CN113182617B - Automatic handling system of spiral bevel gear grinding machining robot - Google Patents
Automatic handling system of spiral bevel gear grinding machining robot Download PDFInfo
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- CN113182617B CN113182617B CN202110518034.XA CN202110518034A CN113182617B CN 113182617 B CN113182617 B CN 113182617B CN 202110518034 A CN202110518034 A CN 202110518034A CN 113182617 B CN113182617 B CN 113182617B
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- 238000003754 machining Methods 0.000 title description 11
- 238000012545 processing Methods 0.000 claims abstract description 9
- 238000004140 cleaning Methods 0.000 claims description 25
- 230000003139 buffering effect Effects 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 15
- 230000036544 posture Effects 0.000 claims description 8
- 238000007599 discharging Methods 0.000 claims description 7
- 238000011144 upstream manufacturing Methods 0.000 claims description 7
- 238000003860 storage Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 206010006514 bruxism Diseases 0.000 abstract description 5
- 238000007667 floating Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 10
- 210000000078 claw Anatomy 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F23/00—Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F23/00—Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
- B23F23/02—Loading, unloading or chucking arrangements for workpieces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F23/00—Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
- B23F23/02—Loading, unloading or chucking arrangements for workpieces
- B23F23/04—Loading or unloading arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F9/00—Making gears having teeth curved in their longitudinal direction
- B23F9/02—Making gears having teeth curved in their longitudinal direction by grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gear Processing (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
Automatic handling system of spiral bevel gear grinding processing robot, robot snatch the work piece from work piece buffer memory device, carry out first fine positioning, then carry out the grinding, carry out the second fine positioning after the grinding is accomplished, throw away oil again, throw away oil and accomplish the back and carry out the third fine positioning, wash again, wash and carry out the fourth fine positioning after accomplishing, last by robot centre gripping work piece to unloading tray. Automatic feeding of the bevel gear grinding teeth is achieved through the PLC, and unmanned operation can be achieved. Through a set of robot clamping jaw, satisfy four kinds of different demands of snatching the gesture, the frock commonality is high, can compatible all spiral bevel gear production, reduces and trades the time of producing. The tooling for the new product has low cost, and is suitable for the production characteristics of various passenger axles, small batch and frequent production replacement to a great extent.
Description
Technical Field
The invention belongs to the technical field of automatic processing of passenger car parts, and particularly relates to an automatic conveying system of a spiral bevel gear grinding processing robot.
Background
With the vigorous development of the processing and production technology of passenger cars in China, the processing and manufacturing technology of the spiral bevel gear of the main speed reducer of the passenger car drive axle is also continuously perfected and improved. At present, robot automated handling is started to be applied in the processing and manufacturing industry of the main speed reducer spiral bevel gear of the passenger car drive axle in China, so that the automation level and the quality of processed products are improved; however, the gear grinding and feeding automatic device matched with the gear grinding and feeding automatic device for the spiral bevel driving gear cannot keep pace with the development, mainly because the radial gap between the gear grinding tool and the workpiece is +/-0.025 mm, the gap is small, and automatic feeding and discharging are not easy to realize. The low degree of automation causes the human cost to be high, and the big product machining precision that causes of manual operation error is low.
At present, the spiral bevel gear feeding mode used in the grinding tooth processing procedure of the spiral bevel driving gear of the main speed reducer of the passenger car driving axle mainly comprises the following two modes: firstly, manually and directly carrying a spiral bevel gear to be placed on a tool of a spiral bevel gear grinding machine, starting a machine tool to start machining, manually carrying a workpiece to be placed on an oil slinger to sling oil after machining, and manually carrying the workpiece to a cleaning machine to clean; secondly, manually-operated KBK lifting spiral bevel gears are placed on a tool of a spiral bevel gear grinding machine, a machine tool is started to start machining, after machining, manually-operated KBK lifting workpieces are placed on an oil slinger to sling oil, and then manually-operated KBK is carried to a cleaning machine to be cleaned.
