CN102982791B - Piano shaft frame needle pulling machine and needle pulling method - Google Patents
Piano shaft frame needle pulling machine and needle pulling method Download PDFInfo
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- CN102982791B CN102982791B CN201210509441.5A CN201210509441A CN102982791B CN 102982791 B CN102982791 B CN 102982791B CN 201210509441 A CN201210509441 A CN 201210509441A CN 102982791 B CN102982791 B CN 102982791B
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Abstract
The invention discloses a piano shaft frame needle pulling machine and a needle pulling method. The needle pulling machine comprises a feeding device, a discharge device, a positioning slide track, a pushing positioning device, a needle pushing device and a needle pulling device, wherein the feeding device comprises a feeding slide track which is arranged in an inclined manner; the discharge device comprises a hanging block and a discharge linear motion mechanism which is connected with the hanging block; the positioning slide track is arranged below the hanging block; a T-shaped slide groove is formed in the positioning slide track; the pushing positioning device comprises a pushing clamp which moves along the axial direction of the T-shaped slide groove, a pushing linear motion mechanism which is connected with the pushing clamp, and a fixing clamp; the needle pushing device is arranged at one side of a needle pulling part and comprises a needle pushing rod and a needle pushing linear motion mechanism which is connected with the needle pushing rod; and the needle pulling device is arranged at one side in the needle pulling part, opposite to the needle pushing device, and comprises a clamping mechanism for clamping and releasing the shaping needle and a needle pulling linear motion mechanism which is connected with the clamping mechanism. The needle pulling machine can be used for automatically implementing the needle pulling operation and is high in production efficiency.
Description
Technical field
The present invention relates to production equipment and the method for piano parts, be specifically related to a kind of piano pedestal plucking machine and pull out needle method.
Background technology
Piano pedestal be in piano core component-hammered string instrument, connect each lever critical component (for example, pedestal in upright piano action comprise turning hit four kinds of device pedestal, damper pedestal, linkage device shaft bracket and ejector rod shaft brackets), the whether smooth and easy key of hammered string instrument component movement is the quality of the crudy of pedestal.Referring to Fig. 1, the upper end of piano pedestal 9 takes the shape of the letter U, and the both sides of the peristome of this U-shaped are respectively equipped with coaxial pedestal hole 9-1, the center of rotation when axis of this pedestal hole 9-1 is pedestal 9 work.Described pedestal hole 9-1 domestic demand arranges the axle bush 9-2 (being axle sleeve) that become by felt, and the main work flow that axle bush 9-2 is set is: in the sticky axle bush 9-2-through hole-lubricant of pedestal hole 9-1, pull out pin-dry-pull out pin-except protruding; Wherein, 9-1 sticky axle bush 9-2 in pedestal hole refers to and in the 9-1 of pedestal hole, is stained with solid cylindrical boss 9-2, through hole refers in solid axle bush 9-2 through a sizing pin 15, dry and pull out pin and refer to that the pedestal 9 that is installed with sizing pin 15 is put into extraordinary lubrication solution pulls out pin, then take out its oven dry, finally extract sizing pin 15, make axle bush 9-2 upper form have wearing quality and lubricity for the axis hole of rotation axis is installed, except protruding, refer to the bossing excision at axle bush 9-2 two, make its end face and pedestal 9 surfacings.
In prior art, conventionally adopt a long sizing pin to pass the axle bush in a plurality of pedestals hole simultaneously, and manually soak lubricant, dry, manually with hand, pin is extracted from pedestal, adopt the method to pull out pin and have following defect: need workman with staff, the pin on the pedestal of one whole string to be extracted, at the bottom of automaticity, need labour many, labour intensity is large, and production efficiency is low.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of and can automatically complete the piano pedestal plucking machine that pedestal pulls out pin work.
The present invention also aims to provide a kind of needle method that pulls out of piano pedestal.
The technical scheme that the present invention realizes above-mentioned purpose is:
A piano pedestal plucking machine, is characterized in that, comprises pay-off, blanking device, locator slide, propelling movement locating device, needle pushing-up device, pulls out needle device and control system, wherein,
Described pay-off comprises the feeding slideway being obliquely installed;
Described blanking device comprises bridging piece and the blanking straight-line motion mechanism being connected with this bridging piece, and wherein, bridging piece is located at the lower port place of described feeding slideway, and the lower end of bridging piece is provided with for receiving the T shape opening of the pedestal slipping into from feeding slideway;
Described locator slide is arranged on the below of bridging piece, and this locator slide is provided with T shape chute, and when described bridging piece comes downwards to terminal, the T shape opening on it and described T shape chute are combined a part that forms this T shape chute;
Described propelling movement locating device comprises the propelling movement chuck that can move along T shape chute axis direction, the propelling movement straight-line motion mechanism and the fixed chuck that are connected with this propelling movement chuck, wherein, push chuck and be arranged on one corresponding with bridging piece in locator slide, fixed chuck is fixed on the other end of locator slide; The pin portion of pulling out that when promotion chuck is pushed into pedestal fixed chuck place and is clamped, the position at pedestal place is locator slide;
Described needle pushing-up device is arranged on a side of pulling out pin portion, comprises pushing needle bar and the straight-line motion mechanism of pushing pin being connected with this pushing needle bar;
The described needle device that pulls out is located at and pulls out a side relative with needle pushing-up device in pin portion, comprise for clamp with unclamp the clamp system of sizing pin and be connected with this clamp system pull out pin straight-line motion mechanism;
Described control system comprises for controlling blanking straight-line motion mechanism, push straight-line motion mechanism, push pin straight-line motion mechanism and pull out the control module of pin straight-line motion mechanism work and be connected with this control module for judging blanking straight-line motion mechanism, push straight-line motion mechanism, the straight-line motion mechanism and pull out the sensing element whether pin straight-line motion mechanism runs to target location of pushing pin.
