CN103963050A - Automatic loading manipulator for cubic diamond press - Google Patents
Automatic loading manipulator for cubic diamond press Download PDFInfo
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- CN103963050A CN103963050A CN201410217812.1A CN201410217812A CN103963050A CN 103963050 A CN103963050 A CN 103963050A CN 201410217812 A CN201410217812 A CN 201410217812A CN 103963050 A CN103963050 A CN 103963050A
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- swing arm
- guide rail
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Abstract
The invention relates to an automatic loading manipulator for a cubic diamond press. The manipulator comprises a rotation shaft mechanism and a push fork manipulator mechanism. The rotation shaft mechanism comprises a rotation shaft seat, a motor, a speed reducer and a swing arm. The rotation shaft seat is fixed on the cubic diamond press through bolts, the speed reducer is driven by the motor to operate and drives the swing arm through flat key translation, so that the swing arm swings around the output shaft of the speed reducer, and the push fork manipulator mechanism fixed on the swing arm swings vertically. A bottom plate, a through screw motor, a push fork plate, a guide rail and a sliding block are arranged on the push fork manipulator mechanism. The push fork plate is driven by the through screw motor and is driven by a screw to move front and back on the guide rail. By the matching of the rotation shaft mechanism and a push fork manipulator mechanism, picking, transportation and stacking of materials during loading of the cubic diamond press are achieved, and the whole loading process is completed automatically. The manipulator is simple in structure, small in occupied space, low in power consumption, convenient and reliable to control, stable in motion execution and applicable to automatic loading of cubic diamond presses.
Description
Technical field
The present invention relates to a kind of diamond cubic press automatic charging machinery hand, specifically a kind of for material process on cubic hinge press the automatic Picking to material, transport and push away the feeding manipulator of putting.
Background technology
Diamond cubic press has huge profile and little and complicated feeding and lower material space, makes at present conventional on the market all improper its uses of manipulator.Top press adopts the manual loading and unloading of workman conventionally, and along with the increase of top press pressure and physical dimension, the difficulty of artificial loading and unloading increases, and causes top press inefficiency; Add that it is to carry out that top press is produced under ultra-high pressure condition, usually occur splitting hammer accident, bring huge hidden danger and psychological pressure to workman's personal safety.Current diamond compound industry also faces and reduces production costs and advertise for workers pressure, therefore in the urgent need to developing a kind of energy fast, automatically the feeding manipulator replacement that and accurately completes material loading work manually completes material process, to fundamentally avoid the threat of feeding process to safety of workers, develop a kind of diamond cubic press feeding manipulator is also to improve the automation level of enterprises simultaneously, and diamond synthesizes the most significant problems that processing enterprise faces, it is to strengthening enterprise's production security, improving automaticity is of great significance, also will promote effectively this industry to upgrade fast, enhance productivity and economic benefit.
Summary of the invention
The object of the invention is in order to solve the potential safety hazard being existed by Manual feeding in existing diamond cubic press production process, the problem of inefficiency, and provide, one is simple in structure, efficiency is high, low in energy consumption, accuracy good, and the diamond cubic press automatic charging machinery hand of realizing safety in production, increasing the benefit.
To achieve these goals, the technical solution adopted in the present invention is: a kind of diamond cubic press automatic charging machinery hand is provided, comprises rotating shaft mechanism and push away the mechanism that cups one hand in the other before the chest; Described rotating shaft mechanism is provided with shaft seat, end cap, motor, decelerator and swing arm, and shaft seat, as the carrier of whole automatic charging machinery hand, is fixed with motor, decelerator, end cap and swing arm on shaft seat; Described swing arm one end is arranged on reducer output shaft by swing arm hole, and motor rotarilys actuate reducer output shaft rotation, and reducer output shaft rotation makes swing arm swing around reducer output shaft; The other end of swing arm is fixed with and is pushed away the mechanism that cups one hand in the other before the chest by screw; The described mechanism that cups one hand in the other before the chest that pushes away is provided with bottom plate, cant board, gusset, pushes away fork backboard, pushes away fork side plate, guide rail, slide block and through lead screw motor, described bottom plate is fixed in swing arm, in bottom plate, there is the guide-track groove of mounting guide rail, guide rail is fixed on by screw in the guide-track groove of bottom plate, and bottom plate is by screw fixation side riser composition base plate; Described cant board is also fixed with gusset and through lead screw motor by screw; Ining succession and push away fork backboard in screw mandrel one end of described lead screw motor, pushes away fork backboard and be fixed by screws in again on slide block, and slide block can slide on guide rail; The described fork backboard that pushes away also fixedly pushes away fork side plate composition by double-screw bolt and pushes away fork plate, drives by through lead screw motor, is driven to push away pitch plate and move forward and backward on guide rail by screw mandrel.
