CN103394665B - Automatic material distribution machine - Google Patents

Automatic material distribution machine Download PDF

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CN103394665B
CN103394665B CN201310290595.4A CN201310290595A CN103394665B CN 103394665 B CN103394665 B CN 103394665B CN 201310290595 A CN201310290595 A CN 201310290595A CN 103394665 B CN103394665 B CN 103394665B
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finger
robot
gag
hold
cylinder
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CN103394665A (en
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吴芳艺
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吴芳艺
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Abstract

The invention discloses an automatic material distribution machine. The automatic material distribution machine mainly comprises a main machine body, a transporting device, a mechanical arm device and a pressing device. The mechanical arm device comprises first mechanical arm device bodies and second mechanical arm device bodies. The transporting device is arranged above the mechanical arm device. The transporting device comprises first pneumatic fingers, second pneumatic fingers and a third pneumatic finger, wherein the first pneumatic fingers and the second pneumatic fingers are respectively arranged in parallel in a left and right mode and can respectively and synchronously move left and right and respectively and synchronously move up and down. The pressing device comprises a first pressing device body and a second pressing device body, wherein the first pressing device body and the second pressing device body are arranged in parallel in a left and right mode. The first pressing device body comprises first upper pressing device main bodies and first lower pressing device main bodies, wherein the first upper pressing device main bodies are correspondingly matched with each other and can move downward, and the first lower pressing device main bodies are arranged between the two sets of first mechanical arm device bodies. The second pressing device comprises second upper pressing device main bodies and second lower pressing device main bodies, wherein the second upper pressing device main bodies are correspondingly matched with each other and can move downward, and the second lower pressing device main bodies are arranged between the two sets of second mechanical arm device bodies. The automatic material distribution machine is simple in structure, free of a cooling device, good in material distributing effect, and extremely high in automatic degree and efficiency.

Description

A kind of automatic material-separating machine
Technical field
The present invention relates to foundry goods sub-material technical field, be specifically related to a kind of automatic material-separating machine.
Background technology
Become mold pressing to cast by die casting machine in castings production, every mould has generally included several workpiece, and these several workpiece are connected in one by runner body, is also connected with unnecessary overflowing material outside each workpiece.Obtain the finished workpart of single-piece, need each workpiece and runner body and overflowing material to be separated.It is all adopt manual type that tradition is separated workpiece, and hand-held foundry goods bends operation repeatedly, has that labour intensity is large, inefficiency shortcoming.
In prior art, someone proposes to adopt mechanical system to replace manual type, ratio is if any employing punch process mode, directly to be fractureed problem by artificial high strength although which avoids, but still need after punching press manually workpiece to be taken out one by one from punch press die cavity, also need to consume certain manpower, inefficiency, and the accident that also easily meets accident during pickup.More crucial, foundry goods has unavoidably many corners chip, this corner chip often affects punch press normal operating and even mechanical breakdown occurs, and easy causing to surface of the work weighs wounded.
Also have at present and adopt manipulator pat or take off flowing mode (such as see number of patent application 201220447338.8,201210251955.5), but all there is a lot of defect in these two kinds of mode practical applications.Such as foundry goods connecting gear takes chain band or other conveyer belts to transport to support foundry goods mode, and the offcut on foundry goods can affect connecting gear and normally run, and must be equipped with and respond to detent mechanism accurately; For another example, during sub-material operation, first overflowing material to be fractureed separation from foundry goods, afterwards workpiece to be fractureed separation from runner body, the whole sub-material operation just simple runner body to foundry goods positions, not easy to operate during separation overflowing material, and as easy as rolling off a log related workpiece is separated together, not only need the process of follow-up sub-material again, and meeting disfiguring workpiece; For another example, robot device adopts existing standard machinery hand, and effective crawl effect is not good, and grasp force greatly easily hurts workpiece, and grasp force small workpiece not frangibility.Thus, in order to avoid damage foundry goods, before foundry goods sub-material, cooling segment in prior art, all must be adopted to carry out suitable cooling processing.In addition, flowing mode is taken off disclosed in number of patent application 201210251955.5, robot manipulator structure part is extremely complicated, operation inconvenience, and transverse direction can only be carried out break material, and the workpiece on foundry goods has horizontal and vertical two kinds of arrangements usually, for the workpiece of longitudinally arrangement, described robot manipulator structure cannot realize breaking material operation.
