CN107826785A - A kind of intelligent tubing stacking industrial robot - Google Patents
A kind of intelligent tubing stacking industrial robot Download PDFInfo
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- CN107826785A CN107826785A CN201711261766.5A CN201711261766A CN107826785A CN 107826785 A CN107826785 A CN 107826785A CN 201711261766 A CN201711261766 A CN 201711261766A CN 107826785 A CN107826785 A CN 107826785A
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- 230000007246 mechanism Effects 0.000 claims abstract description 112
- 238000010438 heat treatment Methods 0.000 claims abstract description 91
- 239000000463 material Substances 0.000 claims abstract description 35
- 238000007599 discharging Methods 0.000 claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 31
- 238000013461 design Methods 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 238000003801 milling Methods 0.000 claims description 4
- 230000007306 turnover Effects 0.000 claims description 4
- 238000003756 stirring Methods 0.000 claims description 2
- 230000005622 photoelectricity Effects 0.000 claims 1
- 238000007664 blowing Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004092 self-diagnosis Methods 0.000 description 1
- 230000001429 stepping effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0276—Tubes and pipes
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- Tunnel Furnaces (AREA)
Abstract
The present invention proposes a kind of intelligent tubing stacking industrial robot, and it includes discharge mechanism, conveying mechanism, material stirring-up mechanism, heating furnace, discharging mechanism and stacking mechanism；Also include control device, control device includes host computer, the first programmable controller and the second programmable controller, the host computer is connected with the first programmable controller, first programmable controller is used to control the heating element heater in heating furnace, second programmable controller is connected with the stepper motor, for controlling the movement of stacking frame.The present invention carries out every layer with step-by-step system and is accurately positioned control, guarantees to pile type stably using shaped device, it is possible to achieve fixed number stacking, meanwhile, reduce artificial labor intensity, it is convenient, fast.
Description
Technical field
The invention belongs to Stacking Technology field, particularly a kind of intelligent tubing stacking industrial robot.
Background technology
Robot palletizer be used in industrial processes perform high-volume workpiece, the acquisition of package, carrying, stacking,
A kind of industrial robot of the tasks such as de-stacking, it is to integrate the subjects such as machinery, electronics, information, intellectual technology, computer science
High-new electronic product.
Circular pipe makes bulge ratio and makes square container capacity more due to saving material, the metal of identical material
Greatly, and it is not easily blocked, so having wide range of applications；It is but the stacking of pipeline is mostly by manually carrying out, i.e., cumbersome and time-consuming,
Inefficient, floor space is big, is not easy to transport, and carries.
The content of the invention
In order to solve the above problems, the present invention proposes a kind of intelligent tubing stacking industrial robot, can reduce artificial
Labor intensity, and stacking be neatly easy to storage and transport.
The technical solution for realizing the object of the invention is：
A kind of intelligent tubing stacking industrial robot, it is characterised in that including discharge mechanism, conveying mechanism, material stirring-up mechanism,
Heating furnace, discharging mechanism and stacking mechanism；Wherein, heating element heater and the transmission for transmitting tubing are provided with the heating furnace
Element；The stacking mechanism includes stepper motor, ball-screw and the stacking frame for stacking tubing, stacking frame and is fixedly connected on
On ball-screw, stacking frame can move in the horizontal plane；The discharge mechanism is used to release tubing, and supplies conveying mechanism；
The tubing that conveying mechanism is used to provide discharge mechanism is sent at material stirring-up mechanism, and material stirring-up mechanism is used for send conveying mechanism
Tubing is pushed on the transmission element in heating furnace, and the heating element heater heats to entering the tubing in heating furnace；
Discharging mechanism is used to leave heating furnace and heat the tubing finished to be delivered in stacking mechanism, realizes tubing stacking；Institute
Stating tubing stacking industrial robot also includes control device, and control device includes host computer, the first programmable controller and second
Programmable controller, the host computer are connected with the first programmable controller, the second programmable controller, and described first is programmable
Controller is used to control the heating element heater in heating furnace, and second programmable controller is connected with the stepper motor, is used for
Control the movement of stacking frame.
