Intelligent processing production line based on industrial robot

Abstract

The utility model belongs to the field of automation manufacturing technology, concretely relates to the intelligent processing production line of upper air cylinder based on industrial robot, including feeding device, taking and placing device, first drilling station, second drilling station, blanking device, and taking and placing device includes mechanical arm and paw device, taking and placing device sets up in the end position close to feeding device, taking and placing device sets up and installs between first drilling station and second drilling station, paw device includes finger air cylinder, push plate, laser ranging sensor, visual detection device, paw mounting bracket, paw mounting bracket is installed on mechanical arm through rubber block, paw mounting bracket is rectangular frame, be provided with finger air cylinder, push plate, laser ranging sensor and visual detection device on paw mounting bracket, push plate sets up between finger air cylinder and the upper air cylinder to be processed, and laser ranging sensor sets up between finger air cylinder and visual detection device. Realized the high accuracy, high reliability and high efficiency automation production of powder metallurgy air cylinder drilling processing.

Description

Technical Field

[0001] This utility model belongs to the field of automated manufacturing technology, specifically relating to an intelligent machining production line for upper cylinders based on industrial robots. Background Technology

[0002] In the production process of powder metallurgy cylinders, multiple drilling operations are typically required. Traditional processing methods rely mainly on manual operation, which is inefficient and prone to inconsistent product quality due to inaccurate positioning. Existing automated equipment often lacks effective positioning compensation and detection mechanisms when robots pick up and place cylinders, resulting in insufficient installation accuracy and a high risk of collisions damaging the equipment. Furthermore, iron filings and dust generated during processing contaminate the vision system, affecting the robot's positioning accuracy and thus reducing production efficiency and product yield. Therefore, a smart cylinder processing production line based on industrial robots is needed to improve positioning accuracy, prevent collisions, and automatically clean dust to solve these problems. Summary of the Invention

[0003] To address the technical problems existing in the prior art and achieve the above objectives, this utility model provides an intelligent machining production line for upper cylinders based on an industrial robot, including a feeding device, a pick-and-place device, a first drilling station, a second drilling station, and a unloading device. The pick-and-place device includes a robotic arm and a gripper device, which is located at the end near the feeding device and is installed between the first and second drilling stations. The gripper device includes a gripper mounting frame and finger cylinders, a push plate, a laser rangefinder sensor, and a vision inspection device mounted on the gripper mounting frame. The gripper mounting frame is mounted on the robotic arm via rubber blocks and is a rectangular frame. The push plate is located between the finger cylinder and the upper cylinder to be processed, and the laser rangefinder sensor is located between the finger cylinder and the vision inspection device.

[0004] The push plate is equipped with a push spring at its rear end, and the finger cylinder is also equipped with a proximity switch on its side.

[0005] The visual inspection device includes a visual camera, a protective cover, and a dust removal nozzle. The visual camera is placed inside the rectangular frame, the protective cover is set on the gripper mounting frame and covers the visual camera, and a dust removal nozzle is provided on the side of the protective cover.

[0006] The feeding device is also equipped with a tornado nozzle at the end near the first drilling station.

[0007] The gripper device also includes a dust removal nozzle, which is located outside the rectangular frame and faces the finger cylinder gripping the upper cylinder.

[0008] The feeding device includes a first conveyor belt, a first cylinder, and a second conveyor belt arranged in sequence. The first conveyor belt receives the upper cylinder being fed, and the first cylinder pushes the upper cylinder from the first conveyor belt to the second conveyor belt for reversal. The first drilling station and the second drilling station are respectively provided with drilling mounting seats. The gripper device can install the upper cylinder onto the drilling mounting seats of the first drilling station and the second drilling station in sequence. The unloading device includes a third conveyor belt and a turntable storage device.

