CN108820904B - Automatic stacking device and method for magnesium alloy - Google Patents
Automatic stacking device and method for magnesium alloy Download PDFInfo
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- CN108820904B CN108820904B CN201810885110.9A CN201810885110A CN108820904B CN 108820904 B CN108820904 B CN 108820904B CN 201810885110 A CN201810885110 A CN 201810885110A CN 108820904 B CN108820904 B CN 108820904B
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- 229910000861 Mg alloy Inorganic materials 0.000 title claims abstract description 175
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000007493 shaping process Methods 0.000 claims abstract description 121
- 230000007246 mechanism Effects 0.000 claims abstract description 104
- 238000005266 casting Methods 0.000 claims abstract description 18
- 230000004888 barrier function Effects 0.000 claims description 8
- 239000010935 stainless steel Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 4
- 229910045601 alloy Inorganic materials 0.000 description 4
- 239000000956 alloy Substances 0.000 description 4
- 238000004806 packaging method and process Methods 0.000 description 3
- 239000002994 raw material Substances 0.000 description 3
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 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
- 238000004064 recycling Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
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- 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
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- 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
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
Abstract
The invention discloses an automatic magnesium alloy stacking device and method, which belong to the technical field of automatic stacking and comprise a support frame, a conveying line device, a pushing mechanism, a shaping line device, a pneumatic grabbing mechanism, an industrial six-axis robot and a safety guardrail, wherein the conveying line device comprises a gear, a chain and a conveying limiting plate, the pushing mechanism is provided with a pushing cylinder and a pushing wedge block, the shaping line device is provided with a shaping cylinder, a shaping wedge block and a shaping limiting plate, the pneumatic grabbing mechanism comprises a clamping cylinder, a clamping plate, a profiling variable clamping plate and a flange, and the support frame comprises a base and a tray. According to the invention, after the magnesium alloy blocks come out of the automatic production casting machine, the stacking device automatically grabs the magnesium alloy blocks and stacks the magnesium alloy blocks on the tray in order, so that the labor force and time are saved, and the labor productivity is improved.
Description
Technical Field
The invention relates to a stacking device and method, in particular to an automatic magnesium alloy stacking device and method, and belongs to the technical field of automatic stacking.
Background
With the continuous development of the economy and the rapid progress of the scientific technology in China, the robot has quite wide application in the industries of stacking, gluing, spot welding, arc welding, spraying, carrying, measuring and the like.
To overcome this difficulty, various aspects of palletizing equipment have evolved, including the robot to the software that manipulates it, for a variety of reasons, including the variety of packaging, the factory environment, and customer requirements, to transform palletizing into a piece of bone in the packaging factory that is difficult to gnaw.
The increasing demand for flexibility in the market has affected aspects of packaging, and the back end of the line is no exception, and retail customers, especially those with impact such as walmar's supermarkets, often need to customize random pallets, but they have to customize each pallet, with the pallet form being repeated only infrequently, and efficient production of such random pallets being difficult.
There is a need for an automatic palletizing device for magnesium alloy ingots, which is an automatic palletizing system for automatically grabbing raw material ingots by a robot and orderly palletizing the raw material ingots on a tray after the raw material ingots come out of a casting machine in automatic production.
Disclosure of Invention
The invention mainly aims to provide an automatic magnesium alloy stacking device and method, which are used for adapting a fixture to clamp magnesium alloy ingots of various types by arranging a wedge-shaped block and a profiling variable clamping plate which are matched with the magnesium alloy blocks, and meanwhile, a conveying line device, a propelling mechanism, a shaping line device and a pneumatic grabbing mechanism are arranged to be used in a matched manner, so that the assembly line actions of automatic magnesium alloy transmission and grabbing are completed, and the stacking efficiency is improved.
The aim of the invention can be achieved by adopting the following technical scheme:
the utility model provides an automatic pile up neatly device of magnesium alloy, includes the support frame of stacking up magnesium alloy piece, conveying line device of conveying magnesium alloy piece, with the advancing mechanism that the conveying line device tail end links to each other, set up the plastic line device of advancing mechanism one end, set up pneumatic gripping mechanism, promotion of plastic line device top six robots of industry and the safety barrier who encircles whole assembly line of operation of pneumatic gripping mechanism, conveying line device include the gear, with gear matched with chain and setting are in the transport limiting plate of conveying line device one end, be equipped with on the advancing mechanism advance the cylinder and with advance the promotion wedge that the piston rod of advance the cylinder links to each other, the one end of plastic line device be equipped with plastic cylinder and with the plastic wedge that the piston rod of plastic cylinder links to each other, the other end of plastic line device is equipped with plastic limiting plate, pneumatic gripping mechanism is including clamp the cylinder, fix clamp plate on the piston rod that clamp the cylinder is got, set up the changeable clamp plate of clamp plate one side and with the flange that six robots of industry one end links to each other.
Preferably, the support frame comprises two bases, a tray is arranged on the bases, magnesium alloy blocks are stacked on the tray, and the fork truck drags away the tray and the magnesium alloy blocks on the tray together, so that recycling of the tray is realized.
