Machining work station for besides-star wheel

Abstract

The invention discloses a machining station for besides-star wheels, and the machining station comprises a working frame, and a first lathe, a second lathe, a grabbing robot, a size detection device, a cleaning device, an appearance detection device and a grabbing transposition device which are fixedly arranged on the working frame. A double-vertical-lathe four-station machining island layout mode is adopted, the first lathe and the second lathe are each provided with a machining station, and multi-station transfer of parts is achieved through the grabbing robot and the grabbing transposition device, so that the machining layout mode that one operator manages two machining islands and eight stations is achieved, the working efficiency of the operator is greatly improved, and the working efficiency of the operator is improved. And meanwhile, size detection, surface cleaning and appearance detection of the workpiece are executed through the size detection device, the cleaning device and the appearance detection device correspondingly, so that the machining quality of the workpiece is guaranteed, and the qualified rate of products is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of component processing, and particularly relates to a processing station for an outer star wheel. Background Art

[0002] The outer star wheel is a key component of an automotive constant velocity drive shaft, directly participating in driving the wheel to rotate. Its functions include transmitting the torque output by the engine to the wheel through the transmission to drive the vehicle to move. At the same time, as a main load-bearing component, it needs to withstand high-intensity loads, and its performance directly affects the safety and reliability of the transmission system.

[0003] In the processing of the outer star wheel, limited by the problem of iron chip entanglement, manual loading and unloading of the numerical control lathe is mostly used, and manual on-line inspection is adopted. Among them, one operator and one quality inspector need to be configured for every four processing devices. The manual use efficiency is low. Especially after the technicians are fatigued, manual inspection is prone to misjudgment of the inspection results, affecting the product processing quality and the overall processing qualification rate. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a processing station for an outer star wheel with high production efficiency and capable of ensuring the quality of workpieces.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions.

[0006] The present application provides a processing station for an outer star wheel, including a working frame, on which a first lathe, a second lathe, a grasping robot, a dimensional inspection device, a cleaning device, an appearance inspection device, and a grasping and transposition device are fixedly arranged;

[0007] The first lathe and the second lathe are symmetrically arranged with respect to the grasping robot. The first lathe has a first processing position and a second processing position, and the second lathe has a third processing position and a fourth processing position;

[0008] The cleaning device is used for surface cleaning treatment of the outer star wheel processed by the first lathe and the second lathe. The dimensional inspection device is used for dimensional inspection of the outer star wheel after the surface cleaning treatment by the cleaning device. The appearance inspection device is used for appearance inspection of the outer star wheel after the dimensional inspection by the cleaning device;

[0009] Among them, the grasping robot can transfer the outer star wheel processed at the first processing position, the second processing position, the third processing position, and the fourth processing position to the surface cleaning station of the cleaning device, and can also transfer the outer star wheel at the surface cleaning station of the cleaning device to the dimensional inspection station of the dimensional inspection device;

[0010] The grasping and transposition device can transfer the outer planet gears at the dimensional inspection station of the dimensional inspection device to the appearance inspection station of the appearance inspection device, and can also transfer the outer planet gears at the appearance inspection station of the appearance inspection device to the blanking station.

[0011] Further defined, for a processing station for outer planet gears as described above, wherein an upper material collecting table, a defective product bin, a blanking collecting table, and a blanking device are further fixedly provided on the working frame;

[0012] The upper material collecting table is used for stacking and loading the outer planet gears, the defective product bin is used for placing unqualified outer planet gears, the blanking collecting table is used for stacking and blanking the outer planet gears, and the blanking device is used for transporting the outer planet gears to the blanking collecting table;

[0013] Wherein, the grasping robot can transfer the outer planet gears at the loading station of the upper material collecting table to the first processing station, the second processing station, the third processing station, and the fourth processing station. The grasping and transposition device can transfer the products with unqualified dimensional inspection or unqualified appearance inspection to the feeding station of the defective product bin, and can also transfer the outer planet gears with qualified appearance inspection to the blanking station of the blanking device.