Further, the stacking mechanism also includes cylinder and limit switch, and the cylinder is arranged on the stacking frame
Lower section, it is the power assist apparatus for controlling stacking frame moving direction, after the limit switch is arranged on the baffle plate of discharge mechanism
End.The effect of cylinder is the cylindrical metal parts for guiding piston to carry out straight reciprocating motion in cylinder, and source of the gas is to give parts
Power, source of the gas controlled by solenoid valve block, and cylinder is arranged on the lower section of stacking frame, while stacking frame also leads to ball-screw
Cross nut to be connected, ball-screw is connected with stepper motor, and stacking frame is moved left and right by step motor control, it is assumed that works as step
When stepper motor turns clockwise, stacking frame is moved to the left, and the cylinder installed in the lower section of stacking frame is right to cylinder by source of the gas therewith
Chamber compresses, and makes cylinder moving direction consistent with stacking frame moving direction, reduces the load pressure of stepper motor, is control stacking
The power assist apparatus of frame moving direction；Actual limit switch is point driving switch, is the ripe product of existing market, mounted in two
The rear end of blowing baffle plate, it can be bumped against on the inching button of baffle plate rear end when blowing baffle plate is moved by electric signal, with
Machine triggers a pulse signal, rotates the direct current generator opposite direction that controlling baffle plate moves, closes baffle plate.
Further, host computer is touch-screen.
Further, temperature sensor is provided with the heating furnace, for detecting the actual temperature in heating furnace；The pipe
Material stacking industrial robot also includes two groups of photoelectric sensors, and every group two, one of which photoelectric sensor is configured in feeding machine
The both ends of structure, another group of photoelectric sensor configuration is at the both ends of discharging mechanism, for detecting whether there is tubing.
Further, first programmable controller includes communication module, A/D module, DE modules and input and output mould
Block, during work, the design temperature of heating furnace is sent to the first programmable controller by host computer, and the A/D module will collect
Actual temperature in heating furnace is compared with the design temperature, and when actual temperature is less than design temperature, heating furnace starts to add
Heat, when actual temperature is higher than design temperature, heating furnace does not heat.
Further, the discharge mechanism includes cylinder, platform and baffle plate, and baffle plate is located on platform, and baffle plate makees straight line fortune
It is dynamic；The material stirring-up mechanism bottom is provided with a small cylinder, and the push rod end of the small cylinder is connected with material stirring-up mechanism,
When external signal is sent to, the small cylinder promotes the turnover panel of material stirring-up mechanism to move upwards, and tubing is promoted in heating furnace.
Further, the conveying mechanism and the discharging mechanism include motor, V shaped wheel and chain, described electronic
The power output shaft of machine is connected by chain with the axle on corresponding V shaped wheel, so as to drive V shaped wheel to rotate.
Further, the heating element heater is heating rod, and being used to transmit the transmission element of tubing in the heating furnace includes
More central shafts, chain and direct current generator, the direct current generator drive more central axis by chain drive.
Further, the host computer is provided with setting screen, and setting screen includes operation picture, automatic running manually and drawn
Face, temperature setting interface and operation control interface, wherein, the picture of operation manually can be adjusted manually to above-mentioned each mechanism
Section.
Further, the present invention also has alarm indication function, and alarm is by being compiled to Mitsubishi GOT-1000 array of touch screen
Cheng Shixian's, certain temperature value is set, when heating in-furnace temperature less than the temperature value being manually set, conveying mechanism will not open
It is dynamic, until in-furnace temperature is more than setting value.
Using the clamp method of above-mentioned intelligent tubing stacking industrial robot, comprise the following steps：
(1) heating element heater started in heating furnace is begun to warm up, and is manually arranged on when the actual temperature in heating furnace reaches
After design temperature in host computer, discharge mechanism begins paying out tubing；
(2) after detecting that discharge mechanism releases tubing, the feeding furnace door of heating furnace is opened, when feeding furnace door standard-sized sheet with
Afterwards, feeding is started, meanwhile, the transmission element operation in heating furnace；
(3) after the tubing signal at material stirring-up mechanism is detected, biography that material stirring-up mechanism pushes to tubing in heating-furnace
After sending on element, transmission element stops charging, and the feeding furnace door is closed；
(4) when feeding furnace door is fully closed, transmission element is out of service, and heating furnace is carried out at heating to the tubing of feeding
Reason, when heated between to after certain time, the transmission element brings into operation；
(5) after detecting tubing at the discharging door of heating furnace, the discharging door is opened, and the transmission element stops
Operation, after discharging door standard-sized sheet, discharging mechanism brings into operation, and tubing is sent into the stacking frame of stacking mechanism；
(6) after having detected that tubing enters stacking frame, stacking frame moves in the horizontal plane under the driving of stepper motor
Certain distance is that next tubing enters slot milling；
(7) after stacking inframe tubing piles with one layer, stepper motor reversion, repeat step (6), second layer tubing is realized
Stacking, by that analogy, until stacking is completed.