Preferably, the conveying line device comprises a conveying frame, the upper surface of the conveying frame is an inclined surface, one higher end of the conveying frame is connected with a workshop casting machine, a magnesium alloy ingot in the casting machine is separated from a die and conveyed to one higher end of the conveying frame, and one lower end of the conveying frame is fixed with the conveying limiting plate.
Preferably, the pushing mechanism comprises a pushing frame arranged at the tail end of the conveying line device, the height of the pushing frame is the same as that of the tail end of the pushing mechanism, the pushing mechanism is fixedly provided with a pushing cylinder, a piston rod of the pushing cylinder is fixedly provided with a pushing wedge block, one side of the pushing wedge block is provided with an inclined surface matched with the magnesium alloy block, and the pushing cylinder and the pushing wedge block push the magnesium alloy block on the tail end of the conveying line device to the shaping line device.
Preferably, the shaping wire device is located at the tail end of the conveying wire device, the shaping wire device comprises a shaping frame, a shaping cylinder fixed at one end of the shaping frame and a shaping limiting plate fixed at the other end of the shaping frame, a groove matched with the clamping plate is formed in the shaping frame, the shaping wedge block is fixed on a piston rod of the shaping cylinder, and the shaping cylinder and the shaping wedge block push magnesium alloy blocks on the shaping wire device to one side of the shaping limiting plate.
Preferably, the pneumatic grabbing mechanism further comprises a U-shaped frame fixed at one end of the flange and a fixing plate fixed at one side of the U-shaped frame, the clamping cylinder is fixed on the fixing plate and is located in the U-shaped frame, piston rods are arranged at two ends of the clamping cylinder, clamping plates are fixed on the piston rods at two ends of the clamping cylinder, guide bases are arranged on one sides of the two clamping plates, and a guide shaft is arranged at one end of each guide base.
Preferably, one side of the profiling variable clamping plate is fixed on the clamping plate, the surface of the other side of the profiling variable clamping plate is an inclined surface provided with a saw-tooth groove, the inclined surface of the profiling variable clamping plate is suitable for the side surfaces of magnesium alloy blocks of different types, the bottommost end of the clamping plate is provided with an inwards folded lug, and when two clamping plates clamp the magnesium alloy blocks, the lug at the bottommost end of the clamping plate can hook the bottom of the magnesium alloy block.
Preferably, the industrial six-axis robot is fixed at one end of the shaping line device, one end of the industrial six-axis robot is connected with the pneumatic grabbing mechanism through the flange, and the industrial six-axis robot is an IRB1400 floor type industrial robot and bears 50KG, an arm span 3M and a rotation angle of 0-300 degrees.
Preferably, the safety barrier is formed by splicing a plurality of net plates, and the middle part of the net plate is a hollowed stainless steel net.
An automatic stacking method of magnesium alloy comprises the following steps:
step 1: a magnesium alloy ingot casting machine and a lifting receiving mechanism are arranged on one side of the automatic stacking device, a magnesium alloy block in the casting machine is separated from the die, the magnesium alloy block is received by the lifting receiving mechanism and then falls above the conveying line device, and the magnesium alloy block is conveyed to one end of the conveying line device;
step 2: the conveying line device is provided with a conveying line consisting of a gear and a chain, the magnesium alloy block falls on the chain, the gear is started, the gear rotates to drive the chain to run, and the magnesium alloy block runs to the side of a conveying limiting plate at the tail end of the conveying line device along with the chain;
step 3: the tail end of the conveying line device is fixedly provided with a propelling mechanism, the propelling mechanism is provided with a propelling cylinder, the position of one end of a piston rod of the propelling mechanism, which extends out, is on one side of the conveying limiting plate, and when the magnesium alloy block is conveyed to one side of the conveying limiting plate, the piston rod of the propelling mechanism pushes the magnesium alloy block to be separated from the conveying line device and then to one end of the shaping line device;
step 4: the two ends of the shaping wire device are respectively provided with a shaping cylinder and a shaping limiting plate, and the shaping cylinders push the magnesium alloy blocks on the shaping wire device to one side of the shaping limiting plates;
step 5: the tail end of the shaping wire device is provided with an industrial six-axis robot, the tail end of a rotating arm of the industrial six-axis robot is fixedly provided with a pneumatic grabbing mechanism, after one side of a shaping limiting plate is accumulated to a certain number of magnesium alloy blocks, the industrial six-axis robot drives the rotating arm to hover the pneumatic grabbing mechanism on the magnesium alloy blocks, a clamping cylinder on the pneumatic grabbing mechanism is started, piston rods at two ends of the clamping cylinder extend out simultaneously, so that two clamping plates fixed on the piston rods are outwards opened in opposite directions, and after the distance between the two clamping plates reaches a preset width, the clamping cylinder is stopped;
step 6: after the magnesium alloy blocks at one side of the shaping limiting plate reach a preset number, the industrial six-axis robot sinks the pneumatic grabbing mechanism above the magnesium alloy blocks, the lowest edges of the two clamping plates are lower than the lowest edges of the magnesium alloy blocks, then the clamping cylinder is started again, the piston rod is retracted into the clamping cylinder, the two clamping plates are simultaneously driven to shrink inwards so as to clamp the magnesium alloy blocks, after the two clamping plates clamp the magnesium alloy blocks, after the copying variable clamping plates at the inner sides of the two clamping plates are tightly and firmly attached to the magnesium alloy blocks, the clamping cylinder is stopped, and then the industrial six-axis robot lifts the pneumatic grabbing mechanism and the magnesium alloy blocks and hovers above the shaping wire device;
step 7: after the magnesium alloy block is separated from the shaping wire device by the industrial six-axis robot, the industrial six-axis robot rotates a certain angle to hover the magnesium alloy block above the support frame, then the pneumatic grabbing mechanism and the magnesium alloy are descended to enable the magnesium alloy block to fall on the support frame, then the clamping cylinder is started to enable the piston rod to extend outwards to drive the clamping plate to move outwards, the clamping plate is separated from the magnesium alloy block, then the clamping cylinder is stopped, the pneumatic grabbing mechanism is lifted by the industrial six-axis robot, the pneumatic grabbing mechanism is rotated a certain angle, and the pneumatic grabbing mechanism is hovered above the tail end of the shaping wire device.
