CN113210747B - An inner chamfering robot for cylindrical parts - Google Patents

Abstract

The invention provides an inner chamfering processing robot for cylindrical parts. The robot comprises: a mounting plate, which is placed horizontally; a rotating disk, which is rotatable along a vertical axis and located directly above the mounting plate; a feeding assembly , located at the feeding station, used for feeding cylindrical parts; the first chamfering assembly and the second chamfering assembly, located at the first chamfering station and the second chamfering station respectively, are supported on The installation board; the detection component, located at the detection station and supported on the installation board, is used to test the cylindrical parts that have completed the chamfer to judge whether the chamfer is qualified or not; the first blanking component and the second blanking component, They are respectively located at the first blanking station and the second blanking station, and are respectively used to blank the qualified and unqualified cylindrical parts for chamfering; the loading station, the first chamfering station, the third The two chamfering stations, the detection station, the first blanking station, and the second blanking station are set at equal angles relative to the rotation axis of the rotary disk. The robot can realize fully automatic inner chamfering of cylindrical parts.

Description

An inner chamfering robot for cylindrical parts

technical field

The invention relates to the field of cylindrical parts processing equipment, in particular to an inner chamfering processing robot for cylindrical parts.

Background technique

Red light pens are also called light-passing pens, pen-type red light sources, visible light detection pens, optical fiber fault detectors, optical fiber fault locators, etc. Most of them are used to detect optical fiber breakpoints and are divided into: 5Km, 10Km, 15Km, 20Km, 25Km, 30Km, 35Km, 40Km, etc. Driven by a constant current source, it emits stable red light, which is connected to the optical interface and enters the optical fiber, so as to realize the optical fiber fault detection function. 1 is an axial cross-sectional view of a light pen tip in the prior art. The red light pen tip includes a connecting tube A1 and an installation tube A2, because the processing of the chamfer at the inlet end of the installation tube A2 affects the production efficiency and price of this type of product the most critical factor. The inlet end of the installation cylinder A2 is used as the insertion and removal part of the ceramic ferrule, and the size of the chamfer is usually required to be the same, and there is no burr sharp corner at the transition between the chamfer and the inner hole.

Now, when processing the tip of the red light pen, a small table lathe is used for chamfering by manual clamping. Very low efficiency, poor machining accuracy, poor reliability, surface burrs, and poor quality.

SUMMARY OF THE INVENTION

In order to solve the above technical problems, the present invention provides an inner chamfering robot for cylindrical parts, which can realize fully automatic inner chamfering of cylindrical parts.

In order to achieve the above purpose, the technical scheme adopted in the present invention is:

An inner chamfering processing robot for cylindrical parts, the cylindrical part includes a first cylindrical body and a second cylindrical body, the first cylindrical body and the second cylindrical body are coaxially arranged, and one end of the second cylindrical body is One end of the first cylinder is connected, and the outer diameter of the second cylinder is larger than the outer diameter of the first cylinder. It is characterized in that, the robot includes:

Mounting plate, placed horizontally;

a rotating disk, rotatable along a vertical axis and located directly above the mounting plate;

The feeding component, located at the feeding station, is used to feed the cylindrical parts;

The first chamfering assembly and the second chamfering assembly are respectively located at the first chamfering station and the second chamfering station, and are both supported on the mounting plate;

The inspection component, located at the inspection station and supported on the mounting plate, is used to inspect the chamfered cylindrical parts to judge whether the chamfer is qualified or not;

The first blanking component and the second blanking component are located at the first blanking station and the second blanking station, respectively, and are used for blanking qualified and unqualified cylindrical parts for chamfering;

The loading station, the first chamfering station, the second chamfering station, the detection station, the first blanking station, and the second blanking station are arranged at equal angles relative to the rotation axis of the rotary disk.

