CN115742019A - Indexable insert passivating device and method - Google Patents

Abstract

The invention relates to the technical field of blade passivation, in particular to passivation equipment and a passivation method for an indexable blade, and solves the problems that: in order to solve the problem of low efficiency caused by manual feeding in the blade passivating process of the passivating device, the embodiment of the invention provides the passivating device, which comprises: the device comprises a rack, a first material tray, a passivation tray and a first clamping device are arranged on the rack, a blade is placed in the first material tray, the blade is provided with a first surface and a second surface, and the first surface is in contact with the first material tray; the first clamping device is arranged on the rack, and at least part of the first clamping device can rotate relative to the rack; the first clamping device is used for moving the blade from the first tray to the passivation tray, and the second surface of the blade is in contact with the passivation tray.

Description

Indexable blade passivating device and method

Technical Field

The invention relates to the technical field of blade passivation, in particular to indexable blade passivation equipment and a passivation method.

Background

The cubic boron nitride blade industry is developed vigorously at home and abroad. The passivation treatment is a process for treating the shape of the cutting edge in the machining process of the cubic boron nitride cutting blade, and at present, passivation equipment widely adopted at home and abroad has low feeding and swinging efficiency, so that the production efficiency is low.

Disclosure of Invention

The problems solved by the invention are as follows: the passivation equipment adopts manual feeding in the blade passivation process, so that the efficiency is low.

To solve the above problem, an embodiment of the present invention provides a passivation apparatus, including: the device comprises a rack, a first material tray, a passivation tray and a first clamping device are arranged on the rack, a blade is placed in the first material tray, the blade is provided with a first surface and a second surface, and the first surface is in contact with the first material tray; the first clamping device is arranged on the rack, and at least part of the first clamping device can rotate relative to the rack; the first clamping device is used for moving the blade from the first tray to the passivating disc, and the second surface is in contact with the passivating disc through rotation.

Compared with the prior art, the technical scheme has the following technical effects: the setting of first charging tray lets the blade of treating the passivation can place in the frame surface, and the first clamp of being convenient for is got the clamp of device and is got, and the first clamp is got the setting that the device can be transferred to the passivation dish with the blade in the first charging tray, lets the blade put into the passivation dish through rotating afterwards, gets the blade when swift also let and place the blade more swift pressing from both sides, has increased the material loading efficiency of passivation equipment.

In one embodiment of the present invention, the first grasping apparatus includes: the first fixing part is connected with the rack in a matching way; one end of the first moving part is connected with the first fixing part, the other end of the first moving part is provided with a first actuator, and the first moving part can move relative to the first fixing part so as to change the position of the first actuator.

Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the first clamping device is more stably connected with the rack due to the arrangement of the first fixing portion, and the first actuator can move due to the arrangement of the first moving portion, so that the first actuator can clamp the blade conveniently.

In one embodiment of the present invention, the first actuator comprises: the connecting piece is fixedly connected with the first moving part; the clamping part is connected with the connecting piece in a matching way; the placing part is connected with the connecting piece in a matching way; the connecting piece can rotate relative to the first moving portion, the first actuator is switched between the first position and the second position through rotation, when the clamping portion is located at the first position, the clamping portion is used for clamping the blade, and when the clamping portion is located at the second position, the placing portion places the blade into the placing position.

Compared with the prior art, the technical scheme has the following technical effects: the setting of clamping part lets first executor can the centre gripping place in the blade of first charging tray, and the setting of connecting piece lets clamping part and placing portion can rotate in step, lets the pivoted angle more accurate, and the setting of placing portion lets the blade after the rotation finishes can put into the passivation dish, has promoted the efficiency of placing of blade.

In one embodiment of the present invention, the clamping portion includes: the first cylinder is connected with the connecting piece; the clamping jaw is connected with a first cylinder, one side, close to the material tray, of the clamping jaw is provided with a notch, the first cylinder drives the clamping jaw to move, and at least part of the clamping jaw can be in contact with the first surface through sliding.

Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the setting up of clamping jaw lets the blade receive the pressure that comes from the clamping jaw constantly in the in-process of getting by the clamp, is difficult for dropping, has promoted the stability of clamping part centre gripping, and the setting up of first cylinder provides power for the rising of clamping jaw, has realized the lift of clamping jaw.

In one embodiment of the present invention, the placing section includes: the second cylinder is connected with the connecting piece; and the vacuum chuck is connected with the second cylinder, and the second cylinder drives the vacuum chuck to move towards the clamping jaw and penetrates through the notch to be in contact with the first surface.

Compared with the prior art, the technical scheme has the following technical effects: the second cylinder can drive vacuum chuck and remove, vacuum chuck's the portion of placing only needs just can realize the control blade through removing, let the overall structure of the portion of placing simpler, the setting up of breach lets vacuum chuck can not contact with the clamping jaw at the process that removes, the height that vacuum chuck first cylinder need rise when fixed blade has been reduced, also let vacuum chuck can contact the central point of first face put simultaneously, let the blade keep the level at the in-process of placing first face, can not take place the slope, take place the dislocation when avoiding placing in the passivation dish.