A preferred version of the present invention, wherein, the end of one relative with fixed chuck in described propelling movement chuck has the clamping section in the U-shaped opening that can insert pedestal, the end face of this clamping section be provided with pedestal on the first locating slot of matching of sizing wire surface; The size of one end and the U-shaped opening of pedestal relative with pushing chuck in described fixed chuck match, and this end face is provided with the second locating slot matching with the wire surface of shaping; Described the first locating slot and the second locating slot are combined the enclosure space that forms the sizing pin on the pedestal of location.
A preferred version of the present invention, wherein, described locator slide is combined by fixed part and moving part, and wherein, both combinatorial surfaces are arranged in the pin portion of a pulling out side corresponding with pushing chuck of locator slide; On described moving part, be connected with folding straight-line motion mechanism.Adopt the object of this technical scheme to be, when pedestal in locator slide pull out pin portion time, two hanging of the sizing pin on pedestal is on the bottom land on T shape chute top, now the diameter of the pushing needle bar in needle pushing-up device must be not more than the diameter of sizing pin and accurately after aligning, just can hit sizing pin, accuracy requirement to equipment is higher, for the ease of pushing needle bar, promote sizing pin, reduce accuracy requirement, locator slide is arranged to the combined type being combined by fixed part and moving part, when arriving, pulls out behind pin portion location by pedestal, described moving part separates with fixed part and leaves the pin portion of pulling out, so just can the motion of pushing needle bar not caused and be stopped, be convenient to pushing needle bar and promote sizing pin, requirement to equipment precision also reduces.
A preferred version of the present invention, wherein, described clamp system is pneumatic-finger, this pneumatic-finger there are above two lever arms, the inner side of this two lever arm is respectively equipped with one for clamping or unclamp the pad piece of sizing pin.
A preferred version of the present invention, wherein, described in pull out pin portion top be provided with stripper, this stripper comprises de-material pushing block and the de-material straight-line motion mechanism being connected with this de-material pushing block; The lower end of described de-material pushing block is provided with U-shaped breach.Adopt the effect of this technical scheme to be: after the sizing pin on pedestal is pulled out conventionally, pedestal can automatically drop in the collection container of below, but pedestal may be stopped by miscellaneous part or stick on miscellaneous part and can not automatically drop sometimes, for example, stick to and push on chuck or fixed chuck, now start above-mentioned stripper, by de-material straight-line motion mechanism, drive de-material pushing block to move downward promotion pedestal, it is fallen down smoothly; Described U-shaped breach bumps for fear of described de-material pushing block and propelling movement chuck or fixed chuck.
A preferred version of the present invention, wherein, the outer orienting lug that is arranged with above-below direction of described bridging piece; Described locator slide is provided with the insertion breach matching with this bridging piece under bridging piece.By described orienting lug is set, make bridging piece in this orienting lug, move up and down, be convenient to reliably pedestal is sent in locator slide; By described insertion breach is set, when bridging piece comes downwards to terminal, be just inserted in this insertion breach, thereby form the part of this T shape chute.
A preferred version of the present invention, wherein, described blanking straight-line motion mechanism, push straight-line motion mechanism, folding straight-line motion mechanism, the straight-line motion mechanism of pushing pin, the power that pulls out pin straight-line motion mechanism and de-material straight-line motion mechanism provides by cylinder, is respectively the first cylinder, the second cylinder, the 3rd cylinder, four-cylinder, the 5th cylinder and the 6th cylinder.In addition, also can be formed by hydraulic cylinder, or other can realize straight-line mechanism formation.
A preferred version of the present invention, wherein, described pay-off is involving vibrations dish also, and the upper end of described feeding slideway is connected with the discharging opening of vibrating disk; Described feeding slideway is provided with photoelectric sensor B.Described vibrating disk is arranged in by pedestal the attitude needing and sends into feeding slideway, then is sent into bridging piece by feeding slideway; The effect of described photoelectric sensor B is, while being covered with pedestal in feeding slideway being detected, and the control device by this signal feedback to vibrating disk, vibrating disk quits work, during pedestal vacancy in feeding slideway being detected, the control device by this signal feedback to vibrating disk, vibrating disk works on.
A preferred version of the present invention, wherein, described sensing element comprises the photoelectric sensors A being located on bridging piece, be located at the electromagnetic sensor A of front end of the cylinder barrel of the first cylinder, be located at electromagnetic sensor B1 and the electromagnetic sensor B2 of front-end and back-end of the cylinder barrel of the second cylinder, be located at the electromagnetic sensor C of rear end of the cylinder barrel of the 3rd cylinder, be located at the electromagnetic sensor D of rear end of the cylinder barrel of four-cylinder, be located at electromagnetic sensor E1 and the electromagnetic sensor E2 of front-end and back-end of cylinder barrel of the 5th cylinder and the electromagnetic sensor F of rear end that is located at the cylinder barrel of the 6th cylinder.