Preferably, it also includes a fixing structure for fixing the cylindrical part on the rotating disk and rotating together with the rotating disk, and the fixing structure includes:

a limit ring, a limit ring installed on the upper surface of the mounting plate, the rotating disk is located in the limit ring and the two are coaxially arranged;

Six semi-circular grooves, six semi-circular grooves are arranged at the edge of the rotating disk and are arranged at equal angles with respect to the axis of the rotating disk, the axis of each semi-circular groove is parallel to the axis of the rotating disk, along the rotating disk When viewed in the axial direction of , the opening of the semi-circular groove faces the limiting ring, and the diameter of the semi-circular groove is equal to the outer diameter of the first cylinder.

Preferably, the height of the rotating disk from the mounting plate is greater than the height of the second cylinder, and an escape ring groove is provided at a lower position of the inner ring of the limit ring. When the part is pushed into the semicircular groove, a part of the second cylinder is located in the avoidance ring groove, and a limit block is provided on the lower surface of the rotating disk and at a position corresponding to each semicircular groove , the side of the limit block facing the limit ring is an arc surface, and the arc surface matches the outer edge of the second cylinder. When the first cylinder enters the semicircle When the groove is in place, the second cylinder abuts against the arc surface of the limiting block.

Preferably, the first chamfering assembly and the second chamfering assembly are fixed on the same sliding plate, the sliding plate is supported on the first vertical plate movably up and down, and the first vertical plate is supported on the On the mounting plate, the first chamfering component has a rough grinding head, and the second chamfering component has a fine grinding head.

Preferably, three-jaw chucks are respectively provided at the first chamfering station and the second chamfering station, the axis of the three-jaw chuck is parallel to the axis of the rotating disk, and the three-jaw chuck The axis of the disc is collinear with the axis of the cylindrical part located on the corresponding chamfering station, the claws of the three-jaw chuck are arranged upward, and a strip hole is arranged on the mounting plate at the position corresponding to the claws , the claws are inserted into the corresponding bar-shaped holes, the extension direction of the bar-shaped holes is parallel to the moving direction of the claws inserted therein, and the height of the upper end of the claws is lower than the height of the rotating disk.

Preferably, the detection assembly includes:

The second vertical plate is arranged at the detection station of the installation plate;

a fixed cylinder, which can be moved up and down on the second vertical plate;

The distance measuring sensor is arranged on the top of the fixed cylinder and on the axis of the fixed cylinder, and detects downwards;

The detection ball is suspended below the fixed cylinder, and its center is located on the axis of the fixed cylinder. The detection ball can move up and down relative to the fixed cylinder. The distance measuring sensor detects the distance between the detection ball and the detection ball. To judge whether the chamfer is qualified.

Preferably, a detection rod is provided on the upper side of the detection ball, the upper end of the detection rod passes through the lower end of the fixed cylinder, and a sliding ring is provided on the upper end of the detection rod, and the sliding ring can be relatively fixed The cylinder moves up and down, a spring is arranged in the fixed cylinder, the upper end of the spring abuts on the top of the fixed cylinder, the lower end of the spring abuts on the sliding ring, and the spring is always compressed status.

Preferably, a blanking port is provided on the mounting plate corresponding to the first blanking station and the second blanking station, and the extension direction of the blanking port passes through the rotating disk. and a part of the blanking port is located on the moving path of the cylindrical part. When the cylindrical part moves to the blanking port, the cylindrical part can fall from the blanking port.

Preferably, both the first blanking assembly and the second blanking assembly include:

A blanking block, the blanking block is located in the corresponding blanking port and can move back and forth relative to the extension direction of the blanking port, and the upper surface of the blanking block is aligned with the upper surface of the mounting plate, and then Can be moved to or removed from the movement path of the cylindrical part;

A sliding seat is arranged on the lower surface of the mounting plate, and a blanking cylinder is arranged on the sliding seat, and the cylinder rod of the blanking cylinder extends along the extension direction of the corresponding blanking port and has a free end Connect with the corresponding blanking block.

