CN103240322B - Workpiece auto-calendering method and auto-calendering manipulator - Google Patents
Workpiece auto-calendering method and auto-calendering manipulator Download PDFInfo
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- CN103240322B CN103240322B CN201310145778.7A CN201310145778A CN103240322B CN 103240322 B CN103240322 B CN 103240322B CN 201310145778 A CN201310145778 A CN 201310145778A CN 103240322 B CN103240322 B CN 103240322B
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Abstract
The invention discloses a workpiece auto-calendering method. The method includes the steps of firstly, setting a frame bench; secondly, setting an automatic feed mechanism; thirdly, setting an automatic conveyor mechanism; fourthly, setting an automatic calenderer; fifthly, setting an automatic control device; and sixthly, starting the automatic control device to control the automatic feed mechanism, the automatic conveyor mechanism, and the automatic calendering mechanism to allow for automatic calendering of a workpiece. The invention further discloses an auto-calendering manipulator disposed on the side of a calenderer of a horizontal calendering machine and comprises the frame bench. The auto-calendering manipulator is characterized by further comprising the automatic feed mechanism, the automatic conveyor mechanism, the automatic calendering mechanism and the automatic control device. The auto-calendering manipulator is simple in structure and capable of auto-conveying a workpiece to the horizontal calendering machine for calendering when materials such as dinnerware stainless steel are calendered, next workpiece is auto-conveyed after the former workpiece is finished, workpiece conveying is automated, and accordingly safety hazards are reduced and operating quality and benefit are increased.
Description
Technical field
The present invention relates to automation processing technique field, particularly relate to a kind of workpiece automation calendering process and automatic calender tool hand.
Background technology
In traditional manufacturing, the calendering of workpiece is generally by manually completing.Artificial taking expects Job Operations, then operates on the horizontal calender device prolonging machine, thus brings number of drawbacks with not enough.First, so closely on-the-spot manual operation, also exists huge potential safety hazard, easily causes industrial injury (example, artificial take material operation calendering error material to dish out to cause serious injury to staff).The second, artificial material of taking rolls, and the process time of needs is longer, and efficiency is difficult to control.3rd, due to the operant level of workman and the difference of method of operating, easily cause that the quality of product is irregular to differ, quality is difficult to unified control.
Summary of the invention
The workpiece automation calendering process that the object of the invention is to provide a kind of dependable performance, automaticity high for the deficiencies in the prior art and automatic calender tool hand, realize the automation of workpiece calendering.
Object of the present invention is realized by following technical measures:
A kind of workpiece automation calendering process, it is characterized in that, it comprises the steps:
1) arrange a frame workbench, it comprises frame lower plate, framework panel and frame upper plate;
2) automatic feeding mechanism is set, to realize the autofeed of workpiece: this automatic feeding mechanism is arranged on the framework panel of frame workbench side, comprises the major and minor limit journey clamping plate of corresponding setting, feed frame and material lift working group; Described feed frame is located on major and minor limit journey clamping plate; Described material lift working group is connected with major and minor limit journey clamping plate, drives major and minor limit journey clamping plate to move up and down.Described feed frame comprises two or more bin pipe positive column, is located on described major and minor limit journey clamping plate respectively; Described material lift working group comprises material lift fishplate bar, material lift base, material lift cross slideway, material lift cross slideway Connection Block, material lift cylinder, material lift cylinder jacking block, seat, material lift electric eye, material lift electric eye seat under material lift cylinder.The main operational principle of this automatic feeding mechanism is as follows: the feed frame on major and minor limit journey clamping plate is used for depositing workpiece, material lift working group then drives major and minor limit journey clamping plate, and then drive feed frame to move up and down, one on the other, then automatic feed mechanism and below matches, and reaches the function of feed.
3) automatic feed mechanism is set, to realize the workpiece given by described automatic feeding mechanism being caught and carrying forward: this automatic feed mechanism is arranged on below described automatic feeding mechanism accordingly, comprises feeding fixed mount, feeding driving group and feed pipe just group.Described feeding fixed mount comprises feeding fixed head and feeding fixed base plate; Described feeding driving group comprises feeding cylinder, feeding guide, feeding guide seat and feeding guide connection strap, and it is located on the feeding fixed base plate of described feeding fixed mount by feeding guide connection strap; Described feed pipe just group comprises material feeding seat top board seat, feeding main clamp holder, the positive cylinder of feed pipe, feeding thimble post, the positive block of feed pipe and feed pipe and is just pushing up power block, it is located on the feeding guide of described feeding driving group by material feeding seat top board seat, is driven advance or retreat by feeding cylinder; Described feed pipe is just pushing up one end that power block is located at feeding thimble post, by the positive air cylinder driven of feed pipe, makes the positive block of feed pipe and feed pipe just push up power block and one opens a conjunction each other, realize accessing workpiece from automatic feeding mechanism.