Step 8: after the magnesium alloy blocks on the support frame reach the preset number, the tray on the support frame and the magnesium alloy blocks are carried away together by the forklift.
The beneficial technical effects of the invention are as follows:
according to the magnesium alloy automatic stacking device and method, the conveying line device, the propelling mechanism, the shaping line device, the pneumatic grabbing mechanism and the industrial six-axis robot are assembled into a continuous automatic assembly line, so that labor force and a great amount of time are saved, and labor efficiency is improved;
according to the automatic magnesium alloy stacking device and method provided by the invention, compared with the conventional stacking device, the shaping wire device is added, so that the frequency of the action of the industrial six-axis robot is reduced, and meanwhile, the stacking efficiency is improved;
according to the automatic magnesium alloy stacking device and method provided by the invention, the pneumatic grabbing mechanism is adopted in the gripper system, the clamping plate with the convex blocks and the profiling variable clamping plate with the inclined surfaces of the zigzag grooves are arranged in the pneumatic grabbing mechanism, the angle of the wedge-shaped profiling clamping plate is changed according to different angles of alloy ingots, so that the clamp is kept in fit with the alloy ingots, the compatibility of various magnesium alloy ingot models is met, the clamp is not required to be replaced when the casting machine is used for replacing production models, the cost is reduced, and the time for replacing the clamp is also saved;
according to the magnesium alloy automatic stacking device and method, the double-layer fixed roller line consisting of the conveying line device, the propelling mechanism and the shaping line device and the lifting roller line consisting of the pneumatic grabbing mechanism and the industrial six-axis robot are arranged, so that the mixed material transportation of a tray, a finished product and an unfinished product is realized, and the tray can be automatically circulated to a feeding point, so that the cyclic utilization of the tray is realized;
according to the automatic stacking device and method for the magnesium alloy, the clamping cylinder in the pneumatic grabbing mechanism provides power, and the clamping plate performs opening and closing actions through the mutual matching of the clamping cylinder, the guide shaft and the guide seat, so that the magnesium alloy blocks can be clamped conveniently.
Drawings
FIG. 1 is a schematic overall structure of a preferred embodiment of an automatic palletizing apparatus and method for magnesium alloy according to the present invention;
FIG. 2 is an elevation view of a preferred embodiment of an automated magnesium alloy palletizing apparatus and method in accordance with the present invention;
FIG. 3 is a side view of a preferred embodiment of an automated magnesium alloy palletizing apparatus and method in accordance with the present invention;
FIG. 4 is a top view of a preferred embodiment of an automated magnesium alloy palletizing apparatus and method in accordance with the present invention;
FIG. 5 is a schematic view of a support frame according to a preferred embodiment of the apparatus and method for automatically palletizing magnesium alloy according to the present invention;
FIG. 6 is a schematic view of the gear and chain engagement of a preferred embodiment of an apparatus and method for automatic palletizing of magnesium alloys in accordance with the present invention;
FIG. 7 is a schematic view of a chain of a preferred embodiment of an apparatus and method for automatically palletizing magnesium alloys according to the present invention;
FIG. 8 is a schematic view of the connection of the propulsion cylinder and the propulsion wedge of a preferred embodiment of the apparatus and method for automatically palletizing magnesium alloys according to the present invention;
FIG. 9 is a schematic view of the construction of a pusher wedge of a preferred embodiment of an apparatus and method for automatic palletizing of magnesium alloys in accordance with the present invention;
FIG. 10 is a schematic structural view of a shaping cylinder according to a preferred embodiment of the apparatus and method for automatically palletizing magnesium alloy according to the present invention;
FIG. 11 is a schematic view of the structure of a shaping wedge of a preferred embodiment of an apparatus and method for automatically palletizing magnesium alloy according to the present invention;
FIG. 12 is a schematic view of the connection of a guide seat and a guide shaft of a preferred embodiment of an apparatus and method for automatically palletizing magnesium alloy according to the present invention;
FIG. 13 is a schematic view of the connection of the pneumatic gripping mechanism to the rotary arm of the industrial six-axis robot in accordance with a preferred embodiment of the apparatus and method for automatically palletizing magnesium alloy according to the present invention;
FIG. 14 is a schematic view of the pneumatic gripping mechanism of a preferred embodiment of the automated magnesium alloy palletizing apparatus and method according to the present invention;
FIG. 15 is an elevation view of a pneumatic gripping mechanism of a preferred embodiment of an automated magnesium alloy palletizing apparatus and method in accordance with the present invention;
FIG. 16 is a side view of a pneumatic gripping mechanism of a preferred embodiment of an automated magnesium alloy palletizing apparatus and method in accordance with the present invention;
FIG. 17 is a top view of a pneumatic gripping mechanism of a preferred embodiment of an automated magnesium alloy palletizing apparatus and method according to the present invention;
fig. 18 is a schematic view showing a partial structure of an industrial six-axis robot according to a preferred embodiment of the automatic stacking apparatus and method for magnesium alloy according to the present invention.