[0009] This utility model has the following features and beneficial effects: Error compensation and collision protection: The gripper mounting frame is connected to the robotic arm via rubber blocks. When installing the upper cylinder, the deformation of the rubber blocks compensates for minor errors, improving positioning accuracy. In the event of a collision, the rubber blocks break, protecting the gripper and the robot and extending equipment lifespan. Visual clarity assurance: The vision inspection device is equipped with a protective cover and dust removal nozzles, effectively preventing water mist and dust contamination, ensuring clear imaging of the vision system, and improving positioning reliability. Installation in place detection: A laser rangefinder sensor monitors the pusher plate position in real time, ensuring the upper cylinder is installed correctly, reducing scrap rate and downtime. Automated cleaning: Tornado nozzles and gripper dust removal nozzles automatically clean the upper cylinder and metal filings at the workstation, maintaining a clean processing environment and improving product quality. High-efficiency ejection mechanism: The pusher plate and push-top spring design automatically eject the upper cylinder when the finger cylinder is released, improving operational efficiency. Full-process automation: Integrating loading, unloading, drilling, inspection, and unloading reduces manual intervention and improves production efficiency and consistency.

[0010] Through the above design, this utility model achieves high-precision, high-reliability, and high-efficiency automated production of powder metallurgy cylinder drilling. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 for Figure 1 Enlarged view of section A; Figure 3 This is a schematic diagram of the hand gripper device of this utility model; Figure 4 This is a left view of the gripper device of this utility model; Figure 5 This is a schematic diagram of the upper cylinder structure of this utility model.

[0012] In the diagram: 1-Feeding device; 11-First conveyor belt; 12-First cylinder; 13-Second conveyor belt; 14-Tornado nozzle; 2-Robotic arm; 3-Gripper device; 31-Finger cylinder; 32-Push plate; 33-Laser rangefinder sensor; 34-Vision inspection device; 341-Vision camera; 342-Protective cover; 343-Dust removal nozzle; 35-Gripper mounting bracket; 36-Rubber block; 37-Push spring; 38-Proximity switch; 39-Dust removal nozzle; 41-First drilling station; 42-Second drilling station; 43-Drilling mounting base; 5-Unloading device; 51-Third conveyor belt; 52-Turntable storage device; 6-Upper cylinder; 61-First drilling; 62-Second drilling; 7-Taper machine. Detailed Implementation

[0013] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, this utility model will be further described in detail. It should be understood that the specific embodiments described herein are only for explaining this utility model and are not intended to limit this utility model.

[0014] like Figures 1 to 5 As shown, the present invention provides an intelligent machining production line for cylinders based on industrial robots, including a feeding device 1, a picking and placing device, a first drilling station 41, a second drilling station 42, and a unloading device 5.

[0015] The pick-and-place device includes a robotic arm 2 and a gripper device 3. The pick-and-place device is located near the end of the loading device 1 and is installed between the first drilling station 41 and the second drilling station 42.

[0016] The gripper device 3 includes a finger cylinder 31, a push plate 32, a laser rangefinder 33, a vision inspection device 34, and a gripper mounting frame 35. The gripper mounting frame 35 is mounted on the robotic arm 2 via rubber blocks 36. This connection method compensates for slight positioning errors during cylinder installation by the deformation of the rubber blocks 36, and protects the gripper and robot body by disengaging the rubber blocks 36 in the event of an accidental collision. The gripper mounting frame 35 is a rectangular frame on which the finger cylinder 31, push plate 32, laser rangefinder 33, and vision inspection device 34 are mounted. The push plate 32 is positioned between the finger cylinder 31 and the cylinder 6 to be processed, and a push spring 37 is located at its rear end, allowing the push plate 32 to automatically eject the cylinder 6 under the action of the push spring 37 when the finger cylinder 31 is released. A proximity switch 38 is also provided on the side of the finger cylinder 31 to detect whether the finger cylinder is in position. A laser rangefinder 33 is positioned between the finger cylinder 31 and the vision detection device 34 to monitor the position of the push plate 32 in real time, thereby determining whether the upper cylinder 6 is installed in place.