The present invention also provides an inner chamfering processing method for cylindrical parts, which adopts the above robot and specifically includes the following steps:

Step 1: The feeding component feeds the cylindrical parts, and the cylindrical parts after feeding enter the semicircular groove;

Step 2: The cylindrical part entering into the semicircular groove follows the rotating disk to rotate to the first chamfering station;

Step 3: The first chamfering component moves down to rough chamfer the cylindrical parts located at the first chamfering station;

Step 4: The cylindrical part after the rough chamfering is rotated to the second chamfering station with the rotating disk;

Step 5: The second chamfering component moves down to perform fine chamfering on the cylindrical parts located at the second chamfering station;

Step 6: The cylindrical part that has completed the fine chamfering follows the rotating disc to rotate to the detection station;

Step 7: The detection ball moves down a predetermined distance, the distance measuring sensor obtains the distance between it and the sliding ring, and judges whether the chamfer is qualified according to the distance;

Step 8: The completed cylindrical parts are rotated to the first blanking station or the second blanking station with the rotating disc for blanking;

Wherein the above-mentioned steps 1, 3, 5, 7 and 8 can be performed simultaneously, and the above-mentioned steps 2, 4, 6 and 8 can be performed simultaneously.

Compared with the prior art, the present invention has the following beneficial effects:

1) The present invention can realize fully automatic chamfering of cylindrical parts without manual participation;

2) The present invention can detect the chamfer after chamfering, and perform cutting according to the detection result to realize classification.

Description of drawings

Figure 1 is an axial cross-sectional view of a stainless steel part;

Fig. 2 is the perspective view of the present invention;

Fig. 3 is the side view of the present invention;

Fig. 4 is the top view of the present invention;

Fig. 5 is the sectional view at the B-B section of Fig. 4;

Fig. 6 is the structural drawing of removing the rotating disk in Fig. 2;

Figure 7 is a structural diagram of a rotary disk;

8 is a perspective view of the first three-axis positioner of the present invention;

9 is a perspective view of the first opener of the present invention;

10 is a perspective view of the duplex down-pressing chamfering machine of the present invention;

FIG. 11 is a partial enlarged view of D in FIG. 5 .

Detailed ways

The following description serves to disclose the invention to enable those skilled in the art to practice the invention. The preferred embodiments described below are given by way of example only, and other obvious modifications will occur to those skilled in the art.

As shown in FIG. 1 , the cylindrical part includes a first cylindrical body 101 and a second cylindrical body 102 , the first cylindrical body 101 and the second cylindrical body 102 are coaxially disposed, and one end of the second cylindrical body 102 is connected to the second cylindrical body 102 . One end of a cylinder 101 is connected, and the outer diameter of the second cylinder 102 is larger than the outer diameter of the first cylinder 101 .

2-11, an internal chamfering processing robot for cylindrical parts includes a horizontally placed mounting plate 1, a rotary disk 1b that is rotatable along a vertical axis and located directly above the mounting plate 1, The feeding assembly 2 located at the feeding station for feeding cylindrical parts, the first chamfering assembly 31 located at the first chamfering station and supported on the mounting plate 1, the second chamfering station The second chamfering component 32 located at and supported on the mounting plate 1 , the detection component 4 located at the detection station and supported on the mounting plate 1 , and the blanking component located at the blanking station. The first chamfering assembly 31 is used for rough chamfering the upper end of the cylindrical part, the second chamfering assembly 41 is used for fine chamfering the upper end of the rough chamfered cylindrical part, and the detection assembly 4 is used for Detects the accuracy of chamfering of cylindrical parts that have undergone fine chamfering. The blanking station includes a first blanking station and a second blanking station, and the blanking assembly includes a first blanking assembly 5 located at the first blanking station and a second blanking station. The second blanking assembly 6, the loading station, the first chamfering station, the second chamfering station, the detection station, the first blanking station, and the second blanking station are relative to the rotating disc 1b. The rotation axis is set at an equal angle. The rotary disc 1b rotates the set angle each time. After the cylindrical parts are loaded from the feeding station, the rotary disc 1b drives the cylindrical parts to pass through the first chamfering station, the second chamfering station Two chamfering stations and detection stations, and according to the detection result of the detection component 4, the cylindrical parts are unloaded at the first blanking station or the second blanking station.

The feeding assembly 2 adopts the vibrating plate 21 and the vibrating guide rail 22 in the prior art.

The robot further includes a fixing structure for fixing the cylindrical part to the rotating disk 1b and rotating together with the rotating disk 1b.