In the figure: 1-supporting frame, 2-conveying line device, 3-propelling mechanism, 4-shaping line device, 5-pneumatic grabbing mechanism, 6-industry six-axis robot, 7-safety barrier, 11-base, 12-tray, 21-conveying frame, 22-track, 23-pivot, 24-gear, 25-chain, 26-conveying limiting plate, 31-propelling frame, 32-propelling cylinder, 33-propelling wedge, 41-shaping frame, 42-groove, 43-shaping cylinder, 44-shaping wedge, 45-shaping limiting plate, 51-splint, 52-guide seat, 53-clamping cylinder, 54-flange, 55-profiling variable splint, 56-guide shaft, 57-fixed plate, 58-U-shaped frame and 71-screen plate.
Detailed Description
In order to make the technical solution of the present invention more clear and obvious to those skilled in the art, the present invention will be described in further detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1-18, the automatic stacking device for magnesium alloy provided by the embodiment comprises a support frame 1 for stacking magnesium alloy blocks, a conveying line device 2 for conveying the magnesium alloy blocks, a propelling mechanism 3 connected with the tail end of the conveying line device 2, a shaping line device 4 arranged at one end of the propelling mechanism 3, a pneumatic grabbing mechanism 5 arranged above the shaping line device 4, an industrial six-axis robot 6 for pushing the pneumatic grabbing mechanism 5 to operate and a safety barrier 7 surrounding the whole assembly line.
In this embodiment, as shown in fig. 1-5, the supporting frame 1 includes two bases 11, a tray 12 is provided on the base 11, the tray 12 is placed on the base 11, the tray 12 is stacked with magnesium alloy blocks, the forklift drags away the tray 12 and the magnesium alloy blocks on the tray 12 together, and the tray 12 is provided with jacks matched with forks at the front end of the forklift, so that the forklift can fork the tray conveniently.
In this embodiment, as shown in fig. 1-4, 6 and 7, the conveying line device 2 includes a gear 24, a chain 25 matched with the gear 24, and a conveying limiting plate 26 disposed at one end of the conveying line device 2, the conveying line device 2 includes a conveying frame 21, the upper surface of the conveying frame 21 is an inclined surface, one end of the conveying frame 21 is high, the other end is low, so that the magnesium alloy block is convenient to transport, the higher end of the conveying frame 21 is connected with a workshop casting machine, the magnesium alloy ingot in the casting machine is removed from a mold and conveyed to the higher end of the conveying frame 21 (in this embodiment, the mold of the casting machine is not shown in the drawings), the lower end of the conveying frame 21 is fixed with the conveying limiting plate 26, the conveying limiting plate 26 is used for blocking the magnesium alloy block from dropping, and is also used for temporarily fixing the magnesium alloy block at a certain point, so that the transportation is convenient.
In this embodiment, as shown in fig. 1-4, 8 and 9, a pushing cylinder 32 and a pushing wedge block 33 connected to a piston rod of the pushing cylinder 32 are disposed on the pushing mechanism 3, the pushing mechanism 3 includes a pushing frame 31 disposed at a tail end of the conveying line device 2, the height of the pushing frame 31 is the same as that of the tail end of the pushing mechanism 3, the pushing cylinder 32 is fixed on the pushing mechanism 3, the piston rod of the pushing cylinder 32 is fixed with the pushing wedge block 33, an inclined plane corresponding to the magnesium alloy block is disposed on one side of the pushing wedge block 33, and the pushing cylinder 32 and the pushing wedge block 33 push the magnesium alloy block on the tail end of the conveying line device 2 onto the shaping line device 4.
In the present embodiment, as shown in fig. 1 to 4, 8 and 9, the lowest end height of the pushing cylinder 32 and the lowest end height of the magnesium alloy lump to which the conveying limiting plate 26 is temporarily fixed are kept constant, and the center line of the pushing cylinder 32 and the center line of the magnesium alloy lump to which the conveying limiting plate 26 is temporarily fixed are in the same vertical plane so that the pushing cylinder 32 does not push the magnesium alloy lump when pushing.
