CN103639409A - Working position feeding mechanism used in magnetic material die-cast formation robot system - Google Patents
Working position feeding mechanism used in magnetic material die-cast formation robot system Download PDFInfo
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- CN103639409A CN103639409A CN201310612319.5A CN201310612319A CN103639409A CN 103639409 A CN103639409 A CN 103639409A CN 201310612319 A CN201310612319 A CN 201310612319A CN 103639409 A CN103639409 A CN 103639409A
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Abstract
The invention relates to the technical field of automatic die casting, and particularly to a working position feeding mechanism used in a magnetic material die-cast formation robot system. The technical problems of great labor intensity, high labor cost, high rejection rate, poor working environment and great damage to human body in the current magnetic material production process are solved. The working position feeding mechanism used in the magnetic material die-cast formation robot system comprises a linear cylinder which is arranged on an arrangement platform, located at one side of a rear end of a guide groove and parallel with the guide groove, wherein a moving plate is horizontally fixed at one side, adjacent to the guide groove, of the front end of the movable end of the linear cylinder through a cylinder pusher; an opening mould electromagnet pointing one side of the guide groove is arranged at the front part of the moving plate, and the rear part of the moving plate is rotationally provided with a pushing claw through a vertically arranged pin shaft; a stopping pin cooperating with the pushing claw is arranged on the moving plate and located at the rear part of the pushing claw. The working position feeding mechanism can finish movement of the mould from a first working position to a second working position automatically, improves production efficiency and efficiently reduces damage from dust to an operator.
Description
Technical field
The present invention relates to automatic die casting technical field, be specially a kind of station feed mechanism of the robot system for magnetic material die cast.
Background technology
In prior art, magnetic material die cast mainly completes by handwork, handwork is by workman's craft stone in mould, mould is put into forcing press die casting, then take out and open by hand mould, the bar magnet of die cast in mould is packed under nitrogen environment in yard box, in these a series of operating process, manual stone can not keep magnetic stone in mould evenly to affect the product quality of bar magnet.Neodymium-iron-boron magnetic material is Powdered in addition, easily directly suck in human body, although workman when operating with protective face mask, still can not avoid sucking in lung completely.And manual operation also has the following disadvantages: 1. labour intensity is large, and cost of labor is high; 2. stone is inhomogeneous, and percent defective is high; 3. operating environment is poor, large to harm.
In existing device, comprise for weighing the automatic weighing system of magnetic, and for by the forcing press of magnetic die cast.Automatic weighing system comprises elevating hopper, automatic weighing machine, control cabinet and hopper.Described elevating hopper is used for holding magnetic; Described automatic weighing machine is controlled by control cabinet, accurately weighs the magnetic weight of setting; Described hopper is for realizing load weighted magnetic to mould stone.
By magnetic die cast, be to realize by special-purpose mould; Described mould generally comprises upper and lower two parts, and upper and lower mould is generally rectangular structure, has the hemispheric mould tooth that is being arranged in parallel on bed die, and the lower surface of mold has the mould tooth matching with bed die equally; Magnetic is packed in the groove of bed die, cover mold, through forcing press, exert pressure, the magnetic in mould is just cast into bar magnet, opens mould, and bar magnet is taken out, and carries out sintering, just obtains bar-shaped magnetic product.
Summary of the invention
In order to solve in current magnetic materials production process, the large cost of labor of labour intensity is high in the present invention, the inhomogeneous high and poor technical problem large to harm of operating environment of percent defective that cause of stone, and a kind of station feed mechanism of the robot system for magnetic material die cast is provided.
The present invention realizes by the following technical solutions: a kind of station feed mechanism of the robot system for magnetic material die cast, comprise being located to arrange being positioned at guide groove rear end one side and the straight line cylinder parallel with guide groove on platform, the movable end front end of a straight line cylinder side adjacent with guide groove by cylinder push away level be fixed with one that match with guide groove and straight line cylinder spacing and higher than the moving plate of guide groove; Moving prelaminar part is provided with one towards the die sinking electromagnet of guide groove one side, and the bearing pin of moving postlaminar part by vertical setting rotates and be provided with one and pawl; On moving plate, being positioned at the rear positions of pawling is provided with and the backing pin of pawling and matching.