In one embodiment of the invention, the passivation apparatus further comprises: the second clamping device is arranged on the rack, and at least part of the second clamping device can rotate; the passivating device is arranged on one side, close to the second clamping device, of the rack; the passivation device comprises a passivation device, a first clamping device and a second clamping device, wherein the first clamping device is provided with a first actuator, the first actuator is used for moving the passivation disc to the passivation device, the first actuator is provided with a sliding part, and the sliding part is used for clamping the passivation disc.

Compared with the prior art, the technical scheme has the following technical effects: the device is got to the second clamp and the same one side of frame is located to the passivating device to this shortens the second and gets the distance between the device and the passivating device of getting, and it is more convenient when letting the second press from both sides get the device and carry the passivation dish in the passivating device, and the setting up of sliding part lets the size of the passivation dish that the second executor can press from both sides get can be adjusted, has promoted the second and has got the practicality of device.

In one embodiment of the invention, a passivation apparatus comprises: the upper surface of the base is provided with a passivation operating platform, and a passivation disc is placed on the passivation operating platform; the limiting plate is connected with the base; the movable plate can move relative to the base and is in contact with the limiting plate; the driving mounting plate is fixedly connected with the movable plate; the first driving device is arranged on the driving mounting plate, and a brush plate is arranged below the first driving device.

Compared with the prior art, the technical scheme has the following technical effects: the setting of brush dish lets the blade on the passivation operation panel can carry out the passivation operation, and the setting of fly leaf lets the position of brush dish reciprocate, and the setting of limiting plate lets the extreme low position of fly leaf obtain the restriction, avoids brush dish height to hang down excessively to take place the contact with the passivation dish, and setting up of drive mounting panel lets first drive arrangement can be located brush dish directly over, and it is more convenient to let the drive of brush dish.

In one embodiment of the invention, the passivation station comprises: the table top is provided with a tray component; the rotary gear is arranged in the passivation operating table and connected with the tray assembly; the planet carrier is connected with the rotary gear, and a plurality of shaft holes are formed in the planet carrier; the second driving part is connected with the rotary gear, the tray seat is connected with the planet carrier and arranged above the planet carrier, a first through hole is formed in the center of the tray seat, and the passivation disc is placed on the tray seat; the fixing shaft penetrates through the shaft hole and the first through hole and fixes the tray seat; the driven wheel is sleeved on the fixed shaft and meshed with the rotary gear; the side surface of the tray seat is provided with a second through hole, the second through hole is communicated with the first through hole, a locking piece is arranged in the first through hole, and one side, close to the first through hole, of the locking piece is provided with an elastic part.

Compared with the prior art, the technical scheme has the following technical effects: passivation work is when going on in the setting that passivation dish and planet carrier can separate, and the blade is put and passivation work can be gone on simultaneously, has shortened the auxiliary operation time, and the setting of locking piece has realized the axial fixity of passivation dish, and elastomeric element's setting lets getting of passivation dish more convenient.

In one embodiment of the present invention, there is also provided a method of passivating a blade, the method comprising: acquiring image information of a first material tray to obtain a first image result, controlling a first clamping device to move towards the first material tray according to the first image result, and clamping a blade; acquiring image information of the passivation disc, obtaining a second image result, and judging whether to control the first clamping device to place the blade into the passivation disc or not according to the second image result; detecting the number of blades on the passivation disc to obtain a first number result; detecting the number of the passivation discs in the passivation device to obtain a second number result; and controlling the operation of the first clamping device according to the first quantity result and the second quantity result.

Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the first clamp is got the device and is let the blade in the passivation dish place fast, and the second is got the cooperation of device and passivation device, lets the passivation device can have continuous passivation dish to carry out passivation work, has promoted work efficiency, and first image result lets the position of placing of blade more accurate, and the second image result lets the opportunity of placing of passivation dish more accurate.

Drawings

FIG. 1 is a schematic view of the overall structure of the passivation apparatus of the present invention;

FIG. 2 is a schematic view of the overall structure of the frame of the present invention;

FIG. 3 is a schematic view of the overall structure of the first clamping device of the present invention;

FIG. 4 is a schematic view of a first actuator grasping a blade in accordance with the present invention;

FIG. 5 is a schematic view of the engagement between the holding portion and the placing portion when the first actuator is at the first position;

FIG. 6 is a schematic view of the placement portion placing the blade with the first actuator in the second position;

FIG. 7 is a schematic view of the overall structure of the connector of the present invention;

FIG. 8 is a schematic view of a notch in the clip of the present invention;

FIG. 9 is a schematic view of the second gripper assembly gripping the blunting disk of the present invention;

FIG. 10 is a schematic view of the overall structure of the second actuator;

FIG. 11 is a schematic diagram of the internal structure of the passivation apparatus;

FIG. 12 is a schematic view of a mating connection of a carrier of the tray assembly;

FIG. 13 is a front view of FIG. 12;

FIG. 14 is a schematic view of the overall structure of the tray assembly;

FIG. 15 is a schematic view of the overall structure of the tray seat;

FIG. 16 is a schematic view of the overall structure of the locking member;

FIG. 17 is a schematic view of the overall structure of the blade;

FIG. 18 is a schematic view of the blade in placement relationship with the first tray;

FIG. 19 isbase:Sub>A schematic view A-A of FIG. 14;

FIG. 20 is a flow chart of a passivation method of the present invention.