The needle method that pulls out of applying piano pedestal that above-mentioned piano pedestal plucking machine realizes, is characterized in that, comprises the following steps:
(1) pedestal from feeding slideway, slip in the T shape opening of bridging piece and hanging thereon;
(2) photoelectric sensors A in bridging piece detects pedestal and enters after T shape opening, and control module is controlled the first cylinder operation, and bridging piece carries pedestal and moves downward;
(3) when the piston that the first cylinder detected as electromagnetic sensor A is forwarded to target location, now the T-shaped chute of the T shape opening on bridging piece and locator slide is combined, control module is controlled the second cylinder operation, promotes chuck and the pedestal in T shape opening is pushed to the pin portion of pulling out of locator slide;
(4) when the piston that the second cylinder detected as electromagnetic sensor B1 is forwarded to target location, pin portion is pulled out in the now pushed arrival of pedestal, promotion chuck and fixed chuck are combined pedestal are positioned, control module is controlled the 3rd cylinder operation, in stretching out the cylinder rod of state, return, the moving part of locator slide is separated with fixed part;
(5) when electromagnetic sensor C detect the 3rd cylinder return to target location time, now the moving part of locator slide has left the pin portion of pulling out, pull out pin portion in empty avoiding state, control module is controlled four-cylinder work, and pushing needle bar moves ahead and promotes the non-tip of the sizing pin on pedestal;
(6) piston movement that four-cylinder detected as electromagnetic sensor D is during to target location, now pushing needle bar is pushed into concordant with pedestal surface by the non-tip of the sizing pin on pedestal, control module is controlled four-cylinder and is return, control the 5th cylinder and pneumatic-finger work, pneumatic-finger moves ahead towards the tip of sizing pin simultaneously;
(7) piston movement that the 5th cylinder detected as electromagnetic sensor E1 is during to target location, and now the pneumatic-finger pin of shaping clamps, and control module is controlled the 5th cylinder and return, and pneumatic-finger is extracted sizing pin;
(8) when the piston that the 5th cylinder detected as electromagnetic sensor E2 returns to target location, now pneumatic-finger pulls away pedestal by sizing pin, control module is controlled pneumatic-finger sizing pin is unclamped, sizing pin falls into sizing pin collection container, while the 6th cylinder operation, de-material pushing block after down moving handle is likely trapped in the pedestal that pulls out pin portion and pushes away away, resets subsequently;
(9), when the piston that the 6th cylinder detected as electromagnetic sensor F returns to initial position, control module controls the second cylinder and the 3rd cylinder resets simultaneously;
(10) when the piston that the second cylinder detected as electromagnetic sensor B2 returns to initial position, control module is controlled the first cylinder and is resetted, and the pedestal of feeding slideway slips into downwards in bridging piece, enters the pin work of pulling out of next circulation;
(11) constantly repeat above-mentioned steps, that realizes pedestal pulls out pin automatically.
The present invention compared with prior art has following beneficial effect:
(1) whole pin process is automatically completed by equipment, without manual intervention, greatly improved efficiency, saved labour.
(2) each a pedestal sizing pin is pulled out, the strength needing is little, does not need powerful propulsion system.
Accompanying drawing explanation
Fig. 1 is the structural representation that is equipped with the piano pedestal of sizing pin, and wherein, Fig. 1 a is front view, and Fig. 1 b is left view, and Fig. 1 c is right view.
Fig. 2 is the structural representation of the embodiment 1 of piano pedestal plucking machine of the present invention, and wherein, Fig. 2 a is front view, and Fig. 2 b is left view, and Fig. 2 c is right view, and Fig. 2 d is vertical view, and Fig. 2 e is rear view.
Fig. 3 removes the structural representation after part parts in Fig. 2 a.
Fig. 4 removes the structural representation after part parts in Fig. 2 d.
The structural representation of bridging piece and locator slide in Fig. 5 Fig. 2.
Fig. 6 is for show pushing the vertical view of the chuck course of work, and wherein, Fig. 6 a is the structural representation while starting to push pedestal, structural representation when Fig. 6 b pulls out pin portion for pedestal is pushed to.
Fig. 7 is for showing the elevation drawing that promotes the position relationship between chuck, pedestal and fixed chuck.
Fig. 8 is for showing the vertical view of the folding straight-line motion mechanism course of work, and wherein, Fig. 8 a is moving part and the fixed part structural representation while combining, and Fig. 8 b is the structural representation of moving part after separated with fixed part.
Fig. 9 is the structural representation of stripper.
Figure 10 is the perspective view of critical piece in Fig. 2.
Figure 11 promotes the structural representation of chuck, pedestal and fixed chuck in the embodiment 2 of piano pedestal plucking machine of the present invention, wherein, Figure 11 a is front view, and Figure 11 b is the A-A cut-open view of Figure 11 a.
Figure 12 is the structural representation of clamp system in the embodiment 2 of piano pedestal plucking machine of the present invention.
In figure, each Reference numeral is respectively: 1 frame, 2 worktable, 3 vibrating disk frames, 4 vibrating disks, 4-1 discharging opening, 5 feeding slideways, 5-1 slide rail, 6 bridging pieces, 6-1T shape opening, 7 first cylinders, 8 locator slides, 8-1 pulls out pin portion, 8-2 fixed part, 8-3 moving part, 8-4 inserts breach, 8-5T shape chute, 9 pedestals, 9-1 pedestal hole, 9-2 axle bush, 10 orienting lugs, 11 push chuck, 11-1 clamping section, 11-2 the first locating slot, 12 second cylinders, 13 fixed chucks, 13-1 the second locating slot, 14 gears, 15 sizing pins, 16 pushing needle bars, 17 four-cylinders, 18 pneumatic-fingers, 18-1 pad piece, 18-2 lever arm, 19 the 5th cylinders, 20 the 3rd cylinders, 21 de-material pushing blocks, 21-1U v notch v, 22 the 6th cylinders, 23 sizing pin collection containers, 24 vertical support plates, 25 supports, 26 blanking grooves, 27 rectilinear guide seats, 28 sliding seats, 29 mount pads, 30 guidance panels, 31 guideways, 32 holders, 32-1 geometrical clamp refers to, 32-2 live splint refers to, 32-3 clip slot, 33 tooth bars.
