CN108820858B - Paraffin shooting machine picking robot - Google Patents
Paraffin shooting machine picking robot Download PDFInfo
- Publication number
- CN108820858B CN108820858B CN201810791171.9A CN201810791171A CN108820858B CN 108820858 B CN108820858 B CN 108820858B CN 201810791171 A CN201810791171 A CN 201810791171A CN 108820858 B CN108820858 B CN 108820858B
- Authority
- CN
- China
- Prior art keywords
- material frame
- robot
- wax injection
- injection machine
- wax
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000012188 paraffin wax Substances 0.000 title description 4
- 239000000463 material Substances 0.000 claims abstract description 142
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 238000002347 injection Methods 0.000 claims abstract description 39
- 239000007924 injection Substances 0.000 claims abstract description 39
- 239000012636 effector Substances 0.000 claims description 17
- 238000000889 atomisation Methods 0.000 claims description 4
- 238000012856 packing Methods 0.000 claims description 3
- 238000005192 partition Methods 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 239000003795 chemical substances by application Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 230000009466 transformation Effects 0.000 abstract description 2
- 239000001993 wax Substances 0.000 description 34
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C17/00—Moulding machines characterised by the mechanism for separating the pattern from the mould or for turning over the flask or the pattern plate
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22C—FOUNDRY MOULDING
- B22C7/00—Patterns; Manufacture thereof so far as not provided for in other classes
- B22C7/02—Lost patterns
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Abstract
The invention relates to a workpiece taking robot of a wax injection machine, which is provided with two wax injection machines; a robot pickup unit is arranged between the two wax injection machines; a material output mechanism is arranged right in front of the robot picking unit; the material frame conveying mechanism is fixedly connected with the material output mechanism, and an electrical control system is arranged on the left side or the right side of the material frame conveying mechanism. Aiming at the current situation of the taking work of the turbine wax type, the invention can realize the work of automatically taking and cutting off the excess materials of the wax injection machine by matching with the upgrading and transformation of the finished production of enterprises, improves the production efficiency, simultaneously releases workers from extremely severe working environments and greatly improves the working conditions of the workers.
Description
Technical Field
The invention relates to a workpiece taking robot of a wax injection machine, which is mainly used for taking turbine wax, cutting off excess materials and boxing.
Background
At present, in the work of getting a turbine wax pattern, mainly the work of getting a piece, cutting off the clout and packing is accomplished by the manual work, and manual work inefficiency to on-the-spot operational environment is relatively poor, and the harmful smell that paraffin sent causes serious injury to workman's healthy. In addition, the manual production management cost is high, the wages of workers are high, and the manual operation process also brings about some potential safety hazards. Based on the technical background, the turbine wax type workpiece taking work requires a production system for taking workpieces by a set of robots, cutting off the excess materials and automatically boxing.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a workpiece-taking robot of a wax injection machine, which improves the production efficiency and releases workers from extremely severe working environments.
The technical scheme for realizing the aim of the invention is as follows: a kind of wax injection machine gets the robot, have wax injection machine; one side of the wax injection machine is provided with a robot pickup unit; a material output mechanism is arranged right in front of the robot picking unit; the material frame conveying mechanism is fixedly connected with the material output mechanism, and an electrical control system is arranged on the left side or the right side of the material frame conveying mechanism.
The robot pickup unit comprises a robot base, a mechanical arm and an end effector; the robot base is fixed on the ground between the two wax injection machines; two ends of the mechanical arm are respectively connected with the robot base and the end effector; the end effector comprises a connecting flange, a connecting bracket, a piece taking sucker, a pneumatic clamping jaw and an atomization nozzle; one end of the connecting bracket is connected with the mechanical arm through a connecting flange, and the other end of the connecting bracket is connected with a pneumatic clamping jaw; the piece taking sucker is fixed at one end, close to the pneumatic clamping jaw, of the connecting bracket through a fastener; an atomizing nozzle is arranged above the pneumatic clamping jaw.