Description of reference numerals:

100-a frame; 110-a first tray; 120-a first camera; 130-a second camera; 140-a blade; 141-a first face; 142-a second face; 150-a blunted disc; 160-storage tank; 200-a first gripping device; 210-a first fixed part; 220-a first moving part; 230-a first actuator; 231-a connector; 231 a-connecting boss; 232-a clamping part; 232 a-first cylinder; 232 b-a jaw; 232 c-notch; 233-a placement section; 233 a-a second cylinder; 233 b-vacuum chuck; 300-a second gripping device; 310-a second actuator; 311-a sliding part; 400-a passivation device; 410-a base; 420-a limiting plate; 430-a movable plate; 431-active block; 432-a slide rail; 440-a drive mounting plate; 450-a first drive; 460-brush plate; 470-passivation station; 471-a table top; 480-a tray assembly; 481 — tray seat; 481a — first via; 481b — a second via; 482-a second drive; 483-slewing gear; 484-driven wheel; 485-positioning shaft; 487-locating columns; 488-a lock; 489-elastic member; 490-planet carrier; 500-wobble plate camera.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

[ first embodiment ] A

Referring to fig. 1, 2, 17 and 18, in one particular embodiment, the present invention provides an indexable insert 140 passivating apparatus, comprising: the automatic passivation device comprises a rack 100, wherein a first tray 110, a passivation tray 150 and a first clamping device 200 are arranged on the rack 100, a blade 140 is placed in the first tray 110, the blade 140 is provided with a first surface 141 and a second surface 142, and the first surface 141 is in contact with the first tray 110; the first clamping device 200, the first clamping device 200 is arranged on the frame 100, and at least part of the first clamping device 200 can rotate relative to the frame 100; the first gripper 200 is used to move the blade 140 from the first tray 110 to the passivation disc 150 and rotate the second surface 142 to contact the passivation disc 150.

First charging tray 110, passivation dish 150 and first clamp are got device 200 and are all located the upper surface of frame 100, be equipped with the storage tank 160 that can place blade 140 in the first charging tray 110, parallel and interval are equipped with the back shaft in the storage tank 160, two back shafts are a set of, place a slice blade 140 between two back shafts of every group, blade 140 is the cuboid, blade 140 that needs the passivation all places in storage tank 160, blade 140 slant this moment is put, the second face 142 and the back shaft contact of blade 140, guarantee the stability that blade 140 placed, leave the clearance between the first face 141 of blade 140 and the inner wall of storage tank 160, be convenient for getting of blade 140 and put.

The first clamping device 200 clamps the blades 140 placed in the storage tank 160 from top to bottom, and then moves the blades 140 to the position above the passivation disc 150 through rotation, and in the process of placing the blades into the passivation disc 150, the first surfaces 141 of the blades 140 need to be parallel to the upper surface of the rack 100, at this time, the first clamping device 200 can drive the blades 140 to rotate, so that the relative positions between the blades 140 and the passivation disc 150 are changed, and the blades 140 can be conveniently placed into the passivation disc 150.

The setting of first charging tray 110 lets the blade 140 of treating the passivation can place in frame 100 surface, and the first clamp of being convenient for gets the clamp of device 200 and gets, and the first clamp is got the setting that the device 200 can be shifted, can transport the blade 140 in the first charging tray 110 to the passivation dish 150, lets the blade 140 put into the passivation dish 150 through rotating afterwards, gets the blade 140 swift while also let and place blade 140 more swift getting blade 140, has increased the material loading efficiency of passivation equipment.

[ second embodiment ] A

Referring to fig. 3, in one specific embodiment, the first grasping apparatus 200 includes: the first fixing part 210, the first fixing part 210 is connected with the frame 100 in a matching way; one end of the first moving part 220 is connected to the first fixing part 210, the other end of the first moving part 220 is provided with a first actuator 230, and the first moving part 220 can move relative to the first fixing part 210 to change the position of the first actuator 230.

The first fixing portion 210 is located at the lower end of the first clamping device 200, the first fixing portion 210 is in a circular truncated cone shape and is fixedly connected with the upper surface of the rack 100, a first moving portion 220 is arranged on the upper surface of the circular truncated cone, the first moving portion 220 is a mechanical arm, one end of the mechanical arm is connected with the circular truncated cone, a rotating device is arranged at the other end of the mechanical arm, the rotating device and the first actuator 230 are arranged, the mechanical arm can rotate and bend, the position of the first actuator 230 is changed, and the rotating device can drive the first actuator 230 to rotate.