During use, the present invention is as the operation of being correlated with of a kind of Yi Ge mechanism of the robot system for magnetic material die cast.For a robot system for magnetic material die cast, comprise be provided with the robot 1 of turning arm 11, with robot supporting robot control cabinet 10, forcing press 6, be arranged on the automatic weighing system that is provided with discharging opening 5, mould 3 and the electric control system 8 that weigh on platform 9; Also comprise the mould housekeeping platform 4 that is arranged on the manipulator 2 of turning arm 11 front ends and controls by electric control system 8; Described manipulator 2 comprises perpendicular to turning arm 11 axis and by middle part, is fixedly mounted on a cylinder mounting plate 23 of turning arm 11 front ends, and the below, two ends of cylinder mounting plate 23 is respectively provided with a paw cylinder 22; Described paw cylinder 22 comprises that pair of parallel arranges can be in opposite directions and the actuating station of opposing motion and the cylinder body that drives actuating station; Each actuating station of described paw cylinder 22 is all fixedly connected with a paw 21; The correspondence position of every pair of paw 21 medial surfaces is all vertically provided with a paw projection 211;
Described mould 3 comprises patrix 31 and counterdie 32 that downward projection is all rectangle, be vertically located at the short side form 34 of pair of plate-shaped of upper and lower mould short brink and the long side form 33 that is vertically located at the pair of plate-shaped of upper and lower mould long side; Position near two ends on the lateral surface of long side form 33 all vertically has a pair of lateral surface groove 331 matching with paw projection 211; There is bottom protrusion 341 at the medial surface lower limb middle part of described two short side forms 34 to counterdie 32 center position horizontal-extendings; Two minor faces of end face of short side form 34 all stretch out to form and take wing plate 342; Described long side form 33 all has with short side form 34 and is provided with the side vertical groove 333 that match and that run through up and down of taking wing plate 342 in the position near two minor face on the medial surface of upper and lower mould; The upper position of this vertical groove 333 has with short side form 34 and takes the upper groove 332 that wing plate 342 matches; Described counterdie 32 upper surfaces are provided with a plurality of hemispheric counterdie teeth 321 that are arranged in parallel; On the lower surface of patrix 31, be also provided with a plurality of hemispheric patrix teeth 311 that are arranged in parallel corresponding with the counterdie tooth 321 of counterdie 32; The minor face edge, bottom of counterdie 32 is equipped with the first draw-in groove 322 matching with bottom protrusion 341; Counterdie 32 bottom surfaces have elongated slot 323 along long center line;
Described mould housekeeping platform 4 comprises stone platform 48, counterdie jack-up cleaning mechanism 41, paving stock mechanism 43, arrangement upper die mechanism 44, the station feed mechanism 45 that arranges platform 47, is positioned at weighing platform 9 belows and takes out magnetic-rod device 46;
Described paving stock mechanism 43 comprises feeding distribution mechanism 436; Described feeding distribution mechanism 436 comprises minute hopper 492 that is fixed on weighing platform 9 belows and is positioned at automatic weighing system 5 discharging openings belows;
On described arrangement platform 7, be fixed with the guide groove that includes two clamp bar slots 457 matching with mould 3, arrange the position between 457 liang of clamp bar slots of guide groove on platform 47 and have slotted hole; Described station feed mechanism 45 comprises being located to arrange and is positioned at guide groove 457 rear end one sides and the straight line cylinder 451 parallel with guide groove 457 on platform 47, the movable end front end of straight line cylinder 451 side adjacent with guide groove 457 by cylinder push away 452 levels be fixed with one that match with guide groove 457 and straight line cylinder 451 spacing and higher than the moving plate 454 of guide groove 457; Moving plate 454 front portions are provided with one towards the die sinking electromagnet 453 of guide groove 457 1 sides, and the bearing pin 456 of moving plate 454 rear portions by vertical setting rotates and be provided with one and pawl 455; On moving plate 454, being positioned at 455 rear positions of pawling is provided with and 455 backing pins that match 458 of pawling;
Described counterdie jack-up cleaning mechanism 41 comprise be located at arrange platform 47 lower surfaces rise cylinder 412, the movable end that rises cylinder 412 is upward over against slotted hole postmedian and be provided with counterdie locating piece 413, and the top of counterdie locating piece 413 is provided with the projection matching with counterdie bottom elongated slot 323; Also comprise the first die sinking electromagnet 411 matching with die sinking electromagnet 453 that is arranged on guide groove 457 opposite sides;
Described arrangement upper die mechanism 44 comprises the patrix lift cylinder 441 being vertically located on weighing platform 9; Weigh platform 9 position corresponding with patrix lift cylinder 441 and have hole, the movable end of patrix lift cylinder 441 is passed down through this hole and is provided with a pair of sucker 442 matching with patrix 31 upper surfaces;
Described taking-up magnetic-rod device 46 comprises being vertically arranged on to arrange the rotary cylinder horizontally rotating 461, the horizontally disposed swing arm 462 being driven by rotary cylinder 461 of platform 47 upper rail 457 rear end opposite sides and be fixed on and arranges on platform 47 and be vertically located at the limiting cylinder 466 matching with swing arm 462 between swing arm 462 and guide groove 457 opposite sides; The front end of swing arm 462 is vertically provided with one and gets excellent lift cylinder 463, and the movable end of getting excellent lift cylinder 463 down and be provided with one and get excellent electromagnet 465.
The latter half of guide groove is called the first station, and the first half of guide groove is the second station; The position of accepting stone on stone platform is called stone station; The pressing position of forcing press is called compacting station.
During die casting, after robot clamping die arrives assigned address, patrix lift cylinder drives sucker to move downward the absorption of laminating patrix upper surface, and robot is clamping mould bottom and removing, and realizes die sinking, manipulator is placed on stone station by the mould that does not cover mould, and automatic weighing system is taped against load weighted magnetic in mould, the mould of completing material is moved to sucker below by manipulator, build patrix, then move to compacting station, after die casting finishes, manipulator again by mold movement to sucker place, patrix is siphoned away, then the mould that removes patrix is placed on to the first station, die sinking electromagnet and the first die sinking electromagnet match, the outside side draught of long side form is opened to certain distance, rising cylinder drives counterdie locating piece that counterdie jack-up is extremely parallel with side form top, now rotary cylinder drives swing arm to turn to counterdie top, by getting excellent electromagnet, bar magnet is taken away, put into the code case 7 being arranged on one side, the straight line cylinder of station feed mechanism promotes forward this mould to the second station, and manipulator just can be taken this mould away, carries out next step stone die casting work, the setting of double-manipulator can capture two moulds simultaneously,, before a station is placed a mould, first takes the mould that is positioned at this station away, or contrary.So greatly accelerated productive temp.
