CN106735187B - Servo-type feeding device for magnetic powder moulding press - Google Patents
Servo-type feeding device for magnetic powder moulding press Download PDFInfo
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- CN106735187B CN106735187B CN201611130184.9A CN201611130184A CN106735187B CN 106735187 B CN106735187 B CN 106735187B CN 201611130184 A CN201611130184 A CN 201611130184A CN 106735187 B CN106735187 B CN 106735187B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/02—Compacting only
- B22F3/03—Press-moulding apparatus therefor
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Abstract
The invention discloses a kind of servo-type feeding devices for magnetic powder moulding press, it includes babinet totally-enclosed and without oxygen and filling nitrogen, and a reclaimer robot, dust collection mechanism, secondary reclaimer robot, print cartridge sorting mechanism, print cartridge conveying mechanism and print cartridge output mechanism are equipped in the babinet；The babinet is equipped with press linking window and transfer passage isolating door, which is connected window and is tightly connected with the magnetic powder moulding press.The present invention in the babinet of totally-enclosed no oxygen and filling nitrogen by being arranged a reclaimer robot, dust collection mechanism, secondary reclaimer robot, print cartridge sorting mechanism, print cartridge conveying mechanism and print cartridge output mechanism, the magnet blank of compression moulding is taken out from magnetic powder moulding press, and carry out dust removal process, the magnet blank Jing Guo dust removal process is piled up into print cartridge again, finally the print cartridge for being loaded with magnet blank is delivered in the transfer passage of no oxygen and filling nitrogen, the magnet blank that may be implemented to suppress magnetic powder moulding press carries out the purpose of full-automatic feeding.
Description
Technical field
The present invention relates to rare-earth magnetic powder process equipments more particularly to a kind of servo-type for magnetic powder moulding press to take
Expect device.
Background technology
In recent years, all kinds of rare earth rubidium iron boron powders suppress, be sintered in specific magnetic field, being sliced, mill generate it is crystalline dilute
The native ring-like incorgruous magnet of alloy, is largely used to the motor of motor field, the loud speaker of electroacoustic industry and other electric fields
Device etc..Magnetic material industry is to improve compacting production efficiency at present, generally as real as possible in compacting to small-sized workpiece
The method that one mould of row has more, the i.e. workpiece shaping cavity of interior arrangement two of a compacting tool set or more, once suppresses n (moulds
Chamber number) a workpiece, efficiency improves n times；But the problem is that：Although the compacting efficiency of magnet blank is improved,
In feeding link, in the prior art still using pure artificial feeding mode or by the way that magnet blank is manually transferred to conveying
It takes and enters back into next link, thus inevitably constrain the production efficiency of magnet blank.
Invention content
It is an object of the invention to the deficiencies in for the above-mentioned prior art, provide a kind of watching for magnetic powder moulding press
Style of dress feeding device, by the way that a reclaimer robot, dust collection mechanism, secondary is arranged in totally-enclosed and babinet without oxygen and filling nitrogen
Reclaimer robot, print cartridge sorting mechanism, print cartridge conveying mechanism and print cartridge output mechanism, by compression moulding from magnetic powder moulding press
Magnet blank take out, and carry out dust removal process, then the magnet blank Jing Guo dust removal process is put into print cartridge, will finally be loaded with
The print cartridge of magnet blank is delivered in transfer passage, to realize that it is full-automatic that the magnet blank suppressed magnetic powder moulding press carries out
The purpose of feeding.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of servo-type feeding device for magnetic powder moulding press, it includes babinet totally-enclosed and without oxygen and filling nitrogen, should
Be equipped in babinet a reclaimer robot, dust collection mechanism, secondary reclaimer robot, print cartridge sorting mechanism, print cartridge conveying mechanism and
Print cartridge output mechanism；The babinet is equipped with press linking window and transfer passage isolating door, which is connected window and the magnetic
Powder moulding press is tightly connected；Reclaimer robot is used to enter the material embryo workpiece that compacting completion is drawn in setting position,
And aforementioned material embryo workpiece is positioned on dust collection mechanism；Dust removal process is made to the material embryo workpiece by dust collection mechanism, and converts adjustment
Expect the storage direction of embryo workpiece；The print cartridge sorting mechanism is used to send out empty cartridge by beat program, and by print cartridge conveying mechanism
Empty cartridge is sent to designated position；The secondary reclaimer robot is used for that treated that feeding embryo workpiece picks and places by dust collection mechanism
Fully loaded print cartridge is released from transfer passage isolating door to reaching in the empty cartridge behind designated position, then by print cartridge output mechanism.
Further, the babinet is made of the first babinet and the second babinet, a reclaimer robot and vacuum cleaner
Structure is set in the first babinet, and the secondary reclaimer robot, print cartridge sorting mechanism, print cartridge conveying mechanism and print cartridge output mechanism are set
In in the second babinet；First babinet and the second babinet are connected by feeding channel, and second babinet is equipped with for close
Seal the feeding channel partition door in aforementioned feeding channel.
Further, a reclaimer robot includes the first vacuum cup, sucker connecting plate, sucker cylinder, twin shaft
It is air cylinder fixed plate, sliding connecting plate, two sections of cylinders of manipulator, cylinder connecting plate, one section of cylinder of manipulator, tail end fixed plate, primary
Feeding fixed frame, limited block cylinder and limited block；First vacuum cup is mounted on sucker connecting plate, the sucker connecting plate
It is connected positioned at the lower section of sucker cylinder and with the piston rod of the sucker cylinder, equipped with a pair of parallel in its row on the sucker cylinder
The sucker cylinder limit sensors of Cheng Fangxiang；The sucker cylinder is fixed on vertically in twin shaft air cylinder fixed plate, and passes through the twin shaft
Air cylinder fixed plate with sliding connecting plate be connected, the sliding connecting plate be located at the right side of two sections of cylinders of manipulator and with two sections of gas of the manipulator
The piston rod of cylinder is connected, and the cylinder body of two sections of cylinders of manipulator is horizontally fixed on the cylinder connecting plate on the right side of it；It is described
A pair of parallel one section of cylinder limit sensors of manipulator in its stroke directions, the manipulator one are housed on one section of cylinder of manipulator
The piston rod of section cylinder is connected with the cylinder connecting plate on the right side of it, tail end and the vertical tail end fixed plate in babinet
It is connected, front end is mounted on by fixed plate on a feeding fixed frame；Feeding fixed frame is welded in babinet vertically
The centre at top, a feeding fixed frame is equipped with limit board mount, and passes through the limit board mount and the limit being vertically arranged
Position block cylinders, a pair of parallel limited block cylinder limit sensors in its stroke directions are equipped on the limited block cylinder；Institute
Limited block is stated to be located at the lower section of limited block cylinder and with the piston rod of limited block cylinder be connected.