However, the two feeding modes have the defects: the first type is purely manual operation, no equipment cost exists, manual carrying operation is needed, the process steps are more, the labor intensity is high, the personnel input cost is high, the product positioning precision is low due to the inconsistency of the manual operation, and products are easy to collide in the carrying process.
The second type is that the KBK hoisting equipment is added to replace manual carrying, but only the labor intensity is reduced, the KBK is also required to be operated by special personnel, the working procedures are more, the personnel input cost is high, the product positioning precision is low due to the inconsistency of the manual operation, and the product is easy to collide in the carrying process.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an automatic system for grinding teeth of a bevel gear. The spiral bevel gear grinding tool can meet the requirements of clearance feeding of +/-0.025 mm, simultaneously takes the oil throwing and cleaning procedures into account, and simultaneously, the compatible clamping jaw design can meet the similar shaft tooth production with the length of the spiral bevel gear less than or equal to 350mm, the diameter of the spiral bevel gear less than or equal to 230mm and the weight of less than or equal to 25 Kg. The automatic grinding machine has the advantages of realizing unmanned production in batches, reducing labor intensity, saving labor cost, and determining the high precision and batch processing consistency of gear grinding products due to the high positioning precision in the system.
In order to solve the technical problems, the invention adopts the following technical scheme:
An automatic carrying system of a spiral bevel gear grinding machining robot is characterized in that the robot grabs a workpiece from a workpiece buffer device, clamps and conveys the workpiece to a workpiece fine positioning device for first fine positioning, the robot clamps the workpiece and conveys the workpiece to a gear grinding machine for grinding teeth after the first fine positioning is finished, second fine positioning is carried out after the gear grinding is finished, the robot clamps the workpiece to enter an oil slinger for oil slinging, third fine positioning is carried out after the oil slinging is finished, the robot clamps the workpiece to enter a cleaning machine for cleaning after the third fine positioning is finished, fourth fine positioning is carried out after the cleaning is finished, and the robot clamps the workpiece to a blanking tray after the fourth fine positioning is finished; the second fine positioning, the third fine positioning and the fourth fine positioning are all carried to the workpiece fine positioning device by the robot clamping workpiece.
The robot snatchs the work piece with the A gesture from work piece buffering slip table, and the robot snatchs centre gripping work piece with the B gesture to the gear grinding machine after the first fine positioning is accomplished, and the robot snatchs centre gripping work piece with the C gesture after the second fine positioning gets into the oil slinger, and the robot snatchs centre gripping work piece with the D gesture after the third fine positioning gets into the cleaning machine, and after the fourth fine positioning, the robot snatchs centre gripping work piece with the A gesture to the unloading tray.
The A gesture is that the workpiece is horizontally placed, and the robot workpiece clamping mechanism radially grabs the bearing diameter of the middle part of the workpiece along the workpiece; the gesture B is that the workpiece is vertically placed, and the robot workpiece clamping mechanism grabs the bearing diameter at the top of the workpiece along the axis of the workpiece; c, the gesture is that the workpiece is vertically placed, and the robot workpiece clamping mechanism radially grabs the bearing diameter of the middle part of the workpiece along the workpiece; the D gesture is that the work piece is vertically placed, and robot work piece fixture radially snatchs work piece top bearing footpath along the work piece.
The robot comprises a robot arm and a workpiece clamping mechanism, and a shaft compensation module is connected between the robot arm and the workpiece clamping mechanism.
The axis compensation module comprises an XY axis compensation module and a Z axis compensation module, the XY axis compensation module is fixedly connected to the flange plate of the robot arm, the XY axis compensation module is fixedly connected with the Z axis compensation module, and the Z axis compensation module is fixedly connected with the workpiece clamping mechanism.
The workpiece clamping mechanism comprises pneumatic clamping jaws which are arranged in pairs, workpiece clamping fingers are arranged on the inner surfaces of the pneumatic clamping jaws, displacement sensors are further arranged on the outer surfaces of the pneumatic clamping jaws, and the displacement sensors are connected with the PLC.