4) an automatic calender structure is set, to realize the workpiece holding transported by described automatic feed mechanism, and deliver on the horizontal calender device prolonging machine and carry out flattener's work, final acquisition workpiece calendering finished product: this automatic calender structure is located on the frame upper plate of described frame workbench, be made up of X-axis mechanism, Y-axis mechanism, rotating mechanism and manipulator mechanism, described X-axis mechanism is located in described Y-axis mechanism, and described rotating mechanism is located in described X-axis mechanism; Described manipulator mechanism is connected with described rotating mechanism, and is located in described X-axis mechanism by a robot base.Described X-axis mechanism comprises X-axis track base, X-axis cross slideway, X-axis driving cylinder; Described Y-axis mechanism comprises Y-axis track base, Y-axis cross slideway, Y-axis servomotor, ball screw; Described rotating mechanism comprises rotary cylinder tooth seat, rotary cylinder, rotary cylinder gear rack; Described manipulator mechanism comprises top strength cylinder, top power cylinder block, bearing block, clamp device.
5) automaton is set, to realize the cooperation control to automatic feeding mechanism, automatic feed mechanism and automatic calender structure.
6) start described automaton, control automatic feeding mechanism, automatic feed mechanism and automatic calender structure, realize the automation calendering of workpiece; Specifically comprise the following steps:
6.1) workpiece feeding, by stacked for the multiple workpiece feed frame being positioned over described automatic feeding mechanism.This step, for manually to carry out, once can put whole folded multiple workpiece.
6.2) workpiece feed, described material lift working group drives moving up and down of major and minor limit journey clamping plate, thus drive feed frame move up and down contraposition, realize automatic feeding mechanism give material process.The Main Function of this step is that the workpiece on feed frame is delivered to assigned address one on the other by material lift working group, waits for the gripping of automatic feed mechanism and feeding forward.
6.3) workpiece feeding, the workpiece that described automatic feed mechanism is provided by the feed pipe feed frame that just group is catching described automatic feeding mechanism, is then transported to appointment station by feeding driving group forward by workpiece;
6.4) workpiece holding, the manipulator mechanism of described automatic calender structure is carried the workpiece of coming in appointment station place gripping by automatic feed mechanism;
6.5) workpiece calendering, by the X-axis mechanism of described automatic calender structure, Y-axis mechanism and rotating mechanism, drives workpiece to enter the horizontal calender device prolonging machine, and carries out calendering work by the Program path preset, and finally obtains workpiece calendering finished product.This step is the key step of calendering work, and the Program path preset is performed by X-axis mechanism, Y-axis mechanism, rotating mechanism.After manipulator mechanism gripping workpiece, Y-axis mechanism moves forward and workpiece is delivered to the horizontal calender device prolonging machine, X-axis mechanism is moved to the left by workpiece calendering once, rotating mechanism 180 ° of rotational workpieces, X-axis mechanism moves right by the workpiece calendering after upset once again, after calendering is good, Y-axis mechanism moves backward, regains workpiece calendering finished product.This Program path preset can need to make corresponding adjustment according to difference.
6.6) each mechanism return, prepares calendering work next time, so moves in circles.
It is further comprising the steps of:
7) automatic blanking mechanism is set, to realize the finished workpart automatic discharge that will have rolled: this automatic blanking mechanism, for arranging separately, comprises discharge frame, movable circle bar, slide circle wheels and stirring cylinder.It is also provided with an inductor, and workpiece is stacked into a certain degree, and inductor triggers, and stirring cylinder promotes stirring, is turned over by workpiece on discharge frame.
A kind of automatic calender tool hand implementing described workpiece automation calendering process, this automatic calender tool hand is located at a horizontal calender device side prolonging machine, it comprises a frame workbench, it is characterized in that: it also comprises an automatic feeding mechanism, an automatic feed mechanism, an automatic calender structure and an automaton; Described automatic feeding mechanism is located at frame workbench side, comprises the major and minor limit journey clamping plate of corresponding setting, feed frame and material lift working group; Described automatic feed mechanism is arranged on below described automatic feeding mechanism accordingly, comprises feeding fixed mount, feeding driving group and feed pipe just group; Described automatic calender structure is located at above described frame workbench, be made up of X-axis mechanism, Y-axis mechanism, rotating mechanism and manipulator mechanism, described X-axis mechanism is located in described Y-axis mechanism, described rotating mechanism is located in described X-axis mechanism, described manipulator mechanism is connected with described rotating mechanism, and is located in described X-axis mechanism by a robot base; Described automaton is connected with automatic feeding mechanism, automatic feed mechanism and automatic calender structure respectively, controls its co-ordination operation each other.
It also comprises an automatic blanking mechanism, and this automatic blanking mechanism is arrange separately, comprises discharge frame, movable circle bar, slide circle wheels and stirring cylinder.It is also provided with an inductor, and workpiece is stacked into a certain degree, and inductor triggers, and stirring cylinder promotes stirring, is turned over by workpiece on discharge frame.
Described frame workbench comprises in frame lower plate, framework panel and frame.
In automatic feeding mechanism, described feed frame is located on major and minor limit journey clamping plate; Described material lift working group is connected with major and minor limit journey clamping plate, drives major and minor limit journey clamping plate to move up and down.Major and minor limit journey clamping plate both sides are also provided with some bin material folding tops strength cylinder, and are provided with bin adjusting device, to realize assisting further automatic feeding mechanism, adapt to different workpiece.Described feed frame comprises two or more bin pipe positive column, be located on described major and minor limit journey clamping plate respectively, the below of described bin pipe positive column is provided with two hook material strips, hook the workpiece on feed frame, and just organizing corresponding with the feed pipe of automatic feed mechanism, work effects such as preventing workpiece slide simultaneously.Described material lift working group comprises material lift fishplate bar, material lift base, material lift cross slideway, material lift cross slideway Connection Block, material lift cylinder, material lift cylinder jacking block, seat, material lift electric eye, material lift electric eye seat under material lift cylinder.Described material lift fishplate bar is fixed on the framework panel of frame workbench side; Described material lift base is fixed on material lift fishplate bar; Described material lift cross slideway Connection Block is connected with material lift base by material lift cross slideway; Described material lift cylinder is located on material lift base by seat under material lift cylinder, and is connected with material lift cross slideway Connection Block by material lift cylinder jacking block, drives material lift cross slideway Connection Block, and then drives major and minor limit journey clamping plate and the feed frame on it; Described material lift electric eye is located on material lift cylinder jacking block, and described material lift electric eye seat is located on material lift cylinder, is coordinated by both, realizes upper and lower set a distance and drives.