Described swing arm and reducer output shaft are that hole axle is connected, and swing arm and reducer output shaft are provided with keyway, and flat key is housed in keyway, and motor drives decelerator, drive swing arm to swing by flat key transmission, and flat key and keyway are matched in clearance.
When described swing arm reaches the limit of position in bottom process, bottom plate is in horizontal position, and higher than top hammer upper surface under cubic hinge press.
Described pushing away fork backboard and push away fork side plate fixed by isometric studs.
The circular motion that described through lead screw motor is made screw mandrel converts the axially-movable of screw mandrel to, makes screw mandrel push away fork plate and does straight reciprocating motion, and screw mandrel is fixed by split pin with pushing away fork backboard, and screw mandrel is matched in clearance with pushing away fork backboard.
On described guide rail, have counterbore, by hexagon socket cap head screw, guide rail is fixed in bottom plate, guide rail and slide block are matched in clearance.
Described screw mandrel will meet parallel requirement during with guide rails assembling, and it is straight line that guide rail itself also requires, and facilitates slide block to slide before and after on guide rail.
Rotating shaft mechanism transfer axle bed in the present invention, as the carrier of whole automatic charging machinery hand, plays a part to form a connecting link, and whole feeding manipulator is to be also fixed on cubic hinge press material loading side hinge inside by shaft seat by a fixed support.
Cubic hinge press automatic charging machinery hand tool of the present invention has the following advantages:
(1), the design of feeding manipulator of the present invention has realized the space in feeding process and has dodged.Due to cubic hinge press material loading spatial complex and narrow, the present invention, by modeling Simulation robot movement, can not interfere with each top hammer the manipulator of design in motion process, and meeting spatial is dodged requirement.
(2), feeding manipulator of the present invention meets the Gesture of material.Two push away fork side plate mutual orientation in 90 ° and connect material and material loading, make material in the process of transporting its pose in correctly towards, therefore can save the reach home attitude adjustment link of position of material.
(3), feeding manipulator volume of the present invention is little lightweight.This manipulator compact conformation, it is little that the motion driver elements such as motor and decelerator take volume, if partially connected architecture uses light material also can further reduce whole feeding manipulator weight.
(4), feeding manipulator driving power consumption of the present invention is little, controls convenient and reliable.Design push away the mechanism that cups one hand in the other before the chest push away fork plate push material be translation transporting pattern, can ensure accurate material loading, can be by most power distributions of power source in the motion of material, the net utilization of power is very high, uses less driving power to meet the demands.
Brief description of the drawings
Fig. 1 is automatic charging machinery hand surface structure schematic diagram of the present invention.In figure, the swing arm bottom to bottom plate is horizontal.
Fig. 2 is the mechanism's surface structure enlarged diagram of cupping one hand in the other before the chest of pushing away in Fig. 1 of the present invention.
Fig. 3 is that pushing away in the present invention cupped one hand in the other before the chest in mechanism and put the structural representation in vertical position to bottom plate.
Fig. 4 is the swing arm structure schematic diagram in the present invention.
Fig. 5 is the swing arm pore structure enlarged diagram in Fig. 4 of the present invention.
Fig. 6 is the base arrangement schematic diagram in the present invention.
Fig. 7 is the slide block structure schematic diagram in the present invention.
Fig. 8 be the feeding manipulator in the present invention push away fork plate pushed the status architecture schematic diagram after material.
In above-mentioned figure: 1-shaft seat, 2-end cap, 3-motor, 4-decelerator, 5-swing arm, 6-lead screw motor, 7-gusset, 8-push away fork backboard, 9-pushes away fork side plate, 10-bottom plate, 11-guide rail, 12-screw mandrel, 13-cant board, 14-slide block, 15-guide-track groove, 16-swing arm hole, 17-keyway, 18-flat key.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment 1: the invention provides a kind of diamond cubic press automatic charging machinery hand, its structure as shown in Figure 1,3.Comprise rotating shaft mechanism and push away the mechanism that cups one hand in the other before the chest; Described rotating shaft mechanism is provided with shaft seat 1, end cap 2, motor 3, decelerator 4 and swing arm 5, shaft seat 1 is as the carrier of whole automatic charging machinery hand, on shaft seat 1, be fixed with motor 3, decelerator 4, end cap 2 and swing arm 5, the structure of described swing arm 5 is referring to Fig. 4,5, swing arm 5 is macrostructure frameworks, swing arm 5 one end are connected with the output shaft of decelerator 4 by swing arm hole 16, drive swing arm to swing by flat key transmission, wherein flat key 18 is matched in clearance with keyway 17, and the output shaft of decelerator 4 is fixed on shaft seat 1 by bearing.Motor 3 and decelerator 4 are bolted on a side of shaft seat 1, and end cap 2 is fixed by screws in the opposite side of shaft seat 1.The other end of swing arm 5 is fixed with the bottom plate 10 that pushes away the mechanism that cups one hand in the other before the chest by screw.