[0014] Further defined, for a processing station for outer planet gears as described above, wherein the upper material collecting table has four-station feeding channels respectively cooperating with the first processing station, the second processing station, the third processing station, and the fourth processing station;

[0015] And / or, the blanking collecting table has four-station blanking channels respectively cooperating with the first processing station, the second processing station, the third processing station, and the fourth processing station.

[0016] Further defined, for a processing station for outer planet gears as described above, wherein the grasping robot includes a base fixedly arranged on the working frame, a turntable is rotatably arranged on the base, a first swing arm is rotatably connected to the turntable, a second swing arm is rotatably connected to the end of the first swing arm away from the turntable, a rotating seat is rotatably arranged at the end of the second swing arm away from the first swing arm, and a first clamping head is installed on the rotating seat;

[0017] Wherein, the rotation axis of the turntable is along the vertical direction, the rotation axes of the first swing arm and the second swing arm are parallel to each other and are both in the horizontal direction, and the rotation axis of the rotating seat is perpendicular to the rotation axis of the second swing arm.

[0018] Further defined, for a processing station for outer planet gears as described above, wherein the first clamping head includes a first clamping arm fixedly connected to the rotating seat, and a first clamp and a second clamp are fixedly connected to the first clamping arm;

[0019] Wherein, the first clamp and the second clamp are symmetrically arranged with respect to the rotation axis of the rotating seat.

[0020] Further define, one of the above-mentioned processing stations for the outer star wheel, wherein the appearance detection device includes a sliding table fixedly arranged on the working frame, and a Z-direction moving unit, a positioning plate and an adjusting plate are fixedly arranged on the sliding table;

[0021] A lifting table is fixedly connected to the moving execution end of the Z-direction moving unit, two symmetrically arranged supporting wheels are rotatably arranged on the lifting table, a visual detection module is fixedly arranged on the positioning plate, a plurality of rotating shafts are rotatably arranged on the adjusting plate, and linkage wheels are fixedly arranged on the rotating shafts, and a transmission belt is wound around the plurality of linkage wheels;

[0022] An adjusting motor is also fixedly arranged on the adjusting plate, one of the rotating shafts is connected to the power output end of the adjusting motor, adjusting wheels are fixedly arranged on two of the rotating shafts, and the two adjusting wheels are arranged at intervals on the horizontal plane and can abut against the outer surface of the outer star wheel;

[0023] Wherein, in the state where the adjusting wheel abuts against the outer star wheel, the Z-direction moving unit can drive the two supporting wheels to move in the vertical direction to abut against the outer surface of the outer star wheel, and the visual detection module is used for visually detecting the outer surface of the outer star wheel.

[0024] Further define, one of the above-mentioned processing stations for the outer star wheel, wherein the appearance detection device further includes a Y-direction moving unit fixedly arranged on the working frame and an X-direction moving unit fixedly arranged on the sliding table;

[0025] Wherein, the sliding table is fixedly arranged on the moving execution end of the Y-direction moving unit, and the Z-direction moving unit is fixedly arranged on the moving execution end of the X-direction moving unit.

[0026] Further define, one of the above-mentioned processing stations for the outer star wheel, wherein the grasping and transposing device includes an adjusting table, a driving hydraulic cylinder fixedly arranged on the adjusting table and a second clamping head rotatably arranged on the adjusting table;

[0027] Wherein, the telescopic end of the driving hydraulic cylinder is connected to the second clamping head through a connecting rod assembly, and when the driving hydraulic cylinder executes telescoping, it can drive the second clamping head to rotate relative to the driving hydraulic cylinder through the connecting rod assembly.

[0028] Further define, one of the above-mentioned processing stations for the outer star wheel, wherein the second clamping head includes a second clamping arm rotatably connected to the adjusting table, and symmetrically arranged third clamps and fourth clamps are fixedly arranged on the second clamping arm.