In view of this, the present inventor conducts in-depth research for Problems existing in existing foundry goods sub-material, and this case produces thus.
Summary of the invention
The object of the present invention is to provide a kind of automatic material-separating machine, simple for structure, without the need to cooling processing device, sub-material excellent, automation and ultrahigh in efficiency.
In order to reach above-mentioned purpose, solution of the present invention is:
A kind of automatic material-separating machine, mainly comprises main body and is arranged on conveyer, robot device and the hold down gag on this main body; This robot device comprises the first robot device for separating of overflowing material of being arranged side by side of left and right and the second robot device for separating of workpiece, and what be arranged side by side before and after this first robot device and the second robot device comprise respectively all can two groups of movement along the longitudinal direction; On described main body, corresponding first, second robot device described is respectively equipped with overflowing funnel mechanism and workpiece funnel mechanism; Described conveyer is located at above described robot device, and this conveyer comprises synchronously can do left and right to the first pneumatic-finger moving with upward and downward, be arranged side by side in left and right, the second pneumatic-finger and the 3rd pneumatic-finger; The first hold down gag for workpiece pressing be arranged side by side about described hold down gag comprises and the second hold down gag for compressing runner body; This first hold down gag comprise corresponding cooperation movable move down first on hold down gag and first time hold down gag being installed on described in two groups between the first robot device; This second hold down gag comprise corresponding cooperation movable move down second on hold down gag and second time hold down gag being installed on described in two groups between the second robot device.
The driving mechanism that described robot device comprises base, finger mechanism and drives this finger mechanism to swing; Described finger mechanism comprises two-way cylinder, chute, upper finger and lower finger, the top shoe and the sliding block that are synchronously driven location by described two-way cylinder is movably equipped with in this chute, described upper finger is fixed on this top shoe, and described lower finger is fixed on this sliding block.
Described driving mechanism is arc formula swing driving mechanism, comprises two track plates and a cylinder; This two track plates is erected on described base, and this facing side of two tracks is respectively arranged with a corresponding arc groove presenting downward-extension; The both sides of described two-way cylinder are respectively provided with an arc shaped slider, and this two arc shaped slider respectively movable coupling is embedded in arc groove described in two; Described cylinder is in being movably articulated between described base and described two-way cylinder obliquely.
Described driving mechanism is circle center type swing driving mechanism, comprises bearing block, main shaft, removable pin and cylinder; Described major axis horizontal runs through and is plugged on described bearing block, and one end of this main shaft is fixed on described two-way cylinder, and the other end connects an end of described removable pin, the other end of this removable pin be movably articulated in described cylinder in erectting on the piston rod that extends.
Described conveyer comprises installing plate, guide rail, sliding panel; Described guide rail is that level is located at described installing plate bottom surface, and described sliding panel is assembled on described guide rail via sliding shoe, described installing plate is provided with the first cylinder driving described sliding shoe along described slide; The bottom surface of described sliding panel is provided with the guide rod of setting, on this guide rod, movable sleeve is provided with movable part, described sliding panel is provided with the second cylinder driving the displacement activity up and down of this movable part, and described first pneumatic-finger, the second pneumatic-finger and the 3rd pneumatic-finger are connected with on described movable part.
Described first robot device and the second robot device divide two groups, front and back correspondence to be arranged on two sliding platforms of front and back, this sliding platform is slidably assembled on line slideway via guide groove, this line slideway extends along the longitudinal direction and is located on described main body, and described main body is provided with the cylinder driving and slidably reciprocate before and after described guide groove.
Described hold down gag comprises upper and lower symmetrically arranged two parts, and often group comprises girder, crossbeam and compact heap; Described girder is provided with several impenetrating mouths that horizontal Tile is arranged, and described crossbeam is provided with some and distributes to run through and is located in several impenetrating mouths described, and described compact heap is provided with some pieces and is assembled in the end positions of described crossbeam; Described compact heap is divided into two groups, left and right, for for the first compact heap group of workpiece pressing and the second compact heap group for compressing runner body.
Described crossbeam is the tooth row crossbeam being laid with tooth row, each described compact heap offers assembling grove, one madial wall of this assembling grove is provided with the tooth row matched with the tooth row on described tooth row crossbeam, offer flight with on the sidewall that this madial wall is facing, the spring ripple pearl screw for holding tooth row crossbeam is installed in this flight.