Further, the sucker connecting plate by intermeshing and passes through the first rack-plate and the second rack of bolt locking
Plate is constituted, and the upper end of first rack-plate is connected with the piston rod of sucker cylinder, the lower end of second rack-plate and the first vacuum
Sucker is connected, so as in the case where not opening babinet can to the height of the first vacuum cup of the sucker connecting plate lower end into
Row is adjusted.
Further, the dust collection mechanism includes tray for work pieces, rotary cylinder, work rest, dust catcher, dust-leading board, fixation
Frame and dust suction cylinder；The tray for work pieces is mounted on rotary cylinder, to convert as needed when magnet blank is gripped
Angle；The rotary cylinder is fixed on work rest vertically；The dust catcher is mounted on the upper end of fixed frame with dust-leading board, this is fixed
The lower end of frame is connected with the piston rod of dust suction cylinder, and the dust suction cylinder is fixed on the bottom of babinet vertically, on the dust suction cylinder
Equipped with a pair of parallel dust suction cylinder limit sensors in its stroke directions.
Further, the secondary reclaimer robot includes the second vacuum cup, sucker connecting plate, sucker cylinder, cylinder
Connecting plate, manipulator cylinder, manipulator cylinder connecting plate, synchronous belt link block, synchronous belt mechanism, variable-speed motor, is watched sliding connecting plate
Take motor, mounting bracket and two synchronous belt sliding shoes；Second vacuum cup is mounted on sucker connecting plate, sucker connection
Plate is located at the lower section of sucker cylinder and is connected with the piston rod of the sucker cylinder；Equipped with a pair of parallel in stroke on the sucker cylinder
The sucker cylinder limit sensors in direction, and it is fixed on the outside of cylinder connecting plate vertically；The inside of the cylinder connecting plate and cunning
Dynamic connecting plate is connected, which is located at the right side of manipulator cylinder and is connected with the piston rod of the manipulator cylinder, the machinery
Luck cylinder is fixed on the lower section of synchronous belt link block by manipulator cylinder connecting plate, which passes through described two
A synchronous belt sliding shoe is connected with synchronous belt mechanism；The synchronous belt of its stroke directions is parallel to there are three being set on the synchronous belt mechanism
Mechanism limit sensors, the variable-speed motor and servo motor are installed in series in the tail end of synchronous belt mechanism, and the synchronous belt mechanism is solid
It is scheduled on the lower section of mounting bracket, the upper end of the mounting bracket is fixed on the top of babinet.
Further, the print cartridge sorting mechanism includes print cartridge babinet, ink container holder guide rail, stop cylinder, print cartridge cylinder, pushes away
Send plate and guide rod；It is respectively provided with channel hermatic door and print cartridge hatch door at left and right sides of the print cartridge babinet, is internally provided with print cartridge
Frame；The ink container holder guide rail is vertically arranged in print cartridge babinet and is slidably connected with ink container holder；The ink container holder is mounted on one side
A piece locating rod is provided with equidistant locating slot in locating rod, and gives ink container holder to position by stop cylinder；The ink container holder has more
Print cartridge position of the layer for placing print cartridge, an ink container holder cylinder is set to the lower end of ink container holder vertically, for driving ink container holder along print cartridge
Frame guide rail slides up and down；The print cartridge cylinder is located at the top of print cartridge hatch door and is correspondingly arranged with channel hermatic door；The print cartridge gas
The piston rod of cylinder is connected with pushing plate, for print cartridge to be released print cartridge babinet；The guide rod is arranged in parallel in print cartridge cylinder
Side, one end are fixedly connected with pushing plate, and print cartridge babinet is stretched out in other end sliding, to ensure pushing plate by print cartridge cylinder
It is rotated in pushing course.
Further, the ink container holder both sides respectively have 2 ink container holder guide rails, every ink container holder guide rail to rely on 2 cunnings respectively
Block is connect with ink container holder.
Further, the ink container holder has 6 layers of print cartridge position for placing print cartridge.
Further, the print cartridge conveying mechanism includes band ball pallet, synchronous strip connecting plate, sliding shoe, print cartridge conveying
Guide rail, gripping block, clamping cylinder, print cartridge conveying synchronous belt mechanism and the print cartridge for driving aforementioned print cartridge conveying synchronous belt mechanism
Convey servo motor；The band ball pallet is fixed in synchronous strip connecting plate, which passes through the sliding
Block is slidably connected with print cartridge conveying；Waist hole is provided on the band ball pallet, the gripping block lower end has protruding shaft, this is convex
One end of axis is inserted in aforementioned waist hole, and the other end is connected with the clamping cylinder, which is fixed on synchronous strip connecting plate
On.
Further, the synchronous strip connecting plate is slidably connected by 4 sliding shoes with print cartridge conveying.
Further, the print cartridge output mechanism include push holder, rodless cylinder, print cartridge output print cartridge output guide rail,
Push rod connecting plate and print cartridge export pushing plate；The push holder is installed on the inner wall of babinet, and the both ends of the push holder are equipped with
Cylinder mounting plate, and be connected with the rodless cylinder being disposed below by the cylinder mounting plate；The head of the print cartridge output guide rail
Tail both ends are fixed on the lower part of cylinder mounting plate, and are arranged in parallel with rodless cylinder；The rodless cylinder has movable slider, the work
Movable slider can slide on print cartridge output guide rail；The push rod connecting plate is set to the lower end of aforementioned active sliding block, push rod connection
The lower end of plate is fixedly connected with the rear end of push rod；The push rod is parallel to print cartridge output guide rail, and front end exports pushing plate with print cartridge
It is connected, which exports pushing plate and be used to release print cartridge from transfer passage isolating door.