The material frame conveying mechanism comprises a material frame clamping cylinder, a material frame pushing cylinder, a jacking cylinder and a material frame conveying bracket; the material frame conveying support is fixed on the ground in front of the right of the robot picking unit, and the upper part of the material frame conveying support is surrounded by a three-block frame partition plate and a feeding door plate to form a cavity in which an empty material frame is placed; the two jacking cylinders are respectively arranged on the front side surface and the rear side surface of the lower part of the material frame conveying support through corresponding jacking cylinder fixing plates, and a material frame clamping cylinder is arranged above the jacking cylinders; the material frame pushing cylinder is arranged at the lower part of the material frame conveying support, and a material frame pushing baffle is fixed on a piston rod of the material frame pushing cylinder.
The material output mechanism comprises a conveying line, a material frame positioning cylinder and a transfer pneumatic gripper, wherein the conveying line, the material frame positioning cylinder and the transfer pneumatic gripper are arranged on a material conveying support; the material frame positioning cylinder is arranged at one side of the input end of the conveying line; the middle-rotating pneumatic gripper is arranged at the end part of the input end of the material conveying bracket, and a residual material collecting frame is arranged right below the middle-rotating pneumatic gripper.
The electric control system comprises an electric control cabinet and a robot control cabinet which are arranged on one side of the material output mechanism side by side.
The technical scheme also comprises a safety protection system; the safety protection system is fixedly arranged around the system.
The safety protection system comprises a safety grating, a safety protection door and a protection fence; the safety grating is arranged on one side of the near-robot pick-up unit of the wax injection machine; the safety protection door is fixedly connected with the protection fence and distributed on the periphery of the system.
According to the technical scheme, the wax injection machine is provided with two wax injection machines, and the two wax injection machines are installed on the left side and the right side of the robot pickup unit in a mirror image mode.
After the technical scheme is adopted, the invention has the following positive effects:
(1) Aiming at the current situation of the taking work of the turbine wax type, the invention can realize the work of automatically taking and cutting off the excess materials of the wax injection machine by matching with the upgrading and transformation of the finished production of enterprises, improves the production efficiency, simultaneously releases workers from extremely severe working environments and greatly improves the working conditions of the workers.
(2) According to the invention, the empty material frames are clamped by the material frame clamping cylinders at two sides of the material frame conveying mechanism, the clamped empty material frames are lifted by the lifting cylinder, so that the lowest empty material frame is not pressed by the upper material frame, at the moment, the material frame pushing cylinder drives the material frame pushing baffle to push the lowest empty material frame to the conveying line, then the empty material frames of the material frame positioning cylinder are positioned and clamped, the replacement of the empty material frames by manpower is not needed, and the harmful smell emitted by paraffin is avoided.
(3) When the material frame conveying mechanism monitors that one empty material frame remains, the material frame conveying mechanism sends out a signal for emptying the material frame, and after the material frame conveying mechanism is full, the signal is reset and waits for use.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which
Fig. 1 is a general layout of the present invention.
Fig. 2 is a detailed view of the robot pickup system of the wax injection machine of the present invention, with the protective rail and the wax injection machine at the rear side of the system hidden.
Fig. 3 is a detailed view of the robotic end effector of the present invention.
Fig. 4 is a detailed view of the frame conveying mechanism of the present invention.
Fig. 5 is a detailed view of the material output mechanism of the present invention.
Detailed Description
Example 1
Referring to fig. 1 and 5, the invention has two wax injection machines 1; a robot pickup unit 2 is arranged between the two wax injection machines 1; a material output mechanism 4 is arranged right in front of the robot picking unit 2; the material frame conveying mechanism 3 and the material output mechanism 4 are fixedly connected together, and an electric control system 5 is arranged on the left side or the right side of the material frame conveying mechanism 3.
The robot picking unit 2 comprises a robot base 7, a mechanical arm 8 and an end effector 9; wherein, the robot base 7 is fixed on the ground between two wax injection machines. Two ends of the mechanical arm 8 are respectively connected with the robot base 7 and the end effector 9; the end effector 9 comprises a connecting flange 15, a connecting bracket 16, a picking piece sucker 17, a pneumatic clamping jaw 18 and an atomization nozzle 19; one end of the connecting bracket 16 is connected with the mechanical arm 8 through a connecting flange 15, and the other end is connected with a pneumatic clamping jaw 18; the picking chuck 17 is fixed at one end of the connecting bracket 16 close to the pneumatic clamping jaw 18 through a fastener; an atomizer 19 is mounted above the pneumatic clamping jaw 18.