In this embodiment, as shown in fig. 1-4, 10 and 11, one end of the shaping wire device 4 is provided with a shaping cylinder 43 and a shaping wedge block 44 connected with a piston rod of the shaping cylinder 43, the other end of the shaping wire device 4 is provided with a shaping limiting plate 45, the shaping wire device 4 is located at the tail end of the conveying line device 2, the shaping wire device 4 comprises a shaping frame 41, the shaping cylinder 43 fixed at one end of the shaping frame 41 and the shaping limiting plate 45 fixed at the other end of the shaping frame 41, the shaping frame 41 is provided with a groove 42 which is adapted to the clamping plate 51, the groove is located below the magnesium alloy block when the magnesium alloy block moves on the shaping frame 41, and when the clamping plate 51 clamps the magnesium alloy block, the lowest end of the clamping plate 51 is located in the groove, so that the bump at the lowest end of the clamping plate 51 can extend into the bottom side of the magnesium alloy block.
In this embodiment, as shown in fig. 1-4, 10 and 11, one side of the shaping frame 41 is provided with a shaping cylinder base, the shaping cylinder 43 is fixed on the shaping cylinder base, the shaping wedge block 44 is fixed on a piston rod of the shaping cylinder 43, the shaping cylinder 43 and the shaping wedge block 44 push the magnesium alloy block on the shaping wire device 4 to one side of the shaping limiting plate 45, one side of the shaping wedge block 44 is an inclined surface, and when the shaping wedge block 44 pushes the magnesium alloy block, the inclined surface of the shaping wedge block 44 is adapted to the side surface of the magnesium alloy block, so that the magnesium alloy block is not easy to be overturned and biased in the pushing process.
In this embodiment, as shown in fig. 1-4 and fig. 12-17, the pneumatic grabbing mechanism 5 includes a clamping cylinder 53, a clamping plate 51 fixed on a piston rod of the clamping cylinder 53, a profiling variable clamping plate 55 disposed on one side of the clamping plate 51, a flange 54 connected with one end of the industrial six-axis robot 6, the pneumatic grabbing mechanism 5 further includes a U-shaped frame 58 fixed on one end of the flange 54, and a fixing plate 57 fixed on one side of the U-shaped frame 58, the clamping cylinder 53 is fixed on the fixing plate 57, the clamping cylinder 53 is located in the U-shaped frame 58, piston rods are disposed at both ends of the clamping cylinder 53, clamping plates 51 are fixed on piston rods at both ends of the clamping cylinder 53, one side of each clamping plate 51 is provided with a guide seat 52, one end of each guide seat 52 is provided with a guide shaft 56, and the clamping cylinder 53 in the pneumatic grabbing mechanism provides power, and the clamping plates 51 perform opening and closing actions through the mutual cooperation of the clamping cylinder and the guide shafts 56 and the guide seats 52 so as to clamp magnesium alloy blocks.
In this embodiment, as shown in fig. 1-4 and fig. 12-17, one side of the profiling variable clamping plate 55 is fixed on the clamping plate 51, the surface of the other side of the profiling variable clamping plate 55 is an inclined surface provided with saw-tooth grooves, the inclined surface of the profiling variable clamping plate 55 is adapted to the side surfaces of magnesium alloy blocks of different types, the bottommost end of the clamping plate 51 is provided with an inward folded lug, and when the two clamping plates 51 clamp the magnesium alloy blocks, the lug at the bottommost end of the clamping plate 51 can hook the bottom of the magnesium alloy block.
In this embodiment, as shown in fig. 1-4 and fig. 12-17, the gripper system adopts a pneumatic gripping mechanism, a clamping plate with a bump and a profiling variable clamping plate with an inclined plane with a serrated groove are arranged in the pneumatic gripping mechanism, the wedge-shaped profiling clamping plate changes the angle of the wedge-shaped profiling clamping plate according to different angles of the alloy ingot, so that the clamp is kept in fit with the alloy ingot, the compatibility of various magnesium alloy ingot models is satisfied, the clamp is not required to be replaced when the casting machine is used for replacing the production model, the cost is reduced, and the time for replacing the clamp is also saved
In this embodiment, as shown in fig. 1-4 and fig. 18, the industrial six-axis robot 6 is fixed at one end of the shaping wire device 4, one end of the industrial six-axis robot 6 is connected with the pneumatic grabbing mechanism 5 through the flange 54, the industrial six-axis robot 6 is the prior art in the technical field, the industrial six-axis robot in a small range acts sequentially, the industrial six-axis robot 6 selected in this embodiment is an IRB1400 floor type industrial robot, the bearing 50KG, the arm span 3M, the rotation angle 0 ° -300 °, and the industrial six-axis robot with other model parameters can be selected according to the space size of the site and the weight of the magnesium alloy block.
In this embodiment, as shown in fig. 1-4, the safety barrier 7 is formed by splicing a plurality of mesh plates 71, the middle part of the mesh plates 71 is a hollowed stainless steel mesh, the safety barrier 7 can prevent other personnel from mistakenly entering an automatic stacking assembly line, so that the personnel safety is prevented from being damaged by machine operation, and the mesh plates 71 can be spliced freely to adapt to different site requirements.