Embodiment
Embodiment 1
Referring to Fig. 2, the piano pedestal plucking machine of the present embodiment mainly by frame 1, pay-off, blanking device, locator slide 8, push locating device, needle pushing-up device, pull out needle device, stripper and composition of the control system, wherein, frame 1 is provided with worktable 2, described blanking device, locator slide 8, pushes locating device, needle pushing-up device, pulls out needle device and stripper is located on worktable 2.
Referring to Fig. 2 and Fig. 3, described pay-off mainly consists of vibrating disk 4 and the feeding slideway 5 that is obliquely installed, wherein, vibrating disk 4 is arranged in vibrating disk frame 3, in this vibrating disk 4, be provided with the vibrations posture adjustment conduit spiraling, under the effect of vibration of vibration module, be equipped with sizing pin 15 and pass through on posture adjustment conduit through the pedestal 9 after soaking, finally with the attitude of needs, from be located at the discharging opening 4-1 vibrating disk 4 sidewalls, export, the attitude of described needs is: pedestal 9 enters discharging opening 4-1 with lying posture, and in pedestal 9, be provided with an inboard towards discharging opening 4-1 of sizing pin 15, described feeding slideway 5 is mainly comprised of the two slide rail 5-1 that be arranged in parallel, gap between two slide rail 5-1 and pedestal 9 match at the width of pedestal hole direction, while making pedestal 9 enter on this feeding slideway 5, pedestal 9 bodies can be fallen in described gap, and surface the down sliding at two slide rail 5-1 hung at two of sizing pin 15, the upper end of this feeding slideway 5 is connected on the discharging opening 4-1 of vibrating disk 4, and the vertical support plate 24 of underrun one at middle part is fixed on worktable 2, described feeding slideway 5 is provided with photoelectric sensor B, this photoelectric sensor B is located on a mount pad 29, its role is to, while being covered with pedestal 9 in feeding slideway 5 being detected, control device by this signal feedback to vibrating disk 4, vibrating disk 4 quits work, during pedestal 9 vacancy in feeding slideway 5 being detected, control device by this signal feedback to vibrating disk 4, vibrating disk 4 works on, thereby prevent that pedestal 9 from blocking up in feeding slideway 5 interior appearance.
Referring to 2, Fig. 3, Fig. 5 and Figure 10, described blanking device is comprised of bridging piece 6 and the blanking straight-line motion mechanism that is connected with this bridging piece 6, wherein, bridging piece 6 is located at the lower port place of described feeding slideway 5, the lower end of this bridging piece 6 is provided with for receiving the T shape opening 6-1 of the pedestal 9 slipping into from feeding slideway 5, this T shape opening 6-1 comprises vertical direction spatial and horizontal space, wherein the bottom surface of horizontal space engages with the upper surface of two slide rail 5-1 in feeding slideway 5, when pedestal 9 enters this T shape opening 6-1 with the attitude of hanging on feeding slideway 5, pedestal 9 bodies enter in vertical direction spatial, two hanging of the sizing pin 15 on pedestal 9 is in the both sides of horizontal space bottom surface, described blanking straight-line motion mechanism is for to consist of the first cylinder 7, and wherein, described cylinder rod is fixedly connected with the upper end of bridging piece 6, and cylinder is connected with worktable 2 by a support 25, the outer orienting lug 10 that is arranged with above-below direction of described bridging piece 6, that is this bridging piece 6 is placed in orienting lug 10, and the motion that moves up and down of bridging piece 6 is played to guide effect.
Referring to 2～Fig. 6, Fig. 8 and Figure 10, described locator slide 8 is arranged on the below of bridging piece 6, this locator slide 8 is provided with T shape chute 8-5, this T shape chute 8-5 also comprises horizontal space and vertical direction spatial, wherein, vertical direction spatial is used for holding pedestal 9 bodies, and the bottom surface of horizontal space is due to the sizing pin 15 on hanging pedestal 9, described locator slide 8 is provided with the insertion breach 8-4 matching with this bridging piece 6 under bridging piece 6, when coming downwards to terminal, just inserts bridging piece 6 in this insertion breach 8-4, and on it, T shape opening 6-1 and described T shape chute 8-5 combine a part that forms this T shape chute 8-5, the vertical direction spatial that is T shape opening 6-1 is connected with the vertical direction spatial of T shape chute 8-5, the horizontal space of T shape opening 6-1 is connected with the horizontal space of T shape chute 8-5, thereby the pedestal 9 of hanging on T shape opening 6-1 can be successfully pushed on T shape chute 8-5.This locator slide 8 is combined by fixed part 8-2 and moving part 8-3, wherein, be fixed part 8-2 with inserting the corresponding side of breach 8-4, opposite side is moving part 8-3, this moving part 8-3 is located on a sliding seat 28, on it, be connected with folding straight-line motion mechanism, this folding straight-line motion mechanism consists of the 3rd cylinder 20, its role is to drive described moving part 8-3 motion to make it to form released state or assembled state with fixed part 8-2.