In automatic feed mechanism, described feeding fixed mount comprises feeding fixed head and feeding fixed base plate; Described feeding driving group comprises feeding cylinder, feeding guide, feeding guide seat and feeding guide connection strap, and it is located on the feeding fixed base plate of described feeding fixed mount by feeding guide connection strap; Described feed pipe just group comprises material feeding seat top board seat, feeding main clamp holder, the positive cylinder of feed pipe, feeding thimble post, the positive block of feed pipe and feed pipe and is just pushing up power block, it is located on the feeding guide of described feeding driving group by material feeding seat top board seat, is driven advance or retreat by feeding cylinder; Described feed pipe is just pushing up one end that power block is located at feeding thimble post, by the positive air cylinder driven of feed pipe, makes the positive block of feed pipe and feed pipe just push up power block and one opens a conjunction each other, realize accessing workpiece from automatic feeding mechanism.Described feeding driving group also comprises forward and backward crashproof damper, feeding anticollison block, forward and backward feeding electric eye, feeding electronic eye response device; Described forward and backward crashproof damper is located on feeding fixed mount by feeding cushion socket, and described feeding anticollison block is located on material feeding seat top board seat, and between described forward and backward crashproof damper; Described forward and backward feeding electric eye is located on feeding fixed mount by feeding electric eye seat, and described feeding electronic eye response device is located on material feeding seat top board seat, and between forward and backward feeding electric eye.By the effect of damper and electronic eye response device, realize the function such as damping, spacing, automatic feed mechanism performance is optimized more.
In described automatic calender structure, described X-axis mechanism comprises X-axis track base, X-axis cross slideway, X-axis driving cylinder; Described Y-axis mechanism comprises Y-axis track base, Y-axis cross slideway, Y-axis servomotor, ball screw; Described rotating mechanism comprises rotary cylinder tooth seat, rotary cylinder, rotary cylinder gear rack; Described manipulator mechanism comprises top strength cylinder, top power cylinder block, bearing block, clamp device.The X-axis of described X-axis mechanism drives cylinder by an X-axis cylinder contiguous block driving device at hand plate, and then the rotating mechanism of driving device at hand on plate and manipulator mechanism do X-axis and move.Described X-axis mechanism is provided with the crashproof damping device of X-axis and X-axis stroke induction installation; Described Y-axis mechanism is provided with the crashproof damping device of Y-axis.The crashproof damping device of described X-axis is made up of the crashproof damper of X-axis and X-axis anticollison block; Described X-axis stroke induction installation is made up of X-axis electric eye and X-axis electronic eye response device; The crashproof damping device of described Y-axis is made up of Y-axis stroke safety block, Y-axis stroke shock-proof block and Y-axis stroke shock mount.The crashproof damper of described X-axis is arranged on Y-axis track base by X-axis cushion socket, and described X-axis anticollison block is arranged in robot base, and the effect of crashproof damping can be played when mobile by ZeXZhou mechanism.Described X-axis electric eye has four, is arranged on Y-axis track base by an X-axis electric eye seat, and described X-axis electronic eye response device is arranged in robot base, and ZeXZhou mechanism, when mobile, can be arrived by electronic eye response.Described Y-axis stroke safety block is arranged on Y-axis track base, and described Y-axis stroke shock-proof block is arranged on frame upper plate by Y-axis stroke shock mount, and the effect of crashproof damping can be played when mobile by ZeYZhou mechanism.
By the effect of damper and electronic eye response device, realize the function such as damping, spacing, automatic feed mechanism performance is optimized more.
Described automaton comprises conputer controlled case, computer display touch-screen and touch-screen column spinner.
This automatic calender tool hand is connected with the horizontal machine that prolongs by the horizontal connecting plate that prolongs.
Described automatic feed mechanism also comprises a feeding top cover.Described automatic calender structure also comprises a calendering top cover.