The fixing structure includes a limiting ring 1c mounted on the upper surface of the mounting plate 1, and the rotating disk 1b is located in the limiting ring 1c and the two are coaxially arranged. The fixing structure further includes six semicircular grooves 1b1, which are arranged at the edge of the rotating disk 1b and the axes of the rotating disk 1b are arranged at equal angles, and the axis of each semicircular groove 1b1 is parallel to the axis of the rotating disk 1b. The axis of the rotating disk 1b, when viewed along the axis of the rotating disk 1b, the opening of the semicircular groove 1b1 faces away from the axis of the rotating disk 1b1, the diameter of the semicircular groove 1b1 is equal to the first cylinder 101 so that the first cylindrical body 101 can enter into the semicircular groove 1b1.

Further, the distance between the edge of the rotating disk 1b and the inner ring of the limiting ring 1c is equal to half of the outer diameter of the first through body 101 , so that after the first cylindrical body 101 enters the semicircular groove 1b1 , the first cylinder 101 can rotate along with the rotating disk 1b, and one side abuts on the groove wall of the semicircular groove 1b1, and the other side abuts on the inner side wall of the limit ring 10, thereby making the first A part of the cylindrical body 101 is limited in the semicircular groove 1b1.

The height of the rotating disk 1b from the mounting plate 1 is slightly greater than the height of the second cylinder 102, so as to prevent the second cylinder 102 from interfering with the rotating disk 1b. Further, in order to prevent the second cylinder 102 from interfering with the limiting ring 1c during the process of following the rotation of the rotating disk 1b, an avoidance ring groove 1c2 is provided at a lower position of the inner ring of the limiting ring 1c , when the cylindrical part is pushed into the semicircular groove 1b1, a part of the second cylindrical body 102 is located in the avoidance ring groove 1c2.

A limit block 1b2 is provided on the lower surface of the rotary disk 1b and at a position corresponding to each semicircular groove 1b1, and the side of the limit block 1b2 facing the limit ring 10 is an arc surface. The arc-shaped surface is consistent with the outer edge of the second cylinder 102. When the first cylinder 101 enters the semicircular groove 1b1, the second cylinder 102 abuts against the edge of the limiting block 1b2. on the curved surface.

Further, a stopper 1b3 is provided on both sides of the opening of each of the semicircular grooves 1b1 , and the stopper 1b3 is arranged on the rotating disk 1b and extends between the rotating disk 1b and the limit ring 10 , located at The distance between the blocks 1b3 on both sides of the same semicircular groove 1b1 is equal to or slightly larger than the outer diameter of the first cylindrical body 101 .

Further, a feeding port 1c1 is provided on the limiting ring 10 at a position corresponding to the vibrating guide rail 22, and the semicircular groove 1b1 is sequentially aligned with the feeding port 1c1. When aligned, the cylindrical parts enter into the The semicircular groove 1b1 realizes feeding.

The first chamfering assembly 31 and the second chamfering group 31 can both be supported on the mounting plate 1 to move up and down, the first chamfering assembly 31 includes a rough grinding head 3a, the second chamfering assembly 31 32 includes a fine grinding head 3b, when the cylindrical part moves to the first chamfering station and the second chamfering station, the first chamfering assembly 31 and the second chamfering assembly 32 move downward, to The inner wall of the upper end of the first cylindrical body 101 is respectively rough chamfered and fine chamfered. The working principles of the first chamfering component 31 and the second chamfering component 32 are the same, and both use the prior art.

Further, the first chamfering assembly 31 and the second chamfering assembly 32 are fixed on the same sliding plate 3d, the sliding plate 3d is supported on the first vertical plate 3c so as to be movable up and down, and the first vertical Plate 3c is supported on said mounting plate 1 . Specifically, a guide rail 3e extending up and down is arranged on the side of the first vertical plate 3c facing the sliding plate 3d, and a sliding block 3g is arranged on the side of the sliding plate 3d facing the first vertical plate 3c, The sliding block 3g is slidably matched with the guide rail 3e, and a telescopic cylinder 3f is provided on the side of the first vertical plate 3c facing the sliding plate 3d. Connected to the sliding plate 3d, the first chamfering assembly 31 and the second chamfering assembly 32 can be moved up and down through the expansion and contraction of the telescopic cylinder 3f, and then the rough grinding head 3a and the fine grinding head 3b can be moved up and down.