The material frame conveying mechanism 3 comprises a material frame clamping cylinder 21, a material frame pushing cylinder 22, a jacking cylinder 24 and a material frame conveying bracket 25; the material frame conveying bracket 25 is fixed on the ground in front of the right of the robot picking unit 2, and the upper part of the material frame conveying bracket 25 is surrounded by a three-block frame partition plate 20 and a material feeding door plate 27 to form a cavity in which an empty material frame is placed; wherein, the material frame baffle 20 is installed on three inner sides of the upper portion of the material frame conveying support 25, and the material feeding door plate 27 is installed on the front side of the upper portion of the material frame conveying support 25. The two jacking cylinders 24 are respectively arranged on the front side surface and the rear side surface of the lower part of the material frame conveying bracket 25 through corresponding jacking cylinder fixing plates 23, and a material frame clamping cylinder 21 is arranged above the jacking cylinders 24; the material frame pushing cylinder 22 is arranged at the lower part of the material frame conveying bracket 25, and a material frame pushing baffle 26 is fixed on a piston rod of the material frame pushing cylinder 22.
The material output mechanism 4 comprises a conveying line 28, a material frame positioning cylinder 29 and a middle-rotating pneumatic gripper 30 which are arranged on a material conveying bracket 32; the material frame positioning cylinder 29 is arranged on one side of the input end of the conveying line 28; the middle rotary pneumatic gripper 30 is mounted at the end part of the input end of the material conveying support 32, and a residual material collecting frame 31 is arranged right below the middle rotary pneumatic gripper 30, wherein the material conveying support 32 is mounted on the ground in front of the robot pick-up unit 2 and is fixedly connected with the material frame conveying support 25 of the material frame conveying mechanism 3.
The electrical control system 5 provides power for the system, and the electrical control system 5 comprises an electrical control cabinet 13 and a robotic control cabinet 14 which are arranged side by side on one side of the material output mechanism 4.
Also has a safety protection system 6; the safety shield system 6 is mounted and secured around the circumference of the system.
The safety protection system 6 comprises a safety grating 10, a safety protection door 11 and a protection fence 12; the safety grating 10 is arranged on one side of the wax injection machine 1, which is close to the robot pickup unit 2; the safety protection door 11 and the protection fence 12 are fixedly connected together and distributed around the periphery of the system.
The working principle of the invention is as follows: when the wax injection machine robot pickup system works, after the wax injection machine sends a pickup signal, the mechanical arm 8 drives the end effector 9 to reach the pickup position of the wax injection machine 1, so that the pickup sucker 17 is attached to the upper surface of the turbine wax pattern, an electromagnetic valve controlling the pickup sucker 17 is opened to suck the turbine wax pattern, the turbine wax pattern is picked up, and then the mechanical arm 8 drives the end effector 9 for grabbing a workpiece to reach a transfer station. After reaching the transfer station, the surplus material handle of the turbine wax pattern is cut off, the transfer pneumatic gripper 30 is opened to clamp the surplus material handle of the turbine wax pattern, the electromagnetic valve for controlling the workpiece taking suction disc 17 is closed, the workpiece taking suction disc 17 of the end effector 9 loosens a workpiece, and the mechanical arm 8 changes the gesture, so that the pneumatic clamping jaw 18 on the end effector 9 can clamp the surplus material handle of the turbine wax pattern. At the same time, the empty frames are clamped by the frame clamping cylinders 21 at the two sides of the frame conveying mechanism 3, the clamped empty frames are lifted up by the lifting cylinder 24, so that the lowest empty frame is not pressed by the upper empty frame, at the moment, the frame pushing cylinder 22 drives the frame pushing baffle 26 to push the lowest empty frame onto the conveying line 28, and then the empty frame positioning cylinder 29 performs the empty frame positioning clamping. At this time, the robot arm 8 will drive the end effector 9, which grips the workpiece by the pneumatic gripping jaw 18, to the discharge level on the conveyor line 28, which in turn is placed in the frame. And (5) sequentially completing the taking of the turbine wax type, cutting off the excess materials and boxing according to the working flow. After two to three cycles, the wax injection machine sends a spraying signal, the mechanical arm 8 drives the end effector 9 to reach a spraying position, the atomizing nozzle 19 is opened, and the mold of the wax injection machine is sprayed with a release agent. After the material frame is filled with the workpieces through repeated material taking, the material output mechanism 4 drives the conveying line 28 to convey the material frame filled with the workpieces to the packing station. When the material frame conveying mechanism 3 monitors that one empty material frame is remained, a material frame arranging and discharging signal is sent out, and after the material frame conveying mechanism 3 is arranged fully, the signal is reset and waits for use. The system can finish the work of taking out, cutting off the excess materials and boxing the turbine wax type according to the flow.