The rack 100 is provided with a first camera 120 on a side close to the first tray 110, and a second camera 130 on a side close to the passivation tray 150, the first camera 120 is used for detecting a specific position of the blade 140 to be passivated in the first tray 110, and the first moving portion 220 clamps the corresponding blade 140 according to the position information acquired by the first camera 120, and normally, the blades 140 are sequentially clamped according to a certain sequence, for example: the second camera 130 is used for acquiring information in the passivation disc 150, when the rest positions to be passivated in the passivation disc 150 are obtained, the first clamping device 200 is controlled to work, the blade 140 to be passivated is placed in the rest positions to be passivated, and in the process of clamping the blade 140 to be passivated, the first surface 141 rotates to a position matched with the passivation disc 150, so that the blade 140 can be conveniently placed in.

The first fixing portion 210 is disposed to stabilize the connection between the first clamping device 200 and the frame 100, and the first moving portion 220 is disposed to enable the first actuator 230 to move, so that the first actuator 230 can clamp the blade 140.

[ third embodiment ] A

Referring to fig. 4-7, in one particular embodiment, the first actuator 230 includes: a connecting member 231, the connecting member 231 being fixedly connected to the first moving part 220; the clamping part 232, the clamping part 232 is matched and connected with the connecting piece 231; the placing part 233, the placing part 233 is matched and connected with the connecting piece 231; the connecting member 231 can rotate relative to the first moving portion 220, and the first actuator 230 can be switched between the first position and the second position by rotating, when the clamping portion 232 is located at the first position, the clamping portion 232 is used for clamping the blade 140, and when the clamping portion 232 is located at the second position, the placing portion 233 places the blade 140 at the placing position.

The connecting piece 231 is L-shaped and is provided with a connecting boss 231a at the rear side, the connecting boss 231a is connected with the first moving portion 220 through a screw, the end portions of the L-shaped are respectively provided with an extending portion protruding towards the rear side direction, a through hole is formed in the extending portion, the clamping portion 232 and the extending portion are respectively connected with the extending portion, the connecting boss 231a is a circular truncated cone, and the first moving portion 220 can drive the connecting boss 231a to rotate so as to drive the clamping portion 232 and the placing portion 233 to synchronously rotate.

When the first actuator 230 is located above the first tray 110 and the clamping portion 232 is located at the first position, the clamping portion 232 can clamp the blade 140 to be blunted, after the blade 140 is completely clamped, the first actuator 230 moves to the position above the blunting plate 150, at this time, the connecting member 231 rotates the clamping portion 232 to the second position through rotation, after the blade 140 is placed in the blunting plate 150, the clamping portion 232 returns to the first position again, and the first moving portion 220 moves towards the first tray 110 to wait for the next clamping of the blade 140.

It should be noted that, when the clamping portion 232 is located at the first position, the placing portion 233 is located on the left side of the clamping portion 232, at this time, the clamping portion 232 is vertically arranged, the placing portion 233 is horizontally arranged, when the blade 140 needs to be placed in the passivation tray 150, the connecting member 231 rotates clockwise, in the process of rotation, an included angle between the clamping portion 232 and the placing portion 233 is always the same, after the rotation is finished, when the clamping portion 232 is located at the second position, the placing portion 233 is located at the first position, at this time, the clamping portion 232 is horizontally arranged, the placing portion 233 is vertically arranged, in the process of switching between the first position and the second position, the shortest distance between the clamping portion 232 and the placing portion 233 and the first tray 110 cannot be reduced, and it is ensured that the first actuator 230 cannot be damaged due to interference with the first tray 110 caused by the rotation.

Generally speaking, the connecting piece 231 makes clamping part 232 and placing part 233 rotate 90 simultaneously through rotating, will adjust to the vertical direction of face towards the first face 141 of horizontal direction, and it is more convenient when letting blade 140 put into blunting dish 150, can fix the angle that needs the pivoted at every turn simultaneously, and it is more convenient to make the pivoted execution.

The setting of clamping part 232 lets first executor 230 can the centre gripping place in the blade 140 of first charging tray 110, and the setting of connecting piece 231 lets clamping part 232 and placing part 233 rotate in step, lets the pivoted angle more accurate, and the setting of placing part 233 lets the blade 140 after finishing rotating can put into the passivation dish 150, has promoted the efficiency of placing of blade 140.

[ fourth example ] A

Referring to fig. 8, in one particular embodiment, the clamping portion 232 includes: a first cylinder 232a, the first cylinder 232a being connected with the connection member 231; clamping jaw 232b, clamping jaw 232b is connected with first cylinder 232a, and clamping jaw 232b is close to the one side of charging tray and is equipped with breach 232c, and first cylinder 232a drives clamping jaw 232b and removes, and clamping jaw 232 b's at least part can be through sliding and first face 141 contact.

The first cylinder 232a is connected with the extending part of the connecting piece 231, the driving rod of the first cylinder 232a penetrates through a through hole in the extending part, the tail end of the driving rod is connected with the clamping jaw 232b, the clamping jaw 232b has two pieces, the upper end of the clamping jaw 232b is provided with an adjusting device for controlling the distance between the two clamping jaws 232b, one side of the clamping jaw 232b, which is close to the first tray 110, is provided with a notch 232c, and the notch 232c is generally arc-shaped.