The accuracy of the displacement sensor is 0.01mm.
The fine positioning device comprises a fine positioning workbench, a positioning sleeve is arranged at the center of the fine positioning workbench, air pawls are arranged on two sides of the positioning sleeve, fine positioning sensors are mounted on the sides of the air pawls through connecting plates, and the fine positioning sensors are connected with a PLC controller which controls the air pawls to stretch out and draw back.
The positioning sleeve temporary storage position is further arranged below the fine positioning workbench, the positioning sleeve sensor is arranged in front of the positioning sleeve temporary storage position, and the positioning sleeve sensor is connected with the PLC.
The workpiece buffering device comprises a workpiece buffering sliding table, wherein an upstream material table sensor and a downstream material table sensor are respectively arranged at the two ends of the upstream and downstream of the workpiece buffering sliding table, a six-station buffering table is further arranged on the workpiece buffering sliding table, correlation sensors are uniformly distributed at the two sides of each station on the six-station buffering table, and the material table sensors and the correlation sensors are connected with a PLC.
The beneficial effects of the invention are as follows:
1. according to the automatic feeding device, automatic feeding of the spiral bevel gear grinding is achieved through the PLC, unmanned operation can be achieved, and 2 operators are saved.
2. According to the invention, the requirements of four different grabbing postures are met through one set of robot clamping jaw, the tool universality is high, the production of all spiral bevel gears can be compatible, and the production time is reduced. The tooling for the new product has low cost, and is suitable for the production characteristics of various passenger axles, small batch and frequent production replacement to a great extent.
3. According to the invention, the robot clamping mechanism is used for grabbing and feeding, the workpiece is clamped to the fine positioning workbench to realize the pre-positioning, then the shaft compensation module is combined with the soft floating function of the six-axis robot to jointly realize displacement floating in three directions of XYZ, so that the single-side 0.025mm gap requirement of a gear grinding machine tool and a spiral bevel gear can be met, the automatic feeding precision of the robot to the gear grinding machine is ensured, and the feeding consistency of the spiral bevel gear is ensured.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the fine positioning device of the present invention.
Fig. 3 is a partial enlarged view of fig. 2 at a.
Fig. 4 is a schematic structural diagram of a workpiece buffer sliding table according to the present invention.
Fig. 5 is a schematic view of a posture of the robot gripping mechanism of the present invention gripping a workpiece.
Fig. 6 is a schematic view of the placement of a workpiece on a V-bracket according to the present invention.
Fig. 7 is a schematic view of the B-pose of the robot gripping mechanism of the present invention gripping a workpiece.
Fig. 8 is a schematic view of the clamping of a workpiece on a tooth grinding tool according to the present invention.
Fig. 9 is a schematic view of the C-pose of the robot gripping mechanism of the present invention gripping a workpiece.
Fig. 10 is a schematic view of the clamping of a workpiece on an oil slinger according to the present invention.
Fig. 11 is a schematic view of the D-pose of the robot gripping mechanism of the present invention gripping a workpiece.
FIG. 12 is a schematic view of the clamping of a workpiece on a cleaning tool according to the present invention.
Fig. 13 is a schematic structural view of a robot jaw according to the present invention.