Beneficial effect of the present invention is: structure of the present invention is simple, when using automatic calender tool hand to roll materials such as tableware stainless steels, matched by feeder, feed mechanism, calendering mechanism, workpiece is sent to automatically horizontal prolonging on machine and carries out calendering processing, after workpiece completes, automatic transmission is next, the automation of workpiece transfer process implementation, reduces potential safety hazard, improves work quality and benefit.Automated mechanical hand instead of artificial takes material Job Operations, and delivery rate takes material speed fast and material folding is more neat than artificial; Avoid industrial injury, save time.Solve artificial material of taking slow, and during operation calendering error, material can be dished out to defects such as staff cause serious injury.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is A portion enlarged diagram in Fig. 1;
Fig. 3 is B portion enlarged diagram in Fig. 1;
Fig. 4 is the perspective view at another visual angle of Fig. 1;
Fig. 5 is C portion enlarged diagram in Fig. 4;
Fig. 6 is that Fig. 1 has lid perspective view;
Fig. 7 is automatic blanking mechanism schematic diagram;
Include in the drawings: 1. frame workbench; 2. dynamic feeder; 21. main limit journey clamping plate; 22. secondary limit journey clamping plate; 23. feed frames; 24. material lift bases; 25. material lift cross slideways; 26. material lift cross slideway Connection Blocks; 27. material lift cylinders, 28. material lift cylinder jacking blocks; 29. material lift electric eyes; 210. material lift electric eye seats; 211. bin material folding top strength cylinders; 3. automatic feed mechanism; 31. feeding fixed mounts; 32. feeding cylinders; 33. feeding guides; The positive cylinder of 34. feed pipe; 35. feeding thimble posts; The positive block of 36. feed pipe; 37. feed pipes are just pushing up power block; 38. crashproof dampers; 39. feeding anticollison blocks; 310. feeding electric eyes; 311. feeding electronic eye response devices; 4. automatic calender structure; 41. robot base; 42.X axle cross slideway; 43.X axle drives cylinder; 44.Y axle cross slideway; 45.Y axle servomotor; 46. rotary cylinder tooth seats; 47. rotary cylinders; 48. top strength cylinders; 49. clamp devices; The crashproof damping device of 410.X axle; 411.X axle stroke induction installation 5. automaton; 51. conputer controlled casees; 52. computer display touch-screens; 53. touch-screen column spinners; 6. automatic blanking mechanism; 61. discharge framves; 62. slip circle wheels; 63. stirring cylinders; 64. inductors; 7. horizontally prolong connecting plate; 8. feeding top cover; 9. roll top cover.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated.
See Fig. 1 to Fig. 7, a kind of workpiece automation calendering process, it comprises the steps:
1) arrange a frame workbench 1, it comprises frame lower plate, framework panel and frame upper plate;
2) see Fig. 2, Fig. 5, one automatic feeding mechanism 2 is set, to realize the autofeed of workpiece: this automatic feeding mechanism 2 is arranged on the framework panel of frame workbench 1 side, comprise corresponding arrange major and minor limit journey clamping plate 21,22, feed frame 23 and material lift working group; Described feed frame 23 is located on major and minor limit journey clamping plate 21,22; Described material lift working group is connected with major and minor limit journey clamping plate 21,22, drives major and minor limit journey clamping plate 21,22 to move up and down.Described feed frame 23 comprises two or more bin pipe positive column, is located on described major and minor limit journey clamping plate 21,22 respectively; Described material lift working group comprises material lift fishplate bar, material lift base 24, material lift cross slideway 25, material lift cross slideway Connection Block 26, material lift cylinder 27, material lift cylinder jacking block 28, seat, material lift electric eye 29, material lift electric eye seat 210 under material lift cylinder.The main operational principle of this automatic feeding mechanism 2 is as follows: the feed frame 23 on major and minor limit journey clamping plate 21,22 is for depositing workpiece, material lift working group then drives major and minor limit journey clamping plate 21,22, and then drive feed frame 23 to move up and down, one on the other, then automatic feed mechanism 3 and below matches, and reaches the function of feed.
3) see Fig. 2, Fig. 5, one automatic feed mechanism 3 is set, to realize the workpiece given by described automatic feeding mechanism 2 being caught and carrying forward: this automatic feed mechanism 3 is arranged on below described automatic feeding mechanism 2 accordingly, comprises feeding fixed mount 31, feeding driving group and feed pipe just group.Described feeding fixed mount 31 comprises feeding fixed head and feeding fixed base plate; Described feeding driving group comprises feeding cylinder 32, feeding guide 33, feeding guide 33 and feeding guide connection strap, and it is located on the feeding fixed base plate of described feeding fixed mount 31 by feeding guide connection strap; Described feed pipe just group comprises material feeding seat top board seat, feeding main clamp holder, the positive cylinder of feed pipe 34, feeding thimble post 35, the positive block 36 of feed pipe and feed pipe and is just pushing up power block 37, it is located on the feeding guide 33 of described feeding driving group by material feeding seat top board seat, is driven advance or retreat by feeding cylinder 32; Described feed pipe is just pushing up one end that power block 37 is located at feeding thimble post 35, is driven by the positive cylinder 34 of feed pipe, makes the positive block 36 of feed pipe and feed pipe just push up power block 37 and one opens a conjunction each other, realize accessing workpiece from automatic feeding mechanism 2.
4) see Fig. 3, Fig. 4, one automatic calender structure 4 is set, to realize the workpiece holding transported by described automatic feed mechanism 3, and deliver on the horizontal calender device prolonging machine and carry out flattener's work, final acquisition workpiece calendering finished product: this automatic calender structure 4 is located on the frame upper plate of described frame workbench 1, be made up of X-axis mechanism, Y-axis mechanism, rotating mechanism and manipulator mechanism, described X-axis mechanism is located in described Y-axis mechanism, and described rotating mechanism is located in described X-axis mechanism; Described manipulator mechanism is connected with described rotating mechanism, and is located in described X-axis mechanism by a robot base 41.Described X-axis mechanism comprises X-axis track base, X-axis cross slideway 42, X-axis driving cylinder 43; Described Y-axis mechanism comprises Y-axis track base, Y-axis cross slideway 44, Y-axis servomotor 45, ball screw; Described rotating mechanism comprises rotary cylinder tooth seat 46, rotary cylinder 47, rotary cylinder gear rack; Described manipulator mechanism comprises top strength cylinder 48, top power cylinder block, bearing block, clamp device 49.