In this embodiment, as shown in fig. 1 to 18, an automatic stacking method for magnesium alloy includes the following steps:
step 1: a magnesium alloy ingot casting machine and a lifting receiving mechanism are arranged on one side of the automatic stacking device, a magnesium alloy block in the casting machine is separated from a die, the magnesium alloy block is received by the lifting receiving mechanism (in the embodiment, the magnesium alloy ingot casting machine and the lifting receiving mechanism are not shown in the drawing), then the magnesium alloy block is lowered above the conveying line device 2, and the magnesium alloy block is conveyed to one end of the conveying line device 2;
step 2: the conveying line device 2 is provided with a conveying line consisting of a gear 24 and a chain 25, a magnesium alloy block falls on the chain 25, the gear 24 is started, the gear 24 rotates to drive the chain 25 to run, and the magnesium alloy block runs to the side of a conveying limiting plate 26 at the tail end of the conveying line device 2 along with the chain 25;
step 3: the tail end of the conveying line device 2 is fixedly provided with a propelling mechanism 3, the propelling mechanism 3 is provided with a propelling cylinder 32, the position of one end of a piston rod of the propelling mechanism 3, which extends out, is on one side of the conveying limiting plate 26, and when the magnesium alloy block is conveyed to one side of the conveying limiting plate 26, the piston rod of the propelling mechanism 3 pushes the magnesium alloy block to be separated from the conveying line device 2 and then to one end of the shaping line device 4;
step 4: the two ends of the shaping wire device 4 are respectively provided with a shaping air cylinder 43 and a shaping limiting plate 45, and the shaping air cylinder 43 pushes the magnesium alloy block on the shaping wire device 4 to one side of the shaping limiting plate 45;
step 5: the tail end of the shaping wire device 4 is provided with an industrial six-axis robot 6, the tail end of a rotating arm of the industrial six-axis robot 6 is fixedly provided with a pneumatic grabbing mechanism 5, after one side of a shaping limiting plate 45 is accumulated to a certain number of magnesium alloy blocks, the industrial six-axis robot 6 drives the rotating arm to hover the pneumatic grabbing mechanism 5 on the magnesium alloy blocks, a clamping cylinder 53 on the pneumatic grabbing mechanism 5 is started, piston rods at two ends of the clamping cylinder 53 extend simultaneously, so that two clamping plates 51 fixed on the piston rods are outwards opened in opposite directions, and after the distance between the two clamping plates 51 reaches a preset width, the clamping cylinder 53 is stopped;
step 6: after the magnesium alloy blocks at one side of the shaping limiting plate 45 reach a preset number, the industrial six-axis robot 6 sinks the pneumatic grabbing mechanism 5 above the magnesium alloy blocks, the lowest edges of the two clamping plates 51 are lower than the lowest edges of the magnesium alloy blocks, then the clamping cylinder 53 is started again, the piston rods are retracted into the clamping cylinder 53, the two clamping plates 51 are simultaneously driven to retract inwards so as to clamp the magnesium alloy blocks, after the two clamping plates 51 clamp the magnesium alloy blocks, after the copying variable clamping plates 55 at the inner sides of the two clamping plates 51 are tightly and firmly attached to the magnesium alloy blocks, the clamping cylinder 53 is stopped, and then the industrial six-axis robot 6 lifts the pneumatic grabbing mechanism 5 and the magnesium alloy blocks and hovers above the shaping wire device 4;
step 7: after the magnesium alloy block is separated from the shaping wire device 4 by the industrial six-axis robot 6, the industrial six-axis robot 6 rotates for a certain angle to hover the magnesium alloy block above the support frame 1, then the pneumatic grabbing mechanism 5 and the magnesium alloy are descended to enable the magnesium alloy block to fall on the support frame 1, then the clamping cylinder 53 is started to enable the piston rod to extend outwards, the clamping plate 51 is driven to move outwards, the clamping plate 51 is separated from the magnesium alloy block, then the clamping cylinder 53 is stopped, the pneumatic grabbing mechanism 5 is lifted by the industrial six-axis robot 6 and rotated for a certain angle, and the pneumatic grabbing mechanism 5 is hovered above the tail end of the shaping wire device 4.
Step 7: after the magnesium alloy blocks on the support frame 1 reach the preset number, the tray 12 on the support frame 1 and the magnesium alloy blocks are carried away together by a forklift.
In summary, in this embodiment, the automatic stacking device and method for magnesium alloy provided in this embodiment, through assembling conveyor line device, propulsion mechanism, shaping line device, pneumatic grabbing mechanism and six industrial robots into a coherent automatic assembly line, labor force and a large amount of time are saved, labor efficiency is improved, through setting up the double-deck fixed roller line that conveyor line device, propulsion mechanism and shaping line device constitute and the lifting roller line that pneumatic grabbing mechanism and six industrial robots constitute, the transportation of the mixture of tray, finished product and unfinished product is realized, and can automatically circulate the tray to the feeding point, thereby realizing cyclic utilization of tray.