Described pushes away the mechanism that cups one hand in the other before the chest referring to Fig. 1, Fig. 2, Fig. 3, pushing away the mechanism that cups one hand in the other before the chest is provided with bottom plate 10, cant board 13, gusset 7, pushes away fork backboard 8, pushes away fork side plate 9, guide rail 11, slide block 14 and through lead screw motor 6, described bottom plate 10 is fixed in swing arm 5, and bottom plate 10 is distinguished fixation side riser 13, guide rail 11 by screw; Base arrangement, referring to Fig. 6, has the guide-track groove 15 of mounting guide rail 11 in bottom plate 10, bottom plate 10 forms base plate by screw fixation side riser 13; Described cant board 13 is fixed with gusset 7 and through lead screw motor 6 by screw; Ining succession and push away fork backboard 8 in screw mandrel 12 one end of described lead screw motor 6, pushes away fork backboard 8 and be fixed on slide block 14 by hexagon socket cap head screw again.Slide block 14 structures are referring to Fig. 7, and slide block 14 can slide on described guide rail 11; The described fork backboard 8 that pushes away fixedly pushes away fork side plate 9 compositions by isometric studs and pushes away fork plate, drives by through lead screw motor 6, is driven to push away pitch plate and move forward and backward on guide rail 11 by screw mandrel 12.
Automatic charging machinery hand of the present invention, pushing away fork backboard 8 lower ends is fixed on slide block 14, slide block 14 is matched in clearance with guide rail 11, on guide rail 11, have counterbore, by hexagon socket cap head screw, guide rail 11 is fixed in bottom plate 10, described through lead screw motor 6 converts the circular motion of screw mandrel 12 to the axially-movable of screw mandrel 12, make screw mandrel 12 push away fork backboard 8 and push away the fork plate that pushes away that fork side plate 9 combines do straight reciprocating motion on guide rail 11, screw mandrel 12 is fixed by split pin with pushing away fork backboard 8, and screw mandrel 12 is matched in clearance with pushing away fork backboard 8.In the present invention, the screw mandrel 12 of through lead screw motor 6 will meet the higher depth of parallelism with guide rail 11, and guide rail 11 itself just has linearity requirement, facilitates slide block 14 to slide before and after on guide rail 11.
Assemble the operation of cubic hinge press automatic charging machinery hand of the present invention:
1. will push away fork backboard 8 and push away fork plate with pushing away fork side plate 9 by the isometric studs composition that is fixed together, double-screw bolt two ends are fixed with nut respectively.
2. slide block 14 by hexagon socket cap head screw with push away fork backboard 8 be fixed together after, slide block 14 is slipped in guide rail 11, then guide rail 11 is placed in the guide-track groove 15 of bottom plate, be fixed in bottom plate 10 by hexagon socket cap head screw.
3. cant board 13 one sides are placed gusset 7, and another side is installed through lead screw motor 6, and three is fixed together by screw.
4. by cant board 13 by screw and the bottom plate 10 composition base plate that is fixed together; Adjustment pushes away fork backboard 8 and pushes away fork side plate 9 positions, makes screw mandrel 12 and push away fork backboard 8 to link together by split pin.
5. the output shaft of decelerator 4 is fixed on shaft seat 1 by bearing; Motor 3 adopts servomotor and decelerator 4 to be bolted on a side of shaft seat 1, and end cap 2 is fixed by screws in the opposite side of shaft seat 1.
6. one end of swing arm 5 is connected with bottom plate 10 by screw, the other end is connected with reducer output shaft by swing arm hole 16, flat key 18 is put into the keyway 17 of swing arm hole 16 and reducer output shaft.
7. check the depth of parallelism of screw mandrel 12 and guide rail 11, check matched in clearance, the screw mandrel and the matched in clearance that pushes away matched in clearance, guide rail and the slide block 14 of pitching backboard 8 of flat key 18 and keyway 17, passed examination, completes the assembling of feeding manipulator.