Referring to Fig. 2～Fig. 4, Fig. 6～Fig. 8 and Figure 10, described propelling movement locating device comprises the propelling movement chuck 11 that can move along the axis direction of T shape chute 8-5, the propelling movement straight-line motion mechanism and the fixed chuck 13 that are connected with this propelling movement chuck 11, wherein, push chuck 11 and be arranged on one corresponding with bridging piece 6 in locator slide 8, pushing straight-line motion mechanism is arranged on the worktable 2 in the outside of corresponding with bridging piece 6 in locator slide 8, the straight-line motion mechanism that can along T shape chute 8-5 axis direction move of this propelling movement straight-line motion mechanism for being formed by the second cylinder 12 and guideway 31, wherein the cylinder rod of the second cylinder 12 is fixedly connected with the slide block in guideway 31 respectively with propelling movement chuck 11, described fixed chuck 13 is arranged on the other end of locator slide 8.The end of one relative with fixed chuck 13 in described propelling movement chuck 11 has the clamping section 11-1 in the U-shaped opening that can insert pedestal 9, the end face of this clamping section 11-1 be provided with pedestal 9 on the first locating slot 11-2 of matching of sizing pin 15 surfaces; The size of end and the U-shaped opening of pedestal 9 relative with pushing chuck 11 in described fixed chuck 13 match, and this end face is provided with the second locating slot 13-1 matching with pin 15 surfaces of shaping; The xsect semicircular in shape of described the first locating slot 11-2 and the second locating slot 13-1, both combine the cylindrical, closed space that forms the sizing pin 15 on the pedestal 9 of location, and the slightly larger in diameter of this cylindrical, closed space is in the diameter of sizing pin 15.During work, push chuck 11 pedestal 9 is pushed into fixed chuck 13 places, both are in conjunction with pin 15 location of shaping, and now pedestal 9 positions are the 8-1 of the pin portion of pulling out of locator slide 8.
Referring to Fig. 2～Fig. 4, Fig. 6, Fig. 8 and Figure 10, described needle pushing-up device is arranged on the worktable 2 of a side of pulling out the 8-1 of pin portion, and pedestal 9 is positioned at while pulling out the 8-1 of pin portion, the sizing pin 15 on it non-most advanced and sophisticated one relative with this needle pushing-up device; This needle pushing-up device is by pushing needle bar 16 and the straight-line motion mechanism of pushing pin that is connected with this pushing needle bar 16, wherein, pushing needle bar 16 coaxially arranges with the sizing pin 15 that is positioned at the pedestal 9 that pulls out the 8-1 of pin portion, the described straight-line motion mechanism that can along the axis direction that be positioned at the sizing pin 15 that pull out pedestal pin portion 8-1 on move of straight-line motion mechanism for consisting of four-cylinder 17 of pushing pin, described pushing needle bar 16 is connected on cylinder rod.During pushing needle bar 16 work, moving part 8-3 in described locator slide 8 need to be separated with fixed part 8-2, described moving part 8-3 is arranged in and pulls out the side that the 8-1 of pin portion is corresponding with pushing chuck 11 with the faying face of fixed part 8-2, that is moving part 8-3 separated with fixed part 8-2 after, pull out the 8-1 of pin portion in empty avoiding state, make pushing needle bar 16 have enough spaces to remove to promote sizing pin 15, while pushing pin, the non-tip that the straight-line motion mechanism of pushing pin drives pushing needle bar 16 to clash into sizing pin 15, make the end face at this non-tip concordant with the surface of pedestal 9, the effect of pushing pin is, on the one hand, owing to having larger adhesion between the sizing pin 15 after excessively soaking and axle bush 9-2, before pulling out pin, promote the pin 15 of shaping, adhesion between sizing pin 15 and axle bush 9-2 can be removed, the axial tension that needs while pulling out pin is less (while pushing pin due to without clamping sizing pin 15, therefore can produce greater impact power, and while pulling out pin, need to clamp sizing pin 15, if the withdrawal force needing is larger, clamping device 18 will need to have larger holding force so, easily damage sizing pin 15 by pressure, increased technical difficulty), on the other hand, increased the length that sizing pin 15 can retaining part, be more conducive to clamp.
Referring to Fig. 2 and Fig. 4, the described needle device that pulls out is located on the worktable 2 that pulls out a side relative with needle pushing-up device in the 8-1 of pin portion, mainly by for clamping and unclamping the clamp system of sizing pin 15 and the pin straight-line motion mechanism that pulls out being connected with this clamp system and form, wherein, clamp system is pneumatic-finger 18, before before this pneumatic-finger 18, there are two lever arm 18-2, this two lever arm 18-2 inner side is respectively equipped with a pad piece 18-1, under pneumatic system effect, pneumatic-finger 18 two lever arm 18-2 locking phases are above to activity, drive two pad piece 18-1 relatively clamp or unclamp, thereby sizing pin 15 is clamped or unclamped, this pneumatic-finger 18 is arranged in rectilinear guide seats 27, described pull out that pin straight-line motion mechanism consists of the 5th cylinder 19 can pull out the straight-line motion mechanism that sizing pin 15 axis directions of the 8-1 of pin portion move along being positioned at, wherein, described holder 18-3 is connected on cylinder rod.
Referring to Fig. 2, Fig. 3 and Fig. 9, described top of pulling out the 8-1 of pin portion is provided with stripper, this stripper comprises de-material pushing block 21 and the de-material straight-line motion mechanism being connected with this de-material pushing block 21, wherein, the lower end of de-material pushing block 21 is provided for avoiding the U-shaped breach 21-1 of pedestal 9, for avoiding and pushing chuck 11 or fixed chuck 13 bumps; De-material straight-line motion mechanism consists of the 6th cylinder 22, and wherein cylinder rod is fixedly connected with de-material pushing block 21.During work, de-material straight-line motion mechanism drives de-material pushing block 21 to move downward, if the pedestal 9 pulling out after pin can not drop automatically, just the lower surface of de-material pushing block 21 promotes pedestal 9, it is fallen.
Referring to Fig. 2 a, described in pull out the 8-1 of pin portion below and be provided with for receiving the blanking groove 26 of the pedestal 9 pulling out after pin, this blanking groove 26 is obliquely installed, and the pedestal of receiving 9 is imported in collection containers.Describedly pull out pneumatic-finger in needle device and extract the below of the position of returning after sizing pin 15 and be provided with sizing pin collection container 23, the sizing pin 15 discharging for collecting pneumatic-finger.