The tubing bunching device of the present invention, bar and tubing can be stacked after each operation is handled according to stable bundle type,
Meanwhile the critical datas such as process data such as pipeline radical, furnace temp, equipment working state can be monitored in real time, it is complete
Into functions such as self diagnosis, alarm and data storages.On-site supervision is carried out using touch-screen, automatic, control manually can be achieved, both subtracted
Small artificial labor intensity, and convenient, fast, and the neat tubing of stacking is easy to storage and transport, the present invention passes through itself fortune
Make, solve the problem of method efficiency of people's craft stacking industrial products is low, and workload is big, consumes a large amount of manpowers.
In addition, the present invention carries out every layer with step-by-step system is accurately positioned control, using shaped device guarantee to pile
Stable type, it is possible to achieve fixed number stacking.Meanwhile, it is capable to the information such as real-time display current system state in which, man-machine boundary
Friend is good, there is alarm indication.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the structural representation of tubing stacking industrial robot of the present invention.
Fig. 2 is the workflow diagram of the intelligent tubing stacking industrial robot of the present invention.
Fig. 3 is the circuit diagram of programmable controller.
In figure：1- magnetic valves, 2- terminal blocks, 3- discharge mechanisms, 4- direct current gate guide rails, 5- material stirring-up mechanisms, 6- steppings
Motor, 7- ball-screws, 8- motor fixed racks, 9-V type wheels, 10- temperature sensors, 11- motor, 12- chains, 13- are passed
Send element, 14- tubing, 15- conveying mechanisms.
Embodiment
In order to be better understood by the technology contents of the present invention, especially exemplified by specific embodiment and institute's accompanying drawing is coordinated to be described as follows.
As shown in figure 1, a kind of intelligent tubing stacking industrial robot of the present invention, including discharge mechanism 3, conveying mechanism
15th, material stirring-up mechanism 5, heating furnace, discharging mechanism and stacking mechanism；
Wherein, heating element heater and the transmission element 13 for transmitting tubing are provided with the heating furnace；
The stacking mechanism, which includes stepper motor 6, ball-screw 7 and the stacking frame for stacking tubing, stacking frame, to be fixed
It is connected on ball-screw 7, stacking frame can move in the horizontal plane；
The discharge mechanism is used to release tubing, and supplies conveying mechanism 15；
Conveying mechanism 15 is used to the tubing that discharge mechanism 3 provides being sent at material stirring-up mechanism, and material stirring-up mechanism is used to pass
The tubing that material mechanism is sent is pushed on the transmission element in heating furnace, and the heating element heater is to entering the tubing 14 in heating furnace
Heated, the transmission element 13 is used to the tubing 14 entered in heating furnace being sent to discharging stove at feeding furnace door
At door；
Discharging mechanism is used to leave heating furnace and heat the tubing finished to be delivered in stacking mechanism, realizes tubing
Stacking；
The tubing stacking industrial robot also includes control device, and control device includes host computer, the first programmable control
Device processed and the second programmable controller, the host computer are connected with the first programmable controller, first programmable controller
For controlling the heating element heater in heating furnace, second programmable controller is connected with the stepper motor, for controlling heap
The movement of pile frame.
The stacking mechanism also includes cylinder and limit switch, and the cylinder is arranged on the lower section of the stacking frame, is control
The power assist apparatus of stacking frame moving direction processed, the limit switch are arranged on the rear end of the baffle plate of discharge mechanism.
The host computer is using touch-screen serial Mitsubishi GUT1000.
Temperature sensor 10 is provided with the heating furnace, for detecting the actual temperature in heating furnace；The tubing stacking
Industrial robot also includes two groups of photoelectric sensors, and every group two, one of which photoelectric sensor is configured the two of discharge mechanism
End, another group of photoelectric sensor configuration is at the both ends of discharging mechanism, for detecting whether there is tubing.