[0029] Further define, one of the above-mentioned processing stations for the outer star wheel, wherein the included angle between the first clamp and the second clamp on the grasping robot is set to 90°;

[0030] And / or, the included angle between the third clamp and the fourth clamp on the grasping and transposition device is set to 90°.

[0031] The present invention has at least the following beneficial effects:

[0032] 1. Adopting the layout mode of double vertical lathes with four-station processing islands, the first lathe and the second lathe are respectively provided with processing stations, and the multi-station transfer of components is realized through the grasping robot and the grasping and transposition device, so as to realize a processing layout mode in which one operator manages two processing islands and eight stations, greatly improving the working efficiency of the operator, increasing the production capacity, and at the same time, the size detection device, the cleaning device, and the appearance detection device respectively perform the size detection, surface cleaning, and appearance detection of the workpiece, so as to ensure the machining quality of the workpiece and improve the qualified rate of the product;

[0033] 2. There are two clamping stations on the first clamping head, which can perform synchronous clamping of two outer planet gears for the four processing stations of the first lathe and the second lathe. At the same time, during the multi-station transfer of the outer planet gear by the grasping robot, especially during the process of one of the outer planet gears performing surface cleaning, size detection, or appearance detection, the clamping of the third outer planet gear can be performed during the duration of the process, so as to improve the overall production rhythm and further improve the production efficiency;

[0034] 3. There are two clamping stations on the second clamping head. During the multi-station transfer of the outer planet gear by the grasping and transposition device, especially during the process of one of the outer planet gears performing size detection or appearance detection, the clamping of the third outer planet gear can be performed during the duration of the process, so as to improve the overall production rhythm and further improve the production efficiency. Description of the Drawings

[0035] Figure 1 It is a schematic structural diagram of the processing station for the outer planet gear in the embodiment of the present application;

[0036] Figure 2 It is a schematic structural diagram of the "grasping robot 300" in the processing station for the outer planet gear in the embodiment of the present application;

[0037] Figure 3 It is an enlarged schematic structural diagram of the "first clamping arm 370" part in the processing station for the outer planet gear in the embodiment of the present application;

[0038] Figure 4 It is a schematic structural diagram of the "grasping and transposition device 800" part in the processing station for the outer planet gear in the embodiment of the present application;

[0039] Figure 5 It is a schematic structural diagram of the "appearance detection device 600" in the processing station for the outer planet gear in the embodiment of the present application;

[0040] Figure 6 This is a schematic structural diagram of the "appearance detection device 600" in the processing station for the outer star wheel in the embodiment of the present application;

[0041] Figure 7 This is a schematic structural diagram of the "appearance detection device 600" in the processing station for the outer star wheel in the embodiment of the present application.

[0042] Reference numerals

[0043] Working frame - 100, first lathe - 210, first processing position - 211, second processing position - 212, second lathe - 220, third processing position - 221, fourth processing position - 222, grasping robot - 300, base - 310, turntable - 320, first driving device - 331, second driving device - 332, third driving device - 333, first swing arm - 340, second swing arm - 350, rotating seat - 360, first clamping arm - 370, first fixture - 381, second fixture - 382, dimension detection device - 400, cleaning device - 500, appearance detection device - 600, Y - direction moving unit - 611, X - direction moving unit - 612, Z - direction moving unit - 613, lifting platform - 620, adjusting motor - 630, sliding table - 641, positioning plate - 642, adjusting plate - 643, rotating shaft - 650, linkage wheel - 651, adjusting wheel - 652, transmission belt - 653, supporting wheel - 660, visual detection module - 670, feeding aggregate table - 710, defective product bin - 720, discharging aggregate table - 730, discharging device - 740, grasping and replacing device - 800, adjusting table - 810, driving hydraulic cylinder - 820, connecting rod assembly - 830, second clamping arm - 840, third fixture - 850, fourth fixture - 860, outer star wheel - 900. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present application will be clearly described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0045] The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are usually of the same category, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / ", generally represents an "or" relationship between the associated objects before and after.