The adjusting device increases the distance between the two clamping jaws 232b, so that the distance between the clamping jaws 232b is larger than the thickness of the blade 140 when the first actuator 230 approaches the material tray, when the first actuator 230 descends to a designated height, the adjusting device reduces the distance between the clamping jaws 232b, the two clamping jaws 232b are all in contact with the blade 140 and exert pressure, after the clamping is confirmed, the driving rod ascends, and the clamping jaws 232b clamp the blade 140 and are separated from the first material tray 110.

The arrangement of the clamping jaw 232b enables the blade 140 to be pressed by the clamping jaw 232b at any time in the clamping process, the blade is not prone to falling off, the clamping stability of the clamping part 232 is improved, the arrangement of the first air cylinder 232a provides power for the lifting of the clamping jaw 232b, and the lifting of the clamping jaw 232b is achieved.

[ fifth embodiment ]

Referring to fig. 4 to 8, in a specific embodiment, the placing part 233 includes: a second cylinder 233a, the second cylinder 233a being connected to the connection member 231; the vacuum chuck 233b, the vacuum chuck 233b is connected to the second cylinder 233a, and the second cylinder 233a drives the vacuum chuck 233b to move toward the clamping jaw 232b and to pass through the notch 232c to contact the first surface 141.

The second cylinder 233a is connected to the extension part of the connector 231, the driving rod of the second cylinder 233a passes through the through hole of the extension part, the vacuum chuck 233b is connected to the driving rod and is disposed on the side of the placing part 233 close to the clamping part 232, when the clamping part 232 clamps the blade 140 and ascends to a specified height, the second cylinder 233a drives the vacuum chuck 233b to move in the direction of the blade 140 and to contact with the first surface 141 of the blade 140 through the notch 232c of the clamping jaw 232b, after the contact, pressure is continuously applied, and air in the chuck is pumped out, so as to achieve fixation between the vacuum chuck 233b and the blade 140, after the fixation, the adjusting device controls the distance between the two clamping jaws 232b, and simultaneously the first cylinder 232a continuously controls the clamping jaw 232b to ascend, so as to avoid the clamping jaw 232b from interfering with the vacuum chuck 233b, then the first moving part 220 moves the first actuator 230 to the upper side of the passivation tray 150, rotates the placing part 233 to the first position, the second cylinder 233a drives the vacuum chuck 233b to move in the direction of the passivation tray 150 until the blade 140 is placed in the passivation tray 150, and the vacuum chuck 233b is lifted, and the first cylinder 233b is released, and the work of the vacuum chuck 233b is completed.

The second cylinder 233a can drive the vacuum chuck 233b to move, the placing part 233b is arranged to control the blade 140 only by moving, the overall structure of the placing part 233 is simpler, the notch 232c is arranged to prevent the vacuum chuck 233b from contacting with the clamping jaw 232b in the moving process, the height of the vacuum chuck 233b, which is required to be raised by the first cylinder 232a when the blade 140 is fixed to the vacuum chuck 233b, and meanwhile, the vacuum chuck 233b can contact with the center position of the first surface 141, so that the first surface 141 of the blade 140 in the placing process is kept horizontal, and the blade is not inclined, and the dislocation generated when the blade 150 is placed is avoided.

[ sixth embodiment ]

Referring to fig. 1, 9 and 10, in a specific embodiment, the passivation apparatus further includes: a second gripper 300, the second gripper 300 being disposed on the frame 100, at least a part of the second gripper 300 being capable of rotating; the passivating device 400 is arranged on one side of the rack 100 close to the second clamping device 300; the second gripper 300 is provided with a second actuator 310, the second actuator 310 is used for moving the passivation disc 150 to the passivation device 400, the second actuator 310 is provided with a sliding part 311, and the sliding part 311 is used for gripping the passivation disc 150.

The second gripper 300 is provided with the same mechanical arm and fixed circular table as the first gripper 200, the mechanical arm of the second gripper 300 is provided with a second actuator 310, the second actuator 310 is used for gripping the passivation disc 150, the second actuator 310 is provided with a sliding part 311, the sliding part 311 controls the size of the passivation disc 150 which can be gripped by the second actuator 310 through sliding, before the second actuator 310 moves towards the passivation disc 150, the sliding part 311 protrudes outwards to the maximum distance, and after the second actuator 310 descends to a designated position, the sliding part 311 gradually shortens the protruding distance until the part of the sliding part 311 contacts with the passivation disc 150.

During the process of placing the blades 140 into the passivation disc 150 by the first clamping device 200, the second camera 130 monitors the number of the blades 140 in each passivation disc 150 in real time, and when no more blades 140 can be placed in one passivation disc 150, the second actuator 310 moves to the position above the passivation disc 150, and conveys the passivation disc 150 to the passivation device 400, so as to passivate the blades 140 on the passivation disc 150.

The second clamping device 300 and the passivation device 400 are arranged on the same side of the frame 100, so that the distance between the second clamping device 300 and the passivation device 400 is shortened, the second clamping device 300 can convey the passivation disc 150 to the passivation device 400 more conveniently, the sliding portion 311 is arranged to adjust the size of the passivation disc 150 which can be clamped by the second actuator 310, and the practicability of the second clamping device 300 is improved.