Described control system comprises for controlling the first cylinder 7, the second cylinder 12, the 3rd cylinder 20, four-cylinder 17, the control module of the 5th cylinder 19 and the work of the 6th cylinder 22 with, be used for judging the first cylinder 7, the second cylinder 12, the 3rd cylinder 20, four-cylinder 17, whether the piston in the 5th cylinder 19 and the 6th cylinder 22 runs to the sensing element of target location, control solenoid valve and guidance panel 30 that each cylinder starts and stops, described sensing element, solenoid valve and guidance panel 30 are connected with control module respectively, and wherein, described sensing element comprises the photoelectric sensors A being located on bridging piece 6, be located at the electromagnetic sensor A of front end of the cylinder barrel of the first cylinder 7, be located at electromagnetic sensor B1 and the electromagnetic sensor B2 of front-end and back-end of the cylinder barrel of the second cylinder 12, be located at the electromagnetic sensor C of rear end of the cylinder barrel of the 3rd cylinder 20, be located at the electromagnetic sensor D of rear end of the cylinder barrel of four-cylinder 17, be located at electromagnetic sensor E1 and the electromagnetic sensor E2 of front-end and back-end of cylinder barrel of the 5th cylinder and the electromagnetic sensor F of rear end that is located at the cylinder barrel of the 6th cylinder 22, the piston of described cylinder is provided with magnet, when piston runs to electromagnetic sensor position (target location), electromagnetic sensor detects this signal feed back to control module of putting in place, by control module control cylinder, worked, the specific works principle of this control system is referring to the following embodiment that pulls out needle method of the present invention again.
The needle method that pulls out of applying piano pedestal that above-mentioned piano pedestal plucking machine realizes, comprises the following steps;
(1) be equipped with sizing pin 15 and through the pedestal 9 that immersion at vibrating disk 4 after vibrating ordering, attitude is on demand exported from discharging opening 4-1, and entering successively feeding slideway 5, two hanging of sizing pin 15 that enters the pedestal 9 of feeding slideway 5 slips into downwards in the T shape opening 6-1 of bridging piece 6 on two slide rail 5-1;
(2) photoelectric sensors A in bridging piece 6 detects pedestal 9 and enters after T shape opening, and control module is controlled the first cylinder 7 work, and bridging piece 6 carries pedestal 9 and moves downward;
(3) when the piston that the first cylinder 7 detected as electromagnetic sensor A is forwarded to target location, now bridging piece 6 is inserted in the insertion breach 8-4 of locator slide 8, T shape opening 6-1 on bridging piece 6 and the T-shaped chute 8-5 of locator slide combine, control module is controlled the second cylinder 12 work, promotes chuck 11 and the pedestal 9 in T shape opening 6-1 is pushed to the 8-1 of the pin portion of pulling out of locator slide 8;
(4) when the piston that the second cylinder 12 detected as electromagnetic sensor B1 is forwarded to target location, the 8-1 of pin portion is pulled out in the now pushed arrival of pedestal 9, the second locating slot 13-1 combination on promotion chuck 11 on the first locating slot 11-2 and fixed chuck 13, pin 15 clamping and positioning of shaping, control module is controlled the 3rd cylinder 20 work, originally in stretching out state, the moving part 8-3 of locator slide 8 and the 3rd cylinder 20 that fixed part 8-2 combines are return, the moving part 8-3 of locator slide 8 is separated with fixed part 8-2;
(5) when electromagnetic sensor C detect the 3rd cylinder 20 return to target location time, the now moving part 8-3 fixed part 8-2 of locator slide 8 separation has also been left and has been pulled out the 8-1 of pin portion, pull out the 8-1 of pin portion in empty avoiding state, control module is controlled four-cylinder 17 work, and pushing needle bar 16 moves ahead and promotes the non-tip of the sizing pin 15 on pedestal 9;
(6) piston movement that four-cylinder 17 detected as electromagnetic sensor D is during to target location, now pushing needle bar 16 is pushed into the non-tip of the sizing pin 15 on pedestal 9 concordant with pedestal 9 surfaces, control module is controlled four-cylinder 17 and is return, control the 5th cylinder 19 and pneumatic-finger 18 work, pneumatic-finger 18 moves ahead towards the tip of sizing pin 15 simultaneously;
(7) piston movement that the 5th cylinder 19 detected as electromagnetic sensor E1 is during to target location, and now pneumatic-finger 18 pin 15 of shaping clamps, and control module is controlled the 5th cylinder 19 and return, and pneumatic-finger 18 is extracted sizing pin 15;
(8) when the piston that the 5th cylinder 19 detected as electromagnetic sensor E2 returns to target location, now pneumatic-finger 18 pulls away pedestal 9 by sizing pin 15, control module is controlled pneumatic-finger 18 sizing pin 15 is unclamped, sizing pin 15 falls into sizing pin collection container, control module is controlled the 6th cylinder 22 work simultaneously, de-material pushing block 21 down moving handle is likely trapped in the pedestal 9 that pulls out the 8-1 of pin portion and pushes away away, resets subsequently;
(9), when the piston that the 6th cylinder 22 detected as electromagnetic sensor F returns to initial position, control module controls the second cylinder 12 and the 3rd cylinder 20 resets simultaneously;
(10) when the piston that the second cylinder 12 detected as electromagnetic sensor B2 returns to initial position, control module is controlled the first cylinder 7 and is resetted, and the pedestal 9 of feeding slideway 8 slips into downwards in bridging piece 6, enters the pin work of pulling out of next circulation;
(11) constantly repeat above-mentioned steps, that realizes pedestal 9 pulls out pin automatically.