In the figure: the device comprises a 1-workpiece clamping mechanism, a 2-workpiece buffering sliding table, a 3-fine positioning workbench, a 4-gear grinding machine, a 5-oil slinger, a 6-cleaning machine, a 7-blanking tray, 8-workpiece clamping fingers, 9-pneumatic clamping jaws, a 10-axis compensation module, an 11-displacement sensor, a 12-V-shaped bracket, a 13-gear grinding tool, a 14-oil slinging tool, a 15-cleaning tool, a 16-positioning sleeve, a 17-air claw, a 18-fine positioning sensor, a 19-correlation sensor, a 20-air blowing copper pipe, a 21-positioning sleeve sensor, a 23-six-station buffering table, a 24-workpiece, a 25-upstream material table sensor and a 26-downstream material table sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
1-4, An automatic conveying system of a spiral bevel gear grinding machining robot comprises a robot, a workpiece buffer device, a fine positioning device, a PLC (programmable logic controller) (not shown in the figure), a gear grinding machine 4, an oil throwing machine 5 and a cleaning machine 6, wherein the robot is connected with the PLC, and is used for grabbing a workpiece 24 from the workpiece buffer device, clamping and conveying the workpiece to the workpiece fine positioning device for first fine positioning, conveying the workpiece clamped by the robot to the gear grinding machine 4 for grinding teeth after the first fine positioning is finished, carrying out second fine positioning after the gear grinding is finished, enabling the workpiece clamped by the robot to enter the oil throwing machine 5 for throwing oil after the second fine positioning is finished, carrying out third fine positioning after the oil throwing is finished, enabling the workpiece clamped by the robot to enter the cleaning machine 6 for cleaning after the third fine positioning is finished, carrying out fourth fine positioning, and clamping the workpiece to a blanking tray 7 after the fourth fine positioning is finished; the second fine positioning, the third fine positioning and the fourth fine positioning are all carried to the workpiece fine positioning device by the robot clamping workpiece.
The robot grabs the workpiece from the workpiece buffer device in an A gesture, clamps the workpiece to the fine positioning device to perform first fine positioning, and as shown in fig. 5 and 6, the A gesture is that the workpiece is horizontally placed, and the robot workpiece clamping mechanism grabs the bearing diameter of the middle part of the workpiece along the radial direction of the workpiece; after the first fine positioning is finished, the robot grabs and clamps the workpiece to a gear grinding machine for gear grinding in a B gesture, after the gear grinding is finished, the robot grabs and clamps the workpiece to a fine positioning device in a B gesture for second fine positioning, as shown in fig. 7 and 8, the B gesture is that the workpiece is vertically placed, and a workpiece clamping mechanism of the robot grabs the bearing diameter at the top of the workpiece along the axis of the workpiece; after the second fine positioning, the robot grabs and clamps the workpiece in a C-shaped posture, and enters an oil slinger for oil slinging, after the oil slinging is completed, the robot grabs and clamps the workpiece in the C-shaped posture to a fine positioning device for third fine positioning, as shown in fig. 9 and 10, the C-shaped posture is that the workpiece is vertically placed, and a workpiece clamping mechanism of the robot grabs the bearing diameter of the middle part of the workpiece along the radial direction of the workpiece; after the third fine positioning, the robot grabs and clamps the workpiece in a D gesture, and enters a cleaning machine for cleaning, after the cleaning is finished, the robot grabs and clamps the workpiece in the D gesture to a fine positioning device for fourth fine positioning, as shown in fig. 11 and 12, the D gesture is that the workpiece is vertically placed, and a workpiece clamping mechanism of the robot grabs the top bearing diameter of the workpiece along the radial direction of the workpiece; after the fourth fine positioning, the robot grabs the workpiece in the A gesture to clamp the workpiece to the blanking tray.
The robot comprises a robot arm and a workpiece clamping mechanism 1, and an axis compensation module 10 is connected between the robot arm and the workpiece clamping mechanism 1. The shaft compensation module 10 is a mature technology in the prior art, and comprises an XY shaft compensation module and a Z shaft compensation module, wherein the XY shaft compensation module is fixedly connected to a flange plate of a robot arm through bolts, the XY shaft compensation module is fixedly connected with the Z shaft compensation module, and the Z shaft compensation module is fixedly connected with the workpiece clamping mechanism 1 through bolts. The XY axis compensation module adopts ZIMMER AR160P; the Z-axis compensation module employs ZIMMER XYR1160. The XY axis compensation module can adjust the micro-floating of the robot workpiece clamping mechanism on the X, Y axis, and the Z axis compensation module can adjust the micro-floating of the robot workpiece clamping mechanism on the Z axis, so that the robot workpiece clamping mechanism can be compatible with the grabbing of all series of spiral bevel gears.