Described long side form lateral surface groove and paw projection closely cooperate, and guarantee that gripper of manipulator delivery has enough positional precisions and position deviation redundancy; The wing plate of taking that the upper groove at described nearly two ends, long side form top is convenient to short side form is tapped to wherein, and long like this side form and short side form form frame structure, make long side form can outwards make small separation and do not change again mold integral structure.
Mould belongs to detachable structure, when stone and die casting in matched moulds state, during feeding for avoiding bar magnet end and long side form friction to cause that thereby bar magnet end is damaged makes percent defective rising, the long side form in both sides will be opened certain gap, and now the wing plate of taking on the bottom protrusion of short side form and top keeps unitary mould not exclusively separated.
Described counterdie locating piece is arranged on and rises on cylinder, for mould being raised to certain height and making mould relatively fixing.
Rotary cylinder can be controlled swing arm and get bar magnet position and the stop of putting two positions, bar magnet position; Described get excellent lift cylinder and electromagnet is moved down getting bar magnet position, approach bar magnet to be removed, by bar magnet sucking-off from mould, getting magnetic lift cylinder will get excellent electromagnet and mention, rotary cylinder makes swing arm pendulum to putting bar magnet position, get excellent electromagnet and decline, bar magnet is placed on (code case) in the material-storing box that is placed with buffering sponge; Spacing for to swing arm of described limiting cylinder.As shown in figure 20.
Counterdie jack-up cleaning mechanism carries out discharging operation to the good mould of die casting.The electromagnet of both sides (the first die sinking electromagnet and die sinking electromagnet) is inhaled long side form to open 0.5 ~ 1mm, and the jack-up cylinder in counterdie jack-up cleaning mechanism is the height to the restriction of break away from moulds framework counterdie jack-up, takes out magnetic-rod device and automatically takes bar magnet away.As shown in Figure 19,20.
Described paving stock mechanism 43 also comprises that two are set in the laying device on stone platform 48; The both sides of described minute hopper 492 are all provided with opening, and the middle part of minute hopper 492 is arranged on by sub-material rotary cylinder 491 position that the below that weighs platform 9 is positioned at automatic weighing system 5 discharging openings belows; The bottom that weighs platform 9 be fixed with to minute hopper 492 spacing stop cylinder 493; Described laying device comprises up-down mechanism 433, horicontal motion mechanism 434 and inclined angle regulating mechanism 435; Described horicontal motion mechanism 434 comprises the first screw-nut body that is positioned at 492 1 openings of minute hopper below being horizontally set on stone platform 48 and the stepper motor that drives the first screw-nut body; Described up-down mechanism 433 comprises the second screw-nut body being vertically arranged on the first screw-nut body slide block and the stepper motor that drives the second screw-nut body; Described inclined angle regulating mechanism 435 comprises a bearing 483, and bearing 483 is provided with one and is arranged on the stone bucket 432 on bearing 483 by rear lower; The front bottom of stone bucket 432 is installed with a stone vibrating motor 431; Described bearing 483 upper rear end are hinged to be located on the slide block of the second screw-nut body; Described inclined angle regulating mechanism 435 also comprises a propulsion cylinder 482 that is fixedly located at the slide block bottom of the second screw-nut body; The movable end of described propulsion cylinder 482 contacts with bearing 483 belows, rear end forward.Between bearing 483 belows, rear end and slide block, be also provided with a screw 481.Screw 481 can regulate the angle of inclination of bearing equally when propulsion cylinder 482 is regained.
Described minute hopper, under the driving of sub-material rotary cylinder, can be distinguished angle of both forward and reverse directions rotation respectively to blanking in the stone bucket in laying device I and laying device II; Stop that cylinder is spacing for a minute hopper is carried out, make minute hopper can be to stone in a specific laying device; Described stone vibrating motor can accelerate blanking velocity and make uniform blanking, stone vibrating motor is fixed on stone bucket, by governor motion, regulate angle of inclination (to regulate propulsion cylinder that its movable end is regained, just can make stone all be rotated down corresponding angle), dither can make magnetic slowly equably toward current downflow, the cooperation of mutually coordinating by up-down mechanism and horicontal motion mechanism, magnetic just can successively be layered in mould equably.This mechanism can be used a set of automatic weighing system to be respectively two cover laying device sub-materials.As shown in Figure 14 ~ 16.
Up-down mechanism is bolted on the slide block that is fixed on horicontal motion mechanism, realizes bidirectional-movement; By regulating the position of up-down mechanism, can control the thickness of successively blanking and the height of last blanking, reach and make magnetic even stone and the smooth object of charge level in mould.
Described counterdie jack-up cleaning mechanism 41 also comprises being arranged on and arranges the mounting bracket 416 of platform 7 upper rail 457 1 sides and be horizontally set on the cleaning cylinder 414 that activity direction on mounting bracket 416 is vertical with guide groove 457 trends and intersect vertically with rise cylinder 412, and the movable end that cleans cylinder 414 is provided with the brush sweeper 415 that can clear up counterdie tooth 321; Described mounting bracket 416 is staggered with the stroke of straight line cylinder 451.