[ seventh example ]

Referring to fig. 1 and 11, in one particular embodiment, a passivation apparatus 400 includes: the passivation device comprises a base 410, wherein a passivation operating platform 470 is arranged on the upper surface of the base 410, and a passivation disc 150 is placed on the passivation operating platform 470; the limiting plate 420, the limiting plate 420 is connected with the base 410; the movable plate 430, the movable plate 430 can move relative to the base 410 and contact the limiting plate 420; the driving mounting plate 440, the driving mounting plate 440 is fixedly connected with the movable plate 430; a first driving device 450, the first driving device 450 being provided to the driving mounting plate 440, and a brush plate 460 being provided below the first driving device 450.

The passivating device 400 is arranged in parallel with the rack 100 at intervals, the distance between the passivating device 400 and the rack 100 is smaller than the maximum distance that the second clamping device 300 can move, a swing plate camera 500 is arranged above a passivating operation table 470, the swing plate camera 500 is connected with a shell of the passivating device 400, a gap is formed between the lower surface of the passivating operation table 470 and a base 410, so that the passivating operation table 470 can integrally rotate, a limiting plate 420 is vertically arranged and located on the right side of the base 410, an arc-shaped recess is arranged in the center of the limiting plate 420, the movable plate 430 is located above the limiting plate 420, a movable block 431 and a sliding rail 432 are arranged on the side surface of the movable plate 430, the movable block 431 is connected with the movable plate 430 in a matched mode, the movable block 431 moves on the sliding rail and drives the movable plate 430 to move up and down relative to the base 410, when the movable plate 430 is in contact with the limiting plate 420, the movable plate 430 is located at the lowest position, a driving mounting plate 440 is arranged on the left side surface of the movable plate 430, a first driving mounting plate 450 is arranged on the driving mounting plate 440, a first driving device 450, the driving device is usually a motor, an output shaft of the motor, the motor passes through the driving brush plate 440 downwards, and the brush plate 460 can rotate under the driving of the motor.

Discernment through pendulum disk camera 500, when having placed passivation dish 150 on passivation operation panel 470, according to the passivation parameter that sets for before processing, control fly leaf 430 descends, lets brush dish 460 descend to setting for the height, begins passivation work, and after passivation work is accomplished, the second is got device 300 and is carried passivation dish 150 to frame 100 surface, and the first clamp is got the device 200 and is got the blade 140 of passivation afterwards and get to place in the position of depositing blade 140.

Preferably, a second tray, identical to the first tray 110, is provided on the rack 100 for placing the passivated blades 140.

The setting of brush dish 460 lets blade 140 on passivation operation panel 470 can carry out the passivation operation, and the setting of fly leaf 430 lets the position of brush dish 460 can reciprocate, and the setting of limiting plate 420 has let the lowest position of fly leaf 430 obtain the restriction, avoids brush dish 460 height to hang down and takes place the contact with passivation dish 150, and setting up of drive mounting panel 440 lets first drive arrangement 450 can be located brush dish 460 directly over, and it is more convenient to let the drive of brush dish 460.

[ eighth embodiment ] A

Referring to fig. 12-16 and 19, in one particular embodiment, the passivation station 470 includes: a table 471, wherein the table 471 is provided with a tray component 480; a rotation gear 483, wherein the rotation gear 483 is arranged inside the passivation operating table 470 and is connected with the tray assembly 480; the planet carrier 490, the planet carrier 490 is connected with rotary gear 483, there are multiple shaft holes on the planet carrier 490; a second driving part 482, the second driving part 482 is connected with a rotary gear 483, a tray seat 481, the tray seat 481 is connected with a planet carrier 490 and is arranged above the planet carrier 490, a first through hole 481a is arranged at the center of the tray seat 481, and the passivation disc 150 is placed on the tray seat 481; the positioning shaft 485, the positioning shaft 485 passes through the shaft hole and the first through hole 481a, and the tray seat 481 is fixed; the driven wheel 484, the driven wheel 484 is sleeved on the positioning shaft 485 and is meshed with the rotary gear 483; the side of the tray seat 481 is provided with a second through hole 481b, the second through hole 481b is communicated with the first through hole 481a, the first through hole 481a is provided with a locking member 488, and one side of the locking member 488 close to the first through hole 481a is provided with an elastic member 489.

The upper side of the tray assembly 480 is used for placing the passivation disc 150, the planet carrier 490 is arranged inside the passivation operating platform 470 and is located above the base 410, the rotary gear 483 is arranged between the base 410 and the planet carrier 490, six shaft holes with the same size are formed in the outer edge of the planet carrier 490 in a surrounding mode, the distance between any two adjacent shaft holes is the same, the middle of the planet carrier 490 is connected with the center of the rotary gear 483, the second driving part 482 is connected with the lower side of the rotary gear 483 and comprises a steering gear fixedly connected with the lower surface of the base 410 and a second motor connected with the steering gear, the steering gear converts the power output by the second motor into power for rotating the rotary gear 483, the second motor drives the rotary gear 483 to rotate conveniently, the center of the tray seat 481 is provided with a first through hole 481a, the first through hole 481a has a guiding function, the upper surface of the tray seat 481 is further provided with three positioning columns 487 which are uniformly distributed in the circumferential direction, the positioning columns 487 can enable the passivation disc 150 to be more stably connected with the tray seat 481, the upper surface of the passivation disc 150 is provided with three camera head recognition points, the circumferential direction column and the circumferential direction holes are uniformly distributed on the lower surface of the tray seat 481, and the circumferential direction of the passivation disc 481, and the circumferential direction of the tray seat 481, and the circumferential direction of the passivation disc are matched with the tray 481, and the circumferential direction of the tray 481, and the tray, and the circumferential direction of the tray are used for realizing the circumferential direction of the passivation disc.