First programmable controller includes communication module, A/D module, DE modules and input/output module, during work,
The design temperature of heating furnace is sent to the first programmable controller by host computer, and the A/D module is by the heating furnace collected
Compared with the design temperature, when actual temperature is less than design temperature, heating furnace is begun to warm up actual temperature, works as reality
Heating furnace does not heat when temperature is higher than design temperature.
First programmable controller is using Q series of PLC, and the second programmable controller is using FX series of PLC.The
Communication module in one programmable controller is preferably CC-Link communication modules.
The discharge mechanism 3 includes cylinder, platform and baffle plate, and baffle plate is located on platform, and baffle plate is for linear motion；It is described to turn over
Material mechanism bottom is provided with a small cylinder, and the push rod end of the small cylinder is connected with material stirring-up mechanism, when outside is believed
When number being sent to, the small cylinder promotes the turnover panel of material stirring-up mechanism to move upwards, and tubing is promoted in heating furnace.
The conveying mechanism 15 and the discharging mechanism 3 include motor 11, V shaped wheel 9 and chain 12, the motor
11 power output shaft is connected by chain 12 with the axle on corresponding V shaped wheel 9, so as to drive V shaped wheel 9 to rotate.
The heating element heater is heating rod, and the transmission element 13 for being used to transmit tubing in the heating furnace is parallel including more
Central shaft, chain and the direct current generator of setting, the direct current generator drive more central axis by chain drive.
The host computer is provided with setting screen, and setting screen includes operation picture, automatic running picture, temperature setting manually
Interface and operation control interface, wherein, the picture of operation manually can be adjusted manually to above-mentioned each mechanism.
Pneumatic control circuit includes air pump, pressure regulator valve and magnetic valve, and Pneumatic control circuit is used for the motion for controlling cylinder.
The workflow diagram of intelligent tubing stacking industrial robot of the invention as shown in Figure 2, managed using above-mentioned intelligence
The clamp method of material stacking industrial robot, comprises the following steps：
(1) heating element heater started in heating furnace is begun to warm up, and is manually arranged on when the actual temperature in heating furnace reaches
After design temperature in host computer, discharge mechanism begins paying out tubing；
(2) after detecting that discharge mechanism releases tubing, the feeding furnace door of heating furnace is opened, when feeding furnace door standard-sized sheet with
Afterwards, feeding is started, meanwhile, the transmission element operation in heating furnace；
(3) after the tubing signal at material stirring-up mechanism is detected, biography that material stirring-up mechanism pushes to tubing in heating-furnace
After sending on element, transmission element stops charging, and the feeding furnace door is closed；
(4) when feeding furnace door is fully closed, transmission element is out of service, and heating furnace is carried out at heating to the tubing of feeding
Reason, when heated between to after certain time, the transmission element brings into operation；
(5) after detecting tubing at the discharging door of heating furnace, the discharging door is opened, and the transmission element stops
Operation, after discharging door standard-sized sheet, discharging mechanism brings into operation, and tubing is sent into the stacking frame of stacking mechanism；
(6) after having detected that tubing enters stacking frame, stacking frame moves in the horizontal plane under the driving of stepper motor
Certain distance is that next tubing enters slot milling；
(7) after stacking inframe tubing piles with one layer, stepper motor reversion, repeat step (6), second layer tubing is realized
Stacking, by that analogy, until stacking is completed.
Embodiment 1
When carrying out the processing of tubing stacking using above-mentioned intelligent tubing stacking industrial robot, first have to startup and begin to warm up,
After temperature reaches, discharge mechanism starts blowing, and after photoelectric sensor detects tubing, feeding furnace door will be opened, when
After feeding furnace door standard-sized sheet, starting feeding, transmission element is run in stove, after photoelectric sensor detects tubing signal, stirring
Mechanism, which pushes to tubing, transmits element in stove, transmission element stops charging, and feeding furnace door is closed, and when feeding furnace door is fully closed, passes
Send element out of service and begin to warm up, when heated between to after certain time, transmission element brings into operation in stove, sensor
Discharging door is opened after detecting tubing, and transmission element stops in stove, after discharging door standard-sized sheet, discharging mechanism operation,
After sensor detects tubing, stepper motor is moved to setting position, when the stacking inframe tubing in stacking area piles with a floor
Afterwards, stepper motor inverts, while discharge mechanism starts blowing.