As shown in fig. 13, the workpiece clamping mechanism comprises pneumatic clamping jaws 9 arranged in pairs, workpiece clamping fingers 8 are arranged on the inner surfaces of the pneumatic clamping jaws, displacement sensors 11 are further arranged on the outer surfaces of the pneumatic clamping jaws, the accuracy of the displacement sensors is 0.01mm, and the displacement sensors are connected with a PLC (programmable logic controller) through data lines. The displacement sensor 11 detects the spacing between the workpiece holding fingers and can determine whether the pneumatic clamping jaw is effectively clamped.
The workpiece clamping fingers 8 have two clamping positions, so that the workpiece can be clamped vertically and axially according to the grabbing gesture A, C, D, and the workpiece can be clamped according to the grabbing gesture B. The two clamping positions of the workpiece clamping finger 8 comprise a horizontal V-shaped block and a vertical V-shaped block, and the horizontal V-shaped block is used for axially grabbing the workpiece along the vertical workpiece and feeding and discharging a buffer table, an oil slinger, a cleaning machine, a fine positioning station and a discharging tray; the V-shaped block in the vertical direction is used for axially grabbing the workpiece along the parallel workpiece and feeding and discharging the gear grinding machine and the fine positioning station. The workpiece clamping fingers 8 are bionic soft micro blocks and are used for directly clamping gear workpieces and preventing scratches from colliding with gears.
The fine positioning device comprises a fine positioning workbench 3, a positioning sleeve 16 is arranged at the center of the fine positioning workbench, air claws 17 are arranged on two sides of the positioning sleeve 16, a fine positioning sensor 18 for detecting whether a workpiece exists or not is arranged on the side edge of each air claw 17 through a connecting plate, the fine positioning sensor 18 is connected with a PLC controller, and the PLC controller controls the air claws 17 to stretch and retract. The positioning sleeve temporary storage position is arranged below the fine positioning workbench, the positioning sleeve sensor 21 is arranged in front of the positioning sleeve temporary storage position, and the positioning sleeve sensor 21 is connected with the PLC.
The positioning sleeve 16 of the precise positioning device limits the axial movement of the workpiece, the double-V-shaped gas claw 17 can align the radial center of the workpiece, the positioning principle is that the double-V-shaped gas claw clamps the outer circle of the workpiece so as to realize radial positioning, the workpiece falls on the positioning sleeve by self weight to realize axial positioning, and the precise positioning sensor 18 for detecting whether the workpiece exists or not is also arranged.
The workpiece caching device comprises a workpiece caching sliding table 2, wherein two ends of the workpiece caching sliding table 2 are respectively provided with an upstream material table sensor 25 and a downstream material table sensor 26, a six-station caching table 23 is arranged on the workpiece caching sliding table, 6 groups of correlation sensors 19 are arranged on two sides of the six-station caching table 23, and the material table sensors and the correlation sensors are connected with a PLC. The workpiece buffer sliding table 2 can be used as a transfer material table to be connected with a front working procedure robot and a rear working procedure robot, is provided with a servo motor driving linear electric cylinder module, an upstream material table sensor 25, a downstream material table sensor 26 for detecting a sliding table in-place signal, and 6 groups of correlation sensors are arranged on two sides of the six-station buffer table 23 for detecting whether a workpiece exists or not.