The side of the tray seat 481 is provided with two second through holes 481b, the two second through holes 481b are arranged opposite to each other with respect to the center of the tray seat 481, one of the second through holes 481b is provided with a locking piece 488, the locking piece 488 is usually a wave ball screw, the wave ball screw is arranged in the second through hole 481b, the front end of the wave ball screw enters the inside of the first through hole 481a, when the positioning shaft 485 passes through the first through hole 481a, the wave ball screw can quickly lock the blunting disk 150, and the axial fixation of the blunting disk 150 is realized.

Each driven wheel 484 is arranged below the positioning shaft 485, and when the second motor drives the rotary gear 483 to rotate, six driven wheels 484 can rotate simultaneously.

It should be noted that, the position on the frame 100 where the passivation disc 150 can be placed is at least one more than the number of the shaft holes, so as to ensure that when the passivation device 400 is fully placed with the passivation disc 150, the passivation disc 150 is still placed on the frame 100 to further improve the working efficiency.

Passivation work is when going on in the setting that passivation dish 150 and planet carrier 490 can separate, and blade 140 is put and passivation work can go on simultaneously, has shortened supplementary operating time, and the axial fixity of passivation dish 150 has been realized to the setting of locking piece 488, and elastomeric element 489's setting makes getting of passivation dish 150 to put more convenient.

[ ninth example ] A

Referring to fig. 20, in one particular embodiment, the invention also provides a method of passivating a blade, the method comprising:

s100, obtaining image information of a first material tray to obtain a first image result, controlling a first clamping device to move towards the first material tray according to the first image result, and clamping a blade;

s200, acquiring image information of the passivation disc to obtain a second image result, and judging whether to control the first clamping device to place the blade into the passivation disc or not according to the second image result;

s300, detecting the number of blades on the passivation disc to obtain a first number result;

s400, detecting the number of the passivation discs in the passivation device to obtain a second number result;

s500, controlling the first clamping device to operate according to the first quantity result and the second quantity result.

Further, in step S100, by acquiring an image of the first tray, a specific position of the blade to be gripped by the first gripping device is obtained, and then the first gripping device is controlled to move.

It should be noted that the step is only to clamp the blade, and the first clamping device only applies pressure to the blade and does not separate the blade from the first tray.

Further, in step S200, it is determined whether there is a blade to be placed in the passivation disk according to the image on the passivation disk, when necessary, the first clamping device clamps the blade to ascend, then rotates to a position above the corresponding passivation disk in the second image result, and places the blade in the passivation disk, and if not, the first clamping device maintains the previous state.

Further, in step S300, the first quantity result is the number of blades placed on one passivation disc, and the number of blades that can be placed on each passivation disc is limited, and when the number of blades placed on each passivation disc is the same as the upper limit of the number of blades placed on each passivation disc, it means that the passivation disc cannot be placed on any blades.

Further, in step S400, the second quantity result is the number of passivation discs in the passivation device, and when the blade on the passivation disc is fully placed, the blade needs to be passivated, and at this time, the second clamping device operates according to the second quantity result.

Further, in step S50, if the second quantity result is smaller than the maximum number of passivation disks that the passivation apparatus can place, the transport blade places the completed passivation disks, and if the second quantity result is equal to the maximum number of passivation disks that the passivation apparatus can place, the second gripping device waits until the passivation disks in the passivation apparatus are gripped.

The first clamp is got the device and is let the blade in the passivation dish place fast, and the second is got the cooperation of device and passivation device, lets the passivation device can have continuous passivation dish to carry out passivation work, has promoted work efficiency, and first image result lets the position of placing of blade more accurate, and the second image result lets the opportunity of placing of passivation dish more accurate.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. An indexable insert passivating apparatus, wherein the passivating apparatus comprises:

the automatic passivation device comprises a rack (100), wherein a first tray (110), a passivation tray (150) and a first clamping device (200) are arranged on the rack (100), a blade (140) is placed in the first tray (110), the blade (140) is provided with a first surface (141) and a second surface (142), and the second surface (142) is in contact with the first tray (110);

a first clamping device (200), wherein the first clamping device (200) is arranged on the frame (100), and at least part of the first clamping device (200) can rotate relative to the frame (100);

wherein the first gripping device (200) is configured to move the blade (140) from the first tray (110) to the passivating disc (150) and to bring the second face (142) into contact with the passivating disc (150) by rotation.