5) automaton 5 is set, to realize the cooperation control to automatic feeding mechanism 2, automatic feed mechanism 3 and automatic calender structure 4.
6) start described automaton 5, control automatic feeding mechanism 2, automatic feed mechanism 3 and automatic calender structure 4, realize the automation calendering of workpiece; Specifically comprise the following steps:
6.1) workpiece feeding, by stacked for the multiple workpiece feed frame 23 being positioned over described automatic feeding mechanism 2.This step, for manually to carry out, once can put whole folded multiple workpiece.
6.2) workpiece feed, described material lift working group drives moving up and down of major and minor limit journey clamping plate 21,22, thus drive feed frame 23 move up and down contraposition, realize automatic feeding mechanism 2 give material process.The Main Function of this step is that the workpiece on feed frame 23 is delivered to assigned address one on the other by material lift working group, waits for the gripping of automatic feed mechanism 3 and feeding forward.
6.3) workpiece feeding, the workpiece that described automatic feed mechanism 3 is provided by the feed pipe feed frame 23 that just group is catching described automatic feeding mechanism 2, is then transported to appointment station by feeding driving group forward by workpiece;
6.4) workpiece holding, the manipulator mechanism of described automatic calender structure 4 is carried the workpiece of coming in appointment station place gripping by automatic feed mechanism 3;
6.5) workpiece calendering, by the X-axis mechanism of described automatic calender structure 4, Y-axis mechanism and rotating mechanism, drives workpiece to enter the horizontal calender device prolonging machine, and carries out calendering work by the Program path preset, and finally obtains workpiece calendering finished product.This step is the key step of calendering work, and the Program path preset is performed by X-axis mechanism, Y-axis mechanism, rotating mechanism.After manipulator mechanism gripping workpiece, Y-axis mechanism moves forward and workpiece is delivered to the horizontal calender device prolonging machine, X-axis mechanism is moved to the left by workpiece calendering once, rotating mechanism 180 ° of rotational workpieces, X-axis mechanism moves right by the workpiece calendering after upset once again, after calendering is good, Y-axis mechanism moves backward, regains workpiece calendering finished product.This Program path preset can need to make corresponding adjustment according to difference.
6.6) each mechanism return, prepares calendering work next time, so moves in circles.
It is further comprising the steps of:
7) automatic blanking mechanism 6 is set, to realize the finished workpart automatic discharge that will have rolled: this automatic blanking mechanism 6, for arranging separately, comprises discharge frame 61, movable circle bar, slide circle wheels 62 and stirring cylinder 63.It is also provided with an inductor 64, and workpiece is stacked into a certain degree, and inductor 64 triggers, and stirring cylinder 64 promotes stirring, is turned over by workpiece on discharge frame 61.Automatic calender structure 4 workpiece is delivered to the horizontal calender device prolonging machine roll good after, the workpiece rolled is placed a guiding groove (in figure and draw), is then slipped on automatic blanking mechanism 6 along guiding groove.
See Fig. 1 to Fig. 7, a kind of automatic calender tool hand implementing described workpiece automation calendering process, this automatic calender tool hand is located at a horizontal calender device side prolonging machine, it comprises a frame workbench 1, and it also comprises automatic feeding mechanism 2, automatic feed mechanism 3, automatic calender structure 4 and an automaton 5; Described automatic feeding mechanism 2 is located at frame workbench 1 side, comprise corresponding arrange major and minor limit journey clamping plate 21,22, feed frame 23 and material lift working group; Described automatic feed mechanism 3 is arranged on below described automatic feeding mechanism 2 accordingly, comprises feeding fixed mount 31, feeding driving group and feed pipe just group; Described automatic calender structure 4 is located at above described frame workbench 1, be made up of X-axis mechanism, Y-axis mechanism, rotating mechanism and manipulator mechanism, described X-axis mechanism is located in described Y-axis mechanism, described rotating mechanism is located in described X-axis mechanism, described manipulator mechanism is connected with described rotating mechanism, and is located in described X-axis mechanism by a robot base 41; Described automaton 5 is connected with automatic feeding mechanism 2, automatic feed mechanism 3 and automatic calender structure 4 respectively, controls its co-ordination operation each other.
It also comprises an automatic blanking mechanism 6, and this automatic blanking mechanism 6 is arrange separately, comprises discharge frame 61, movable circle bar, slide circle wheels 62 and stirring cylinder 63.It is also provided with an inductor 64, and workpiece is stacked into a certain degree, and inductor 64 triggers, and stirring cylinder 64 promotes stirring, is turned over by workpiece on discharge frame 61.Automatic calender structure 4 workpiece is delivered to the horizontal calender device prolonging machine roll good after, the workpiece rolled is placed a guiding groove (in figure and draw), is then slipped on automatic blanking mechanism 6 along guiding groove.
Described frame workbench 1 comprises in frame lower plate, framework panel and frame.