The working process comprises the following steps: the work piece 24 is placed on the V-shaped support 12 of the 6-station work piece buffering sliding table 2 by the preamble robot, the work station sensor 19 senses that a work station is provided with materials, signals are transmitted to the PLC, the PLC controls the robot to move, the work piece 24 is grabbed from the work piece buffering sliding table 2 by the work piece clamping mechanism 1 of the robot according to the posture A, the work piece is placed on the positioning sleeve 16 of the fine positioning device 3, the work piece is sensed by the fine positioning sensor 18, the signals are transmitted to the PLC, the PLC controls the air claw 17 to clamp the work piece, the center of the work piece is re-fixed, and the preamble conveying error is eliminated. The workpiece clamping mechanism 1 grabs the workpiece according to the gesture B, and the workpiece is placed in a gear grinding tool 13 of the gear grinding machine 4 for gear grinding machining, and in the process, the axis compensation module 10 is opened, so that smooth feeding of the gear grinding machine is ensured. After gear grinding machining, the workpiece clamping mechanism 1 grabs a workpiece according to the gesture B, the workpiece is transported from the gear grinding machine 4 to the positioning sleeve 16 of the fine positioning device 3 for fine positioning, the workpiece clamping mechanism 1 grabs the workpiece according to the gesture C for feeding the oil slinger 5, and the workpiece is placed on the oil slinger 14, clamped and slinged. After oil slinging, the workpiece clamping mechanism 1 grabs a workpiece according to the C gesture to feed the oil slinger 5, and the workpiece is placed on the positioning sleeve 16 of the fine positioning device 3 for fine positioning. The workpiece clamping mechanism 1 grabs the workpiece according to the D gesture to feed the cleaning machine 6, and the workpiece clamping mechanism is placed on the cleaning tool 15 to clean the workpiece. After cleaning, the workpiece clamping mechanism 1 grabs the workpiece according to the D gesture to feed the cleaning machine 6, the workpiece is placed on the positioning sleeve 16 of the fine positioning device 3 for fine positioning, and finally the workpiece clamping mechanism 1 grabs the workpiece according to the A gesture and places the workpiece on the V-shaped support 12 of the feeding tray 7.
The A gesture is that the workpiece is horizontally placed, and the robot workpiece clamping mechanism radially grabs the bearing diameter of the middle part of the workpiece along the workpiece; the gesture B is that the workpiece is vertically placed, and the robot workpiece clamping mechanism grabs the bearing diameter at the top of the workpiece along the axis of the workpiece; c, the gesture is that the workpiece is vertically placed, and the robot workpiece clamping mechanism radially grabs the bearing diameter of the middle part of the workpiece along the workpiece; the D gesture is that the work piece is vertically placed, and robot work piece fixture radially snatchs work piece top bearing footpath along the work piece.
The clearance between the gear grinding tool 13 and the workpiece 24 is only 0.025mm, the repeated positioning error of the robot is 0.2mm, and the feeding precision of the robot cannot meet the requirement of the gear grinding machine 4. Therefore, firstly, 1 set of fine positioning workbench is added before the gear grinding process, and the aim is to offset the positioning error caused by the clamping mechanism clamping the workpiece in the equipment such as a preamble machine tool and the like, so as to realize the pre-positioning. When the workpiece clamping mechanism 1 grabs a workpiece according to the grabbing gesture B to feed the gear grinding tool 13, the robot tool 1 sends the workpiece rod part into the tool, when the workpiece positioning surface and the tool attaching surface are about 40mm, the XYZ direction of the shaft compensation module 10 is opened, the floating amount of the X/Y/Z direction is 10mm at most, the workpiece is smoothly led into the gear grinding tool 13 due to the floating displacement, the gear grinding tool 13 clamps the workpiece, the pneumatic clamping jaw 9 is opened, the workpiece is fed up to be qualified, and the problem that the gap between the gear grinding tool 13 and the workpiece 24 is only 0.025mm and is small, and automatic feeding cannot be achieved is solved. The spiral bevel gear is inserted into the gear grinding tool positioning sleeve from top to bottom, and because the spiral bevel gear is a stepped shaft, the minimum shaft of the spiral bevel gear and the gear grinding tool positioning sleeve are provided with chamfers, the single side of the pre-positioning tolerance can reach about 5-12 mm, the repeated positioning precision of the six-axis robot is 0.2mm, and the precision requirement of pre-positioning is met.