[0046] The following will combine the accompanying drawings and through specific embodiments and their application scenarios, the processing station for the outer planet gear provided by the embodiments of this application will be described in detail.

[0047] As Figures 1 to 7 shown, the embodiments of this application provide a processing station for an outer planet gear, including a working frame 100, on which a first lathe 210, a second lathe 220, a grasping robot 300, a dimension detection device 400, a cleaning device 500, an appearance detection device 600, and a grasping and transposition device 800 are fixedly arranged.

[0048] The first lathe 210 and the second lathe 220 are symmetrically arranged with respect to the grasping robot 300. The first lathe 210 has a first processing position 211 and a second processing position 212. The second lathe 220 has a third processing position 221 and a fourth processing position 222. The cleaning device 500 is used to perform surface cleaning treatment on the outer planet gear 900 processed by the first lathe 210 and the second lathe 220. The dimension detection device 400 is used to perform dimension detection on the outer planet gear 900 after the surface cleaning treatment by the cleaning device 500. The appearance detection device 600 is used to perform appearance detection on the outer planet gear 900 after the dimension detection by the cleaning device 500.

[0049] Among them, the grasping robot 300 can transfer the outer planet gear 900 processed at the first processing position 211, the second processing position 212, the third processing position 221, and the fourth processing position 222 to the surface cleaning station of the cleaning device 500, and can also transfer the outer planet gear 900 at the surface cleaning station of the cleaning device 500 to the dimension detection station of the dimension detection device 400. The grasping and transposition device 800 can transfer the outer planet gear 900 at the dimension detection station of the dimension detection device 400 to the appearance detection station of the appearance detection device 600, and can also transfer the outer planet gear 900 at the appearance detection station of the appearance detection device 600 to the blanking station.

[0050] It is understandable that during operation, the first lathe 210 processes the outer planet gears 900 at the first processing position 211 and the second processing position 212, and the second lathe 220 processes the outer planet gears 900 at the third processing position 221 and the fourth processing position 222. After processing, the grasping robot 300 grips the outer planet gears 900 at the first processing position 211, the second processing position 212, the third processing position 221, and the fourth processing position 222, and transfers the outer planet gears 900 to the surface cleaning station of the cleaning device 500. After the cleaning device 500 finishes the surface cleaning process of the outer planet gears 900 at the corresponding positions, the grasping robot 300 transfers the outer planet gears 900 at the surface cleaning station of the cleaning device 500 to the dimension detection station of the dimension detection device 400, and the dimension detection device 400 performs dimension detection on the outer planet gears 900. When the dimension detection of the outer planet gears 900 is completed, the grasping and transposition device 800 further transfers the outer planet gears 900 at the dimension detection station of the dimension detection device 400 to the appearance detection station of the appearance detection device 600. After the appearance detection, the outer planet gears 900 are transferred by the grasping and transposition device 800 to the blanking station to complete the entire processing cycle.

[0051] In the embodiment of the present application, the above-mentioned processing station for the outer planet gear is adopted, and the layout mode of the double vertical lathe four-station processing island is adopted. The first lathe 210 and the second lathe 220 are respectively provided with processing stations, and the multi-station transfer of components is realized through the grasping robot 300 and the grasping and transposition device 800, so as to realize a processing layout mode in which one operator manages two processing islands and eight stations, greatly improving the working efficiency of the operator and increasing the production capacity. At the same time, the dimension detection device 400, the cleaning device 500, and the appearance detection device 600 respectively perform dimension detection, surface cleaning, and appearance detection of the workpiece, so as to ensure the processing quality of the workpiece and improve the qualified rate of the product.

[0052] In a preferred embodiment, as Figure 1 shown, a loading and collecting table 710, a defective product bin 720, a blanking and collecting table 730, and a blanking device 740 are further fixedly arranged on the working frame 100.