Embodiment 2
The difference of the present embodiment and embodiment 1 is:
Referring to Figure 11, the relative end face of described propelling movement chuck 11 and fixed chuck 13 is plane, and during work, both are pressed on the two sides of pedestal 9, thereby realizes location and clamp.
Referring to Figure 12, described clamp system comprises that holder 32, geometrical clamp refer to that 32-1 and live splint refer to 32-2, wherein, geometrical clamp refers to that 32-1 is fixedly connected with holder 32, in holder 32, be provided with sliding tray, live splint refers to that one of 32-2 is stretched in this sliding tray, and this stretches into part and is provided with tooth bar 33, and this tooth bar is driven by gear 14 and motor; Described geometrical clamp refers to that 32-1 and live splint refer to that 32-2 can be movable relatively realization to the clamping of sizing pin 15 and unclamps; For the ease of clamping, described geometrical clamp refers to that 32-1 and live splint refer to that the clamping part of 32-2 is provided with the clip slot 32-3 matching with shaped pillow 14.
Described blanking straight-line motion mechanism, push straight-line motion mechanism, folding straight-line motion mechanism, the straight-line motion mechanism of pushing pin, pull out pin straight-line motion mechanism and de-material straight-line motion mechanism forms by hydraulic cylinder.
Other embodiments beyond the present embodiment is above-mentioned are identical with embodiment 1.
Above-mentioned is preferably embodiment of the present invention; but embodiments of the present invention are not subject to the restriction of foregoing; other any do not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (10)
1. a piano pedestal plucking machine, is characterized in that, comprise pay-off, blanking device, locator slide, propelling movement locating device, needle pushing-up device, pull out needle device and control system, wherein,
Described pay-off comprises the feeding slideway being obliquely installed;
Described blanking device comprises bridging piece and the blanking straight-line motion mechanism being connected with this bridging piece, and wherein, bridging piece is located at the lower port place of described feeding slideway, and the lower end of bridging piece is provided with for receiving the T shape opening of the pedestal slipping into from feeding slideway;
Described locator slide is arranged on the below of bridging piece, and this locator slide is provided with T shape chute, and when described bridging piece comes downwards to terminal, the T shape opening on it and described T shape chute are combined a part that forms this T shape chute;
Described propelling movement locating device comprises the propelling movement chuck that can move along T shape chute axis direction, the propelling movement straight-line motion mechanism and the fixed chuck that are connected with this propelling movement chuck, wherein, push chuck and be arranged on one corresponding with bridging piece in locator slide, fixed chuck is fixed on the other end of locator slide; The pin portion of pulling out that when promotion chuck is pushed into pedestal fixed chuck place and is clamped, the position at pedestal place is locator slide;
Described needle pushing-up device is arranged on a side of pulling out pin portion, comprises pushing needle bar and the straight-line motion mechanism of pushing pin being connected with this pushing needle bar;
The described needle device that pulls out is located at and pulls out a side relative with needle pushing-up device in pin portion, comprise for clamp with unclamp the clamp system of sizing pin and be connected with this clamp system pull out pin straight-line motion mechanism;
Described control system comprises for controlling blanking straight-line motion mechanism, push straight-line motion mechanism, push pin straight-line motion mechanism and pull out the control module of pin straight-line motion mechanism work and be connected with this control module for judging blanking straight-line motion mechanism, push straight-line motion mechanism, the straight-line motion mechanism and pull out the sensing element whether pin straight-line motion mechanism runs to target location of pushing pin.
2. piano pedestal plucking machine according to claim 1, it is characterized in that, the end of one relative with fixed chuck in described propelling movement chuck has the clamping section in the U-shaped opening that can insert pedestal, the end face of this clamping section be provided with pedestal on the first locating slot of matching of sizing wire surface; The size of one end and the U-shaped opening of pedestal relative with pushing chuck in described fixed chuck match, and this end face is provided with the second locating slot matching with the wire surface of shaping; Described the first locating slot and the second locating slot are combined the enclosure space that forms the sizing pin on the pedestal of location.
3. piano pedestal plucking machine according to claim 1 and 2, is characterized in that, described locator slide is combined by fixed part and moving part, and wherein, both combinatorial surfaces are arranged in the pin portion of a pulling out side corresponding with pushing chuck of locator slide; On described moving part, be connected with folding straight-line motion mechanism.
4. piano pedestal plucking machine according to claim 3, it is characterized in that, described clamp system is pneumatic-finger, this pneumatic-finger there are above two lever arms, the inner side of this two lever arm is respectively equipped with one for clamping or unclamp the pad piece of sizing pin.
5. piano pedestal plucking machine according to claim 4, is characterized in that, described in pull out pin portion top be provided with stripper, this stripper comprises de-material pushing block and the de-material straight-line motion mechanism being connected with this de-material pushing block; The lower end of described de-material pushing block is provided with U-shaped breach.
6. piano pedestal plucking machine according to claim 1, is characterized in that, the outer orienting lug that is arranged with above-below direction of described bridging piece; Described locator slide is provided with the insertion breach matching with this bridging piece under bridging piece.
7. piano pedestal plucking machine according to claim 5, it is characterized in that, described blanking straight-line motion mechanism, push straight-line motion mechanism, folding straight-line motion mechanism, the straight-line motion mechanism of pushing pin, pull out pin straight-line motion mechanism and de-material straight-line motion mechanism forms by cylinder, be respectively the first cylinder, the second cylinder, the 3rd cylinder, four-cylinder, the 5th cylinder and the 6th cylinder.
8. according to the piano pedestal plucking machine described in claim 4～7 any one, it is characterized in that, described pay-off is involving vibrations dish also, and the upper end of described feeding slideway is connected with the discharging opening of vibrating disk; Described feeding slideway is provided with photoelectric sensor B.