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (7)
1. A penetrate wax machine and get a robot which characterized in that: has a wax injection machine (1); one side of the wax injection machine (1) is provided with a robot pickup unit (2); a material output mechanism (4) is arranged right in front of the robot picking unit (2); the material frame conveying mechanism (3) and the material output mechanism (4) are fixedly connected together, and an electrical control system (5) is arranged on the left side or the right side of the material frame conveying mechanism (3);
the robot picking unit (2) comprises a robot base (7), a mechanical arm (8) and an end effector (9); two ends of the mechanical arm (8) are respectively connected with the robot base (7) and the end effector (9);
the end effector (9) comprises a connecting flange (15), a connecting bracket (16), a picking sucker (17), a pneumatic clamping jaw (18) and an atomization nozzle (19); one end of the connecting bracket (16) is connected with the mechanical arm (8) through a connecting flange (15), and the other end is connected with a pneumatic clamping jaw (18); the picking sucker (17) is fixed at one end, close to the pneumatic clamping jaw (18), of the connecting bracket (16) through a fastener;
when the workpiece taking system of the workpiece shooting robot works, after the workpiece shooting machine sends a workpiece taking signal, a mechanical arm (8) drives an end effector (9) to reach a workpiece taking position of the workpiece shooting machine (1), a workpiece taking sucker (17) is attached to the upper surface of a turbine wax pattern, and an electromagnetic valve controlling the workpiece taking sucker (17) is opened to suck the turbine wax pattern, so that the turbine wax pattern is taken out of the workpiece shooting machine;
an atomization nozzle (19) is arranged above the pneumatic clamping jaw (18) and is used for spraying a release agent on a die of the wax injection machine (1);
the two side material frame clamping cylinders (21) on the material frame conveying mechanism (3) clamp the empty material frames, and the jacking cylinder (24) in the material frame conveying mechanism (3) jacks up the clamped empty material frames so that the lowest empty material frame is not pressed by the upper material frame;
a material frame pushing cylinder (22) in the material frame conveying mechanism (3) drives a material frame pushing baffle (26) in the material frame conveying mechanism (3) to push one empty material frame at the lowest position onto a conveying line (28) in the material output mechanism (4), and a material frame positioning cylinder (29) in the material output mechanism (4) is used for positioning and clamping the empty material frame;
and a driving conveying line (28) of the material output mechanism (4) conveys the material frame filled with the workpiece to a packing station, when the material frame conveying mechanism (3) monitors that one empty material frame is remained, a material frame arranging signal is sent out, and after the material frame conveying mechanism (3) is fully arranged, the signal is reset and waits for use.
2. The wax injection machine pick-up robot of claim 1, wherein: the material frame conveying mechanism (3) comprises a material frame clamping cylinder (21), a material frame pushing cylinder (22), a jacking cylinder (24) and a material frame conveying bracket (25); the material frame conveying support (25) is fixed on the ground in front of the right of the robot pickup unit (2), and the upper part of the material frame conveying support (25) is surrounded by a three-block frame partition plate (20) and a feeding door plate (27) to form a cavity in which an empty material frame is placed; the two jacking cylinders (24) are respectively arranged on the front side surface and the rear side surface of the lower part of the material frame conveying support (25) through corresponding jacking cylinder fixing plates (23), and a material frame clamping cylinder (21) is arranged above the jacking cylinders (24); the material frame pushing cylinder (22) is arranged at the lower part of the material frame conveying support (25), and a material frame pushing baffle (26) is fixed on a piston rod of the material frame pushing cylinder (22).