Servo-type feeding device proposed by the present invention for magnetic powder moulding press has the following advantages：
1, a reclaimer robot draws magnet blank with secondary reclaimer robot by vacuum cup in the present invention, and
It is not to be conducive to the safety for improving crawl magnet blank using mechanical mechanisms such as pneumatic clampers, also avoid making in grabbing workpiece
At workpiece breakage.
2, a reclaimer robot uses two-period form cylinder in the present invention, without the use of synchronous band structure, shortens machinery
The distance of single displacement when hand feeding, and reduce mechanism entirety the space occupied, in addition air-cylinder type mechanism can reduce dimension
Cost is protected, rate of breakdown is made to be greatly reduced.
3, sucker connecting plate is dentation mechanism in the present invention, and staff can be made to pass through gloves circle, do not opening babinet
In the case of the height of the first vacuum cup of the sucker connecting plate lower end is adjusted, can make whole device always in this way
In sealing state, and it is easy to adjust.
4, the coil of dust exhaust apparatus is isolated with power grid in the present invention, and demand voltage is low, substantially increases safety.
5, secondary reclaimer robot uses cylinder and synchronous belt combined mechanism in the present invention, without synchronous band structure is applied alone,
The distance of single displacement when can shorten manipulator feeding, and mechanism entirety the space occupied can be reduced, in addition, due to adopting
With air-cylinder type mechanism, maintenance cost is low, and rate of breakdown will be also greatly reduced.
To sum up, the servo-type feeding device for magnetic powder moulding press proposed by the invention passes through totally enclosed
Reclaimer robot of setting in babinet, dust collection mechanism, secondary reclaimer robot, print cartridge sorting mechanism, print cartridge conveying mechanism and
The magnet blank of compression moulding is taken out from magnetic powder moulding press, and carries out dust removal process by print cartridge output mechanism, then will be passed through
The magnet blank of dust removal process is put into print cartridge, finally the print cartridge for being loaded with magnet blank is delivered in transfer passage, Ke Yishi
The magnet blank now suppressed magnetic powder moulding press carries out the purpose of full-automatic feeding.
Description of the drawings
Fig. 1 is planar structure schematic diagram of the present invention for the servo-type feeding device of magnetic powder moulding press.
Fig. 2 is the B direction views of secondary material fetching mechanism in the present invention.
Fig. 3 is the local back direction view of secondary material fetching mechanism in the present invention.
Fig. 4 is the A direction views of a material fetching mechanism in the present invention.
Fig. 5 is the enlarged diagram at sucker connecting plate in the present invention.
The structural schematic diagram of secondary reclaimer robot in Fig. 6 present invention.
Fig. 7 is the front view of print cartridge sorting mechanism in the present invention.
Fig. 8 is the plan view of print cartridge sorting mechanism in the present invention.
Fig. 9 is the front view of print cartridge conveying mechanism in the present invention.
Figure 10 is the vertical view of print cartridge conveying mechanism in the present invention.
Figure 11 is the structural schematic diagram of print cartridge output mechanism in the present invention.
Figure 12 is the connection diagram of cylinder mounting plate in the present invention, push rod and print cartridge output pushing plate
In figure:Reclaimer robot of 1-, 2- dust collection mechanisms, bis- reclaimer robots of 3-, No. bis- reclaiming conveyer structures of 4-,
5- print cartridge conveying mechanisms, 6- print cartridge output mechanisms；
101- babinets, 102 feeding fixed frames, 103- limited block cylinders, 104- limit board mounts, 105- limited blocks,
106- cylinder connecting plates, 107- sucker cylinders, 108- sliding connecting plates, 109- twin shaft air cylinder fixed plates, 110- sucker connecting plates,
The first vacuum cups of 111-, one section of cylinder of 112- manipulators, two sections of cylinders of 113- manipulators, 114- tail end fixed plates, 120- machines
One section of cylinder limit sensors of tool hand, 121- limited block cylinder limit sensors, 122- sucker cylinder limit sensors；
201- trays, 202- rotary cylinders, 203- dust catchers, 204- dust-leading boards, 205- work rests, 206- are fixed
Frame, 207- dust suction cylinders, 220- dust suction cylinder limit sensors.
301- mounting brackets, 302- synchronous belt mechanisms, 303- synchronous belt link blocks, 304- manipulator cylinder connecting plates, 305-
Slide connecting plate, 306- cylinder connecting plates, 307- sucker connecting plates, the second vacuum cups of 308-, 309- sucker cylinders, 310- machineries
Luck cylinder, 311- synchronous belt sliding shoes, 312- variable-speed motors, 313- servo motors, 314- feedings channel partition door, 321- sucker cylinders
Limit sensors, 320- synchronous belt mechanism limit sensors；
The channels 401- hermatic door, 402- ink container holder guide rails, 403- stop cylinders, 404- pushing plates, 405- locating rods, 406-
Print cartridge hatch door, 407- ink container holders, 408- print cartridges, 409- print cartridge babinets, 410- ink container holder cylinders, 411- guide rods, 412- print cartridges
Cylinder；
501- gripping blocks, 502- band ball pallets, 503- synchronize strip connecting plate, 504- guide rails, 505- clamping cylinders, 506-
Sliding shoe, 507- print cartridges convey synchronous belt mechanism, and 508- print cartridges convey servo motor；
601- push holders, 602- rodless cylinders, 603- movable sliders, 604- cylinder mounting plates, 605- push rod connecting plates,
606- push rods, 607- print cartridge output guide rails, 608- print cartridges export pushing plate；609- transfer passage isolating doors.
Specific implementation mode
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Referring to Fig. 1, the invention discloses a kind of servo-type feeding device for magnetic powder moulding press, feature exists
In：Including totally-enclosed and babinet 101 without oxygen and filling nitrogen, a reclaimer robot 1, dust collection mechanism 2, two are equipped in the babinet 101
Secondary reclaimer robot 3, print cartridge sorting mechanism 4, print cartridge conveying mechanism 5 and print cartridge output mechanism 6；The babinet 101 is equipped with press
It is connected window and transfer passage isolating door 609, which is connected window and is tightly connected with the magnetic powder moulding press；It is described primary
Reclaimer robot 1 is used to enter setting position and draws the material embryo workpiece of compacting completion, and aforementioned material embryo workpiece is positioned over dust suction
In mechanism 2；Dust removal process is made to the material embryo workpiece by dust collection mechanism 2, and converts the storage direction of adjustment material embryo workpiece；The ink
Box sorting mechanism 4 is used to send out empty cartridge by beat program, and empty cartridge is sent to designated position by print cartridge conveying mechanism 5；
The secondary reclaimer robot 3 be used for by dust collection mechanism 2 treated material embryo workpiece pick and place to reach designated position after sky ink
In box, then by print cartridge output mechanism 6 fully loaded print cartridge is released from transfer passage isolating door 609.