Embodiment 2: the cubic hinge press automatic charging machinery hand that the application embodiment of the present invention 1 provides, is first fixed on cubic hinge press material loading side hinge inside by shaft seat by a fixed support by whole feeding manipulator.Its course of work is:
, original state, as shown in Figure 3, feeding manipulator is in the position that connects material, bottom plate 10 is in vertical position, the fork plate that pushes away that pushes away the mechanism that cups one hand in the other before the chest is waited for that pay-off is delivered to material and is pushed away on fork side plate 9 in regaining the state that connects material, push away the mechanism that cups one hand in the other before the chest.
, when pushing away after the mechanism that cups one hand in the other before the chest connects material successfully, motor 3 drives decelerator 4, drives swing arm 5 toward lower swing, swing arm 5 bottoms to bottom plate 10 is horizontal, and stops the bottom, this position bottom plate 10 is a little more than top hammer upper surface under cubic hinge press.
, through lead screw motor 6 electric, lead screw motor 6 converts the circular motion of screw mandrel 12 to the axially-movable of screw mandrel, plate moving linearly on guide rail 11 is pitched in pushing away of making to be connected with screw mandrel 12, and material is pushed under top press in top hammer.After propelling movement completes, feeding manipulator is in state as shown in Figure 8.
, through lead screw motor 6 reverses, make to push away fork plate and regain along guide rail 11.Push away fork plate and be recovered to when approaching to gusset 7, motor 3 drives pendulum in swing arm 5, when pendulum is in vertical position to bottom plate 10 in swing arm, stops upper pendulum, and wait connects material.
, repeat above-mentioned steps, feeding manipulator can be realized on cubic hinge press in material process process the picking up, transport and push away and put action of material, completes automatic charging process.
The present invention is simple in structure, takes up room little, low in energy consumption, and it is convenient to control, and carries out motion reliable operation, is applicable to the automatic charging of the cubic hinge press course of work.
Claims (7)
1. a diamond cubic press automatic charging machinery hand, comprises rotating shaft mechanism and pushes away the mechanism that cups one hand in the other before the chest; It is characterized in that: described rotating shaft mechanism is provided with shaft seat, end cap, motor, decelerator and swing arm, shaft seat, as the carrier of whole automatic charging machinery hand, is fixed with motor, decelerator, end cap and swing arm on shaft seat; Described swing arm one end is arranged on reducer output shaft by swing arm hole, and motor rotarilys actuate reducer output shaft rotation, and reducer output shaft rotation makes swing arm swing around reducer output shaft; The other end of swing arm is fixed with and is pushed away the mechanism that cups one hand in the other before the chest by screw; The described mechanism that cups one hand in the other before the chest that pushes away is provided with bottom plate, cant board, gusset, pushes away fork backboard, pushes away fork side plate, guide rail, slide block and through lead screw motor, described bottom plate is fixed in swing arm, in bottom plate, there is the guide-track groove of mounting guide rail, guide rail is fixed on by screw in the guide-track groove of bottom plate, and bottom plate is by screw fixation side riser composition base plate; Described cant board is also fixed with gusset and through lead screw motor by screw; Ining succession and push away fork backboard in screw mandrel one end of described lead screw motor, pushes away fork backboard and be fixed by screws in again on slide block, and slide block can slide on guide rail; The described fork backboard that pushes away also fixedly pushes away fork side plate composition by double-screw bolt and pushes away fork plate, drives by through lead screw motor, is driven to push away pitch plate and move forward and backward on guide rail by screw mandrel.
2. diamond cubic press automatic charging machinery hand according to claim 1, it is characterized in that: described swing arm and reducer output shaft are that hole axle is connected, swing arm and reducer output shaft are provided with keyway, flat key is housed in keyway, motor drives decelerator, drive swing arm to swing by flat key transmission, flat key and keyway are matched in clearance.
3. diamond cubic press automatic charging according to claim 1 machinery hand, is characterized in that: when described swing arm reaches the limit of position in bottom process, bottom plate is in horizontal position, and higher than top hammer upper surface under cubic hinge press.
4. diamond cubic press automatic charging machinery hand according to claim 1, is characterized in that: described pushing away fork backboard and push away fork side plate fixed by isometric studs.
5. diamond cubic press automatic charging machinery hand according to claim 1, it is characterized in that: the circular motion that described through lead screw motor is made screw mandrel converts the axially-movable of screw mandrel to, make screw mandrel push away fork plate and do straight reciprocating motion, screw mandrel is fixed by split pin with pushing away fork backboard, and screw mandrel is matched in clearance with pushing away fork backboard.