The picture that touch-screen is set has operation picture manually, automatic running picture, temperature setting interface and operation control
Interface, manual Debugging interface can be adjusted manually to each executing agency of hardware components, such as blow-on door, close fire door,
The startup of material transfer motor, discharging machine operation, inside the temperature setting page, we can set the temperature of heating, work as setting
Temperature when be less than the temperature of temperature display detection, system can just run, when the temperature of setting is more than real time temperature
When system can not work, heating rod is begun to warm up, and is set heating-up temperature as 20 degree, is now pressed start button, when current temperature
When degree is less than design temperature, voltage regulating module is started working, and heated in stove, is now pressed start button, system will not work
Make, when Current Temperatures are more than or equal to design temperature, voltage regulating module is stopped, and now presses start button, and system starts
Work.
The running of stacking mechanism is specially：During work, host computer touch-screen handles tubing required temperature handle
It gives the first programmable controller, and the A/D module of the first programmable controller will gather come temperature signal and the temperature of setting
It is contrasted, when theoretical temperatures are begun to warm up less than setting value heating furnace, when temperature is raised slowly to design temperature, now presses
Start button, discharging mechanism blowing, transmission mechanism are experienced on track after blowing, start to feed, tubing is sent into by material stirring-up mechanism
In heating furnace, the time of heat treatment is transferred to, stacking frame has detected that tubing enters and has been moved to the left a certain distance as next pipe
Material enters slot milling, when stacking frame first layer piles with tubing, air cylinder sinking, is prepared for the stacking second layer, when next
Tubing enter it is fashionable, repeat above the step of, when whole system piles with tubing, system cut-off, material transfer terminates.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of intelligent tubing stacking industrial robot, it is characterised in that including discharge mechanism (3), conveying mechanism (15), stirring
Mechanism (5), heating furnace, discharging mechanism and stacking mechanism；
Wherein, heating element heater and the transmission element (13) for transmitting tubing (14) are provided with the heating furnace；
The stacking mechanism includes stepper motor (6), ball-screw (7) and the stacking frame for stacking tubing (14), stacking frame
It is fixedly connected on ball-screw (7), stacking frame can move in the horizontal plane；The discharge mechanism (3) is used to release tubing
(14), and conveying mechanism (15) is supplied；
Conveying mechanism (15) is used to the tubing that discharge mechanism (3) provides being sent at material stirring-up mechanism, and material stirring-up mechanism is used to pass
The tubing (14) that material mechanism is sent is pushed on the transmission element (13) in heating furnace, and the heating element heater is to entering in heating furnace
Tubing heated；
Discharging mechanism is used to leave heating furnace and heat the tubing finished to be delivered in stacking mechanism, realizes tubing heap
Pile；
The tubing stacking industrial robot also includes control device, and control device includes host computer, the first programmable controller
With the second programmable controller, the host computer is connected with the first programmable controller, and first programmable controller is used for
The heating element heater in heating furnace is controlled, second programmable controller is connected with the stepper motor, for controlling stacking frame
Movement.
2. intelligent tubing stacking industrial robot according to claim 1, it is characterised in that the stacking mechanism also includes
Cylinder and limit switch, the cylinder are arranged on the lower section of the stacking frame, are the power-assisteds for controlling stacking frame moving direction
Device, the limit switch are arranged on the rear end of the baffle plate of discharge mechanism.
3. intelligent tubing stacking industrial robot according to claim 1, it is characterised in that the host computer is touch
Screen.
4. intelligent tubing stacking industrial robot according to claim 1, it is characterised in that temperature is provided with the heating furnace
Sensor (10) is spent, for detecting the actual temperature in heating furnace；The tubing stacking industrial robot also includes two groups of photoelectricity
Sensor, every group two, the configuration of one of which photoelectric sensor exists in the both ends of discharge mechanism, another group of photoelectric sensor configuration
The both ends of discharging mechanism, for detecting whether there is tubing.
5. intelligent tubing stacking industrial robot according to claim 1, it is characterised in that first PLC technology
Device includes communication module, A/D module, DE modules and input/output module, and during work, host computer sends out the design temperature of heating furnace
The first programmable controller is given, the A/D module carries out the actual temperature in the heating furnace collected and the design temperature
Compare, when actual temperature is less than design temperature, heating furnace is begun to warm up, and when actual temperature is higher than design temperature, heating furnace is not
Heating.