The babinet 101 is made of the first babinet and the second babinet, and a reclaimer robot 1 is set with dust collection mechanism 2
In in the first babinet, the secondary reclaimer robot 3, print cartridge sorting mechanism 4, print cartridge conveying mechanism 5 and print cartridge output mechanism 6 are set
In in the second babinet；First babinet and the second babinet are connected by feeding channel, and second babinet is equipped with for close
Seal the feeding channel partition door 314 in aforementioned feeding channel.
Fig. 4,5 are please referred to, which is made of a reclaimer robot 1 and dust collection mechanism 2.
Reclaimer robot 1 includes the first vacuum cup 111, sucker connecting plate 110, sucker cylinder 107, twin shaft
Air cylinder fixed plate 109, sliding connecting plate 108, two sections of cylinders 113 of manipulator, cylinder connecting plate 106, one section of cylinder 112 of manipulator,
114, feeding fixed frames 102 of tail end fixed plate, limited block cylinder 103 and limited block 105；First vacuum cup 111
On sucker connecting plate 110, the sucker connecting plate 110 be located at the lower section of sucker cylinder 107 and with the sucker cylinder 107
Piston rod is connected, and a pair of parallel sucker cylinder limit sensors 122 in its stroke directions are housed on the sucker cylinder 107；
The sucker cylinder 107 is fixed on vertically in twin shaft air cylinder fixed plate 109, and is connected by the twin shaft air cylinder fixed plate 109 and sliding
Plate 108 be connected, the sliding connecting plate 108 be located at the right side of two sections of cylinders 113 of manipulator and with the work of two sections of cylinders 113 of manipulator
Stopper rod is connected, and the cylinder body of two sections of cylinders 113 of manipulator is horizontally fixed on the cylinder connecting plate 106 on the right side of it；It is described
A pair of parallel one section of cylinder limit sensors 120 of manipulator in its stroke directions, the machine are housed on one section of cylinder 112 of manipulator
The piston rod of one section of cylinder 112 of tool hand is connected with the cylinder connecting plate 106 on the right side of it, and tail end is set to babinet with vertical
Tail end fixed plate 114 in 101 is connected, and front end is mounted on by front shoe on a feeding fixed frame 102；It is described once to take
Material fixed frame 102 is welded in the top of babinet 101 vertically, and the centre of a feeding fixed frame 102 is equipped with limit board mount
104, and be connected with the limited block cylinder 103 being vertically arranged by the limit board mount 104, it is equipped on the limited block cylinder 103
The a pair of parallel limited block cylinder limit sensors 121 in its stroke directions；The limited block 105 is located at limited block cylinder 103
Lower section and be connected with the piston rod of limited block cylinder 103.
Preferably, the sucker connecting plate 110 by intermeshing and by bolt lock the first rack-plate with
Second rack-plate is constituted, and the upper end of first rack-plate is connected with the piston rod of sucker cylinder 107, the lower end of second rack-plate
It is connected with the first vacuum cup 111, so as to can be true to the first of the sucker connecting plate lower end in the case where not opening babinet
The height of suction disk 111 is adjusted.
Preferably, the dust collection mechanism 2 includes tray for work pieces 201, rotary cylinder 202, work rest 205, dust suction
Device 203, dust-leading board 204, fixed frame 206 and dust suction cylinder 207；The tray for work pieces 201 is mounted on rotary cylinder 202, with
Just angle when transformation magnet blank is gripped as needed；The rotary cylinder 202 is fixed on vertically on work rest 205；It is described
Dust catcher 203 is mounted on the upper end of fixed frame 206, the work of the lower end and dust suction cylinder 207 of the fixed frame 206 with dust-leading board 204
Stopper rod be connected, the dust suction cylinder 207 is fixed on the bottom of babinet 101 vertically, on the dust suction cylinder 207 equipped with it is a pair of parallel in
The dust suction cylinder limit sensors 220 of its stroke directions.
Fig. 2,3 are please referred to, the secondary material fetching mechanism is by secondary reclaimer robot 3, print cartridge sorting mechanism 4, print cartridge conveyer
Structure 5 and the print cartridge output mechanism 6 composition.
Referring to Fig. 6, the secondary reclaimer robot 3 includes the second vacuum cup 308, sucker connecting plate 307, sucker gas
Cylinder 309, cylinder connecting plate 306, sliding connecting plate 305, manipulator cylinder 310, manipulator cylinder connecting plate 304, synchronous band connection
Block 303, synchronous belt mechanism 302, mounting bracket 301, variable-speed motor 312, servo motor 313 and two synchronous belt sliding shoes 311；It is described
Second vacuum cup 308 be mounted on sucker connecting plate 307 on, the sucker connecting plate 307 be located at the lower section of sucker cylinder 309 and with
The piston rod of the sucker cylinder 309 is connected；It is limited equipped with a pair of parallel sucker cylinder in stroke directions on the sucker cylinder 309
Sensor 321, and it is fixed on the outside of cylinder connecting plate 306 vertically；The inside of the cylinder connecting plate 306 and sliding connecting plate 305
It is connected, which is located at the right side of manipulator cylinder 310 and is connected with the piston rod of the manipulator cylinder 310, the machine
Tool luck cylinder 310 is fixed on the lower section of synchronous belt link block 303 by manipulator cylinder connecting plate 304, the synchronous belt link block
303 are connected by two synchronous belt sliding shoes 311 with synchronous belt mechanism 302；There are three being set on the synchronous belt mechanism 302
The synchronous belt mechanism limit sensors 320 of its stroke directions are parallel to, the variable-speed motor 312 and servo motor 313 are installed in series
In the tail end of synchronous belt mechanism 302, which is fixed on the lower section of mounting bracket 301, the upper end of the mounting bracket 301
It is fixed on the top of babinet 101.