6. diamond cubic press automatic charging machinery hand according to claim 1, is characterized in that: on described guide rail, have counterbore, by hexagon socket cap head screw, guide rail is fixed in bottom plate, guide rail and slide block are matched in clearance.
7. diamond cubic press automatic charging according to claim 1 machinery hand, is characterized in that: described screw mandrel will meet parallel requirement during with guide rails assembling, and it is straight line that guide rail itself also requires, facilitate slide block on guide rail before and after slip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410217812.1A CN103963050B (en) | 2014-05-21 | 2014-05-21 | Diamond cubic press automatic charging machinery hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410217812.1A CN103963050B (en) | 2014-05-21 | 2014-05-21 | Diamond cubic press automatic charging machinery hand |
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| Publication Number | Publication Date |
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| CN103963050A true CN103963050A (en) | 2014-08-06 |
| CN103963050B CN103963050B (en) | 2015-10-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410217812.1A Expired - Fee Related CN103963050B (en) | 2014-05-21 | 2014-05-21 | Diamond cubic press automatic charging machinery hand |
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| CN (1) | CN103963050B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106902709A (en) * | 2017-04-28 | 2017-06-30 | 郑州华晶金刚石股份有限公司 | Automatic Press system and method is used in diamond production |
| CN115400692A (en) * | 2022-09-23 | 2022-11-29 | 郑州醉旅超硬材料有限公司 | Artificial diamond synthesis system and artificial diamond synthesis method |
| CN117842668A (en) * | 2024-03-08 | 2024-04-09 | 山西亚德玛斯材料科技有限公司 | Hexahedral top press with automatic feeding and discharging mechanical arm and using method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH09239618A (en) * | 1996-03-04 | 1997-09-16 | Akira Ito | Cutter saw feeding device to reinforced concrete structure |
| US20060113222A1 (en) * | 2004-03-23 | 2006-06-01 | Waldemar Kiener | Mounting apparatus for setting individual articles in a receptacle |
| CN201799896U (en) * | 2010-08-31 | 2011-04-20 | 南京航空航天大学 | Rapid cutter changing manipulator using electric push rod |
| CN202861235U (en) * | 2012-10-30 | 2013-04-10 | 武汉华夏精冲技术有限公司 | Precise punching machine full-automatic slab feeding device |
| CN203077692U (en) * | 2012-12-17 | 2013-07-24 | 格兰达技术（深圳）有限公司 | Overturn hand grab edge-folding module of automatic forming machine of packaging carton of tablet computer |
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2014
- 2014-05-21 CN CN201410217812.1A patent/CN103963050B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09239618A (en) * | 1996-03-04 | 1997-09-16 | Akira Ito | Cutter saw feeding device to reinforced concrete structure |
| US20060113222A1 (en) * | 2004-03-23 | 2006-06-01 | Waldemar Kiener | Mounting apparatus for setting individual articles in a receptacle |
| CN201799896U (en) * | 2010-08-31 | 2011-04-20 | 南京航空航天大学 | Rapid cutter changing manipulator using electric push rod |
| CN202861235U (en) * | 2012-10-30 | 2013-04-10 | 武汉华夏精冲技术有限公司 | Precise punching machine full-automatic slab feeding device |
| CN203077692U (en) * | 2012-12-17 | 2013-07-24 | 格兰达技术（深圳）有限公司 | Overturn hand grab edge-folding module of automatic forming machine of packaging carton of tablet computer |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106902709A (en) * | 2017-04-28 | 2017-06-30 | 郑州华晶金刚石股份有限公司 | Automatic Press system and method is used in diamond production |
| CN115400692A (en) * | 2022-09-23 | 2022-11-29 | 郑州醉旅超硬材料有限公司 | Artificial diamond synthesis system and artificial diamond synthesis method |
| CN115400692B (en) * | 2022-09-23 | 2024-05-10 | 东莞有德金刚石有限公司 | Synthetic system and synthetic method for artificial diamond |
| CN117842668A (en) * | 2024-03-08 | 2024-04-09 | 山西亚德玛斯材料科技有限公司 | Hexahedral top press with automatic feeding and discharging mechanical arm and using method thereof |
| CN117842668B (en) * | 2024-03-08 | 2024-05-17 | 山西亚德玛斯材料科技有限公司 | Hexahedral top press with automatic feeding and discharging mechanical arm and using method thereof |
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| CN103963050B (en) | 2015-10-14 |
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Granted publication date: 20151014 Termination date: 20170521 |