6. intelligent tubing stacking industrial robot according to claim 1, it is characterised in that the discharge mechanism includes vapour
Cylinder, platform and baffle plate, baffle plate are located on platform, and baffle plate is for linear motion；The material stirring-up mechanism bottom is provided with a small-sized gas
Cylinder, the push rod end of the small cylinder are connected with material stirring-up mechanism, and when external signal is sent to, the small cylinder is promoted and turned over
The turnover panel of material mechanism is moved upwards, and tubing is promoted in heating furnace.
7. intelligent tubing stacking industrial robot according to claim 1, it is characterised in that the conveying mechanism and described
Discharging mechanism includes motor (11), V shaped wheel (9) and chain (12), the power output shaft of the motor by chain with
Axle on corresponding V shaped wheel is connected, so as to drive V shaped wheel to rotate.
8. intelligent tubing stacking industrial robot according to claim 1, it is characterised in that the heating element heater is heating
Rod, the interior transmission element for being used to transmit tubing of the heating furnace include more central shafts, chain and direct current generator, the direct current
Machine drives more central axis by chain drive.
9. intelligent tubing stacking industrial robot according to claim 1, it is characterised in that the host computer, which is provided with, to be set
Picture, setting screen include operation picture, automatic running picture, temperature setting interface and operation control interface manually, wherein, institute
Stating operation picture manually can be adjusted manually to above-mentioned each mechanism.
10. using the clamp method of intelligent tubing stacking industrial robot as claimed in claim 1, it is characterised in that including
Following steps：
(1) start heating furnace in heating element heater begin to warm up, when the actual temperature in heating furnace reach manually be arranged on it is upper
After design temperature in machine, discharge mechanism begins paying out tubing；
(2) after detecting that discharge mechanism releases tubing, the feeding furnace door of heating furnace is opened, after feeding furnace door standard-sized sheet,
Start feeding, meanwhile, the transmission element operation in heating furnace；
(3) after the tubing signal at material stirring-up mechanism is detected, the transmission that material stirring-up mechanism pushes to tubing in heating-furnace is first
After on part, transmission element stops charging, and the feeding furnace door is closed；
(4) when feeding furnace door is fully closed, transmission element is out of service, and heating furnace heats to the tubing of feeding, when
After heat time to certain time, the transmission element brings into operation；
(5) after detecting tubing at the discharging door of heating furnace, the discharging door is opened, and the transmission element stops fortune
OK, after discharging door standard-sized sheet, discharging mechanism brings into operation, and tubing is sent into the stacking frame of stacking mechanism；
(6) after having detected that tubing enters stacking frame, stacking frame is mobile certain in the horizontal plane under the driving of stepper motor
Distance enters slot milling for next tubing；
(7) after stacking inframe tubing piles with one layer, stepper motor inverts, repeat step (6), realizes the heap of second layer tubing
Pile, by that analogy, until stacking is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711261766.5A CN107826785A (en) | 2017-12-04 | 2017-12-04 | A kind of intelligent tubing stacking industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711261766.5A CN107826785A (en) | 2017-12-04 | 2017-12-04 | A kind of intelligent tubing stacking industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN107826785A true CN107826785A (en) | 2018-03-23 |
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| CN201711261766.5A Pending CN107826785A (en) | 2017-12-04 | 2017-12-04 | A kind of intelligent tubing stacking industrial robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111532753A (en) * | 2020-04-21 | 2020-08-14 | 於金亚 | Metal round pipe conveying and overturning device |
| CN114472907A (en) * | 2022-01-26 | 2022-05-13 | 朱金福 | Intelligent heating device for atomization powder making equipment |
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| CN204508053U (en) * | 2015-03-30 | 2015-07-29 | 浙江海洋学院 | A kind of Fabricating machinery of stainless steel tube |
Cited By (2)
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| CN111532753A (en) * | 2020-04-21 | 2020-08-14 | 於金亚 | Metal round pipe conveying and overturning device |
| CN114472907A (en) * | 2022-01-26 | 2022-05-13 | 朱金福 | Intelligent heating device for atomization powder making equipment |
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Application publication date: 20180323 |