Fig. 7,8 are please referred to, the print cartridge sorting mechanism 4 includes print cartridge babinet 409, ink container holder guide rail 402, stop cylinder
403, print cartridge cylinder 412, pushing plate 404 and guide rod 411；It is close that the left and right sides of the print cartridge babinet 409 is respectively provided with channel
Closure door 401 and print cartridge hatch door 406, are internally provided with ink container holder 407；The ink container holder guide rail 402 is vertically arranged at print cartridge babinet 409
It is interior and be slidably connected with ink container holder 407；The ink container holder 407 is mounted with a locating rod 405 on one side, is provided in locating rod 405
Equidistant locating slot, and positioned to ink container holder 407 by stop cylinder 403；The ink container holder 407 has multilayer for placing print cartridge
Print cartridge position, an ink container holder cylinder 410 is set to the lower end of ink container holder 407 vertically, for driving ink container holder 407 along ink container holder guide rail
It slides up and down；The print cartridge cylinder 412 is located at the top of print cartridge hatch door 406 and is correspondingly arranged with channel hermatic door 401；The print cartridge
The piston rod of cylinder 412 is connected with pushing plate 404, for print cartridge to be released print cartridge babinet 409；The guide rod 411 is parallel to be set
It is placed in the side of print cartridge cylinder 412, one end is fixedly connected with pushing plate 404, and print cartridge babinet 409 is stretched out in other end sliding, uses
To ensure that pushing plate 404 rotates in by 412 pushing course of print cartridge cylinder.
Preferably, respectively there are 2 ink container holder guide rails 402, every ink container holder guide rail 402 in 407 both sides of the ink container holder
It is connect respectively with ink container holder 407 by 2 sliding blocks.
Preferably, the ink container holder 407 has 6 layers of print cartridge position for placing print cartridge.
Fig. 9,10,11,12 are please referred to, the print cartridge conveying mechanism 5 includes band ball pallet 502, synchronous strip connecting plate
503, sliding shoe 506, print cartridge conveying 504, gripping block 501, clamping cylinder 505, print cartridge conveying synchronous belt mechanism 507 and use
Servo motor 508 is conveyed in the print cartridge for driving aforementioned print cartridge to convey synchronous belt mechanism 507；The band ball pallet 502 is fixed on
In synchronous strip connecting plate 503, which is connected by the sliding shoe 506 and the sliding of print cartridge conveying 504
It connects；It is provided with waist hole on the band ball pallet 502,501 lower end of the gripping block has a protruding shaft, and one end of the protruding shaft is inserted in aforementioned
In waist hole, the other end is connected with the clamping cylinder 505, which is fixed in synchronous strip connecting plate 503.
Preferably, the synchronous strip connecting plate 503 is slided by 4 sliding shoes 506 and print cartridge conveying 504
Connection.
0,11,12 are please referred to Fig.1, the print cartridge output mechanism 6 is defeated including push holder 601, rodless cylinder 602, print cartridge
Go out print cartridge output guide rail 607, push rod connecting plate 605 and print cartridge output pushing plate 608；The push holder 601 is installed on babinet
The both ends of 101 inner wall, the push holder 601 are equipped with cylinder mounting plate 604, and by the cylinder mounting plate 604 and are located at it
The rodless cylinder 602 of lower section is connected；The head and the tail both ends of the print cartridge output guide rail 607 are fixed on the lower part of cylinder mounting plate 604,
And it is arranged in parallel with rodless cylinder 602；The rodless cylinder 602 has movable slider 603, which can be defeated in print cartridge
Go out on guide rail 607 and slides；The push rod connecting plate 605 is set to the lower end of aforementioned active sliding block 603, the push rod connecting plate 605
Lower end is fixedly connected with the rear end of push rod 606；The push rod 606 is parallel to print cartridge output guide rail 607, and front end is pushed away with print cartridge output
Plate 608 is sent to be connected, print cartridge output pushing plate 608 is for releasing print cartridge from transfer passage isolating door 609.
The principle of the present invention is following (please referring to Fig.1 to 12)：
Material fetching mechanism is connected with secondary material fetching mechanism by feeding channel；The function of material fetching mechanism is:By magnetic
Baslled iron material takes out from magnetic powder moulding press, and the magnet blank of taking-up is dusted processing.The work(of secondary material fetching mechanism
Can be：The workpiece in a material fetching mechanism is taken out by secondary reclaimer robot 3, the automatic stacking in print cartridge, and by print cartridge
It pushes in transfer passage.Feeding channel separation door 314 is installed, it is ensured that disconnect a feeding on secondary material fetching mechanism
After mechanism, the nitrogen in secondary material fetching mechanism will not leak, and air pressure keeps stablizing.Equally, secondary material fetching mechanism is also equipped with conveying
Channel separation door, effect are consistent with feeding channel separation door.
Print cartridge is placed；The closing passage under cylinder action of print cartridge cabin channel hermatic door 401；Staff opens print cartridge hatch door
406, enough print cartridges 408 are stacked in ink container holder 407, and print cartridge hatch door 406 is shut after placement；Nitrogen charging in print cartridge compartment-box body is arranged
Oxygen carries out nitrogen supercharging and reaches identical as pressure in babinet 101；Print cartridge cabin channel hermatic door 401 is opened under cylinder action；
Ink container holder cylinder 410 pushes ink container holder 407 to rise to the top of ink container holder guide rail 402, passes through stop cylinder 403 and locating rod
Locating slot cooperation positioning on 405 makes a print cartridge 408 of the bottom to the pushing plate 404 that is just being connected with print cartridge cylinder 412,
Print cartridge cylinder 412 is pushed to print cartridge 408 on the band ball pallet 502 of print cartridge conveying mechanism under the effect of guide rod 411；Print cartridge
Cylinder 412, which is withdrawn, to be resetted, and ink container holder cylinder 410 controls ink container holder 407 and declines a station, and a print cartridge 408 of decline is again right
The pushing plate 404 being just connected with print cartridge cylinder 412 waits for secondary print cartridge 408 to push.