When the robot grabs the spiral bevel gear and puts into the locating sleeve hole of the gear grinding tool, the pre-locating is finished, the floating function of the shaft compensation module is opened, the spiral bevel gear continues to move downwards along the guide of the gear grinding machine tool fixture, the axis of the spiral bevel gear always coincides with the axis of the gear grinding machine tool fixture until the spiral bevel gear is put in place in the gear grinding tool, and the robot signals the gear grinding machine to request the machine tool to clamp the spiral bevel gear. The robot adopts a six-axis robot, the six-axis robot has a soft floating function, can provide micro displacement floating in X/Y two axis directions for a workpiece, and the axis compensation module is matched with the soft floating function of the six-axis robot to provide maximum displacement floating of 10mm in X/Y/Z directions. Through the regulation of two floating forms, the feeding and discharging precision requirements of the gear grinding machine can be met.
It should be noted that the above-mentioned embodiments illustrate rather than limit the technical solution of the present invention, and that those skilled in the art may substitute equivalents or make other modifications according to the prior art without departing from the spirit and scope of the technical solution of the present invention, and are included in the scope of the claims.
Claims (6)
1. An automatic handling system of spiral bevel gear grinding processing robot which is characterized in that: the robot grabs the workpiece from the workpiece caching device, clamps and conveys the workpiece to the workpiece fine positioning device to carry out first fine positioning, the workpiece clamped by the robot is conveyed to a gear grinding machine to grind teeth after the first fine positioning is finished, second fine positioning is carried out after the gear grinding is finished, the workpiece clamped by the robot enters an oil slinger to sling oil after the second fine positioning is finished, third fine positioning is carried out after the oil slinging is finished, the workpiece clamped by the robot enters a cleaning machine to clean after the third fine positioning is finished, fourth fine positioning is carried out after the cleaning is finished, and the workpiece is clamped by the robot to a blanking tray after the fourth fine positioning is finished; the second fine positioning, the third fine positioning and the fourth fine positioning are carried to a workpiece fine positioning device by clamping a workpiece by a robot;
the robot grabs the workpiece from the workpiece buffer sliding table in an A gesture, grabs and clamps the workpiece to the gear grinding machine in a B gesture after the first fine positioning, grabs and clamps the workpiece to enter the oil slinger in a C gesture after the second fine positioning, grabs and clamps the workpiece to enter the cleaning machine in a D gesture after the third fine positioning, grabs and clamps the workpiece to the blanking tray in an A gesture after the fourth fine positioning;
The A gesture is that the workpiece is horizontally placed, and the robot workpiece clamping mechanism radially grabs the bearing diameter of the middle part of the workpiece along the workpiece; the gesture B is that the workpiece is vertically placed, and the robot workpiece clamping mechanism grabs the bearing diameter at the top of the workpiece along the axis of the workpiece; c, the gesture is that the workpiece is vertically placed, and the robot workpiece clamping mechanism radially grabs the bearing diameter of the middle part of the workpiece along the workpiece; the D gesture is that the workpiece is vertically placed, and the robot workpiece clamping mechanism radially grabs the bearing diameter at the top of the workpiece along the workpiece;
The robot comprises a robot arm and a workpiece clamping mechanism, a shaft compensation module is connected between the robot arm and the workpiece clamping mechanism, the workpiece clamping mechanism comprises pneumatic clamping jaws which are arranged in pairs, workpiece clamping fingers are arranged on the inner surfaces of the pneumatic clamping jaws, the workpiece clamping fingers have two clamping positions, the two clamping positions of the workpiece clamping fingers can meet the requirement of axially grabbing workpieces according to grabbing postures A, C, D and grabbing the workpieces according to grabbing postures B, the two clamping positions of the workpiece clamping fingers comprise a horizontal V-shaped block and a vertical V-shaped block, the horizontal V-shaped block axially grabs the workpieces along the vertical workpieces and are used for feeding and discharging a buffer table, an oil slinging machine, a cleaning machine, a fine positioning station and a blanking tray; the V-shaped block in the vertical direction is used for axially grabbing a workpiece along a parallel workpiece and feeding and discharging a gear grinding machine and a fine positioning station;
the fine positioning device comprises a fine positioning workbench, a positioning sleeve is arranged at the center of the fine positioning workbench, air pawls are arranged on two sides of the positioning sleeve, the axial movement of a workpiece is limited by the positioning sleeve of the fine positioning device, the radial center of the workpiece can be aligned by the air pawls, fine positioning sensors for detecting the existence of the workpiece are arranged on the sides of the air pawls through connecting plates, the fine positioning sensors are connected with a PLC, and the PLC controls the air pawls to stretch out and draw back.