[0053] The loading and collecting table 710 is used for stacking and loading the outer planet gears 900, the defective product bin 720 is used for placing unqualified outer planet gears 900, the blanking and collecting table 730 is used for stacking and blanking the outer planet gears 900, and the blanking device 740 is used for transferring the outer planet gears 900 to the blanking and collecting table 730.

[0054] Among them, the grasping robot 300 can transfer the outer star wheel 900 at the feeding station of the feeding and aggregating table 710 to the first processing station 211, the second processing station 212, the third processing station 221, and the fourth processing station 222. The grasping and swapping device 800 can transfer the products with unqualified dimension detection or unqualified appearance detection to the feeding station of the defective product bin 720, and can also transfer the outer star wheel 900 with qualified appearance detection to the discharging station of the discharging device 740.

[0055] It can be understood that during the transfer process of the grasping and swapping device 800 at the dimension detection station and the appearance detection station, the outer star wheel 900 with qualified dimension detection is transferred to the appearance detection station, and the outer star wheel 900 with qualified appearance detection is transferred to the discharging station. For the outer star wheel 900 with unqualified dimension detection or unqualified appearance detection, it can be directly grasped and transferred to the feeding station of the defective product bin 720.

[0056] In a preferred embodiment, as Figure 1 shown, the feeding and aggregating table 710 has a four-station feeding channel respectively cooperating with the first processing station 211, the second processing station 212, the third processing station 221, and the fourth processing station 222. The discharging and aggregating table 730 has a four-station discharging channel respectively cooperating with the first processing station 211, the second processing station 212, the third processing station 221, and the fourth processing station 222.

[0057] It can be understood that since multiple feeding and discharging channels of the feeding and aggregating table 710 and the discharging and aggregating table 730 are respectively arranged in cooperation with the first processing station 211, the second processing station 212, the third processing station 221, and the fourth processing station 222, the uniformity of workpiece loading and unloading can be ensured, thereby ensuring the flow stability of the processing procedure.

[0058] In a preferred embodiment, as Figures 1 to 3 shown, the grasping robot 300 includes a base 310 fixedly arranged on the working frame 100. A turntable 320 is rotatably arranged on the base 310. A first swing arm 340 is rotatably connected to the turntable 320. A second swing arm 350 is rotatably connected to the end of the first swing arm 340 away from the turntable 320. A rotating seat 360 is rotatably arranged at the end of the second swing arm 350 away from the first swing arm 340. A first clamping head is installed on the rotating seat 360.

[0059] Among them, the rotation axis of the turntable 320 is along the vertical direction. The rotation axes of the first swing arm 340 and the second swing arm 350 are parallel to each other and are both in the horizontal direction. The rotation axis of the rotating seat 360 is perpendicular to the rotation axis of the second swing arm 350.

[0060] It can be understood that through the linkage cooperation among the base 310, the turntable 320, the first swing arm 340, the second swing arm 350, and the rotating base 360, after the first clamping head clamps the outer star wheel 900, the transfer of any coordinates and paths in the space coordinate system can be realized, so as to realize the multi-station transfer of the outer star wheel 900.

[0061] In a preferred embodiment, as Figures 1 to 3 shown, the grasping robot 300 further includes a first driving device 331 for driving the turntable 320 to rotate relative to the base 310, a second driving device 332 for driving the first swing arm 340 to rotate relative to the turntable 320, and a third driving device 333 for driving the second swing arm 350 to rotate relative to the first swing arm 340.

[0062] In a preferred embodiment, as Figures 1 to 3 shown, the first clamping head includes a first clamping arm 370 fixedly connected to the rotating base 360, and a first fixture 381 and a second fixture 382 are fixedly connected to the first clamping arm 370.

[0063] Wherein, the first fixture 381 and the second fixture 382 are symmetrically arranged about the rotation axis of the rotating base 360.