Under the control of one section of cylinder limit sensors 120 of PLC and manipulator, one section of cylinder 112 of manipulator connects cylinder
Fishplate bar 106 is released, which reaches designated position with two sections of cylinders 113 of manipulator；Two sections of cylinders of manipulator
113 again release sliding connecting plate 108, and sliding connecting plate 108 is made to stretch into magnetic powder from press linking window with the first vacuum cup 111
Right over moulding press to material embryo workpiece；Under the control of PLC and sucker cylinder limit sensors 122, sucker cylinder 107 will be inhaled
Disk connecting plate 110 is past to be declined, so that sucker connecting plate 110 is contacted material embryo workpiece with the first vacuum cup 111；First vacuum is inhaled
After workpiece is sucked in disk 111, sucker cylinder 107, which rises, to be resetted, and one section of cylinder 112 of manipulator, which retreats, to be resetted, the first vacuum cup 111
It is returned in babinet 101 with material embryo workpiece；Under the control of PLC and limited block cylinder limit sensors 122, limited block cylinder
103 retreat limited block 105 toward designated position, two sections of cylinders 113 of manipulator are dropped to by connecting plate 108 is slided, and slide connecting plate 108
Stopped by limited block 105 and positioned, sliding connecting plate 108 makes the first vacuum cup of manipulator 111 be in workpiece support with material embryo workpiece
Right over disk 201；Sucker cylinder 107 is declined by the Stroke Control of limit sensors 122, and the first vacuum cup 111 will expect embryo
Workpiece, which is placed on tray for work pieces 201, pushes down motionless, waiting dust suction cleaning.
Dust suction cylinder 207 mounted on bottom drives fixed frame 206 to rise, by the Stroke Control of limit sensors 220,
Dust suction cylinder 207 reaches designated position, and dust catcher 203 carries out dust suction cleaning to material embryo workpiece；Dust suction is completed, sucker cylinder 107
Rise and reset, the first vacuum cup 111, which rises, to be resetted；Limited block cylinder 103, which rises, to be resetted, and limited block 105, which rises, to be resetted；Machinery
Two sections of cylinders 113 of hand, which retreat, to be resetted, and the first vacuum cup 111 resets；Dust suction cylinder 207 drives fixed frame 206 to decline reset, powder
Dirt will be recycled by dust-leading board 204；It drives tray for work pieces 201 to be rotated by specified angle by controlling rotary cylinder 202, makes
Material embryo workpiece above, which is parked, meets secondary feeding requirement, waits for secondary feeding.
Under the control of PLC and synchronous belt mechanism limit sensors 320, servo motor 313 drives variable-speed motor 312, speed change
Machine 312 drives synchronous belt mechanism 302 to rotate, and makes synchronous belt sliding block 311 that synchronous belt link block 303 be driven to move forward, makes synchronization
Band sliding block 311 is moved to designated position；Manipulator cylinder 310 is pushed into designated position by connecting plate 305 is slided；The second vacuum is inhaled at this time
Disk 308 is exactly in the top of the tray for work pieces 209 in a feeding device, in PLC and sucker cylinder limit sensors 321
Under control, sucker cylinder 309 drives sucker connecting plate 308 to decline, and the second vacuum cup 308 is made to be attached on material embryo workpiece；Second
After material embryo workpiece is sucked in vacuum cup 308, sucker cylinder 309 retracts reset upwards；Manipulator cylinder 310 resets；Servo motor
313 driving variable-speed motors 312, variable-speed motor 312 drive synchronous belt mechanism 302 to rotate, and synchronous belt sliding block 311 drives synchronous belt link block
303 retract, the top of the positions X axis X1Y1 of 308 row of the second vacuum cup to print cartridge 408, and sucker cylinder 309 declines, and second
Vacuum cup 308 will expect that embryo workpiece is placed on the positions X1Y1 of print cartridge 408；Material embryo workpiece is fetched for the second time places X2Y1
It sets ... the 5th time and fetches the positions material embryo workpiece placement X5Y1；Servo motor 313 is run, and print cartridge 408 promotes one by Y-axis
It sets, the position of cycle stock embryo workpiece is placed sequentially in X1Y2, X2Y2 again ... X5Y2.
After print cartridge 408 is pushed to band ball pallet 502, under the control of PLC, clamping cylinder 505 drives gripping block
501 clamp print cartridge 408, and print cartridge conveys servo motor 508 and print cartridge is driven to convey synchronous belt mechanism 507, and synchronous belt is conveyed by print cartridge
Mechanism 507 drives the synchronous strip connecting plate 503 being connected with sliding shoe 506 and is transported forward on guide rail 504 with ball pallet 502
Row waits for secondary reclaimer robot handle until clipping print cartridge 408 with ball pallet 502 and running to the specified positions Y-axis X1Y1
Material embryo workpiece is piled up into print cartridge 408；Secondary reclaimer robot piles up X1Y1, X2Y1 successively ... after X5Y1, band ball pallet 502
Clip print cartridge 408 promotes the positions Y2, secondary reclaimer robot to pile up X1Y2, X2Y2 successively by setting ..., and X5Y2, print cartridge 408 is again
The positions Y3 are promoted by setting, pile up X1Y3, X2Y3 ... X5Y3 successively；Print cartridge 408 fills material embryo workpiece, band ball pallet 502
The tail end that the print cartridge 408 filled runs to print cartridge conveying synchronous belt mechanism 507 is clipped, at this point, the side face push of print cartridge 408
Plate 608.
Gripping block 501 unclamps print cartridge 408 under the driving of clamping cylinder 505；Rodless cylinder 602 interlocks push rod 606 and advances,
Print cartridge 408 is pushed into from transfer passage isolating door 609 in automatic-sealed conveyer belt by pushing plate 608.After the completion of action, no bar
Cylinder 602 is retracted；Print cartridge conveying synchronous belt mechanism 507 will be moved to second print cartridge to be installed at print cartridge case with ball pallet 502
408, carry out the reclaiming process of next round.
It is above illustrative to the description of invention and application, is not wishing to limit the scope of the invention to above-described embodiment
In；Without departing from the scope and spirit of the present invention, other deformations can be carried out to embodiments disclosed herein and are changed
Become.