2. The automated handling system of a spiral bevel gear grinding robot of claim 1, wherein: the axis compensation module comprises an XY axis compensation module and a Z axis compensation module, the XY axis compensation module is fixedly connected to the flange plate of the robot arm, the XY axis compensation module is fixedly connected with the Z axis compensation module, and the Z axis compensation module is fixedly connected with the workpiece clamping mechanism.
3. An automated handling system for a spiral bevel gear grinding robot according to claim 1 or 2, wherein: the workpiece clamping mechanism comprises pneumatic clamping jaws which are arranged in pairs, workpiece clamping fingers are arranged on the inner surfaces of the pneumatic clamping jaws, displacement sensors are further arranged on the outer surfaces of the pneumatic clamping jaws, and the displacement sensors are connected with the PLC.
4. A automated handling system for a spiral bevel gear grinding robot according to claim 3, wherein: the accuracy of the displacement sensor is 0.01mm.
5. The automated handling system of a spiral bevel gear grinding robot of claim 1, wherein: the positioning sleeve temporary storage position is further arranged below the fine positioning workbench, the positioning sleeve sensor is arranged in front of the positioning sleeve temporary storage position, and the positioning sleeve sensor is connected with the PLC.
6. The automated handling system of a spiral bevel gear grinding robot of claim 1, wherein: the workpiece buffering device comprises a workpiece buffering sliding table, wherein an upstream material table sensor and a downstream material table sensor are respectively arranged at the two ends of the upstream and downstream of the workpiece buffering sliding table, a six-station buffering table is further arranged on the workpiece buffering sliding table, correlation sensors are uniformly distributed at the two sides of each station on the six-station buffering table, and the material table sensors and the correlation sensors are connected with a PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110518034.XA CN113182617B (en) | 2021-05-12 | 2021-05-12 | Automatic handling system of spiral bevel gear grinding machining robot |
Applications Claiming Priority (1)
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| CN210718356U (en) * | 2019-10-10 | 2020-06-09 | 湖南东创智能装备有限公司 | Gear oil throwing machine with automatic clamping mechanism |
| CN111408998A (en) * | 2020-04-15 | 2020-07-14 | 中核（天津）机械有限公司 | Device and method for automatically polishing polygonal workpiece with high precision |
| CN112496984A (en) * | 2020-12-03 | 2021-03-16 | 广东利迅达机器人系统股份有限公司 | Automatic work station for polishing metal plates and plate products |
| CN112720555A (en) * | 2021-01-18 | 2021-04-30 | 大连顺诚自动化设备有限公司 | Workpiece grabbing device with three-axis compensation mechanism |
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| CN210718356U (en) * | 2019-10-10 | 2020-06-09 | 湖南东创智能装备有限公司 | Gear oil throwing machine with automatic clamping mechanism |
| CN111408998A (en) * | 2020-04-15 | 2020-07-14 | 中核（天津）机械有限公司 | Device and method for automatically polishing polygonal workpiece with high precision |
| CN112496984A (en) * | 2020-12-03 | 2021-03-16 | 广东利迅达机器人系统股份有限公司 | Automatic work station for polishing metal plates and plate products |
| CN112720555A (en) * | 2021-01-18 | 2021-04-30 | 大连顺诚自动化设备有限公司 | Workpiece grabbing device with three-axis compensation mechanism |
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