A three-jaw chuck 1d is also provided at the first chamfering station and the second chamfering station, the axis of the three-jaw chuck 1d is parallel to the axis of the rotating disk 1b and the three-jaw chuck The axis of the disc 1d is collinear with the axis of the cylindrical part at the corresponding station. The claws of the three-jaw chuck 1d are set upward, and a strip hole 1e is provided on the mounting plate 1 at the position corresponding to the claws, and the claws are inserted into the corresponding strip holes. The extending direction of the shaped hole is parallel to the moving direction of the claw inserted therein, and the height of the upper end of the claw is lower than the height of the rotating disk 1b. When the cylindrical parts move to the first chamfering station and the second chamfering station, the corresponding three-jaw chucks 1d work to clamp the cylindrical parts at the corresponding stations, and then start chamfering.

The detection assembly 4 includes a second vertical plate 4b disposed at the inspection station of the mounting plate 1, a fixed cylinder 4d disposed on the second vertical plate 4b movably up and down, and a test cylinder 4d disposed on the fixed cylinder 4d. The distance sensor 4h and the detection ball 4a suspended below the fixed cylinder 4d, the center of the detection ball 4a is located on the axis of the cylindrical part in the detection station, and the detection end of the distance sensor 4h faces downward Detected and located directly above the detection ball 4a. After pre-calibrating the fixed cylinder 4d and moving down a certain distance before the detection, the detection value of the distance measuring sensor 4h when the accuracy is reached, the detection value is used as the standard detection value, and each detection result is compared during the detection. The difference is within the predetermined range, indicating that the accuracy meets the requirements, but not within the predetermined range, indicating that the accuracy cannot meet the requirements.

Specifically, the distance measuring sensor 4h is provided on the upper end of the fixed cylinder 4d, and a detection rod 4e is provided on the upper side of the detection ball 4a, and the upper end of the detection rod 4e passes through the lower end of the fixed cylinder 4d , a sliding ring 4f is arranged on the upper end of the detection rod 4e, the sliding ring 4f can move up and down relative to the fixed cylinder 4d, a spring 4g is arranged in the fixed cylinder 4d, and the upper end of the spring 4g abuts against the fixed cylinder 4d. The top end of the fixed cylinder 4d, the lower end of the spring 4g abuts on the sliding ring 4f and the spring 4g is always in a compressed state, which can ensure the stability of the sliding ring 4f, and will not shake at will . Further, a plurality of limit bars 4f1 extending up and down are provided on the edge of the sliding ring 4f, and a plurality of limit slots 4d1 extending up and down are provided on the inner side wall of the fixing cylinder 4d. The limit groove 4d1 is matched to ensure the stability of the sliding ring 4f when it moves up and down.

Further, the three-jaw chuck 1d is also provided in the detection station, which is used to fix the cylindrical part located at the detection station during detection. The setting form of the three-jaw chuck 1d is exactly the same as the setting form of the three-jaw chuck 1d at the first chamfering station and the second chamfering station.

The first blanking assembly 5 and the second blanking assembly 6 are respectively used to blank qualified products and unqualified products. Specifically, which one is used to blank qualified products and which one is used to blank unqualified products can be determined according to the actual situation. It is determined that the structures of the first blanking assembly 5 and the second blanking assembly 6 are exactly the same.

Blanking ports 1a1 are provided on the mounting plate 1 corresponding to the first blanking station and the second blanking station, and the extension directions of the blanking ports 1a1 all pass through the rotary disk 1b , and a part of the blanking port 1a1 is located on the moving path of the cylindrical part, when the cylindrical part moves to the blanking port 1a1, the cylindrical part can be removed from the blanking port 1a1 falls, and then realizes blanking.