[0017] The vision inspection device 34 includes a vision camera 341, a protective cover 342, and a dust removal nozzle 343. The vision camera 341 is housed within a rectangular frame and is used to identify and locate cylinders and workstations. The protective cover 342 is mounted on the gripper mounting bracket 35 and covers the vision camera 341, serving to prevent dust and water mist contamination. Dust removal nozzles 343 are located on the side of the protective cover 342, which spray compressed air to clean the lens of the protective cover, ensuring clear imaging by the vision system.

[0018] The feeding device 1 includes a first conveyor belt 11, a first cylinder 12, and a second conveyor belt 13 arranged sequentially. The first conveyor belt 11 is used to receive and transport the upper cylinder 6 from the upstream equipment (such as the taper machine 7). The first cylinder 12 is used to push the upper cylinder 6 from the first conveyor belt 11 to the second conveyor belt 13, realizing the reversal and positioning of the upper cylinder. A tornado nozzle 14 is also provided at the end of the feeding device 1 near the first drilling station 41, which is used to blow away iron filings and dust from the surface of the upper cylinder before the robotic arm grabs it.

[0019] The gripper device 3 also includes a dust removal nozzle 39, which is located on the outside of the rectangular frame and is positioned toward the direction of the finger cylinder gripping the upper cylinder, for cleaning iron filings on the drilling mounting base 43 before the upper cylinder is installed.

[0020] The first drilling station 41 and the second drilling station 42 are each equipped with a drilling mounting base 43. The first drilling station 41 is used to process the first drill hole 61 on the upper cylinder 6, and the second drilling station 42 is used to process the second drill hole 62 on the upper cylinder 6. The gripper device 3 can sequentially install the upper cylinder 6 onto the drilling mounting bases 43 of these two stations. In this embodiment, each drilling station adopts a rotary five-station structure, which includes a worktable that can rotate intermittently, on which five stations are evenly distributed circumferentially. The first drilling station 41 and the second drilling station 42 are each matched with four drilling machines. Among the five stations, the station near the loading device 1 is set as a loading empty station, and the station near the unloading device 5 is set as an unloading empty station. Each station is equipped with a corresponding drilling mounting base 43. The first drilling station 41 is used to process the first drill hole 61 on the upper cylinder 6, and the second drilling station 42 is used to process the second drill hole 62 on the upper cylinder 6.

[0021] The unloading device 5 includes a third conveyor belt 51 and a turntable storage device 52, which are used to transport and store the upper cylinders 6 that have completed all processing in an orderly manner.

[0022] The workflow of this utility model is as follows: After the front-mounted taper 7 completes the taper with the cylinder 6, it pushes the tapered wire onto the first conveyor belt 11 of the feeding device 1.

[0023] The first conveyor belt 11 transports the upper cylinder 6 to the end, where the first cylinder 12 pushes it onto the second conveyor belt 13 for reversal and precise positioning.

[0024] The robotic arm 2 drives the gripper device 3 to move above the second conveyor belt 13. The vision detection device 34 identifies the precise position of the upper cylinder 6. After the robotic arm 2 adjusts its posture, the finger cylinder 31 actuates, grasping the upper cylinder 6 through the push plate 32. The proximity switch 38 is used to confirm the grasping status.

[0025] The robotic arm 2 moves the gripped upper cylinder 6 above the tornado nozzle 14, and the tornado nozzle 14 sprays air to remove the iron residue remaining on the surface of the upper cylinder 6.

[0026] The robotic arm 2 transports the upper cylinder 6 to the first drilling station 41. First, the dust removal nozzle 39 on the gripper device 3 is activated to clean the drilling mounting base 43 of the first drilling station 41. Then, the vision inspection device 34 precisely positions the mounting base, and the robotic arm 2 adjusts its posture to install the upper cylinder 6 onto the drilling mounting base 43 of the first drilling station 41. The laser rangefinder sensor 33 monitors the position of the push plate 32. After confirming that the upper cylinder is installed in place, the first drilling station 41 starts to process the first drill hole 61 on the upper cylinder 6.

[0027] After the first hole 61 is completed, the robotic arm 2 moves again and grabs the upper cylinder 6 through the gripper device 3.