Described cleaning hairbrush is arranged on cleaning cylinder, after taking bar magnet away, moves back and forth the mould tooth of cleaning counterdie at cleaning cylinder.As shown in figure 21.
Counterdie 32 bottom surfaces also have and take pair of parallel that bottom surface short central line is symmetry axis in the short groove 324 of minor face near the position of two minor faces; Described short side form 34 bottoms have kerve 343 vertical perforation bottom protrusion 341 and that connect with counterdie 32 bottom elongated slots 323 along short central line; Mould housekeeping platform 4 also comprises die cavity cleaning plant 42; Described die cavity cleaning plant 42 comprises the jack-up cylinder 421 that is positioned at arrangement platform 47 bottoms; The movable end of jack-up cylinder 421 makes progress over against the middle front part of guide groove slotted hole; The movable end of jack-up cylinder 421 is provided with a counterdie confinement block 422; The top of described counterdie confinement block 422 is provided with the pin corresponding with counterdie 32 bottom elongated slots 323 and short groove 324 and the key matching with short side form kerve 343; Also comprise a pair of the second die sinking electromagnet 425 that is arranged in opposite directions guide groove 457 middle front part both sides by horizontally disposed telescopic cylinder 424; The telescopic cylinder 425 that is wherein positioned at guide groove 457 1 sides is arranged on and is vertically arranged on the movable end that arranges the counterdie lift cylinder 423 on platform 47; The top of described guide groove 457 middle front parts is provided with by pillar 429 and is located at the downward cleaning cylinder 428 of movable end arranging on platform 47; Cleaning cylinder 428 movable end belows are provided with a distance regulating mechanism 427; Described distance regulating mechanism 427 comprises the spacing screw rod slide block that a pair of level is oppositely arranged; Each is vertically provided with a cleaning felt-cloth 426 of clearing up with counterdie long side the movable end of described spacing adjusting screw(rod) slide block.
The second die sinking electromagnet is inhaled long side form to open wider distance, and counterdie confinement block is arranged on jack-up cylinder, for fixing by the relative position after the mould separating guide groove of jack-up; Jack-up cylinder is hauled out guide groove by mould, and counterdie confinement block is simultaneously by counterdie and short side form jack-up and make mould relatively fixing.Distance regulating mechanism can be realized the spacing that regulates cleaning felt-cloth according to different product categories.
The second die sinking electromagnet is arranged on telescopic cylinder, the closure of the long side form of flexible realization by cylinder with open.Telescopic cylinder need be arranged on counterdie lift cylinder, the interference when avoiding moving with station feed mechanism; Counterdie lift cylinder and telescopic cylinder are controlled the second die sinking electromagnet and long side form are inhaled to the distance of opening one-sided 5mm, and cleaning cylinder drives cleaning felt-cloth to move up and down, the inner chamber of cleaning mould.As shown in figure 19.
Described arrangement upper die mechanism 44 also comprises a pair of cleaning support 446 that is positioned at patrix lift cylinder 441 both sides that is vertically located at weighing platform 9 belows, and the middle part of cleaning support 446 is provided with a pair of horizontally disposed patrix sidewall cleaning hairbrush 443 that the long sidewall of patrix 31 is cleared up by a pair of horizontal stand 448 arranging in opposite directions; The lower end level of one of them cleaning support 446 is fixed with a patrix cleaning cylinder 447; The movable end of patrix cleaning cylinder 447 is provided with a vertical patrix mould tooth cleaning hairbrush 444 upward.
Described patrix lift cylinder moves upward, four sidewalls of patrix sidewall cleaning hairbrush cleaning patrix in motion process; Patrix mould tooth cleaning hairbrush drives by patrix cleaning cylinder the following table face mould tooth of cleaning back and forth patrix with water.As shown in figure 17.
The lower end of another cleaning support 446 is provided with one group of outlet towards the nozzle 445 of sucker 442.Releasing agent nozzle sprays a certain amount of releasing agent according to program setting to the mould tooth of patrix, promotes the cleaning of residue magnetic.
The bottom of each paw cylinder 22 cylinder body is also provided with the support baseboard 24 that a front end is positioned at paw 21 bottoms.Generally at each station, be provided with a guide groove, mould is placed in guide groove so that location, described support baseboard is arranged on below paw cylinder, and support baseboard just can stretch into the below of mould, for the position that guarantees to limit in vertical direction mould when capturing mould.
It is described that to get excellent electromagnet 465 be to be arranged on by height adjustment mechanism 464 movable end of getting excellent lift cylinder 463.Described height adjustment mechanism can be got according to product category different adjustment the height of excellent electromagnet, suitable gap while guarantee drawing.
Described cleft hand projection 21 is trapezoidal bulge-structure 211, end sharp corner circular arc chamfering; Long side form 33 and short side form 34 medial surface top edge all have circular arc chamfering; Described pawling 455 is connected with the little spring 459 being fixed on moving plate 454.Little spring can not make mould move backward because coefficient of elasticity is very little, until pawl, leaves mould completely, under little spring effect, gets back to the former backing pin contact that is positioned at, and waits for action next time.