[0064] It can be understood that there are two clamping stations on the first clamping head, and the synchronous clamping of two outer star wheels 900 can be performed for the four processing stations of the first lathe 210 and the second lathe 220. At the same time, during the multi-station transfer of the outer star wheel 900 by the grasping robot 300, especially during the process of surface cleaning, dimensional inspection or appearance inspection of one of the outer star wheels 900, the clamping of the third outer star wheel 900 can be performed during the process duration, so as to improve the overall production beat and further improve the production efficiency.

[0065] In a preferred embodiment, as Figures 5 to 7 shown, the appearance inspection device 600 includes a slide table 641 fixedly arranged on the working frame 100, and a Z-direction moving unit 613, a positioning plate 642 and an adjusting plate 643 are fixedly arranged on the slide table 641.

[0066] A lifting table 620 is fixedly connected to the moving execution end of the Z-direction moving unit 613. Two symmetrically arranged supporting wheels 660 are rotatably arranged on the lifting table 620. A visual inspection module 670 is fixedly arranged on the positioning plate 642. A plurality of rotating shafts 650 are rotatably arranged on the adjusting plate 643, and a linkage wheel 651 is fixedly arranged on the rotating shaft 650. A transmission belt 653 is wound around the plurality of linkage wheels 651.

[0067] An adjustment motor 630 is also fixedly provided on the adjustment plate 643. One of the rotating shafts 650 is connected to the power output end of the adjustment motor 630. Adjustment wheels 652 are fixedly provided on two of the rotating shafts 650. The two adjustment wheels 652 are arranged at intervals on the horizontal plane and can abut against the outer surface of the outer star wheel 900.

[0068] Wherein, in a state where the adjustment wheel 652 abuts against the outer star wheel 900, the Z-direction moving unit 613 can drive the two supporting wheels 660 to move in the vertical direction to abut against the outer surface of the outer star wheel 900. The visual detection module 670 is used for visually detecting the outer surface of the outer star wheel 900.

[0069] It can be understood that when the adjustment motor 630 drives the corresponding rotating shaft 650 to rotate, the multiple rotating shafts 650 rotate synchronously under the transmission of the linkage wheel 651 and the transmission belt 653, thereby driving the two rotating shafts 650 to rotate. The rotating shafts 650 abut against the outer surface of the outer star wheel 900. Thus, the rotation of the rotating shafts 650 can drive the outer star wheel 900 to rotate along its own central axis. The two supporting wheels 660 are used for supporting the outer star wheel 900. During the rotation of the outer star wheel 900, the visual detection module 670 can continuously detect the outer surface of the outer star wheel 900. After the outer star wheel 900 rotates one week, the circumferential detection of the outer surface of the outer star wheel 900 can be completed.

[0070] In a preferred embodiment, as Figures 5 to 7 shown, the appearance detection device 600 further includes a Y-direction moving unit 611 fixedly provided on the working frame 100 and an X-direction moving unit 612 fixedly provided on the sliding table 641.

[0071] Wherein, the sliding table 641 is fixedly provided on the moving execution end of the Y-direction moving unit 611, and the Z-direction moving unit 613 is fixedly provided on the moving execution end of the X-direction moving unit 612.

[0072] It can be understood that through the moving cooperation of the Y-direction moving unit 611, the X-direction moving unit 612 and the Z-direction moving unit 613, multi-directional support for the outer star wheel 900 can be realized, ensuring the accurate matching of the position of the outer star wheel 900, that is, ensuring the cooperation accuracy between the outer star wheel 900 and the visual detection module 670, and improving the appearance detection quality of the workpiece.

[0073] In a preferred embodiment, as Figure 4 shown, the grasping and transposition device 800 includes an adjustment table 810, a driving hydraulic cylinder 820 fixedly provided on the adjustment table 810, and a second clamping head rotatably provided on the adjustment table 810.

[0074] Among them, the telescopic end of the driving hydraulic cylinder 820 is connected to the second clamping head through a connecting rod assembly 830. When the driving hydraulic cylinder 820 extends and retracts, it can drive the second clamping head to rotate relative to the driving hydraulic cylinder 820 through the connecting rod assembly 830.