See Fig. 2, Fig. 5, in automatic feeding mechanism 2, described feed frame 23 is located on major and minor limit journey clamping plate 21,22; Described material lift working group is connected with major and minor limit journey clamping plate 21,22, drives major and minor limit journey clamping plate 21,22 to move up and down.Major and minor limit journey clamping plate 21,22 both sides are also provided with some bin material folding tops strength cylinder 211, and are provided with bin adjusting device, to realize assisting further automatic feeding mechanism 2, adapt to different workpiece.Described feed frame 23 comprises two or more bin pipe positive column, is located at respectively on described major and minor limit journey clamping plate 21,22.The below of described bin pipe positive column is provided with two hook material strips, hooks the workpiece on feed frame 23, and is just organizing corresponding with the feed pipe of automatic feed mechanism 3, works effects such as preventing workpiece slide simultaneously.Described material lift working group comprises material lift fishplate bar, material lift base 24, material lift cross slideway 25, material lift cross slideway Connection Block 26, material lift cylinder 27, material lift cylinder jacking block 28, seat, material lift electric eye 29, material lift electric eye seat 210 under material lift cylinder.Described material lift fishplate bar is fixed on the framework panel of frame workbench 1 side; Described material lift base 24 is fixed on material lift fishplate bar; Described material lift cross slideway Connection Block 26 is connected with material lift base 24 by material lift cross slideway 25; Described material lift cylinder 27 is located on material lift base 24 by seat under material lift cylinder, and be connected with material lift cross slideway Connection Block 26 by material lift cylinder jacking block 28, drive material lift cross slideway Connection Block 26, and then drive major and minor limit journey clamping plate 21,22 and the feed frame 23 on it; Described material lift electric eye 29 is located on material lift cylinder jacking block 28, and described material lift electric eye seat 210 is located on material lift cylinder 27, is coordinated by both, realizes upper and lower set a distance and drives.
See Fig. 2, Fig. 5, in automatic feed mechanism 3, described feeding fixed mount 31 comprises feeding fixed head and feeding fixed base plate; Described feeding driving group comprises feeding cylinder 32, feeding guide 33, feeding guide 33 and feeding guide connection strap, and it is located on the feeding fixed base plate of described feeding fixed mount 31 by feeding guide connection strap; Described feed pipe just group comprises material feeding seat top board seat, feeding main clamp holder, the positive cylinder of feed pipe 34, feeding thimble post 35, the positive block 36 of feed pipe and feed pipe and is just pushing up power block 37, it is located on the feeding guide 33 of described feeding driving group by material feeding seat top board seat, is driven advance or retreat by feeding cylinder 32; Described feed pipe is just pushing up one end that power block 37 is located at feeding thimble post 35, is driven by the positive cylinder 34 of feed pipe, makes the positive block 36 of feed pipe and feed pipe just push up power block 37 and one opens a conjunction each other, realize accessing workpiece from automatic feeding mechanism 2.Described feeding driving group also comprises forward and backward crashproof damper 38, feeding anticollison block 39, forward and backward feeding electric eye 310, feeding electronic eye response device 311; Described forward and backward crashproof damper logical 38 is crossed feeding cushion sockets and is located on feeding fixed mount 31, and described feeding anticollison block 39 is located on material feeding seat top board seat, and be positioned at described forward and backward crashproof damper 38 between; Described forward and backward feeding electric eye 310 is located on feeding fixed mount 31 by feeding electric eye seat, and described feeding electronic eye response device 311 is located on material feeding seat top board seat, and between forward and backward feeding electric eye 310.By the effect of damper and electronic eye response device, realize the function such as damping, spacing, automatic feed mechanism 3 performance is optimized more.
See Fig. 3, Fig. 4, in described automatic calender structure 4, described X-axis mechanism comprises X-axis track base, X-axis cross slideway 42, X-axis driving cylinder 43; Described Y-axis mechanism comprises Y-axis track base, Y-axis cross slideway 44, Y-axis servomotor 45, ball screw; Described rotating mechanism comprises rotary cylinder tooth seat 46, rotary cylinder 47, rotary cylinder gear rack; Described manipulator mechanism comprises top strength cylinder 48, top power cylinder block, bearing block, clamp device 49.The X-axis of described X-axis mechanism drives cylinder 43 by an X-axis cylinder contiguous block driving device at hand plate 41, and then the rotating mechanism of driving device at hand on plate 41 and manipulator mechanism do X-axis and move.Described X-axis mechanism is provided with the crashproof damping device 410 of X-axis and X-axis stroke induction installation 411; Described Y-axis mechanism is provided with the crashproof damping device of Y-axis.The crashproof damping device of described X-axis 410 is made up of the crashproof damper of X-axis and X-axis anticollison block; Described X-axis stroke induction installation 411 is made up of X-axis electric eye and X-axis electronic eye response device; The crashproof damping device of described Y-axis is made up of Y-axis stroke safety block, Y-axis stroke shock-proof block and Y-axis stroke shock mount.The crashproof damper of described X-axis is arranged on Y-axis track base by X-axis cushion socket, and described X-axis anticollison block is arranged in robot base 41, and the effect of crashproof damping can be played when mobile by ZeXZhou mechanism.Described X-axis electric eye has four, is arranged on Y-axis track base by an X-axis electric eye seat, and described X-axis electronic eye response device is arranged in robot base 41, and ZeXZhou mechanism, when mobile, can be arrived by electronic eye response.Described Y-axis stroke safety block is arranged on Y-axis track base, and described Y-axis stroke shock-proof block is arranged on frame upper plate by Y-axis stroke shock mount, and the effect of crashproof damping can be played when mobile by ZeYZhou mechanism.By the effect of damper and electronic eye response device, realize the function such as damping, spacing, automatic feed mechanism 3 performance is optimized more.