In brief, the course of work of the present invention may be summarized to be as follows:
1) under the normal operation of robot workstation, have a mold just at die cast in forcing press, paving stock mechanism is being a mold stone, another set of vacant, on two stations of housekeeping platform, all has mould;
2) by counterdie jack-up cleaning mechanism and taking-up magnetic-rod device, the good mould of the first station die casting is carried out to lower excellent operation and the operation of cleaning counterdie upper surface;
3) by counterdie jack-up cleaning mechanism, die cavity cleaning plant carries out sidewall prune job to the mould after discharging on the second station;
4) robot moves on vacant stone station by the mould of the second station and starts stone operation;
5) station feed mechanism is delivered to the mould of the first station the second station and returns;
6) robot has captured the mould of stone operation;
7) mould that robot has captured stone operation packs patrix into;
8) robot has taken out the mould of compacting operation from forcing press, and Rotate 180 degree is sent into the mould of operation to be pressed;
9) forcing press starts compacting;
10) mould that robot crawl has completed compacting operation is at arrangement upper die mechanism Station Separation patrix;
11) robot is placed on the mould of separated patrix on the first station of housekeeping platform;
12) according to above-mentioned 2) to 11) step cycle.
Each cylinder, vibrating motor, stepper motor are all controlled by electric control system; Described electric control system comprises power supply, PLC, input module, output module, position control module, relay and driver; PLC is its power supply by power supply, reception is from the relevant detection signal of input module input, through PLC, process, output signal is exported via output module, send to position control module and relay, to drive driver or electromagnetic valve work, and then control each cylinder and stepper motor work; Described method of attachment and control procedure are the control technology of this area routine; The control of the course of work of described robot and each cylinder and stepper motor, vibrating motor all realizes by corresponding software; Those skilled in the art, by reading structure of the present invention and the course of work, just can realize connection and the control of each parts easily, and write out corresponding software easily and know the method for operating of each parts.
The relevant detection signal of input module input comprises that magnetic switch detects the signal of each cylinder cylinder bar position, the startup of automatic weighing system and forcing press and stop signal, stepper motor limit of sports record position detection signal, the detection signal that mould has or not in relative stations and emergent stop signal.
Laying device I completes after the stone task of mould, and robot can carry out corresponding subsequent treatment to it, and meanwhile laying device II is carried out the stone work to another sky mould, has shortened the stone stand-by period, has improved production efficiency.
When forcing press carries out die casting work to mould, the double-manipulator of robot, one of them manipulator is capturing the mould of completing magnetic, after die carter completes, vacant mechanical paw captures the good mould of die casting and shifts out forcing press, then the double-manipulator Rotate 180 ° of robot, then the mould of completing magnetic is put into forcing press and carry out die casting.
Owing to having adopted above-mentioned technical scheme, the present invention compared with prior art, have the following advantages and good effect: selection standard industrial robot forms a kind of robot workstation's system for magnetic material die cast, at weighing, die casting, arrangement patrix, clear up side form, clear up counterdie, get bar magnet, realized full-automatic operation in the operation such as deciliter patrix.Adopt separated type mould to guarantee that each operation realizes automation smoothly, robot adopts double-manipulator, completes fast and from forcing press, takes out and put into mould.Two paving stock mechanisms alternately complete the stone operation to two molds, have reduced the robot waits time, have improved production efficiency, have farthest reduced the injury of dust to operator, have improved product quality, and productive temp reaches 28 seconds.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of robot system.
Fig. 2 is the plan structure schematic diagram of robot system.
Fig. 3 is the main TV structure schematic diagram of manipulator.
Fig. 4 is the plan structure schematic diagram of manipulator.
Fig. 5 is the local structure for amplifying schematic diagram of manipulator.
Fig. 6 is the plan structure schematic diagram of mould.
Fig. 7 is that the master of mould cuts open structural representation view.
Fig. 8 counterdie polycrystalline substance schematic diagram.
The medial surface structural representation of the long side form of Fig. 9.
The plan structure schematic diagram of the long side form of Figure 10.
The medial surface structural representation of the short side form of Figure 11.
Figure 12 is the plan structure schematic diagram of mould housekeeping platform.
Figure 13 is the main TV structure schematic diagram of mould housekeeping platform.
Figure 14 is the main TV structure enlarged diagram of paving stock mechanism.
Figure 15 is paving stock mechanism side-looking structural representation.
The mounting structure schematic diagram of Figure 16 stone bucket.
Figure 17 arranges upper die mechanism structural representation.
Figure 18 is station feed mechanism structural representation.
Figure 19 is die cavity cleaning plant structural representation.
Figure 20 takes out magnetic-rod device structural representation.
The structural representation of Figure 21 counterdie jack-up cleaning mechanism.
The structured flowchart of each part described in Figure 22 robot system.