The vertical type block extended before and after the horizontal type block extended about the compact heap of described first compact heap group comprises length and length, this horizontal type block and vertical type block are in " Jiong " type shape structure; The vertical type block extended before and after the horizontal type block extended about the compact heap of described second compact heap group comprises length and length, the cross section of this horizontal type block and vertical type block is yi word pattern shape structure.
After adopting technique scheme, automatic material-separating machine of the present invention, during work, first, second hold down gag is respectively first, second station, treat that first sub-material foundry goods enters on the first station, be separated overflowing material by the first robot device, overflowing material is by overflowing funnel collect; Afterwards, Work conveying apparatus action, the second pneumatic-finger action, captured by the foundry goods on the first station and be placed on the second station, be separated workpiece by the second robot device, workpiece is collected by workpiece funnel mechanism; First pneumatic-finger action simultaneously, next is treated sub-material foundry goods captures and be placed on the first station, be separated overflowing material by the first robot device, overflowing material is by overflowing funnel collect; Above-mentioned action is carried out repeatedly next time, simultaneously also by the 3rd pneumatic-finger action, is captured by runner material remaining on the second station; Repeatedly carry out thus.The present invention is relative to the beneficial effect of prior art:
One, workpiece transports employing Grasp Modes, and foundry goods is divided into two step sub-materials, and corresponding reasonable Arrangement captures finger, and a upper foundry goods carries out second step workpiece and is separated simultaneously, and next foundry goods carries out overflowing material separating action simultaneously, not only automatic but also efficient; And compared with the existing kind of drive, present invention obviates foundry goods corner chip flaw problem own and affect mechanical normal operating and damage is caused to workpiece;
Two, hold down gag is distinguished on first, second station, first hold down gag upper-lower compacting of corresponding first station is to locate foundry goods workpiece portion, thus be beneficial to the first robot device not compacted overflowing material is separated, thus avoid in existing separation overflowing material and there is unreliable and disfiguring workpiece problem;
Three, described hold down gag is distinguished on first, second station, also be beneficial to robot device and give full play to effective crawl effect, little to workpiece damage, without the need to carrying out cooling processing before workpiece sub-material, save the cooling processing mechanism must installed in conventional art; Preferably, the present invention also makes improvements the finger mechanism of robot device, chute and slide block activity is adopted to coordinate, the upper and lower finger of finger mechanism is all restricted on other directions except above-below direction, so there will not be the problems such as loosening, vibration in clamping foundry goods process, then the grasping force control of finger mechanism is moderate, reduces to minimum to the injury of workpiece;
Four, preferred, adapting to workpiece on foundry goods has horizontal and vertical two kinds of arrangements, and foundry goods robot device is distinguished two kinds, and arc formula swing driving mechanism is used for carrying out transverse direction and breaks material, and circle center type swing driving mechanism is used for carrying out longitudinal direction and breaks material; Two kinds of robot devices can be made correspondent transform according to the structure of foundry goods and arrange, practical again flexibly.
Accompanying drawing explanation
Fig. 1 is the stereogram of automatic material-separating machine of the present invention;
Fig. 2 is another stereogram (not comprising conveyer) of automatic material-separating machine of the present invention;
Fig. 3 is the stereogram of conveyer of the present invention;
Fig. 4 is the exploded view of Fig. 3;
Fig. 5 is the stereogram of robot device (arc formula swing driving mechanism);
Fig. 6 is the exploded view of Fig. 5;
Fig. 7 is the stereogram of robot device (circle center type swing driving mechanism);
Fig. 8 is the exploded view of Fig. 7;
Fig. 9 is the stereogram of one group of hold down gag;
Figure 10 is the exploded view of Fig. 9;
Figure 11 is the stereogram of foundry goods.
Label declaration
Main body 1 overflowing funnel mechanism 11
Workpiece funnel mechanism 12 portal frame 13
Conveyer 2 first pneumatic-finger 21
Second pneumatic-finger 22 the 3rd pneumatic-finger 23
Installing plate 24 sliding panel 25
Sliding shoe 251 guide rod 252
Guide rail 26 first cylinder 27
Movable part 28 second cylinder 29
Robot device 3 first robot device 3A
Second robot device 3B base 31
The two-way cylinder 321 of finger mechanism 32
Upper finger 322 times fingers 323
Chute 324 top shoe 325
Sliding block 326 upper junction plate 327
Lower connecting plate 328 cylinder jacket 329
Driving mechanism 33 track plates 331
Arc groove 3311 arc shaped slider 332
Cylinder 333 bearing block 334
Main shaft 335 removable pin 336
Cylinder 337 piston rod 3371
Hold down gag 4 girder 41
Impenetrating mouth 411 crossbeam 42
Tooth row 421 compact heap 43
Assembling grove 431 tooth row block 44
Spring ripple pearl screw 45 sliding platform 51
Guide groove 511 line guide rail 52
Locating platform 6 foundry goods 7
Runner body 71 workpiece 72
Overflowing material 73
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, this case is described in further detail.