[0028] The robotic arm 2 transports the upper cylinder 6 to the second drilling station 42. Similarly, the dust removal nozzle 39 first cleans the drilling mounting base 43 of the second drilling station 42, and then the upper cylinder 6 is installed in place after being positioned by the vision inspection device 34. The second drilling station 42 then starts to process the second drill hole 62 on the upper cylinder 6.

[0029] After the second hole 62 is completed, the upper cylinder 6 is pushed onto the third conveyor belt 51 of the unloading device 5.

[0030] The third conveyor belt 51 transports the upper cylinder 6, which has completed all processing (including taper wire, first drilling, and second drilling), to the turntable storage device 52 for orderly collection and storage.

[0031] The beneficial effects of this invention are as follows: Through the synergistic effect of rubber block connection, visual inspection, laser rangefinder, push plate and spring mechanism, and multiple dust removal devices (tornado nozzles, gripper dust removal nozzles, and visual protective cover dust removal nozzles), high-precision positioning, automatic error compensation, effective collision protection, continuous cleaning guarantee, and installation accuracy detection are achieved during the cylinder loading and unloading process. This not only significantly improves the positioning accuracy, production efficiency, and product qualification rate of powder metallurgy cylinder drilling, achieving full-process automation and reducing manual intervention, but also greatly enhances the reliability and service life of the equipment.

Claims

1. An intelligent machining production line for cylinders based on industrial robots, comprising a feeding device (1), a pick-and-place device, a first drilling station (41), a second drilling station (42), and a unloading device (5), wherein the pick-and-place device comprises a robotic arm (2) and a gripper device (3), the pick-and-place device is located at the end position near the feeding device (1), and the pick-and-place device is installed between the first drilling station (41) and the second drilling station (42), characterized in that, The gripper device includes a gripper mounting frame (35) and a finger cylinder (31), a push plate (32), a laser range sensor (33), and a vision detection device (34) mounted on the gripper mounting frame. The gripper mounting frame (35) is mounted on the robotic arm (2) by a rubber block (36). The gripper mounting frame (35) is a rectangular frame. The push plate (32) is located between the finger cylinder (31) and the cylinder (6) to be processed. The laser range sensor (33) is located between the finger cylinder (31) and the vision detection device (34).

2. The intelligent machining production line for upper cylinders based on industrial robots according to claim 1, characterized in that, The push plate (32) is provided with a push spring (37) at its rear end, and the finger cylinder (31) is also provided with a proximity switch (38) on its side.

3. The intelligent machining production line for upper cylinders based on industrial robots according to claim 2, characterized in that, The visual inspection device (34) includes a visual camera (341), a protective cover (342), and a dust removal nozzle (343). The visual camera (341) is placed inside the rectangular frame. The protective cover (342) is set on the gripper mounting frame and covers the visual camera. The protective cover has a dust removal nozzle (343) on its side.

4. The intelligent machining production line for upper cylinders based on industrial robots according to claim 3, characterized in that, The feeding device (1) is also equipped with a tornado nozzle (14) at the end position near the first drilling station (41).

5. The intelligent machining production line for upper cylinders based on industrial robots according to claim 4, characterized in that, The gripper device also includes a dust removal nozzle (39), which is located outside the rectangular frame and is positioned toward the finger cylinder gripping the upper cylinder.

6. The intelligent machining production line for upper cylinders based on industrial robots according to claim 1, characterized in that, The feeding device (1) includes a first conveyor belt (11), a first cylinder (12), and a second conveyor belt (13) arranged in sequence. The first conveyor belt (11) receives the upper cylinder being fed, and the first cylinder (12) pushes the upper cylinder (6) from the first conveyor belt (11) to the second conveyor belt (13) for reversal. The first drilling station (41) and the second drilling station (42) are respectively provided with drilling mounting seats (43). The gripper device can install the upper cylinder onto the drilling mounting seats of the first drilling station (41) and the second drilling station (42) in sequence. The unloading device (5) includes a third conveyor belt (51) and a turntable storage device (52).

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