The above description is merely a further embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art will be able to apply equivalents and modifications according to the technical solution and the concept of the present invention within the scope of the present invention disclosed in the present invention.
Claims (7)
1. An automatic pile up neatly device of magnesium alloy, its characterized in that: including support frame (1) of stacking up magnesium alloy piece, transfer chain device (2) of conveying magnesium alloy piece, with propulsion mechanism (3) that links to each other at transfer chain device (2) tail end, set up propulsion mechanism (3) one end plastic line device (4), set up pneumatic gripping mechanism (5) of plastic line device (4) top, promotion six industrial robots (6) of pneumatic gripping mechanism (5) operation and encircle safety barrier (7) of whole assembly line, transfer chain device (2) include gear (24), with gear (24) matched with chain (25) and set up transport limiting plate (26) of transfer chain device (2) one end, be equipped with propulsion cylinder (32) and with propulsion wedge (33) that the piston rod of propulsion cylinder (32) links to each other on propulsion mechanism (3), one end of plastic line device (4) is equipped with plastic cylinder (43) and with plastic wedge (44) that the piston rod of plastic cylinder (43) links to each other, the other's other end of plastic line device (4) is equipped with limiting plate (45), take pneumatic clamp (53) including take the clamp (53) on the piston rod (53) clamp plate (53) A profiling variable clamping plate (55) arranged on one side of the clamping plate (51) and a flange (54) connected with one end of the industrial six-axis robot (6); the propelling mechanism (3) comprises a propelling frame (31) arranged at the tail end of the conveying line device (2), the height of the propelling frame (31) is the same as that of the tail end of the propelling mechanism (3), the propelling cylinder (32) is fixed on the propelling mechanism (3), a propelling wedge block (33) is fixed on a piston rod of the propelling cylinder (32), an inclined surface which is suitable for a magnesium alloy block is arranged on one side of the propelling wedge block (33), and the propelling cylinder (32) and the propelling wedge block (33) push the magnesium alloy block on the tail end of the conveying line device (2) to the shaping line device (4); the shaping wire device (4) is positioned at the tail end of the conveying wire device (2), the shaping wire device (4) comprises a shaping frame (41), a shaping cylinder (43) fixed at one end of the shaping frame (41) and a shaping limiting plate (45) fixed at the other end of the shaping frame (41), a groove (42) which is matched with the clamping plate (51) is formed in the shaping frame (41), a shaping wedge block (44) is fixed on a piston rod of the shaping cylinder (43), and the shaping cylinder (43) and the shaping wedge block (44) push a magnesium alloy block on the shaping wire device (4) to one side of the shaping limiting plate (45); one side of the profiling variable clamping plate (55) is fixed on the clamping plate (51), the surface of the other side of the profiling variable clamping plate (55) is an inclined surface provided with a serrated groove, the inclined surface of the profiling variable clamping plate (55) is suitable for the side surfaces of magnesium alloy blocks of different types, the bottommost end of the clamping plate (51) is provided with an inwards folded lug, and when two clamping plates (51) clamp the magnesium alloy blocks, the lug at the bottommost end of the clamping plate (51) can hook the bottom of the magnesium alloy block.
2. An automatic stacking device for magnesium alloy according to claim 1, wherein: the support frame (1) comprises two bases (11), a tray (12) is arranged on the bases (11), magnesium alloy blocks are stacked on the tray (12), and the tray (12) and the magnesium alloy blocks on the tray (12) are dragged away together by a forklift.
3. An automatic stacking device for magnesium alloy according to claim 2, wherein: the conveying line device (2) comprises a conveying frame (21), the upper surface of the conveying frame (21) is an inclined surface, one higher end of the conveying frame (21) is connected with a casting machine, magnesium alloy blocks in the casting machine are separated from a die and conveyed to one higher end of the conveying frame (21), and one lower end of the conveying frame (21) is fixed with the conveying limiting plate (26).
4. An automatic stacking device for magnesium alloy according to claim 3, wherein: the pneumatic grabbing mechanism (5) further comprises a U-shaped frame (58) fixed at one end of the flange (54) and a fixing plate (57) fixed at one side of the U-shaped frame (58), the clamping cylinder (53) is fixed on the fixing plate (57), the clamping cylinder (53) is located in the U-shaped frame (58), piston rods are arranged at two ends of the clamping cylinder (53), clamping plates (51) are fixed on the piston rods at two ends of the clamping cylinder (53), guide seats (52) are arranged on one sides of the two clamping plates (51), and guide shafts (56) are arranged at one ends of the guide seats (52).
5. The automatic magnesium alloy palletizing device according to claim 4, wherein: the industrial six-axis robot (6) is fixed at one end of the shaping line device (4), one end of the industrial six-axis robot (6) is connected with the pneumatic grabbing mechanism (5) through the flange (54), and the industrial six-axis robot (6) is an IRB1400 floor type industrial robot, bears 50KG, and is provided with an arm extension 3M and a rotating angle of 0-300 degrees.
6. The automatic magnesium alloy palletizing device according to claim 5, wherein: the safety barrier (7) is formed by splicing a plurality of net plates (71), and the middle part of each net plate (71) is a hollowed stainless steel net.