The first blanking assembly 5 and the second blanking assembly 6 both include a blanking block 1g2, the upper surface of the blanking block 1g2 is aligned with the upper surface of the mounting plate 1, and the blanking block 1g2 is located in the corresponding position. The blanking port 1a1 can move back and forth relative to the extension direction of the blanking port 1a1, and then can move to or from the moving path of the cylindrical parts to realize blanking.

Specifically, both the first blanking assembly 5 and the second blanking assembly 6 further include a sliding seat 1g4 arranged on the lower surface of the mounting plate 1 , and a blanking cylinder 1g1 is arranged on the sliding seat 1g4 , the cylinder rod of the blanking cylinder 1g1 extends along the extension direction of the corresponding blanking port 1a1 and the free end is connected with the corresponding blanking block 1g2. By controlling the expansion and contraction of the blanking cylinder 1g1, it can be realized The control of the material block 1g2. Further, guide rods 1g3 may be provided on both sides of the blanking cylinder 1g1, one end of the guide rod 1g3 is fixedly connected with the blanking block 1g2, and the other end is slidably connected with the sliding seat 1g4. Further, a blanking slideway 5a is provided directly below each blanking port 1a1, the blanking slideway 5a is arranged obliquely, one end close to the blanking port 1a1 is higher, and the other end is lower. A blanking box 5b is provided just below one end of the spool, and the dropped cylindrical parts fall on the blanking chute 5a and enter the blanking box 5b along the blanking chute 5a.

The foregoing has shown and described the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions describe only the principles of the present invention. Without departing from the spirit and scope of the present invention, there are various Variations and improvements are intended to fall within the scope of the claimed invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims (8)

1. The utility model provides an interior chamfer processing robot of tube-shape part, the tube-shape part includes first barrel and second barrel, first barrel and the coaxial setting of second barrel, the one end of second barrel is connected with the one end of first barrel, and the external diameter of second barrel is greater than the external diameter of first barrel, its characterized in that, the robot includes:

a mounting plate horizontally placed;

a rotating disk rotatable along a vertical axis and located directly above the mounting plate;

the feeding assembly is positioned at the feeding station and used for feeding the cylindrical part;

the first chamfering assembly and the second chamfering assembly are respectively positioned at the first chamfering station and the second chamfering station and are supported on the mounting plate;

the detection assembly is positioned at the detection station, supported on the mounting plate and used for detecting the cylindrical part subjected to chamfering so as to judge whether the chamfering is qualified or not;

the first blanking assembly and the second blanking assembly are respectively positioned at the first blanking station and the second blanking station and are respectively used for blanking the cylindrical parts with qualified and unqualified chamfers;

the feeding station, the first chamfering station, the second chamfering station, the detection station, the first blanking station and the second blanking station are arranged at equal angles relative to the rotation axis of the rotating disc;

the inner chamfering machining robot further includes a fixing structure for fixing a cylindrical part to the rotating disk and rotating along with the rotating disk, the fixing structure including:

the rotating disc is positioned in the limiting ring, and the rotating disc and the limiting ring are coaxially arranged;

the six semicircular grooves are arranged at the edge of the rotating disc and are arranged at equal angles relative to the axis of the rotating disc, the axis of each semicircular groove is parallel to the axis of the rotating disc, the opening of each semicircular groove faces the limiting ring when the limiting ring is observed along the axis direction of the rotating disc, and the diameter of each semicircular groove is equal to the outer diameter of the first cylinder;

the rotary disk distance the height of mounting panel is greater than the height of second barrel the position department that leans on down of the inner circle of spacing collar is provided with dodges the annular, works as the tube-shape part is pushed during the semi-circular slot, a part of second barrel is located dodge in the annular the lower surface of rotary disk and the position department corresponding to every semi-circular slot are provided with the stopper, the stopper towards one side of spacing collar is the arcwall face, the arcwall face with the outer fringe of second barrel is identical, works as when first barrel enters into the semi-circular slot, the second barrel supports and leans on the arcwall face of stopper.

2. The robot for chamfering an inside of a cylindrical part according to claim 1, wherein the first chamfering unit and the second chamfering unit are fixed to a same sliding plate supported on a first vertical plate supported on the mounting plate in a vertically movable manner, the first chamfering unit has a rough grinding head, and the second chamfering unit has a fine grinding head.