3. The wax injection machine pick-up robot of claim 1, wherein: the material output mechanism (4) comprises a conveying line (28), a material frame positioning cylinder (29) and a middle-rotating pneumatic gripper (30), which are arranged on a material conveying bracket (32); the material frame positioning cylinder (29) is arranged at one side of the input end of the conveying line (28); the transfer pneumatic gripper (30) is arranged at the end part of the input end of the material conveying support (32), and a residual material collecting frame (31) is arranged under the transfer pneumatic gripper (30).
4. The wax injection machine pick-up robot of claim 1, wherein: the electric control system (5) comprises an electric control cabinet (13) and a robot control cabinet (14) which are arranged on one side of the material output mechanism (4) side by side.
5. The wax injection machine pick-up robot of claim 1, wherein: also has a safety protection system (6); the safety protection system (6) is fixedly arranged around the safety protection system (6).
6. The wax injection machine pickup robot of claim 5, wherein: the safety protection system (6) comprises a safety grating (10), a safety protection door (11) and a protection fence (12); the safety grating (10) is arranged on one side of the near robot pick-up unit (2) of the wax injection machine (1); the safety protection door (11) is fixedly connected with the protection fence (12) and distributed on the periphery of the safety protection system (6).
7. The wax injection machine pick-up robot of claim 1, wherein: the wax injection machine (1) is provided with two wax injection machines, and the two wax injection machines are installed on the left side and the right side of the robot pickup unit (2) in a mirror image mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810791171.9A CN108820858B (en) | 2018-07-18 | 2018-07-18 | Paraffin shooting machine picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810791171.9A CN108820858B (en) | 2018-07-18 | 2018-07-18 | Paraffin shooting machine picking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108820858A CN108820858A (en) | 2018-11-16 |
| CN108820858B true CN108820858B (en) | 2023-12-01 |
Family
ID=64141033
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810791171.9A Active CN108820858B (en) | 2018-07-18 | 2018-07-18 | Paraffin shooting machine picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108820858B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102642089A (en) * | 2011-02-18 | 2012-08-22 | 深圳市吉阳自动化科技有限公司 | Pole piece laser cutting machine |
| CN105759861A (en) * | 2014-12-18 | 2016-07-13 | 齐鲁工业大学 | Motion control method of LED chip waxing robot |
| CN205932409U (en) * | 2016-08-10 | 2017-02-08 | 宁波百琪达自动化设备有限公司 | Feeding agencies of code wheel machine for neodymium iron boron |
| WO2017056319A1 (en) * | 2015-10-02 | 2017-04-06 | 株式会社エイシン技研 | Clamping device for wax injection molding and method for manufacturing wax mold |
| CN206202380U (en) * | 2016-11-03 | 2017-05-31 | 江阴鑫宝利金属制品有限公司 | Turbine wax pattern assemblies tote cart |
| CN206716954U (en) * | 2017-05-19 | 2017-12-08 | 温州职业技术学院 | Model casting automates wax injector |
| CN108044268A (en) * | 2017-12-28 | 2018-05-18 | 温州职业技术学院 | Model casting automates wax-pattern welding equipment |
| CN208716330U (en) * | 2018-07-18 | 2019-04-09 | 无锡黎曼机器人科技有限公司 | A kind of She Laji pickup robot |
-
2018
- 2018-07-18 CN CN201810791171.9A patent/CN108820858B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08187716A (en) * | 1995-01-10 | 1996-07-23 | Hekinan Tokushu Kikai Kk | Method and apparatus for loading and unloading blanc or burned product on or from burning truck |
| CN102642089A (en) * | 2011-02-18 | 2012-08-22 | 深圳市吉阳自动化科技有限公司 | Pole piece laser cutting machine |
| CN102626766A (en) * | 2012-04-20 | 2012-08-08 | 无锡范尼韦尔工程有限公司 | Die for manufacturing supercharger-used turbine |
| CN105759861A (en) * | 2014-12-18 | 2016-07-13 | 齐鲁工业大学 | Motion control method of LED chip waxing robot |
| WO2017056319A1 (en) * | 2015-10-02 | 2017-04-06 | 株式会社エイシン技研 | Clamping device for wax injection molding and method for manufacturing wax mold |
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| CN206716954U (en) * | 2017-05-19 | 2017-12-08 | 温州职业技术学院 | Model casting automates wax injector |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108820858A (en) | 2018-11-16 |
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