thereby improving the machining efficiency. Secondly, through flipping positioning, the relative position between the yoke and the machining equipment can be reasonably adjusted to avoid collisions or interferences between the machining tool and the non-machined parts of the yoke, ensuring the safety of the machining 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); A 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) comprising a flip table (6) and an angular positioning table (7), the flip table (6) being used for flip positioning during machining of the end surface of the yoke, and the angular positioning table (7) being used for angular positioning during machining of holes on the yoke; The rotary silo (3) comprises a material table (8), a material table motor (9) is arranged in 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); the yoke placement frame (15) comprises a chassis (17) mounted on the universal ball seat (14) and connected to the chain (12), and the chassis (17) is evenly provided with There are a plurality of clamping blocks (18), each of which is provided with a column (19), which is arranged around a yoke component, and a disc (20) is sleeved on the column (19), and the disc (20) is in contact with the clamping block (18); the frame positioning member (16) comprises a cylinder fixing member (21) arranged on the material platform (8), a positioning cylinder (22) is arranged on the cylinder fixing member (21), a T-shaped plate (23) is arranged at the protruding end of the positioning cylinder (22), and one end of the T-shaped plate (23) has a clamping shaft (24) that matches with a hole on the chassis (17); the flipping angular positioning device (5) also comprises a protective box (29) connected to a supporting column of the truss (2), the flipping platform (6) and the angular positioning platform (7) are arranged in the protective box (29), and the protective box (29) is also provided with a wind knife device (30) for removing dust and impurities on the surface of the yoke.

2. 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).

3. The yoke milling automation equipment according to claim 1, 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).

4. The yoke milling automation equipment according to claim 1, 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).

5. The flipping and positioning method of the yoke milling automation equipment according to any one of claims 1 to 4, 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.

6. The method for automated flipping and positioning of yoke milling according to claim 5, 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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