3. The robot for chamfering inner corner of a cylindrical part according to claim 2, wherein three-jaw chucks are further provided at the first chamfering station and the second chamfering station, respectively, the axes of the three-jaw chucks are parallel to the axis of the rotating disk and collinear with the axis of the cylindrical part at the corresponding chamfering station, the jaws of the three-jaw chucks are arranged upward, strip-shaped holes are provided at the positions corresponding to the jaws on the mounting plate, the jaws are inserted into the corresponding strip-shaped holes, the extension direction of the strip-shaped holes is parallel to the moving direction of the jaws inserted therein, and the height of the upper ends of the jaws is lower than the height of the rotating disk.

4. The inside chamfering robot according to claim 1, wherein the detecting unit includes:

the second vertical plate is arranged at the detection station of the mounting plate;

the fixed cylinder is arranged on the second vertical plate in a vertically movable manner;

the distance measuring sensor is arranged at the top end of the fixed cylinder, is positioned on the axis of the fixed cylinder and detects downwards;

the detection ball is hung below the fixed cylinder, the center of the detection ball is located on the axis of the fixed cylinder, the detection ball can move up and down relative to the fixed cylinder, and the distance measurement sensor judges whether the chamfer is qualified or not by detecting the distance between the detection ball and the detection ball.

5. The robot for chamfering cylindrical parts according to claim 4, wherein a detection rod is provided on an upper side of the detection ball, an upper end of the detection rod passes through a lower end of the fixed cylinder, a sliding ring is provided on an upper end of the detection rod, the sliding ring can move up and down relative to the fixed cylinder, a spring is provided in the fixed cylinder, an upper end of the spring abuts against a top end of the fixed cylinder, a lower end of the spring abuts against the sliding ring, and the spring is always in a compressed state.

6. The robot for chamfering cylindrical parts according to claim 5, wherein a blanking opening is provided on the mounting plate corresponding to each of the first and second blanking stations, the blanking opening extends in a direction passing through an axis of the rotating disk, and a part of the blanking opening is located on a moving path of the cylindrical part, so that the cylindrical part can be dropped from the blanking opening when the cylindrical part moves to the blanking opening.

7. The inside chamfering robot according to claim 6, wherein each of the first and second blanking assemblies includes:

the blanking block is positioned in the corresponding blanking port and can move back and forth relative to the extending direction of the blanking port, and the upper surface of the blanking block is aligned with the upper surface of the mounting plate so as to be capable of moving to or away from the moving path of the cylindrical part;

the sliding seat is arranged on the lower surface of the mounting plate, a blanking cylinder is arranged on the sliding seat, a cylinder rod of the blanking cylinder extends along the extending direction of the blanking port correspondingly, and the free end of the cylinder rod is connected with the corresponding blanking block.

8. A method for processing an inner chamfer of a cylindrical part, which uses the inner chamfer processing robot of the cylindrical part as claimed in claim 7, and comprises the following steps:

the method comprises the following steps: the feeding assembly feeds the cylindrical part, and the fed cylindrical part enters the semicircular groove;

step two: the cylindrical part entering the semicircular groove rotates to a first chamfering station along with the rotating disc;

step three: the first chamfering component moves downwards to perform rough chamfering on the cylindrical part positioned at the first chamfering station;

step four: the cylindrical part which completes the coarse chamfering rotates to a second chamfering station along with the rotating disc;

step five: the second chamfering assembly moves downwards to perform fine chamfering on the cylindrical part located at the second chamfering station;

step six: the cylindrical part which finishes the fine chamfering rotates to a detection station along with the rotating disc;

step seven: the detection ball moves downwards for a preset distance, the distance between the detection ball and the sliding ring is obtained by the distance measuring sensor, and whether the chamfer is qualified or not is judged according to the distance;

step eight: the detected cylindrical part is rotated to a first blanking station or a second blanking station along with the rotating disc to carry out blanking;

wherein, the first step, the third step, the fifth step, the seventh step and the eighth step can be carried out simultaneously, and the second step, the fourth step, the sixth step and the eighth step can be carried out simultaneously.

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