Claims (10)
1. a kind of servo-type feeding device for magnetic powder moulding press, it is characterised in that：Include the case of totally-enclosed no oxygen and filling nitrogen
Body (101), the babinet (101) is interior to be equipped with a reclaimer robot (1), dust collection mechanism (2), secondary reclaimer robot (3), print cartridge
Sorting mechanism (4), print cartridge conveying mechanism (5) and print cartridge output mechanism (6)；The babinet (101) be equipped with press linking window and
Transfer passage isolating door (609), the press are connected window and are tightly connected with the magnetic powder moulding press；Feeding machinery
Hand (1) is used to enter setting position and draws the material embryo workpiece of compacting completion, and aforementioned material embryo workpiece is positioned over dust collection mechanism (2)
On；Dust removal process is made to the material embryo workpiece by dust collection mechanism (2), and converts the storage direction of adjustment material embryo workpiece；The print cartridge
Sorting mechanism (4) is used to send out empty cartridge by beat program, and empty cartridge is sent to specific bit by print cartridge conveying mechanism (5)
It sets；The secondary reclaimer robot (3) be used for by dust collection mechanism (2) treated material embryo workpiece pick and place to reach designated position after
Empty cartridge in, then by print cartridge output mechanism (6) fully loaded print cartridge is released from transfer passage isolating door (609).
2. the servo-type feeding device according to claim 1 for magnetic powder moulding press, it is characterised in that：The babinet
(101) it is made of the first babinet and the second babinet, a reclaimer robot (1) is set to the first babinet with dust collection mechanism (2)
Interior, the secondary reclaimer robot (3), print cartridge sorting mechanism (4), print cartridge conveying mechanism (5) and print cartridge output mechanism (6) are set to
In second babinet；First babinet and the second babinet are connected by feeding channel, and second babinet is equipped with for sealing
The feeding channel partition door (314) in aforementioned feeding channel.
3. the servo-type feeding device according to claim 1 for magnetic powder moulding press, it is characterised in that：It is described primary
Reclaimer robot (1) is fixed including the first vacuum cup (111), sucker connecting plate (110), sucker cylinder (107), twin shaft cylinder
One section of plate (109), sliding connecting plate (108), two sections of cylinders (113) of manipulator, cylinder connecting plate (106), manipulator cylinder
(112), tail end fixed plate (114), a feeding fixed frame (102), limited block cylinder (103) and limited block (105)；Described
One vacuum cup (111) is mounted on sucker connecting plate (110), which is located under sucker cylinder (107)
The piston rod of the Fang Bingyu sucker cylinders (107) is connected, equipped with a pair of parallel in its stroke directions on the sucker cylinder (107)
Sucker cylinder limit sensors (122)；The sucker cylinder (107) is fixed in twin shaft air cylinder fixed plate (109) vertically, and is led to
It crosses the twin shaft air cylinder fixed plate (109) with sliding connecting plate (108) to be connected, which is located at two sections of cylinders of manipulator
(113) right side is simultaneously connected with the piston rod of two sections of cylinders (113) of the manipulator, the cylinder body of two sections of cylinders (113) of the manipulator
It is horizontally fixed on the cylinder connecting plate (106) on the right side of it；Equipped with a pair of parallel on one section of cylinder (112) of the manipulator
In one section of cylinder limit sensors (120) of manipulator of its stroke directions；The piston rod of one section of cylinder (112) of the manipulator and position
Cylinder connecting plate (106) on the right side of it is connected, tail end and vertical tail end fixed plate (114) phase in babinet (101)
Even, front end is mounted on by fixed plate on a feeding fixed frame (102)；Feeding fixed frame (102) is welded vertically
The centre at the top in babinet (101), a feeding fixed frame (102) is equipped with limit board mount (104), and passes through the limit
Position board mount (104) is connected with the limited block cylinder (103) being vertically arranged, equipped with a pair of parallel on the limited block cylinder (103)
In the limited block cylinder limit sensors (121) of its stroke directions；The limited block (105) is located at limited block cylinder (103)
Lower section is simultaneously connected with the piston rod of limited block cylinder (103).
4. the servo-type feeding device according to claim 3 for magnetic powder moulding press, it is characterised in that：The sucker
Connecting plate (110) is constituted by intermeshing and by the first rack-plate of bolt locking with the second rack-plate, first rack-plate
Upper end be connected with the piston rod of sucker cylinder (107), the lower end of second rack-plate is connected with the first vacuum cup (111),
To be adjusted to the height of the first vacuum cup (111) of the sucker connecting plate lower end in the case where not opening babinet
Section.
5. the servo-type feeding device according to claim 1 for magnetic powder moulding press, it is characterised in that：The dust suction
Mechanism (2) includes tray for work pieces (201), rotary cylinder (202), work rest (205), dust catcher (203), dust-leading board (204), consolidates
Determine frame (206) and dust suction cylinder (207)；The tray for work pieces (201) is mounted on rotary cylinder (202), so as to as needed
Become the angle when embryo workpiece that reloads is gripped；The rotary cylinder (202) is fixed on vertically on work rest (205)；The dust catcher
(203) upper end of fixed frame (206), lower end and the dust suction cylinder (207) of the fixed frame (206) are mounted on dust-leading board (204)
Piston rod be connected, the dust suction cylinder (207) is fixed on the bottom of babinet (101) vertically, is equipped on the dust suction cylinder (207)
The a pair of parallel dust suction cylinder limit sensors (220) in its stroke directions.