Described automaton 5 comprises conputer controlled case 51, computer display touch-screen 52 and touch-screen column spinner 53.
This automatic calender tool hand is connected with the horizontal machine that prolongs by the horizontal connecting plate 7 that prolongs.
See Fig. 6, described automatic feed mechanism 3 also comprises a feeding top cover 8.Described automatic calender structure 4 also comprises a calendering top cover 9.
Structure of the present invention is simple, when using automatic calender tool hand to roll materials such as tableware stainless steels, matched by feeder, feed mechanism, calendering mechanism, workpiece is sent to automatically horizontal prolonging on machine and carries out calendering processing, after workpiece completes, automatic transmission is next, the automation of workpiece transfer process implementation, reduces potential safety hazard, improves work quality and benefit.Automated mechanical hand instead of artificial takes material Job Operations, and delivery rate takes material speed fast and material folding is more neat than artificial; Avoid industrial injury, save time.Solve artificial material of taking slow, and during operation calendering error, material can be dished out to defects such as staff cause serious injury.
Finally should be noted that, above embodiment is only in order to illustrate technical scheme of the present invention, but not the restriction to patent claim of the present invention, although done to explain to the present invention with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, therefore all equivalences done according to structure, feature and the principle described in patent claim of the present invention change or modify, and are included in patent claim of the present invention.
Claims (8)
1. a workpiece automation calendering process, is characterized in that, it comprises the steps:
1) arrange a frame workbench, it comprises frame lower plate, framework panel and frame upper plate;
2) automatic feeding mechanism is set, to realize the autofeed of workpiece: this automatic feeding mechanism is arranged on the framework panel of frame workbench side, comprises the major and minor limit journey clamping plate of corresponding setting, feed frame and material lift working group; Described feed frame is located on major and minor limit journey clamping plate; Described material lift working group is connected with major and minor limit journey clamping plate, drives major and minor limit journey clamping plate to move up and down; Described feed frame comprises the bin pipe positive column of more than two, is located on described major and minor limit journey clamping plate respectively; Described material lift working group comprises material lift fishplate bar, material lift base, material lift cross slideway, material lift cross slideway Connection Block, material lift cylinder, material lift cylinder jacking block, seat, material lift electric eye, material lift electric eye seat under material lift cylinder;
3) automatic feed mechanism is set, to realize the workpiece given by described automatic feeding mechanism being caught and carrying forward: this automatic feed mechanism is arranged on below described automatic feeding mechanism accordingly, comprises feeding fixed mount, feeding driving group and feed pipe just group;
4) an automatic calender structure is set, to realize the workpiece holding transported by described automatic feed mechanism, and deliver on the horizontal calender device prolonging machine and carry out flattener's work, final acquisition workpiece calendering finished product: this automatic calender structure is located on the frame upper plate of described frame workbench, be made up of X-axis mechanism, Y-axis mechanism, rotating mechanism and manipulator mechanism, described X-axis mechanism is located in described Y-axis mechanism, and described rotating mechanism is located in described X-axis mechanism; Described manipulator mechanism is connected with described rotating mechanism, and is located in described X-axis mechanism by a robot base;
5) automaton is set, to realize the cooperation control to automatic feeding mechanism, automatic feed mechanism and automatic calender structure;
6) start described automaton, control automatic feeding mechanism, automatic feed mechanism and automatic calender structure, realize the automation calendering of workpiece; Specifically comprise the following steps:
6.1) workpiece feeding, by stacked for the multiple workpiece feed frame being positioned over described automatic feeding mechanism;
6.2) workpiece feed, described material lift working group drives moving up and down of major and minor limit journey clamping plate, thus drive feed frame move up and down contraposition, realize automatic feeding mechanism give material process;
6.3) workpiece feeding, the workpiece that described automatic feed mechanism is provided by the feed pipe feed frame that just group is catching described automatic feeding mechanism, is then transported to appointment station by feeding driving group forward by workpiece;
6.4) workpiece holding, the manipulator mechanism of described automatic calender structure is carried the workpiece of coming in appointment station place gripping by automatic feed mechanism;
6.5) workpiece calendering, by the X-axis mechanism of described automatic calender structure, Y-axis mechanism and rotating mechanism, drives workpiece to enter the horizontal calender device prolonging machine, and carries out calendering work by the Program path preset, and finally obtains workpiece calendering finished product;
6.6) each mechanism return, prepares calendering work next time, so moves in circles.
2. workpiece automation calendering process according to claim 1, is characterized in that: it is further comprising the steps of:
7) automatic blanking mechanism is set, to realize the finished workpart automatic discharge that will have rolled: this automatic blanking mechanism, for arranging separately, comprises discharge frame, movable circle bar, slide circle wheels and stirring cylinder.