[0075] In a preferred embodiment, as Figure 4 shown, the second clamping head includes a second clamping arm 840 rotatably connected to the adjustment table 810. Symmetrically arranged third clamps 850 and fourth clamps 860 are fixedly provided on the second clamping arm 840.

[0076] It can be understood that there are two clamping stations on the second clamping head. During the multi-station transfer process of the alien gear 900 by the grasping and transposition device 800, especially during the process of dimension detection or appearance detection of one of the alien gears 900, the third alien gear 900 can be clamped during the process duration, thereby improving the overall production rhythm and further enhancing the production efficiency.

[0077] In a preferred embodiment, the grasping and transposition device 800 further includes a horizontal transfer mechanism for driving the second clamping head to move in the horizontal direction and a vertical transfer mechanism for driving the second clamping head to move in the vertical direction.

[0078] Among them, the horizontal transfer mechanism is fixedly arranged on the moving execution end of the vertical transfer mechanism, and the adjustment table 810 is fixedly arranged on the moving execution end of the horizontal transfer mechanism.

[0079] In a preferred embodiment, as Figure 3 、 Figure 4 shown, the included angle between the first clamp 381 and the second clamp 382 is set to 90°;

[0080] and / or, the included angle between the third clamp 850 and the fourth clamp 860 is set to 90°.

[0081] It can be understood that the setting forms of the included angle between the first clamp 381 and the second clamp 382 and the included angle between the third clamp 850 and the fourth clamp 860 are not limited to the above one. When it is set to 90°, it is convenient for program execution. It should be noted that in order to avoid position interference of the alien gears 900 on the two clamping stations, the included angle between the first clamp 381 and the second clamp 382 and the included angle between the third clamp 850 and the fourth clamp 860 are preferably not less than 90°.

[0082] It should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also other elements not explicitly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but may also include performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0083] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Those of ordinary skill in the art, under the inspiration of the present application and without departing from the spirit and scope protected by the claims of the present application, can still make many forms, all of which fall within the protection scope of the present application.

Claims

1. A processing station for an outer planet wheel, characterized in that, It includes a working frame, on which a first lathe, a second lathe, a grasping robot, a dimension detection device, a cleaning device, an appearance detection device and a grasping and transposition device are fixedly arranged; The first lathe and the second lathe are symmetrically arranged with respect to the grasping robot. The first lathe has a first processing position and a second processing position, and the second lathe has a third processing position and a fourth processing position; The cleaning device is used for surface cleaning of the outer star wheels processed by the first lathe and the second lathe. The dimension detection device is used for dimension detection of the outer star wheels after surface cleaning by the cleaning device. The appearance detection device is used for appearance detection of the outer star wheels after dimension detection by the cleaning device; Among them, the grasping robot can transfer the outer star wheels processed at the first processing position, the second processing position, the third processing position and the fourth processing position to the surface cleaning station of the cleaning device, and can also transfer the outer star wheels at the surface cleaning station of the cleaning device to the dimension detection station of the dimension detection device; The grasping and transposition device can transfer the outer star wheels at the dimension detection station of the dimension detection device to the appearance detection station of the appearance detection device, and can also transfer the outer star wheels at the appearance detection station of the appearance detection device to the blanking station.

2. The processing station for an outer star wheel according to claim 1, characterized in that, An upper material collecting table, a defective product bin, a lower material collecting table and a blanking device are also fixedly arranged on the working frame; The upper material collecting table is used for stacking and loading of the outer star wheels. The defective product bin is used for placing unqualified outer star wheels. The lower material collecting table is used for stacking and unloading of the outer star wheels. The blanking device is used for transporting the outer star wheels to the lower material collecting table; Among them, the grasping robot can transfer the outer star wheels at the loading station of the upper material collecting table to the first processing position, the second processing position, the third processing position and the fourth processing position. The grasping and transposition device can transfer the products with unqualified dimension detection or unqualified appearance detection to the feeding station of the defective product bin, and can also transfer the outer star wheels with qualified appearance detection to the blanking station of the blanking device.