6. the servo-type feeding device according to claim 1 for magnetic powder moulding press, it is characterised in that：It is described secondary
Reclaimer robot (3) includes the second vacuum cup (308), sucker connecting plate (307), sucker cylinder (309), cylinder connecting plate
(306), sliding connecting plate (305), manipulator cylinder (310), manipulator cylinder connecting plate (304), synchronous belt link block (303),
Synchronous belt mechanism (302), mounting bracket (301), variable-speed motor (312), servo motor (313) and two synchronous belt sliding shoes (311)；
Second vacuum cup (308) is mounted on sucker connecting plate (307), which is located at sucker cylinder
(309) lower section is simultaneously connected with the piston rod of the sucker cylinder (309)；Equipped with a pair of parallel in row on the sucker cylinder (309)
The sucker cylinder limit sensors (321) of Cheng Fangxiang, the sucker cylinder (309) are fixed on the outer of cylinder connecting plate (306) vertically
Side；It is connected with sliding connecting plate (305) on the inside of the cylinder connecting plate (306), which is located at manipulator cylinder
(310) right side is simultaneously connected with the piston rod of the manipulator cylinder (310), which passes through manipulator cylinder
Connecting plate (304) is fixed on the lower section of synchronous belt link block (303), and the synchronous belt link block (303) is same by described two
Step band sliding shoe (311) is connected with synchronous belt mechanism (302)；It is parallel to its stroke there are three being set on the synchronous belt mechanism (302)
The synchronous belt mechanism limit sensors (320) in direction, the variable-speed motor (312) are installed in series in synchronous with servo motor (313)
Tail end with mechanism (302), the synchronous belt mechanism (302) are fixed on the lower section of mounting bracket (301), the mounting bracket (301) it is upper
End is fixed on the top of babinet (101).
7. the servo-type feeding device according to claim 1 for magnetic powder moulding press, it is characterised in that：The print cartridge
Sorting mechanism (4) includes print cartridge babinet (409), ink container holder guide rail (402), stop cylinder (403), print cartridge cylinder (412), push
Plate (404) and guide rod (411)；It is respectively provided with channel hermatic door (401) and print cartridge at left and right sides of the print cartridge babinet (409)
Hatch door (406) is internally provided with ink container holder (407)；The ink container holder guide rail (402) is vertically arranged in print cartridge babinet (409) simultaneously
It is slidably connected with ink container holder (407)；The ink container holder (407) is mounted with a locating rod (405) on one side, in locating rod (405)
It is provided with equidistant locating slot, and is positioned to ink container holder (407) by stop cylinder (403)；The ink container holder (407) is used with multilayer
In the print cartridge position for placing print cartridge, an ink container holder cylinder (410) is set to the lower end of ink container holder (407) vertically, for driving ink container holder
(407) it is slided up and down along ink container holder guide rail；The print cartridge cylinder (412) is located at the top of print cartridge hatch door (406) and close with channel
Closure door (401) is correspondingly arranged；The piston rod of the print cartridge cylinder (412) is connected with pushing plate (404), for print cartridge to be released print cartridge
Babinet (409)；The guide rod (411) is arranged in parallel in the side of print cartridge cylinder (412), and one end is solid with pushing plate (404)
Fixed connection, print cartridge babinet (409) is stretched out in other end sliding, to ensure that pushing plate (404) was pushed by print cartridge cylinder (412)
It is rotated in journey.
8. the servo-type feeding device according to claim 7 for magnetic powder moulding press, it is characterised in that：The print cartridge
Frame (407) has 6 layers of print cartridge position for placing print cartridge；Respectively there are 2 ink container holder guide rails (402) in the both sides of the ink container holder (407),
Every ink container holder guide rail (402) connect by 2 sliding blocks with ink container holder (407) respectively.
9. the servo-type feeding device according to claim 1 for magnetic powder moulding press, it is characterised in that：The print cartridge
Conveying mechanism (5) includes band ball pallet (502), synchronous strip connecting plate (503), sliding shoe (506), print cartridge conveying
(504), gripping block (501), clamping cylinder (505), print cartridge convey synchronous belt mechanism (507) and for driving aforementioned print cartridge to convey
The print cartridge conveying servo motor (508) of synchronous belt mechanism (507)；The band ball pallet (502) is fixed on synchronous strip connecting plate
(503) on, which is slidably connected by the sliding shoe (506) with print cartridge conveying (504)；
It is provided with waist hole on the band ball pallet (502), gripping block (501) lower end has a protruding shaft, before one end of the protruding shaft is inserted in
It states in waist hole, the other end is connected with the clamping cylinder (505), which is fixed on synchronous strip connecting plate (503)
On.
10. the servo-type feeding device according to claim 1 for magnetic powder moulding press, it is characterised in that：The ink
Box output mechanism (6) includes push holder (601), rodless cylinder (602), print cartridge output guide rail (607), push rod connecting plate
(605) and print cartridge exports pushing plate (608)；The push holder (601) is installed on the inner wall of babinet (101), the push holder
(601) both ends are equipped with cylinder mounting plate (604), and pass through rodless cylinder cylinder mounting plate (604) and be disposed below
(602) it is connected；The head and the tail both ends of the print cartridge output guide rail (607) are fixed on the lower part of cylinder mounting plate (604), and with no bar
Cylinder (602) is arranged in parallel；The rodless cylinder (602) has movable slider (603), which can be defeated in print cartridge
Go out on guide rail (607) and slides；The push rod connecting plate (605) is set to the lower end of aforementioned active sliding block (603), the push rod connecting plate
(605) lower end is fixedly connected with the rear end of push rod (606)；The push rod (606) is parallel to print cartridge output guide rail (607), before
End is connected with print cartridge output pushing plate (608), print cartridge output pushing plate (608) for by print cartridge from transfer passage isolating door
(609) it releases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611130184.9A CN106735187B (en) | 2016-12-09 | 2016-12-09 | Servo-type feeding device for magnetic powder moulding press |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611130184.9A CN106735187B (en) | 2016-12-09 | 2016-12-09 | Servo-type feeding device for magnetic powder moulding press |
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| CN106735187B true CN106735187B (en) | 2018-08-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107472884B (en) * | 2017-08-07 | 2021-03-19 | 宁波科宁达工业有限公司 | Full-automatic sealed conveying device for stacking magnetic material blanks |
| CN108231397B (en) * | 2018-03-12 | 2024-06-11 | 百琪达智能科技（宁波）股份有限公司 | Forming code wheel sintering all-in-one |
| CN109550944B (en) * | 2018-12-07 | 2024-04-12 | 无锡富乙特智能装备有限公司 | Vertical manipulator arranging machine |
| CN115283672A (en) * | 2022-08-03 | 2022-11-04 | 绍兴市楚耀科技有限公司 | Automatic material-taking code disc equipment of servo alloy powder press robot |
| CN117023163B (en) * | 2023-09-20 | 2024-06-07 | 百琪达智能科技（宁波）股份有限公司 | Sign indicating number material pile up neatly device |
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