1-robot, 2-manipulator, 3-mould, 4-mould housekeeping platform, 5-automatic weighing system, 6-forcing press, 7-code case, 8-electric control system, 9-weighs platform, 10-robot control cabinet, 11-turning arm, 12-Hydraulic Station, 21-paw, 22-paw cylinder, 23-cylinder mounting plate, 211-paw projection, 24-support baseboard
31-patrix, 32-counterdie, the long side form of 33-, the short side form of 34-, 311-patrix tooth, 321-counterdie tooth, 322-the first draw-in groove, 323-elongated slot, the short groove of 324-, 331-lateral surface groove, 332-upper groove, 333-vertical groove, 341-bottom protrusion, 342-takes wing plate, kerve-343
41-counterdie jack-up cleaning mechanism, 42-die cavity cleaning plant, 43-paving stock mechanism; 44-arranges upper die mechanism, 45-station feed mechanism, and 46-takes out magnetic-rod device; 47-arranges platform, 48-stone platform, 411-the first die sinking electromagnet; 412-rises cylinder; 413-counterdie locating piece, 414-cleans cylinder, 415-brush sweeper; 416-mounting bracket
421-jack-up cylinder, 422-counterdie confinement block, 423-counterdie lift cylinder, 424-telescopic cylinder, 425-the second die sinking electromagnet, 426-clears up felt-cloth, 427-distance regulating mechanism, 428-clears up cylinder, 429-pillar,
431-stone vibrating motor, 432-stone bucket, 433-up-down mechanism, 434-horicontal motion mechanism, 435-inclined angle regulating mechanism, 436-feeding distribution mechanism,
441-patrix lift cylinder, 442-sucker, 443-patrix sidewall cleaning hairbrush, 444-patrix mould tooth cleaning hairbrush, 445-releasing agent nozzle, 446-clears up support, 447-patrix cleaning cylinder, 448-horizontal stand,
451-straight line cylinder, 452-cylinder pushes away, 453-die sinking electromagnet, 454-moves plate, and 455-pawls, 456-bearing pin, 457-guide groove, 458-backing pin, 459-little spring,
461-rotary cylinder, 462-swing arm, 463-gets excellent lift cylinder, 464-height adjustment mechanism, 465-gets excellent electromagnet, 466-limiting cylinder,
481-screw, 482-propulsion cylinder, 483-bearing, 491-rotary cylinder, 492-divides hopper, and 493-stops cylinder.
The specific embodiment
A kind of station feed mechanism of the robot system for magnetic material die cast, comprise being located to arrange being positioned at guide groove 457 rear end one sides and the straight line cylinder 451 parallel with guide groove 457 on platform 47, the movable end front end of straight line cylinder 451 side adjacent with guide groove 457 by cylinder push away 452 levels be fixed with one that match with guide groove 457 and straight line cylinder 451 spacing and higher than the moving plate 454 of guide groove 457; Moving plate 454 front portions are provided with one towards the die sinking electromagnet 453 of guide groove 457 1 sides, and the bearing pin 456 of moving plate 454 rear portions by vertical setting rotates and be provided with one and pawl 455; On moving plate 454, being positioned at 455 rear positions of pawling is provided with and 455 backing pins that match 458 of pawling.
Described pawling 455 is connected with the little spring 459 being fixed on moving plate 454.
Before robot workstation brings into operation, carry out corresponding preparation, need to respectively put a vacant mould 3 of not placing patrix 31 at two paving stock mechanism 43 stations, at die cavity cleaning plant 42 stations and forcing press 6 compacting stations, respectively place a vacant mould 3 of putting the not stone of patrix 31 well.On each station, be equipped with the guide groove matching with mould 3, so that the picking and placeing of mould.
Robot workstation brings into operation, and automatic weighing system 5 work, take the magnetic of set amount, are then discharged in paving stock mechanism 43, and the vacant mould 3 that 43 pairs of paving stock mechanisms are not placed patrix 31 carries out stone.
Robot motion is to laying device I station; the mould of magnetic is completed in the manipulator 2-I gripping of carrying out end; then move to the station that arranges upper die mechanism 44; patrix lift cylinder 441 drives the patrix 31 of sucker 442 absorption to move downward the patrix 31 of absorption is covered on mould 3; then move to forcing press 6 compacting stations; discharge mould, forcing press 6 starts mould 3 to carry out die casting.
Robot motion is to die cavity cleaning plant 42 stations; gripping the mould 3 that is placed on this station and is moved to the station that arranges upper die mechanism 44; patrix lift cylinder 441 drives the patrix 31 upper surface absorption of sucker 442 laminating moulds 3; robot is clamping does not have patrix 31 moulds 3 to remove; move to laying device I station, this mould 31 is placed on to this station.
The mould that the manipulator 2-I gripping of the execution end of robot 1 from static pressure machine system 6 moves to the station that arranges upper die mechanism 44; patrix lift cylinder 441 drives the patrix 31 upper surface absorption of sucker 442 laminating moulds 3; the mould that there is no patrix 31 3 motion famous dictum counterdie mechanism 41 stations that die cast bar magnet is housed in robot 1 gripping, and mould is placed on to this station.Cylinder top plays counterdie, operating personnel handle taking-up magnetic-rod device 46 and take bar magnet away, then press button, counterdie is carried out to cleaning work, until robot 1, take away after the mould 3 of die cavity cleaning plant 42 stations, 45 actions of station feed mechanism are delivered to die cavity cleaning plant 42 stations (i.e. the second station) this mould.
The mould that the manipulator 2-II gripping of the execution end of robot 1 from static pressure machine system 6 moves to the station that arranges upper die mechanism 44; the patrix 31 upper surface absorption of sucker 442 laminating moulds 3; the mould that there is no patrix 31 3 motion famous dictum counterdie mechanism 41 stations that die cast bar magnet is housed in robot 1 gripping, and mould is placed on to this station.
So circulation.
Robot (the model: MOTOMAN-HP20D) that described robot can adopt peace river motor (YASKAWA) company to produce; The paw cylinder that the model that paw cylinder 22 adopts SMC company to produce is MHZJ2-25D.