The present invention relates to a kind of automatic material-separating machine, as Figure 1-10 shows, mainly comprise main body 1, conveyer 2, robot device 3 and hold down gag 4.Be a structural representation of existing foundry goods 7 as shown in figure 11, comprise runner body 71, workpiece 72 and overflowing material 73.Workpiece 72 points four groups is connected in four branches of runner body 71, and overflowing material 73, to there being four groups, is connected on four groups of workpiece 72.In Figure 11, workpiece 72 has horizontal and vertical two kinds of arrangements, and corresponding overflowing material 73 also has horizontal and vertical two kinds of arrangements.
Described main body 1, see Fig. 1, be the support section of whole depiler, conveyer 2, robot device 3 and hold down gag 4 are installed on this main body 1.Be provided with overflowing funnel mechanism 11 and workpiece funnel mechanism 12 in main body 1, be respectively used to the overflowing material after collecting sub-material and workpiece.For the ease of the erection of conveyer 2, on described main body 1, also preferably erection has a portal frame 13.
Described robot device 3, see Fig. 2, comprises the first robot device 3A and the second robot device 3B, and this first robot device 3A and the second robot device 3B is arranged side by side in left and right on main body 1.Two groups that are arranged side by side before and after first robot device 3A comprises, act on for separating of overflowing material 73, two that arrange before and after described overflowing funnel mechanism 11 correspondence comprises, correspondence is located at below two group of first robot device 3A respectively.Two groups that are arranged side by side before and after second robot device 3B comprises equally, act on for separating of workpiece 72, two that arrange before and after described workpiece funnel mechanism 12 correspondence comprises, correspondence is located at below two group of second robot device 3B respectively.First robot device 3A and the second robot device 3B can move around along the longitudinal direction on main body 1.
Described conveyer 2, see Fig. 1, Fig. 3, is erected on portal frame 13, and is located at above robot device 3.Conveyer 2 comprises the first pneumatic-finger 21, second pneumatic-finger 22 and the 3rd pneumatic-finger 23, first pneumatic-finger 21, second pneumatic-finger 22 and the 3rd pneumatic-finger 23 respectively finger end are all vertical down, three is that left and right is arranged side by side, and this three moves to mobile and upward and downward about can synchronously doing.The crawl function of transportation of sub-material foundry goods is treated, the also better locating platform 6 be provided with for placing foundry goods 7 on main body 1 for the ease of conveyer 2.Foundry goods 7 can be placed on platform by manually simple and easy, can also be provided with conveying device for automatic transport foundry goods 7 at the input of locating platform 6.
Described hold down gag 4, see Fig. 1, Fig. 2, Fig. 9, the first hold down gag 4A be arranged side by side about comprising and the second hold down gag 4B.First hold down gag 4A is used for workpiece pressing 72 and acts on, specifically comprise corresponding two parts be equipped with up and down, a part is first time hold down gag 4A1 between be arranged on the first robot device 3A two groups, another part is hold down gag 4A2 on first, this on first hold down gag 4A2 can carry out moving up and down effect, preferred this on first hold down gag 4A2 be arranged on conveyer 2, move with conveyer 2 thus.Second hold down gag 4B acts on for compressing runner body 71, specifically comprise corresponding two parts be equipped with up and down, a part is second time hold down gag 4B1 between be arranged on the second robot device 3B two groups, another part is hold down gag 4B2 on second, this on second hold down gag 4B2 move up and down effect under can carrying out, preferred this on second hold down gag 4B2 be arranged on conveyer 2, move with conveyer 2 thus.