7. An automatic magnesium alloy stacking method adopting the automatic magnesium alloy stacking device according to claim 6, which is characterized in that: the method comprises the following steps:
step 1: one side of the automatic stacking device is provided with a casting machine and a lifting receiving mechanism, a magnesium alloy block in the casting machine is separated from a die, the lifting receiving mechanism is used for receiving the magnesium alloy block and then descending above the conveying line device (2), and the magnesium alloy block is conveyed to one end of the conveying line device (2);
step 2: a conveying line consisting of a gear (24) and a chain (25) is arranged on the conveying line device (2), a magnesium alloy block falls on the chain (25), the gear (24) is started, the gear (24) rotates to drive the chain (25) to run, and the magnesium alloy block runs to the side of a conveying limiting plate (26) at the tail end of the conveying line device (2) along with the chain (25);
step 3: the tail end of the conveying line device (2) is fixedly provided with a propelling mechanism (3), the propelling mechanism (3) is provided with a propelling cylinder (32), the position of one end, extending out of a piston rod, of the propelling mechanism (3) is on one side of the conveying limiting plate (26), and when the magnesium alloy block is conveyed to one side of the conveying limiting plate (26), the piston rod of the propelling mechanism (3) pushes the magnesium alloy block to be separated from the conveying line device (2) and then to one end of the shaping line device (4);
step 4: the two ends of the shaping wire device (4) are respectively provided with a shaping cylinder (43) and a shaping limiting plate (45), and the shaping cylinders (43) push the magnesium alloy blocks on the shaping wire device (4) to one side of the shaping limiting plate (45);
step 5: the tail end of the shaping wire device (4) is provided with an industrial six-axis robot (6), the tail end of a rotating arm of the industrial six-axis robot (6) is fixedly provided with a pneumatic grabbing mechanism (5), after one side of a shaping limiting plate (45) is accumulated to a certain number of magnesium alloy blocks, the industrial six-axis robot (6) drives the rotating arm to hover the pneumatic grabbing mechanism (5) on the magnesium alloy blocks, a clamping cylinder (53) on the pneumatic grabbing mechanism (5) is started, piston rods at two ends of the clamping cylinder (53) extend simultaneously, so that two clamping plates (51) fixed on the piston rods are outwards opened in opposite directions, and after the distance between the two clamping plates (51) reaches a preset width, the clamping cylinder (53) is stopped;
step 6: after the magnesium alloy blocks at one side of the shaping limiting plate (45) reach a preset number, the industrial six-axis robot (6) sinks the pneumatic grabbing mechanism (5) above the magnesium alloy blocks, the lowest edge of the two clamping plates (51) is lower than the lowest edge of the magnesium alloy blocks, then the clamping cylinder (53) is started again, a piston rod is retracted into the clamping cylinder (53), the two clamping plates (51) are simultaneously driven to retract inwards so as to clamp the magnesium alloy blocks, after the two clamping plates (51) clamp the magnesium alloy blocks, after the copying variable clamping plates (55) at the inner sides of the two clamping plates (51) are tightly and firmly attached to the magnesium alloy blocks, the clamping cylinder (53) is stopped, and then the industrial six-axis robot (6) lifts the pneumatic grabbing mechanism (5) and the magnesium alloy blocks and hovers above the shaping line device (4);
step 7: after the magnesium alloy block is separated from the shaping wire device (4) by the industrial six-axis robot (6), the industrial six-axis robot (6) rotates for a certain angle to hover the magnesium alloy block above the support frame (1), then the pneumatic grabbing mechanism (5) and the magnesium alloy block are descended to enable the magnesium alloy block to fall on the support frame (1), then the clamping cylinder (53) is started to enable the piston rod to extend outwards to drive the clamping plate (51) to move outwards, the clamping plate (51) is separated from the magnesium alloy block, then the clamping cylinder (53) is stopped, the pneumatic grabbing mechanism (5) is lifted by the industrial six-axis robot (6), the pneumatic grabbing mechanism (5) is rotated for a certain angle, and the pneumatic grabbing mechanism (5) is hovered above the tail end of the shaping wire device (4);
step 8: after the magnesium alloy blocks on the support frame (1) reach a preset number, the tray (12) on the support frame (1) and the magnesium alloy blocks are transported away together by a forklift.
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| CN201810885110.9A CN108820904B (en) | 2018-08-06 | 2018-08-06 | Automatic stacking device and method for magnesium alloy |
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| CN201810885110.9A CN108820904B (en) | 2018-08-06 | 2018-08-06 | Automatic stacking device and method for magnesium alloy |
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| CN110481829B (en) * | 2019-08-02 | 2024-04-09 | 江苏集萃智能制造技术研究所有限公司 | Automatic box sleeving production line |
| CN112607435A (en) * | 2020-02-17 | 2021-04-06 | 潘宇力 | Packing box conveying and stacking device |
| CN112607437B (en) * | 2020-02-17 | 2022-04-29 | 江苏金苹果展示用品有限公司 | Packing box pile up neatly stacking mechanism |
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