2. Passivation apparatus according to claim 1, characterized in that the first gripper device (200) comprises:

the first fixing part (210), the first fixing part (210) is connected with the rack (100) in a matching way;

the first moving part (220), one end of the first moving part (220) is connected with the first fixing part (210), the other end of the first moving part (220) is provided with a first actuator (230), and the first moving part (220) can move relative to the first fixing part (210) to change the position of the first actuator (230).

3. A passivation apparatus according to claim 2, characterized in that the first actuator (230) comprises:

a connecting piece (231), wherein the connecting piece (231) is fixedly connected with the first moving part (220);

the clamping part (232), the clamping part (232) is matched and connected with the connecting piece (231);

the placing part (233), the placing part (233) is matched and connected with the connecting piece (231);

wherein the connecting member (231) is rotatable relative to the first moving portion (220), the first actuator (230) is switched between a first position and a second position by the rotation, when the clamping portion (232) is located at the first position, the clamping portion (232) is used for clamping the blade (140), and when the clamping portion (232) is located at the second position, the placing portion (233) places the blade (140) at the placing position.

4. A passivating apparatus according to claim 3, wherein the clamping portion (232) comprises:

a first cylinder (232 a), the first cylinder (232 a) being connected with the connecting member (231);

clamping jaw (232 b), clamping jaw (232 b) with first cylinder (232 a) is connected, clamping jaw (232 b) are close to one side of charging tray is equipped with breach (232 c), first cylinder (232 a) drive clamping jaw (232 b) remove, at least part of clamping jaw (232 b) can through slide with first face (141) contact.

5. Passivation device according to claim 4, characterized in that the placement section (233) comprises:

a second cylinder (233 a), the second cylinder (233 a) being connected to the connection member (231);

the vacuum chuck (233 b), the vacuum chuck (233 b) with the second cylinder (233 a) is connected, the second cylinder (233 a) drives the vacuum chuck (233 b) to the clamping jaw (232 b) direction and move, and pass through the notch (232 c) with the first face (141) contact.

6. Passivation device according to any one of claims 1 to 5, characterized in that it further comprises:

a second gripping device (300), wherein the second gripping device (300) is arranged on the frame (100), and at least part of the second gripping device (300) can rotate;

the passivation device (400) is arranged on one side, close to the second clamping device (300), of the rack (100);

the second clamping device (300) is provided with a second actuator (310), the second actuator (310) is used for moving the passivation disc (150) to the passivation device (400), the second actuator (310) is provided with a sliding part (311), and the sliding part (311) is used for clamping the passivation disc (150).

7. Passivation device according to claim 6, characterized in that the passivation means (400) comprise:

the passivation device comprises a base (410), wherein a passivation operating platform (470) is arranged on the upper surface of the base (410), and the passivation operating platform (470) is provided with a passivation disc (150);

a limiting plate (420), wherein the limiting plate (420) is connected with the base (410);

a movable plate (430), wherein the movable plate (430) can move relative to the base (410) and is in contact with the limit plate (420);

the driving mounting plate (440), the driving mounting plate (440) is fixedly connected with the movable plate (430);

the first driving device (450), the first driving device (450) is arranged on the driving mounting plate (440), and a brush plate (460) is arranged below the first driving device (450).

8. Passivation device according to claim 7, characterized in that the passivation station (470) comprises:

the table top (471) is provided with a tray component (480);

a rotating gear (483), the rotating gear (483) being provided inside the passivation station (470) and connected to the tray assembly (480);

the planet carrier (490), the said planet carrier (490) is connected with said slewing gear (483), there are multiple shaft holes on the said planet carrier (490);

a second drive section (482), the second drive section (482) being connected to the slewing gear (483).

9. Passivation device according to claim 8, characterized in that the tray assembly (480) comprises:

the tray seat (481) is connected with the planet carrier (490) and arranged above the planet carrier (490), a first through hole (481 a) is formed in the center of the tray seat (481), and the passivation disc (150) is placed on the tray seat (481);

a positioning shaft (485), wherein the positioning shaft (485) passes through the shaft hole and the first through hole (481 a) and fixes the tray seat (481);

the driven wheel (484), the said driven wheel (484) is set up in the said locating shaft (485) and engages with said slewing gear (483);

the side surface of the tray seat (481) is provided with a second through hole (481 b), the second through hole (481 b) is communicated with the first through hole (481 a), a locking piece (488) is arranged in the first through hole (481 a), and one side, close to the first through hole (481 a), of the locking piece (488) is provided with an elastic component (489).

10. A method of passivating a blade using the passivating apparatus of any of claims 6 to 9, the method comprising:

acquiring image information of a first material tray to obtain a first image result, controlling the first clamping device to move towards the first material tray according to the first image result, and clamping the blade;

acquiring image information of a passivation disc, acquiring a second image result, and judging whether to control the first clamping device to place the blade into the passivation disc or not according to the second image result;

detecting the number of the blades on the passivation disc to obtain a first number result;

detecting the number of the passivation discs in the passivation device to obtain a second number result;

and controlling the operation of the first clamping device according to the first quantity result and the second quantity result.

Images