Described first time hold down gag 4A1 is the first station, and second time hold down gag 4B1 is the second station.Depiler specific works step is as follows:
1) start on foundry goods 7 to the first station on conveyer 2, first pneumatic-finger 21 motion capture locating platform 6, now carry out symmetrical up and down compression by the workpiece 72 of the first hold down gag 4A to both sides before and after foundry goods 7; First robot device 3A of two groups, front and back clamps the overflowing material 73 of both sides, front and back toward interior advance, and carries out centrifugation to this overflowing material 73, is separated rear overflowing material 73 and is collected by overflowing funnel mechanism 11; First robot device 3A of two groups, front and back retreats reset outward;
2) the first pneumatic-finger 21 decontrols foundry goods 7, conveyer 2 starts again, foundry goods 7 on first station captures and is placed on the second station by the second pneumatic-finger 22 action, the first pneumatic-finger 21 action simultaneously, and by locating platform 6, next treats that sub-material foundry goods 7 crawl is placed on the first station;
3) from the second robot device 3B of two groups, front and back before and after foundry goods 7 on interior advance clamping second station the workpiece 72 of both sides, and centrifugation is carried out to this workpiece 72, after being separated, workpiece 72 is collected by workpiece funnel mechanism 12, and the second robot device 3B of two groups, front and back retreats reset outward; Simultaneously from the first robot device 3A of two groups, front and back before and after foundry goods 7 on interior advance clamping first station the overflowing material 73 of both sides, and centrifugation is carried out to this overflowing material 73, after being separated, overflowing material 73 is collected by overflowing funnel mechanism 11, and the first robot device 3A of two groups, front and back retreats reset outward;
4) the first pneumatic-finger 21, second pneumatic-finger 22 decontrols corresponding foundry goods 7 simultaneously, and conveyer 2 starts again, and the second pneumatic-finger 22, first pneumatic-finger 21 repeats 2) action of step; 3rd pneumatic-finger 23 captures in runner material 71 to postorder gathering-device remaining after sub-material on the second station simultaneously;
5) repeat 3), 4) step carries out repeatedly, streamline realizes the sub-material action of foundry goods 7, and runner material 71, workpiece 72, overflowing material 73 separate collection separately.
Preferably, in conveyer 2 for driving the driving mechanism of each pneumatic-finger action, the present invention provides a preferred embodiment, shown in Fig. 3, Fig. 4, comprises installing plate 24, sliding panel 25, guide rail 26 and cylinder 27.Installing plate 24 level is arranged on portal frame 13, guide rail 26 is located on installing plate 24 bottom surface in level, sliding panel 25 via sliding shoe 251 Moveable assembled on guide rail 26, first cylinder 27 is arranged on installing plate 24, the piston rod of the first cylinder 27 is connected with sliding shoe 251, first cylinder 27 piston rod is stretched thus, drives sliding panel 25 to move around along guide rail 26 level by piston rod.The bottom surface of sliding panel 25 is provided with the guide rod 252 of setting, and on this guide rod 252, movable sleeve is provided with movable part 28, and the first pneumatic-finger 21, second pneumatic-finger 22 and the 3rd pneumatic-finger 23 are connected with on movable part 28 via girder.Sliding panel 25 is provided with the second cylinder 29, promotes girder with this to drive movable part 28 along guide rod about 252 displacement activity, drive the first pneumatic-finger 21, second pneumatic-finger 22 and the 3rd pneumatic-finger about 23 displacement activity thus by this second cylinder 29.Certain first pneumatic-finger 21, second pneumatic-finger 22 and the 3rd pneumatic-finger 23 can move around as level with sliding panel 25.
Provide in specific embodiment, on first, on hold down gag 4A2 and second, hold down gag 4B2 is directly connected with on movable part 28, can make upper and lower shift motion thus with this movable part 28.In addition, conveniently structural design, the 3rd pneumatic-finger 23 is directly installed on sliding panel 25 via cylinder.
Preferably, as the embodiment realizing the first robot device 3A and the second robot device 3B movable on main body 1 be, first robot device 3A and the second robot device 3B divides two groups, front and back correspondence to be arranged on front and back two sliding platform 51, this sliding platform 51 is assembled on line slideway 52 via guide groove 511 slidably, this line slideway 52 is extended on main body 1 along the longitudinal direction, main body 1 is provided with the cylinder (being arranged under sliding platform 51, not shown) driving and slidably reciprocate before and after guide groove 511.