Below in conjunction with accompanying drawing, further explain the present invention.
Fig. 1 and Fig. 2 and Figure 22 are depicted as a kind of robot workstation's system for magnetic material die cast, and manipulator 2 is fixed on robot 1 and carries out on end, for capturing mould 3 and realizing its conversion between different station; Electric control system 8 respectively with robot control cabinet 7, automatic weighing system 5, forcing press 6 communications, for realizing cooperatively interacting and coordinative operation between whole work station; Forcing press 6 is completed the mould 3 of magnetic material for die casting, making magnetic material die cast is bar magnet; Described mould housekeeping platform 4 takes out the good bar magnet of die casting for realizing from mould 3, and the each several part of mould 3 is cleared up and even stone; Described automatic weighing system 5 is fixed on directly over mould housekeeping platform 4, for automatically taking a certain amount of magnetic, and realizes magnetic is successfully transferred in stone bucket from weighing machine; Described robot control cabinet 10 is for the motion of control 1 and the action of manipulator 2; Hydraulic Station 12 is used to forcing press 6 that power is provided.
Shown in Fig. 3, Fig. 4 and Fig. 5 is the double-manipulator 2 for robot workstation's system of magnetic material die cast, and described robot 1 carries out end flange and is connected with the middle part of cylinder mounting plate 23; Each fixes a paw cylinder 22 described cylinder mounting plate 23 two ends; Described paw 21 is bolted in the actuating station that is fixed on paw cylinder 22, by paw cylinder 22, is driven, and realizes the opening and closing of paw 21, realizes and capturing and release mould 3; Manipulator is two, i.e. mechanical paw I and manipulator II, and two manipulators are symmetrical arranged, and after a manipulator takes out the mould in forcing press, thereby another manipulator will be treated die casting and send into forcing press and greatly improved production efficiency; Turning arm 11 driving mechanical hands 2 rotate, and manipulator grips or lays down after a mould 3 by a pair of paw 21, and Rotate 180 degree, grips or lays down another mould 3 by another to paw 21 again; The paw projection 211 of paw 21 matches with the lateral surface groove 331 on the long side form 33 of mould 3, and when the actuating station of paw cylinder 22 drives paw 21 to shrink, paw projection 211 just clamps and blocks with lateral surface groove 331, and movement just can be clamped by mould by robot; When the actuating station of paw cylinder 22 drives paw 21 to open, paw projection 211 is just unclamped with lateral surface groove 331, and mould 3 is just put down.
After robot clamping die 3 arrives assigned address, patrix lift cylinder 441 drives sucker 442 to move downward the absorption of laminating patrix upper surface, and robot is clamping mould and removing; Described patrix mould tooth cleaning hairbrush 444 drives by patrix cleaning cylinder 447 lower surface of cleaning back and forth patrix 31 with water; Described patrix lift cylinder 441 moves upward, four sidewalls of patrix sidewall cleaning hairbrush 443 cleaning patrixes 31 in motion process; Described nozzle 445 sprays a certain amount of releasing agent according to program setting to the mould tooth of patrix 31.As shown in figure 17.
Shown in Figure 18 is the station feed mechanism 45 for the mould housekeeping platform 4 of robot workstation's system of magnetic material die cast, and the station conversion of mould 3 on guide groove 457 is to realize by the flexible of straight line cylinder 451.When straight line cylinder 451 stretches out, because backing pin 458 has hindered to pawl, 455 rotate backward, drive the mould that is positioned at guide groove 457 to move forward to next station; During straight line cylinder 451 retraction, pawl and 455 owing to being subject to the obstruction of mould 3, can rotate forward, little spring 459 can not make mould move backward because coefficient of elasticity is very little, until pawl, 455 leave mould completely, under little spring 459 effects, get back to former backing pin 458 contacts that are positioned at, wait for action next time.
Fig. 6 ~ 11st, about the structural representation of mould, wherein Fig. 8 can find out the elongated slot 323 of counterdie bottom and the short groove 324 that is with it right-angled intersection; Projection on counterdie locating piece 413 is passed through elongated slot 323 by counterdie jack-up; The elongated slot 323 of pin on counterdie confinement block 422 by right-angled intersection and short groove 324 are by counterdie jack-up, and the cooperation of pin right-angled intersection formula can be fixed counterdie, and counterdie can not depart from original vertical position; The medial surface structural representation that Fig. 9 is long side form, can find out upper groove 332 and vertical groove 333; The plan structure schematic diagram that Figure 10 is long side form, can clearly find out lateral surface groove 331, and vertical groove 333; Figure 11 is the medial surface structural representation of short side form, and both sides, top are for taking wing plate 342, and bottom middle opening is the kerve 343 that counterdie elongated slot connects; Key on counterdie confinement block 422 just by this kerve 343 by short side form together with counterdie 32 jack-up.