9. piano pedestal plucking machine according to claim 7, it is characterized in that, described sensing element comprises the photoelectric sensors A being located on bridging piece, be located at the electromagnetic sensor A of front end of the cylinder barrel of the first cylinder, be located at electromagnetic sensor B1 and the electromagnetic sensor B2 of front-end and back-end of the cylinder barrel of the second cylinder, be located at the electromagnetic sensor C of rear end of the cylinder barrel of the 3rd cylinder, be located at the electromagnetic sensor D of rear end of the cylinder barrel of four-cylinder, be located at electromagnetic sensor E1 and the electromagnetic sensor E2 of front-end and back-end of cylinder barrel of the 5th cylinder and the electromagnetic sensor F of rear end that is located at the cylinder barrel of the 6th cylinder.
10. application rights requires the needle method that pulls out of piano pedestal that the piano pedestal plucking machine described in 9 realizes, it is characterized in that, comprises the following steps:
(1) pedestal from feeding slideway, slip in the T shape opening of bridging piece and hanging thereon;
(2) photoelectric sensors A in bridging piece detects pedestal and enters after T shape opening, and control module is controlled the first cylinder operation, and bridging piece carries pedestal and moves downward;
(3) when the piston that the first cylinder detected as electromagnetic sensor A is forwarded to target location, now the T-shaped chute of the T shape opening on bridging piece and locator slide is combined, control module is controlled the second cylinder operation, promotes chuck and the pedestal in T shape opening is pushed to the pin portion of pulling out of locator slide;
(4) when the piston that the second cylinder detected as electromagnetic sensor B1 is forwarded to target location, pin portion is pulled out in the now pushed arrival of pedestal, promotion chuck and fixed chuck are combined pedestal are positioned, control module is controlled the 3rd cylinder operation, in stretching out the cylinder rod of state, return, the moving part of locator slide is separated with fixed part;
(5) when electromagnetic sensor C detect the 3rd cylinder return to target location time, now the moving part of locator slide has left the pin portion of pulling out, pull out pin portion in empty avoiding state, control module is controlled four-cylinder work, and pushing needle bar moves ahead and promotes the non-tip of the sizing pin on pedestal;
(6) piston movement that four-cylinder detected as electromagnetic sensor D is during to target location, now pushing needle bar is pushed into concordant with pedestal surface by the non-tip of the sizing pin on pedestal, control module is controlled four-cylinder and is return, control the 5th cylinder and pneumatic-finger work, pneumatic-finger moves ahead towards the tip of sizing pin simultaneously;
(7) piston movement that the 5th cylinder detected as electromagnetic sensor E1 is during to target location, and now the pneumatic-finger pin of shaping clamps, and control module is controlled the 5th cylinder and return, and pneumatic-finger is extracted sizing pin;
(8) when the piston that the 5th cylinder detected as electromagnetic sensor E2 returns to target location, now pneumatic-finger pulls away pedestal by sizing pin, control module is controlled pneumatic-finger sizing pin is unclamped, sizing pin falls into sizing pin collection container, while the 6th cylinder operation, de-material pushing block after down moving handle is likely trapped in the pedestal that pulls out pin portion and pushes away away, resets subsequently;
(9), when the piston that the 6th cylinder detected as electromagnetic sensor F returns to initial position, control module controls the second cylinder and the 3rd cylinder resets simultaneously;
(10) when the piston that the second cylinder detected as electromagnetic sensor B2 returns to initial position, control module is controlled the first cylinder and is resetted, and the pedestal of feeding slideway slips into downwards in bridging piece, enters the pin work of pulling out of next circulation;
(11) constantly repeat above-mentioned steps, that realizes pedestal pulls out pin automatically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210509441.5A CN102982791B (en) | 2012-11-30 | 2012-11-30 | Piano shaft frame needle pulling machine and needle pulling method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210509441.5A CN102982791B (en) | 2012-11-30 | 2012-11-30 | Piano shaft frame needle pulling machine and needle pulling method |
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| CN102982791A CN102982791A (en) | 2013-03-20 |
| CN102982791B true CN102982791B (en) | 2014-08-06 |
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| CN109571120A (en) * | 2018-11-26 | 2019-04-05 | 浙江屹立机器人科技有限公司 | A kind of bobbin charging system |
| CN109886437A (en) * | 2019-03-15 | 2019-06-14 | 山东省农业机械科学研究院 | A kind of electronic component atlas management system based on BS+CS framework |
| CN111229925A (en) * | 2020-04-08 | 2020-06-05 | 汤文 | Full-automatic punching machine for end part of annular pipe |
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| JP2009222888A (en) * | 2008-03-14 | 2009-10-01 | Yamaha Corp | Operator structure for electronic musical instrument |
| CN201881436U (en) * | 2010-11-12 | 2011-06-29 | 烟台博斯纳钢琴制造有限公司 | Piano linkage device shaft bracket drilling machine |
| CN201881437U (en) * | 2010-11-12 | 2011-06-29 | 烟台博斯纳钢琴制造有限公司 | Piano ejector rod shaft bracket drilling machine |
| CN202976792U (en) * | 2012-11-30 | 2013-06-05 | 广州珠江钢琴集团股份有限公司 | Piano shaft rack pin plucking machine |
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Application publication date: 20130320 Assignee: BEIJING PEARL RIVER PIANO MANUFACTURING CO., LTD. Assignor: Guangzhou Pearl River Piano Group Co., Ltd. Contract record no.: 2014440000506 Denomination of invention: Piano shaft frame needle pulling machine and needle pulling method Granted publication date: 20140806 License type: Exclusive License Record date: 20141224 |
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