Preferably, the present invention also proposes to improve to the robot section of robot device 3, shown in Fig. 5-8, comprises base 31, finger mechanism 32 and driving mechanism 33.Finger mechanism 32 comprises two-way cylinder 321, upper finger 322, lower finger 323, chute 324.Chute 324 is fixed on two-way cylinder 321 sidewall, top shoe 325 and sliding block 326 is movably equipped with in chute 324, this top shoe 325 is by the fixing upper finger 322 of web, sliding block 326 is by the fixing lower finger 323 of web, and upper finger 322 is parallel up and down and facing setting with lower finger 323.The outer end of top shoe 325 is connected with the upper piston rod of two-way cylinder 321 by a plate 327, and the outer end of sliding block 326 is connected with the lower piston rod of two-way cylinder 321 by another connecting plate 328.Thus, upper the lower piston rod synchronously overhanging or retracting action of two-way cylinder 321, drive top shoe 325 and sliding block 326 in chute 324 inter-sync in opposite directions or opposing movement respectively via connecting plate 327,328, final drive left-hand seat refer to 322 and lower finger 323 closed in opposite directions or open dorsad.Owing to adopting chute 324 and top shoe 325, sliding block 326 movable spacing, upper finger 322 and lower finger 323 are all restricted on other directions except above-below direction, so there will not be the problems such as loosening, vibration in clamping foundry goods 7 process, Stability Analysis of Structures, effective chucking power is excellent.
For the workpiece 72 of foundry goods 7 and transverse and longitudinal two kinds of arrangements of overflowing material 73, the finger mechanism 32 of robot device 3 of the present invention has two kinds of manners.First kind of way is see Fig. 5-6, and finger mechanism 32 is arc formula swing mode, and corresponding driving mechanism 33 is arc formula swing driving mechanism, comprises two track plates 331, two arc shaped slider 332 and cylinders 333.Two track plates 331 erected parallel, on base 31, the two facing sides of track 331 are respectively arranged with an arc groove 3311, this two arc groove 3311 corresponding and present downward-extension arrange.Two-way cylinder 321 is preferably outer is arranged with the both sides that cylinder jacket 329, two arc shaped slider 332 is located at cylinder jacket 329 respectively, and this two arc shaped slider 332 respectively movable coupling is embedded in two arc grooves 3311.Cylinder 333 is in the upper end being movably articulated in base 3 and cylinder jacket 329 obliquely.
During work, cylinder 333 drives its piston rod protruding, promotes two arc shaped sliders 332 and up slides along two arc grooves 3311, drives finger mechanism 32 up arc formula swing thus, the upper and lower finger correspondence of finger mechanism 32 is made up arc formula and is swung, and is about to clamping casting portion and up moves.Cylinder 333 drives piston rod inwardly to bounce back, and action is just contrary, down moves thus, repeatedly carries out thus, realize robot device and operate foundry goods sub-material by the casting portion above broken.And this kind of robot device is specially adapted to make material-distributing action to the horizontal arrangement part of foundry goods.And for the casting portion that the need of laterally arrangement are separated, there is certain planar dimension structure, better described upper finger, lower finger, in the platy structure with one fixed width, do not hinder workpiece with effective sub-material.
Robot device 3 second way is see Fig. 7-8, and finger mechanism 32 is circle center type swing mode, and corresponding driving mechanism 33 is circle center type swing driving mechanism, comprises bearing block 334, main shaft 335, removable pin 336 and cylinder 337.Main shaft 335 runs through in level and is plugged on bearing block 334, one end of this main shaft 335 is fixed in cylinder jacket 329, the other end connects an end of removable pin 336, and the other end of this removable pin 336 is movably articulated on the piston rod 3371 of cylinder 337, and this piston rod 3371 is extended in erectting.
During work, cylinder 337 action drives on piston rod 3371 and moves or move down, and the corresponding end of removable pin 336 is elevated or forces down, thus drives main shaft 335 to rotate back and forth, and drives finger mechanism 32 to make circle center type thus and rotates.Certainly, now go up finger 322 and 323, lower finger otherwise be located at circle centre position, upper finger 322 and lower finger 323 can rotate with finger mechanism 32 circle center type and circle center type swings, and realize operating foundry goods sub-material with this.Certainly, this kind of robot device is specially adapted to make material-distributing action to the longitudinal arrangement part of foundry goods.And the longitudinal arrangement part of foundry goods 7 is generally symmetrical set, thus, described upper finger 322 and lower finger 323 can arrange two groups in both sides, the center of circle; The size of the longitudinal arrangement part of foundry goods 7 is generally strip, so upper finger 322 and lower finger 323 can be batten shape structure.