3. The processing station for an outer star wheel according to claim 2, characterized in that The upper material collecting table has four-station loading channels respectively cooperating with the first processing position, the second processing position, the third processing position and the fourth processing position; And / or, the lower material collecting table has four-station unloading channels respectively cooperating with the first processing position, the second processing position, the third processing position and the fourth processing position.

4. A processing station for an outer star wheel according to claim 1, characterized in that, The grasping robot includes a base fixedly arranged on the working frame. A turntable is rotatably arranged on the base. A first swing arm is rotatably connected to the turntable. A second swing arm is rotatably connected to the end of the first swing arm away from the turntable. A rotating seat is rotatably arranged at the end of the second swing arm away from the first swing arm. A first clamping head is installed on the rotating seat; Among them, the rotation axis of the turntable is along the vertical direction. The rotation axes of the first swing arm and the second swing arm are parallel to each other and are both in the horizontal direction. The rotation axis of the rotating seat is perpendicular to the rotation axis of the second swing arm.

5. A processing station for an outer star wheel according to claim 4, characterized in that, The first clamping head includes a first clamping arm fixedly connected to the rotating seat. A first clamp and a second clamp are fixedly connected to the first clamping arm; Among them, the first clamp and the second clamp are symmetrically arranged with respect to the rotation axis of the rotating seat.

6. The processing station for an outer star wheel according to claim 1, characterized in that, The appearance detection device includes a slide table fixedly arranged on a working frame, and a Z-direction moving unit, a positioning plate and an adjusting plate are fixedly arranged on the slide table; A lifting table is fixedly connected to the moving execution end of the Z-direction moving unit. Two symmetrically arranged supporting wheels are rotatably arranged on the lifting table. A visual detection module is fixedly arranged on the positioning plate. A plurality of rotating shafts are rotatably arranged on the adjusting plate, and a linkage wheel is fixedly arranged on each rotating shaft. A transmission belt is wound around the plurality of linkage wheels; An adjusting motor is also fixedly arranged on the adjusting plate. One of the rotating shafts is connected to the power output end of the adjusting motor. Adjusting wheels are fixedly arranged on two of the rotating shafts. The two adjusting wheels are arranged at intervals on a horizontal plane and can be abutted against the outer surface of an outer star wheel; Wherein, in a state where the adjusting wheels are abutted against the outer star wheel, the Z-direction moving unit can drive the two supporting wheels to move in the vertical direction to abut against the outer surface of the outer star wheel, and the visual detection module is used for visually detecting the outer surface of the outer star wheel.

7. A processing station for an outer star wheel according to claim 6, characterized in that, The appearance detection device further includes a Y-direction moving unit fixedly arranged on the working frame and an X-direction moving unit fixedly arranged on the slide table; Wherein, the slide table is fixedly arranged on the moving execution end of the Y-direction moving unit, and the Z-direction moving unit is fixedly arranged on the moving execution end of the X-direction moving unit.

8. A processing station for an outer star wheel according to claim 1, characterized in that, The grasping and transposing device includes an adjusting table, a driving hydraulic cylinder fixedly arranged on the adjusting table, and a second clamping head rotatably arranged on the adjusting table; Wherein, the telescopic end of the driving hydraulic cylinder is connected to the second clamping head through a connecting rod assembly. When the driving hydraulic cylinder executes telescoping, it can drive the second clamping head to rotate relative to the driving hydraulic cylinder through the connecting rod assembly.

9. A processing station for an outer star wheel according to claim 8, characterized in that, The second clamping head includes a second clamping arm rotatably connected to the adjusting table, and symmetrically arranged third clamps and fourth clamps are fixedly arranged on the second clamping arm.

10. A processing station for an outer star wheel according to claim 5 or 8, characterized in that The included angle between the first clamp and the second clamp on the grasping robot is set to 90°; And / or, the included angle between the third clamp and the fourth clamp on the grasping and transposing device is set to 90°.

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