When mould is positioned at the postmedian of guide groove, die sinking electromagnet 453 matches with the first die sinking electromagnet 411, two long side forms 33 are opened to certain distance to two side draughts, now rising cylinder 412 drives counterdie locating piece 413 to move upward, counterdie locating piece 413 projections withstand in the elongated slot 323 of mould 3 counterdies 32, counterdie 32 jack-up are extremely parallel with long side form 33, now rotary cylinder 461 drives swing arm 462 to turn to the top of counterdie 32, getting excellent lift cylinder 463 drives and gets excellent electromagnet 465 and move downward the bar magnet in counterdie 32 is held, rotary cylinder 461 drives swing arm 462 to go back to and bar magnet is placed in special-purpose code case, spacing to swing arm 462 after limiting cylinder 466 rises, limiting cylinder 466 is regained, and swing arm 462 just can swing back and forth under the drive of rotary cylinder 461.The movable end of cleaning cylinder 414 drives brush sweeper 415 to move back and forth, and clears up, to taking the counterdie tooth 321 of bar magnet away as shown in Figure 20,21.
Figure 19 is the structural representation of die cavity cleaning plant 42, the mould 3 that removes patrix 31 455 middle front parts of shifting guide groove 457 onto of being pawled, jack-up cylinder 421 drives counterdie confinement block 422 to move upward, by counterdie 32 together with short side form 34 and long side form 33 in the lump jack-up, the a pair of second die sinking electromagnet 425 of guide groove 457 middle front part both sides under the drive of telescopic cylinder 425 to two lateral movements, the farther distance that before a pair of long side form is newly opened, die sinking electromagnet is inhaled out, cleaning felt-cloth 426 moves up and down under the drive of cleaning cylinder 428, two of counterdie 32 long sides are cleared up.Distance regulating mechanism 427 is for adjusting the spacing of cleaning felt-cloth 426, to coordinate the mould 3 of different size.
Claims (2)
1. the station feed mechanism for the robot system of magnetic material die cast, it is characterized in that, comprise being located to arrange being positioned at guide groove (457) rear end one side and the straight line cylinder (451) parallel with guide groove (457) on platform (47), the movable end front end of straight line cylinder (451) side adjacent with guide groove (457) by cylinder push away (452) level be fixed with one that match with guide groove (457) and straight line cylinder (451) spacing and higher than the moving plate (454) of guide groove (457); Moving plate (454) front portion is provided with one towards the die sinking electromagnet (453) of guide groove (457) one sides, and moving plate (454) rear portion is rotated and is provided with one pawl (455) by the bearing pin (456) vertically arranging; On moving plate (454), be positioned at (455) rear positions of pawling and be provided with the backing pin (458) matching with pawl (455).
2. the station feed mechanism of the robot system for magnetic material die cast as claimed in claim 1, is characterized in that, described in pawl (455) be connected with the little spring (459) being fixed on moving plate (454).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310612319.5A CN103639409B (en) | 2013-11-28 | 2013-11-28 | Working position feeding mechanism used in magnetic material die-cast formation robot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310612319.5A CN103639409B (en) | 2013-11-28 | 2013-11-28 | Working position feeding mechanism used in magnetic material die-cast formation robot system |
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| CN103639409B CN103639409B (en) | 2015-06-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561683A (en) * | 2019-09-30 | 2019-12-13 | 安固集团有限公司 | Automatic pressure injection process of commutator |
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| CN1334191A (en) * | 2000-07-17 | 2002-02-06 | 住友特殊金属株式会社 | Powder compacting apparatus and method |
| CN2737490Y (en) * | 2004-09-15 | 2005-11-02 | 烟台海韵电子技术有限公司 | Automatic charging and discharging device for magnetic field press |
| JP2006136924A (en) * | 2004-11-12 | 2006-06-01 | Mitsubishi Materials Techno Corp | Powder-compacting apparatus |
| CN102528028A (en) * | 2012-03-02 | 2012-07-04 | 浙江大学宁波理工学院 | Automatic production method for compression moulding of powdered material and device adopted by same |
| CN203578763U (en) * | 2013-11-28 | 2014-05-07 | 山西中泰源工业自动化设备有限公司 | Station feeding mechanism of robot system for die-cast forming of magnetic materials |
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2013
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1334191A (en) * | 2000-07-17 | 2002-02-06 | 住友特殊金属株式会社 | Powder compacting apparatus and method |
| CN2737490Y (en) * | 2004-09-15 | 2005-11-02 | 烟台海韵电子技术有限公司 | Automatic charging and discharging device for magnetic field press |
| JP2006136924A (en) * | 2004-11-12 | 2006-06-01 | Mitsubishi Materials Techno Corp | Powder-compacting apparatus |
| CN102528028A (en) * | 2012-03-02 | 2012-07-04 | 浙江大学宁波理工学院 | Automatic production method for compression moulding of powdered material and device adopted by same |
| CN203578763U (en) * | 2013-11-28 | 2014-05-07 | 山西中泰源工业自动化设备有限公司 | Station feeding mechanism of robot system for die-cast forming of magnetic materials |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110561683A (en) * | 2019-09-30 | 2019-12-13 | 安固集团有限公司 | Automatic pressure injection process of commutator |
| CN110561683B (en) * | 2019-09-30 | 2024-04-02 | 安固集团有限公司 | Automatic injection process for commutator |
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| CN103639409B (en) | 2015-06-10 |
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Effective date of registration: 20170725 Address after: 044000 Southern District of Yuncheng new airport, Shanxi Patentee after: Shanxi Zhongsheng constant magnetic materials Co. Ltd. Address before: 044000 Shanxi province Yuncheng City Airport District Zhongsheng constant magnetic material Co. hospital Patentee before: SHANXI ZHONGTAIYUAN INDUSTRIAL AUTOMATION EQUIPMENT CO., LTD. |
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