First robot device 3A and the second robot device 3B, the number of the robot section that two groups, respective front and back are arranged is determined as required, the such as workpiece 72 of corresponding foundry goods 7 and the group number of overflow material 73, the often group of two groups, described respective front and back comprises four robot section, and often group according to a kind of in the above-mentioned two kinds of modes of the transverse and longitudinal arrangement corresponding selection of foundry goods 7.In addition, each robot section of described two groups, respective front and back is arranged on sliding platform 51 in movable respectively, to carry out separately front and back displacement adjustment separately.
Described first hold down gag 4A and the second hold down gag 4B includes two parts of upper and lower corresponding matching, with as shown in figs. 9-10 for the lower part structure of both the first hold down gag 4A and the second hold down gag 4B, comprises girder 41, crossbeam 42 and compact heap 43.Girder 41 is provided with several impenetrating mouths 411 that horizontal Tile is arranged, and crossbeam 42 is provided with some and distributes to run through and is located in several impenetrating mouths 411, and compact heap 43 is provided with some pieces and is assembled in the end positions of crossbeam 42.Compact heap about 43 points two groups, for for the first compact heap group C of workpiece pressing 72 and the second compact heap group D for compressing runner body 73.
Further, design compact heap 43 is adjustable structure on crossbeam 42, crossbeam 42 is for being laid with the tooth row crossbeam of tooth row 421, each compact heap 43 offers assembling grove 431, one madial wall of this assembling grove 431 is provided with the tooth row (for being embedded with the tooth row block 44 of a band tooth row in assembling grove 431 in enforcement) matched with the tooth row 431 on tooth row crossbeam, offer flight (not shown) with on the sidewall that this madial wall is facing, spring ripple pearl screw 45 is installed in this flight.When not needing adjustment, hold tooth row crossbeam by spring ripple pearl screw 45, tooth row crossbeam and tooth row block 44 mate occlusion mutually, realize compact heap 43 and locate.When needing adjustment, by the elasticity adjustability of spring ripple pearl screw 45, suitably, carry compact heap 43, tooth row crossbeam is suitably separated with tooth row block 44 phase, mobile compact heap 43 to appropriate location, and relieving afterwards and elasticity recover mutual snap-in location, complete adjustment in this, facilitate simply again.
The compact heap of the corresponding first hold down gag 4A of described first compact heap group C, the vertical type block C2 extended before and after the horizontal type block C1 that it extends about comprising length and length, this horizontal type block C1 and vertical type block C2, in " Jiong " type shape structure, is suitable for workpiece pressing 72.The vertical type block D2 extended before and after the horizontal type block D1 extended about the compact heap of the second compact heap group D comprises length and length, the cross section of this horizontal type block D1 and vertical type block D2 is yi word pattern shape structure, is suitable for compressing runner body 71.
The foregoing is only the preferred embodiments of the present invention, all equalizations done with the claims in the present invention scope change and modify, and all should belong to the scope of the claims in the present invention.

Claims (9)

1. an automatic material-separating machine, is characterized in that: mainly comprise main body and be arranged on conveyer, robot device and the hold down gag on this main body; This robot device comprises the first robot device for separating of overflowing material of being arranged side by side of left and right and the second robot device for separating of workpiece, and what be arranged side by side before and after this first robot device and the second robot device comprise respectively all can two groups of movement along the longitudinal direction; On described main body, corresponding first, second robot device described is respectively equipped with overflowing funnel mechanism and workpiece funnel mechanism; Described conveyer is located at above described robot device, and this conveyer comprises synchronously can do left and right to the first pneumatic-finger moving with upward and downward, be arranged side by side in left and right, the second pneumatic-finger and the 3rd pneumatic-finger; The first hold down gag for workpiece pressing be arranged side by side about described hold down gag comprises and the second hold down gag for compressing runner body; This first hold down gag comprise corresponding cooperation movable move down first on hold down gag and first time hold down gag being installed on described in two groups between the first robot device; This second hold down gag comprise corresponding cooperation movable move down second on hold down gag and second time hold down gag being installed on described in two groups between the second robot device.