3. workpiece automation calendering process according to claim 1, is characterized in that: described step 3) in, described feeding fixed mount comprises feeding fixed head and feeding fixed base plate; Described feeding driving group comprises feeding cylinder, feeding guide, feeding guide seat and feeding guide connection strap, and it is located on the feeding fixed base plate of described feeding fixed mount by feeding guide connection strap; Described feed pipe just group comprises material feeding seat top board seat, feeding main clamp holder, the positive cylinder of feed pipe, feeding thimble post, the positive block of feed pipe and feed pipe and is just pushing up power block, it is located on the feeding guide of described feeding driving group by material feeding seat top board seat, is driven advance or retreat by feeding cylinder; Described feed pipe is just pushing up one end that power block is located at feeding thimble post, by the positive air cylinder driven of feed pipe, makes the positive block of feed pipe and feed pipe just push up power block and one opens a conjunction each other, realize accessing workpiece from automatic feeding mechanism.
4. workpiece automation calendering process according to claim 1, is characterized in that: described step 4) in, described X-axis mechanism comprises X-axis track base, X-axis cross slideway, X-axis driving cylinder; Described Y-axis mechanism comprises Y-axis track base, Y-axis cross slideway, Y-axis servomotor, ball screw; Described rotating mechanism comprises rotary cylinder tooth seat, rotary cylinder, rotary cylinder gear rack; Described manipulator mechanism comprises top strength cylinder, top power cylinder block, bearing block, clamp device.
5. one kind implements the claims the automatic calender tool hand of one of 1 to 4 described workpiece automation calendering process, this automatic calender tool hand is located at a horizontal calender device side prolonging machine, it comprises a frame workbench, it is characterized in that: it also comprises an automatic feeding mechanism, an automatic feed mechanism, an automatic calender structure and an automaton; Described automatic feeding mechanism is located at frame workbench side, comprises the major and minor limit journey clamping plate of corresponding setting, feed frame and material lift working group; Described feed frame comprises the bin pipe positive column of more than two, is located on described major and minor limit journey clamping plate respectively; Described material lift working group comprises material lift fishplate bar, material lift base, material lift cross slideway, material lift cross slideway Connection Block, material lift cylinder, material lift cylinder jacking block, seat, material lift electric eye, material lift electric eye seat under material lift cylinder; Described automatic feed mechanism is arranged on below described automatic feeding mechanism accordingly, comprises feeding fixed mount, feeding driving group and feed pipe just group; Described automatic calender structure is located at above described frame workbench, be made up of X-axis mechanism, Y-axis mechanism, rotating mechanism and manipulator mechanism, described X-axis mechanism is located in described Y-axis mechanism, described rotating mechanism is located in described X-axis mechanism, described manipulator mechanism is connected with described rotating mechanism, and is located in described X-axis mechanism by a robot base; Described automaton is connected with automatic feeding mechanism, automatic feed mechanism and automatic calender structure respectively, controls its co-ordination operation each other.
6. automatic calender tool hand according to claim 5, is characterized in that: it also comprises an automatic blanking mechanism, and this automatic blanking mechanism is arrange separately, comprises discharge frame, movable circle bar, slide circle wheels and stirring cylinder.
7. automatic calender tool hand according to claim 5, is characterized in that: described feeding fixed mount comprises feeding fixed head and feeding fixed base plate; Described feeding driving group comprises feeding cylinder, feeding guide, feeding guide seat and feeding guide connection strap, and it is located on the feeding fixed base plate of described feeding fixed mount by feeding guide connection strap; Described feed pipe just group comprises material feeding seat top board seat, feeding main clamp holder, the positive cylinder of feed pipe, feeding thimble post, the positive block of feed pipe and feed pipe and is just pushing up power block, it is located on the feeding guide of described feeding driving group by material feeding seat top board seat, is driven advance or retreat by feeding cylinder; Described feed pipe is just pushing up one end that power block is located at feeding thimble post, by the positive air cylinder driven of feed pipe, makes the positive block of feed pipe and feed pipe just push up power block and one opens a conjunction each other, realize accessing workpiece from automatic feeding mechanism.
8. automatic calender tool hand according to claim 5, is characterized in that: described X-axis mechanism comprises X-axis track base, X-axis cross slideway, X-axis driving cylinder; Described Y-axis mechanism comprises Y-axis track base, Y-axis cross slideway, Y-axis servomotor, ball screw; Described rotating mechanism comprises rotary cylinder tooth seat, rotary cylinder, rotary cylinder gear rack; Described manipulator mechanism comprises top strength cylinder, top power cylinder block, bearing block, clamp device.
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| CN201310145778.7A CN103240322B (en) | 2013-04-24 | 2013-04-24 | Workpiece auto-calendering method and auto-calendering manipulator |
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| CN201310145778.7A CN103240322B (en) | 2013-04-24 | 2013-04-24 | Workpiece auto-calendering method and auto-calendering manipulator |
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| CN103009064A (en) * | 2013-01-15 | 2013-04-03 | 浙江永强集团股份有限公司 | Automatic pipe bending and perforating integrated machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202009015682U1 (en) * | 2009-12-01 | 2011-04-14 | Kuka Systems Gmbh | transport means |
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| CN201127974Y (en) * | 2007-11-29 | 2008-10-08 | 湖北三环锻压设备有限公司 | Following entrust material automatic stacking and discharging machine |
| CN102554062A (en) * | 2012-01-17 | 2012-07-11 | 柳州高华机械有限公司 | Automatic stamping production line |
| CN202411278U (en) * | 2012-01-17 | 2012-09-05 | 柳州高华机械有限公司 | Automatic stamping production mechanical arm |
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