2. a kind of automatic material-separating machine as claimed in claim 1, is characterized in that: the driving mechanism that described robot device comprises base, finger mechanism and drives this finger mechanism to swing; Described finger mechanism comprises two-way cylinder, chute, upper finger and lower finger, the top shoe and the sliding block that are synchronously driven location by described two-way cylinder is movably equipped with in this chute, described upper finger is fixed on this top shoe, and described lower finger is fixed on this sliding block.
3. a kind of automatic material-separating machine as claimed in claim 2, is characterized in that: described driving mechanism is arc formula swing driving mechanism, comprises two track plates and a cylinder; This two track plates is erected on described base, and this facing side of two tracks is respectively arranged with a corresponding arc groove presenting downward-extension; The both sides of described two-way cylinder are respectively provided with an arc shaped slider, and this two arc shaped slider respectively movable coupling is embedded in arc groove described in two; Described cylinder is in being movably articulated between described base and described two-way cylinder obliquely.
4. a kind of automatic material-separating machine as claimed in claim 2, is characterized in that: described driving mechanism is circle center type swing driving mechanism, comprises bearing block, main shaft, removable pin and cylinder; Described major axis horizontal runs through and is plugged on described bearing block, and one end of this main shaft is fixed on described two-way cylinder, and the other end connects an end of described removable pin, the other end of this removable pin be movably articulated in described cylinder in erectting on the piston rod that extends.
5. a kind of automatic material-separating machine as claimed in claim 1, is characterized in that: described conveyer comprises installing plate, guide rail, sliding panel; Described guide rail is that level is located at described installing plate bottom surface, and described sliding panel is assembled on described guide rail via sliding shoe, described installing plate is provided with the first cylinder driving described sliding shoe along described slide; The bottom surface of described sliding panel is provided with the guide rod of setting, on this guide rod, movable sleeve is provided with movable part, described sliding panel is provided with the second cylinder driving the displacement activity up and down of this movable part, and described first pneumatic-finger, the second pneumatic-finger and the 3rd pneumatic-finger are connected with on described movable part.
6. a kind of automatic material-separating machine as claimed in claim 1, it is characterized in that: described first robot device and the second robot device divide two groups, front and back correspondence to be arranged on two sliding platforms of front and back, this sliding platform is slidably assembled on line slideway via guide groove, this line slideway extends along the longitudinal direction and is located on described main body, and described main body is provided with the cylinder driving and slidably reciprocate before and after described guide groove.
7. a kind of automatic material-separating machine as claimed in claim 1, is characterized in that: described hold down gag comprises upper and lower symmetrically arranged two parts, and often group comprises girder, crossbeam and compact heap; Described girder is provided with several impenetrating mouths that horizontal Tile is arranged, and described crossbeam is provided with some and distributes to run through and is located in several impenetrating mouths described, and described compact heap is provided with some pieces and is assembled in the end positions of described crossbeam; Described compact heap is divided into two groups, left and right, for for the first compact heap group of workpiece pressing and the second compact heap group for compressing runner body.
8. a kind of automatic material-separating machine as claimed in claim 7, it is characterized in that: described crossbeam is the tooth row crossbeam being laid with tooth row, each described compact heap offers assembling grove, one madial wall of this assembling grove is provided with the tooth row matched with the tooth row on described tooth row crossbeam, offer flight with on the sidewall that this madial wall is facing, the spring ripple pearl screw for holding tooth row crossbeam is installed in this flight.
9. a kind of automatic material-separating machine as claimed in claim 7, is characterized in that: the vertical type block extended before and after the horizontal type block extended about the compact heap of described first compact heap group comprises length and length, and the external form of this horizontal type block and vertical type block is all in " Jiong " type shape structure; The vertical type block extended before and after the horizontal type block extended about the compact heap of described second compact heap group comprises length and length, the cross section of this horizontal type block and vertical type block is yi word pattern shape structure.
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CN103962536A (en) * 2014-04-25 2014-08-06 黄金传 Intelligent full-automatic multifunctional hardware stripping machine
CN104014759B (en) * 2014-06-03 2016-04-13 郑声狄 One automatically breaks materials device
CN105312530A (en) * 2014-07-18 2016-02-10 泉州卓恒自动化科技有限公司 Automatic die-casting button blank dispensing and returning production line
CN105436979B (en) * 2015-12-11 2018-02-02 昆山艾博机器人股份有限公司 A kind of equidistantly sub-material intermediate station
CN110668148B (en) * 2018-07-03 2021-06-22 江苏鑫科森电子科技有限公司 Full-automatic feeding and breaking-off integrated device

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